Benjamin Saunders

Note this is technically a breaking change, since `HandshakeData` is exhaustive. Shouldn't be disruptive, though.

Yeah, absolutely. We're happy to have it, just need to defer it to the next breaking release.

I don't think we flagged it.

Custom shapes will always require a custom dispatcher, and in most cases work fine once you have one, although due to long-standing design issue https://github.com/dimforge/parry/issues/8 you can't compose custom dispatchers....

What would the benefit be? Customizing `PersistentQueryDispatcher` isn't a high barrier, and it's not clear that a `trait Heightmap` could be low-level enough to save the user a meaningful amount...