Function parry2d::query::details::contact_manifold_halfspace_pfm

pub fn contact_manifold_halfspace_pfm<'a, ManifoldData, ContactData, S2: ?Sized>(
    pos12: &Isometry<Real>, 
    halfspace1: &'a HalfSpace, 
    pfm2: &'a S2, 
    border_radius2: Real, 
    prediction: Real, 
    manifold: &mut ContactManifold<ManifoldData, ContactData>, 
    flipped: bool
) where
    S2: PolygonalFeatureMap,
    ContactData: Default + Copy, 

Computes the contact manifold between a convex shape and a ball.