There are a couple of approaches how this is addressed in practice:

dorcsyful said:
Do you maybe have a suggestion on how I can check if the simplex GJK returns is correct?

Store your minkowski vertices as point A and vector (A-B), rather than only A-B like you do now. Then, you can know the points on shape A and B in world space that make up the simplex on each obje…

Thank you!