///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="localTransform">Local transform of the shape.</param>
public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform)
{
localTransform.Validate();
LocalTransform = localTransform;
Shape = shape;
Weight = shape.Volume;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="localTransform">Local transform of the shape.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of rotation computation.</param>
public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform, float weight)
{
localTransform.Validate();
LocalTransform = localTransform;
Shape = shape;
Weight = weight;
}
///<summary>
/// Updates the world transform of the shape using the given position and orientation.
/// The world transform of the shape is offset from the given position and orientation by the collidable's LocalPosition.
///</summary>
///<param name="position">Position to use for the calculation.</param>
///<param name="orientation">Orientation to use for the calculation.</param>
public virtual void UpdateWorldTransform(ref Vector3 position, ref Quaternion orientation)
{
Quaternion.Transform(ref localPosition, ref orientation, out worldTransform.Position);
Vector3.Add(ref worldTransform.Position, ref position, out worldTransform.Position);
worldTransform.Orientation = orientation;
worldTransform.Validate();
}