diff --git a/src/sconvcol.h b/src/sconvcol.h
index 4f7c47e..1bcb2e0 100644
--- a/src/sconvcol.h
+++ b/src/sconvcol.h
@@ -162,7 +162,7 @@ void sch_create_face_contact (const sch_face_query* query_A_B, const sch_hull* h
 
 void sch_create_edge_contact (const sch_edge_query* query_edge, const sch_hull* hull_A, const sch_hull* hull_B, sch_manifold* result);
 
-bool sch_hull_sat(const sch_hull* hull_A, const sch_hull* hull_B, sch_manifold* result);
+bool sch_hull_sat(const sch_hull* hull_A, simd4x4f* trans_A, const sch_hull* hull_B, simd4x4f* trans_B, sch_manifold* result);
 
 int sch_hull_is_vertex_concave(const sch_hull* hull, const simd4f p);
 
@@ -678,10 +678,7 @@ void sch_create_edge_contact (const sch_edge_query* query_edge, const sch_hull*
 #endif
 }
 
-bool sch_hull_sat(
-    const sch_hull* hull_A,
-    const sch_hull* hull_B,
-    sch_manifold* result) {
+bool sch_hull_sat(const sch_hull* hull_A, simd4x4f* trans_A, const sch_hull* hull_B, simd4x4f* trans_B, sch_manifold* result) {
   sch_face_query query_A_B;
   sch_query_face_directions(hull_A, hull_B, &query_A_B);
   if (query_A_B.dist > 0.f) {
diff --git a/tests/sconvcolTests.cc b/tests/sconvcolTests.cc
index 90201c4..9b24e35 100644
--- a/tests/sconvcolTests.cc
+++ b/tests/sconvcolTests.cc
@@ -341,7 +341,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
     sch_hull_transform(&hull_B, translation);
 
     THEN("Boxes separated") {
-      bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
+      simd4x4f identity;
+      simd4x4f_identity(&identity);
+      bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
       REQUIRE(separated);
     }
   }
@@ -351,7 +353,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
     sch_hull_translate(&hull_B, 1.1f, 0.f, 0.f);
 
     THEN("Boxes overlap") {
-      bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
+      simd4x4f identity;
+      simd4x4f_identity(&identity);
+      bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
       REQUIRE(!separated);
     }
   }
@@ -362,7 +366,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
     sch_hull_translate(&hull_B, sqrt(2.f), 0.f, 0.f);
 
     THEN("Boxes overlap") {
-      bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
+      simd4x4f identity;
+      simd4x4f_identity(&identity);
+      bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
       REQUIRE(!separated);
     }
 
@@ -370,7 +376,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
       sch_hull_translate(&hull_B, 0.001f, 0.f, 0.f);
 
       THEN("Boxes are separated") {
-        bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
+        simd4x4f identity;
+        simd4x4f_identity(&identity);
+        bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
         REQUIRE(separated);
       }
     }
@@ -381,7 +389,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
     sch_hull_translate(&hull_B, 0., 0.f, 0.97f);
 
     THEN("Boxes overlap") {
-      bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
+      simd4x4f identity;
+      simd4x4f_identity(&identity);
+      bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
       REQUIRE(!separated);
       REQUIRE(manifold.num_points == 8);
     }
@@ -391,7 +401,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
     sch_hull_translate(&hull_B, 1., 0.f, 1.00f);
 
     THEN("Boxes overlap") {
-      bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
+      simd4x4f identity;
+      simd4x4f_identity(&identity);
+      bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &identity, &manifold);
       REQUIRE(!separated);
       REQUIRE(manifold.num_points == 8);
     }