Module geometry 

Shape geometry queries: sphere, capsule, and hull mass/AABB/overlap/cast.

Port of box3d-cpp-reference/src/sphere.c, capsule.c, and the query APIs at the end of hull.c. Types come from include/box3d/types.h.

Layout (mirrors box2d-rust geometry/):

• types.rs — MassData, Sphere, Capsule, RayCastInput, ShapeCastInput
• sphere.rs — sphere mass, AABB, overlap, ray/shape cast
• capsule.rs — capsule mass, AABB, overlap, ray/shape cast

Hull queries live in [crate::hull::queries] and are re-exported here.

SPDX-FileCopyrightText: 2026 Erin Catto SPDX-License-Identifier: MIT

Re-exports

pub use crate::distance::CastOutput;

pub use crate::hull::collide_mover_and_hull;

pub use crate::hull::compute_hull_aabb;

pub use crate::hull::compute_hull_mass;

pub use crate::hull::compute_swept_hull_aabb;

pub use crate::hull::overlap_hull;

pub use crate::hull::ray_cast_hull;

pub use crate::hull::shape_cast_hull;

Structs

Capsule

A solid capsule can be viewed as two hemispheres connected by a cylinder. (b3Capsule)

CollisionPlane

Collision planes that can be fed to crate::mover::solve_planes. Normally assembled by the user from PlaneResult values. (b3CollisionPlane)

MassData

This holds the mass data computed for a shape. (b3MassData)

PlaneResult

The plane between a character mover and a shape. (b3PlaneResult)

PlaneSolverResult

Result returned by crate::mover::solve_planes. (b3PlaneSolverResult)

RayCastInput

Low level ray cast input data. (b3RayCastInput)

ShapeCastInput

Low level shape cast input in generic form. This allows casting an arbitrary point cloud wrapped with a radius. For example, a sphere is a single point with a non-zero radius. A capsule is two points with a non-zero radius. A box is eight points with a zero radius. (b3ShapeCastInput)

ShapeExtent

Minimum and maximum extent of a shape relative to a local origin. (math_internal.h: b3ShapeExtent)

Sphere

A solid sphere. (b3Sphere)

SurfaceMaterial

Material properties supported per triangle on meshes and height fields. (b3SurfaceMaterial)

Enums

ShapeType

Shape type. (b3ShapeType)

Constants

SURFACE_MATERIAL_SIZE

Size of C b3SurfaceMaterial including trailing padding to 8-byte alignment.

Functions

collide_mover_and_capsule

Collide a capsule mover against a capsule. (b3CollideMoverAndCapsule)

collide_mover_and_sphere

Collide a capsule mover against a sphere. (b3CollideMoverAndSphere)

compute_capsule_aabb

Compute the AABB of a capsule. (b3ComputeCapsuleAABB)

compute_capsule_mass

Compute mass properties of a capsule. (b3ComputeCapsuleMass)

compute_sphere_aabb

Compute the AABB of a sphere. (b3ComputeSphereAABB)

compute_sphere_mass

Compute mass properties of a sphere. (b3ComputeSphereMass)

compute_swept_capsule_aabb

Compute the swept AABB of a capsule between two transforms. (b3ComputeSweptCapsuleAABB)

compute_swept_sphere_aabb

Compute the swept AABB of a sphere between two transforms. (b3ComputeSweptSphereAABB)

default_surface_material

Use this to initialize your surface material. (b3DefaultSurfaceMaterial)

is_valid_ray

Validate ray cast input data (NaN, etc). (b3IsValidRay)

overlap_capsule

Test overlap between a capsule and a shape proxy. (b3OverlapCapsule)

overlap_sphere

Test overlap between a sphere and a shape proxy. (b3OverlapSphere)

ray_cast_capsule

Ray cast versus capsule shape in local space. (b3RayCastCapsule)

ray_cast_hollow_sphere

Ray cast versus a hollow sphere (interior hits allowed). (b3RayCastHollowSphere)

ray_cast_sphere

Ray cast versus sphere shape in local space. (b3RayCastSphere)

shape_cast_capsule

Shape cast versus a capsule. (b3ShapeCastCapsule)

shape_cast_sphere

Shape cast versus a sphere. (b3ShapeCastSphere)