Function contact_manifolds_composite_shape_shape 

pub fn contact_manifolds_composite_shape_shape<ManifoldData, ContactData>(
    dispatcher: &dyn PersistentQueryDispatcher<ManifoldData, ContactData>,
    pos12: &Pose,
    composite1: &(dyn CompositeShape + Sync),
    shape2: &dyn Shape,
    prediction: f32,
    manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
    workspace: &mut Option<ContactManifoldsWorkspace>,
    flipped: bool,
)
where
    ManifoldData: Default + Clone + Send + Sync,
    ContactData: Default + Copy + Send + Sync,

Computes the contact manifolds between a composite shape and an abstract shape.

The manifolds are in the order of the composite’s leaves reached by the query. Under the parallel feature, a query reaching many leaves computes their manifolds across threads (same manifolds, same order).