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Separating axis theorem: rotation around center of mass

c++,math,rotation,rotational-matrices,separating-axis-theorem
The problem is in Polygon::FindAxisLeastPenetration: double Polygon::FindAxisLeastPenetration(unsigned int *faceIndex, const Polygon &polygonA, const Polygon &polygonB) const { double bestDistance = -std::numeric_limits<double>::infinity(); unsigned int bestIndex; for (unsigned int i = 0; i < polygonA.points.size(); i++) { Vector2D n = polygonA.normals[i]; Vector2D nw = polygonA.rotationMatrix * n; //ROTATION Matrix22 buT = polygonB.rotationMatrix.Transposed();...