public static void TestCollision(ICollidable o, List<Edge> edges, double frameTime)
{
	//Applying Separating Axis theorem
	//First find all the axis
	List<Vector> axis = new List<Vector>();
	axis.Add(new Vector(1,0)); // Bounding box axis 1
	axis.Add(new Vector(0,1)); // Bounding box axis 2
	axis.Add(new Vector());    //Line segment axis 1
	axis.Add(new Vector());	   //Line segment axis 2
	
	double minimumCollisionTime = double.PositiveInfinity;
	Edge firstCollisionEdge = null;
	CollisionResult finalResult = new CollisionResult();
	
	Vector velocity = o.Velocity * frameTime;
	finalResult.MinimumTranslationVector = o.Velocity * frameTime;
	finalResult.FrameTime = frameTime;
	
	foreach (Edge e in edges)
	{
		CollisionResult result = new CollisionResult();
		result.IsIntersecting = true;
		result.WillIntersect = true;
		double collisionTime = double.NegativeInfinity;
		
		Vector translationAxis = new Vector();
		
		//Ignore edges facing the same way as we move
		if (e.Normal.DotProduct(velocity) > 0) continue;
		
		//Calculate the axis of the edge
		Vector v = (e.P2-e.P1).Normalize();
		axis[2] = v;
		axis[3] = new Vector(-v.Y, v.X);
		
		foreach (Vector a in axis)
		{
			//Project line and box
			Projection prj1 = ProjectBox(o.BoundingBox, a);
			Projection prj2 = ProjectLine(e.P1, e.P2, a);

			//Check if projections overlap in the first place
			double distance = prj1.GetDistance(prj2);
			if (distance > 0)
				result.IsIntersecting = false;

			if (distance >= 0)
			{
				//Find the velocity along the axis and see if we'll ever intersect
				double velAxis = a.DotProduct(velocity);
				if (velAxis == 0 && distance > 0)
					result.WillIntersect = false;

				//Calculate the time it takes to travel the distance
				if (result.WillIntersect)
				{
					double t = (prj2.Max - prj1.Min) / velAxis;
					
					if (t > collisionTime) collisionTime = t;
					
					//If it takes more than 1 frame (or less than 0) to collide, it won't happen
					if (collisionTime > 1 || collisionTime < 0)
						result.WillIntersect = false;
				}
			}
			
			if (!result.IsIntersecting && !result.WillIntersect) break;
		}
		
		if (collisionTime > 1 || collisionTime < 0)
			result.WillIntersect = false;
		
		//Already intersected
		if (result.IsIntersecting && !result.WillIntersect)
		{
			result.MinimumTranslationVector = -velocity;
			finalResult = result;
			firstCollisionEdge = e;
		}
		//Intersection happens during the next frame
		else if (result.WillIntersect)
		{
			result.MinimumTranslationVector = velocity * collisionTime;
			
			if (result.MinimumTranslationVector.Length < finalResult.MinimumTranslationVector.Length)
				{
					finalResult = result;
					firstCollisionEdge = e;
				}
		} 
	}
	
	if (firstCollisionEdge != null)
		collisionEvents.Add(new CollisionEvent(o, firstCollisionEdge, finalResult));
}