# {py:mod}`simvx.core.physics.world`

```{py:module} simvx.core.physics.world
```

```{autodoc2-docstring} simvx.core.physics.world
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`BodyMode <simvx.core.physics.world.BodyMode>`
  - ```{autodoc2-docstring} simvx.core.physics.world.BodyMode
    :summary:
    ```
* - {py:obj}`RaycastHit <simvx.core.physics.world.RaycastHit>`
  - ```{autodoc2-docstring} simvx.core.physics.world.RaycastHit
    :summary:
    ```
* - {py:obj}`Contact <simvx.core.physics.world.Contact>`
  - ```{autodoc2-docstring} simvx.core.physics.world.Contact
    :summary:
    ```
* - {py:obj}`ContactPhase <simvx.core.physics.world.ContactPhase>`
  - ```{autodoc2-docstring} simvx.core.physics.world.ContactPhase
    :summary:
    ```
* - {py:obj}`ContactEvent <simvx.core.physics.world.ContactEvent>`
  - ```{autodoc2-docstring} simvx.core.physics.world.ContactEvent
    :summary:
    ```
* - {py:obj}`OverlapEvent <simvx.core.physics.world.OverlapEvent>`
  - ```{autodoc2-docstring} simvx.core.physics.world.OverlapEvent
    :summary:
    ```
* - {py:obj}`CharacterMoveResult <simvx.core.physics.world.CharacterMoveResult>`
  - ```{autodoc2-docstring} simvx.core.physics.world.CharacterMoveResult
    :summary:
    ```
* - {py:obj}`PhysicsWorld <simvx.core.physics.world.PhysicsWorld>`
  - ```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld
    :summary:
    ```
````

### Data

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`BodyHandle <simvx.core.physics.world.BodyHandle>`
  - ```{autodoc2-docstring} simvx.core.physics.world.BodyHandle
    :summary:
    ```
* - {py:obj}`ShapeHandle <simvx.core.physics.world.ShapeHandle>`
  - ```{autodoc2-docstring} simvx.core.physics.world.ShapeHandle
    :summary:
    ```
* - {py:obj}`CharacterHandle <simvx.core.physics.world.CharacterHandle>`
  - ```{autodoc2-docstring} simvx.core.physics.world.CharacterHandle
    :summary:
    ```
* - {py:obj}`JointHandle <simvx.core.physics.world.JointHandle>`
  - ```{autodoc2-docstring} simvx.core.physics.world.JointHandle
    :summary:
    ```
* - {py:obj}`__all__ <simvx.core.physics.world.__all__>`
  - ```{autodoc2-docstring} simvx.core.physics.world.__all__
    :summary:
    ```
````

### API

````{py:data} BodyHandle
:canonical: simvx.core.physics.world.BodyHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.BodyHandle
```

````

````{py:data} ShapeHandle
:canonical: simvx.core.physics.world.ShapeHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ShapeHandle
```

````

````{py:data} CharacterHandle
:canonical: simvx.core.physics.world.CharacterHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.CharacterHandle
```

````

````{py:data} JointHandle
:canonical: simvx.core.physics.world.JointHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.JointHandle
```

````

`````{py:class} BodyMode
:canonical: simvx.core.physics.world.BodyMode

Bases: {py:obj}`enum.Enum`

```{autodoc2-docstring} simvx.core.physics.world.BodyMode
```

````{py:attribute} STATIC
:canonical: simvx.core.physics.world.BodyMode.STATIC
:value: >
   'static'

```{autodoc2-docstring} simvx.core.physics.world.BodyMode.STATIC
```

````

````{py:attribute} DYNAMIC
:canonical: simvx.core.physics.world.BodyMode.DYNAMIC
:value: >
   'dynamic'

```{autodoc2-docstring} simvx.core.physics.world.BodyMode.DYNAMIC
```

````

````{py:attribute} KINEMATIC
:canonical: simvx.core.physics.world.BodyMode.KINEMATIC
:value: >
   'kinematic'

```{autodoc2-docstring} simvx.core.physics.world.BodyMode.KINEMATIC
```

````

````{py:method} __new__(value)
:canonical: simvx.core.physics.world.BodyMode.__new__

````

````{py:method} __repr__()
:canonical: simvx.core.physics.world.BodyMode.__repr__

````

````{py:method} __str__()
:canonical: simvx.core.physics.world.BodyMode.__str__

````

````{py:method} __dir__()
:canonical: simvx.core.physics.world.BodyMode.__dir__

````

````{py:method} __format__(format_spec)
:canonical: simvx.core.physics.world.BodyMode.__format__

````

````{py:method} __hash__()
:canonical: simvx.core.physics.world.BodyMode.__hash__

````

````{py:method} __reduce_ex__(proto)
:canonical: simvx.core.physics.world.BodyMode.__reduce_ex__

````

````{py:method} __deepcopy__(memo)
:canonical: simvx.core.physics.world.BodyMode.__deepcopy__

````

````{py:method} __copy__()
:canonical: simvx.core.physics.world.BodyMode.__copy__

````

````{py:method} name()
:canonical: simvx.core.physics.world.BodyMode.name

````

````{py:method} value()
:canonical: simvx.core.physics.world.BodyMode.value

````

`````

`````{py:class} RaycastHit
:canonical: simvx.core.physics.world.RaycastHit

```{autodoc2-docstring} simvx.core.physics.world.RaycastHit
```

````{py:attribute} body
:canonical: simvx.core.physics.world.RaycastHit.body
:type: simvx.core.physics.world.BodyHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.RaycastHit.body
```

````

````{py:attribute} point
:canonical: simvx.core.physics.world.RaycastHit.point
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.RaycastHit.point
```

````

````{py:attribute} normal
:canonical: simvx.core.physics.world.RaycastHit.normal
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.RaycastHit.normal
```

````

````{py:attribute} distance
:canonical: simvx.core.physics.world.RaycastHit.distance
:type: float
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.RaycastHit.distance
```

````

`````

`````{py:class} Contact
:canonical: simvx.core.physics.world.Contact

```{autodoc2-docstring} simvx.core.physics.world.Contact
```

````{py:attribute} body
:canonical: simvx.core.physics.world.Contact.body
:type: simvx.core.physics.world.BodyHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.Contact.body
```

````

````{py:attribute} point
:canonical: simvx.core.physics.world.Contact.point
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.Contact.point
```

````

````{py:attribute} normal
:canonical: simvx.core.physics.world.Contact.normal
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.Contact.normal
```

````

````{py:attribute} distance
:canonical: simvx.core.physics.world.Contact.distance
:type: float
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.Contact.distance
```

````

`````

`````{py:class} ContactPhase
:canonical: simvx.core.physics.world.ContactPhase

Bases: {py:obj}`enum.Enum`

```{autodoc2-docstring} simvx.core.physics.world.ContactPhase
```

````{py:attribute} ENTER
:canonical: simvx.core.physics.world.ContactPhase.ENTER
:value: >
   'enter'

```{autodoc2-docstring} simvx.core.physics.world.ContactPhase.ENTER
```

````

````{py:attribute} EXIT
:canonical: simvx.core.physics.world.ContactPhase.EXIT
:value: >
   'exit'

```{autodoc2-docstring} simvx.core.physics.world.ContactPhase.EXIT
```

````

````{py:method} __new__(value)
:canonical: simvx.core.physics.world.ContactPhase.__new__

````

````{py:method} __repr__()
:canonical: simvx.core.physics.world.ContactPhase.__repr__

````

````{py:method} __str__()
:canonical: simvx.core.physics.world.ContactPhase.__str__

````

````{py:method} __dir__()
:canonical: simvx.core.physics.world.ContactPhase.__dir__

````

````{py:method} __format__(format_spec)
:canonical: simvx.core.physics.world.ContactPhase.__format__

````

````{py:method} __hash__()
:canonical: simvx.core.physics.world.ContactPhase.__hash__

````

````{py:method} __reduce_ex__(proto)
:canonical: simvx.core.physics.world.ContactPhase.__reduce_ex__

````

````{py:method} __deepcopy__(memo)
:canonical: simvx.core.physics.world.ContactPhase.__deepcopy__

````

````{py:method} __copy__()
:canonical: simvx.core.physics.world.ContactPhase.__copy__

````

````{py:method} name()
:canonical: simvx.core.physics.world.ContactPhase.name

````

````{py:method} value()
:canonical: simvx.core.physics.world.ContactPhase.value

````

`````

`````{py:class} ContactEvent
:canonical: simvx.core.physics.world.ContactEvent

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent
```

````{py:attribute} a
:canonical: simvx.core.physics.world.ContactEvent.a
:type: simvx.core.physics.world.BodyHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent.a
```

````

````{py:attribute} b
:canonical: simvx.core.physics.world.ContactEvent.b
:type: simvx.core.physics.world.BodyHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent.b
```

````

````{py:attribute} phase
:canonical: simvx.core.physics.world.ContactEvent.phase
:type: simvx.core.physics.world.ContactPhase
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent.phase
```

````

````{py:attribute} point
:canonical: simvx.core.physics.world.ContactEvent.point
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent.point
```

````

````{py:attribute} normal
:canonical: simvx.core.physics.world.ContactEvent.normal
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent.normal
```

````

````{py:attribute} impulse
:canonical: simvx.core.physics.world.ContactEvent.impulse
:type: float
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent.impulse
```

````

````{py:attribute} rel_velocity
:canonical: simvx.core.physics.world.ContactEvent.rel_velocity
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.ContactEvent.rel_velocity
```

````

`````

`````{py:class} OverlapEvent
:canonical: simvx.core.physics.world.OverlapEvent

```{autodoc2-docstring} simvx.core.physics.world.OverlapEvent
```

````{py:attribute} sensor
:canonical: simvx.core.physics.world.OverlapEvent.sensor
:type: simvx.core.physics.world.BodyHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.OverlapEvent.sensor
```

````

````{py:attribute} other
:canonical: simvx.core.physics.world.OverlapEvent.other
:type: simvx.core.physics.world.BodyHandle
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.OverlapEvent.other
```

````

````{py:attribute} phase
:canonical: simvx.core.physics.world.OverlapEvent.phase
:type: simvx.core.physics.world.ContactPhase
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.OverlapEvent.phase
```

````

`````

`````{py:class} CharacterMoveResult
:canonical: simvx.core.physics.world.CharacterMoveResult

```{autodoc2-docstring} simvx.core.physics.world.CharacterMoveResult
```

````{py:attribute} velocity
:canonical: simvx.core.physics.world.CharacterMoveResult.velocity
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.CharacterMoveResult.velocity
```

````

````{py:attribute} on_floor
:canonical: simvx.core.physics.world.CharacterMoveResult.on_floor
:type: bool
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.CharacterMoveResult.on_floor
```

````

````{py:attribute} on_wall
:canonical: simvx.core.physics.world.CharacterMoveResult.on_wall
:type: bool
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.CharacterMoveResult.on_wall
```

````

````{py:attribute} on_ceiling
:canonical: simvx.core.physics.world.CharacterMoveResult.on_ceiling
:type: bool
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.CharacterMoveResult.on_ceiling
```

````

````{py:attribute} floor_normal
:canonical: simvx.core.physics.world.CharacterMoveResult.floor_normal
:type: simvx.core.math.Vec3
:value: >
   None

```{autodoc2-docstring} simvx.core.physics.world.CharacterMoveResult.floor_normal
```

````

`````

`````{py:class} PhysicsWorld(*, gravity: simvx.core.math.Vec3)
:canonical: simvx.core.physics.world.PhysicsWorld

Bases: {py:obj}`abc.ABC`

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.__init__
```

````{py:property} gravity
:canonical: simvx.core.physics.world.PhysicsWorld.gravity
:type: simvx.core.math.Vec3

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.gravity
```

````

````{py:method} capabilities() -> frozenset[simvx.core.physics.capability.Capability]
:canonical: simvx.core.physics.world.PhysicsWorld.capabilities

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.capabilities
```

````

````{py:method} create_sphere(radius: float) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_sphere
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_sphere
```

````

````{py:method} create_box(half_extents: simvx.core.math.Vec3) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_box
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_box
```

````

````{py:method} create_capsule(radius: float, height: float) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_capsule
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_capsule
```

````

````{py:method} create_cylinder(radius: float, height: float) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_cylinder
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_cylinder
```

````

````{py:method} create_convex_hull(points: numpy.ndarray) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_convex_hull
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_convex_hull
```

````

````{py:method} create_mesh(vertices: numpy.ndarray, indices: numpy.ndarray) -> simvx.core.physics.world.ShapeHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_mesh
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_mesh
```

````

````{py:method} create_body(shape: simvx.core.physics.world.ShapeHandle, body_type: simvx.core.physics.world.BodyMode, transform: typing.Any, *, mass: float = 1.0, collision_layer: int = 1, collision_mask: int = 4294967295, is_sensor: bool = False, friction: float = 0.5, restitution: float = 0.0, friction_combine: simvx.core.physics.material.CombineMode = CombineMode.AVERAGE, restitution_combine: simvx.core.physics.material.CombineMode = CombineMode.AVERAGE, continuous: bool = False) -> simvx.core.physics.world.BodyHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_body
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_body
```

````

````{py:method} destroy_body(handle: simvx.core.physics.world.BodyHandle) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.destroy_body
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.destroy_body
```

````

````{py:method} set_body_transform(handle: simvx.core.physics.world.BodyHandle, transform: typing.Any) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.set_body_transform
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.set_body_transform
```

````

````{py:method} set_body_velocity(handle: simvx.core.physics.world.BodyHandle, linear: simvx.core.math.Vec3, angular: simvx.core.math.Vec3 | None = None) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.set_body_velocity
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.set_body_velocity
```

````

````{py:method} set_body_mode(handle: simvx.core.physics.world.BodyHandle, mode: simvx.core.physics.world.BodyMode) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.set_body_mode
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.set_body_mode
```

````

````{py:method} body_velocity(handle: simvx.core.physics.world.BodyHandle) -> tuple[simvx.core.math.Vec3, simvx.core.math.Vec3]
:canonical: simvx.core.physics.world.PhysicsWorld.body_velocity
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.body_velocity
```

````

````{py:method} sleeping(handle: simvx.core.physics.world.BodyHandle) -> bool
:canonical: simvx.core.physics.world.PhysicsWorld.sleeping
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.sleeping
```

````

````{py:method} apply_impulse(handle: simvx.core.physics.world.BodyHandle, impulse: simvx.core.math.Vec3, *, at: simvx.core.math.Vec3 | None = None, angular: simvx.core.math.Vec3 | None = None) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.apply_impulse
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.apply_impulse
```

````

````{py:method} apply_force(handle: simvx.core.physics.world.BodyHandle, force: simvx.core.math.Vec3, *, at: simvx.core.math.Vec3 | None = None) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.apply_force
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.apply_force
```

````

````{py:method} apply_torque(handle: simvx.core.physics.world.BodyHandle, torque: simvx.core.math.Vec3) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.apply_torque
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.apply_torque
```

````

````{py:method} create_fixed_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_fixed_joint
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_fixed_joint
```

````

````{py:method} create_pin_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle, anchor: simvx.core.math.Vec3) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_pin_joint
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_pin_joint
```

````

````{py:method} create_hinge_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle, anchor: simvx.core.math.Vec3, axis: simvx.core.math.Vec3) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_hinge_joint
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_hinge_joint
```

````

````{py:method} create_spring_joint(a: simvx.core.physics.world.BodyHandle, b: simvx.core.physics.world.BodyHandle, rest_length: float, stiffness: float, damping: float) -> simvx.core.physics.world.JointHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_spring_joint
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_spring_joint
```

````

````{py:method} remove_joint(handle: simvx.core.physics.world.JointHandle) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.remove_joint
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.remove_joint
```

````

````{py:property} body_count
:canonical: simvx.core.physics.world.PhysicsWorld.body_count
:abstractmethod:
:type: int

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.body_count
```

````

````{py:method} clear() -> None
:canonical: simvx.core.physics.world.PhysicsWorld.clear
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.clear
```

````

````{py:method} step(dt: float) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.step
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.step
```

````

````{py:method} drain_contact_events() -> list[simvx.core.physics.world.ContactEvent]
:canonical: simvx.core.physics.world.PhysicsWorld.drain_contact_events
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.drain_contact_events
```

````

````{py:method} drain_overlap_events() -> list[simvx.core.physics.world.OverlapEvent]
:canonical: simvx.core.physics.world.PhysicsWorld.drain_overlap_events
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.drain_overlap_events
```

````

````{py:method} register_bodies(handles: list[simvx.core.physics.world.BodyHandle]) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.register_bodies
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.register_bodies
```

````

````{py:method} read_transforms(out: numpy.ndarray) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.read_transforms
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.read_transforms
```

````

````{py:method} read_velocities(out: numpy.ndarray) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.read_velocities
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.read_velocities
```

````

````{py:method} raycast(origin: simvx.core.math.Vec3, direction: simvx.core.math.Vec3, max_dist: float, *, mask: int = 4294967295) -> simvx.core.physics.world.RaycastHit | None
:canonical: simvx.core.physics.world.PhysicsWorld.raycast
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.raycast
```

````

````{py:method} raycast_all(origin: simvx.core.math.Vec3, direction: simvx.core.math.Vec3, max_dist: float, *, mask: int = 4294967295) -> list[simvx.core.physics.world.RaycastHit]
:canonical: simvx.core.physics.world.PhysicsWorld.raycast_all
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.raycast_all
```

````

````{py:method} shapecast(shape: simvx.core.physics.world.ShapeHandle, origin: simvx.core.math.Vec3, direction: simvx.core.math.Vec3, max_dist: float, *, mask: int = 4294967295) -> simvx.core.physics.world.Contact | None
:canonical: simvx.core.physics.world.PhysicsWorld.shapecast
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.shapecast
```

````

````{py:method} overlap(shape: simvx.core.physics.world.ShapeHandle, transform: typing.Any, *, mask: int = 4294967295) -> list[simvx.core.physics.world.BodyHandle]
:canonical: simvx.core.physics.world.PhysicsWorld.overlap
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.overlap
```

````

````{py:method} move_and_collide(handle: simvx.core.physics.world.BodyHandle, motion: simvx.core.math.Vec3) -> simvx.core.physics.world.Contact | None
:canonical: simvx.core.physics.world.PhysicsWorld.move_and_collide
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.move_and_collide
```

````

````{py:method} body_transform(handle: simvx.core.physics.world.BodyHandle) -> tuple[simvx.core.math.Vec3, simvx.core.math.Quat]
:canonical: simvx.core.physics.world.PhysicsWorld.body_transform
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.body_transform
```

````

````{py:method} create_character(shape: simvx.core.physics.world.ShapeHandle, transform: typing.Any, *, up: simvx.core.math.Vec3 = _DEFAULT_UP, slope_limit: float = math.radians(45.0), step_height: float = 0.0, skin_width: float = 0.001, collision_layer: int = 1, collision_mask: int = 4294967295) -> simvx.core.physics.world.CharacterHandle
:canonical: simvx.core.physics.world.PhysicsWorld.create_character
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.create_character
```

````

````{py:method} destroy_character(handle: simvx.core.physics.world.CharacterHandle) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.destroy_character
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.destroy_character
```

````

````{py:method} set_character_transform(handle: simvx.core.physics.world.CharacterHandle, transform: typing.Any) -> None
:canonical: simvx.core.physics.world.PhysicsWorld.set_character_transform
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.set_character_transform
```

````

````{py:method} character_transform(handle: simvx.core.physics.world.CharacterHandle) -> tuple[simvx.core.math.Vec3, simvx.core.math.Quat]
:canonical: simvx.core.physics.world.PhysicsWorld.character_transform
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.character_transform
```

````

````{py:method} character_move_and_slide(handle: simvx.core.physics.world.CharacterHandle, velocity: simvx.core.math.Vec3, dt: float, *, up: simvx.core.math.Vec3, max_slides: int = 4) -> simvx.core.physics.world.CharacterMoveResult
:canonical: simvx.core.physics.world.PhysicsWorld.character_move_and_slide
:abstractmethod:

```{autodoc2-docstring} simvx.core.physics.world.PhysicsWorld.character_move_and_slide
```

````

````{py:attribute} __slots__
:canonical: simvx.core.physics.world.PhysicsWorld.__slots__
:value: >
   ()

````

`````

````{py:data} __all__
:canonical: simvx.core.physics.world.__all__
:value: >
   ['BodyMode', 'Capability', 'CombineMode', 'RaycastHit', 'Contact', 'ContactPhase', 'ContactEvent', '...

```{autodoc2-docstring} simvx.core.physics.world.__all__
```

````