Each (point, distance) sets back the corner at the body's nearest vertex: its patch starts that far along every edge there. Tested on the 60 x 40 x 20 box corner with r5 rounds set back 8 (volume between the convex hull and the rounds' prisms bounds, 15/36/23 topology, the box's bbox) and on refusals. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>