Function heron::rapier_plugin::rapier3d::parry::query::details::closest_points_support_map_support_map_with_params

pub fn closest_points_support_map_support_map_with_params<G1, G2>(
    pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, 
    g1: &G1, 
    g2: &G2, 
    prediction: f32, 
    simplex: &mut VoronoiSimplex, 
    init_dir: Option<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> GJKResult where
    G1: SupportMap + ?Sized,
    G2: SupportMap + ?Sized, 

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

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