Move ColliderShape out of Rapier.

3 files changed, 34 insertions, 420 deletions

diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 4ad3295..6403031 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -1,6 +1,6 @@
 use crate::cdl::transformation::vhacd::VHACDParameters;
 use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
-use crate::geometry::{ColliderShape, InteractionGroups};
+use crate::geometry::{InteractionGroups, SharedShape};
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use cdl::bounding_volume::AABB;
 use cdl::shape::Shape;
@@ -47,7 +47,7 @@ impl ColliderFlags {
 ///
 /// To build a new collider, use the `ColliderBuilder` structure.
 pub struct Collider {
-    shape: ColliderShape,
+    shape: SharedShape,
     density: Real,
     pub(crate) flags: ColliderFlags,
     pub(crate) parent: RigidBodyHandle,
@@ -144,7 +144,7 @@ impl Collider {
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct ColliderBuilder {
     /// The shape of the collider to be built.
-    pub shape: ColliderShape,
+    pub shape: SharedShape,
     /// The density of the collider to be built.
     density: Option<Real>,
     /// The friction coefficient of the collider to be built.
@@ -169,7 +169,7 @@ pub struct ColliderBuilder {
 
 impl ColliderBuilder {
     /// Initialize a new collider builder with the given shape.
-    pub fn new(shape: ColliderShape) -> Self {
+    pub fn new(shape: SharedShape) -> Self {
         Self {
             shape,
             density: None,
@@ -191,20 +191,20 @@ impl ColliderBuilder {
         self.density.unwrap_or(default_density)
     }
 
-    pub fn compound(shapes: Vec<(Isometry<Real>, ColliderShape)>) -> Self {
-        Self::new(ColliderShape::compound(shapes))
+    pub fn compound(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Self {
+        Self::new(SharedShape::compound(shapes))
     }
 
     /// Initialize a new collider builder with a ball shape defined by its radius.
     pub fn ball(radius: Real) -> Self {
-        Self::new(ColliderShape::ball(radius))
+        Self::new(SharedShape::ball(radius))
     }
 
     /// Initialize a new collider builder with a cylindrical shape defined by its half-height
     /// (along along the y axis) and its radius.
     #[cfg(feature = "dim3")]
     pub fn cylinder(half_height: Real, radius: Real) -> Self {
-        Self::new(ColliderShape::cylinder(half_height, radius))
+        Self::new(SharedShape::cylinder(half_height, radius))
     }
 
     /// Initialize a new collider builder with a rounded cylindrical shape defined by its half-height
@@ -212,7 +212,7 @@ impl ColliderBuilder {
     /// radius of the sphere used for dilating the cylinder).
     #[cfg(feature = "dim3")]
     pub fn round_cylinder(half_height: Real, radius: Real, border_radius: Real) -> Self {
-        Self::new(ColliderShape::round_cylinder(
+        Self::new(SharedShape::round_cylinder(
             half_height,
             radius,
             border_radius,
@@ -223,7 +223,7 @@ impl ColliderBuilder {
     /// (along along the y axis) and its basis radius.
     #[cfg(feature = "dim3")]
     pub fn cone(half_height: Real, radius: Real) -> Self {
-        Self::new(ColliderShape::cone(half_height, radius))
+        Self::new(SharedShape::cone(half_height, radius))
     }
 
     /// Initialize a new collider builder with a rounded cone shape defined by its half-height
@@ -231,77 +231,73 @@ impl ColliderBuilder {
     /// radius of the sphere used for dilating the cylinder).
     #[cfg(feature = "dim3")]
     pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self {
-        Self::new(ColliderShape::round_cone(
-            half_height,
-            radius,
-            border_radius,
-        ))
+        Self::new(SharedShape::round_cone(half_height, radius, border_radius))
     }
 
     /// Initialize a new collider builder with a cuboid shape defined by its half-extents.
     #[cfg(feature = "dim2")]
     pub fn cuboid(hx: Real, hy: Real) -> Self {
-        Self::new(ColliderShape::cuboid(hx, hy))
+        Self::new(SharedShape::cuboid(hx, hy))
     }
 
     /// Initialize a new collider builder with a round cuboid shape defined by its half-extents
     /// and border radius.
     #[cfg(feature = "dim2")]
     pub fn round_cuboid(hx: Real, hy: Real, border_radius: Real) -> Self {
-        Self::new(ColliderShape::round_cuboid(hx, hy, border_radius))
+        Self::new(SharedShape::round_cuboid(hx, hy, border_radius))
     }
 
     /// Initialize a new collider builder with a capsule shape aligned with the `x` axis.
     pub fn capsule_x(half_height: Real, radius: Real) -> Self {
         let p = Point::from(Vector::x() * half_height);
-        Self::new(ColliderShape::capsule(-p, p, radius))
+        Self::new(SharedShape::capsule(-p, p, radius))
     }
 
     /// Initialize a new collider builder with a capsule shape aligned with the `y` axis.
     pub fn capsule_y(half_height: Real, radius: Real) -> Self {
         let p = Point::from(Vector::y() * half_height);
-        Self::new(ColliderShape::capsule(-p, p, radius))
+        Self::new(SharedShape::capsule(-p, p, radius))
     }
 
     /// Initialize a new collider builder with a capsule shape aligned with the `z` axis.
     #[cfg(feature = "dim3")]
     pub fn capsule_z(half_height: Real, radius: Real) -> Self {
         let p = Point::from(Vector::z() * half_height);
-        Self::new(ColliderShape::capsule(-p, p, radius))
+        Self::new(SharedShape::capsule(-p, p, radius))
     }
 
     /// Initialize a new collider builder with a cuboid shape defined by its half-extents.
     #[cfg(feature = "dim3")]
     pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self {
-        Self::new(ColliderShape::cuboid(hx, hy, hz))
+        Self::new(SharedShape::cuboid(hx, hy, hz))
     }
 
     /// Initialize a new collider builder with a round cuboid shape defined by its half-extents
     /// and border radius.
     #[cfg(feature = "dim3")]
     pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self {
-        Self::new(ColliderShape::round_cuboid(hx, hy, hz, border_radius))
+        Self::new(SharedShape::round_cuboid(hx, hy, hz, border_radius))
     }
 
     /// Initializes a collider builder with a segment shape.
     pub fn segment(a: Point<Real>, b: Point<Real>) -> Self {
-        Self::new(ColliderShape::segment(a, b))
+        Self::new(SharedShape::segment(a, b))
     }
 
     /// Initializes a collider builder with a triangle shape.
     pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self {
-        Self::new(ColliderShape::triangle(a, b, c))
+        Self::new(SharedShape::triangle(a, b, c))
     }
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
     pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
-        Self::new(ColliderShape::trimesh(vertices, indices))
+        Self::new(SharedShape::trimesh(vertices, indices))
     }
 
     /// Initializes a collider builder with a compound shape obtained from the decomposition of
     /// the given trimesh (in 3D) or polyline (in 2D) into convex parts.
     pub fn convex_decomposition(vertices: &[Point<Real>], indices: &[[u32; DIM]]) -> Self {
-        Self::new(ColliderShape::convex_decomposition(vertices, indices))
+        Self::new(SharedShape::convex_decomposition(vertices, indices))
     }
 
     /// Initializes a collider builder with a compound shape obtained from the decomposition of
@@ -311,7 +307,7 @@ impl ColliderBuilder {
         indices: &[[u32; DIM]],
         border_radius: Real,
     ) -> Self {
-        Self::new(ColliderShape::round_convex_decomposition(
+        Self::new(SharedShape::round_convex_decomposition(
             vertices,
             indices,
             border_radius,
@@ -325,7 +321,7 @@ impl ColliderBuilder {
         indices: &[[u32; DIM]],
         params: &VHACDParameters,
     ) -> Self {
-        Self::new(ColliderShape::convex_decomposition_with_params(
+        Self::new(SharedShape::convex_decomposition_with_params(
             vertices, indices, params,
         ))
     }
@@ -338,7 +334,7 @@ impl ColliderBuilder {
         params: &VHACDParameters,
         border_radius: Real,
     ) -> Self {
-        Self::new(ColliderShape::round_convex_decomposition_with_params(
+        Self::new(SharedShape::round_convex_decomposition_with_params(
             vertices,
             indices,
             params,
@@ -347,26 +343,26 @@ impl ColliderBuilder {
     }
 
     pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> {
-        ColliderShape::convex_hull(points).map(|cp| Self::new(cp))
+        SharedShape::convex_hull(points).map(|cp| Self::new(cp))
     }
 
     pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> {
-        ColliderShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp))
+        SharedShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp))
     }
 
     #[cfg(feature = "dim2")]
     pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> {
-        ColliderShape::convex_polyline(points).map(|cp| Self::new(cp))
+        SharedShape::convex_polyline(points).map(|cp| Self::new(cp))
     }
 
     #[cfg(feature = "dim2")]
     pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> {
-        ColliderShape::round_convex_polyline(points, border_radius).map(|cp| Self::new(cp))
+        SharedShape::round_convex_polyline(points, border_radius).map(|cp| Self::new(cp))
     }
 
     #[cfg(feature = "dim3")]
     pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
-        ColliderShape::convex_mesh(points, indices).map(|cp| Self::new(cp))
+        SharedShape::convex_mesh(points, indices).map(|cp| Self::new(cp))
     }
 
     #[cfg(feature = "dim3")]
@@ -375,21 +371,21 @@ impl ColliderBuilder {
         indices: &[[u32; 3]],
         border_radius: Real,
     ) -> Option<Self> {
-        ColliderShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp))
+        SharedShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp))
     }
 
     /// Initializes a collider builder with a heightfield shape defined by its set of height and a scale
     /// factor along each coordinate axis.
     #[cfg(feature = "dim2")]
     pub fn heightfield(heights: na::DVector<Real>, scale: Vector<Real>) -> Self {
-        Self::new(ColliderShape::heightfield(heights, scale))
+        Self::new(SharedShape::heightfield(heights, scale))
     }
 
     /// Initializes a collider builder with a heightfield shape defined by its set of height and a scale
     /// factor along each coordinate axis.
     #[cfg(feature = "dim3")]
     pub fn heightfield(heights: na::DMatrix<Real>, scale: Vector<Real>) -> Self {
-        Self::new(ColliderShape::heightfield(heights, scale))
+        Self::new(SharedShape::heightfield(heights, scale))
     }
 
     /// The default friction coefficient used by the collider builder.
diff --git a/src/geometry/collider_shape.rs b/src/geometry/collider_shape.rs
deleted file mode 100644
index ed91b82..0000000
--- a/src/geometry/collider_shape.rs
+++ /dev/null
@@ -1,381 +0,0 @@
-use crate::cdl::transformation::vhacd::{VHACDParameters, VHACD};
-use crate::math::{Isometry, Point, Real, Vector, DIM};
-use cdl::shape::{
-    Ball, Capsule, Compound, Cuboid, HalfSpace, HeightField, RoundCuboid, RoundShape,
-    RoundTriangle, Segment, Shape, ShapeType, TriMesh, Triangle,
-};
-#[cfg(feature = "dim3")]
-use cdl::shape::{
-    Cone, ConvexPolyhedron, Cylinder, RoundCone, RoundConvexPolyhedron, RoundCylinder,
-};
-#[cfg(feature = "dim2")]
-use cdl::shape::{ConvexPolygon, RoundConvexPolygon};
-use std::ops::Deref;
-use std::sync::Arc;
-
-/// The shape of a collider.
-#[derive(Clone)]
-pub struct ColliderShape(pub Arc<dyn Shape>);
-
-impl Deref for ColliderShape {
-    type Target = dyn Shape;
-    fn deref(&self) -> &dyn Shape {
-        &*self.0
-    }
-}
-
-impl ColliderShape {
-    /// Initialize a compound shape defined by its subshapes.
-    pub fn compound(shapes: Vec<(Isometry<Real>, ColliderShape)>) -> Self {
-        let raw_shapes = shapes.into_iter().map(|s| (s.0, s.1 .0)).collect();
-        let compound = Compound::new(raw_shapes);
-        ColliderShape(Arc::new(compound))
-    }
-
-    /// Initialize a ball shape defined by its radius.
-    pub fn ball(radius: Real) -> Self {
-        ColliderShape(Arc::new(Ball::new(radius)))
-    }
-
-    /// Initialize a cylindrical shape defined by its half-height
-    /// (along along the y axis) and its radius.
-    #[cfg(feature = "dim3")]
-    pub fn cylinder(half_height: Real, radius: Real) -> Self {
-        ColliderShape(Arc::new(Cylinder::new(half_height, radius)))
-    }
-
-    /// Initialize a rounded cylindrical shape defined by its half-height
-    /// (along along the y axis), its radius, and its roundedness (the
-    /// radius of the sphere used for dilating the cylinder).
-    #[cfg(feature = "dim3")]
-    pub fn round_cylinder(half_height: Real, radius: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cylinder::new(half_height, radius),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a rounded cone shape defined by its half-height
-    /// (along along the y axis), its radius, and its roundedness (the
-    /// radius of the sphere used for dilating the cylinder).
-    #[cfg(feature = "dim3")]
-    pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cone::new(half_height, radius),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a cone shape defined by its half-height
-    /// (along along the y axis) and its basis radius.
-    #[cfg(feature = "dim3")]
-    pub fn cone(half_height: Real, radius: Real) -> Self {
-        ColliderShape(Arc::new(Cone::new(half_height, radius)))
-    }
-
-    /// Initialize a cuboid shape defined by its half-extents.
-    #[cfg(feature = "dim2")]
-    pub fn cuboid(hx: Real, hy: Real) -> Self {
-        ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy))))
-    }
-
-    /// Initialize a round cuboid shape defined by its half-extents and border radius.
-    #[cfg(feature = "dim2")]
-    pub fn round_cuboid(hx: Real, hy: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cuboid::new(Vector::new(hx, hy)),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a cuboid shape defined by its half-extents.
-    #[cfg(feature = "dim3")]
-    pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self {
-        ColliderShape(Arc::new(Cuboid::new(Vector::new(hx, hy, hz))))
-    }
-
-    /// Initialize a round cuboid shape defined by its half-extents and border radius.
-    #[cfg(feature = "dim3")]
-    pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self {
-        ColliderShape(Arc::new(RoundShape {
-            base_shape: Cuboid::new(Vector::new(hx, hy, hz)),
-            border_radius,
-        }))
-    }
-
-    /// Initialize a capsule shape from its endpoints and radius.
-    pub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self {
-        ColliderShape(Arc::new(Capsule::new(a, b, radius)))
-    }
-
-    /// Initialize a segment shape from its endpoints.
-    pub fn segment(a: Point<Real>, b: Point<Real>) -> Self {
-        ColliderShape(Arc::new(Segment::new(a, b)))
-    }
-
-    /// Initializes a triangle shape.
-    pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self {
-        ColliderShape(Arc::new(Triangle::new(a, b, c)))
-    }
-
-    /// Initializes a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
-        ColliderShape(Arc::new(TriMesh::new(vertices, indices)))
-    }
-
-    /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
-    /// polyline (in 2D) into convex parts.
-    pub fn convex_decomposition(vertices: &[Point<Real>], indices: &[[u32; DIM]]) -> Self {
-        Self::convex_decomposition_with_params(vertices, indices, &VHACDParameters::default())
-    }
-
-    /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
-    /// polyline (in 2D) into convex parts dilated with round corners.
-    pub fn round_convex_decomposition(
-        vertices: &[Point<Real>],
-        indices: &[[u32; DIM]],
-        border_radius: Real,
-    ) -> Self {
-        Self::round_convex_decomposition_with_params(
-            vertices,
-            indices,
-            &VHACDParameters::default(),
-            border_radius,
-        )
-    }
-
-    /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
-    /// polyline (in 2D) into convex parts.
-    pub fn convex_decomposition_with_params(
-        vertices: &[Point<Real>],
-        indices: &[[u32; DIM]],
-        params: &VHACDParameters,
-    ) -> Self {
-        let mut parts = vec![];
-        let decomp = VHACD::decompose(params, &vertices, &indices, true);
-
-        #[cfg(feature = "dim2")]
-        for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::convex_polyline(vertices) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        #[cfg(feature = "dim3")]
-        for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::convex_mesh(vertices, &indices) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        Self::compound(parts)
-    }
-
-    /// Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or
-    /// polyline (in 2D) into convex parts dilated with round corners.
-    pub fn round_convex_decomposition_with_params(
-        vertices: &[Point<Real>],
-        indices: &[[u32; DIM]],
-        params: &VHACDParameters,
-        border_radius: Real,
-    ) -> Self {
-        let mut parts = vec![];
-        let decomp = VHACD::decompose(params, &vertices, &indices, true);
-
-        #[cfg(feature = "dim2")]
-        for vertices in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::round_convex_polyline(vertices, border_radius) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        #[cfg(feature = "dim3")]
-        for (vertices, indices) in decomp.compute_exact_convex_hulls(&vertices, &indices) {
-            if let Some(convex) = Self::round_convex_mesh(vertices, &indices, border_radius) {
-                parts.push((Isometry::identity(), convex));
-            }
-        }
-
-        Self::compound(parts)
-    }
-
-    pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> {
-        #[cfg(feature = "dim2")]
-        return ConvexPolygon::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
-        #[cfg(feature = "dim3")]
-        return ConvexPolyhedron::from_convex_hull(points).map(|ch| ColliderShape(Arc::new(ch)));
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> {
-        ConvexPolygon::from_convex_polyline(points).map(|ch| ColliderShape(Arc::new(ch)))
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
-        ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch)))
-    }
-
-    pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> {
-        #[cfg(feature = "dim2")]
-        return ConvexPolygon::from_convex_hull(points).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        });
-        #[cfg(feature = "dim3")]
-        return ConvexPolyhedron::from_convex_hull(points).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        });
-    }
-
-    #[cfg(feature = "dim2")]
-    pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> {
-        ConvexPolygon::from_convex_polyline(points).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        })
-    }
-
-    #[cfg(feature = "dim3")]
-    pub fn round_convex_mesh(
-        points: Vec<Point<Real>>,
-        indices: &[[u32; 3]],
-        border_radius: Real,
-    ) -> Option<Self> {
-        ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| {
-            ColliderShape(Arc::new(RoundShape {
-                base_shape: ch,
-                border_radius,
-            }))
-        })
-    }
-
-    /// Initializes an heightfield shape defined by its set of height and a scale
-    /// factor along each coordinate axis.
-    #[cfg(feature = "dim2")]
-    pub fn heightfield(heights: na::DVector<Real>, scale: Vector<Real>) -> Self {
-        ColliderShape(Arc::new(HeightField::new(heights, scale)))
-    }
-
-    /// Initializes an heightfield shape on the x-z plane defined by its set of height and a scale
-    /// factor along each coordinate axis.
-    #[cfg(feature = "dim3")]
-    pub fn heightfield(heights: na::DMatrix<Real>, scale: Vector<Real>) -> Self {
-        ColliderShape(Arc::new(HeightField::new(heights, scale)))
-    }
-}
-
-#[cfg(feature = "serde-serialize")]
-impl serde::Serialize for ColliderShape {
-    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-    where
-        S: serde::Serializer,
-    {
-        use crate::serde::ser::SerializeStruct;
-
-        if let Some(ser) = self.0.as_serialize() {
-            let typ = self.0.shape_type();
-            let mut state = serializer.serialize_struct("ColliderShape", 2)?;
-            state.serialize_field("tag", &(typ as i32))?;
-            state.serialize_field("inner", ser)?;
-            state.end()
-        } else {
-            Err(serde::ser::Error::custom(
-                "Found a non-serializable custom shape.",
-            ))
-        }
-    }
-}
-
-#[cfg(feature = "serde-serialize")]
-impl<'de> serde::Deserialize<'de> for ColliderShape {
-    fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
-    where
-        D: serde::Deserializer<'de>,
-    {
-        struct Visitor {};
-        impl<'de> serde::de::Visitor<'de> for Visitor {
-            type Value = ColliderShape;
-            fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result {
-                write!(formatter, "one shape type tag and the inner shape data")
-            }
-
-            fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
-            where
-                A: serde::de::SeqAccess<'de>,
-            {
-                use num::cast::FromPrimitive;
-
-                let tag: i32 = seq
-                    .next_element()?
-                    .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
-
-                fn deser<'de, A, S: Shape + serde::Deserialize<'de>>(
-                    seq: &mut A,
-                ) -> Result<Arc<dyn Shape>, A::Error>
-                where
-                    A: serde::de::SeqAccess<'de>,
-                {
-                    let shape: S = seq.next_element()?.ok_or_else(|| {
-                        serde::de::Error::custom("Failed to deserialize builtin shape.")
-                    })?;
-                    Ok(Arc::new(shape) as Arc<dyn Shape>)
-                }
-
-                let shape = match ShapeType::from_i32(tag) {
-                    Some(ShapeType::Ball) => deser::<A, Ball>(&mut seq)?,
-                    Some(ShapeType::Cuboid) => deser::<A, Cuboid>(&mut seq)?,
-                    Some(ShapeType::Capsule) => deser::<A, Capsule>(&mut seq)?,
-                    Some(ShapeType::Triangle) => deser::<A, Triangle>(&mut seq)?,
-                    Some(ShapeType::Segment) => deser::<A, Segment>(&mut seq)?,
-                    Some(ShapeType::TriMesh) => deser::<A, TriMesh>(&mut seq)?,
-                    Some(ShapeType::HeightField) => deser::<A, HeightField>(&mut seq)?,
-                    Some(ShapeType::HalfSpace) => deser::<A, HalfSpace>(&mut seq)?,
-                    Some(ShapeType::RoundCuboid) => deser::<A, RoundCuboid>(&mut seq)?,
-                    Some(ShapeType::RoundTriangle) => deser::<A, RoundTriangle>(&mut seq)?,
-                    #[cfg(feature = "dim2")]
-                    Some(ShapeType::ConvexPolygon) => deser::<A, ConvexPolygon>(&mut seq)?,
-                    #[cfg(feature = "dim2")]
-                    Some(ShapeType::RoundConvexPolygon) => {
-                        deser::<A, RoundConvexPolygon>(&mut seq)?
-                    }
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::Cylinder) => deser::<A, Cylinder>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::ConvexPolyhedron) => deser::<A, ConvexPolyhedron>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::Cone) => deser::<A, Cone>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::RoundCylinder) => deser::<A, RoundCylinder>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::RoundCone) => deser::<A, RoundCone>(&mut seq)?,
-                    #[cfg(feature = "dim3")]
-                    Some(ShapeType::RoundConvexPolyhedron) => {
-                        deser::<A, RoundConvexPolyhedron>(&mut seq)?
-                    }
-                    Some(ShapeType::Compound) => {
-                        return Err(serde::de::Error::custom(
-                            "found invalid shape type to deserialize",
-                        ))
-                    }
-                    None => {
-                        return Err(serde::de::Error::custom(
-                            "found invalid shape type to deserialize",
-                        ))
-                    }
-                };
-
-                Ok(ColliderShape(shape))
-            }
-        }
-
-        deserializer.deserialize_struct("ColliderShape", &["tag", "inner"], Visitor {})
-    }
-}
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index 75fbb75..9323ffc 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -3,7 +3,6 @@
 pub use self::broad_phase_multi_sap::BroadPhase;
 pub use self::collider::{Collider, ColliderBuilder};
 pub use self::collider_set::{ColliderHandle, ColliderSet};
-pub use self::collider_shape::ColliderShape;
 pub use self::contact_pair::{ContactData, ContactManifoldData};
 pub use self::contact_pair::{ContactPair, SolverContact, SolverFlags};
 pub use self::interaction_graph::{
@@ -43,6 +42,7 @@ pub type Ray = cdl::query::Ray;
 pub type RayIntersection = cdl::query::RayIntersection;
 /// The the projection of a point on a collider.
 pub type PointProjection = cdl::query::PointProjection;
+pub use cdl::shape::SharedShape;
 
 #[derive(Copy, Clone, Hash, Debug)]
 /// Events occurring when two collision objects start or stop being in contact (or penetration).
@@ -99,7 +99,6 @@ pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::Query
 mod broad_phase_multi_sap;
 mod collider;
 mod collider_set;
-mod collider_shape;
 mod contact_pair;
 mod interaction_graph;
 mod interaction_groups;