diff --git a/assets/test_chambers/test_chamber_00/test_chamber_00_0.blend b/assets/test_chambers/test_chamber_00/test_chamber_00_0.blend
index 60374bf..b33aca1 100644
Binary files a/assets/test_chambers/test_chamber_00/test_chamber_00_0.blend and b/assets/test_chambers/test_chamber_00/test_chamber_00_0.blend differ
diff --git a/src/decor/decor_object_list.c b/src/decor/decor_object_list.c
index f22d18e..d8263f2 100644
--- a/src/decor/decor_object_list.c
+++ b/src/decor/decor_object_list.c
@@ -5,9 +5,18 @@
 
 #include "../physics/collision_cylinder.h"
 
+struct Vector2 gCylinderColliderEdgeVectors[] = {
+    {0.0f, 1.0f},
+    {0.707f, 0.707f},
+    {1.0f, 0.0f},
+    {0.707f, -0.707f},
+};
+
 struct CollisionCylinder gCylinderCollider = {
     0.3f,
     0.35f,
+    gCylinderColliderEdgeVectors,
+    sizeof(gCylinderColliderEdgeVectors) / sizeof(*gCylinderColliderEdgeVectors),
 };
 
 struct DecorObjectDefinition gDecorObjectDefinitions[] = {
diff --git a/src/physics/collision_cylinder.c b/src/physics/collision_cylinder.c
index c8a485a..9f5a254 100644
--- a/src/physics/collision_cylinder.c
+++ b/src/physics/collision_cylinder.c
@@ -5,12 +5,14 @@
 #include "collision_quad.h"
 #include "raycasting.h"
 #include "line.h"
+#include "../math/vector2.h"
 
 struct ColliderCallbacks gCollisionCylinderCallbacks = {
     NULL,
     raycastCylinder,
     collisionCylinderSolidMofI,
     collisionCylinderBoundingBox,
+    collisionCylinderMinkowsiSum,
 };
 
 float collisionCylinderSolidMofI(struct ColliderTypeData* typeData, float mass) {
@@ -34,4 +36,50 @@ void collisionCylinderBoundingBox(struct ColliderTypeData* typeData, struct Tran
     quatRotatedBoundingBoxSize(&transform->rotation, &radius, &halfSize);
     vector3Sub(&transform->position, &halfSize, &box->min);
     vector3Add(&transform->position, &halfSize, &box->max);
+}
+
+int collisionCylinderMinkowsiSum(void* data, struct Basis* basis, struct Vector3* direction, struct Vector3* output) {
+    struct CollisionCylinder* cylinder = (struct CollisionCylinder*)data;
+    int centerDir = vector3Dot(&basis->y, direction) > 0.0f;
+
+    vector3Scale(&basis->y, output, centerDir > 0.0f ? cylinder->halfHeight : -cylinder->halfHeight);
+
+    struct Vector2 crossDirectionCheck;
+    crossDirectionCheck.x = vector3Dot(&basis->x, direction);
+    crossDirectionCheck.y = vector3Dot(&basis->z, direction);
+
+
+    float dotDiff = vector2Dot(&crossDirectionCheck, &cylinder->edgeVectors[0]);
+    int closest = 0;
+
+    for (int i = 1; i < cylinder->edgeCount; ++i) {
+        float dotCheck = vector2Dot(&crossDirectionCheck, &cylinder->edgeVectors[i]);
+
+        if (fabsf(dotCheck) > fabsf(dotDiff)) {
+            dotDiff = dotCheck;
+            closest = i;
+        }
+    }
+
+    struct Vector2 crossDirection;
+
+    int faceId = closest;
+
+    if (dotDiff < 0.0f) {
+        faceId += cylinder->edgeCount;
+        vector2Negate(&cylinder->edgeVectors[closest], &crossDirection);
+    } else {
+        crossDirection = cylinder->edgeVectors[closest];
+    }
+
+    int nextId = faceId + 1;
+
+    if (faceId == cylinder->edgeCount * 2) {
+        nextId = 0;
+    }
+
+    vector3AddScaled(output, &basis->x, crossDirection.x * cylinder->radius, output);
+    vector3AddScaled(output, &basis->z, crossDirection.y * cylinder->radius, output);
+
+    return (centerDir ? 0x1 : 0x2) | (1 << (faceId + 2)) | (1 << (nextId + 2));
 }
\ No newline at end of file
diff --git a/src/physics/collision_cylinder.h b/src/physics/collision_cylinder.h
index f4ac4ec..80a9265 100644
--- a/src/physics/collision_cylinder.h
+++ b/src/physics/collision_cylinder.h
@@ -3,15 +3,19 @@
 
 #include "collision_quad.h"
 #include "collision.h"
+#include "../math/vector2.h"
 
 struct CollisionCylinder {
     float radius;
     float halfHeight;
+    struct Vector2* edgeVectors;
+    int edgeCount;
 };
 
 extern struct ColliderCallbacks gCollisionCylinderCallbacks;
 
 float collisionCylinderSolidMofI(struct ColliderTypeData* typeData, float mass);
 void collisionCylinderBoundingBox(struct ColliderTypeData* typeData, struct Transform* transform, struct Box3D* box);
+int collisionCylinderMinkowsiSum(void* data, struct Basis* basis, struct Vector3* direction, struct Vector3* output);
 
 #endif
\ No newline at end of file
diff --git a/src/physics/collision_object.c b/src/physics/collision_object.c
index 3a17ce1..b93bee7 100644
--- a/src/physics/collision_object.c
+++ b/src/physics/collision_object.c
@@ -41,7 +41,6 @@ void collisionObjectCollideWithQuad(struct CollisionObject* object, struct Colli
         return;
     }
 
-    transformPointInverseNoScale(&object->body->transform, &result.contactB, &result.contactB);
     struct ContactManifold* contact = contactSolverGetContactManifold(contactSolver, quadObject, object);
 
     if (!contact) {
@@ -55,6 +54,7 @@ void collisionObjectCollideWithQuad(struct CollisionObject* object, struct Colli
         return;
     }
 
+    transformPointInverseNoScale(&object->body->transform, &result.contactB, &result.contactB);
     contactInsert(contact, &result);
 }
 
diff --git a/src/physics/epa.c b/src/physics/epa.c
index af4346e..577e077 100644
--- a/src/physics/epa.c
+++ b/src/physics/epa.c
@@ -407,7 +407,7 @@ void epaSolve(struct Simplex* startingSimplex, void* objectA, MinkowsiSum object
 
         projection = vector3Dot(&simplex->points[nextIndex], &closestFace->normal);
 
-        if ((projection - closestFace->distanceToOrigin) < 0.00000001f) {
+        if ((projection - closestFace->distanceToOrigin) < 0.001f) {
             break;
         }
 
diff --git a/src/scene/scene.c b/src/scene/scene.c
index 52e0371..840c69a 100644
--- a/src/scene/scene.c
+++ b/src/scene/scene.c
@@ -41,17 +41,17 @@ void sceneInit(struct Scene* scene) {
     portalInit(&scene->portals[0], 0);
     portalInit(&scene->portals[1], PortalFlagsOddParity);
 
-    for (int i = 0; i < MAX_CUBES; ++i) {
-        cubeInit(&scene->cubes[i]);
+    // for (int i = 0; i < MAX_CUBES; ++i) {
+    //     cubeInit(&scene->cubes[i]);
 
-        scene->cubes[i].rigidBody.transform.position.x = 0.0f;
-        scene->cubes[i].rigidBody.transform.position.y = 0.5f;
-        scene->cubes[i].rigidBody.transform.position.z = 6.0f + i;
-        scene->cubes[i].rigidBody.currentRoom = 1;
+    //     scene->cubes[i].rigidBody.transform.position.x = 0.0f;
+    //     scene->cubes[i].rigidBody.transform.position.y = 0.5f;
+    //     scene->cubes[i].rigidBody.transform.position.z = 6.0f + i;
+    //     scene->cubes[i].rigidBody.currentRoom = 1;
 
-        quatAxisAngle(&gRight, M_PI * 0.125f, &scene->cubes[i].rigidBody.transform.rotation);
-        scene->cubes[i].rigidBody.angularVelocity = gOneVec;
-    }
+    //     quatAxisAngle(&gRight, M_PI * 0.125f, &scene->cubes[i].rigidBody.transform.rotation);
+    //     scene->cubes[i].rigidBody.angularVelocity = gOneVec;
+    // }
 
     scene->buttonCount = 1;
     scene->buttons = malloc(sizeof(struct Button) * scene->buttonCount);
@@ -62,14 +62,14 @@ void sceneInit(struct Scene* scene) {
     buttonInit(&scene->buttons[0], &buttonPos, 1);
 
     scene->decorCount = 0;
-    // scene->decor = malloc(sizeof(struct DecorObject*) * scene->decorCount);
-    // struct Transform decorTransform;
-    // transformInitIdentity(&decorTransform);
-    // decorTransform.position.x = 3.0f;
-    // decorTransform.position.y = 2.0f;
-    // decorTransform.position.z = 3.0f;
+    scene->decor = malloc(sizeof(struct DecorObject*) * scene->decorCount);
+    struct Transform decorTransform;
+    transformInitIdentity(&decorTransform);
+    decorTransform.position.x = 3.0f;
+    decorTransform.position.y = 0.5f;
+    decorTransform.position.z = 3.0f;
     // quatAxisAngle(&gRight, 1.0f, &decorTransform.rotation);
-    // scene->decor[0] = decorObjectNew(decorObjectDefinitionForId(DECOR_TYPE_CYLINDER), &decorTransform, 1);
+    scene->decor[0] = decorObjectNew(decorObjectDefinitionForId(DECOR_TYPE_CYLINDER), &decorTransform, 1);
     // vector3Scale(&gForward, &scene->decor[0]->rigidBody.angularVelocity, 10.0f);
     // scene->decor[0]->rigidBody.velocity.y = 1.0f;
     // scene->decor[0]->rigidBody.velocity.z = 1.0f;
@@ -203,15 +203,15 @@ void sceneUpdate(struct Scene* scene) {
     playerUpdate(&scene->player, &scene->camera.transform);
     sceneCheckPortals(scene);
 
-    for (int i = 0; i < MAX_CUBES; ++i) {
-        cubeUpdate(&scene->cubes[i]);
+    // for (int i = 0; i < MAX_CUBES; ++i) {
+    //     cubeUpdate(&scene->cubes[i]);
 
-        if (collisionSceneTestMinkowsiSum(&scene->cubes[i].collisionObject)) {
-            scene->cubes[i].rigidBody.flags |= RigidBodyDebugFlag;
-        } else {
-            scene->cubes[i].rigidBody.flags &= ~RigidBodyDebugFlag;
-        }
-    }
+    //     if (collisionSceneTestMinkowsiSum(&scene->cubes[i].collisionObject)) {
+    //         scene->cubes[i].rigidBody.flags |= RigidBodyDebugFlag;
+    //     } else {
+    //         scene->cubes[i].rigidBody.flags &= ~RigidBodyDebugFlag;
+    //     }
+    // }
     
     collisionSceneUpdateDynamics();