Merge branch 'master' into urdf-rs

crates/rapier3d-meshloader/README.md

@@ -1,8 +1,12 @@
-## STL loader for the Rapier physics engine
+## Mesh loader for the Rapier physics engine
 
-Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-stl`
+Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-meshloader`
 crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
-library) from an STL file.
+library) from different file formats, see the following features list:
+
+- `stl`: support .stl files
+- `collada`: support .dae files
+- `wavefront`: support .obj files
 
 ## Resources and discussions
 

crates/rapier3d-meshloader/src/lib.rs

@@ -1,14 +1,4 @@
-//! ## Mesh loader for the Rapier physics engine
-//!
-//! Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-meshloader`
-//! crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
-//! library) from different file formats, see the following features list:
-//! `stl`: support .stl files
-//! `collada`: support .dae files
-//! `wavefront`: support .obj files
-//!
-//! See documentation from [`mesh_loader`] for more details.
-
+#![doc = include_str!("../README.md")]
 #![deny(missing_docs)]
 
 use mesh_loader::Mesh;
@@ -38,7 +28,7 @@ pub enum MeshLoaderError {
     Io(#[from] std::io::Error),
 }
 
-/// Loads an file as shapes from a file.
+/// Loads parry shapes from a file.
 ///
 /// # Parameters
 /// - `path`: the file’s path.
@@ -48,7 +38,6 @@ pub enum MeshLoaderError {
 /// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
 ///            affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
 ///            in [`LoadedShape::raw_mesh`] remains unscaled.
-// TODO: call a function for each mesh to load ? To be able to have a different mesh converter?
 pub fn load_from_path(
     path: impl AsRef<Path>,
     converter: &MeshConverter,
@@ -59,7 +48,6 @@ pub fn load_from_path(
     let scene = loader.load(path)?;
     for (raw_mesh, _) in scene.meshes.into_iter().zip(scene.materials) {
         let shape = load_from_raw_mesh(&raw_mesh, converter, scale);
-
         colliders.push(match shape {
             Ok((shape, pose)) => Ok(LoadedShape {
                 shape,

crates/rapier3d-urdf/CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Unreleased
 
+<<<<<<< HEAD
 ### Modified
 
 - Pre-parsing of urdf files is now done through the more recent `urdf_rs` crate.
@@ -9,6 +10,11 @@
 
 - Add optional support for Collada and Wavefront files through new feature flags `collada` and `wavefront`.
 - Add support for capsule urdf geometry
+=======
+### Added
+
+- Add optional support for Collada and Wavefront files through new feature flags `collada` and `wavefront`.
+>>>>>>> @{-1}
 
 ## 0.3.0
 

src/geometry/collider.rs

@@ -574,15 +574,15 @@ impl ColliderBuilder {
     }
 
     /// Initialize a new collider builder with a cylindrical shape defined by its half-height
-    /// (along along the y axis) and its radius.
+    /// (along the Y axis) and its radius.
     #[cfg(feature = "dim3")]
     pub fn cylinder(half_height: Real, radius: Real) -> Self {
         Self::new(SharedShape::cylinder(half_height, radius))
     }
 
     /// Initialize a new collider builder with a rounded cylindrical shape defined by its half-height
-    /// (along along the y axis), its radius, and its roundedness (the
-    /// radius of the sphere used for dilating the cylinder).
+    /// (along the Y axis), its radius, and its roundedness (the radius of the sphere used for
+    /// dilating the cylinder).
     #[cfg(feature = "dim3")]
     pub fn round_cylinder(half_height: Real, radius: Real, border_radius: Real) -> Self {
         Self::new(SharedShape::round_cylinder(
@@ -593,15 +593,15 @@ impl ColliderBuilder {
     }
 
     /// Initialize a new collider builder with a cone shape defined by its half-height
-    /// (along along the y axis) and its basis radius.
+    /// (along the Y axis) and its basis radius.
     #[cfg(feature = "dim3")]
     pub fn cone(half_height: Real, radius: Real) -> Self {
         Self::new(SharedShape::cone(half_height, radius))
     }
 
     /// Initialize a new collider builder with a rounded cone shape defined by its half-height
-    /// (along along the y axis), its radius, and its roundedness (the
-    /// radius of the sphere used for dilating the cylinder).
+    /// (along the Y axis), its radius, and its roundedness (the radius of the sphere used for
+    /// dilating the cylinder).
     #[cfg(feature = "dim3")]
     pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self {
         Self::new(SharedShape::round_cone(half_height, radius, border_radius))