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How does ODE determine contact points in Gazebo?

I was looking at the contact points for the Atlas in the DRCsim package. Each foot has 4 contact points at each vertex of the rectangle. I'd like to know how these points are determined. I've tried looking at the ODE code, but C++ isn't my strong suit so I had some difficulty figuring out what was going on. What I understand is that ODE compares the geometries one by one however it's not possible to compare all points so it only compare a select few points. What I'm trying to understand is what basis are those particular points selected? Why does the Atlas have the 4 contacts set up the way they are, and not some additional points on the heel? Can I add them myself?