Another perspective for understanding GJK, one that I have not yet seen thoroughly explained, is that it's a special case of a convex quadratic program: find tw

Another perspective for understanding GJK, one that I have not yet seen thoroughly explained, is that it's a special case of a convex quadratic program: find two points, each constrained to a respective polyhedron (e.g. intersection of halfspaces), with minimum distance between them. The constraints are linear inequalities, and the objective is convex quadratic.