I didn't fly to Tahoe to have sex with Mr Cosby [but] it was occurring.
"He wasn't the only contender", she quipped.
"It's all a fabrication there", Dickinson said, referring to the book.
Dickinson, the fourth accuser to take the witness stand at Cosby's sex assault retrial, told jurors she was "rendered motionless" by the pill as Cosby got on top of her in his Lake Tahoe, California, hotel room.
The 80-year-old comedian says his sexual encounter with Constand was consensual.
Once at the hotel, she said she tested out her vocal range with Cosby's musical director, watched Cosby perform and then joined the two men for dinner at the hotel.
Dickinson's appearance was one of the most highly anticipated moments of his retrial on charges of drugging and sexually assaulting Ms Andrea Constand, a former Temple University women's basketball official.
Five other women have spent the week telling jurors that the entertainer is a serial rapist who also harmed them. On the witness stand, Dickinson cut a striking figure, tall and slender with long brunette hair parted in the middle.
Defense attorneys noted that there were differences between her testimony and what she wrote about in her 2002 biography.
Cosby then took her back to his room, where Dickinson, 27 at the time, shot several pictures of him with her Polaroid camera that were projected in court.
Janice Baker-Kinney returned to the witness stand Thursday after punctuating the first two hours of her testimony with a firm declaration: "I was raped".
"These women proved that they were here to back up their sister - they got their sister's back", Cosby spokesman Andrew Wyatt said Thursday outside court. She said that's where she started to get cramps, and that's when Cosby produced a little blue pill.
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Dickinson said she also wanted to include the alleged rape in her memoir, but her publisher and ghost writer advised against it.
First trial: "He opened his hand and he had three blue pills in his hand". However, things took a different turn as she felt dizzy afterward.
Dickinson further revealed, "I couldn't move".
But the thoughts running through her head and the sensations of that night have stayed with her ever since: "America's Dad on top of me", Cosby's cigar-breath and his body odor. She said she's never paid Allred, hasn't been paid by the lawyer and hasn't been involved litigation against Cosby.
The Canadian massage therapist Bill Cosby is accused of drugging and molesting 14 years ago testified Friday that she went "limp and could not fight him off". She was very sore and noticed semen between her legs and felt anal pain, she testified.
Dickinson said she was sitting on Cosby's bed while he changed into a bathrobe and made a phone call.
"My vagina was being penetrated quite forcefully", she said. She said Cosby looked at her "like I was crazy" when she confronted him about what had happened. Later, in his room, she took a couple of snapshots of him. "I said you're married how did this happen why did you do it?"
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Dickinson has been the only celebrity to testify against the comedian.
"He said, 'Will you fly economy?' And I said, 'No, I will fly first class.' He tried to get me to fly economy". "Don't call me a liar".
The trial is over three counts of sexual assault against Andrea Constand in 2004, but it's giving women whose accusations are past the statute of limitations the chance to tell their stories. Her credibility is key to the outcome of the case.
Dickinson has also written several books, including Everything About Me Is Fake.And I'm flawless and No Lifeguard on Duty, and taken up photography.