code: function obbVsSphere(contactPoint, contactNormal, obb, sphere) {
    findClosestPointFromObbToPoint(contactPoint, obb, sphere.centerOfVolume);
    vec3.subtract(contactNormal, sphere.centerOfVolume, contactPoint);
    vec3.normalize(contactNormal, contactNormal);
  }
docs: Finds the closest point anywhere inside the OBB to the center of the sphere.
  
  @param {vec3} contactPoint Output param.
  @param {vec3} contactNormal Output param.
  @param {Obb} obb
  @param {Sphere} sphere