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What are the benefits of the TOI?

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e.g:

 

I have a sphere-plane intersection.

 

The velocity.dot(plane.normal) (relative velocity along the plane normal = velocity + angular velocity.cross(relative point) ) is oscilating between 0 - 0.15 and I want to apply static friction when Vrn == 0. The TOI could fix this?

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e.g:

 

I have a sphere-plane intersection.

 

The velocity.dot(plane.normal) (relative velocity along the plane normal = velocity + angular velocity.cross(relative point) ) is oscilating between 0 - 0.15 and I want to apply static friction when Vrn == 0. The TOI could fix this?

What do you mean with TOI?

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e.g:

 

I have a sphere-plane intersection.

 

The velocity.dot(plane.normal) (relative velocity along the plane normal = velocity + angular velocity.cross(relative point) ) is oscilating between 0 - 0.15 and I want to apply static friction when Vrn == 0. The TOI could fix this?

What do you mean with TOI?

Time Of Impact 

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