Function contact_manifolds_trimesh_shape 

pub fn contact_manifolds_trimesh_shape<ManifoldData, ContactData>(
    dispatcher: &dyn PersistentQueryDispatcher<ManifoldData, ContactData>,
    pos12: &Pose,
    trimesh1: &TriMesh,
    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 manifold between a triangle-mesh and a shape.

A mesh flagged TriMeshFlags::DEFORMABLE goes through contact_manifolds_composite_shape_shape instead: the interfering-triangle cache kept in this function’s workspace assumes a rigid mesh.