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Jun 18, 2025
# Objective Parry added support for a cool new [`Voxels` shape](dimforge/parry#336) for efficient voxelized geometry without ghost collision problems caused by internal edges. We should add support for this too! ## Solution - Update to Parry 0.21 - Add `Collider::shape_mut` - Add `Collider::voxels` - Add `Collider::voxels_from_points` - Add `Collider::voxelized_polyline` (2D) - Add `Collider::voxelized_trimesh` (3D) - Add `Collider::voxelized_trimesh_from_mesh` (3D) - Add `Collider::voxelized_convex_decomposition` - Add `Collider::voxelized_convex_decomposition_with_config` - Add `Collider::voxelized_convex_decomposition_from_mesh` (3D) - Add `ColliderConstructor::Voxels` - Add `ColliderConstructor::VoxelizedPolyline` - Add `ColliderConstructor::VoxelizedTrimesh` - Add `ColliderConstructor::VoxelizedTrimeshFromMesh` The update to Parry 0.21 also made `SharedShape::trimesh` and `SharedShape::trimesh_with_flags` fallible. To support this, `Collider::trimesh` and `Collider::trimesh_with_config` now panic for degenerate input, but there are also `Collider::try_trimesh` and `Collider::try_trimesh_with_config` versions that return a `Result`. --- ## Migration Guide `Collider::trimesh` and `Collider::trimesh_with_config` can now panic for degenerate input. Use `Collider::try_trimesh` and `Collider::try_trimesh_with_config` to instead get a `Result` and handle error cases manually.
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This PRs adds partial support of a new
Voxelsshape. This shape type is designed to handle efficiently, and without "internal edges" artifacts, collision detection with objects defined as a set of voxels. EachVoxelsshape is free to have their own voxel size; and can be rotated/translated arbitrarily as a whole. The voxel size can be different along each axis (i.e. it can be a rectangle instead of just a cube).This feature is still experimental as it is missing some elements. The following is supported:
Notable features that are currently missing are: