diff --git a/libs/cg/include/psemek/cg/convex/separation.hpp b/libs/cg/include/psemek/cg/convex/separation.hpp
index 391d4afc..588804f2 100644
--- a/libs/cg/include/psemek/cg/convex/separation.hpp
+++ b/libs/cg/include/psemek/cg/convex/separation.hpp
@@ -13,6 +13,8 @@ namespace psemek::cg
 	{
 		T distance = -std::numeric_limits<T>::infinity();
 		geom::vector<T, N> direction = geom::vector<T, N>::zero();
+		geom::point<T, N> contact_point = geom::point<T, N>::zero();
+		int contact_point_body = 0;
 
 		separation_info & operator |= (separation_info const & i);
 	};
@@ -47,9 +49,10 @@ namespace psemek::cg
 
 			using result_type = separation_info<scalar_type, 2>;
 
-			auto process_edges = [](auto const & vs1, auto const & es1, auto const & vs2)
+			auto process_edges = [](auto const & vs1, auto const & es1, auto const & vs2, int contact_body)
 			{
 				result_type result;
+				result.contact_point_body = contact_body;
 
 				for (auto const & e : es1)
 				{
@@ -60,7 +63,8 @@ namespace psemek::cg
 					for (auto const & v : vs2)
 					{
 						auto const d = geom::dot(geom::homogeneous(edge_result.direction), geom::homogeneous(v - vs1[e[0]]));
-						edge_result.distance = std::min(edge_result.distance, d);
+						if (geom::make_min(edge_result.distance, d))
+							edge_result.contact_point = v;
 					}
 
 					result |= edge_result;
@@ -68,14 +72,17 @@ namespace psemek::cg
 						break;
 				}
 
+				if (contact_body == 0)
+					result.direction = -result.direction;
+
 				return result;
 			};
 
 			result_type result;
-			result |= process_edges(vs1, es1, vs2);
+			result |= process_edges(vs1, es1, vs2, 1);
 			if (EarlyExit && result.distance > 0)
 				return result;
-			result |= process_edges(vs2, es2, vs1);
+			result |= process_edges(vs2, es2, vs1, 0);
 			return result;
 		}
 
@@ -88,6 +95,9 @@ namespace psemek::cg
 			auto const & fs1 = faces(b1);
 			auto const & fs2 = faces(b2);
 
+			auto const & es1 = edges(b1);
+			auto const & es2 = edges(b2);
+
 			auto const & eds1 = edge_directions(b1);
 			auto const & eds2 = edge_directions(b2);
 
@@ -95,9 +105,10 @@ namespace psemek::cg
 
 			using result_type = separation_info<scalar_type, 3>;
 
-			auto process_faces = [](auto const & vs1, auto const & fs1, auto const & vs2)
+			auto process_faces = [](auto const & vs1, auto const & fs1, auto const & vs2, int contact_body)
 			{
 				result_type result;
+				result.contact_point_body = contact_body;
 
 				for (auto const & f : fs1)
 				{
@@ -110,7 +121,8 @@ namespace psemek::cg
 					for (auto const & v : vs2)
 					{
 						auto const d = geom::dot(face_result.direction, v - face_p);
-						face_result.distance = std::min(d, face_result.distance);
+						if (geom::make_min(face_result.distance, d))
+							face_result.contact_point = v;
 					}
 
 					result |= face_result;
@@ -118,6 +130,9 @@ namespace psemek::cg
 						break;
 				}
 
+				if (contact_body == 0)
+					result.direction = -result.direction;
+
 				return result;
 			};
 
@@ -171,13 +186,49 @@ namespace psemek::cg
 			};
 
 			result_type result;
-			result |= process_faces(vs1, fs1, vs2);
+			result |= process_faces(vs1, fs1, vs2, 1);
 			if (EarlyExit && result.distance > 0)
 				return result;
-			result |= process_faces(vs2, fs2, vs1);
+			result |= process_faces(vs2, fs2, vs1, 0);
 			if (EarlyExit && result.distance > 0)
 				return result;
-			result |= process_edges(vs1, eds1, vs2, eds2);
+
+			auto edge_result = process_edges(vs1, eds1, vs2, eds2);
+			if (geom::make_max(result.distance, edge_result.distance))
+			{
+				result = edge_result;
+
+				auto e1 = es1[0];
+				auto e2 = es2[0];
+
+				{
+					auto max_d = geom::limits<scalar_type>::min();
+					for (auto const & e : es1)
+					{
+						auto d = geom::dot(geom::homogeneous(vs1[e[0]]), geom::homogeneous(result.direction)) + geom::dot(geom::homogeneous(vs1[e[1]]), geom::homogeneous(result.direction));
+						if (geom::make_max(max_d, d))
+							e1 = e;
+					}
+				}
+
+				{
+					auto min_d = geom::limits<scalar_type>::max();
+					for (auto const & e : es2)
+					{
+						auto d = geom::dot(geom::homogeneous(vs2[e[0]]), geom::homogeneous(result.direction)) + geom::dot(geom::homogeneous(vs2[e[1]]), geom::homogeneous(result.direction));
+						if (geom::make_min(min_d, d))
+							e2 = e;
+					}
+				}
+
+				result.contact_point_body = 0;
+
+				auto m = geom::cross(result.direction, vs2[e2[1]] - vs2[e2[0]]);
+				auto v = geom::dot(geom::homogeneous(vs2[e2[0]]), geom::homogeneous(m));
+				auto t = (v - geom::dot(geom::homogeneous(vs1[e1[0]]), geom::homogeneous(m))) / geom::dot(geom::homogeneous(vs1[e1[1]] - vs1[e1[0]]), geom::homogeneous(m));
+				result.contact_point = geom::lerp(vs1[e1[0]], vs1[e2[1]], geom::clamp(t, geom::interval(scalar_type(0), scalar_type(1))));
+			}
+
 			return result;
 		}