Function b2CollidePolygonAndCapsule 

pub unsafe extern "C" fn b2CollidePolygonAndCapsule(
    polygonA: *const b2Polygon,
    xfA: b2Transform,
    capsuleB: *const b2Capsule,
    xfB: b2Transform,
) -> b2Manifold

Compute the contact manifold between a polygon and capsule