Quick question which hopefully won't require thralling through my code.
I have a working implementation of SAT for 3D collision detection but I'm having some problems with dealing with rotated objects. So what I have done, is every frame I rotate every point in both objects by their rotation quaternions. This feels excessive, especially if I am going to be translating/scaling/rotating every vertex in every object on every frame for the collision detection.
I would hope there's a way of implementing my SAT implementation to work with rotated normals only, and not need the rotated projections to compensate, but that doesn't seem to be working.
Could anyone provide me with a brief explanation with how SAT should be expected to handle rotations? Can we rotate certain points, or perhaps get some sort of post-projection rotation value to skew our projections like we can with translations?