Collision detection/resolution between simple axis-aligned objects

Hi, I wrote a script that lets you detect and resolve collision between axis-aligned spheres, cylinders and boxes.

Demo: https://bytezeroseven.github.io/AA.js/
Source: https://github.com/bytezeroseven/AA.js

Why I wrote this and why am I sharing it here? Well, I have a really strong desire to make a multiplayer first person shooter and when I looked up, I found out that there are not many resources on the topic (or at least not easy to understand resources). So I am sharing what I create as I go on my way.
This could be useful for the player collider which is usually a capsule (or a cylinder with two spheres at ends).

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