Comment by OlympicMarmoto

> But you have to look at numerical error.

Yeah I agree, the error analysis could be many blogs in and of itself. I kinda got tired by the end of this blog. I would like to write a post about this in the future. For global solvers and iterative.

> Finding the closest vertices is easy but not sufficient.

As I'm sure you are aware, most GJK implementations find the closest features and then a one shot contact manifold can be generated by clipping the features against each other. When GJK finds a simplex of the CSO, each vertex of the simplex keeps track of the corresponding points from A and B.

> A second problem is what to do about flat polygon surfaces

Modern physics engines and the demo I uploaded do face clipping which handle this. For GJK you normally ensure the points in your hull are linearly independent.