
References:

* See "Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects", Nik Petrinic 2017, method proposed here: https://www.youtube.com/watch?v=jETkRhyHOJM, DOI 10.1145/3072959.3083724
* https://github.com/MattiaMontanari/openGJK
* https://github.com/ghodges413/VulkanStuff/blob/031cc0a3a301b6d45f1d24670c8fcaa283501f90/Stuff18_Map/Map/code/Math/epa.cpp
* [A Strange But Elegant Approach to a Surprisingly Hard Problem (GJK Algorithm)](https://www.youtube.com/watch?v=ajv46BSqcK4)
* [GJK + Expanding Polytope Algorithm - Implementation and Visualization](https://www.youtube.com/watch?v=6rgiPrzqt9w)