sat java

public static Vector2f doCollideEx(Box2D a, Box2D b)
    {
        Vector2f[] edge_normals = a.getEdgeNormals();
        Projection2D p1,p2;
        float overlap = Float.MAX_VALUE;
        Vector2f axis = new Vector2f(0.0f,0.0f);

        for(int i=0;i<=3;i++)
        {
            p1 = a.projectOnto(edge_normals[i]);
            p2 = b.projectOnto(edge_normals[i]);
            if(!p1.overlaps(p2))
                return new Vector2f(0.0f,0.0f);
            else
            {
                if(p1.getOverlap(p2)<overlap)
                {
                    overlap = p1.getOverlap(p2);
                    axis = edge_normals[i];
                }
            }
        }

        for(int i=0;i<=3;i++)
        {
            p1 = a.projectOnto(edge_normals[i]);
            p2 = b.projectOnto(edge_normals[i]);

            if(!p1.overlaps(p2))
                return new Vector2f(0.0f,0.0f);
            else
            {
                if(p1.getOverlap(p2)<overlap)
                {
                    overlap = p1.getOverlap(p2);
                    axis = edge_normals[i];
                }
            }
        }
        return Vector2f.multiply(axis,overlap);
    }