well, I'm working on a 3d physics engine and used the separation axis theorem (SAT), but now to realize the rotation of rigid bodies, it is necessary to find all the collision points. I've also heard about Clipping and Support Mapping methods, but haven't really figured it out. Can someone give advice or write a short pseudocode?

I gave talks about these topics here:

http://media.steampowered.com/apps/valve/2013/DGregorius_GDC2013.zip​

http://media.steampowered.com/apps/valve/2014/DirkGregorius_ImplementingQuickHull.pdf​

http://media.steampowered.com/apps/valve/2015/DirkGregorius_Contacts.pdf​

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For GJK are recommend Erin Catto's presentation:

https://box2d.org/files/ErinCatto_GJK_GDC2010.pdf​

https://box2d.org/files/ErinCatto_GJK_Source.zip​

This should keep you busy for some time ?. Good luck!​