I have made an implementation based on this article before. https://dyn4j.org/2010/04/gjk-gilbert-johnson-keerthi/ https://dyn4j.org/2010/04/gjk-gilbert-johnso

I have made an implementation based on this article before. https://dyn4j.org/2010/04/gjk-gilbert-johnson-keerthi/ https://dyn4j.org/2010/04/gjk-gilbert-johnson-keerthi/ It was years ago but I remember it was the only good ressource I could find that allowed me to understand how it works.