Iterative GJK instead of EPA/MPR ?

[goruka]

Hi! I was wondering, given both EPA and MPR are a little heavy, and given GJK is extremely fast but only works for points outside the minkowski difference volume. Are there algorithm alternatives that use GJK by doing somehow a binary search-like approach by shrinking the MD iteratively? I ask mainly because on the surface it seems like a good idea, but i don't have much time to actually think/research into it.