diff --git a/CHANGELOG.md b/CHANGELOG.md
index a66ba95..c77f2ee 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,8 @@
+## v0.30.0 (03 Oct. 2025)
+
+- Update to parry 0.25 (which involves breaking changes in the `Voxels` API but improves its internal storage to support
+  large voxel maps).
+
 ## v0.29.0 (05 Sept. 2025)
 
 This version contains a significant rework of the internal velocity constraints solver.
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index 76217b7..5c8df39 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d-f64"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -69,7 +69,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry2d-f64 = "0.24.0"
+parry2d-f64 = "0.25.0"
 simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index 7fa4c7a..0b762b5 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -70,7 +70,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry2d = "0.24.0"
+parry2d = "0.25.0"
 simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index ed04eed..677ea8f 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-f64"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -72,7 +72,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry3d-f64 = "0.24.0"
+parry3d-f64 = "0.25.0"
 simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-meshloader/Cargo.toml b/crates/rapier3d-meshloader/Cargo.toml
index 5bdbe3d..6e802b5 100644
--- a/crates/rapier3d-meshloader/Cargo.toml
+++ b/crates/rapier3d-meshloader/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-meshloader"
-version = "0.10.0"
+version = "0.11.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "STL file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
 profiling = "1.0"
 mesh-loader = "0.1.12"
 
-rapier3d = { version = "0.29.0", path = "../rapier3d" }
+rapier3d = { version = "0.30.0", path = "../rapier3d" }
diff --git a/crates/rapier3d-urdf/Cargo.toml b/crates/rapier3d-urdf/Cargo.toml
index 69727c2..3d559dd 100644
--- a/crates/rapier3d-urdf/Cargo.toml
+++ b/crates/rapier3d-urdf/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-urdf"
-version = "0.10.0"
+version = "0.11.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "URDF file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
 bitflags = "2"
 urdf-rs = "0.9"
 
-rapier3d = { version = "0.29.0", path = "../rapier3d" }
-rapier3d-meshloader = { version = "0.10.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
+rapier3d = { version = "0.30.0", path = "../rapier3d" }
+rapier3d-meshloader = { version = "0.11.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index fd0c8ab..1fa8dfb 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -74,7 +74,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry3d = "0.24.0"
+parry3d = "0.25.0"
 simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 595f013..435f8ac 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d-f64"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.29.0"
+version = "0.30.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 88ac2a9..18d8607 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.29.0"
+version = "0.30.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index 04e01ec..cbf1457 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d-f64"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.29.0"
+version = "0.30.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 1ad02a7..81ab25a 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d"
-version = "0.29.0"
+version = "0.30.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -97,5 +97,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.29.0"
+version = "0.30.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/examples3d/voxels3.rs b/examples3d/voxels3.rs
index d202e6a..18f1f3b 100644
--- a/examples3d/voxels3.rs
+++ b/examples3d/voxels3.rs
@@ -228,7 +228,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let FeatureId::Face(id) = hit.feature else {
                 unreachable!()
             };
-            let voxel_key = voxels.voxel_at_id(id);
+            let voxel_key = voxels.voxel_at_flat_id(id).unwrap();
             let voxel_center = hit_collider.position() * voxels.voxel_center(voxel_key);
             let voxel_size = voxels.voxel_size();
             let hit_highlight = physics.colliders.get_mut(hit_highlight_handle).unwrap();