diff --git a/crates/parry2d-f64/Cargo.toml b/crates/parry2d-f64/Cargo.toml
index 075304cf..46bf144e 100644
--- a/crates/parry2d-f64/Cargo.toml
+++ b/crates/parry2d-f64/Cargo.toml
@@ -24,6 +24,7 @@ dim2    = [ ]
 f64     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize", "arrayvec/serde" ]
 rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
+rkyv-safe-deser = [ "rkyv-serialize", "rkyv/validation" ]
 bytemuck-serialize = [ "bytemuck", "nalgebra/convert-bytemuck" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
@@ -52,7 +53,7 @@ simba           = { version = "0.8", default-features = false }
 nalgebra        = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
 serde           = { version = "1.0", optional = true, features = ["derive"] }
-rkyv            = { version = "0.7", optional = true }
+rkyv            = { version = "0.7.41", optional = true }
 num-derive      = "0.3"
 indexmap        = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash      = { version = "1", optional = true }
diff --git a/crates/parry2d/Cargo.toml b/crates/parry2d/Cargo.toml
index 0b970dc5..0ea08601 100644
--- a/crates/parry2d/Cargo.toml
+++ b/crates/parry2d/Cargo.toml
@@ -24,6 +24,7 @@ dim2    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize", "arrayvec/serde" ]
 rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
+rkyv-safe-deser = [ "rkyv-serialize", "rkyv/validation" ]
 bytemuck-serialize = [ "bytemuck", "nalgebra/convert-bytemuck" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
@@ -52,7 +53,7 @@ simba           = { version = "0.8", default-features = false }
 nalgebra        = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
 serde           = { version = "1.0", optional = true, features = ["derive"] }
-rkyv            = { version = "0.7", optional = true }
+rkyv            = { version = "0.7.41", optional = true }
 num-derive      = "0.3"
 indexmap        = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash      = { version = "1", optional = true }
diff --git a/crates/parry3d-f64/Cargo.toml b/crates/parry3d-f64/Cargo.toml
index 32e46a4e..d8cea1b5 100644
--- a/crates/parry3d-f64/Cargo.toml
+++ b/crates/parry3d-f64/Cargo.toml
@@ -24,6 +24,7 @@ dim3    = [ ]
 f64     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize" ]
 rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
+rkyv-safe-deser = [ "rkyv-serialize", "rkyv/validation" ]
 bytemuck-serialize = [ "bytemuck", "nalgebra/convert-bytemuck" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
@@ -52,7 +53,7 @@ simba      = { version = "0.8", default-features = false }
 nalgebra   = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx     = { version = "0.5", default-features = false }
 serde      = { version = "1.0", optional = true, features = ["derive", "rc"]}
-rkyv       = { version = "0.7", optional = true }
+rkyv       = { version = "0.7.41", optional = true }
 num-derive = "0.3"
 indexmap   = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash = { version = "1", optional = true }
diff --git a/crates/parry3d/Cargo.toml b/crates/parry3d/Cargo.toml
index 0bbeeac7..c4dea4f3 100644
--- a/crates/parry3d/Cargo.toml
+++ b/crates/parry3d/Cargo.toml
@@ -24,6 +24,7 @@ dim3    = [ ]
 f32     = [ ]
 serde-serialize = [ "serde", "nalgebra/serde-serialize" ]
 rkyv-serialize = [ "rkyv", "nalgebra/rkyv-serialize", "simba/rkyv-serialize" ]
+rkyv-safe-deser = [ "rkyv-serialize", "rkyv/validation" ]
 bytemuck-serialize = [ "bytemuck", "nalgebra/convert-bytemuck" ]
 
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
@@ -53,7 +54,7 @@ simba      = { version = "0.8", default-features = false }
 nalgebra   = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx     = { version = "0.5", default-features = false }
 serde      = { version = "1.0", optional = true, features = ["derive", "rc"]}
-rkyv       = { version = "0.7", optional = true }
+rkyv       = { version = "0.7.41", optional = true }
 num-derive = "0.3"
 indexmap   = { version = "1", features = [ "serde-1" ], optional = true }
 rustc-hash = { version = "1", optional = true }
diff --git a/src/bounding_volume/aabb.rs b/src/bounding_volume/aabb.rs
index c559a6f4..59443bf2 100644
--- a/src/bounding_volume/aabb.rs
+++ b/src/bounding_volume/aabb.rs
@@ -19,6 +19,7 @@ use na::ComplexField; // for .abs()
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Debug, PartialEq, Copy, Clone)]
 #[repr(C)]
diff --git a/src/bounding_volume/bounding_sphere.rs b/src/bounding_volume/bounding_sphere.rs
index 25743296..26cb0699 100644
--- a/src/bounding_volume/bounding_sphere.rs
+++ b/src/bounding_volume/bounding_sphere.rs
@@ -13,6 +13,7 @@ use num::Zero;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Debug, PartialEq, Copy, Clone)]
 #[repr(C)]
 pub struct BoundingSphere {
diff --git a/src/bounding_volume/simd_aabb.rs b/src/bounding_volume/simd_aabb.rs
index 15a7c090..400a40d2 100644
--- a/src/bounding_volume/simd_aabb.rs
+++ b/src/bounding_volume/simd_aabb.rs
@@ -11,6 +11,7 @@ use simba::simd::{SimdPartialOrd, SimdValue};
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct SimdAabb {
     /// The min coordinates of the Aabbs.
diff --git a/src/mass_properties/mass_properties.rs b/src/mass_properties/mass_properties.rs
index 725731c3..82eeb933 100644
--- a/src/mass_properties/mass_properties.rs
+++ b/src/mass_properties/mass_properties.rs
@@ -15,6 +15,7 @@ const EPSILON: Real = f32::EPSILON as Real;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 /// The local mass properties of a rigid-body.
 pub struct MassProperties {
     /// The center of mass of a rigid-body expressed in its local-space.
diff --git a/src/partitioning/qbvh/qbvh.rs b/src/partitioning/qbvh/qbvh.rs
index 7c52c44c..26a310c7 100644
--- a/src/partitioning/qbvh/qbvh.rs
+++ b/src/partitioning/qbvh/qbvh.rs
@@ -62,6 +62,7 @@ pub type SimdNodeIndex = u32;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 /// The index of one specific node of a Qbvh.
 pub struct NodeIndex {
@@ -117,6 +118,7 @@ bitflags! {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 pub struct QbvhNode {
     /// The Aabbs of the qbvh nodes represented by this node.
@@ -190,6 +192,7 @@ impl QbvhNode {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 /// Combination of a leaf data and its associated node’s index.
 pub struct QbvhProxy<LeafData> {
@@ -230,6 +233,7 @@ impl<LeafData> QbvhProxy<LeafData> {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[repr(C)] // Needed for Cuda.
 #[derive(Debug)]
 pub struct GenericQbvh<LeafData, Storage: QbvhStorage<LeafData>> {
diff --git a/src/query/closest_points/closest_points.rs b/src/query/closest_points/closest_points.rs
index 991d360a..ec0b6e48 100644
--- a/src/query/closest_points/closest_points.rs
+++ b/src/query/closest_points/closest_points.rs
@@ -9,6 +9,7 @@ use std::mem;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 pub enum ClosestPoints {
     /// The two objects are intersecting.
     Intersecting,
diff --git a/src/query/contact/contact.rs b/src/query/contact/contact.rs
index d49bd380..93f1d08b 100644
--- a/src/query/contact/contact.rs
+++ b/src/query/contact/contact.rs
@@ -10,6 +10,7 @@ use std::mem;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 pub struct Contact {
     /// Position of the contact on the first object.
     pub point1: Point<Real>,
diff --git a/src/query/contact_manifolds/contact_manifold.rs b/src/query/contact_manifolds/contact_manifold.rs
index 1a3f25fd..06022204 100644
--- a/src/query/contact_manifolds/contact_manifold.rs
+++ b/src/query/contact_manifolds/contact_manifold.rs
@@ -7,6 +7,7 @@ use crate::shape::PackedFeatureId;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 /// A single contact between two shape.
 pub struct TrackedContact<Data> {
     /// The contact point in the local-space of the first shape.
diff --git a/src/query/contact_manifolds/contact_manifolds_composite_shape_composite_shape.rs b/src/query/contact_manifolds/contact_manifolds_composite_shape_composite_shape.rs
index f3680bbb..09355dcb 100644
--- a/src/query/contact_manifolds/contact_manifolds_composite_shape_composite_shape.rs
+++ b/src/query/contact_manifolds/contact_manifolds_composite_shape_composite_shape.rs
@@ -16,6 +16,7 @@ use crate::utils::IsometryOpt;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Clone)]
 struct SubDetector {
     manifold_id: usize,
diff --git a/src/query/contact_manifolds/contact_manifolds_composite_shape_shape.rs b/src/query/contact_manifolds/contact_manifolds_composite_shape_shape.rs
index 1f3ca8f6..9e15e7df 100644
--- a/src/query/contact_manifolds/contact_manifolds_composite_shape_shape.rs
+++ b/src/query/contact_manifolds/contact_manifolds_composite_shape_shape.rs
@@ -16,6 +16,7 @@ use crate::utils::IsometryOpt;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Clone)]
 struct SubDetector {
     manifold_id: usize,
diff --git a/src/query/contact_manifolds/contact_manifolds_heightfield_composite_shape.rs b/src/query/contact_manifolds/contact_manifolds_heightfield_composite_shape.rs
index c9a104d2..cad79210 100644
--- a/src/query/contact_manifolds/contact_manifolds_heightfield_composite_shape.rs
+++ b/src/query/contact_manifolds/contact_manifolds_heightfield_composite_shape.rs
@@ -21,6 +21,7 @@ use crate::query::contact_manifolds::InternalEdgesFixer;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Clone)]
 struct SubDetector {
     manifold_id: usize,
diff --git a/src/query/contact_manifolds/contact_manifolds_heightfield_shape.rs b/src/query/contact_manifolds/contact_manifolds_heightfield_shape.rs
index ad62e24e..e7b35910 100644
--- a/src/query/contact_manifolds/contact_manifolds_heightfield_shape.rs
+++ b/src/query/contact_manifolds/contact_manifolds_heightfield_shape.rs
@@ -19,6 +19,7 @@ use crate::query::contact_manifolds::InternalEdgesFixer;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Clone)]
 struct SubDetector {
     manifold_id: usize,
diff --git a/src/query/contact_manifolds/contact_manifolds_trimesh_shape.rs b/src/query/contact_manifolds/contact_manifolds_trimesh_shape.rs
index 26c09206..c8932b18 100644
--- a/src/query/contact_manifolds/contact_manifolds_trimesh_shape.rs
+++ b/src/query/contact_manifolds/contact_manifolds_trimesh_shape.rs
@@ -13,6 +13,7 @@ use crate::shape::{Shape, TriMesh};
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Clone)]
 pub struct TriMeshShapeContactManifoldsWorkspace {
     interferences: Vec<u32>,
diff --git a/src/query/contact_manifolds/internal_edges_fixer.rs b/src/query/contact_manifolds/internal_edges_fixer.rs
index 3dd066e2..168dbb55 100644
--- a/src/query/contact_manifolds/internal_edges_fixer.rs
+++ b/src/query/contact_manifolds/internal_edges_fixer.rs
@@ -10,6 +10,7 @@ use crate::math::Real;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Default, Clone)]
 #[allow(dead_code)] // We will need these for 2D too in the future.
 pub struct InternalEdgesFixer {
diff --git a/src/query/point/point_query.rs b/src/query/point/point_query.rs
index d1c4b8be..4c03da42 100644
--- a/src/query/point/point_query.rs
+++ b/src/query/point/point_query.rs
@@ -10,6 +10,7 @@ use na;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 pub struct PointProjection {
     /// Whether or not the point to project was inside of the shape.
     pub is_inside: bool,
diff --git a/src/query/ray/ray.rs b/src/query/ray/ray.rs
index 6876f08a..8a374afa 100644
--- a/src/query/ray/ray.rs
+++ b/src/query/ray/ray.rs
@@ -11,6 +11,7 @@ use crate::shape::FeatureId;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)]
 pub struct Ray {
@@ -64,6 +65,7 @@ impl Ray {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 pub struct RayIntersection {
     /// The time of impact of the ray with the object.  The exact contact point can be computed
     /// with: `ray.point_at(toi)` or equivalently `origin + dir * toi` where `origin` is the origin of the ray;
diff --git a/src/shape/ball.rs b/src/shape/ball.rs
index 5f3e2461..8481bab7 100644
--- a/src/shape/ball.rs
+++ b/src/shape/ball.rs
@@ -8,10 +8,11 @@ use crate::shape::SupportMap;
 /// A Ball shape.
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
-// #[cfg_attr(
-//     feature = "rkyv",
-//     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
-// )]
+#[cfg_attr(
+    feature = "rkyv",
+    derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
+)]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 #[repr(C)]
diff --git a/src/shape/capsule.rs b/src/shape/capsule.rs
index 93390be8..14d36572 100644
--- a/src/shape/capsule.rs
+++ b/src/shape/capsule.rs
@@ -13,6 +13,7 @@ use either::Either;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)]
 /// A capsule shape defined as a round segment.
diff --git a/src/shape/cone.rs b/src/shape/cone.rs
index 1109b863..be6f50f1 100644
--- a/src/shape/cone.rs
+++ b/src/shape/cone.rs
@@ -19,6 +19,7 @@ use na::RealField; // for .copysign()
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 #[repr(C)]
diff --git a/src/shape/convex_polygon.rs b/src/shape/convex_polygon.rs
index adb6ee41..40dbe9c7 100644
--- a/src/shape/convex_polygon.rs
+++ b/src/shape/convex_polygon.rs
@@ -9,6 +9,7 @@ use na::{self, ComplexField, RealField, Unit};
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Clone, Debug)]
 pub struct ConvexPolygon {
     points: Vec<Point<Real>>,
diff --git a/src/shape/convex_polyhedron.rs b/src/shape/convex_polyhedron.rs
index 81c553a9..21ef641e 100644
--- a/src/shape/convex_polyhedron.rs
+++ b/src/shape/convex_polyhedron.rs
@@ -15,6 +15,7 @@ use na::ComplexField; // for .abs()
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 pub struct Vertex {
     pub first_adj_face_or_edge: u32,
@@ -27,6 +28,7 @@ pub struct Vertex {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 pub struct Edge {
     pub vertices: Point2<u32>,
@@ -51,6 +53,7 @@ impl Edge {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 pub struct Face {
     pub first_vertex_or_edge: u32,
@@ -63,6 +66,7 @@ pub struct Face {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 struct Triangle {
     vertices: [u32; 3],
@@ -89,6 +93,7 @@ impl Triangle {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(PartialEq, Debug, Clone)]
 /// A convex polyhedron without degenerate faces.
 pub struct ConvexPolyhedron {
diff --git a/src/shape/cuboid.rs b/src/shape/cuboid.rs
index 06c43c1e..d1d54ee4 100644
--- a/src/shape/cuboid.rs
+++ b/src/shape/cuboid.rs
@@ -18,6 +18,7 @@ use na::RealField; // for .copysign()
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 #[repr(C)]
diff --git a/src/shape/cylinder.rs b/src/shape/cylinder.rs
index b15a7267..adefe969 100644
--- a/src/shape/cylinder.rs
+++ b/src/shape/cylinder.rs
@@ -19,6 +19,7 @@ use na::RealField; // for .copysign()
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 #[repr(C)]
diff --git a/src/shape/feature_id.rs b/src/shape/feature_id.rs
index 86a823c4..0b125d94 100644
--- a/src/shape/feature_id.rs
+++ b/src/shape/feature_id.rs
@@ -9,6 +9,7 @@
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 pub enum FeatureId {
     /// Shape-dependent identifier of a vertex.
@@ -62,6 +63,7 @@ impl FeatureId {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 /// A feature id where the feature type is packed into the same value as the feature index.
 pub struct PackedFeatureId(pub u32);
diff --git a/src/shape/half_space.rs b/src/shape/half_space.rs
index 8ce341e8..91055571 100644
--- a/src/shape/half_space.rs
+++ b/src/shape/half_space.rs
@@ -10,6 +10,7 @@ use na::Unit;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)]
 pub struct HalfSpace {
diff --git a/src/shape/heightfield2.rs b/src/shape/heightfield2.rs
index 5bafbae6..06f462e8 100644
--- a/src/shape/heightfield2.rs
+++ b/src/shape/heightfield2.rs
@@ -55,6 +55,7 @@ impl HeightFieldStorage for CudaStoragePtr {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Debug)]
 #[repr(C)] // Needed for Cuda.
 /// A 2D heightfield with a generic storage buffer for its heights.
diff --git a/src/shape/heightfield3.rs b/src/shape/heightfield3.rs
index 303106b0..0179b8df 100644
--- a/src/shape/heightfield3.rs
+++ b/src/shape/heightfield3.rs
@@ -24,6 +24,7 @@ bitflags! {
         derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
         archive(as = "Self")
     )]
+    #[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
     #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
     #[derive(Default)]
     /// The status of the cell of an heightfield.
@@ -70,6 +71,7 @@ impl HeightFieldStorage for CudaStoragePtr {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Debug)]
 #[repr(C)] // Needed for Cuda.
 /// A 3D heightfield with a generic storage buffer for its height grid.
diff --git a/src/shape/polygon.rs b/src/shape/polygon.rs
index 9796b534..fafbdbaa 100644
--- a/src/shape/polygon.rs
+++ b/src/shape/polygon.rs
@@ -9,6 +9,7 @@ use parry::bounding_volume::Aabb;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 /// A convex planar polygon.
 pub struct Polygon {
     pub(crate) vertices: Vec<Point<Real>>,
diff --git a/src/shape/polyline.rs b/src/shape/polyline.rs
index 3e20c188..6eb1576b 100644
--- a/src/shape/polyline.rs
+++ b/src/shape/polyline.rs
@@ -15,6 +15,7 @@ use na::ComplexField; // for .abs()
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 /// A polyline.
 pub struct Polyline {
     qbvh: Qbvh<u32>,
diff --git a/src/shape/round_shape.rs b/src/shape/round_shape.rs
index ecaf9889..e11ce593 100644
--- a/src/shape/round_shape.rs
+++ b/src/shape/round_shape.rs
@@ -7,6 +7,7 @@ use na::Unit;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone, Debug)]
 #[repr(C)]
diff --git a/src/shape/segment.rs b/src/shape/segment.rs
index f31f58bd..a89170d8 100644
--- a/src/shape/segment.rs
+++ b/src/shape/segment.rs
@@ -14,6 +14,7 @@ use std::mem;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone)]
 #[repr(C)]
diff --git a/src/shape/tetrahedron.rs b/src/shape/tetrahedron.rs
index b2adf321..7cccbb9b 100644
--- a/src/shape/tetrahedron.rs
+++ b/src/shape/tetrahedron.rs
@@ -17,6 +17,7 @@ use na::ComplexField; // for .abs()
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(Copy, Clone, Debug)]
 #[repr(C)]
diff --git a/src/shape/triangle.rs b/src/shape/triangle.rs
index 4431cad9..3d4367f0 100644
--- a/src/shape/triangle.rs
+++ b/src/shape/triangle.rs
@@ -22,6 +22,7 @@ use crate::shape::PackedFeatureId;
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[derive(PartialEq, Debug, Copy, Clone, Default)]
 #[repr(C)]
diff --git a/src/shape/trimesh.rs b/src/shape/trimesh.rs
index faa38080..efa9e00f 100644
--- a/src/shape/trimesh.rs
+++ b/src/shape/trimesh.rs
@@ -71,6 +71,7 @@ impl std::error::Error for TopologyError {}
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[repr(C)] // Needed for Cuda.
 #[cfg(feature = "dim3")]
 pub struct TriMeshPseudoNormals<Storage: TriMeshStorage> {
@@ -108,6 +109,7 @@ impl TriMeshPseudoNormals<DefaultStorage> {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[repr(C)] // Needed for Cuda.
 pub struct TriMeshConnectedComponents<Storage: TriMeshStorage> {
     /// The `face_colors[i]` gives the connected-component index
@@ -158,6 +160,7 @@ impl TriMeshConnectedComponents<DefaultStorage> {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)] // Needed for Cuda.
 pub struct TopoVertex {
@@ -173,6 +176,7 @@ pub struct TopoVertex {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)] // Needed for Cuda.
 pub struct TopoFace {
@@ -189,6 +193,7 @@ pub struct TopoFace {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self")
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
 #[repr(C)] // Needed for Cuda.
 pub struct TopoHalfEdge {
@@ -211,6 +216,7 @@ pub struct TopoHalfEdge {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[repr(C)] // Needed for Cuda.
 pub struct TriMeshTopology<Storage: TriMeshStorage> {
     /// The vertices of this half-edge representation.
@@ -265,6 +271,7 @@ bitflags::bitflags! {
         derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
         archive(as = "Self")
     )]
+    #[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
     #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
     #[repr(C)] // Needed for Cuda.
     #[derive(Default)]
@@ -338,6 +345,7 @@ bitflags::bitflags! {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[repr(C)] // Needed for Cuda.
 /// A triangle mesh.
 pub struct GenericTriMesh<Storage: TriMeshStorage> {
diff --git a/src/utils/array.rs b/src/utils/array.rs
index e0739c3b..e4672463 100644
--- a/src/utils/array.rs
+++ b/src/utils/array.rs
@@ -85,6 +85,7 @@ impl<T: Scalar> Array2 for DMatrix<T> {
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Default)]
 /// Default data storage based on `Vec`, `DVector`, and `DMatrix`.
 pub struct DefaultStorage;
diff --git a/src/utils/sdp_matrix.rs b/src/utils/sdp_matrix.rs
index b0f5e07e..8cffc868 100644
--- a/src/utils/sdp_matrix.rs
+++ b/src/utils/sdp_matrix.rs
@@ -10,6 +10,7 @@ use std::ops::{Add, Mul};
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self", bound(archive = "N: rkyv::Archive<Archived = N>"))
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 pub struct SdpMatrix2<N> {
     /// The component at the first row and first column of this matrix.
     pub m11: N,
@@ -116,6 +117,7 @@ impl Mul<Real> for SdpMatrix2<Real> {
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
     archive(as = "Self", bound(archive = "N: rkyv::Archive<Archived = N>"))
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 pub struct SdpMatrix3<N> {
     /// The component at the first row and first column of this matrix.
     pub m11: N,
diff --git a/src/utils/sorted_pair.rs b/src/utils/sorted_pair.rs
index f87c86f2..f9358201 100644
--- a/src/utils/sorted_pair.rs
+++ b/src/utils/sorted_pair.rs
@@ -9,6 +9,7 @@ use std::ops::Deref;
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize)
 )]
+#[cfg_attr(feature = "rkyv-safe-deser", archive(check_bytes))]
 pub struct SortedPair<T: PartialOrd>([T; 2]);
 
 impl<T: PartialOrd> SortedPair<T> {