Function ncollide3d::query::contact_shape_composite_shape

pub fn contact_shape_composite_shape<N: RealField, G2: ?Sized>(
    m1: &Isometry<N>, 
    g1: &dyn Shape<N>, 
    m2: &Isometry<N>, 
    g2: &G2, 
    prediction: N
) -> Option<Contact<N>> where
    G2: CompositeShape<N>, 

Best contact between a shape and a composite (Mesh, Compound) shape.