For a pretty good explanation of the algorithm, check this out: https://caseymuratori.com/blog_0003 https://caseymuratori.com/blog_0003 Consider also the minko

For a pretty good explanation of the algorithm, check this out: https://caseymuratori.com/blog_0003 https://caseymuratori.com/blog_0003 Consider also the minkowski portal refinement algorithm: http://xenocollide.snethen.com/mpr2d.html http://xenocollide.snethen.com/mpr2d.html . Similar idea, but I find it more intuitive.