ignore linear impulse if bodies are separating

collider/types.py

@@ -42,6 +42,9 @@ class PolygonalHull:
     def project(self, axis: pg.Vector2) -> tuple[float, float]:
         projections = [v.dot(axis) for v in self._vertices]
         return (min(projections), max(projections))
+    
+    def closest_vertex(self, v: pg.Vector2) -> pg.Vector2:
+        return min(self._vertices, key=lambda p: (v-p).length())
 
 
 class BaseCollider(ABC):