function convexIntersectWall(context, convex, wall) {
    if (convex.type === WALL) {
        var temp = wall;
        wall = convex;
        convex = temp;
    }

    var convexPos = convex.position;
    var wallPos = wall.position;

    var n = wall.normal;
    var invN = wall.invNormal;

    var rConvex = convex.support(invN);
    var wConvex = Vec3.add(convexPos, rConvex, new Vec3());

    var diff = Vec3.subtract(wConvex, wallPos, VEC_REGISTER);

    var penetration = Vec3.dot(diff, invN);

    if (penetration < 0) return;

    var wWall = Vec3.scale(n, penetration, new Vec3()).add(wConvex);
    var rWall = Vec3.subtract(wWall, wall.position, new Vec3());

    var collisionData = oMRequestCollisionData().reset(penetration, invN, wConvex, wWall, rConvex, rWall);

    context.contactManifoldTable.registerContact(convex, wall, collisionData);
}
Detects convex-wall collisions and registers the Contact.

@param {Object} context The Collision instance.
@param {Particle} convex The convex body collider.
@param {Wall} wall The wall collider.
@return {undefined} undefined