Yes SAT it's to complicated to get used to it ( I haven't implimented any it's still confusing for me too )
The method you are saying may work but it's not the best way to do it. I tried sometime before with no success. But the overall idea is to make all the checks in 1D. A good place to start is : http://gpwiki.org/index.php/Polygon_Collision
Also make a search for the polycollly. It's maybe safe to say to you not to stuck with this method.
If I am not wrong you are using Verlet integretion.
Make a try of Flade's traslation in BMax by Dooz you can find it near the end of : MaxPhisics Comunity project thread. Click it in my sig to go there.
Last grap a vector lib or start to create one. I am sure coding will be easier and you will find out that you were repeating your self. This is what I am doing. I am using a Vector lib for expirimenting and when I have the disired output I break down the equations to get as minnimum equations I can get.
I am not the best person to help but I hope I helped.
The method you are saying may work but it's not the best way to do it. I tried sometime before with no success. But the overall idea is to make all the checks in 1D. A good place to start is : http://gpwiki.org/index.php/Polygon_Collision
Also make a search for the polycollly. It's maybe safe to say to you not to stuck with this method.
If I am not wrong you are using Verlet integretion.
Make a try of Flade's traslation in BMax by Dooz you can find it near the end of : MaxPhisics Comunity project thread. Click it in my sig to go there.
Last grap a vector lib or start to create one. I am sure coding will be easier and you will find out that you were repeating your self. This is what I am doing. I am using a Vector lib for expirimenting and when I have the disired output I break down the equations to get as minnimum equations I can get.
I am not the best person to help but I hope I helped.