rd">auto</span> pos_1 = shape_1-&gt;SupportPoint(-1.0 * dir);</div>
<div class="line">    <span class="keyword">auto</span> pos_2 = Math::Rotate(</div>
<div class="line">        shape_2-&gt;SupportPoint(Math::Rotate(dir, dquat_12_conj)), dquat_12);</div>
<div class="line"> </div>
<div class="line">    <span class="keywordflow">return</span> (1 - erosion_ratio) * (pos_2 - pos_1) + dpos_12_ref;</div>
<div class="line">  }</div>
<div class="line"> </div>
<div class="line">  tuple&lt;double, Vec3d, Vec3d&gt; EP