// #define FOO2(i,j,op) \
// CONTACT(contact,i*skip).pos[0] = p[0] op box.side[j] * R[0+j]; \
// CONTACT(contact,i*skip).pos[1] = p[1] op box.side[j] * R[4+j]; \
// CONTACT(contact,i*skip).pos[2] = p[2] op box.side[j] * R[8+j];
private final void FOO2(
int i,
int j,
int op,
DContactGeomBuffer contacts,
int skip,
DVector3 p,
DMatrix3C R,
DVector3 side) {
contacts.get(i * skip).pos.eqSum(p, R.viewCol(j), op * side.get(j));
}
