I am paining as the echoes of the math classes that I slept through fulminates my noggins. fun time 2024 if you know how to make a minkowski sum for swept sphere vs convex polyhedra defined as a set of planes (without having to convert them into set of vertices) then please let me know I will hug you as a reward. all I need? is a closest point between a line segment and those set of planes in the first figure to figure it out. or an 'impact time' of line segment for the middle one