def get_collision_instant(self, collision, time_offset, measured_time): 
	        abs_measured_time = abs(measured_time) 
	        if abs_measured_time < COLLISION_EPSILON: 
	            if is_colliding(*collision): 
	                time_offset += measured_time 
	                self.step_time(measured_time, collision) 
	            return time_offset 
	 
	        time_jump = measured_time/2.0 
	        time_offset += time_jump 
	        self.step_time(time_jump, collision) 
	 
	        colliding = is_colliding(*collision) 
	        time_jump = abs(time_jump) 
	        if colliding: 
	            time_jump = -time_jump 
	 
	        return self.get_collision_instant(collision, time_offset, time_jump)