$\text{Support}\left( A,\vec d \right)$ 1. For [[Sphere]] 1. Return $\vec c_{s}+ r \frac{\vec d}{|\vec d|}$ 2. For [[Axis Aligned Bounding Box|AABB]] 1. Scale $\vec e$ by $\op{sign}(\vec d)$ 2. Return $\vec c + \op{sign}(\vec e,\vec d)$ 3. For OBB 1. `struct Obb { vec3 center; vec3 offset; mat3 rotation_basis;}` 2. Transform $\vec d$ into into model space, $\vec d'$ 3. Call $\text{Support}_{\text{AABB}}( \cdot )$ 4. Transform the result back into world space