How to use CapsuleImpostor?

Tried to use CapsuleImpostor but BJS said to me that CapsuleImpostor cannot be applied. At least with my Cannon physics I think.
Is there a way to use CapsuleImpostor with some physics engine?

Seems there is no CapsuleImpostor among supported impostors - Using A Physics Engine | Babylon.js Documentation

Here is the PG example how to deal with this - Babylon.js Playground
And the thread from the old forum - Capsule Impostor with Cannon and Babylon - Questions & Answers - HTML5 Game Devs Forum