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use na::RealField;
use crate::interpolation::RigidMotion;
use crate::query::{self, TOI};
use crate::shape::{Ball, Shape};
pub fn nonlinear_time_of_impact<N: RealField>(
motion1: &(impl RigidMotion<N> + ?Sized),
g1: &dyn Shape<N>,
motion2: &(impl RigidMotion<N> + ?Sized),
g2: &dyn Shape<N>,
max_toi: N,
target_distance: N,
) -> Option<TOI<N>>
{
if let (Some(b1), Some(b2)) = (g1.as_shape::<Ball<N>>(), g2.as_shape::<Ball<N>>()) {
query::nonlinear_time_of_impact_ball_ball(motion1, b1, motion2, b2, max_toi, target_distance)
} else if let (Some(s1), Some(s2)) = (g1.as_support_map(), g2.as_support_map()) {
query::nonlinear_time_of_impact_support_map_support_map(motion1, s1, motion2, s2, max_toi, target_distance)
} else if let Some(c1) = g1.as_composite_shape() {
query::nonlinear_time_of_impact_composite_shape_shape(motion1, c1, motion2, g2, max_toi, target_distance)
} else if let Some(c2) = g2.as_composite_shape() {
query::nonlinear_time_of_impact_shape_composite_shape(motion1, g1, motion2, c2, max_toi, target_distance)
} else {
eprintln!("No algorithm known to compute a contact point between the given pair of shapes.");
None
}
}