//
static void Initialize( btConvexShape shape0, ref btTransform wtrs0,
btConvexShape shape1, ref btTransform wtrs1,
out btGjkEpaSolver2.sResults results,
tShape shape,
bool withmargins )
{
/* Results */
results.normal = btVector3.xAxis;
results.witness0 =
results.witness1 = btVector3.Zero;
results.status = btGjkEpaSolver2.sResults.eStatus.Separated;
results.distance = 0;
/* Shape */
shape.m_shape0 = shape0;
shape.m_shape1 = shape1;
wtrs1.m_basis.transposeTimes( ref wtrs0.m_basis, out shape.m_toshape1 );
wtrs0.inverseTimes( ref wtrs1, out shape.m_toshape0 );
shape.EnableMargin( withmargins );
}