internal override void getClosestPoints( ClosestPointInput input, Result output, btIDebugDraw debugDraw, bool swapResults = false )
{
//(void)debugDraw;
//btTransform transformA = input.m_transformA;
//btTransform transformB = input.m_transformB;
btVector3 point, normal;
double timeOfImpact = btScalar.BT_ONE;
double depth = btScalar.BT_ZERO;
// output.m_distance = (double)(BT_LARGE_FLOAT);
//move sphere into triangle space
btTransform sphereInTr; input.m_transformB.inverseTimes( ref input.m_transformA, out sphereInTr );
if( collide( ref sphereInTr.m_origin, out point, out normal, out depth, timeOfImpact, m_contactBreakingThreshold ) )
{
if( swapResults )
{
btVector3 normalOnB; input.m_transformB.m_basis.Apply( ref normal, out normalOnB );
btVector3 normalOnA; normalOnB.Invert( out normalOnA );
btVector3 tmp;
input.m_transformB.Apply( ref point, out tmp );
btVector3 pointOnA; tmp.AddScale( ref normalOnB, depth, out pointOnA );
output.addContactPoint( ref normalOnA, ref pointOnA, depth );
}
else
{
btVector3 tmp, tmp2;
input.m_transformB.m_basis.Apply( ref normal, out tmp );
input.m_transformB.Apply( ref point, out tmp2 );
output.addContactPoint( ref tmp, ref tmp2, depth );
}
}
}
