bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)