diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5537423..e5b7ef1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,7 +2,11 @@
 
 ## In development
 
+## 0.6.0 (Sept 11, 2016)
+
  - Fix "Vornoi" -> "Voronoi" everywhere. Changes are all in private code, no functional changes. (Fixes #27)
+ - Exposed isSeparatingAxis() function - thanks [hexus](https://github.com/hexus)!
+ - Allow pointInPolygon to work with small polygons. (Fixes #41)
 
 ## 0.5.0 (Dec 26, 2014)
 
diff --git a/README.md b/README.md
index de81ca5..dce038e 100644
--- a/README.md
+++ b/README.md
@@ -18,7 +18,7 @@ It also supports checking whether a point is inside a circle or polygon.
 
 It's released under the [MIT](http://en.wikipedia.org/wiki/MIT_License) license.
 
-Current version: `0.5.0`. [Annotated source code](http://jriecken.github.io/sat-js/docs/SAT.html) is available.
+Current version: `0.6.0`. [Annotated source code](http://jriecken.github.io/sat-js/docs/SAT.html) is available.
 
 Nicely compresses with the [Google Closure Compiler](https://developers.google.com/closure/compiler/) in **Advanced** mode to about 6KB (2KB gzipped)
 
diff --git a/SAT.js b/SAT.js
index 1fffbbe..164b3e9 100644
--- a/SAT.js
+++ b/SAT.js
@@ -1,10 +1,10 @@
-// Version 0.5.0 - Copyright 2012 - 2015 -  Jim Riecken <jimr@jimr.ca>
+// Version 0.6.0 - Copyright 2012 - 2016 -  Jim Riecken <jimr@jimr.ca>
 //
 // Released under the MIT License - https://github.com/jriecken/sat-js
 //
 // A simple library for determining intersections of circles and
 // polygons using the Separating Axis Theorem.
-/** @preserve SAT.js - Version 0.5.0 - Copyright 2012 - 2015 - Jim Riecken <jimr@jimr.ca> - released under the MIT License. https://github.com/jriecken/sat-js */
+/** @preserve SAT.js - Version 0.6.0 - Copyright 2012 - 2016 - Jim Riecken <jimr@jimr.ca> - released under the MIT License. https://github.com/jriecken/sat-js */
 
 /*global define: false, module: false*/
 /*jshint shadow:true, sub:true, forin:true, noarg:true, noempty:true, 
diff --git a/SAT.min.js b/SAT.min.js
index 43691bb..b2531e1 100644
--- a/SAT.min.js
+++ b/SAT.min.js
@@ -1,14 +1,14 @@
-/* SAT.js - Version 0.5.0 - Copyright 2012 - 2015 - Jim Riecken <jimr@jimr.ca> - released under the MIT License. https://github.com/jriecken/sat-js */
-function x(){function c(a,e){this.x=a||0;this.y=e||0}function A(a,e){this.pos=a||new c;this.r=e||0}function m(a,e){this.pos=a||new c;this.angle=0;this.offset=new c;this.m(e||[])}function r(a,e,b){this.pos=a||new c;this.w=e||0;this.h=b||0}function w(){this.b=this.a=null;this.overlapN=new c;this.overlapV=new c;this.clear()}function B(a,e,b){for(var f=Number.MAX_VALUE,c=-Number.MAX_VALUE,k=a.length,h=0;h<k;h++){var d=a[h].d(e);d<f&&(f=d);d>c&&(c=d)}b[0]=f;b[1]=c}function C(a,e,b,f,c,k){var h=t.pop(),
-d=t.pop();a=g.pop().c(e).sub(a);e=a.d(c);B(b,c,h);B(f,c,d);d[0]+=e;d[1]+=e;if(h[0]>d[1]||d[0]>h[1])return g.push(a),t.push(h),t.push(d),!0;k&&(b=0,h[0]<d[0]?(k.aInB=!1,h[1]<d[1]?(b=h[1]-d[0],k.bInA=!1):(b=h[1]-d[0],f=d[1]-h[0],b=b<f?b:-f)):(k.bInA=!1,h[1]>d[1]?(b=h[0]-d[1],k.aInB=!1):(b=h[1]-d[0],f=d[1]-h[0],b=b<f?b:-f)),f=Math.abs(b),f<k.overlap&&(k.overlap=f,k.overlapN.c(c),0>b&&k.overlapN.reverse()));g.push(a);t.push(h);t.push(d);return!1}function y(a,e){var b=a.e(),c=e.d(a);return 0>c?-1:c>b?
-1:0}function D(a,e,b){for(var c=g.pop().c(e.pos).sub(a.pos),l=e.r,k=l*l,h=a.calcPoints,d=h.length,v=g.pop(),q=g.pop(),n=0;n<d;n++){var m=n===d-1?0:n+1,t=0===n?d-1:n-1,r=0,u=null;v.c(a.edges[n]);q.c(c).sub(h[n]);b&&q.e()>k&&(b.aInB=!1);var p=y(v,q);if(-1===p){v.c(a.edges[t]);m=g.pop().c(c).sub(h[t]);p=y(v,m);if(1===p){p=q.g();if(p>l)return g.push(c),g.push(v),g.push(q),g.push(m),!1;b&&(b.bInA=!1,u=q.normalize(),r=l-p)}g.push(m)}else if(1===p){if(v.c(a.edges[m]),q.c(c).sub(h[m]),p=y(v,q),-1===p){p=
-q.g();if(p>l)return g.push(c),g.push(v),g.push(q),!1;b&&(b.bInA=!1,u=q.normalize(),r=l-p)}}else{m=v.j().normalize();p=q.d(m);t=Math.abs(p);if(0<p&&t>l)return g.push(c),g.push(m),g.push(q),!1;b&&(u=m,r=l-p,0<=p||r<2*l)&&(b.bInA=!1)}u&&b&&Math.abs(r)<Math.abs(b.overlap)&&(b.overlap=r,b.overlapN.c(u))}b&&(b.a=a,b.b=e,b.overlapV.c(b.overlapN).scale(b.overlap));g.push(c);g.push(v);g.push(q);return!0}function E(a,e,b){for(var c=a.calcPoints,l=c.length,k=e.calcPoints,h=k.length,d=0;d<l;d++)if(C(a.pos,e.pos,
-c,k,a.normals[d],b))return!1;for(d=0;d<h;d++)if(C(a.pos,e.pos,c,k,e.normals[d],b))return!1;b&&(b.a=a,b.b=e,b.overlapV.c(b.overlapN).scale(b.overlap));return!0}var n={};n.Vector=c;n.V=c;c.prototype.copy=c.prototype.c=function(a){this.x=a.x;this.y=a.y;return this};c.prototype.clone=c.prototype.clone=function(){return new c(this.x,this.y)};c.prototype.perp=c.prototype.j=function(){var a=this.x;this.x=this.y;this.y=-a;return this};c.prototype.rotate=c.prototype.rotate=function(a){var e=this.x,b=this.y;
-this.x=e*Math.cos(a)-b*Math.sin(a);this.y=e*Math.sin(a)+b*Math.cos(a);return this};c.prototype.reverse=c.prototype.reverse=function(){this.x=-this.x;this.y=-this.y;return this};c.prototype.normalize=c.prototype.normalize=function(){var a=this.g();0<a&&(this.x/=a,this.y/=a);return this};c.prototype.add=c.prototype.add=function(a){this.x+=a.x;this.y+=a.y;return this};c.prototype.sub=c.prototype.sub=function(a){this.x-=a.x;this.y-=a.y;return this};c.prototype.scale=c.prototype.scale=function(a,e){this.x*=
-a;this.y*=e||a;return this};c.prototype.project=c.prototype.k=function(a){var e=this.d(a)/a.e();this.x=e*a.x;this.y=e*a.y;return this};c.prototype.projectN=c.prototype.l=function(a){var e=this.d(a);this.x=e*a.x;this.y=e*a.y;return this};c.prototype.reflect=function(a){var e=this.x,b=this.y;this.k(a).scale(2);this.x-=e;this.y-=b;return this};c.prototype.reflectN=function(a){var e=this.x,b=this.y;this.l(a).scale(2);this.x-=e;this.y-=b;return this};c.prototype.dot=c.prototype.d=function(a){return this.x*
-a.x+this.y*a.y};c.prototype.len2=c.prototype.e=function(){return this.d(this)};c.prototype.len=c.prototype.g=function(){return Math.sqrt(this.e())};n.Circle=A;A.prototype.getAABB=function(){var a=this.r,e=this.pos.clone().sub(new c(a,a));return(new r(e,2*a,2*a)).i()};n.Polygon=m;m.prototype.setPoints=m.prototype.m=function(a){if(!this.points||this.points.length!==a.length){var e,b=this.calcPoints=[],f=this.edges=[],l=this.normals=[];for(e=0;e<a.length;e++)b.push(new c),f.push(new c),l.push(new c)}this.points=
-a;this.f();return this};m.prototype.setAngle=function(a){this.angle=a;this.f();return this};m.prototype.setOffset=function(a){this.offset=a;this.f();return this};m.prototype.rotate=m.prototype.rotate=function(a){for(var e=this.points,b=e.length,c=0;c<b;c++)e[c].rotate(a);this.f();return this};m.prototype.translate=m.prototype.translate=function(a,c){for(var b=this.points,f=b.length,l=0;l<f;l++)b[l].x+=a,b[l].y+=c;this.f();return this};m.prototype.f=function(){var a=this.calcPoints,c=this.edges,b=
-this.normals,f=this.points,l=this.offset,k=this.angle,h=f.length,d;for(d=0;d<h;d++){var g=a[d].c(f[d]);g.x+=l.x;g.y+=l.y;0!==k&&g.rotate(k)}for(d=0;d<h;d++)f=a[d],f=c[d].c(d<h-1?a[d+1]:a[0]).sub(f),b[d].c(f).j().normalize()};m.prototype.getAABB=function(){for(var a=this.calcPoints,e=a.length,b=a[0].x,f=a[0].y,g=a[0].x,k=a[0].y,h=1;h<e;h++){var d=a[h];d.x<b?b=d.x:d.x>g&&(g=d.x);d.y<f?f=d.y:d.y>k&&(k=d.y)}return(new r(this.pos.clone().add(new c(b,f)),g-b,k-f)).i()};n.Box=r;r.prototype.toPolygon=r.prototype.i=
-function(){var a=this.pos,e=this.w,b=this.h;return new m(new c(a.x,a.y),[new c,new c(e,0),new c(e,b),new c(0,b)])};n.Response=w;w.prototype.clear=w.prototype.clear=function(){this.bInA=this.aInB=!0;this.overlap=Number.MAX_VALUE;return this};for(var g=[],u=0;10>u;u++)g.push(new c);for(var t=[],u=0;5>u;u++)t.push([]);var z=new w,F=(new r(new c,1,1)).i();n.pointInCircle=function(a,c){var b=g.pop().c(a).sub(c.pos),f=c.r*c.r,l=b.e();g.push(b);return l<=f};n.pointInPolygon=function(a,c){F.pos.c(a);z.clear();
-var b=E(F,c,z);b&&(b=z.aInB);return b};n.testCircleCircle=function(a,c,b){var f=g.pop().c(c.pos).sub(a.pos),l=a.r+c.r,k=f.e();if(k>l*l)return g.push(f),!1;b&&(k=Math.sqrt(k),b.a=a,b.b=c,b.overlap=l-k,b.overlapN.c(f.normalize()),b.overlapV.c(f).scale(b.overlap),b.aInB=a.r<=c.r&&k<=c.r-a.r,b.bInA=c.r<=a.r&&k<=a.r-c.r);g.push(f);return!0};n.testPolygonCircle=D;n.testCirclePolygon=function(a,c,b){if((a=D(c,a,b))&&b){c=b.a;var f=b.aInB;b.overlapN.reverse();b.overlapV.reverse();b.a=b.b;b.b=c;b.aInB=b.bInA;
-b.bInA=f}return a};n.testPolygonPolygon=E;return n}"function"===typeof define&&define.amd?define(x):"object"===typeof exports?module.exports=x():this.SAT=x();
\ No newline at end of file
+/* SAT.js - Version 0.6.0 - Copyright 2012 - 2016 - Jim Riecken <jimr@jimr.ca> - released under the MIT License. https://github.com/jriecken/sat-js */
+function x(){function c(a,e){this.x=a||0;this.y=e||0}function B(a,e){this.pos=a||new c;this.r=e||0}function n(a,e){this.pos=a||new c;this.angle=0;this.offset=new c;this.u(e||[])}function q(a,e,b){this.pos=a||new c;this.w=e||0;this.h=b||0}function w(){this.b=this.a=null;this.overlapN=new c;this.overlapV=new c;this.clear()}function C(a,e,b){for(var h=Number.MAX_VALUE,c=-Number.MAX_VALUE,k=a.length,g=0;g<k;g++){var d=a[g].f(e);d<h&&(h=d);d>c&&(c=d)}b[0]=h;b[1]=c}function y(a,e,b,h,c,k){var g=r.pop(),
+d=r.pop();a=m.pop().c(e).sub(a);e=a.f(c);C(b,c,g);C(h,c,d);d[0]+=e;d[1]+=e;if(g[0]>d[1]||d[0]>g[1])return m.push(a),r.push(g),r.push(d),!0;k&&(g[0]<d[0]?(k.aInB=!1,g[1]<d[1]?(b=g[1]-d[0],k.bInA=!1):(b=g[1]-d[0],h=d[1]-g[0],b=b<h?b:-h)):(k.bInA=!1,g[1]>d[1]?(b=g[0]-d[1],k.aInB=!1):(b=g[1]-d[0],h=d[1]-g[0],b=b<h?b:-h)),h=Math.abs(b),h<k.overlap&&(k.overlap=h,k.overlapN.c(c),0>b&&k.overlapN.reverse()));m.push(a);r.push(g);r.push(d);return!1}function z(a,e){var b=a.g(),c=e.f(a);return 0>c?-1:c>b?1:0}
+function D(a,e,b){for(var c=m.pop().c(e.pos).sub(a.pos),l=e.r,k=l*l,g=a.calcPoints,d=g.length,u=m.pop(),f=m.pop(),n=0;n<d;n++){var v=n===d-1?0:n+1,r=0===n?d-1:n-1,q=0,t=null;u.c(a.edges[n]);f.c(c).sub(g[n]);b&&f.g()>k&&(b.aInB=!1);var p=z(u,f);if(-1===p){u.c(a.edges[r]);v=m.pop().c(c).sub(g[r]);p=z(u,v);if(1===p){p=f.j();if(p>l)return m.push(c),m.push(u),m.push(f),m.push(v),!1;b&&(b.bInA=!1,t=f.normalize(),q=l-p)}m.push(v)}else if(1===p){if(u.c(a.edges[v]),f.c(c).sub(g[v]),p=z(u,f),-1===p){p=f.j();
+if(p>l)return m.push(c),m.push(u),m.push(f),!1;b&&(b.bInA=!1,t=f.normalize(),q=l-p)}}else{v=u.m().normalize();p=f.f(v);r=Math.abs(p);if(0<p&&r>l)return m.push(c),m.push(v),m.push(f),!1;b&&(t=v,q=l-p,0<=p||q<2*l)&&(b.bInA=!1)}t&&b&&Math.abs(q)<Math.abs(b.overlap)&&(b.overlap=q,b.overlapN.c(t))}b&&(b.a=a,b.b=e,b.overlapV.c(b.overlapN).scale(b.overlap));m.push(c);m.push(u);m.push(f);return!0}function E(a,e,b){for(var c=a.calcPoints,l=c.length,k=e.calcPoints,g=k.length,d=0;d<l;d++)if(y(a.pos,e.pos,c,
+k,a.normals[d],b))return!1;for(d=0;d<g;d++)if(y(a.pos,e.pos,c,k,e.normals[d],b))return!1;b&&(b.a=a,b.b=e,b.overlapV.c(b.overlapN).scale(b.overlap));return!0}var f={};f.Vector=c;f.V=c;c.prototype.copy=c.prototype.c=function(a){this.x=a.x;this.y=a.y;return this};c.prototype.clone=c.prototype.clone=function(){return new c(this.x,this.y)};c.prototype.perp=c.prototype.m=function(){var a=this.x;this.x=this.y;this.y=-a;return this};c.prototype.rotate=c.prototype.rotate=function(a){var e=this.x,b=this.y;
+this.x=e*Math.cos(a)-b*Math.sin(a);this.y=e*Math.sin(a)+b*Math.cos(a);return this};c.prototype.reverse=c.prototype.reverse=function(){this.x=-this.x;this.y=-this.y;return this};c.prototype.normalize=c.prototype.normalize=function(){var a=this.j();0<a&&(this.x/=a,this.y/=a);return this};c.prototype.add=c.prototype.add=function(a){this.x+=a.x;this.y+=a.y;return this};c.prototype.sub=c.prototype.sub=function(a){this.x-=a.x;this.y-=a.y;return this};c.prototype.scale=c.prototype.scale=function(a,e){this.x*=
+a;this.y*=e||a;return this};c.prototype.project=c.prototype.o=function(a){var e=this.f(a)/a.g();this.x=e*a.x;this.y=e*a.y;return this};c.prototype.projectN=c.prototype.s=function(a){var e=this.f(a);this.x=e*a.x;this.y=e*a.y;return this};c.prototype.reflect=function(a){var e=this.x,b=this.y;this.o(a).scale(2);this.x-=e;this.y-=b;return this};c.prototype.reflectN=function(a){var e=this.x,b=this.y;this.s(a).scale(2);this.x-=e;this.y-=b;return this};c.prototype.dot=c.prototype.f=function(a){return this.x*
+a.x+this.y*a.y};c.prototype.len2=c.prototype.g=function(){return this.f(this)};c.prototype.len=c.prototype.j=function(){return Math.sqrt(this.g())};f.Circle=B;B.prototype.getAABB=function(){var a=this.r,e=this.pos.clone().sub(new c(a,a));return(new q(e,2*a,2*a)).l()};f.Polygon=n;n.prototype.setPoints=n.prototype.u=function(a){if(!this.points||this.points.length!==a.length){var e,b=this.calcPoints=[],h=this.edges=[],l=this.normals=[];for(e=0;e<a.length;e++)b.push(new c),h.push(new c),l.push(new c)}this.points=
+a;this.i();return this};n.prototype.setAngle=function(a){this.angle=a;this.i();return this};n.prototype.setOffset=function(a){this.offset=a;this.i();return this};n.prototype.rotate=n.prototype.rotate=function(a){for(var e=this.points,b=e.length,c=0;c<b;c++)e[c].rotate(a);this.i();return this};n.prototype.translate=n.prototype.translate=function(a,c){for(var b=this.points,h=b.length,l=0;l<h;l++)b[l].x+=a,b[l].y+=c;this.i();return this};n.prototype.i=function(){var a=this.calcPoints,c=this.edges,b=
+this.normals,h=this.points,l=this.offset,k=this.angle,g=h.length,d;for(d=0;d<g;d++){var f=a[d].c(h[d]);f.x+=l.x;f.y+=l.y;0!==k&&f.rotate(k)}for(d=0;d<g;d++)h=a[d],h=c[d].c(d<g-1?a[d+1]:a[0]).sub(h),b[d].c(h).m().normalize()};n.prototype.getAABB=function(){for(var a=this.calcPoints,e=a.length,b=a[0].x,h=a[0].y,f=a[0].x,k=a[0].y,g=1;g<e;g++){var d=a[g];d.x<b?b=d.x:d.x>f&&(f=d.x);d.y<h?h=d.y:d.y>k&&(k=d.y)}return(new q(this.pos.clone().add(new c(b,h)),f-b,k-h)).l()};f.Box=q;q.prototype.toPolygon=q.prototype.l=
+function(){var a=this.pos,e=this.w,b=this.h;return new n(new c(a.x,a.y),[new c,new c(e,0),new c(e,b),new c(0,b)])};f.Response=w;w.prototype.clear=w.prototype.clear=function(){this.bInA=this.aInB=!0;this.overlap=Number.MAX_VALUE;return this};for(var m=[],t=0;10>t;t++)m.push(new c);for(var r=[],t=0;5>t;t++)r.push([]);var A=new w,F=(new q(new c,1E-6,1E-6)).l();f.isSeparatingAxis=y;f.pointInCircle=function(a,c){var b=m.pop().c(a).sub(c.pos),h=c.r*c.r,f=b.g();m.push(b);return f<=h};f.pointInPolygon=function(a,
+c){F.pos.c(a);A.clear();var b=E(F,c,A);b&&(b=A.aInB);return b};f.testCircleCircle=function(a,c,b){var f=m.pop().c(c.pos).sub(a.pos),l=a.r+c.r,k=f.g();if(k>l*l)return m.push(f),!1;b&&(k=Math.sqrt(k),b.a=a,b.b=c,b.overlap=l-k,b.overlapN.c(f.normalize()),b.overlapV.c(f).scale(b.overlap),b.aInB=a.r<=c.r&&k<=c.r-a.r,b.bInA=c.r<=a.r&&k<=a.r-c.r);m.push(f);return!0};f.testPolygonCircle=D;f.testCirclePolygon=function(a,c,b){if((a=D(c,a,b))&&b){c=b.a;var f=b.aInB;b.overlapN.reverse();b.overlapV.reverse();
+b.a=b.b;b.b=c;b.aInB=b.bInA;b.bInA=f}return a};f.testPolygonPolygon=E;return f}"function"===typeof define&&define.amd?define(x):"object"===typeof exports?module.exports=x():this.SAT=x();
\ No newline at end of file
diff --git a/package.json b/package.json
index 13d295f..29a30e8 100644
--- a/package.json
+++ b/package.json
@@ -1,7 +1,7 @@
 {
   "name": "sat",
   "description": "Library for performing 2D collision detection",
-  "version": "0.5.0",
+  "version": "0.6.0",
   "author": "Jim Riecken <jriecken@gmail.com>",
   "keywords": [
     "collision detection",