The convex hull of a point cloud, "3d" only (§24).
The 3D counterpart of PolygonShape — and, unlike it, not checked
for degeneracy here. A 2D outline's degeneracy is a sign test this package
can do exactly; a 3D cloud's is the hull computation itself, and the solver
is already running one. Re-implementing it above the solver would produce a
second, differently-rounded verdict, so a cloud that encloses no volume is
refused by the adapter that tried to build it, naming the shape
(decision, PH-22a).
At least four points, all finite, in the collider's local frame. Order is
irrelevant — the hull is computed. Interior points are allowed and simply
do not survive it.
The convex hull of a point cloud,
"3d"only (§24).The 3D counterpart of PolygonShape — and, unlike it, not checked for degeneracy here. A 2D outline's degeneracy is a sign test this package can do exactly; a 3D cloud's is the hull computation itself, and the solver is already running one. Re-implementing it above the solver would produce a second, differently-rounded verdict, so a cloud that encloses no volume is refused by the adapter that tried to build it, naming the shape (decision, PH-22a).