So I was just doing an example 2D SAT collision detection problem on paper when I encountered something unexpected. I ran the algorithm on a triangle and a square, and the result of the algorithm was that there was a collision, when indeed there was not. Take a look at this:
I was under the impression that the SAT algorithm checked for overlapping vertices on all unique axes generated by both shapes sides' normals, and if no gap is found on any axis, then there is a collision. It looks like that does not work in this example. Can someone explain what I am missing? Maybe I'm understanding the algorithm wrongly.