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'…