Vector2D u2 = Vector2D.create(nearPt, corner[1]).normalize();
double ang = u1.angle(u2);
Vector2D innerBisec = u2.rotate(ang / 2);
Vector2D offset = innerBisec.multiply(dist);
if (! isInsideCorner(vertexPt, nearPt, corner[0], corner[1])) {
offset = offset.multiply(-1);
}
return offset.translate(vertexPt);
}
private static final double MAX_ARM_NEARNESS_ANG = 20.0 / 180.0 * Math.PI;