Module shape 

Collision shapes attached to bodies (sphere, capsule, hull, mesh, …).

Create shapes with create_sphere_shape, create_capsule_shape, create_hull_shape, and the mesh/height-field/compound helpers, using a crate::types::ShapeDef from crate::types::default_shape_def. Geometry primitives live in crate::geometry and crate::hull.

Port of shape.h / shape.c. This file holds the data model and filter predicates; create/destroy and mutators are re-exported from submodules.

SPDX-FileCopyrightText: 2025 Erin Catto SPDX-License-Identifier: MIT

Modules

shape_flags

Shape flag bits. (enum b3ShapeFlags)

Structs

Shape

Internal shape. (b3Shape)

Enums

ShapeGeometry

Concrete shape geometry. Maps to C’s type tag + anonymous union.

Functions

collide_mover

Collide a capsule mover with a shape, writing contact planes into planes. Transforms the mover into local space, dispatches, then rotates results back. (b3CollideMover)

compute_fat_shape_aabb

(b3ComputeFatShapeAABB)

compute_shape_aabb

(b3ComputeShapeAABB)

compute_shape_extent

(b3ComputeShapeExtent)

compute_shape_mass

(b3ComputeShapeMass)

compute_swept_shape_aabb

Swept AABB of a convex shape along a sweep at time in [0, 1]. (b3ComputeSweptShapeAABB)

create_capsule_shape

(b3CreateCapsuleShape)

create_compound_shape

(b3CreateCompoundShape)

create_height_field_shape

(b3CreateHeightFieldShape)

create_hull_shape

(b3CreateHullShape)

create_mesh_shape

(b3CreateMeshShape)

create_shape_proxy

(b3CreateShapeProxy)

create_sphere_shape

(b3CreateSphereShape)

destroy_shape

Destroy a shape. (b3DestroyShape)

destroy_shape_proxy

(b3DestroyShapeProxy)

get_shape

Resolve a ShapeId to the shape index. (b3GetShape)

get_shape_centroid

(b3GetShapeCentroid)

get_shape_projected_area

Projected area of a shape onto a plane with the given normal. Used by explosions. (b3GetShapeProjectedArea)

make_shape_proxy

Convex shape proxy for distance / TOI. Mesh, height, and compound need their own query paths. (b3MakeShapeProxy)

mesh_geometry

Convenience: unit-scale mesh geometry. (b3Mesh with identity scale)

overlap_shape

Test overlap between a shape and a shape proxy. (b3OverlapShape)

ray_cast_shape

Ray cast a shape in world (or relative) space. Transforms the ray into local space, dispatches, then transforms the hit back. (b3RayCastShape)

shape_apply_wind

Apply a wind force to the body for this shape using the density of air. (b3Shape_ApplyWind)

shape_are_contact_events_enabled

(b3Shape_AreContactEventsEnabled)

shape_are_hit_events_enabled

(b3Shape_AreHitEventsEnabled)

shape_are_pre_solve_events_enabled

(b3Shape_ArePreSolveEventsEnabled)

shape_are_sensor_events_enabled

(b3Shape_AreSensorEventsEnabled)

shape_cast_shape

Shape cast a shape in world (or relative) space. (b3ShapeCastShape)

shape_compute_mass_data

Compute the mass data for a shape. (b3Shape_ComputeMassData)

shape_enable_contact_events

(b3Shape_EnableContactEvents)

shape_enable_hit_events

(b3Shape_EnableHitEvents)

shape_enable_pre_solve_events

(b3Shape_EnablePreSolveEvents)

shape_enable_sensor_events

(b3Shape_EnableSensorEvents)

shape_get_aabb

(b3Shape_GetAABB)

shape_get_body

(b3Shape_GetBody)

shape_get_capsule

(b3Shape_GetCapsule)

shape_get_closest_point

Closest point on a shape to a target in the query frame. (b3Shape_GetClosestPoint)

shape_get_contact_capacity

Conservative contact capacity for a non-sensor shape. (b3Shape_GetContactCapacity)

shape_get_contact_data

Touching contact data involving this shape. (b3Shape_GetContactData)

shape_get_density

(b3Shape_GetDensity)

shape_get_filter

(b3Shape_GetFilter)

shape_get_friction

(b3Shape_GetFriction)

shape_get_hull

(b3Shape_GetHull) — returns None for non-hull shapes.

shape_get_mesh_material_count

(b3Shape_GetMeshMaterialCount)

shape_get_mesh_surface_material

(b3Shape_GetMeshSurfaceMaterial)

shape_get_name

(b3Shape_GetName)

shape_get_restitution

(b3Shape_GetRestitution)

shape_get_sensor_capacity

Capacity required for shape_get_sensor_data / sensor overlaps. Returns 0 if the shape is not a sensor. (b3Shape_GetSensorCapacity)

shape_get_sensor_data

Overlapped shapes for a sensor. Overlaps may contain destroyed shapes — use super::shape_is_valid to confirm each. (b3Shape_GetSensorData; docs also call this GetSensorOverlaps)

shape_get_sensor_overlaps

Alias for shape_get_sensor_data matching the header doc name b3Shape_GetSensorOverlaps.

shape_get_sphere

(b3Shape_GetSphere)

shape_get_surface_material

(b3Shape_GetSurfaceMaterial)

shape_get_type

(b3Shape_GetType)

shape_get_user_data

(b3Shape_GetUserData)

shape_get_world

(b3Shape_GetWorld)

shape_is_sensor

(b3Shape_IsSensor)

shape_is_valid

Shape identifier validation. (b3Shape_IsValid)

shape_ray_cast

World-space ray cast against a single shape. (b3Shape_RayCast)

shape_set_capsule

(b3Shape_SetCapsule)

shape_set_density

(b3Shape_SetDensity)

shape_set_filter

(b3Shape_SetFilter)

shape_set_friction

(b3Shape_SetFriction)

shape_set_hull

(b3Shape_SetHull)

shape_set_mesh

(b3Shape_SetMesh)

shape_set_mesh_material

(b3Shape_SetMeshMaterial)

shape_set_name

Set the shape name (truncated to SHAPE_NAME_LENGTH). Uses the world name cache rather than C’s fixed char buffer. (b3Shape_SetName)

shape_set_restitution

(b3Shape_SetRestitution)

shape_set_sphere

(b3Shape_SetSphere)

shape_set_surface_material

(b3Shape_SetSurfaceMaterial)

shape_set_user_data

(b3Shape_SetUserData) — Rust stores u64 instead of void*.

shape_time_of_impact

Time of impact between two shapes along sweeps. Convex vs convex uses GJK TOI; mesh/height/compound use triangle/child queries. (b3ShapeTimeOfImpact)

should_query_collide

(static inline b3ShouldQueryCollide)

should_shapes_collide

(static inline b3ShouldShapesCollide)