Function PxShapeExt_overlap 

pub unsafe extern "C" fn PxShapeExt_overlap(
    shape: *const PxShape,
    actor: *const PxRigidActor,
    otherGeom: *const PxGeometry,
    otherGeomPose: *const PxTransform,
) -> bool

Test overlap between the shape and a geometry object

True if the shape overlaps the geometry object