Local-space collision detection for convex vs convex. Operates in shape A's local space. Shape B's transform is relative to A.
shape B's position in A's local space
shape B's orientation in A's local space
shape A's scale
shape B's scale
shape A's world position (for transforming results back)
shape A's world quaternion (for transforming results back)
Local-space collision detection for convex vs convex. Operates in shape A's local space. Shape B's transform is relative to A.