public Vec get_displacement() {
double min_signed_overlap = -get_overlap(axes[0]);
double min_overlap = min_signed_overlap < 0 ? -min_signed_overlap : min_signed_overlap;
Vec min_axis = axes[0];
for (int i = 1; i < axes.length; i++) {
double overlap = -get_overlap(axes[i]);
double unsigned_overlap = overlap < 0 ? -overlap : overlap;
if (unsigned_overlap < min_overlap) {
min_overlap = unsigned_overlap;
min_signed_overlap = overlap;
min_axis = axes[i];
}
}
return min_axis.mul(min_signed_overlap);
}
public void relax() {
if (p1.inv_mass == 0 && p2.inv_mass == 0) return;
Vec displacement = get_displacement();
if (displacement.equals(new Vec(0, 0))) return;
double prop1, prop2;
if (p1.inv_mass == 0) {
prop1 = 0;
prop2 = 1;
} else if (p2.inv_mass == 0) {
prop1 = 1;
prop2 = 0;
} else {
double imass_total = p1.inv_mass + p2.inv_mass;
prop1 = p1.inv_mass / imass_total;
prop2 = p2.inv_mass / imass_total;
}
p1.pos.iadd(displacement.mul(prop1));
p2.pos.isub(displacement.mul(prop2));
}