The distance to the point. The distance is negative if the point is inside the shape.
The gradient of the signed distance function. The same as info.p/info.d, but accurate even for very small values of info.d.
The closest point on the shape's surface. (in world space coordinates)
The nearest shape, null if no shape was within range.
The cpShape struct defines the shape of a rigid body_. Nearest point query info struct.