Function cast_shapes_halfspace_support_map 

pub fn cast_shapes_halfspace_support_map<G: ?Sized + SupportMap>(
    pos12: &Pose,
    vel12: Vector,
    halfspace: &HalfSpace,
    other: &G,
    options: ShapeCastOptions,
) -> Option<ShapeCastHit>

Time Of Impact of a halfspace with a support-mapped shape under translational movement.