I'm implementing this right now.

Trying to figure out a way to render the support functions to assist with debugging my implementation. At the moment I just sample the function in various directions around a unit sphere and try build a mesh from that. Too patchy.

Another nice thing about this one is that in the case where the objects intersect, you can just keep iterating mostly the same algorithm to get the intersection points, rather than needing to use Expanding Polytope as with GJK.