Code:

        Vector3 Triangle::GetSupportPoint(const Vector3& normal) const        {            f32 maxDist = FLT_MIN;            s32 maxIndex = -1;            Sphere sphere(EPSILON); //Sphere collider            for (s32 i = 0; i < 3; ++i)            {                f32 result = vertices_[i].Dot(normal);                if (result > maxDist)                {                    maxIndex = i;                    maxDist = result;                }            }                        // Slap an epsilon value against the normal of the triangle plane as "volume"            // So that MPR may terminate before it tries to construct the tetrahedron            Vector3 point = sphere.GetSupportPoint(normal);            // EDIT: Singularity when 2 centers are perfectly on-line to the normal from the origin            if (maxDist > EPSILON)                point += vertices_[maxIndex]; // Standard cases            else                point += (vertices_[0] + vertices_[1] + vertices_[2])/3; // Returns centroid instead            return point;        }

Code:

void Triangle::GetSupportPoint(Vector3& point, const Vector3& normal){    f32 maxDist = FLT_MIN;    s32 maxIndex = -1;    for (s32 i = 0; i < 3; ++i)    {        f32 result = vertices_[i].Dot(normal);        if (result > maxDist)        {             maxIndex = i;             maxDist = result;        }    }    return vertices_[maxIndex];}