public void Initialize(CollisionFunctor cf, PolyhedronPart a, MeshPart b, Vector3 delta)
{
_cf = cf;
_a = a;
_b = b;
_delta = delta;
_useSweptTest = _delta != Vector3.Zero;
Depth = float.MaxValue;
a.Center(out _center);
// transform bounding box to body space
b.BoundingBox(out BoundingBox);
AlignedBox.Transform(ref BoundingBox, ref b.TransformInverse, out BoundingBox);
}
