Function proxy_distance 

pub fn proxy_distance(
    pos12: &Pose,
    proxy_a: &ToiProxy<'_>,
    proxy_b: &ToiProxy<'_>,
    use_radii: bool,
    cache: &mut SimplexCache,
) -> ProxyDistanceOutput

Computes the distance between two point-cloud proxies, warm-started by cache.

pos12 is the pose of the second proxy relative to the first; the query runs entirely in the first proxy’s local frame. When use_radii is false the proxy radii are ignored (core-shape distance), which is what the time-of-impact loop uses.