The SPhysics class allows you to interact with the physics scene. See also Scripting/SRigidbody.
Raycasts from origin along normal, distance meters - and returns the list of collided objects in distance order (closest first)
Sweeps from origin in a spherical ray 'radius' wide, and returns the list of collided objects
Sweeps a capsule from origin to end, radius wide and returns the list of collided objects
Sweeps a box defined by origin+halfExtents along directiojn, distance meters with a orientation matching orientation - and returns the collisions in distance order.