diff --git a/engine/physics/src/minimum_difference.rs b/engine/physics/src/minimum_difference.rs
index 51c664d2..c951debd 100644
--- a/engine/physics/src/minimum_difference.rs
+++ b/engine/physics/src/minimum_difference.rs
@@ -130,7 +130,7 @@ fn reduce_simplex(
 			// if p_u >= 0 then
 			if !p_u.is_negative(){
 				// local direction = u:Cross(p):Cross(u)
-				let mut direction=u.cross(p).cross(u);
+				let direction=u.cross(p).cross(u);
 
 				// if direction.magnitude == 0 then
 				if direction==const{Vector3::new([Fixed::ZERO,Fixed::ZERO,Fixed::ZERO])}{
@@ -204,7 +204,7 @@ fn reduce_simplex(
 			// local uDist = uv_up/(u_u*v.magnitude)
 			// local vDist = uv_pv/(v_v*u.magnitude)
 			// local minDist2 = math.min(uDist, vDist)
-			let u_u=u.dot(u);
+			let mut u_u=u.dot(u);
 			let v_v=v.dot(v);
 			let u_dist=uv_up*(v_v*u.length());
 			let v_dist=uv_pv*(u_u*v.length());
@@ -333,43 +333,83 @@ fn reduce_simplex(
 			// local pv = p:Cross(v)
 			// local uv_up = uv:Dot(up)
 			// local uv_pv = uv:Dot(pv)
+			let mut up = u.cross(p);
+			let pv = p.cross(v);
+			let uv_up = uv.dot(up);
+			let uv_pv = uv.dot(pv);
 
 			// if uv_up >= 0 and uv_pv >= 0 then
-			// 	local direction = uvw < 0 and uv or -uv
-			// 	return direction, a0, a1, b0, b1, c0, c1
-			// end
+			if !uv_up.is_negative()&&!uv_pv.is_negative(){
+				// local direction = uvw < 0 and uv or -uv
+				// return direction, a0, a1, b0, b1, c0, c1
+				if uv_w.is_negative(){
+					return (uv.narrow_1().unwrap(),simplex);
+				}else{
+					return (-uv.narrow_1().unwrap(),simplex);
+				}
+			}
 
 			// local u_u = u:Dot(u)
 			// local v_v = v:Dot(v)
 			// local uDist = uv_up/(u_u*v.magnitude)
 			// local vDist = uv_pv/(v_v*u.magnitude)
 			// local minDist2 = math.min(uDist, vDist)
+			let mut u_u=u.dot(u);
+			let v_v=v.dot(v);
+			let u_dist=uv_up*(v_v*u.length());
+			let v_dist=uv_pv*(u_u*v.length());
 
 			// if vDist == minDist2 then
-			// 	u = v
-			// 	b0 = c0
-			// 	b1 = c1
-			// 	up = -pv
-			// 	uv = -uv
-			// 	u_u = v_v
-			// end
+			if v_dist<u_dist{
+				u=v;
+				up=-pv;
+				uv=-uv;
+				u_u=v_v;
+				// b0 = c0
+				// b1 = c1
+				simplex[1]=simplex[2];
+			}
+
+			simplex.pop();
 
 			// local p_u = p:Dot(u)
+			let p_u=p.dot(u);
 
 			// if p_u >= 0 then
-			// 	local direction = up:Cross(u)
-			// 	if direction.magnitude == 0 then
-			// 		direction = uvw < 0 and uv or -uv
-			// 	end
-			// 	return direction, a0, a1, b0, b1
-			// end
+			if !p_u.is_negative(){
+				// local direction = up:Cross(u)
+				let direction=up.cross(u);
+				// if direction.magnitude == 0 then
+				if direction==vec3::zero(){
+					// direction = uvw < 0 and uv or -uv
+					// return direction, a0, a1, b0, b1
+					if uv_w.is_negative(){
+						return (uv.narrow_1().unwrap(),simplex);
+					}else{
+						return (-uv.narrow_1().unwrap(),simplex);
+					}
+				}
+
+				// return direction, a0, a1, b0, b1
+				return (direction.narrow_1().unwrap(),simplex)
+			}
+
+			simplex.pop();
 
 			// local direction = p
+			let direction=p;
 			// if direction.magnitude == 0 then
-			// 	direction = uvw < 0 and uv or -uv
-			// end
+			if direction==vec3::zero(){
+				// direction = uvw < 0 and uv or -uv
+				if uv_w.is_negative(){
+					return (uv.narrow_1().unwrap(),simplex);
+				}else{
+					return (-uv.narrow_1().unwrap(),simplex);
+				}
+			}
+
 			// return direction, a0, a1
-			(_,_)
+			(direction,simplex)
 		},
 		_=>unreachable!(),
 	}