public static void ClipHullAgainstHull(ref IndexedVector3 separatingNormal1, ConvexPolyhedron hullA, ConvexPolyhedron hullB, ref IndexedMatrix transA, ref IndexedMatrix transB, float minDist, float maxDist, IDiscreteCollisionDetectorInterfaceResult resultOut) { IndexedVector3 separatingNormal = separatingNormal1.Normalized(); IndexedVector3 c0 = transA * hullA.m_localCenter; IndexedVector3 c1 = transB * hullB.m_localCenter; IndexedVector3 DeltaC2 = c0 - c1; float curMaxDist = maxDist; int closestFaceB = -1; float dmax = float.MinValue; { for (int face = 0; face < hullB.m_faces.Count; face++) { IndexedVector3 Normal = new IndexedVector3(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]); IndexedVector3 WorldNormal = transB._basis * Normal; float d = IndexedVector3.Dot(WorldNormal, separatingNormal); if (d > dmax) { dmax = d; closestFaceB = face; } } } // setup initial clip face (minimizing face from hull B) ObjectArray<IndexedVector3> worldVertsB1 = new ObjectArray<IndexedVector3>(); { Face polyB = hullB.m_faces[closestFaceB]; int numVertices = polyB.m_indices.Count; for (int e0 = 0; e0 < numVertices; e0++) { IndexedVector3 b = hullB.m_vertices[polyB.m_indices[e0]]; // check this to see if it is transposed version worldVertsB1.Add(transB * b); } } if (closestFaceB >= 0) { ClipFaceAgainstHull(ref separatingNormal, hullA, ref transA, worldVertsB1, minDist, maxDist, resultOut); } }