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```
```use na::RealField;

use crate::interpolation::RigidMotion;
use crate::query::{self, TOI};
use crate::shape::{Ball, Shape};

/// Computes the smallest time of impact of two shapes under translational movement.
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 if let (Some(p1), Some(s2)) = (g1.as_shape::<Plane<N>>(), g2.as_support_map()) {
//        query::nonlinear_time_of_impact_plane_support_map(m1, vel1, p1, m2, vel2, s2)
unimplemented!()
} else if let (Some(s1), Some(p2)) = (g1.as_support_map(), g2.as_shape::<Plane<N>>()) {
//        query::nonlinear_time_of_impact_support_map_plane(m1, vel1, s1, m2, vel2, p2)
unimplemented!() */
} else {
eprintln!(
"No algorithm known to compute a contact point between the given pair of shapes."
);
None
}
}
```