Function parry3d::query::details::cast_shapes_nonlinear

pub fn cast_shapes_nonlinear(
    motion1: &NonlinearRigidMotion,
    g1: &dyn Shape,
    motion2: &NonlinearRigidMotion,
    g2: &dyn Shape,
    start_time: Real,
    end_time: Real,
    stop_at_penetration: bool
) -> Result<Option<ShapeCastHit>, Unsupported>

Computes the smallest time of impact of two shapes under translational an rotational movements.

Parameters

• motion1 - The motion of the first shape.
• g1 - The first shape involved in the query.
• motion2 - The motion of the second shape.
• g2 - The second shape involved in the query.
• start_time - The starting time of the interval where the motion takes place.
• end_time - The end time of the interval where the motion takes place.
• stop_at_penetration - If the casted shape starts in a penetration state with any collider, two results are possible. If stop_at_penetration is true then, the result will have a time_of_impact equal to start_time. If stop_at_penetration is false then the nonlinear shape-casting will see if further motion wrt. the penetration normal would result in tunnelling. If it does not (i.e. we have a separating velocity along that normal) then the nonlinear shape-casting will attempt to find another impact, at a time > start_time that could result in tunnelling.