Function ncollide3d::query::proximity_support_map_support_map_with_params

pub fn proximity_support_map_support_map_with_params<N, G1: ?Sized, G2: ?Sized>(
    m1: &Isometry<N>, 
    g1: &G1, 
    m2: &Isometry<N>, 
    g2: &G2, 
    margin: N, 
    simplex: &mut VoronoiSimplex<N>, 
    init_dir: Option<Unit<Vector<N>>>
) -> (Proximity, Unit<Vector<N>>) where
    N: RealField,
    G1: SupportMap<N>,
    G2: SupportMap<N>, 

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

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