Function parry3d::query::nonlinear_time_of_impact[−][src]

pub fn nonlinear_time_of_impact(
    motion1: &NonlinearRigidMotion, 
    g1: &dyn Shape, 
    motion2: &NonlinearRigidMotion, 
    g2: &dyn Shape, 
    start_time: Real, 
    end_time: Real, 
    stop_at_penetration: bool
) -> Result<Option<TOI>, Unsupported>

Computes the smallest time of impact of two shapes under translational an rotational movements.

Parameters

  • motion1 - The motion of the first shape.
  • g1 - The first shape involved in the query.
  • motion2 - The motion of the second shape.
  • g2 - The second shape involved in the query.
  • start_time - The starting time of the interval where the motion takes place.
  • end_time - The end time of the interval where the motion takes place.
  • stop_at_penetration - If the casted shape starts in a penetration state with any collider, two results are possible. If stop_at_penetration is true then, the result will have a toi equal to start_time. If stop_at_penetration is false then the nonlinear shape-casting will see if further motion wrt. the penetration normal would result in tunnelling. If it does not (i.e. we have a separating velocity along that normal) then the nonlinear shape-casting will attempt to find another impact, at a time > start_time that could result in tunnelling.