 
 	// v2 - support perpendicular to v1,v0
 	n = cross(v1 , v0);
-	//if(isnan(n.x)){printf("NAN2\n");}
 	if (IsZero3(n)){
 		n = v1 - v0;
 		n=normalize(n);


	// Determine whether origin is on + or - side of plane (v1,v0,v2)
	n = normalize(cross((v1 - v0) , (v2 - v0)));
	//if(isnan(n.x)){printf("NAN3\n");}
	// If the origin is on the - side of the plane, reverse the direction of the plane
	if (dot(n , v0) > 0){
		Swap(v1, v2);


	// v1 = support in direction of origin
	n = normalize(-v0);
	v11 = TransformSupportVert(p1, -n);
	v12 = TransformSupportVert(p2, n);
	v1 = v12 - v11;
