What is the cost of using of capsule , Box and Sphere collision performance wise?

You can estimate the expense by how many numbers it takes to define each shape (not counting the transform):

A sphere takes one number: Radius.

A capsule takes two numbers: Radius and half-height.

A box takes three numbers: length, width, height.

So two capsules will need four numbers, and a box will still need three numbers, so a box will be cheaper.

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