Function cast_shapes_shape_heightfield 

pub fn cast_shapes_shape_heightfield<D: ?Sized + QueryDispatcher>(
    dispatcher: &D,
    pos12: &Pose,
    vel12: Vector,
    g1: &dyn Shape,
    heightfield2: &HeightField,
    options: ShapeCastOptions,
) -> Result<Option<ShapeCastHit>, Unsupported>

Time Of Impact between a moving shape and a heightfield.