diff --git a/apps/playground/src/pages/rapier/HeightfieldDemo.vue b/apps/playground/src/pages/rapier/HeightfieldDemo.vue
new file mode 100644
index 000000000..40a24a80e
--- /dev/null
+++ b/apps/playground/src/pages/rapier/HeightfieldDemo.vue
@@ -0,0 +1,58 @@
+<script setup lang="ts">
+import { OrbitControls } from '@tresjs/cientos'
+import { TresCanvas } from '@tresjs/core'
+import { TresLeches, useControls } from '@tresjs/leches'
+import { type ExposedRigidBody, HeightfieldCollider, Physics, RigidBody } from '@tresjs/rapier'
+import { ACESFilmicToneMapping, SRGBColorSpace } from 'three'
+
+const gl = {
+  clearColor: '#82DBC5',
+  shadows: true,
+  alpha: false,
+  outputColorSpace: SRGBColorSpace,
+  toneMapping: ACESFilmicToneMapping,
+}
+
+const { debug } = useControls({
+  debug: true,
+})
+
+const heights = new Float32Array([
+  0.0,
+  0.5,
+  0.0, // column 1
+  0.2,
+  1.0,
+  0.2, // column 2
+  0.0,
+  0.5,
+  0.0, // column 3
+])
+const scale = { x: 10.0, y: 1.0, z: 10.0 }
+</script>
+
+<template>
+  <TresLeches />
+  <TresCanvas v-bind="gl">
+    <TresPerspectiveCamera :position="[11, 25, 25]" :look-at="[0, 0, 0]" />
+    <OrbitControls />
+
+    <Suspense>
+      <Physics :debug>
+        <RigidBody
+          type="fixed"
+          :collider="false"
+        >
+          <HeightfieldCollider
+            :args="[2, 2, heights, scale]"
+          />
+          <TresMesh>
+            <TresPlaneGeometry :args="[20, 20, 20]" :rotate-x="-Math.PI / 2" />
+            <TresMeshBasicMaterial color="#f4f4f4" />
+          </TresMesh>
+        </RigidBody>
+      </Physics>
+    </Suspense>
+    <TresDirectionalLight :position="[1, 2, 3]" :intensity="1.5" />
+  </TresCanvas>
+</template>
diff --git a/apps/playground/src/pages/rapier/InstancedRigidBody.vue b/apps/playground/src/pages/rapier/InstancedRigidBody.vue
index 11224e9b8..8f120cd7d 100644
--- a/apps/playground/src/pages/rapier/InstancedRigidBody.vue
+++ b/apps/playground/src/pages/rapier/InstancedRigidBody.vue
@@ -44,7 +44,7 @@ watch(torusInstancedMesh, (mesh) => {
 
     <Suspense>
       <Physics debug>
-        <InstancedRigidBody collider="hull">
+        <InstancedRigidBody collider="convexHull">
           <TresInstancedMesh ref="torusInstancedMesh" :args="[torusKnots, torusKnotsMaterial, 3]" />
         </InstancedRigidBody>
 
diff --git a/apps/playground/src/router/routes/rapier/index.ts b/apps/playground/src/router/routes/rapier/index.ts
index 2c6359748..28f9ee74b 100644
--- a/apps/playground/src/router/routes/rapier/index.ts
+++ b/apps/playground/src/router/routes/rapier/index.ts
@@ -65,6 +65,11 @@ export const rapierRoutes = [
     name: 'Solver Groups',
     component: () => import('@/pages/rapier/SolverGroupsDemo.vue'),
   },
+  {
+    path: '/rapier/heightfield',
+    name: 'Heightfield',
+    component: () => import('@/pages/rapier/HeightfieldDemo.vue'),
+  },
   {
     path: '/rapier/ragdoll',
     name: 'Basic Ragdoll',
diff --git a/packages/rapier/src/components/InstancedRigidBody.vue b/packages/rapier/src/components/InstancedRigidBody.vue
index 80e2bb27f..eadac1d8d 100644
--- a/packages/rapier/src/components/InstancedRigidBody.vue
+++ b/packages/rapier/src/components/InstancedRigidBody.vue
@@ -5,8 +5,12 @@ import { onUnmounted, onUpdated, shallowRef, watch } from 'vue'
 
 import { useRapierContext } from '../composables'
 import { MATRIX_ZERO, QUATERNION_ZERO, VECTOR_ZERO } from '../constants/'
-import { createCollider, createRigidBody } from '../core'
-import type { InstancedRigidBodyProps, RigidBodyContext, TresInstancedMesh } from '../types'
+import { createCollider, createRigidBody, createRigidBodyAutoColliderPropsFromObject } from '../core'
+import type {
+  InstancedRigidBodyProps,
+  RigidBodyContext,
+  TresInstancedMesh,
+} from '../types'
 
 const props = withDefaults(defineProps<Partial<InstancedRigidBodyProps>>(), {
   type: 'dynamic',
@@ -59,10 +63,14 @@ watch(bodyGroup, (group) => {
     rigidBodyInfo.rigidBody.setTranslation(position, true)
     rigidBodyInfo.rigidBody.setRotation(quaternion, true)
 
+    const colliderProps = createRigidBodyAutoColliderPropsFromObject(
+      object,
+      props.collider,
+      rigidBodyInfo.rigidBody,
+    )
     const colliderInfo = {
       ...createCollider({
-        object,
-        shape: props.collider,
+        ...colliderProps,
         rigidBody: rigidBodyInfo.rigidBody,
         world,
       }),
diff --git a/packages/rapier/src/components/Physics.vue b/packages/rapier/src/components/Physics.vue
index 2dd330d5c..adbe890f8 100644
--- a/packages/rapier/src/components/Physics.vue
+++ b/packages/rapier/src/components/Physics.vue
@@ -10,11 +10,11 @@ import { GRAVITY } from '../constants'
 import {
   collisionTrigger,
   emitIntersection,
-  getCollisionObjectFromSource,
   getCollisionSourceFromColliderHandle,
+  getNodeObjectsFromCollisionSource,
 } from '../utils'
 import Debug from './Debug.vue'
-import type { PhysicsProps } from '../types'
+import type { PhysicsProps, SourceTarget } from '../types'
 
 const props = withDefaults(
   defineProps<Partial<PhysicsProps>>(),
@@ -63,20 +63,24 @@ onBeforeRender(() => {
   eventQueue.drainCollisionEvents((handle1, handle2, started) => {
     const source1 = getCollisionSourceFromColliderHandle(world.value, handle1)
     const source2 = getCollisionSourceFromColliderHandle(world.value, handle2)
-    const object1 = getCollisionObjectFromSource(source1, scene)
-    const object2 = getCollisionObjectFromSource(source2, scene)
+    const [groupObject1, currentObject1] = getNodeObjectsFromCollisionSource(source1, scene)
+    const [groupObject2, currentObject2] = getNodeObjectsFromCollisionSource(source2, scene)
 
-    if (!object1 || !object2) { return }
+    if (!groupObject1 || !currentObject1 || !groupObject2 || !currentObject2) { return }
 
-    collisionTrigger(
-      { objects: object1, context: source1 },
-      { objects: object2, context: source2 },
-      started,
-    )
+    const sourceTarget1: SourceTarget = {
+      objects: [groupObject1, currentObject1],
+      context: source1,
+    }
+    const sourceTarget2: SourceTarget = {
+      objects: [groupObject2, currentObject2],
+      context: source2,
+    }
 
+    collisionTrigger(sourceTarget1, sourceTarget2, started)
     emitIntersection(
-      { objects: object2, context: source2 },
-      { objects: object1, context: source1 },
+      sourceTarget2,
+      sourceTarget1,
       started && world.value.intersectionPair(source1.collider, source2.collider),
     )
   })
diff --git a/packages/rapier/src/components/RigidBody.vue b/packages/rapier/src/components/RigidBody.vue
index 4e736d5a6..892d16fcc 100644
--- a/packages/rapier/src/components/RigidBody.vue
+++ b/packages/rapier/src/components/RigidBody.vue
@@ -1,6 +1,6 @@
 <script setup lang="ts">
 import { ActiveCollisionTypes } from '@dimforge/rapier3d-compat'
-import { type TresObject3D, useLoop } from '@tresjs/core'
+import { useLoop } from '@tresjs/core'
 import { Object3D } from 'three'
 import {
   nextTick,
@@ -13,7 +13,7 @@ import {
 } from 'vue'
 
 import { useRapierContext } from '../composables'
-import { createColliderPropsFromObject, createRigidBody } from '../core'
+import { createRigidBody, createRigidBodyAutoColliderPropsFromObject } from '../core'
 import { hasValidColliderGeometry } from '../utils'
 import { makePropsWatcherRB } from '../utils/props'
 import { Collider } from './colliders'
@@ -93,9 +93,10 @@ watch(bodyGroup, async (group) => {
       // Skip children without valid geometry (e.g., collider wrappers, empty Object3Ds)
       if (!hasValidColliderGeometry(child as Object3D)) { continue }
 
-      const createdProps = createColliderPropsFromObject(
-        child as TresObject3D,
+      const createdProps = createRigidBodyAutoColliderPropsFromObject(
+        child,
         props.collider,
+        newPhysicsState.rigidBody,
       )
       collidersProps.push({ ...props, ...createdProps })
     }
diff --git a/packages/rapier/src/components/colliders/BallCollider.vue b/packages/rapier/src/components/colliders/Ball.vue
similarity index 51%
rename from packages/rapier/src/components/colliders/BallCollider.vue
rename to packages/rapier/src/components/colliders/Ball.vue
index 8500e2489..8110dc1cc 100644
--- a/packages/rapier/src/components/colliders/BallCollider.vue
+++ b/packages/rapier/src/components/colliders/Ball.vue
@@ -1,8 +1,10 @@
 <script setup lang="ts">
-import Collider from './BaseCollider.vue'
+import Collider from './Base.vue'
 import type { ColliderProps } from '../../types'
 
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number]
+}>()
 </script>
 
 <template>
diff --git a/packages/rapier/src/components/colliders/BaseCollider.vue b/packages/rapier/src/components/colliders/Base.vue
similarity index 100%
rename from packages/rapier/src/components/colliders/BaseCollider.vue
rename to packages/rapier/src/components/colliders/Base.vue
diff --git a/packages/rapier/src/components/colliders/Capsule.vue b/packages/rapier/src/components/colliders/Capsule.vue
new file mode 100644
index 000000000..8b86bc8d3
--- /dev/null
+++ b/packages/rapier/src/components/colliders/Capsule.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import Collider from './Base.vue'
+import type { ColliderProps } from '../../types'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number, halfHeight?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="capsule" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/CapsuleCollider.vue b/packages/rapier/src/components/colliders/CapsuleCollider.vue
deleted file mode 100644
index 18491246d..000000000
--- a/packages/rapier/src/components/colliders/CapsuleCollider.vue
+++ /dev/null
@@ -1,10 +0,0 @@
-<script setup lang="ts">
-import Collider from './BaseCollider.vue'
-import type { ColliderProps } from '../../types'
-
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
-</script>
-
-<template>
-  <Collider shape="capsule" v-bind="props" />
-</template>
diff --git a/packages/rapier/src/components/colliders/Cone.vue b/packages/rapier/src/components/colliders/Cone.vue
new file mode 100644
index 000000000..93fd2797f
--- /dev/null
+++ b/packages/rapier/src/components/colliders/Cone.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import Collider from './Base.vue'
+import type { ColliderProps } from '../../types'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number, halfHeight?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="cone" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/ConeCollider.vue b/packages/rapier/src/components/colliders/ConeCollider.vue
deleted file mode 100644
index 9a0820528..000000000
--- a/packages/rapier/src/components/colliders/ConeCollider.vue
+++ /dev/null
@@ -1,10 +0,0 @@
-<script setup lang="ts">
-import Collider from './BaseCollider.vue'
-import type { ColliderProps } from '../../types'
-
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
-</script>
-
-<template>
-  <Collider shape="cone" v-bind="props" />
-</template>
diff --git a/packages/rapier/src/components/colliders/ConvexHull.vue b/packages/rapier/src/components/colliders/ConvexHull.vue
new file mode 100644
index 000000000..7ed395040
--- /dev/null
+++ b/packages/rapier/src/components/colliders/ConvexHull.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import Collider from './Base.vue'
+import type { ColliderProps } from '../../types'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [vertices: Float32Array]
+}>()
+</script>
+
+<template>
+  <Collider shape="convexHull" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/ConvexMesh.vue b/packages/rapier/src/components/colliders/ConvexMesh.vue
new file mode 100644
index 000000000..2d23352ed
--- /dev/null
+++ b/packages/rapier/src/components/colliders/ConvexMesh.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import Collider from './Base.vue'
+import type { ColliderProps } from '../../types'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number, halfHeight?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="convexMesh" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/Cuboid.vue b/packages/rapier/src/components/colliders/Cuboid.vue
new file mode 100644
index 000000000..e7ac34e4c
--- /dev/null
+++ b/packages/rapier/src/components/colliders/Cuboid.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import Collider from './Base.vue'
+import type { ColliderProps } from '../../types'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [halfWidth?: number, halfHeight?: number, halfDepth?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="cuboid" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/CuboidCollider.vue b/packages/rapier/src/components/colliders/CuboidCollider.vue
deleted file mode 100644
index 6364ac3ea..000000000
--- a/packages/rapier/src/components/colliders/CuboidCollider.vue
+++ /dev/null
@@ -1,10 +0,0 @@
-<script setup lang="ts">
-import Collider from './BaseCollider.vue'
-import type { ColliderProps } from '../../types'
-
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
-</script>
-
-<template>
-  <Collider shape="cuboid" v-bind="props" />
-</template>
diff --git a/packages/rapier/src/components/colliders/Cylinder.vue b/packages/rapier/src/components/colliders/Cylinder.vue
new file mode 100644
index 000000000..d47e8d66d
--- /dev/null
+++ b/packages/rapier/src/components/colliders/Cylinder.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import Collider from './Base.vue'
+import type { ColliderProps } from '../../types'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number, halfHeight?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="cylinder" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/CylinderCollider.vue b/packages/rapier/src/components/colliders/CylinderCollider.vue
deleted file mode 100644
index 68b02551b..000000000
--- a/packages/rapier/src/components/colliders/CylinderCollider.vue
+++ /dev/null
@@ -1,10 +0,0 @@
-<script setup lang="ts">
-import Collider from './BaseCollider.vue'
-import type { ColliderProps } from '../../types'
-
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
-</script>
-
-<template>
-  <Collider shape="cylinder" v-bind="props" />
-</template>
diff --git a/packages/rapier/src/components/colliders/Heightfield.vue b/packages/rapier/src/components/colliders/Heightfield.vue
new file mode 100644
index 000000000..bebc92061
--- /dev/null
+++ b/packages/rapier/src/components/colliders/Heightfield.vue
@@ -0,0 +1,14 @@
+<script setup lang="ts">
+import type { Vector3 } from '@dimforge/rapier3d-compat'
+
+import type { ColliderProps } from '../../types'
+import Collider from './Base.vue'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args: [nrows?: number, ncols?: number, heights?: Float32Array, scale?: Vector3]
+}>()
+</script>
+
+<template>
+  <Collider shape="heightfield" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/HeightfieldCollider.vue b/packages/rapier/src/components/colliders/HeightfieldCollider.vue
deleted file mode 100644
index 2aaaaa592..000000000
--- a/packages/rapier/src/components/colliders/HeightfieldCollider.vue
+++ /dev/null
@@ -1,10 +0,0 @@
-<script setup lang="ts">
-import Collider from './BaseCollider.vue'
-import type { ColliderProps } from '../../types'
-
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
-</script>
-
-<template>
-  <Collider shape="heightfield" v-bind="props" />
-</template>
diff --git a/packages/rapier/src/components/colliders/HullCollider.vue b/packages/rapier/src/components/colliders/HullCollider.vue
deleted file mode 100644
index 58e70de35..000000000
--- a/packages/rapier/src/components/colliders/HullCollider.vue
+++ /dev/null
@@ -1,10 +0,0 @@
-<script setup lang="ts">
-import Collider from './BaseCollider.vue'
-import type { ColliderProps } from '../../types'
-
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
-</script>
-
-<template>
-  <Collider shape="hull" v-bind="props" />
-</template>
diff --git a/packages/rapier/src/components/colliders/Polyline.vue b/packages/rapier/src/components/colliders/Polyline.vue
new file mode 100644
index 000000000..cdee9c9ec
--- /dev/null
+++ b/packages/rapier/src/components/colliders/Polyline.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import type { ColliderProps } from '../../types'
+import Collider from './Base.vue'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [points?: Float32Array, indices?: Uint32Array]
+}>()
+</script>
+
+<template>
+  <Collider shape="polyline" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/RoundCone.vue b/packages/rapier/src/components/colliders/RoundCone.vue
new file mode 100644
index 000000000..6d244ec8d
--- /dev/null
+++ b/packages/rapier/src/components/colliders/RoundCone.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import type { ColliderProps } from '../../types'
+import Collider from './Base.vue'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number, halfHeight?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="roundCone" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/RoundConvexHull.vue b/packages/rapier/src/components/colliders/RoundConvexHull.vue
new file mode 100644
index 000000000..3ac610d14
--- /dev/null
+++ b/packages/rapier/src/components/colliders/RoundConvexHull.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import type { ColliderProps } from '../../types'
+import Collider from './Base.vue'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [vertices: Float32Array]
+}>()
+</script>
+
+<template>
+  <Collider shape="roundConvexHull" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/RoundConvexMesh.vue b/packages/rapier/src/components/colliders/RoundConvexMesh.vue
new file mode 100644
index 000000000..192ac5eab
--- /dev/null
+++ b/packages/rapier/src/components/colliders/RoundConvexMesh.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import type { ColliderProps } from '../../types'
+import Collider from './Base.vue'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number, halfHeight?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="roundConvexMesh" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/RoundCuboid.vue b/packages/rapier/src/components/colliders/RoundCuboid.vue
new file mode 100644
index 000000000..576b803cd
--- /dev/null
+++ b/packages/rapier/src/components/colliders/RoundCuboid.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import type { ColliderProps } from '../../types'
+import Collider from './Base.vue'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [halfWidth?: number, halfHeight?: number, halfDepth?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="roundCuboid" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/RoundCylinder.vue b/packages/rapier/src/components/colliders/RoundCylinder.vue
new file mode 100644
index 000000000..898fc9909
--- /dev/null
+++ b/packages/rapier/src/components/colliders/RoundCylinder.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import type { ColliderProps } from '../../types'
+import Collider from './Base.vue'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [radius?: number, halfHeight?: number]
+}>()
+</script>
+
+<template>
+  <Collider shape="roundCylinder" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/Trimesh.vue b/packages/rapier/src/components/colliders/Trimesh.vue
new file mode 100644
index 000000000..a1856dfce
--- /dev/null
+++ b/packages/rapier/src/components/colliders/Trimesh.vue
@@ -0,0 +1,12 @@
+<script setup lang="ts">
+import Collider from './Base.vue'
+import type { ColliderProps } from '../../types'
+
+const props = defineProps<Partial<Omit<ColliderProps, 'shape' | 'args'>> & {
+  args?: [vertices: Float32Array, indices: Uint32Array]
+}>()
+</script>
+
+<template>
+  <Collider shape="trimesh" v-bind="props" />
+</template>
diff --git a/packages/rapier/src/components/colliders/TrimeshCollider.vue b/packages/rapier/src/components/colliders/TrimeshCollider.vue
deleted file mode 100644
index c21fa8e23..000000000
--- a/packages/rapier/src/components/colliders/TrimeshCollider.vue
+++ /dev/null
@@ -1,10 +0,0 @@
-<script setup lang="ts">
-import Collider from './BaseCollider.vue'
-import type { ColliderProps } from '../../types'
-
-const props = defineProps<Partial<Omit<ColliderProps, 'shape'>>>()
-</script>
-
-<template>
-  <Collider shape="trimesh" v-bind="props" />
-</template>
diff --git a/packages/rapier/src/components/colliders/index.ts b/packages/rapier/src/components/colliders/index.ts
index 2713b01d6..555fa8bb7 100644
--- a/packages/rapier/src/components/colliders/index.ts
+++ b/packages/rapier/src/components/colliders/index.ts
@@ -1,26 +1,47 @@
 /** @description `Collider` with the shape set to `ball` */
-export { default as BallCollider } from './BallCollider.vue'
+export { default as BallCollider } from './Ball.vue'
 
 /** @description `Collider` with no shape set */
-export { default as Collider } from './BaseCollider.vue'
+export { default as Collider } from './Base.vue'
 
 /** @description `Collider` with the shape set to `capsule` */
-export { default as CapsuleCollider } from './CapsuleCollider.vue'
+export { default as CapsuleCollider } from './Capsule.vue'
 
 /** @description `Collider` with the shape set to `cone` */
-export { default as ConeCollider } from './ConeCollider.vue'
+export { default as ConeCollider } from './Cone.vue'
+
+/** @description `Collider` with the shape set to `hull` */
+export { default as ConvexHullCollider } from './ConvexHull.vue'
+
+/** @description `Collider` with the shape set to `convexMesh` */
+export { default as ConvexMeshCollider } from './ConvexMesh.vue'
 
 /** @description `Collider` with the shape set to `cuboid` */
-export { default as CuboidCollider } from './CuboidCollider.vue'
+export { default as CuboidCollider } from './Cuboid.vue'
 
 /** @description `Collider` with the shape set to `cylinder` */
-export { default as CylinderCollider } from './CylinderCollider.vue'
+export { default as CylinderCollider } from './Cylinder.vue'
 
 /** @description `Collider` with the shape set to `heightfield` */
-export { default as HeightfieldCollider } from './HeightfieldCollider.vue'
+export { default as HeightfieldCollider } from './Heightfield.vue'
 
-/** @description `Collider` with the shape set to `hull` */
-export { default as HullCollider } from './HullCollider.vue'
+/** @description `Collider` with the shape set to `polyline` */
+export { default as PolylineCollider } from './Polyline.vue'
+
+/** @description `Collider` with the shape set to `roundCone` */
+export { default as RoundConeCollider } from './RoundCone.vue'
+
+/** @description `Collider` with the shape set to `roundConeConvexHull` */
+export { default as RoundConvexHullCollider } from './RoundConvexHull.vue'
+
+/** @description `Collider` with the shape set to `roundConeConvexMesh` */
+export { default as RoundConvexMeshCollider } from './RoundConvexMesh.vue'
+
+/** @description `Collider` with the shape set to `roundCuboid` */
+export { default as RoundCuboidCollider } from './RoundCuboid.vue'
+
+/** @description `Collider` with the shape set to `roundCylinder` */
+export { default as RoundCylinderCollider } from './RoundCylinder.vue'
 
 /** @description `Collider` with the shape set to `trimesh` */
-export { default as TrimeshCollider } from './TrimeshCollider.vue'
+export { default as TrimeshCollider } from './Trimesh.vue'
diff --git a/packages/rapier/src/core/collider.ts b/packages/rapier/src/core/collider.ts
index cb90be85f..64631ef03 100644
--- a/packages/rapier/src/core/collider.ts
+++ b/packages/rapier/src/core/collider.ts
@@ -1,18 +1,9 @@
-import { ColliderDesc } from '@dimforge/rapier3d-compat'
-import {
-  BufferGeometry,
-  IcosahedronGeometry,
-  Mesh,
-  SphereGeometry,
-} from 'three'
-import { mergeVertices } from 'three/examples/jsm/utils/BufferGeometryUtils.js'
-import type { TresObject3D } from '@tresjs/core'
-import type { QuaternionLike, Vector3Like } from 'three'
+import { ColliderDesc, type Quaternion, type Vector3 } from '@dimforge/rapier3d-compat'
+import { Vector3 as ThreeVector3 } from 'three'
 
 import { QUATERNION_ZERO, VECTOR_ZERO } from '../constants'
 import { getColliderSizingsFromObject } from '../utils'
 import type {
-  ColliderProps,
   ColliderShape,
   CreateColliderDescProps,
   CreateColliderProps,
@@ -20,15 +11,53 @@ import type {
 } from '../types/collider'
 import { parsePosition, parseRotation } from '../utils/common'
 
+/** @internal */
+const _scaleVertices = (vertices: ArrayLike<number>, scale: Vector3) => {
+  const scaledVertices = Array.from(vertices)
+
+  for (let i = 0; i < vertices.length / 3; i++) {
+    scaledVertices[i * 3] *= scale.x
+    scaledVertices[i * 3 + 1] *= scale.y
+    scaledVertices[i * 3 + 2] *= scale.z
+  }
+
+  return scaledVertices
+}
+
+/** @internal */
+const _scaleColliderArgs = (
+  shape: ColliderShape,
+  args: (number | ArrayLike<number> | { x: number, y: number, z: number })[],
+  scale: Vector3,
+) => {
+  const newArgs = args.slice()
+
+  if (shape === 'heightfield') {
+    const s = newArgs[3] as { x: number, y: number, z: number }
+    s.x *= scale.x
+    s.x *= scale.y
+    s.x *= scale.z
+
+    return newArgs
+  }
+
+  if (shape === 'trimesh' || shape === 'convexHull') {
+    newArgs[0] = _scaleVertices(newArgs[0] as ArrayLike<number>, scale)
+    return newArgs
+  }
+
+  const scaleArray = [scale.x, scale.y, scale.z, scale.x, scale.x]
+  return newArgs.map((arg, index) => scaleArray[index] * (arg as number))
+}
+
 /**
  * @description
  *
- * Create a {@link ColliderDesc} shape based on the given properties.
- *
- * If the shape or sizes are not specified,
- * it will try to create a shape based on the object's geometry or the bounding-box.
+ * Create a {@link ColliderDesc} based on the received properties.
  *
- * Will create a {@link ColliderDesc.cuboid Cuboid} by default.
+ * If the shape is not specified,
+ * it will fallback to a {@link ColliderDesc.cuboid Cuboid} shape,
+ * using the object geometry bounding-box.
  *
  * @param props {@link CreateColliderDescProps}
  *
@@ -36,76 +65,67 @@ import { parsePosition, parseRotation } from '../utils/common'
  * @see https://rapier.rs/docs/user_guides/javascript/colliders
  */
 export const createColliderDesc = (props: CreateColliderDescProps) => {
-  const { object, args, shape, scale, rigidBody } = props
-  const position: Vector3Like
-    = (props.position && parsePosition(props.position))
-      ?? (object?.position && parsePosition(object?.position))
-      ?? rigidBody.translation()
-      ?? VECTOR_ZERO
-  const rotation: QuaternionLike
-  = (props.rotation && parseRotation(props.rotation))
-    ?? (object?.quaternion && parseRotation(object?.quaternion))
-    ?? rigidBody.rotation()
-    ?? QUATERNION_ZERO.clone()
-  const sizes = getColliderSizingsFromObject(object as TresObject3D)
-  const halfWidth = (args?.[0] ?? sizes.halfWidth) * (scale?.[0] ?? 1)
-  const halfHeight = (args?.[1] ?? sizes.halfHeight) * (scale?.[1] ?? 1)
-  const halfDepth = (args?.[2] ?? sizes.halfDepth) * (scale?.[2] ?? 1)
-  const radius = (args?.[0] ?? sizes.radius) * (scale?.[0] ?? 1)
-
-  let colliderDesc = ColliderDesc.cuboid(
-    halfWidth ?? 1,
-    halfHeight ?? 1,
-    halfDepth ?? 1,
+  const { shape, object, args, position, rotation, rigidBody, scale } = props
+  const { halfWidth, halfHeight, halfDepth } = getColliderSizingsFromObject(object)
+  const colliderDescMethod = ColliderDesc[shape || 'cuboid']
+  const safeScale = new ThreeVector3(
+    scale?.[0] ?? 1,
+    scale?.[1] ?? 1,
+    scale?.[2] ?? 1,
   )
+  const safeArgs = [
+    args?.[0] ?? 1,
+    args?.[1] ?? 1,
+    args?.[2] ?? 1,
+    args?.[3] ?? 1,
+    ...(args?.slice(4) ?? []),
+  ]
+  const scaledArgs = _scaleColliderArgs(shape || 'cuboid', safeArgs, safeScale) as Parameters<(typeof ColliderDesc)[
+    ColliderShape
+  ]>
 
-  if (
-    shape === 'ball'
-    || (shape === undefined
-      && object instanceof Mesh
-      && (object.geometry instanceof SphereGeometry
-        || object.geometry instanceof IcosahedronGeometry))
-  ) {
-    colliderDesc = ColliderDesc.ball(radius ?? 1)
-  }
-  else if (shape === 'capsule') {
-    colliderDesc = ColliderDesc.capsule(halfWidth ?? 1, halfHeight ?? 1)
-  }
-  else if (shape === 'cone') {
-    colliderDesc = ColliderDesc.cone(halfWidth ?? 1, halfHeight ?? 1)
-  }
-  else if (shape === 'cylinder') {
-    colliderDesc = ColliderDesc.cylinder(halfWidth ?? 1, halfHeight ?? 1)
+  let colliderDesc: ColliderDesc | null
+
+  const getSafeColliderDesc = () => {
+    return ColliderDesc.cuboid(halfWidth, halfHeight, halfDepth)
   }
-  else if (object?.geometry instanceof BufferGeometry) {
-    if (shape === 'trimesh') {
-      const clonedGeometry = mergeVertices(object.geometry)
-      const triMeshMap = clonedGeometry.attributes.position
-        .array as Float32Array
-      const triMeshUnit = clonedGeometry.index?.array as Uint32Array
-
-      colliderDesc = ColliderDesc.trimesh(triMeshMap, triMeshUnit)
+
+  try {
+    if (!colliderDescMethod) {
+      throw new Error(`Invalid collider shape: ${shape}.`)
     }
-    else if (shape === 'hull') {
-      const triMeshMap = mergeVertices(object.geometry).attributes.position.array as Float32Array
 
-      colliderDesc = ColliderDesc.convexHull(triMeshMap) ?? colliderDesc
+    colliderDesc = colliderDescMethod?.(...scaledArgs as [any, any, any, any, any])
+
+    if (!colliderDesc) {
+      throw new Error(`Invalid collider shape: ${shape}. Switching to cuboid.`)
     }
-    // TODO: Unable to retrieve the subdivision number & the Matrix of the given object for #heightfield
-    // else if (shape === 'heightfield') {
-    //   colliderDesc = ColliderDesc.heightfield(object.geometry)
-    // }
+  }
+  catch (error) {
+    console.warn(`Error creating collider: ${error instanceof Error ? error.message : 'Unknown error'}. Switching to cuboid.`)
+    colliderDesc = getSafeColliderDesc()
   }
 
+  const newPosition: Vector3
+  = (position && parsePosition(position))
+    ?? (object?.position && parsePosition(object?.position))
+    ?? rigidBody.translation()
+    ?? VECTOR_ZERO
+  const newRotation: Quaternion
+  = (rotation && parseRotation(rotation))
+    ?? (object?.quaternion && parseRotation(object?.quaternion))
+    ?? rigidBody.rotation()
+    ?? QUATERNION_ZERO.clone()
+
   colliderDesc
-    .setTranslation(position.x, position.y, position.z)
-    .setRotation(rotation)
+    .setTranslation(newPosition.x, newPosition.y, newPosition.z)
+    .setRotation(newRotation)
 
   return colliderDesc
 }
 
 /**
- * @description Create a {@link Collider} shape based on the given
+ * @description Create a {@link Collider} shape based on the received
  * {@link CreateColliderProps}
  *
  * @param props {@link CreateColliderDescProps}
@@ -126,30 +146,3 @@ export const createCollider = (
     object,
   }
 }
-
-/**
- * @description Create a {@link ColliderProps} from the given object.
- *
- * @param object {@link TresObject3D}
- * @param shape {@link ColliderShape}
- */
-export const createColliderPropsFromObject = (
-  object: TresObject3D,
-  shape: ColliderShape,
-): ColliderProps => {
-  const { position } = object
-  const rotation = object?.quaternion
-  const sizes = getColliderSizingsFromObject(object)
-
-  return {
-    shape,
-    object,
-    args:
-      shape === 'ball'
-        ? [sizes.radius]
-        : [sizes.halfWidth, sizes.halfHeight, sizes.halfDepth],
-    position: [position.x, position.y, position.z],
-    rotation: [rotation.x, rotation.y, rotation.z, rotation.w],
-    scale: [object.scale.x ?? 1, object.scale.y ?? 1, object.scale.z ?? 1],
-  }
-}
diff --git a/packages/rapier/src/core/rigid-body.ts b/packages/rapier/src/core/rigid-body.ts
index 2b10c3fab..08f4d75e5 100644
--- a/packages/rapier/src/core/rigid-body.ts
+++ b/packages/rapier/src/core/rigid-body.ts
@@ -1,11 +1,71 @@
 import { type RigidBody, RigidBodyDesc } from '@dimforge/rapier3d-compat'
 
 import type {
+  ColliderProps,
+  ColliderShape,
   CreateRigidBodyDescProps,
   CreateRigidBodyProps,
   CreateRigidBodyReturnType,
+  RigidBodyCollidersShape,
   RigidBodyUserData,
 } from '../types'
+import { BufferGeometry, IcosahedronGeometry, Mesh, SphereGeometry } from 'three'
+import { mergeVertices } from 'three/examples/jsm/utils/BufferGeometryUtils.js'
+import type { TresObject3D } from '@tresjs/core'
+import { getColliderSizingsFromObject } from '../utils'
+
+/**
+ * @description
+ */
+export const createRigidBodyAutoColliderArgs: (props: {
+  rigidBody: RigidBody
+  shape: RigidBodyCollidersShape
+  object: TresObject3D
+}) => any[] = (props) => {
+  const { object, shape } = props
+  const geometry = object?.geometry?.clone()
+  const sizes = getColliderSizingsFromObject(object as TresObject3D)
+  const halfWidth = (sizes.halfWidth)
+  const halfHeight = (sizes.halfHeight)
+  const halfDepth = (sizes.halfDepth)
+  const radius = (sizes.radius)
+
+  let args: any[] = [
+    halfWidth,
+    halfHeight,
+    halfDepth,
+  ]
+
+  if (
+    shape === 'ball'
+    || (shape === undefined
+      && object instanceof Mesh
+      && (geometry instanceof SphereGeometry
+        || geometry instanceof IcosahedronGeometry))
+  ) {
+    args = [(radius ?? 1)]
+  }
+  else if (shape === 'capsule' || shape === 'cone' || shape === 'cylinder') {
+    args = [halfWidth, halfHeight]
+  }
+  else if (geometry instanceof BufferGeometry) {
+    if (shape === 'trimesh') {
+      const clonedGeometry = mergeVertices(geometry)
+      const triMeshMap = clonedGeometry.attributes.position
+        .array as Float32Array
+      const triMeshUnit = clonedGeometry.index?.array as Uint32Array
+
+      args = [triMeshMap, triMeshUnit]
+    }
+    else if (shape === 'convexHull') {
+      const triMeshMap = mergeVertices(geometry).attributes.position.array as Float32Array
+
+      args = [triMeshMap]
+    }
+  }
+
+  return args
+}
 
 /**
  * @description Create a {@link RigidBodyDesc} based on the given
@@ -43,6 +103,34 @@ export const createRigidBodyDesc = (props: CreateRigidBodyDescProps) => {
   return rigidBodyDesc
 }
 
+/**
+ * @description Create {@link ColliderProps} based on the received object and shape.
+ *
+ * @param object {@link TresObject3D}
+ * @param shape {@link RigidBodyCollidersShape}
+ * @param rigidBody {@link RigidBody}
+ */
+export const createRigidBodyAutoColliderPropsFromObject = (
+  object: TresObject3D,
+  shape: RigidBodyCollidersShape,
+  rigidBody: RigidBody,
+): ColliderProps => {
+  const { position, quaternion, scale } = object
+
+  return {
+    shape: shape as ColliderShape,
+    object,
+    args: createRigidBodyAutoColliderArgs({
+      rigidBody,
+      shape,
+      object,
+    }),
+    position: [position.x, position.y, position.z],
+    rotation: [quaternion.x, quaternion.y, quaternion.z, quaternion.w],
+    scale: [scale.x ?? 1, scale.y ?? 1, scale.z ?? 1],
+  }
+}
+
 /**
  * @description Create a {@link RigidBody} based on the given
  * {@link CreateRigidBodyProps}
diff --git a/packages/rapier/src/types/collider.ts b/packages/rapier/src/types/collider.ts
index a6c3f0199..d99a879d5 100644
--- a/packages/rapier/src/types/collider.ts
+++ b/packages/rapier/src/types/collider.ts
@@ -14,39 +14,42 @@ import type { RigidBodyColliderContext } from './rigid-body'
 export type TresInstancedMesh = InstancedMesh & TresObject3D
 
 /** @description Tres Rapier supported Collider shapes. */
-export type ColliderShape =
-  | 'cuboid'
+export type ColliderShape = keyof Pick<
+  typeof ColliderDesc,
   | 'ball'
   | 'capsule'
   | 'cone'
+  | 'convexHull'
+  | 'convexMesh'
+  | 'cuboid'
   | 'cylinder'
-  | 'hull'
-  | 'trimesh'
   | 'heightfield'
+  | 'polyline'
+  | 'roundCone'
+  | 'roundConvexHull'
+  | 'roundConvexMesh'
+  | 'roundCuboid'
+  | 'roundCylinder'
+  | 'trimesh'
+>
 
 export interface ColliderProps {
   /**
    * @description Set the {@link Collider} shape.
-   *
    * @default undefined
    */
   shape?: ColliderShape
   /**
    * @description Shape based {@link TresObject3D}.
-   *
    * @important Required for certain shapes like `trimesh`, `hull`, `heightfield`.
-   *
    * @default undefined
    */
   object?: TresObject3D
   /**
-   * @description The half-sizes of the collider shapes.
-   * @important Only radius is required for `ball` shape.
-   * @default [x: 1, y: 1, z: 1]
+   * @description The arguments for the collider shape.
+   * @default undefined
    */
-  args?:
-    | [halfWidth: number, halfHeight: number, HalfDepth: number]
-    | [radius: number]
+  args?: Array<any>
   /**
    * @description {@link Collider} position.
    * @default [x: 0, y: 0, z: 0]
diff --git a/packages/rapier/src/types/rigid-body.ts b/packages/rapier/src/types/rigid-body.ts
index a9682b887..f92af682c 100644
--- a/packages/rapier/src/types/rigid-body.ts
+++ b/packages/rapier/src/types/rigid-body.ts
@@ -8,7 +8,7 @@ import type {
 import type { TresObject3D, TresVector3, VectorCoordinates } from '@tresjs/core'
 import type { Ref } from 'vue'
 
-import type { ColliderProps, ColliderShape } from './collider'
+import type { ColliderProps } from './collider'
 
 export interface RigidBodyUserData {
   [key: string]: any
@@ -24,6 +24,18 @@ export type RigidBodyType =
   | 'kinematicVelocity'
   | 'fixed'
 
+/** @description `RigidBody` auto generated colliders shape. */
+export type RigidBodyCollidersShape = keyof Pick<
+typeof ColliderDesc,
+| 'cuboid'
+| 'ball'
+| 'capsule'
+| 'cone'
+| 'cylinder'
+| 'convexHull'
+| 'trimesh'
+>
+
 export interface RigidBodyProps extends Pick<
   ColliderProps,
   // Auto generated colliders properties.
@@ -40,10 +52,10 @@ export interface RigidBodyProps extends Pick<
   /** @description Set the `RigidBody` type. */
   type: RigidBodyType
   /**
-   * @description Set the `RigidBody` collider shape.
+   * @description `RigidBody` auto generated colliders shape.
    * @note Pass `false` to disable the auto generated colliders.
    */
-  collider?: ColliderShape | false
+  collider?: RigidBodyCollidersShape | false
   /**
    * @description Set the gravity of the`RigidBody`.
    * @default 1
@@ -121,8 +133,8 @@ export interface ExposedRigidBody {
 }
 
 export interface InstancedRigidBodyProps extends RigidBodyProps {
-  /**  @description Set the `RigidBody` collider shape. */
-  collider: ColliderShape
+  /**  @description Set the `RigidBody` colliders shape. */
+  collider?: RigidBodyCollidersShape
 }
 
 export interface RigidBodyColliderContext {
@@ -155,7 +167,9 @@ export interface CreateRigidBodyDescProps {
    * @description The rigid-body based object. (@link TresObject3D}.
    */
   object: TresObject3D
-  /** @description The `rigidBody` type. {@link RigidBodyType}. */
+  /**
+   * @description The `rigidBody` type. {@link RigidBodyType}.
+   */
   rigidBodyType: RigidBodyType
   /**
    * @description The Rapier {@link World} context.
diff --git a/packages/rapier/src/utils/collisions.ts b/packages/rapier/src/utils/collisions.ts
index af94704df..cc01fce71 100644
--- a/packages/rapier/src/utils/collisions.ts
+++ b/packages/rapier/src/utils/collisions.ts
@@ -5,11 +5,7 @@ import type { CollisionSource, CollisionType, RigidBodyUserData, SourceTarget, T
 
 export const getCollisionSourceFromColliderHandle = (world: World, handle: ColliderHandle) => {
   const collider = world.getCollider(handle)
-  const rigidBodyHandle = collider?.parent()?.handle
-  const rigidBody
-  = rigidBodyHandle !== undefined
-    ? world.getRigidBody(rigidBodyHandle)
-    : undefined
+  const rigidBody = collider?.parent() ?? undefined
   const source: CollisionSource = {
     collider,
     rigidBody,
@@ -18,17 +14,17 @@ export const getCollisionSourceFromColliderHandle = (world: World, handle: Colli
   return source
 }
 
-export const getCollisionObjectFromSource = (source: CollisionSource, scene: Ref<Scene>): SourceTarget['objects'] => {
+export const getNodeObjectsFromCollisionSource = (source: CollisionSource, scene: Ref<Scene>) => {
   const rigidBody = source.rigidBody
   const collider = source.collider
 
   const groupUserData = rigidBody?.userData as RigidBodyUserData | undefined
   const groupUuid = groupUserData?.uuid
-  const groupObject = scene.value.getObjectByProperty('uuid', groupUuid) as TresVNodeObject
+  const groupObject = scene.value.getObjectByProperty('uuid', groupUuid) as TresVNodeObject | undefined
 
   const currentUserData = collider.userData as RigidBodyUserData | undefined
   const currentUuid = currentUserData?.uuid
-  const currentObject = scene.value.getObjectByProperty('uuid', currentUuid) as TresVNodeObject
+  const currentObject = scene.value.getObjectByProperty('uuid', currentUuid) as TresVNodeObject | undefined
 
   return [groupObject, currentObject]
 }