pub fn sweep_time_of_impact_composite(
composite: &dyn Shape,
composite_pose: &Pose,
fast: SweepCompositeFastShape<'_, '_>,
one_sided: bool,
target_is_sensor: bool,
max_fraction: f32,
linear_slop: f32,
) -> Option<SweepToiOutput>Expand description
Computes the time of impact between a stationary composite shape and a moving convex shape.
Returns None if composite is not a supported composite shape (triangle mesh,
polyline, heightfield, or compound). When supported but nothing is hit, the returned
output has status SweepToiStatus::Separated and fraction == max_fraction.
one_sided enables the “started behind / finished in front” early-outs; it
should only be set for composites whose elements have meaningful outward normals
(oriented polylines, oriented meshes, heightfields).