diff --git a/main.go b/main.go
index d4e1b12..85a9d89 100755
--- a/main.go
+++ b/main.go
@@ -13,7 +13,7 @@ func main() {
 
 	pvd := pgo.CreatePvd(f)
 	println("Pvd:", pvd)
-	println("connect:", pvd.Connect(pvdTr, pgo.PvdInstrumentationFlag_eALL))
+	println("connected to PVD:", pvd.Connect(pvdTr, pgo.PvdInstrumentationFlag_eALL))
 
 	ts := pgo.NewTolerancesScale(1, 9.81)
 	p := pgo.CreatePhysics(f, ts, false, pvd)
@@ -55,10 +55,21 @@ func main() {
 	dynBox2 := pgo.CreateDynamic(p, tr2, box.ToGeometry(), pMat, 10, shapeOffset)
 	s.AddActor(dynBox2.ToActor())
 
+	//Add sphere
+	v = pgo.NewVec3(0, 16, 0)
+	tr3 := pgo.NewTransform(v, qID)
+	dynSphere := pgo.CreateDynamic(p, tr3, pgo.NewSphereGeometry(3).ToGeometry(), pMat, 10, shapeOffset)
+	s.AddActor(dynSphere.ToActor())
+
+	//Add capsule
+	v = pgo.NewVec3(0, 20, 0)
+	tr4 := pgo.NewTransform(v, qID)
+	dynCapsule := pgo.CreateDynamic(p, tr4, pgo.NewCapsuleGeometry(0.25, 0.5).ToGeometry(), pMat, 10, shapeOffset)
+	s.AddActor(dynCapsule.ToActor())
+
 	for {
 		s.Simulate(1 / 60.0)
-		a, b := s.FetchResults(true)
-		println("a:", a, "; b:", b)
+		s.FetchResults(true)
 	}
 
 	p.Release()
diff --git a/pgo/libs/libphysx-c.a b/pgo/libs/libphysx-c.a
index 9a89d38..02b81e5 100755
Binary files a/pgo/libs/libphysx-c.a and b/pgo/libs/libphysx-c.a differ
diff --git a/pgo/pgo.go b/pgo/pgo.go
index 74fb315..ff29f8b 100755
--- a/pgo/pgo.go
+++ b/pgo/pgo.go
@@ -272,6 +272,22 @@ func NewBoxGeometry(hx, hy, hz float32) *BoxGeometry {
 	}
 }
 
+type CapsuleGeometry struct {
+	cCg C.struct_CPxCapsuleGeometry
+}
+
+func (bg *CapsuleGeometry) ToGeometry() *Geometry {
+	return &Geometry{
+		cG: C.CPxCapsuleGeometry_toCPxGeometry(&bg.cCg),
+	}
+}
+
+func NewCapsuleGeometry(radius, halfHeight float32) *CapsuleGeometry {
+	return &CapsuleGeometry{
+		cCg: C.NewCPxCapsuleGeometry(C.float(radius), C.float(halfHeight)),
+	}
+}
+
 type Actor struct {
 	cA C.struct_CPxActor
 }
diff --git a/pgo/physx-c/CPxCapsuleGeometry.h b/pgo/physx-c/CPxCapsuleGeometry.h
new file mode 100755
index 0000000..9f59419
--- /dev/null
+++ b/pgo/physx-c/CPxCapsuleGeometry.h
@@ -0,0 +1,19 @@
+#ifndef CPxCapsuleGeometry_H
+#define CPxCapsuleGeometry_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxCapsuleGeometry
+	{
+		CPxReal radius, halfHeight;
+	};
+
+	CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry NewCPxCapsuleGeometry(CPxReal radius, CPxReal halfHeight);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxCapsuleGeometry_H
diff --git a/pgo/physx-c/CPxGeometry.h b/pgo/physx-c/CPxGeometry.h
index 56726a4..24400ce 100755
--- a/pgo/physx-c/CPxGeometry.h
+++ b/pgo/physx-c/CPxGeometry.h
@@ -3,6 +3,7 @@
 
 #include "CPxBoxGeometry.h"
 #include "CPxSphereGeometry.h"
+#include "CPxCapsuleGeometry.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -27,12 +28,14 @@ extern "C" {
 		CENUM CPxGeometryType type;
 	};
 
-	CPxAPI CPxInline CSTRUCT CPxSphereGeometry CPxGeometry_toCPxSphere(CSTRUCT CPxGeometry);
+	CPxAPI CPxInline CSTRUCT CPxSphereGeometry CPxGeometry_toCPxSphereGeometry(CSTRUCT CPxGeometry);
 	CPxAPI CPxInline CSTRUCT CPxGeometry CPxSphereGeometry_toCPxGeometry(CSTRUCT CPxSphereGeometry*);
 
-	CPxAPI CPxInline CSTRUCT CPxBoxGeometry CPxGeometry_toCPxBox(CSTRUCT CPxGeometry);
+	CPxAPI CPxInline CSTRUCT CPxBoxGeometry CPxGeometry_toCPxBoxGeometry(CSTRUCT CPxGeometry);
 	CPxAPI CPxInline CSTRUCT CPxGeometry CPxBoxGeometry_toCPxGeometry(CSTRUCT CPxBoxGeometry*);
 
+	CPxAPI CPxInline CSTRUCT CPxCapsuleGeometry CPxGeometry_toCPxCapsuleGeometry(CSTRUCT CPxGeometry);
+	CPxAPI CPxInline CSTRUCT CPxGeometry CPxCapsuleGeometry_toCPxGeometry(CSTRUCT CPxCapsuleGeometry*);
 
 #ifdef __cplusplus
 }
diff --git a/pgo/wrap.c b/pgo/wrap.c
index 6904302..143a2ce 100755
--- a/pgo/wrap.c
+++ b/pgo/wrap.c
@@ -25,4 +25,5 @@
 #include <CExtSimpleFactory.h>
 #include <CPxGeometry.h>
 #include <CPxBoxGeometry.h>
-#include <CPxSphereGeometry.h>
\ No newline at end of file
+#include <CPxSphereGeometry.h>
+#include <CPxCapsuleGeometry.h>
\ No newline at end of file