function convexIntersectConvex(context, convex1, convex2) {
    var glkSimplex = gjk(convex1, convex2);

    // No simplex -> no collision
    if (!glkSimplex) return;

    var collisionData = epa(convex1, convex2, glkSimplex);
    if (collisionData !== null) context.contactManifoldTable.registerContact(convex1, convex2, collisionData);
}
Detects convex-convex collisions and registers the Contact. Uses GJK to determine overlap and then
EPA to determine the actual collision data.

@param {Object} context The Collision instance.
@param {Particle} convex1 One convex body collider.
@param {Particle} convex2 The other convex body collider.
@return {undefined} undefined