Functions
unsigned	add_compound_prism (context_t c, float mass, float radius, float hheight, unsigned num_lateral_faces=0, const Transform T=NULL, AxisEnum axis=AXIS_Y, const float comOffset[3]=NULL)
	Adds a new body to the simulation with a compound collider that represents a prism of 4 or more lateral faces.

unsigned	add_compound_prism (context_t c, float mass, float radius, float hheight, unsigned num_lateral_faces, const float mMatrix16WithoutScaling, AxisEnum axis=AXIS_Y, const float comOffset[3]=NULL)

unsigned	add_compound_cylinder (context_t c, float mass, float radius, float hheight, const Transform T=NULL, AxisEnum axis=AXIS_Y, unsigned num_boxes=0, unsigned num_spheres=0, const float comOffset[3]=NULL, float box_lateral_side_shrinking=-1.f)
	Adds a new body to the simulation with a compound collider that represents a cylinder.

unsigned	add_compound_cylinder (context_t c, float mass, float radius, float hheight, const float mMatrix16WithoutScaling, AxisEnum axis=AXIS_Y, unsigned num_boxes=0, unsigned num_spheres=0, const float comOffset[3]=NULL, float box_lateral_side_shrinking=-1.f)

unsigned	add_compound_capsule (context_t c, float mass, float radius, float hheight, const Transform T=NULL, AxisEnum axis=AXIS_Y, unsigned num_boxes=1, unsigned num_spheres=3, const float comOffset[3]=NULL, float box_lateral_side_shrinking=-1.f)
	Adds a new body to the simulation with a compound collider that represents a capsule.

unsigned	add_compound_capsule (context_t c, float mass, float radius, float hheight, const float mMatrix16WithoutScaling, AxisEnum axis=AXIS_Y, unsigned num_boxes=1, unsigned num_spheres=3, const float comOffset[3]=NULL, float box_lateral_side_shrinking=-1.f)

unsigned	add_compound_hollow_cylinder (context_t c, float mass, float min_radius, float max_radius, float hheight, const Transform T=NULL, AxisEnum axis=AXIS_Y, unsigned num_boxes=8, const float comOffset[3]=NULL)
	Adds a new body to the simulation with a compound collider that represents the hollow lateral surface of a cylinder.

unsigned	add_compound_hollow_cylinder (context_t c, float mass, float min_radius, float max_radius, float hheight, const float mMatrix16WithoutScaling, AxisEnum axis=AXIS_Y, unsigned num_boxes=8, const float comOffset[3]=NULL)

unsigned	add_compound_torus (context_t c, float mass, float radius, float inner_radius, const Transform T=NULL, AxisEnum axis=AXIS_Y, unsigned num_boxes=8, const float comOffset[3]=NULL)
	Adds a new body to the simulation with a compound collider that represents a torus.

unsigned	add_compound_torus (context_t c, float mass, float radius, float inner_radius, const float mMatrix16WithoutScaling, AxisEnum axis=AXIS_Y, unsigned num_boxes=8, const float comOffset[3]=NULL)

unsigned	add_compound_cone (context_t c, float mass, float radius, float hheight, const Transform T=NULL, AxisEnum axis=AXIS_Y, unsigned num_boxes=0, unsigned num_spheres=0, const float comOffset[3]=NULL)
	Adds a new body to the simulation with a compound collider that represents an approximated cone.

unsigned	add_compound_cone (context_t c, float mass, float radius, float hheight, const float mMatrix16WithoutScaling, AxisEnum axis=AXIS_Y, unsigned num_boxes=0, unsigned num_spheres=0, const float comOffset[3]=NULL)

unsigned	add_compound_staircase (context_t c, float mass, float hdepth, float hheight, float hlength, unsigned num_steps=15, const Transform T=NULL, int orientation_in_0_3=0, const float comOffset[3]=NULL)
	Adds a new body to the simulation with a compound collider that represents a staircase; please note that the inertia is not calculated (or even approximated) correctly (only relevant when used as dynamic body)

unsigned	add_compound_staircase (context_t c, float mass, float hdepth, float hheight, float hlength, unsigned num_steps, const float mMatrix16WithoutScaling, int orientation_in_0_3=0, const float comOffset[3]=NULL)

Functions