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Help Understanding Johnson's Algorithm

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Hi. I'm reading about GJK, and GJK-based methods, and I'm having some trouble understanding Johnson's algorithm, mainly because it is described in totally different ways in the two places I've seen it (http://www.continuou...gt04raycast.pdf pages 8-10 and the orange Real Time Collision Detection book). The algorithm is supposed to find the closest point on a simplex to the origin. Could someone explain how the algorithm works? Also, Bergen's paper talks about caching the vertices yk-yi for future iterations (page 10). I'm not sure I understand that part.


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