Function setShape

setShape(
    world: World,
    character: KCC,
    newShape: Shape,
    filter: filter.Filter,
    listener: CharacterListener | undefined,
    maxPenetrationDepth: number,
): boolean
Changes the shape of the character, checking for penetration first.

Algorithm:
1. Early exit if shape is the same
2. If penetration testing enabled (maxPenDepth < MAX_VALUE): a. Test collisions with new shape in temp pool b. Reject if any contact penetrates deeper than threshold (and not sensor) c. Track contact changes: resetContactTracking, replace contacts, updateSupportingContact, finalizeContactTracking
3. Set new shape
4. Update inner body shape if it exists
Parameters
- world: World
  the physics world
- character: KCC
  the character controller
- newShape: Shape
  the new shape to use
- filter: filter.Filter
  collision filter for penetration testing
- listener: CharacterListener | undefined
  optional listener for contact callbacks
- maxPenetrationDepth: number
  maximum allowed penetration, use Number.MAX_VALUE / Infinity to skip testing
Returns boolean
true if shape was changed successfully, false if blocked by penetration
- Defined in src/character/kcc.ts:3221