What I'm asking about here is I've created some graphical debug objects to visualize whats going on under the hood with my algorithms. I've created a small sphere at the point of contact between two bodies, and it seems to follow the vertex properly, but it seems to be following the wrong vertex. I was running into an issue before where I was computing the point to draw it at using my right handed rotations, but converting the graphical point to one computed by a left handed rotation seemed to fix that problem.
I know this question is kind of complicated, but what I'm trying to figure out is whether I'm computing the wrong point or if its the graphics drawing things a little bit unexpectedly. Heres a screenshot of the issue in question, the box is colliding with the ground, and that white circle is corresponding to the vertex that is computed as being in contact with the ground, which its clearly not.
I'll do my best to clarify anything I can, I'm really trying to figure out whats going wrong here.
