void DrawAABBOnContact(Node node, Transform transform)
 {
     ExtDebug.DrawTransformedBox(node.aabb.origin, node.aabb.halfExtents * 2f, transform.localToWorldMatrix, ExtDebug.RandomColor());
 }
 void DrawAABBTree(Node node, Transform transform)
 {
     //We add a small offset to make it easier to see overlapping AABBs.
     ExtDebug.DrawTransformedBox(node.aabb.origin + (Vector3.one * UnityEngine.Random.Range(0f, .001f)), node.aabb.halfExtents * 2f, transform.localToWorldMatrix, ExtDebug.RandomColor());
 }