In the end, my team made simplified box collision meshes for all the objects. As all the colliders were axis aligned bounding boxes, were were able to just use Raylib's built-in bounding box collider code, while doing a few simple distance / radius checks to cull the work to a performant level.

`bool CheckCollisionBoxes(BoundingBox box1, BoundingBox box2);                                 // Check collision between two bounding boxes`