diff --git a/src/api/l_physics_world.c b/src/api/l_physics_world.c
index 2270520e..71869069 100644
--- a/src/api/l_physics_world.c
+++ b/src/api/l_physics_world.c
@@ -27,7 +27,6 @@ static int nextOverlap(lua_State* L) {
 
 static void raycastCallback(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata) {
   lua_State* L = userdata;
-  luaL_checktype(L, -1, LUA_TFUNCTION);
   lua_pushvalue(L, -1);
   luax_pushshape(L, shape);
   lua_pushnumber(L, x);
@@ -39,6 +38,13 @@ static void raycastCallback(Shape* shape, float x, float y, float z, float nx, f
   lua_call(L, 7, 0);
 }
 
+static void queryCallback(Shape* shape, void* userdata) {
+  lua_State* L = userdata;
+  lua_pushvalue(L, -1);
+  luax_pushshape(L, shape);
+  lua_call(L, 1, 0);
+}
+
 static int l_lovrWorldNewCollider(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float position[3];
@@ -242,6 +248,29 @@ static int l_lovrWorldRaycast(lua_State* L) {
   return 0;
 }
 
+static int l_lovrWorldQueryBox(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  float position[3], size[3];
+  int index = 2;
+  index = luax_readvec3(L, index, position, NULL);
+  index = luax_readvec3(L, index, size, NULL);
+  luaL_checktype(L, index, LUA_TFUNCTION);
+  lua_settop(L, index);
+  lovrWorldQueryBox(world, position, size, queryCallback, L);
+  return 0;
+}
+
+static int l_lovrWorldQuerySphere(lua_State* L) {
+  World* world = luax_checktype(L, 1, World);
+  float position[3];
+  int index = luax_readvec3(L, 2, position, NULL);
+  float radius = luax_checkfloat(L, index++);
+  luaL_checktype(L, index, LUA_TFUNCTION);
+  lua_settop(L, index);
+  lovrWorldQuerySphere(world, position, radius, queryCallback, L);
+  return 0;
+}
+
 static int l_lovrWorldGetGravity(lua_State* L) {
   World* world = luax_checktype(L, 1, World);
   float x, y, z;
@@ -392,6 +421,8 @@ const luaL_Reg lovrWorld[] = {
   { "collide", l_lovrWorldCollide },
   { "getContacts", l_lovrWorldGetContacts },
   { "raycast", l_lovrWorldRaycast },
+  { "queryBox", l_lovrWorldQueryBox },
+  { "querySphere", l_lovrWorldQuerySphere },
   { "getGravity", l_lovrWorldGetGravity },
   { "setGravity", l_lovrWorldSetGravity },
   { "getTightness", l_lovrWorldGetTightness },
diff --git a/src/modules/physics/physics.c b/src/modules/physics/physics.c
index 20d6554d..5e87ce6f 100644
--- a/src/modules/physics/physics.c
+++ b/src/modules/physics/physics.c
@@ -79,6 +79,26 @@ static void raycastCallback(void* data, dGeomID a, dGeomID b) {
   }
 }
 
+typedef struct {
+  QueryCallback callback;
+  void* userdata;
+} QueryData;
+
+static void queryCallback(void* data, dGeomID a, dGeomID b) {
+  QueryCallback callback = ((QueryData*) data)->callback;
+  void* userdata = ((QueryData*) data)->userdata;
+  Shape* shape = dGeomGetData(b);
+
+  if (!shape) {
+    return;
+  }
+
+  dContactGeom contact;
+  if (dCollide(a, b, 1 | CONTACTS_UNIMPORTANT, &contact, sizeof(contact))) {
+    callback(shape, userdata);
+  }
+}
+
 // XXX slow, but probably fine (tag names are not on any critical path), could switch to hashing if needed
 static uint32_t findTag(World* world, const char* name) {
   for (uint32_t i = 0; i < MAX_TAGS && world->tags[i]; i++) {
@@ -288,6 +308,22 @@ void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, floa
   dGeomDestroy(ray);
 }
 
+void lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback callback, void* userdata) {
+  QueryData data = { .callback = callback, .userdata = userdata };
+  dGeomID box = dCreateBox(world->space, fabsf(size[0]), fabsf(size[1]), fabsf(size[2]));
+  dGeomSetPosition(box, position[0], position[1], position[2]);
+  dSpaceCollide2(box, (dGeomID) world->space, &data, queryCallback);
+  dGeomDestroy(box);
+}
+
+void lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCallback callback, void* userdata) {
+  QueryData data = { .callback = callback, .userdata = userdata };
+  dGeomID sphere = dCreateSphere(world->space, fabsf(radius));
+  dGeomSetPosition(sphere, position[0], position[1], position[2]);
+  dSpaceCollide2(sphere, (dGeomID) world->space, &data, queryCallback);
+  dGeomDestroy(sphere);
+}
+
 Collider* lovrWorldGetFirstCollider(World* world) {
   return world->head;
 }
diff --git a/src/modules/physics/physics.h b/src/modules/physics/physics.h
index d724170a..39ea296b 100644
--- a/src/modules/physics/physics.h
+++ b/src/modules/physics/physics.h
@@ -27,6 +27,7 @@ typedef Joint SliderJoint;
 
 typedef void (*CollisionResolver)(World* world, void* userdata);
 typedef void (*RaycastCallback)(Shape* shape, float x, float y, float z, float nx, float ny, float nz, void* userdata);
+typedef void (*QueryCallback)(Shape* shape, void* userdata);
 
 bool lovrPhysicsInit(void);
 void lovrPhysicsDestroy(void);
@@ -50,6 +51,8 @@ int lovrWorldGetNextOverlap(World* world, Shape** a, Shape** b);
 int lovrWorldCollide(World* world, Shape* a, Shape* b, float friction, float restitution);
 void lovrWorldGetContacts(World* world, Shape* a, Shape* b, Contact contacts[MAX_CONTACTS], uint32_t* count);
 void lovrWorldRaycast(World* world, float x1, float y1, float z1, float x2, float y2, float z2, RaycastCallback callback, void* userdata);
+void lovrWorldQueryBox(World* world, float position[3], float size[3], QueryCallback callback, void* userdata);
+void lovrWorldQuerySphere(World* world, float position[3], float radius, QueryCallback callback, void* userdata);
 Collider* lovrWorldGetFirstCollider(World* world);
 void lovrWorldGetGravity(World* world, float* x, float* y, float* z);
 void lovrWorldSetGravity(World* world, float x, float y, float z);