Threads share everything [1]. There is one address space for the whole process.
Each thread has its own stack and registers, but all threads' stacks are visible in the shared address space.
If one thread allocates some object on its stack, and sends the address to another thread, they'll both have equal access to that object.
Actually, I just noticed a broader issue: I think you're confusing two uses of the word segment.
The file format for an executable (eg, ELF) has distinct sections in it, which may be referred to as segments, containing compiled code (text), initialized data, linker symbols, debug info, etc. There are no heap or stack segments here, since those are runtime-only constructs.
These binary file segments may be mapped into the process address space seperately, with different permissions (eg, read-only executable for code/text, and copy-on-write non-executable for initialized data).
Areas of this address space are used for different purposes, like heap allocation and thread stacks, by convention (enforced by your language runtime libraries). It is all just memory though, and probably not segmented unless you're running in virtual 8086 mode. Each thread's stack is a chunk of memory allocated at thread creation time, with the current stack top address stored in a stack pointer register, and each thread keeps its own stack pointer along with its other registers.
[1] OK, I know: signal masks, TSS/TSD etc. The address space, including all its mapped program segments, are still shared though.