Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
See RigidBody.contactSolverType and RigidBody.frictionSolverType
Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
See RigidBody.contactSolverType and RigidBody.frictionSolverType
SubsimplexConvexCast implements Gino van den Bergens' paper
"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
GJK based Ray Cast, optimized version
Objects should not start in overlap, otherwise results are not defined.