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Problems with SAT

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I finished the code for separate axes theoren collision detection and after some testing I found out that it dosen't work in some cases. And now I have some questions: 1.) I have 2 objects(A & B) with a position vector and an quaternion for the orientation. Now I want to translate the vertices of A into the objectspace of B: NEWAVector = BOrientation.GetConjugatedQuaternion().Rotate(APosition - BPosition + AOrientation.Rotate(AVector)); Rotate: (pVector = Vector to rotate) Quaternion fHelp = (*this) * Quaternion(pVector, 1) * GetConjugatedQuaternion(); return Vector(fHelp.mX, fHelp.mY, fHelp.mZ); GetConjugatedQuaternion(): return Quaternion(-mX, -mY, -mZ, mW); I have same other questions, but tomorrow I will check the code again and I hope I will find the errors then on my owne. (I can't concentrate anymore :-( ) Berion

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