Still reading the book, more great praise for Casey (pg 670, 12.3.5.5: Detecting Convex Collisions: The GJK Algorithm):
"Many papers have been written on the [GJK] algorithm and its variants, including [...]. However, the easiest-to-understand (and most entertaining) description of the algorithm is probably Casey Muratori's instructional video entitled "Implementing GJK," available online at
http://mollyrocket.com/849. Because these descriptions are so good, I'll just give you a feel for the essence of the algorithm here and then direct you to the Molly Rocket website [...]."
Right now, I'm flipping back and forth from watching Casey's videos and reading this book, so it's entertaining to me when they collide :)