Couldn't agree more. One thing to note is that once you have that contact, you almost certainly want to do something with it. In most cases doing something usef

Couldn't agree more. One thing to note is that once you have that contact, you almost certainly want to do something with it. In most cases doing something useful involves knowing the actual overlap information. Working that out is actually _worse_ numerically - you start with the simplex that GJK generates and expand out the way, and do triangle subdivision along the way. It's a total nightmare to do performantly.