diff --git a/Cargo.toml b/Cargo.toml
index 9e0524fe..aa82d173 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,6 +12,8 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
     'cfg(feature, values("dim2", "dim3", "f32", "f64"))',
     # "wavefront" is only used for 3D crates.
     'cfg(feature, values("wavefront"))',
+    # "encase" is only used in f32 crates.
+    'cfg(feature, values("encase"))'
 ] }
 
 [workspace.lints.clippy]
diff --git a/crates/parry2d/Cargo.toml b/crates/parry2d/Cargo.toml
index fd2cd1a8..0df356ab 100644
--- a/crates/parry2d/Cargo.toml
+++ b/crates/parry2d/Cargo.toml
@@ -56,6 +56,7 @@ parallel = ["rayon"]
 alloc = ["nalgebra/alloc", "hashbrown"]
 spade = ["dep:spade", "alloc"]
 improved_fixed_point_support = []
+encase = [ "dep:encase", "nalgebra/encase" ]
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -93,6 +94,7 @@ thiserror = { version = "2", default-features = false }
 ena = { version = "0.14.3", optional = true, default-features = false }
 smallvec = "1"
 foldhash = { version = "0.2", default-features = false }
+encase = { version = "0.12", optional = true }
 
 [dev-dependencies]
 simba = { version = "0.9", default-features = false }
diff --git a/crates/parry3d/Cargo.toml b/crates/parry3d/Cargo.toml
index 92b1c1e8..b94ca488 100644
--- a/crates/parry3d/Cargo.toml
+++ b/crates/parry3d/Cargo.toml
@@ -57,6 +57,7 @@ wavefront = ["obj"]
 alloc = ["nalgebra/alloc", "hashbrown"]
 spade = ["dep:spade", "alloc"]
 improved_fixed_point_support = []
+encase = [ "dep:encase", "nalgebra/encase" ]
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -97,6 +98,7 @@ ena = { version = "0.14.3", optional = true, default-features = false }
 smallvec = "1"
 static_assertions = "1"
 foldhash = { version = "0.2", default-features = false }
+encase = { version = "0.12", optional = true }
 
 # NOTE: needed only for element_min for SIMD BVH ray-casting.
 #       can be removed once `wide` supports it (and allows filtering-out the
diff --git a/src/shape/ball.rs b/src/shape/ball.rs
index d3022ffa..f2defc35 100644
--- a/src/shape/ball.rs
+++ b/src/shape/ball.rs
@@ -39,6 +39,7 @@ use crate::shape::SupportMap;
 /// ```
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
+#[cfg_attr(feature = "encase", derive(encase::ShaderType))]
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
diff --git a/src/shape/capsule.rs b/src/shape/capsule.rs
index cfd924cb..1d245a5c 100644
--- a/src/shape/capsule.rs
+++ b/src/shape/capsule.rs
@@ -11,6 +11,7 @@ use rkyv::{bytecheck, CheckBytes};
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
+#[cfg_attr(feature = "encase", derive(encase::ShaderType))]
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
diff --git a/src/shape/cuboid.rs b/src/shape/cuboid.rs
index 66fbd451..8646cbdc 100644
--- a/src/shape/cuboid.rs
+++ b/src/shape/cuboid.rs
@@ -58,6 +58,7 @@ use rkyv::{bytecheck, CheckBytes};
 /// ```
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
+#[cfg_attr(feature = "encase", derive(encase::ShaderType))]
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
diff --git a/src/shape/cylinder.rs b/src/shape/cylinder.rs
index a236f7d4..7aa9136d 100644
--- a/src/shape/cylinder.rs
+++ b/src/shape/cylinder.rs
@@ -66,6 +66,7 @@ use rkyv::{bytecheck, CheckBytes};
 /// ```
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
+#[cfg_attr(feature = "encase", derive(encase::ShaderType))]
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
diff --git a/src/shape/segment.rs b/src/shape/segment.rs
index 480f7ab9..cb1fbc09 100644
--- a/src/shape/segment.rs
+++ b/src/shape/segment.rs
@@ -60,6 +60,7 @@ use rkyv::{bytecheck, CheckBytes};
 /// ```
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
+#[cfg_attr(feature = "encase", derive(encase::ShaderType))]
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
diff --git a/src/shape/triangle.rs b/src/shape/triangle.rs
index eb1dfa1b..fdbdad39 100644
--- a/src/shape/triangle.rs
+++ b/src/shape/triangle.rs
@@ -74,6 +74,7 @@ use rkyv::{bytecheck, CheckBytes};
 /// ```
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
+#[cfg_attr(feature = "encase", derive(encase::ShaderType))]
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),