Function ncollide_geometry::query::proximity_internal::support_map_against_support_map_with_params

pub fn support_map_against_support_map_with_params<P, M, S, G1: ?Sized, G2: ?Sized>(
    m1: &M, 
    g1: &G1, 
    m2: &M, 
    g2: &G2, 
    margin: P::Real, 
    simplex: &mut S, 
    init_dir: Option<P::Vector>
) -> (Proximity, P::Vector) where
    P: Point,
    M: Isometry<P>,
    S: Simplex<AnnotatedPoint<P>>,
    G1: SupportMap<P, M>,
    G2: SupportMap<P, M>, 

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

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