uot; &lt;&lt; sup_point &lt;&lt; endl;</span></div>
<div class="line"> </div>
<div class="line">      <span class="keywordflow">if</span> (min_dist_simp - min_dist_mink &lt; 1e-10) {</div>
<div class="line">        <span class="comment">// gather contact geometric features</span></div>
<div class="line">        cnt_dir_n = sup_dir;</div>
<div class="line"> </div>
<div class="line">        sup_point = MinkowskiDiff(cnt_dir_n);</div>
<div class="line">        cnt_len_n = Math::Dot(sup_point, cnt_dir_n);</div>