Shape Calculus. A Spatial Mobile Calculus for 3D Shapes

We present a bio-inspired calculus for describing 3D shapes moving in a space. A shape forms a 3D process when combined with a behaviour. Behaviours are specified with a timed CCS-like process algebra using a notion of channel to naturally model binding sites on the surface of shapes. The calculus embeds collision detection and response, binding of compatible 3D processes and split of composed 3D processes.