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GJK relies on two functions:
* <math>\mathrm{Support}(\mathrm{shape}, \vec{d})</math>, which returns the point on {{math|shape}} which has the highest [[dot product]] with <math>\vec{d}</math>.
* <math>\mathrm{NearestSimplex}(s)</math>, which takes a simplex {{mvar|s}} and returns the simplex on {{mvar|s}} closest to the origin, and a direction toward the origin normal to the new simplex. If {{mvar|s}} itself contains the origin, {{math|NearestSimplex}} accepts {{mvar|s}} and the two shapes are determined to intersect.
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