public void Initialize( btDispatcher dispatcher, btCollisionObjectWrapper body0Wrap, btCollisionObjectWrapper body1Wrap, bool isSwapped )
{
m_dispatcher = ( dispatcher );
m_dispatchInfoPtr = ( null );
m_convexBodyWrap = isSwapped ? body1Wrap : body0Wrap;
m_triBodyWrap = isSwapped ? body0Wrap : body1Wrap;
//
// create the manifold from the dispatcher 'manifold pool'
//
m_manifoldPtr = m_dispatcher.getNewManifold( m_convexBodyWrap.m_collisionObject, m_triBodyWrap.m_collisionObject );
clearCache();
}
