Function b2CollideChainSegmentAndCapsule 

pub unsafe extern "C" fn b2CollideChainSegmentAndCapsule(
    segmentA: *const b2ChainSegment,
    xfA: b2Transform,
    capsuleB: *const b2Capsule,
    xfB: b2Transform,
    cache: *mut b2SimplexCache,
) -> b2Manifold

Compute the contact manifold between a chain segment and a capsule