Function parry2d::query::closest_points::closest_points_support_map_support_map_with_params

pub fn closest_points_support_map_support_map_with_params<G1: ?Sized, G2: ?Sized>(
    pos12: &Isometry<Real>, 
    g1: &G1, 
    g2: &G2, 
    prediction: Real, 
    simplex: &mut VoronoiSimplex, 
    init_dir: Option<Vector<Real>>
) -> GJKResult where
    G1: SupportMap,
    G2: SupportMap, 

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

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