After reading some code, it looks like the Minkowski Portal Refinement method is only used for the ellipsoid/ellipsoid and ellipsoid/sphere cases in the old GeneralContactSubsystem. For the new ContactTrackerSubsystem and other cases of old GeneralContactSubsystem, the contact is determined by check...

I use ContactTrackerSubsystem and CompliantContactSubsystem to do collision detection. I test with two balls. One has radius 1 and the other has radius 0.5. When the two balls are at the same position, the smaller ball is contained by the bigger ball. And the contact number is 0. I am confused. Is M...