Function de_index::precise::insert

fn insert(
    commands: Commands<'_, '_>,
    index: ResMut<'_, EntityIndex>,
    solids: SolidObjects<'_>,
    query: Query<'_, '_, (Entity, &'static ObjectTypeComponent, &'static Transform), (Without<Indexed>, Or<(With<StaticSolid>, With<MovableSolid>)>)>
)

This system iterates over all not yet indexed entities, computes their shape and adds them to the index.

Shape of the entities is minimum axis-aligned bounding box of the entity mesh and all descendant entity meshes. The shape is represented with parry3d::shape::Cuboid.