GJK handles closest points (and distance, separating axis) between two non-overlapping convex shapes. Once convex shapes penetrate, you can use EPA, the Expandi

GJK handles closest points (and distance, separating axis) between two non-overlapping convex shapes. Once convex shapes penetrate, you can use EPA, the Expanding Polytope Algorithm, invented Gino van den Bergen (while we were working together at NaN/Blender, around 20 years ago). See also http://dtecta.com/publications http://dtecta.com/publications and check out this recent implementation in C++ for both GJK and EPA is in Jolt Physics (used in the game Horizon Forbidden West): https://github.com/jrouwe/JoltPhysics/tree/master/Jolt/Geometry https://github.com/jrouwe/JoltPhysics/tree/master/Jolt/Geome...