internal void Initialize( btConvexShape objectA, btConvexShape objectB, btSimplexSolverInterface simplexSolver , btConvexPenetrationDepthSolver penetrationDepthSolver ) { m_cachedSeparatingAxis = btVector3.yAxis; m_penetrationDepthSolver = ( penetrationDepthSolver ); m_simplexSolver = ( simplexSolver ); m_minkowskiA = ( objectA ); m_minkowskiB = ( objectB ); m_shapeTypeA = ( objectA.getShapeType() ); m_shapeTypeB = ( objectB.getShapeType() ); m_marginA = ( objectA.getMargin() ); m_marginB = ( objectB.getMargin() ); m_ignoreMargin = ( false ); m_lastUsedMethod = ( -1 ); m_catchDegeneracies = ( 1 ); m_fixContactNormalDirection = ( 1 ); }