This PR combines various small changes that will be needed for Rapier:
This makes all the shape Copy, except for those that can't because of internal allocations.
If a field of a shape can be public without risking breaking an invariant, it is now.
This allows the construction of an AABB from a set of points or a single point.
This adds AABB::new_invalid() wich builds an invalid AABB useful for algorithm based on merging multiple aabbs.
This adds the computation of local support points using the SupportMap trait. This reduces the amount of computation when we work in the shape's local-space.
This PR combines various small changes that will be needed for Rapier:
Copy, except for those that can't because of internal allocations.AABB::new_invalid()wich builds an invalid AABB useful for algorithm based on merging multiple aabbs.SupportMaptrait. This reduces the amount of computation when we work in the shape's local-space.