according to what i remember ...
the sun will only swallow mercury and venus when it expands.
earth's crust will be melted and the earth will continue to be a sphere, but it will be a sphere of molten material with a thick haze of oceanic atmosphere around it.
venus and mercury will be torn apart and destroyed.
but since there are large asteroids that collide with the earth with a frequency of only approx 60 million years (so far) , i think that the destruction of the earth (in terms of total extinction of life) is more likely to happen before the sun bellows it's final energy.
it is possible that a nearby supernova happened only 50 years ago. we would never be aware that it happened until we were annihilated by cosmic rays. (50 light years is dangerously close to a supernova),
it is possible that a planetoid has an extremely eccentric orbit and crosses our path once every ...say...6,500 years. it is possible that it's next orbit will intersect with ours.
no one would have ever documented it's last pass, and if it were headed directly toward us, it would only be seen as a spot that gets brighter, rather than a spot that moves.
the earth was hit by a small planetoid in the early stages of the solar system. the ejecta was so immense in volume and velocity, it achieved an orbit that it maintained and the debris coalesced to form the moon.
at first, the "moon" was only about 20,000 miles away, and for millions of years, the effect it had on the oceans tides was that it pulled the ocean up 10,000 ft, so the tides would have been cataclysmic then. (that was long before life started on earth).
over the ages, the moon has spiraled further and further away from the earth.
it will continue to do so until it breaks it's grip with earth, and then the mass of the "earth system" will be reduced.
a planetary collision with earth has happened in the early stages of the solar systems development, and now, most of the asteroids and planetoids have been sucked up by jupiter or saturn or the sun.
the asteroids in the belt between mars and jupiter are all quite stable in their orbits (the asteroid belt is possibly a planet that was destroyed by a collision earlier in the solar system's history as well).
anyway, here is my favorite video of how it may occur if a very large object collided with us.
i think it was rendered by a physics lab in japan.
even though it is grainy, it is extremely realistic to my mind. (except for the speed of the shadow crossing a city which is far too slow).
it seems correct in a "time frame" sense which is rare for representations of this nature.
.
http://www.vimeo.com/8761753