diff --git a/Assets/Scenes/PhysicsSandbox.shade b/Assets/Scenes/PhysicsSandbox.shade
index 4230dcb8..632dd485 100644
--- a/Assets/Scenes/PhysicsSandbox.shade
+++ b/Assets/Scenes/PhysicsSandbox.shade
@@ -5,7 +5,7 @@
   Components:
     Transform Component:
       Translate: {x: 2.72256827, y: 0.501797795, z: -0.0273017883}
-      Rotate: {x: -1.48352849, y: -4.78713309e-06, z: 0.469859391}
+      Rotate: {x: 0, y: 0, z: 0.436332315}
       Scale: {x: 4.61070776, y: 0.99999392, z: 0.999996722}
       IsActive: true
     RigidBody Component:
@@ -66,7 +66,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: -2.49145222, y: 6.17996597, z: 0.811235607}
+      Translate: {x: -2.01111817, y: 7, z: 0.695722342}
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
@@ -112,7 +112,7 @@
   Components:
     Transform Component:
       Translate: {x: 0, y: 4.09544182, z: 0}
-      Rotate: {x: -0, y: 0, z: 0}
+      Rotate: {x: -0, y: 0, z: -0.436332315}
       Scale: {x: 4.61071014, y: 0.999995887, z: 1}
       IsActive: true
     RigidBody Component:
diff --git a/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp b/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
index e84bd16b..568d33a3 100644
--- a/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
+++ b/SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp
@@ -73,6 +73,7 @@ namespace SHADE
     contact.featurePair.key = 0;
 
     // Check if center is inside polyhedron (below the face)
+    // TODO: Change to a point in polygon test.
     if (FACE_QUERY.bestDistance < SHMath::EPSILON)
     {
       manifold.normal = -POLYHEDRON.GetNormal(FACE_QUERY.closestFace);
@@ -116,112 +117,111 @@ namespace SHADE
     // 2. Same side as adjacent normal
 
     // Check in regions A
+    const int32_t P2_INDEX = (CLOSEST_POINT + 1) % NUM_VERTICES;
+    const SHVec3 P2 = POLYHEDRON.GetVertex(FACE.vertexIndices[P2_INDEX].index);
+
+    SHVec3 tangent = SHVec3::Normalise(P2 - P1);
+
+    float projection = SHVec3::Dot(P1_TO_CENTER, tangent);
+
+    if (projection >= 0.0f)
     {
-      const int32_t P2_INDEX = (CLOSEST_POINT + 1) % NUM_VERTICES;
-      const SHVec3 P2 = POLYHEDRON.GetVertex(FACE.vertexIndices[P2_INDEX].index);
+      // Find closest point
+      const SHVec3 CP = P1 + projection * tangent;
 
-      const SHVec3 TANGENT = SHVec3::Normalise(P2 - P1);
+      // Check 2nd condition
+      // Get adjacent normal from twin half edge
+      const int32_t EDGE_INDEX  = FACE.vertexIndices[CLOSEST_POINT].edgeIndex;
+      const int32_t TWIN_EDGE   = HALF_EDGE_STRUCTURE->GetHalfEdge(EDGE_INDEX).twinEdgeIndex;
 
-      float projection = SHVec3::Dot(P1_TO_CENTER, TANGENT);
+      const int32_t ADJ_FACE    = HALF_EDGE_STRUCTURE->GetHalfEdge(TWIN_EDGE).faceIndex;
+      const SHVec3& ADJ_NORMAL  = POLYHEDRON.GetNormal(ADJ_FACE);
 
+      projection = SHVec3::Dot(P1_TO_CENTER, ADJ_NORMAL);
       if (projection >= 0.0f)
       {
-        // Find closest point
-        const SHVec3 CP = P1 + projection * TANGENT;
+        // Must be smaller than radius
+        if (projection >= RADIUS)
+          return false;
 
-        // Check 2nd condition
-        // Get adjacent normal from twin half edge
-        const int32_t EDGE_INDEX  = FACE.vertexIndices[CLOSEST_POINT].edgeIndex;
-        const int32_t TWIN_EDGE   = HALF_EDGE_STRUCTURE->GetHalfEdge(EDGE_INDEX).twinEdgeIndex;
+        const SHVec3 CP_TO_CENTER = CENTER - CP;
 
-        const int32_t ADJ_FACE    = HALF_EDGE_STRUCTURE->GetHalfEdge(TWIN_EDGE).faceIndex;
-        const SHVec3& ADJ_NORMAL  = POLYHEDRON.GetNormal(ADJ_FACE);
+        manifold.normal = -SHVec3::Normalise(CP_TO_CENTER);
 
-        projection = SHVec3::Dot(P1_TO_CENTER, ADJ_NORMAL);
-        if (projection >= 0.0f)
-        {
-          // Must be smaller than radius
-          if (projection >= RADIUS)
-            return false;
+        contact.penetration = RADIUS - SHVec3::Dot(CP_TO_CENTER, -manifold.normal);
+        contact.position = CP;
 
-          const SHVec3 CP_TO_CENTER = CENTER - CP;
+        manifold.contacts[numContacts++] = contact;
+        manifold.numContacts = numContacts;
 
-          manifold.normal = -SHVec3::Normalise(CP_TO_CENTER);
-
-          contact.penetration = RADIUS - SHVec3::Dot(CP_TO_CENTER, -manifold.normal);
-          contact.position = CP;
-
-          manifold.contacts[numContacts++] = contact;
-          manifold.numContacts = numContacts;
-
-          return true;
-        }
+        return true;
       }
     }
     
     // Check in region B
+    const int32_t P3_INDEX = CLOSEST_POINT == 0 ? NUM_VERTICES - 1 : CLOSEST_POINT - 1;
+    const SHVec3 P3 = POLYHEDRON.GetVertex(FACE.vertexIndices[P3_INDEX].index);
+
+    tangent = SHVec3::Normalise(P3 - P1);
+
+    projection = SHVec3::Dot(P1_TO_CENTER, tangent);
+
+    if (projection >= 0.0f)
     {
-      const int32_t P3_INDEX = CLOSEST_POINT == 0 ? NUM_VERTICES - 1 : CLOSEST_POINT - 1;
-      const SHVec3 P3 = POLYHEDRON.GetVertex(FACE.vertexIndices[P3_INDEX].index);
+      // Find closest point
+      const SHVec3 CP = P1 + projection * tangent;
 
-      const SHVec3 TANGENT = SHVec3::Normalise(P3 - P1);
+      // Check 2nd condition
+      // Get adjacent normal from twin half edge
+      const int32_t EDGE_INDEX  = FACE.vertexIndices[P3_INDEX].edgeIndex;
+      const int32_t TWIN_EDGE   = HALF_EDGE_STRUCTURE->GetHalfEdge(EDGE_INDEX).twinEdgeIndex;
 
-      float projection = SHVec3::Dot(P1_TO_CENTER, TANGENT);
+      const int32_t ADJ_FACE    = HALF_EDGE_STRUCTURE->GetHalfEdge(TWIN_EDGE).faceIndex;
+      const SHVec3& ADJ_NORMAL  = POLYHEDRON.GetNormal(ADJ_FACE);
 
+      projection = SHVec3::Dot(P1_TO_CENTER, ADJ_NORMAL);
       if (projection >= 0.0f)
       {
-        // Find closest point
-        const SHVec3 CP = P1 + projection * TANGENT;
+        // Must be smaller than radius
+        if (projection >= RADIUS)
+          return false;
 
-        // Check 2nd condition
-        // Get adjacent normal from twin half edge
-        const int32_t EDGE_INDEX  = FACE.vertexIndices[P3_INDEX].edgeIndex;
-        const int32_t TWIN_EDGE   = HALF_EDGE_STRUCTURE->GetHalfEdge(EDGE_INDEX).twinEdgeIndex;
+        const SHVec3 CP_TO_CENTER = CENTER - CP;
 
-        const int32_t ADJ_FACE    = HALF_EDGE_STRUCTURE->GetHalfEdge(TWIN_EDGE).faceIndex;
-        const SHVec3& ADJ_NORMAL  = POLYHEDRON.GetNormal(ADJ_FACE);
+        manifold.normal = -SHVec3::Normalise(CP_TO_CENTER);
 
-        projection = SHVec3::Dot(P1_TO_CENTER, ADJ_NORMAL);
-        if (projection >= 0.0f)
-        {
-          // Must be smaller than radius
-          if (projection >= RADIUS)
-            return false;
+        contact.penetration = RADIUS - SHVec3::Dot(CP_TO_CENTER, -manifold.normal);
+        contact.position = CP;
 
-          const SHVec3 CP_TO_CENTER = CENTER - CP;
+        manifold.contacts[numContacts++] = contact;
+        manifold.numContacts = numContacts;
 
-          manifold.normal = -SHVec3::Normalise(CP_TO_CENTER);
-
-          contact.penetration = RADIUS - SHVec3::Dot(CP_TO_CENTER, -manifold.normal);
-          contact.position = CP;
-
-          manifold.contacts[numContacts++] = contact;
-          manifold.numContacts = numContacts;
-
-          return true;
-        }
+        return true;
       }
     }
 
-    // Either region C or D. Take whichever depth is smaller
+    // Region C has a negative dot product with any of the tangents.
 
-    const float C_PENETRATION = RADIUS - P1_TO_CENTER.Length();
-
-    if (std::fabs(C_PENETRATION) < RADIUS && std::fabs(C_PENETRATION) < PENETRATION)
+    projection = SHVec3::Dot(P1_TO_CENTER, tangent);
+    if (projection < 0)
     {
       manifold.normal = -SHVec3::Normalise(P1_TO_CENTER);
 
-      contact.penetration = C_PENETRATION;
+      contact.penetration = RADIUS - P1_TO_CENTER.Length();
       contact.position    = P1;
-    }
-    else
-    {
-      manifold.normal = -FACE_NORMAL;
 
-      contact.penetration = PENETRATION;
-      contact.position    = CENTER - FACE_NORMAL * RADIUS;
+      manifold.contacts[numContacts++] = contact;
+      manifold.numContacts = numContacts;
+
+      return true;
     }
 
+    // Region D
+    manifold.normal = -FACE_NORMAL;
+
+    contact.penetration = PENETRATION;
+    contact.position    = CENTER - FACE_NORMAL * RADIUS;
+
     manifold.contacts[numContacts++] = contact;
     manifold.numContacts = numContacts;