diff --git a/data/uking_functions.csv b/data/uking_functions.csv
index 9b1b2957..12cf2e4c 100644
--- a/data/uking_functions.csv
+++ b/data/uking_functions.csv
@@ -83221,25 +83221,25 @@ Address,Quality,Size,Name
 0x0000007100f980ac,U,000100,
 0x0000007100f98110,U,000288,
 0x0000007100f98230,U,000092,
-0x0000007100f9828c,U,000004,j__ZN4ksys4phys16RigidBodyFactory14createCylinderEPNS0_18RigidBodyParamViewEPN4sead4HeapE
-0x0000007100f98290,U,000084,
-0x0000007100f982e4,U,000088,
-0x0000007100f9833c,U,000088,
-0x0000007100f98394,U,000096,
-0x0000007100f983f4,U,000096,
-0x0000007100f98454,U,000056,
-0x0000007100f9848c,U,000056,
-0x0000007100f984c4,U,000008,
-0x0000007100f984cc,U,000008,
-0x0000007100f984d4,U,000080,
-0x0000007100f98524,U,000008,
-0x0000007100f9852c,U,000012,
-0x0000007100f98538,U,000016,
-0x0000007100f98548,U,000008,
-0x0000007100f98550,U,000008,
-0x0000007100f98558,U,000068,
-0x0000007100f9859c,U,000288,
-0x0000007100f986bc,U,000092,
+0x0000007100f9828c,O,000004,_ZN4ksys4phys17CylinderRigidBody4makeEPNS0_22RigidBodyInstanceParamEPN4sead4HeapE
+0x0000007100f98290,O,000084,_ZN4ksys4phys17CylinderRigidBodyC1EP12hkpRigidBodyPNS0_13CylinderShapeENS0_16ContactLayerTypeERKN4sead14SafeStringBaseIcEEbPNS7_4HeapE
+0x0000007100f982e4,O,000088,_ZN4ksys4phys17CylinderRigidBodyD1Ev
+0x0000007100f9833c,O,000088,_ZThn32_N4ksys4phys17CylinderRigidBodyD1Ev
+0x0000007100f98394,O,000096,_ZN4ksys4phys17CylinderRigidBodyD0Ev
+0x0000007100f983f4,O,000096,_ZThn32_N4ksys4phys17CylinderRigidBodyD0Ev
+0x0000007100f98454,O,000056,_ZN4ksys4phys17CylinderRigidBody9setRadiusEf
+0x0000007100f9848c,O,000056,_ZN4ksys4phys17CylinderRigidBody11setVerticesERKN4sead7Vector3IfEES6_
+0x0000007100f984c4,O,000008,_ZNK4ksys4phys17CylinderRigidBody9getRadiusEv
+0x0000007100f984cc,O,000008,_ZNK4ksys4phys17CylinderRigidBody11getVerticesEPN4sead7Vector3IfEES5_
+0x0000007100f984d4,O,000080,_ZN4ksys4phys17CylinderRigidBody17transformVerticesEPN4sead7Vector3IfEES5_
+0x0000007100f98524,O,000008,_ZN4ksys4phys17CylinderRigidBody15setMaterialMaskERKNS0_12MaterialMaskE
+0x0000007100f9852c,O,000012,_ZNK4ksys4phys17CylinderRigidBody15getMaterialMaskEv
+0x0000007100f98538,O,000016,_ZN4ksys4phys17CylinderRigidBody9getVolumeEv
+0x0000007100f98548,O,000008,_ZN4ksys4phys17CylinderRigidBody9getShape_Ev
+0x0000007100f98550,O,000008,_ZNK4ksys4phys17CylinderRigidBody9getShape_Ev
+0x0000007100f98558,O,000068,_ZN4ksys4phys17CylinderRigidBody17getCollisionMasksEPNS0_9RigidBody14CollisionMasksE
+0x0000007100f9859c,O,000288,_ZNK4ksys4phys17CylinderRigidBody27checkDerivedRuntimeTypeInfoEPKN4sead15RuntimeTypeInfo9InterfaceE
+0x0000007100f986bc,O,000092,_ZNK4ksys4phys17CylinderRigidBody18getRuntimeTypeInfoEv
 0x0000007100f98718,U,000004,j__ZN4ksys4phys16RigidBodyFactory19createWaterCylinderEPNS0_18RigidBodyParamViewEPN4sead4HeapE
 0x0000007100f9871c,U,000092,
 0x0000007100f98778,U,000088,
@@ -83625,6 +83625,7 @@ Address,Quality,Size,Name
 0x0000007100fad8b0,U,000092,
 0x0000007100fad90c,U,000008,
 0x0000007100fad914,O,000344,_ZN4ksys4phys13CylinderShape4makeERKNS0_18CylinderShapeParamEPN4sead4HeapE
+0x0000007100fada6c,O,000032,_ZN4ksys4phys13CylinderShape15setMaterialMaskERKNS0_12MaterialMaskE
 0x0000007100fada8c,O,000064,_ZN4ksys4phys13CylinderShapeD1Ev
 0x0000007100fadacc,O,000072,_ZN4ksys4phys13CylinderShapeD0Ev
 0x0000007100fadb14,O,000052,_ZN4ksys4phys13CylinderShape9setRadiusEf
diff --git a/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.cpp b/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.cpp
index ac238cb1..70ec7769 100644
--- a/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.cpp
+++ b/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.cpp
@@ -1 +1,75 @@
 #include "KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.h"
+#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
+#include "KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderShape.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyFactory.h"
+#include "KingSystem/Utils/SafeDelete.h"
+
+namespace ksys::phys {
+
+CylinderRigidBody* CylinderRigidBody::make(RigidBodyInstanceParam* param, sead::Heap* heap) {
+    return RigidBodyFactory::createCylinder(param, heap);
+}
+
+CylinderRigidBody::CylinderRigidBody(hkpRigidBody* hk_body, CylinderShape* shape,
+                                     ContactLayerType layer_type, const sead::SafeString& name,
+                                     bool set_flag_10, sead::Heap* heap)
+    : RigidBodyFromShape(hk_body, layer_type, name, set_flag_10, heap), mShape(shape) {}
+
+CylinderRigidBody::~CylinderRigidBody() {
+    if (hasFlag(RigidBody::Flag::_10) && mShape)
+        util::safeDelete(mShape);
+}
+
+void CylinderRigidBody::setRadius(float radius) {
+    if (mShape->setRadius(radius))
+        updateShape();
+}
+
+void CylinderRigidBody::setVertices(const sead::Vector3f& va, const sead::Vector3f& vb) {
+    if (mShape->setVertices(va, vb))
+        updateShape();
+}
+
+float CylinderRigidBody::getRadius() const {
+    return mShape->getRadius();
+}
+
+void CylinderRigidBody::getVertices(sead::Vector3f* va, sead::Vector3f* vb) const {
+    mShape->getVertices(va, vb);
+}
+
+void CylinderRigidBody::transformVertices(sead::Vector3f* va, sead::Vector3f* vb) {
+    lock();
+    const hkTransform& transform = getHkBody()->getMotion()->getTransform();
+    unlock();
+    mShape->transformVertices(va, vb, transform);
+}
+
+void CylinderRigidBody::setMaterialMask(const MaterialMask& mask) {
+    mShape->setMaterialMask(mask);
+}
+
+const MaterialMask& CylinderRigidBody::getMaterialMask() const {
+    return mShape->getMaterialMask();
+}
+
+float CylinderRigidBody::getVolume() {
+    return mShape->getVolume();
+}
+
+Shape* CylinderRigidBody::getShape_() {
+    return mShape;
+}
+
+const Shape* CylinderRigidBody::getShape_() const {
+    return mShape;
+}
+
+u32 CylinderRigidBody::getCollisionMasks(RigidBody::CollisionMasks* masks) {
+    masks->ignored_layers = ~mContactMask.getDirect();
+    masks->collision_filter_info = getCollisionFilterInfo();
+    masks->material_mask = getMaterialMask().getRawData();
+    return 0;
+}
+
+}  // namespace ksys::phys
diff --git a/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.h b/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.h
index f60324f7..980fea28 100644
--- a/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.h
+++ b/src/KingSystem/Physics/RigidBody/Shape/Cylinder/physCylinderRigidBody.h
@@ -4,9 +4,36 @@
 
 namespace ksys::phys {
 
-// TODO
+class CylinderShape;
+
 class CylinderRigidBody : public RigidBodyFromShape {
     SEAD_RTTI_OVERRIDE(CylinderRigidBody, RigidBodyFromShape)
+public:
+    static CylinderRigidBody* make(RigidBodyInstanceParam* param, sead::Heap* heap);
+
+    CylinderRigidBody(hkpRigidBody* hk_body, CylinderShape* shape, ContactLayerType layer_type,
+                      const sead::SafeString& name, bool set_flag_10, sead::Heap* heap);
+    ~CylinderRigidBody() override;
+
+    void setRadius(float radius);
+    void setVertices(const sead::Vector3f& va, const sead::Vector3f& vb);
+
+    float getRadius() const;
+    void getVertices(sead::Vector3f* va, sead::Vector3f* vb) const;
+    void transformVertices(sead::Vector3f* va, sead::Vector3f* vb);
+
+    void setMaterialMask(const MaterialMask& mask);
+    const MaterialMask& getMaterialMask() const;
+
+    float getVolume() override;
+
+protected:
+    Shape* getShape_() override;
+    const Shape* getShape_() const override;
+    u32 getCollisionMasks(CollisionMasks* masks) override;
+
+private:
+    CylinderShape* mShape;
 };
 
 }  // namespace ksys::phys