Function contact_manifold_pfm_pfm 

pub fn contact_manifold_pfm_pfm<'a, ManifoldData, ContactData, S1, S2>(
    pos12: &Isometry<f64>,
    pfm1: &'a S1,
    border_radius1: f64,
    normal_constraints1: Option<&dyn NormalConstraints>,
    pfm2: &'a S2,
    border_radius2: f64,
    normal_constraints2: Option<&dyn NormalConstraints>,
    prediction: f64,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
)
where
    S1: ?Sized + PolygonalFeatureMap,
    S2: ?Sized + PolygonalFeatureMap,
    ManifoldData: Default,
    ContactData: Default + Copy,

Computes the contact manifold between two convex shapes implementing the PolygonalSupportMap trait.