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

examples2d/all_examples2.rs

@@ -1,4 +1,5 @@
 #![allow(dead_code)]
+#![allow(clippy::type_complexity)]
 
 #[cfg(target_arch = "wasm32")]
 use wasm_bindgen::prelude::*;
@@ -42,6 +43,7 @@ mod s2d_joint_grid;
 mod s2d_pyramid;
 mod sensor2;
 mod trimesh2;
+mod voxels2;
 
 mod utils;
 
@@ -67,6 +69,7 @@ pub fn main() {
         ("Rope Joints", rope_joints2::init_world),
         ("Sensor", sensor2::init_world),
         ("Trimesh", trimesh2::init_world),
+        ("Voxels", voxels2::init_world),
         ("Joint motor position", joint_motor_position2::init_world),
         ("(Debug) box ball", debug_box_ball2::init_world),
         ("(Debug) compression", debug_compression2::init_world),