private static List <ContactPoint> NarrowPhase(Memory <CollidablePair> pairs)
{
List <ContactPoint> contacts = new List <ContactPoint>();
Span <CollidablePair> pa = pairs.Span;
for (int i = 0; i < pa.Length; i++)
{
RigidbodyHandle a = (RigidbodyHandle)pa[i].a;
RigidbodyHandle b = (RigidbodyHandle)pa[i].b;
if (a.GetBound().IsColliding(a.state[0].transform, b.state[0].transform, b.GetBound()).Length > 0)
{
contacts.AddRange(a.shape.IsColliding(a.state[0].transform, b.state[0].transform, b.shape));
}
}
return(contacts);
}