I've just successfully implemented Separating Axis Theorem (SAT) in my game but I was wondering how do I find the penetration vector? I heard it can be useful for collision response. e.g. The harder they collide the harder the response.
I want the penetration vector so I apply it to the position of an object when it is current penetrating an other so I can move it back outside of the other object's bounds.
Here is my code so far.
Any help would be much appreciated,
Thanks in advance.