While possible with voxels I would assume that you would get better/easier results with convex hulls / using physx convex hulls for it. They are already built in to whatever accuracy that you set them too and wouldn’t require a new pipeline to implement. You can get the mass / density properties of Physx as well in the bodyinstance and convex shapes data. Using voxels would be more memory intensive (already have the physx data) and potentially less accurate depending on the scale of the volume, voxel data would be better suited for fluid simulation or gas flow or force propagation than something like that I would assume. Also surface area calculation with a hull would be pretty easy to take the surface area of each tri and add them together if using a tight fitting hull wouldn’t it?