Well, we already have the following raycast methods on rigidbody component system:

app.systems.rigidbody.raycast(...);
app.systems.rigidbody.raycastAll(...);

I do think they belong under collision component system, though, as rigid bodies are shapeless and not able to collide. It is a collision component that gives body a shape, mass, and other properties that rays can detect. In fact, own physics system would be even better, which would handle casts in the physics world of the current backend, but that can be left for a better day. Nevertheless, we can add similar:

app.systems.rigidbody.shapeCast(...);

As with raycast it would take starting position and end position of the cast, as well as required shape that would be used for the sweep test. It can optionally take starting and final rotation quaternions of the shape.

Because the shape is an Ammo object, I did have convenience methods, like .sphereCast() or .boxCast(), etc, which would create the shape for the user and destroy it when finished. To simplify the API, we can add enums, like pc.SHAPECAST_SPHERE that shapeCast() method would take with optional params that describe it, like sphere shape radius, for example, etc.

I will make a draft PR.

Add support for spherecast #2094

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