The reason GJK was commonly used in real time usage is that you can cache the previous iterations solution to seed the next iteration which will often have the

The reason GJK was commonly used in real time usage is that you can cache the previous iterations solution to seed the next iteration which will often have the same result turning it into an O(1). Other commonly used algorithms were SAT (Separating Axis Theorem) and MPR (Minkowski Portal Refinement) although these were all popular in the 2000s and I have no idea what modern engines use nowadays.