Separating Axis Theorem with 2D Convex Polygons

Hi @shiffman

If you are interested, I would like to see you cover the Separating Axis Theorem for collision handling with 2D convex polygons. I would like to see how this can be used to detect collisions and also resolve them in conjunction with the Minimum Translation Vector (MTV).

As well as describing the theorem, you could address and explain (possibly derive) the mathematical concepts needed in order to understand how and why the theorem works. This would include such things as the vector dot product, how to find the angle between two vectors and vector projection. I believe you have covered these topics before, but it would be nice to see them explained in relation to and in the context of the theorem itself.

Your style of teaching is one that I and many others really enjoy and can connect with and it would be much appreciated if you would consider addressing this topic. Thank you.