code: function(x,y,z,normalX,normalY,normalZ,penetration,flip){
          var p=this.points[this.numPoints++];
          p.position.x=x;
          p.position.y=y;
          p.position.z=z;
          var r=this.body1.rotation;
          var rx=x-this.body1.position.x;
          var ry=y-this.body1.position.y;
          var rz=z-this.body1.position.z;
  
          var tr = r.elements;
          p.localPoint1.x=rx*tr[0]+ry*tr[3]+rz*tr[6];
          p.localPoint1.y=rx*tr[1]+ry*tr[4]+rz*tr[7];
          p.localPoint1.z=rx*tr[2]+ry*tr[5]+rz*tr[8];
          r=this.body2.rotation;
          rx=x-this.body2.position.x;
          ry=y-this.body2.position.y;
          rz=z-this.body2.position.z;
          p.localPoint2.x=rx*tr[0]+ry*tr[3]+rz*tr[6];
          p.localPoint2.y=rx*tr[1]+ry*tr[4]+rz*tr[7];
          p.localPoint2.z=rx*tr[2]+ry*tr[5]+rz*tr[8];
  
          p.normalImpulse=0;
          if(flip){
              p.normal.x=-normalX;
              p.normal.y=-normalY;
              p.normal.z=-normalZ;
          }else{
              p.normal.x=normalX;
              p.normal.y=normalY;
              p.normal.z=normalZ;
          }
          p.penetration=penetration;
          p.warmStarted=false;
      }
docs: Add a point into this manifold.
  @param   x
  @param   y
  @param   z
  @param   normalX
  @param   normalY
  @param   normalZ
  @param   penetration
  @param   flip