pub fn contact<N: RealField + Copy>(
m1: &Isometry<N>,
g1: &dyn Shape<N>,
m2: &Isometry<N>,
g2: &dyn Shape<N>,
prediction: N,
) -> Option<Contact<N>>Expand description
Computes one contact point between two shapes.
Returns None if the objects are separated by a distance greater than prediction.