Module sweep_toi 

Time-of-impact computation on endpoint-interpolated sweeps.

Unlike cast_shapes_nonlinear, which models motion as constant velocities, this module models a timestep as a Sweep between two endpoint poses (linear center-of-mass interpolation + rotation nlerp) and computes the earliest time at which two swept shapes reach a slop-based target separation, using conservative advancement with separation functions.

NOTE: this is mostly ported from Box2D which had much better CCD quality than Rapier. TODO: see how we can combine that with nonlinear_shape_cast since they serve similar goals.

Structs

ProxyDistanceOutput

Result of proxy_distance. All geometric quantities are expressed in the local frame of the first proxy.

SimplexCache

Warm-starting simplex cache for proxy_distance.

Sweep

Describes the motion of a rigid body over a timestep as linear interpolation between two endpoint poses: the center of mass moves on a straight line while the rotation is interpolated with a normalized lerp (nlerp).

SweepCompositeFastShape

Parameters describing the fast (moving) shape for a composite TOI query.

SweepToiOutput

The result of a sweep_time_of_impact computation.

ToiProxy

A point cloud with a radius, approximating a convex shape for sweep-based time-of-impact computations.

Enums

SweepToiStatus

The outcome of a sweep_time_of_impact computation.

Constants

CORE_FRACTION

Fraction of the fast shape’s minimum extent used for the initial-overlap fallback sphere.

TOI_PROXY_INLINE_POINTS

Maximum number of proxy points stored inline (cuboid corners).

Functions

proxy_distance

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

sweep_time_of_impact

Computes the time of impact between two proxies following endpoint-interpolated sweeps.

sweep_time_of_impact_composite

Computes the time of impact between a stationary composite shape and a moving convex shape.