Function contact 

pub fn contact(
    collider1: &Collider,
    position1: RVector,
    rotation1: impl Into<Quat>,
    collider2: &Collider,
    position2: RVector,
    rotation2: impl Into<Quat>,
    prediction_distance: f32,
) -> Result<Option<SingleContact>, UnsupportedShape>

Computes one pair of contact points between two Colliders.

Returns None if the colliders are separated by a distance greater than prediction_distance or if the given shapes are invalid.

Example

use avian3d::{collision::collider::contact_query::contact, math::RVec3, prelude::*};
use bevy::prelude::*;

let collider1 = Collider::sphere(0.5);
let collider2 = Collider::cuboid(1.0, 1.0, 1.0);

// Compute a contact that should have a penetration depth of 0.5
let contact = contact(
    // First collider
    &collider1,
    RVec3::default(),
    Quat::default(),
    // Second collider
    &collider2,
    RVec3::X * 0.5,
    Quat::default(),
    // Prediction distance
    0.0,
)
.expect("Unsupported collider shape");

assert_eq!(
    contact.is_some_and(|contact| contact.penetration == 0.5),
    true
);