anchor.diff:  
       switch (type) {
         case SeparationFunctionType.POINTS:
  -        Rot.mulTransUnsafeVec2(_xfa.q, axis, _axisA);
  -        Rot.mulTransUnsafeVec2(_xfb.q, axis..negate(), _axisB);
  -        axis.negate();
  -
           _localPointA.setFrom(proxyA.getVertex(indexA));
           _localPointB.setFrom(proxyB.getVertex(indexB));
   
  
positive.code:       case SeparationFunctionType.FACE_B:
          Rot.mulToOutUnsafe(_xfb.q, axis, _normal);
          Transform.mulToOutUnsafeVec2(_xfb, localPoint, _pointB);
  
          Rot.mulTransUnsafeVec2(_xfa.q, _normal..negate(), _axisA);
          _normal.negate();
  
          _localPointA.setFrom(proxyA.getVertex(indexA));
          Transform.mulToOutUnsafeVec2(_xfa, _localPointA, _pointA);
  
negative.code:  * @author daniel
   */
  class TimeOfImpact {
    static const int MAX_ITERATIONS = 20;
    static const int MAX_ROOT_ITERATIONS = 50;
  
    static int toiCalls = 0;
    static int toiIters = 0;
  