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You mentioned using GJK, but that you stepped away from it because they were using things that are more complicated than boxes. Might I suggest that you stepped away too soon? Because GJK uses support maps, you can use GJK for any convex shape, including OBBs, for which a support mapping is defined. So, if you know how to define the support function for an ...

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I converted to using a quarternion to hold the value of the rotation which I could readily create from the normals, so the "fix" was for me to understand how rotations work better. For the libraries I was using, the fix was simply: val q = Quaternionf().setFromNormalized(axes) gameItem.setRotation(q) Here's an image from inside the torus better ...

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3 direction unit vectors contain all the needed information for rotation. So there are 2 solutions: Having calculated the centres and the 3 direction unit vectors you can build a matrix that would transform local space mesh to world space. GameItem would have single Matrix4f field instead of position, scale and rotation fields. You then just pass actual ...

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