feat: add support for Voxels collider (#823)

* feat: start adding voxels support and some additional testbed demo settings

* feat: add support for parry’s new Voxels collider shape

* fix voxels demos

* feat: support rectangular voxels and additional voxels initialization

* chore: switch to parry 0.20

* chore: fix cargo doc

* Fix testbed build

Author: sebcrozet

CHANGELOG.md

@@ -2,6 +2,8 @@
 
 ### Added
 
+- Added support for parry’s new `Voxels` collider shape with `ColliderBuilder::voxels`,
+  `ColliderBuilder::voxels_from_points`, and `ColliderBuilder::voxelized_mesh`.
 - `MeshConverter` now implements `Copy`.
 
 ## v0.24.0 (10 April 2025)

crates/rapier2d-f64/Cargo.toml

@@ -68,7 +68,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry2d-f64 = "0.19.0"
+parry2d-f64 = "0.20.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier2d/Cargo.toml

@@ -69,7 +69,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry2d = "0.19.0"
+parry2d = "0.20.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-f64/Cargo.toml

@@ -71,7 +71,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry3d-f64 = "0.19.0"
+parry3d-f64 = "0.20.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d/Cargo.toml

@@ -73,7 +73,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry3d = "0.19.0"
+parry3d = "0.20.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier_testbed2d-f64/Cargo.toml

@@ -63,7 +63,7 @@ profiling = "1.0"
 puffin_egui = { version = "0.29", optional = true }
 serde_json = "1"
 serde = { version = "1.0.215", features = ["derive"] }
-
+indexmap = { version = "2", features = ["serde"] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

crates/rapier_testbed2d/Cargo.toml

@@ -63,6 +63,7 @@ profiling = "1.0"
 puffin_egui = { version = "0.29", optional = true }
 serde = { version = "1.0.215", features = ["derive"] }
 serde_json = "1"
+indexmap = { version = "2", features = ["serde"] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -64,6 +64,7 @@ bevy_pbr = "0.15"
 bevy_sprite = "0.15"
 profiling = "1.0"
 puffin_egui = { version = "0.29", optional = true, git = "https://github.com/Vrixyz/puffin.git", branch = "expose_ui_options" }
+indexmap = { version = "2", features = ["serde"] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

crates/rapier_testbed3d/Cargo.toml

@@ -65,6 +65,7 @@ bevy_pbr = "0.15"
 bevy_sprite = "0.15"
 profiling = "1.0"
 puffin_egui = { version = "0.29", optional = true }
+indexmap = { version = "2", features = ["serde"] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

examples2d/Cargo.toml

@@ -16,6 +16,7 @@ enhanced-determinism = ["rapier2d/enhanced-determinism"]
 rand = "0.8"
 lyon = "0.17"
 usvg = "0.14"
+dot_vox = "5"
 
 [dependencies.rapier_testbed2d]
 path = "../crates/rapier_testbed2d"