Function parry2d::query::details::nonlinear_time_of_impact_support_map_support_map

pub fn nonlinear_time_of_impact_support_map_support_map<D, SM1, SM2>(
    dispatcher: &D, 
    motion1: &NonlinearRigidMotion, 
    sm1: &SM1, 
    g1: &dyn Shape, 
    motion2: &NonlinearRigidMotion, 
    sm2: &SM2, 
    g2: &dyn Shape, 
    start_time: Real, 
    end_time: Real, 
    mode: NonlinearTOIMode
) -> Option<TOI> where
    D: ?Sized + QueryDispatcher,
    SM1: ?Sized + SupportMap,
    SM2: ?Sized + SupportMap, 

Compute the time of first impact between two support-map shapes following a nonlinear (with translations and rotations) motion.