Extending the engine to work with collisions with a voxel mesh?

[willowly]

Hello! Id like to use this physics engine along with certain objects that are made out of many cubes in a voxel grid. I could just use a ton of boxcolliders, but there's a lot of assumptions one could make if everything is arranged in a grid, one could choose a point and get the exact collider that is associated with a specific cell for example. Is there any easy way to extend the engine to create custom collision shapes that support these sorts of optimizations? Or would it be very difficult.

This is not for minecraft and the voxel grids are not always aligned to the world grid. (they can be rotated and such)