diff --git a/src/api/l_physics_collider.c b/src/api/l_physics_collider.c
index 52cd93e4..d9ba26fd 100644
--- a/src/api/l_physics_collider.c
+++ b/src/api/l_physics_collider.c
@@ -24,32 +24,28 @@ static int l_lovrColliderGetWorld(lua_State* L) {
   return 1;
 }
 
-static int l_lovrColliderAddShape(lua_State* L) {
+static int l_lovrColliderGetShape(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
-  Shape* shape = luax_checkshape(L, 2);
-  lovrColliderAddShape(collider, shape);
-  return 0;
-}
-
-static int l_lovrColliderRemoveShape(lua_State* L) {
-  Collider* collider = luax_checktype(L, 1, Collider);
-  Shape* shape = luax_checkshape(L, 2);
-  lovrColliderRemoveShape(collider, shape);
-  return 0;
-}
-
-static int l_lovrColliderGetShapes(lua_State* L) {
-  Collider* collider = luax_checktype(L, 1, Collider);
-  size_t count;
-  Shape** shapes = lovrColliderGetShapes(collider, &count);
-  lua_createtable(L, (int) count, 0);
-  for (size_t i = 0; i < count; i++) {
-    luax_pushshape(L, shapes[i]);
-    lua_rawseti(L, -2, (int) i + 1);
+  Shape* shape = lovrColliderGetShape(collider);
+  if (shape) {
+    luax_pushshape(L, shape);
+  } else {
+    lua_pushnil(L);
   }
   return 1;
 }
 
+static int l_lovrColliderSetShape(lua_State* L) {
+  Collider* collider = luax_checktype(L, 1, Collider);
+  if (lua_isnoneornil(L, 2)) {
+    lovrColliderSetShape(collider, NULL);
+  } else {
+    Shape* shape = luax_checkshape(L, 2);
+    lovrColliderSetShape(collider, shape);
+  }
+  return 0;
+}
+
 static int l_lovrColliderGetJoints(lua_State* L) {
   Collider* collider = luax_checktype(L, 1, Collider);
   size_t count;
@@ -563,9 +559,8 @@ const luaL_Reg lovrCollider[] = {
   { "destroy", l_lovrColliderDestroy },
   { "isDestroyed", l_lovrColliderIsDestroyed },
   { "getWorld", l_lovrColliderGetWorld },
-  { "addShape", l_lovrColliderAddShape },
-  { "removeShape", l_lovrColliderRemoveShape },
-  { "getShapes", l_lovrColliderGetShapes },
+  { "getShape", l_lovrColliderGetShape },
+  { "setShape", l_lovrColliderSetShape },
   { "getJoints", l_lovrColliderGetJoints },
   { "getUserData", l_lovrColliderGetUserData },
   { "setUserData", l_lovrColliderSetUserData },
diff --git a/src/api/l_physics_shapes.c b/src/api/l_physics_shapes.c
index c5f6970e..0614509d 100644
--- a/src/api/l_physics_shapes.c
+++ b/src/api/l_physics_shapes.c
@@ -147,12 +147,6 @@ static int l_lovrShapeGetType(lua_State* L) {
   return 1;
 }
 
-static int l_lovrShapeGetCollider(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  luax_pushtype(L, Collider, lovrShapeGetCollider(shape));
-  return 1;
-}
-
 static int l_lovrShapeIsEnabled(lua_State* L) {
   Shape* shape = luax_checkshape(L, 1);
   lua_pushboolean(L, lovrShapeIsEnabled(shape));
@@ -214,74 +208,6 @@ static int l_lovrShapeSetUserData(lua_State* L) {
   return 0;
 }
 
-static int l_lovrShapeGetPosition(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  float x, y, z;
-  lovrShapeGetPosition(shape, &x, &y, &z);
-  lua_pushnumber(L, x);
-  lua_pushnumber(L, y);
-  lua_pushnumber(L, z);
-  return 3;
-}
-
-static int l_lovrShapeSetPosition(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  lovrCheck(lovrShapeGetCollider(shape) != NULL, "Shape must be attached to collider");
-  float position[3];
-  luax_readvec3(L, 2, position, NULL);
-  lovrShapeSetPosition(shape, position[0], position[1], position[2]);
-  return 0;
-}
-
-static int l_lovrShapeGetOrientation(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  float angle, x, y, z, orientation[4];
-  lovrShapeGetOrientation(shape, orientation);
-  quat_getAngleAxis(orientation, &angle, &x, &y, &z);
-  lua_pushnumber(L, angle);
-  lua_pushnumber(L, x);
-  lua_pushnumber(L, y);
-  lua_pushnumber(L, z);
-  return 4;
-}
-
-static int l_lovrShapeSetOrientation(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  lovrCheck(lovrShapeGetCollider(shape) != NULL, "Shape must be attached to collider");
-  float orientation[4];
-  luax_readquat(L, 2, orientation, NULL);
-  lovrShapeSetOrientation(shape, orientation);
-  return 0;
-}
-
-static int l_lovrShapeGetPose(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  float x, y, z;
-  lovrShapeGetPosition(shape, &x, &y, &z);
-  float angle, ax, ay, az, orientation[4];
-  lovrShapeGetOrientation(shape, orientation);
-  quat_getAngleAxis(orientation, &angle, &ax, &ay, &az);
-  lua_pushnumber(L, x);
-  lua_pushnumber(L, y);
-  lua_pushnumber(L, z);
-  lua_pushnumber(L, angle);
-  lua_pushnumber(L, ax);
-  lua_pushnumber(L, ay);
-  lua_pushnumber(L, az);
-  return 7;
-}
-
-static int l_lovrShapeSetPose(lua_State* L) {
-  Shape* shape = luax_checkshape(L, 1);
-  lovrCheck(lovrShapeGetCollider(shape) != NULL, "Shape must be attached to collider");
-  float position[3], orientation[4];
-  int index = luax_readvec3(L, 2, position, NULL);
-  luax_readquat(L, index, orientation, NULL);
-  lovrShapeSetPosition(shape, position[0], position[1], position[2]);
-  lovrShapeSetOrientation(shape, orientation);
-  return 0;
-}
-
 static int l_lovrShapeGetMass(lua_State* L) {
   Shape* shape = luax_checkshape(L, 1);
   float density = luax_checkfloat(L, 2);
@@ -313,19 +239,12 @@ static int l_lovrShapeGetAABB(lua_State* L) {
 #define lovrShape \
   { "destroy", l_lovrShapeDestroy }, \
   { "getType", l_lovrShapeGetType }, \
-  { "getCollider", l_lovrShapeGetCollider }, \
   { "isEnabled", l_lovrShapeIsEnabled }, \
   { "setEnabled", l_lovrShapeSetEnabled }, \
   { "isSensor", l_lovrShapeIsSensor }, \
   { "setSensor", l_lovrShapeSetSensor }, \
   { "getUserData", l_lovrShapeGetUserData }, \
   { "setUserData", l_lovrShapeSetUserData }, \
-  { "getPosition", l_lovrShapeGetPosition }, \
-  { "setPosition", l_lovrShapeSetPosition }, \
-  { "getOrientation", l_lovrShapeGetOrientation }, \
-  { "setOrientation", l_lovrShapeSetOrientation }, \
-  { "getPose", l_lovrShapeGetPose }, \
-  { "setPose", l_lovrShapeSetPose }, \
   { "getMass", l_lovrShapeGetMass }, \
   { "getAABB", l_lovrShapeGetAABB }
 
diff --git a/src/api/l_physics_world.c b/src/api/l_physics_world.c
index bf1a708b..e530e668 100644
--- a/src/api/l_physics_world.c
+++ b/src/api/l_physics_world.c
@@ -55,7 +55,7 @@ typedef struct {
 static bool raycastAnyCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
   RaycastData* data = userdata;
   if (data->tag) {
-    const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
+    const char* tag = NULL; // TODO
     if (!tag || strcmp(tag, data->tag)) {
       return false;
     }
@@ -70,7 +70,7 @@ static bool raycastAnyCallback(Shape* shape, float x, float y, float z, float nx
 static bool raycastClosestCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
   RaycastData* data = userdata;
   if (data->tag) {
-    const char* tag = lovrColliderGetTag(lovrShapeGetCollider(shape));
+    const char* tag = NULL; // TODO
     if (!tag || strcmp(tag, data->tag)) {
       return false;
     }
@@ -113,7 +113,7 @@ static int l_lovrWorldNewBoxCollider(lua_State* L) {
   int index = luax_readvec3(L, 2, position, NULL);
   Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
   BoxShape* shape = luax_newboxshape(L, index);
-  lovrColliderAddShape(collider, shape);
+  lovrColliderSetShape(collider, shape);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -127,7 +127,7 @@ static int l_lovrWorldNewCapsuleCollider(lua_State* L) {
   int index = luax_readvec3(L, 2, position, NULL);
   Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
   CapsuleShape* shape = luax_newcapsuleshape(L, index);
-  lovrColliderAddShape(collider, shape);
+  lovrColliderSetShape(collider, shape);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -141,7 +141,7 @@ static int l_lovrWorldNewCylinderCollider(lua_State* L) {
   int index = luax_readvec3(L, 2, position, NULL);
   Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
   CylinderShape* shape = luax_newcylindershape(L, index);
-  lovrColliderAddShape(collider, shape);
+  lovrColliderSetShape(collider, shape);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -155,7 +155,7 @@ static int l_lovrWorldNewSphereCollider(lua_State* L) {
   int index = luax_readvec3(L, 2, position, NULL);
   Collider* collider = lovrColliderCreate(world, position[0], position[1], position[2]);
   SphereShape* shape = luax_newsphereshape(L, index);
-  lovrColliderAddShape(collider, shape);
+  lovrColliderSetShape(collider, shape);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -167,7 +167,7 @@ static int l_lovrWorldNewMeshCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   Collider* collider = lovrColliderCreate(world, 0.f, 0.f, 0.f);
   MeshShape* shape = luax_newmeshshape(L, 2);
-  lovrColliderAddShape(collider, shape);
+  lovrColliderSetShape(collider, shape);
   lovrColliderInitInertia(collider, shape);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
@@ -179,7 +179,7 @@ static int l_lovrWorldNewTerrainCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   Collider* collider = lovrColliderCreate(world, 0.f, 0.f, 0.f);
   TerrainShape* shape = luax_newterrainshape(L, 2);
-  lovrColliderAddShape(collider, shape);
+  lovrColliderSetShape(collider, shape);
   lovrColliderSetKinematic(collider, true);
   luax_pushtype(L, Collider, collider);
   lovrRelease(collider, lovrColliderDestroy);
diff --git a/src/modules/physics/physics.h b/src/modules/physics/physics.h
index 0a756f75..827ed898 100644
--- a/src/modules/physics/physics.h
+++ b/src/modules/physics/physics.h
@@ -92,9 +92,8 @@ bool lovrColliderIsDestroyed(Collider* collider);
 void lovrColliderInitInertia(Collider* collider, Shape* shape);
 World* lovrColliderGetWorld(Collider* collider);
 Collider* lovrColliderGetNext(Collider* collider);
-void lovrColliderAddShape(Collider* collider, Shape* shape);
-void lovrColliderRemoveShape(Collider* collider, Shape* shape);
-Shape** lovrColliderGetShapes(Collider* collider, size_t* count);
+Shape* lovrColliderGetShape(Collider* collider);
+void lovrColliderSetShape(Collider* collider, Shape* shape);
 Joint** lovrColliderGetJoints(Collider* collider, size_t* count);
 const char* lovrColliderGetTag(Collider* collider);
 bool lovrColliderSetTag(Collider* collider, const char* tag);
@@ -157,7 +156,6 @@ typedef enum {
 void lovrShapeDestroy(void* ref);
 void lovrShapeDestroyData(Shape* shape);
 ShapeType lovrShapeGetType(Shape* shape);
-Collider* lovrShapeGetCollider(Shape* shape);
 bool lovrShapeIsEnabled(Shape* shape);
 void lovrShapeSetEnabled(Shape* shape, bool enabled);
 bool lovrShapeIsSensor(Shape* shape);
diff --git a/src/modules/physics/physics_jolt.c b/src/modules/physics/physics_jolt.c
index 290b5d88..23ab7849 100644
--- a/src/modules/physics/physics_jolt.c
+++ b/src/modules/physics/physics_jolt.c
@@ -22,9 +22,9 @@ struct Collider {
   JPH_BodyID id;
   JPH_Body* body;
   World* world;
+  Shape* shape;
   Collider* prev;
   Collider* next;
-  arr_t(Shape*) shapes;
   arr_t(Joint*) joints;
   uint32_t tag;
 };
@@ -32,7 +32,6 @@ struct Collider {
 struct Shape {
   uint32_t ref;
   ShapeType type;
-  Collider* collider;
   JPH_Shape* shape;
 };
 
@@ -184,13 +183,13 @@ void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, floa
       world->bodies,
       hit_array[i].bodyID);
     size_t count;
-    Shape** shape = lovrColliderGetShapes(collider, &count);
+    Shape* shape = lovrColliderGetShape(collider);
     const JPH_RVec3 position = { x, y, z };
     JPH_Vec3 normal;
     JPH_Body_GetWorldSpaceSurfaceNormal(collider->body, hit_array[i].subShapeID2, &position, &normal);
 
     bool shouldStop = callback(
-      shape[0], // assumes one shape per collider; todo: compound shapes
+      shape, // assumes one shape per collider; todo: compound shapes
       x, y, z,
       normal.x, normal.y, normal.z,
       userdata);
@@ -222,8 +221,8 @@ static bool lovrWorldQueryShape(World* world, JPH_Shape* shape, float position[3
       world->bodies,
       id);
     size_t count;
-    Shape** shape = lovrColliderGetShapes(collider, &count);
-    bool shouldStop = callback(shape[0], userdata);
+    Shape* shape = lovrColliderGetShape(collider);
+    bool shouldStop = callback(shape, userdata);
     if (shouldStop) {
       break;
     }
@@ -341,7 +340,6 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
   lovrColliderSetAngularDamping(collider, world->defaultAngularDamping, 0.f);
   lovrColliderSetSleepingAllowed(collider, world->defaultIsSleepingAllowed);
 
-  arr_init(&collider->shapes);
   arr_init(&collider->joints);
 
   // Adjust the world's collider list
@@ -361,7 +359,6 @@ Collider* lovrColliderCreate(World* world, float x, float y, float z) {
 void lovrColliderDestroy(void* ref) {
   Collider* collider = ref;
   lovrColliderDestroyData(collider);
-  arr_free(&collider->shapes);
   arr_free(&collider->joints);
   lovrFree(collider);
 }
@@ -371,13 +368,9 @@ void lovrColliderDestroyData(Collider* collider) {
     return;
   }
 
+  lovrRelease(collider->shape, lovrShapeDestroy);
+
   size_t count;
-
-  Shape** shapes = lovrColliderGetShapes(collider, &count);
-  for (size_t i = 0; i < count; i++) {
-    lovrColliderRemoveShape(collider, shapes[i]);
-  }
-
   Joint** joints = lovrColliderGetJoints(collider, &count);
   for (size_t i = 0; i < count; i++) {
     lovrRelease(joints[i], lovrJointDestroy);
@@ -411,29 +404,24 @@ Collider* lovrColliderGetNext(Collider* collider) {
   return collider->next;
 }
 
-void lovrColliderAddShape(Collider* collider, Shape* shape) {
-  lovrRetain(shape);
-  shape->collider = collider;
-  arr_push(&collider->shapes, shape);
-  bool isMeshOrTerrain = (shape->type == SHAPE_TERRAIN) || (shape->type == SHAPE_MESH);
-  bool shouldUpdateMass = !isMeshOrTerrain;
-  if (isMeshOrTerrain) {
-    lovrColliderSetKinematic(shape->collider, true);
-  }
-  JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape->shape, shouldUpdateMass, JPH_Activation_Activate);
+Shape* lovrColliderGetShape(Collider* collider) {
+  return collider->shape;
 }
 
-void lovrColliderRemoveShape(Collider* collider, Shape* shape) {
-  if (shape->collider == collider) {
-    // todo: actions necessary for compound shapes
-    shape->collider = NULL;
-    lovrRelease(shape, lovrShapeDestroy);
-  }
-}
+void lovrColliderSetShape(Collider* collider, Shape* shape) {
+  if (shape != collider->shape) {
+    lovrRelease(collider->shape, lovrShapeDestroy);
+    collider->shape = shape;
+    lovrRetain(shape);
 
-Shape** lovrColliderGetShapes(Collider* collider, size_t* count) {
-  *count = collider->shapes.length;
-  return collider->shapes.data;
+    bool updateMass = true;
+    if (shape->type == SHAPE_MESH || shape->type == SHAPE_TERRAIN) {
+      lovrColliderSetKinematic(collider, true);
+      updateMass = false;
+    }
+
+    JPH_BodyInterface_SetShape(collider->world->bodies, collider->id, shape->shape, updateMass, JPH_Activation_Activate);
+  }
 }
 
 Joint** lovrColliderGetJoints(Collider* collider, size_t* count) {
@@ -538,17 +526,15 @@ void lovrColliderSetAwake(Collider* collider, bool awake) {
 }
 
 float lovrColliderGetMass(Collider* collider) {
-   if (collider->shapes.length > 0) {
-    JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
-    return 1.f / JPH_MotionProperties_GetInverseMassUnchecked(motionProperties);
-  }
-  return 0.f;
+   if (!collider->shape) return 0.f;
+  JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
+  return 1.f / JPH_MotionProperties_GetInverseMassUnchecked(motionProperties);
 }
 
 void lovrColliderSetMass(Collider* collider, float mass) {
-  if (collider->shapes.length > 0) {
+  if (collider->shape) {
     JPH_MotionProperties* motionProperties = JPH_Body_GetMotionProperties(collider->body);
-    Shape* shape = collider->shapes.data[0];
+    Shape* shape = collider->shape;
     JPH_MassProperties* massProperties;
     JPH_Shape_GetMassProperties(shape->shape, massProperties);
     JPH_MassProperties_ScaleToMass(massProperties, mass);
@@ -782,10 +768,6 @@ ShapeType lovrShapeGetType(Shape* shape) {
   return shape->type;
 }
 
-Collider* lovrShapeGetCollider(Shape* shape) {
-  return shape->collider;
-}
-
 bool lovrShapeIsEnabled(Shape* shape) {
   return true;
 }
@@ -797,43 +779,19 @@ void lovrShapeSetEnabled(Shape* shape, bool enabled) {
 }
 
 bool lovrShapeIsSensor(Shape* shape) {
-  lovrLog(LOG_WARN, "PHY", "Jolt sensor property fetched from collider, not shape");
-  return JPH_Body_IsSensor(shape->collider->body);
+  lovrThrow("NYI");
 }
 
 void lovrShapeSetSensor(Shape* shape, bool sensor) {
-  lovrLog(LOG_WARN, "PHY", "Jolt sensor property is applied to collider, not shape");
-  JPH_Body_SetIsSensor(shape->collider->body, sensor);
+  lovrThrow("NYI");
 }
 
-void lovrShapeGetPosition(Shape* shape, float* x, float* y, float* z) {
-  // todo: compound shapes
-  *x = 0.f;
-  *y = 0.f;
-  *z = 0.f;
+void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {
+  //
 }
 
-void lovrShapeSetPosition(Shape* shape, float x, float y, float z) {
-  // todo: compound shapes
-}
-
-void lovrShapeGetOrientation(Shape* shape, float* orientation) {
-  // todo: compound shapes
-  orientation[0] = 0.f;
-  orientation[1] = 0.f;
-  orientation[2] = 0.f;
-  orientation[3] = 1.f;
-}
-
-void lovrShapeSetOrientation(Shape* shape, float* orientation) {
-  // todo: compound shapes
-}
-
-void lovrShapeGetMass(Shape* shape, float density, float* cx, float* cy, float* cz, float* mass, float inertia[6]) {}
-
 void lovrShapeGetAABB(Shape* shape, float aabb[6]) {
-  // todo: with compound shapes this is no longer correct
-  lovrColliderGetAABB(shape->collider, aabb);
+  // TODO
 }
 
 SphereShape* lovrSphereShapeCreate(float radius) {