   Collision detection with rotating objects
  Hey there,i'm coding a 3D particleenginge. these particles are able to collide with models.for the collision detection i'm using the polygons of the model. what i got is the collision with moving objects(translation) and i even take notice of the objects speed so i can transfer this speed to a particle that collides.problem now is how to handle rotation (its not a problem to rotate the object and then collide!! - its a problem to take notice of the speed the object has at the position of collision)is there something like a tutorial that discribes the collision for rotating objects with a correct transfer of energy between them? some hints?for example i had a problem with the following:as you can see, the object has different speeds of rotation at different positions. so somehow i have to pic the right speed for each position.thanks & greezseilz   