Remove double transpose

csg/src/brush.rs

@@ -68,6 +68,25 @@ impl Brush {
         self.aabb.intersects(other.get_aabb())
     }
 
+    pub fn planes_intersect_with(&self, other: &Brush) -> bool {
+        // TODO: Benchmark this
+        // Check our vertices against their planes
+        for pi in &self.raw_vertices {
+            if other.planes.iter().all(|bp| pi.in_halfspace_mat(&bp.plane)) {
+                return true;
+            }
+        }
+
+        // Check their vertices against our planes
+        for pi in &other.raw_vertices {
+            if self.planes.iter().all(|bp| pi.in_halfspace_mat(&bp.plane)) {
+                return true;
+            }
+        }
+
+        false
+    }
+
     pub fn get_vertices(&self) -> Vec<Vec3> {
         self.vertices.clone()
     }

csg/src/plane.rs

@@ -110,7 +110,11 @@ impl PlaneIntersection {
         let d1 = m1.determinant();
 
         // We can resolve the winding order problem by multiplying by the normal matrix determinant
-        let m2 = self.get_matrix().transpose();
+        let m2 = glam::mat3(
+            self.planes[0].normal,
+            self.planes[1].normal,
+            self.planes[2].normal,
+        );
         let d2 = m2.determinant();
         let dist = d1 * d2;