Optional: predicate for whether a world-space point is inside this
container. When absent, callers fall back to an axis-aligned bounding-box
test on the container's pose. Strategies whose containers aren't
rectangular (circles, irregular zones) implement this to override the
AABB default.
Optional: predicate for whether a world-space point is inside this container. When absent, callers fall back to an axis-aligned bounding-box test on the container's pose. Strategies whose containers aren't rectangular (circles, irregular zones) implement this to override the AABB default.