List<PlanarRegion> intersectingRegions = planarRegionsListToSnapTo.findPlanarRegionsIntersectingPolygon(polygonToSnap);
checkFootPolygonInWorld.applyTransformAndProjectToXYPlane(snapAndWiggleTransform); List<PlanarRegion> planarRegionsIntersectingSnappedAndWiggledPolygon = planarRegionsList.findPlanarRegionsIntersectingPolygon(checkFootPolygonInWorld);