Function parry2d::query::closest_points::closest_points_support_map_halfspace

pub fn closest_points_support_map_halfspace<G: ?Sized + SupportMap>(
    pos12: &Isometry<Real>, 
    other: &G, 
    halfspace: &HalfSpace, 
    margin: Real
) -> ClosestPoints

Closest points between a support-mapped shape (Cuboid, ConvexHull, etc.) and a halfspace.