ncollide3d::query

Function closest_points_support_map_support_map_with_params

Source 
pub fn closest_points_support_map_support_map_with_params<N, G1, G2>(
    m1: &Isometry<N>,
    g1: &G1,
    m2: &Isometry<N>,
    g2: &G2,
    prediction: N,
    simplex: &mut VoronoiSimplex<N>,
    init_dir: Option<Vector<N>>,
) -> GJKResult<N>
where
    N: RealField + Copy,
    G1: SupportMap<N> + ?Sized,
    G2: SupportMap<N> + ?Sized,
Expand description

Closest points between support-mapped shapes (Cuboid, ConvexHull, etc.)

This allows a more fine grained control other the underlying GJK algorigtm.