Function contact_manifold_halfspace_pfm 

pub fn contact_manifold_halfspace_pfm<'a, ManifoldData, ContactData, S2>(
    pos12: &Isometry<f64>,
    halfspace1: &'a HalfSpace,
    pfm2: &'a S2,
    border_radius2: f64,
    prediction: f64,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
    flipped: bool,
)
where
    S2: ?Sized + PolygonalFeatureMap,
    ContactData: Default + Copy,

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