A few years ago in 2022 there was a great paper published Collision Detection Accelerated: An Optimization Perspective. From the abstract:In this work we leverage the fact that collision detection is fundamentally a convex optimization problem. In particular, we establish that the GJK algorithm is a specific sub-case of the well-established Frank-Wolfe (FW) algorithm.As far as I can tell, the paper was not shared much in the game programming community despite being linked on the GJK Wikipedia pa...