++toiCalls;
output.state = TOIOutputState.UNKNOWN;
output.t = input.tMax;
final DistanceProxy proxyA = input.proxyA;
final DistanceProxy proxyB = input.proxyB;
sweepA.set(input.sweepA);
sweepB.set(input.sweepB);
// Large rotations can make the root finder fail, so we normalize the