Assets held by a family trust do not form part of a person's assets and as such, they cannot be gifted via Will. Similarly, a beneficial interest in a discretionary/family trust cannot be gifted via Will. If however, a person holds units in a unit trust, these could be gifted via Will.
If you have a family trust and would like to ensure control passes in the way you wish, we recommend obtaining legal advice from a trust law specialist.
With respect to companies, any shares held by a person form part of their assets, and can be gifted via Will. The change in directorship is more complex and cannot always be governed by a Will. If you are unsure about how the directorship of a company will operate on your death, we recommend obtaining legal advice from a company law specialist.