This library is sort of rough as you delve deeper, for instance mesh data gets put into an Arc, which in Rust terms is read only and thread safe but doesn't seem to belong in the library in my opinion because something simple like scaling a mesh is complicated now: https://github.com/sebcrozet/ncollide/issues/112 There are some other quirks I found like trying to store sphere colliders in a hashmap but found I instead need to store the Point type explicitly which wasn't obvious at first. Overall I think the library is good but needs more work, and an abstraction to work with space partitioning would be nice, even if it was in a different library or module. I wish I could offer help, this is definitely a good project. The sister library nalgebra is fantastic in my opinion, great linear algebra library: https://github.com/sebcrozet/nalgebra