public void GImpactVsConcave( CollisionObject body0, CollisionObject body1, GImpactShapeInterface shape0, ConcaveShape shape1, bool swapped) { GImpactTriangleCallback tricallback = new GImpactTriangleCallback(); tricallback.algorithm = this; tricallback.body0 = body0; tricallback.body1 = body1; tricallback.gimpactshape0 = shape0; tricallback.swapped = swapped; tricallback.margin = shape1.GetMargin(); //getting the trimesh AABB IndexedMatrix gimpactInConcaveSpace; gimpactInConcaveSpace = body1.GetWorldTransform().Inverse() * body0.GetWorldTransform(); IndexedVector3 minAABB, maxAABB; shape0.GetAabb(gimpactInConcaveSpace, out minAABB, out maxAABB); shape1.ProcessAllTriangles(tricallback, ref minAABB, ref maxAABB); }