PolygonA.center -= MTV * .5
PolygonB.center += MTV * .5

AccelerationA = -MTV * (2 * PolygonB.mass / (PolygonA.mass + PolygonB.mass))
AccelerationB = MTV * (2 * PolygonA.mass / (PolygonA.mass + PolygonB.mass))

PolygonA.velocity += AccelerationA
PolygonB.velocity += AccelerationB

PolygonA.angularVelocity = Cross(Normalize(AccelerationA), PolygonA.velocity) / PolygonA.radius
PolygonB.angularVelocity = Cross(Normalize(AccelerationB), PolygonB.velocity) / PolygonB.radius