Capsule and sphere with same height/radius are positioned differently

[SSNTails]

Help me understand how a capsule works -- first image is a capsule object, with a radius of 6 and a height of 16:

Second image is a sphere object, with a radius of 16:

The center of these objects should be identical, yet the player object featured here 'floats' above the ground just a bit as a capsule, as opposed to a sphere.

Capsule is created like so:
JPH::BodyCreationSettings bcs = JPH::BodyCreationSettings(new JPH::CapsuleShape((object->height - object->radius) / 2, object->radius), JPH::Vec3(object->GetPos()->x, object->GetPos()->y, object->GetPos()->z), mat.GetRotation().GetQuaternion(), JPH::EMotionType::Dynamic, Layers::MOVING);

Sphere is created like so:
JPH::BodyCreationSettings bcs = JPH::BodyCreationSettings(new JPH::SphereShape(object->radius), JPH::Vec3(object->GetPos()->x, object->GetPos()->y, object->GetPos()->z), mat.GetRotation().GetQuaternion(), JPH::EMotionType::Dynamic, Layers::MOVING);

Am I misunderstanding how the size of capsules are measured? It would be cool if there was a diagram in the documentation visualizing how the width/height of a capsule is interpreted.

[jrouwe]

You need to subtract 2x the radius to get the height of the cylinder part of the capsule:

(object->height - object->radius) / 2 -> (object->height - 2 * object->radius) / 2

[SSNTails]

Hmm, I'm still getting the 'floating' effect:

JPH::BodyCreationSettings bcs = JPH::BodyCreationSettings(new JPH::CapsuleShape((object->height - object->radius * 2) / 2, object->radius),
mat.GetTranslation(), mat.GetRotation().GetQuaternion(), JPH::EMotionType::Dynamic, Layers::MOVING);

[SSNTails]

I'll hook up the physics drawer next so I can visualize the size of the sphere vs the capsule as a double check.

[SSNTails]

Yep, it was a piece of legacy code from the Bullet implementation that was messing up the rendering transform. All good now!