# {py:mod}`simvx.core.collision`

```{py:module} simvx.core.collision
```

```{autodoc2-docstring} simvx.core.collision
:allowtitles:
```

## Module Contents

### Classes

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

* - {py:obj}`CollisionShape <simvx.core.collision.CollisionShape>`
  - ```{autodoc2-docstring} simvx.core.collision.CollisionShape
    :summary:
    ```
* - {py:obj}`SphereShape <simvx.core.collision.SphereShape>`
  - ```{autodoc2-docstring} simvx.core.collision.SphereShape
    :summary:
    ```
* - {py:obj}`BoxShape <simvx.core.collision.BoxShape>`
  - ```{autodoc2-docstring} simvx.core.collision.BoxShape
    :summary:
    ```
* - {py:obj}`ConvexShape <simvx.core.collision.ConvexShape>`
  - ```{autodoc2-docstring} simvx.core.collision.ConvexShape
    :summary:
    ```
* - {py:obj}`CapsuleShape <simvx.core.collision.CapsuleShape>`
  - ```{autodoc2-docstring} simvx.core.collision.CapsuleShape
    :summary:
    ```
* - {py:obj}`SpatialHashGrid <simvx.core.collision.SpatialHashGrid>`
  - ```{autodoc2-docstring} simvx.core.collision.SpatialHashGrid
    :summary:
    ```
* - {py:obj}`RayHit <simvx.core.collision.RayHit>`
  - ```{autodoc2-docstring} simvx.core.collision.RayHit
    :summary:
    ```
* - {py:obj}`ShapeCastResult <simvx.core.collision.ShapeCastResult>`
  - ```{autodoc2-docstring} simvx.core.collision.ShapeCastResult
    :summary:
    ```
* - {py:obj}`CollisionWorld <simvx.core.collision.CollisionWorld>`
  - ```{autodoc2-docstring} simvx.core.collision.CollisionWorld
    :summary:
    ```
````

### Data

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

* - {py:obj}`__all__ <simvx.core.collision.__all__>`
  - ```{autodoc2-docstring} simvx.core.collision.__all__
    :summary:
    ```
````

### API

````{py:data} __all__
:canonical: simvx.core.collision.__all__
:value: >
   ['CollisionShape', 'SphereShape', 'BoxShape', 'ConvexShape', 'CapsuleShape', 'SpatialHashGrid', 'Ray...

```{autodoc2-docstring} simvx.core.collision.__all__
```

````

`````{py:class} CollisionShape
:canonical: simvx.core.collision.CollisionShape

```{autodoc2-docstring} simvx.core.collision.CollisionShape
```

````{py:method} get_aabb(position: numpy.ndarray) -> tuple[numpy.ndarray, numpy.ndarray]
:canonical: simvx.core.collision.CollisionShape.get_aabb
:abstractmethod:

```{autodoc2-docstring} simvx.core.collision.CollisionShape.get_aabb
```

````

````{py:method} support(position: numpy.ndarray, direction: numpy.ndarray) -> numpy.ndarray
:canonical: simvx.core.collision.CollisionShape.support
:abstractmethod:

```{autodoc2-docstring} simvx.core.collision.CollisionShape.support
```

````

`````

`````{py:class} SphereShape(radius: float = 1.0)
:canonical: simvx.core.collision.SphereShape

Bases: {py:obj}`simvx.core.collision.CollisionShape`

```{autodoc2-docstring} simvx.core.collision.SphereShape
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.collision.SphereShape.__init__
```

````{py:attribute} __slots__
:canonical: simvx.core.collision.SphereShape.__slots__
:value: >
   ('radius',)

```{autodoc2-docstring} simvx.core.collision.SphereShape.__slots__
```

````

````{py:method} get_aabb(position: numpy.ndarray) -> tuple[numpy.ndarray, numpy.ndarray]
:canonical: simvx.core.collision.SphereShape.get_aabb

```{autodoc2-docstring} simvx.core.collision.SphereShape.get_aabb
```

````

````{py:method} support(position: numpy.ndarray, direction: numpy.ndarray) -> numpy.ndarray
:canonical: simvx.core.collision.SphereShape.support

```{autodoc2-docstring} simvx.core.collision.SphereShape.support
```

````

`````

`````{py:class} BoxShape(half_extents: tuple[float, float, float] = (0.5, 0.5, 0.5))
:canonical: simvx.core.collision.BoxShape

Bases: {py:obj}`simvx.core.collision.CollisionShape`

```{autodoc2-docstring} simvx.core.collision.BoxShape
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.collision.BoxShape.__init__
```

````{py:attribute} __slots__
:canonical: simvx.core.collision.BoxShape.__slots__
:value: >
   ('half_extents',)

```{autodoc2-docstring} simvx.core.collision.BoxShape.__slots__
```

````

````{py:method} get_aabb(position: numpy.ndarray) -> tuple[numpy.ndarray, numpy.ndarray]
:canonical: simvx.core.collision.BoxShape.get_aabb

```{autodoc2-docstring} simvx.core.collision.BoxShape.get_aabb
```

````

````{py:method} support(position: numpy.ndarray, direction: numpy.ndarray) -> numpy.ndarray
:canonical: simvx.core.collision.BoxShape.support

```{autodoc2-docstring} simvx.core.collision.BoxShape.support
```

````

`````

`````{py:class} ConvexShape(vertices: numpy.ndarray)
:canonical: simvx.core.collision.ConvexShape

Bases: {py:obj}`simvx.core.collision.CollisionShape`

```{autodoc2-docstring} simvx.core.collision.ConvexShape
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.collision.ConvexShape.__init__
```

````{py:attribute} __slots__
:canonical: simvx.core.collision.ConvexShape.__slots__
:value: >
   ('vertices',)

```{autodoc2-docstring} simvx.core.collision.ConvexShape.__slots__
```

````

````{py:method} get_aabb(position: numpy.ndarray) -> tuple[numpy.ndarray, numpy.ndarray]
:canonical: simvx.core.collision.ConvexShape.get_aabb

```{autodoc2-docstring} simvx.core.collision.ConvexShape.get_aabb
```

````

````{py:method} support(position: numpy.ndarray, direction: numpy.ndarray) -> numpy.ndarray
:canonical: simvx.core.collision.ConvexShape.support

```{autodoc2-docstring} simvx.core.collision.ConvexShape.support
```

````

`````

`````{py:class} CapsuleShape(radius: float = 0.5, height: float = 2.0)
:canonical: simvx.core.collision.CapsuleShape

Bases: {py:obj}`simvx.core.collision.CollisionShape`

```{autodoc2-docstring} simvx.core.collision.CapsuleShape
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.collision.CapsuleShape.__init__
```

````{py:attribute} __slots__
:canonical: simvx.core.collision.CapsuleShape.__slots__
:value: >
   ('radius', 'height')

```{autodoc2-docstring} simvx.core.collision.CapsuleShape.__slots__
```

````

````{py:method} get_aabb(position: numpy.ndarray) -> tuple[numpy.ndarray, numpy.ndarray]
:canonical: simvx.core.collision.CapsuleShape.get_aabb

```{autodoc2-docstring} simvx.core.collision.CapsuleShape.get_aabb
```

````

````{py:method} support(position: numpy.ndarray, direction: numpy.ndarray) -> numpy.ndarray
:canonical: simvx.core.collision.CapsuleShape.support

```{autodoc2-docstring} simvx.core.collision.CapsuleShape.support
```

````

`````

`````{py:class} SpatialHashGrid(cell_size: float = 2.0)
:canonical: simvx.core.collision.SpatialHashGrid

```{autodoc2-docstring} simvx.core.collision.SpatialHashGrid
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.collision.SpatialHashGrid.__init__
```

````{py:attribute} __slots__
:canonical: simvx.core.collision.SpatialHashGrid.__slots__
:value: >
   ('cell_size', '_inv_cell', '_grid')

```{autodoc2-docstring} simvx.core.collision.SpatialHashGrid.__slots__
```

````

````{py:method} insert(body_id: int, aabb_min: numpy.ndarray, aabb_max: numpy.ndarray) -> None
:canonical: simvx.core.collision.SpatialHashGrid.insert

```{autodoc2-docstring} simvx.core.collision.SpatialHashGrid.insert
```

````

````{py:method} query(aabb_min: numpy.ndarray, aabb_max: numpy.ndarray) -> set[int]
:canonical: simvx.core.collision.SpatialHashGrid.query

```{autodoc2-docstring} simvx.core.collision.SpatialHashGrid.query
```

````

````{py:method} clear() -> None
:canonical: simvx.core.collision.SpatialHashGrid.clear

```{autodoc2-docstring} simvx.core.collision.SpatialHashGrid.clear
```

````

`````

`````{py:class} RayHit
:canonical: simvx.core.collision.RayHit

```{autodoc2-docstring} simvx.core.collision.RayHit
```

````{py:attribute} body
:canonical: simvx.core.collision.RayHit.body
:type: typing.Any
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.RayHit.body
```

````

````{py:attribute} point
:canonical: simvx.core.collision.RayHit.point
:type: numpy.ndarray
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.RayHit.point
```

````

````{py:attribute} distance
:canonical: simvx.core.collision.RayHit.distance
:type: float
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.RayHit.distance
```

````

`````

`````{py:class} ShapeCastResult
:canonical: simvx.core.collision.ShapeCastResult

```{autodoc2-docstring} simvx.core.collision.ShapeCastResult
```

````{py:attribute} body
:canonical: simvx.core.collision.ShapeCastResult.body
:type: typing.Any
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.ShapeCastResult.body
```

````

````{py:attribute} point
:canonical: simvx.core.collision.ShapeCastResult.point
:type: numpy.ndarray
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.ShapeCastResult.point
```

````

````{py:attribute} normal
:canonical: simvx.core.collision.ShapeCastResult.normal
:type: numpy.ndarray
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.ShapeCastResult.normal
```

````

````{py:attribute} distance
:canonical: simvx.core.collision.ShapeCastResult.distance
:type: float
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.ShapeCastResult.distance
```

````

````{py:attribute} fraction
:canonical: simvx.core.collision.ShapeCastResult.fraction
:type: float
:value: >
   None

```{autodoc2-docstring} simvx.core.collision.ShapeCastResult.fraction
```

````

`````

`````{py:class} CollisionWorld(use_spatial_hash: bool = False, cell_size: float = 2.0)
:canonical: simvx.core.collision.CollisionWorld

```{autodoc2-docstring} simvx.core.collision.CollisionWorld
```

```{rubric} Initialization
```

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.__init__
```

````{py:method} add_body(body: typing.Any, shape: simvx.core.collision.CollisionShape, position: numpy.ndarray | None = None, layer: int = 1, mask: int = 1) -> None
:canonical: simvx.core.collision.CollisionWorld.add_body

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.add_body
```

````

````{py:method} remove_body(body: typing.Any) -> None
:canonical: simvx.core.collision.CollisionWorld.remove_body

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.remove_body
```

````

````{py:method} update_position(body: typing.Any, position: numpy.ndarray) -> None
:canonical: simvx.core.collision.CollisionWorld.update_position

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.update_position
```

````

````{py:method} rebuild_spatial_hash() -> None
:canonical: simvx.core.collision.CollisionWorld.rebuild_spatial_hash

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.rebuild_spatial_hash
```

````

````{py:method} query_overlaps(body: typing.Any) -> list[typing.Any]
:canonical: simvx.core.collision.CollisionWorld.query_overlaps

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.query_overlaps
```

````

````{py:method} test_overlap(body_a: typing.Any, body_b: typing.Any) -> bool
:canonical: simvx.core.collision.CollisionWorld.test_overlap

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.test_overlap
```

````

````{py:method} raycast(origin: numpy.ndarray, direction: numpy.ndarray, max_dist: float = 1000.0, layer_mask: int = 4294967295) -> list[simvx.core.collision.RayHit]
:canonical: simvx.core.collision.CollisionWorld.raycast

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.raycast
```

````

````{py:method} shape_cast(shape: simvx.core.collision.CollisionShape, from_pos: numpy.ndarray, to_pos: numpy.ndarray, layer_mask: int = 4294967295, exclude: set | None = None, max_results: int = 32) -> list[simvx.core.collision.ShapeCastResult]
:canonical: simvx.core.collision.CollisionWorld.shape_cast

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.shape_cast
```

````

````{py:property} body_count
:canonical: simvx.core.collision.CollisionWorld.body_count
:type: int

```{autodoc2-docstring} simvx.core.collision.CollisionWorld.body_count
```

````

`````