This is intended to be used with TGJKShape, TGJKCoreShape, TGJKShapeTransformed and TGJKCoreShapeTransformed and generally you will have a TGJKShape or TGJKCoreShape as A, and a Transformed version for B. The transform in B should transform a vector in B space to a vector in A space as all calculations are performed in the local- space of object A.