It uses the GJK algorithm to find the point, on the minkowsky negative sum of the polyhedrons, closest to the origin. It then uses barycentric coordinates to find the the points on those polyhedrons belonging to the selected point on the minkowsky negative sum.
A video made by Casey Muratori as well as an implementation of the GJK collision detection made by Matthew Sheen right here on matlabcentral have helped me a lot to understand what I was doing.
Philippe Lebel (2021). GJK algorithm distance of closest points in 3D (https://www.mathworks.com/matlabcentral/fileexchange/62429-gjk-algorithm-distance-of-closest-points-in-3d), MATLAB Central File Exchange. Retrieved .
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