Capture of negatively charged, heavy particles by hydrogen atoms, i.e., ${X}^{\ensuremath{-}}+\stackrel{\ensuremath{\rightarrow}}{H}{X}^{\ensuremath{-}}p+e,$ where ${X}^{\ensuremath{-}}=\overline{p}$ (antiproton), ${K}^{\ensuremath{-}}$ (kaon), and ${\ensuremath{\mu}}^{\ensuremath{-}}$ (muon), is investigated by carrying out a rigorous full quantum-mechanical (QM) wave-packet calculation and a semiclassical (SC) calculation. An empirical law for the capture probabilities, found by the present author [Phys. Rev. A 65, 012706 (2002)], is examined extensively by using the QM and SC results. The empirical law is useful to obtain reasonably accurate capture cross sections at center-of-mass translational energies less than 10 eV. Furthermore, a local-complex-potential (LCP) model is employed to discuss a quantum-mechanical effect of the relative motion at very low energies. The LCP calculation shows that a resonance structure is seen in the capture cross section.