static int FindVertsFallback(Arbiter &output_arb, SimBody *poly1, SimBody *poly2, const float2 n, const float dist) { int num = 0; Arbiter &arb = output_arb; for(unsigned int i=0; i<poly1->vertices.size(); i++) { float2 v = poly1->transformedVertices[i]; if(PolyShapeContainsVertPartial(poly2, v, n.negate())) { arb.AddContact(InitContactPoint(v, n, dist, HASH_PAIR(poly1->hashid, i))); } } for(unsigned int i=0; i<poly2->vertices.size(); i++) { float2 v = poly2->transformedVertices[i]; if(PolyShapeContainsVertPartial(poly1, v, n)) { arb.AddContact(InitContactPoint(v, n, dist, HASH_PAIR(poly2->hashid, i))); } } num = arb.numContacts; return num; }