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(); }