const rapier = useRapier()
  
    const hit = castShapeDown(
      rapier,
      {
        shape: new rapier.rapier.Cuboid(1, 1, 1),
        position,
        rotation
      },
      (match) => {
        const id = rapier.rigidBodyStates.get(match.handle)?.object?.userData
          ?.pieceId
        if (!id) return false
        console.log('shapeCast', id, match)
        return true
      }
    )


<Physics gravity={[0, 0, 0]}>
      <RigidBody
        key={id}
        userData={{ pieceId: id }}
        transformState={false}
        type="fixed"
        position={position}
        rotation={rotation}>
        <mesh />
      </RigidBody>
      ...
</Physics>