Function b2CollideChainSegmentAndPolygon 

pub unsafe extern "C" fn b2CollideChainSegmentAndPolygon(
    segmentA: *const b2ChainSegment,
    polygonB: *const b2Polygon,
    xf: b2Transform,
    cache: *mut b2SimplexCache,
) -> b2LocalManifold

Compute the contact manifold between a chain segment and a rounded polygon