A short demo of the SAT, GJK, EPA and Sutherland-Hodge algorithms, useful for testing arbitrary convex polygon collisions and getting contact points in a physics engine, written in Python.
Check out my blog at https://gavinrobinson.net/index.php/projects/.
https://cs.brown.edu/courses/csci1950-u/lectures/04_advancedCollisionsAndPhysics.pdf
https://fjinn.github.io/Experiences/Programming/Math/GJKAlgorithm_README.html
https://github.com/kroitor/gjk.c