/// <summary>
///
/// </summary>
/// <param name="_surface"></param>
/// <param name="_geom"></param>
/// <param name="_fdir1"></param>
public dContact( dSurfaceParameters _surface, dContactGeom _geom, dVector3 _fdir1 )
{
surface = _surface;
geom = _geom;
fdir1 = _fdir1;
}
public static extern int dBoxBox( dVector3 p1, dMatrix3 R1, dVector3 side1, dVector3 p2, dMatrix3 R2, dVector3 side2, ref dVector3 normal, ref dReal depth, ref int return_code, int maxc, ref dContactGeom[] contact, int skip );