update to parry ~main

Cargo.toml

@@ -38,6 +38,12 @@ resolver = "2"
 #parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
 #parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
 
+
+parry2d = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+parry3d = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+parry2d-f64 = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+parry3d-f64 = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+
 # # For feature unstable-puffin-pr-235
 # # See https://github.com/dimforge/rapier/issues/760.
 # puffin_egui = { version = "0.29", optional = true, git = "https://github.com/Vrixyz/puffin.git", branch = "expose_ui_options" }

benchmarks3d/trimesh3.rs

@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::trimesh(vertices, indices);
+    let collider = ColliderBuilder::trimesh(vertices, indices).unwrap();
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*

examples2d/trimesh2.rs

@@ -85,6 +85,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 for k in 0..5 {
                     let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone())
+                        .unwrap()
                         .contact_skin(0.2);
                     let rigid_body = RigidBodyBuilder::dynamic()
                         .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])

examples3d/debug_trimesh3.rs

@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::trimesh(vtx, idx);
+    let collider = ColliderBuilder::trimesh(vtx, idx).expect("Could not create trimesh collider.");
     colliders.insert_with_parent(collider, handle, &mut bodies);
     testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);
 

examples3d/dynamic_trimesh3.rs

@@ -93,6 +93,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
             } else {
                 // SharedShape::trimesh(vertices, indices)
                 SharedShape::trimesh_with_flags(vertices, indices, TriMeshFlags::FIX_INTERNAL_EDGES)
+                    .unwrap()
             };
             shapes.push(decomposed_shape);
 

examples3d/trimesh3.rs

@@ -42,7 +42,8 @@ pub fn init_world(testbed: &mut Testbed) {
         vertices,
         indices,
         TriMeshFlags::MERGE_DUPLICATE_VERTICES,
-    );
+    )
+    .unwrap();
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*

src/geometry/collider.rs

@@ -10,7 +10,7 @@ use crate::pipeline::{ActiveEvents, ActiveHooks};
 use crate::prelude::ColliderEnabled;
 use na::Unit;
 use parry::bounding_volume::{Aabb, BoundingVolume};
-use parry::shape::{Shape, TriMeshFlags};
+use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags};
 
 #[cfg(feature = "dim3")]
 use crate::geometry::HeightFieldFlags;
@@ -685,8 +685,11 @@ impl ColliderBuilder {
     }
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
-        Self::new(SharedShape::trimesh(vertices, indices))
+    pub fn trimesh(
+        vertices: Vec<Point<Real>>,
+        indices: Vec<[u32; 3]>,
+    ) -> Result<Self, TriMeshBuilderError> {
+        Ok(Self::new(SharedShape::trimesh(vertices, indices)?))
     }
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers and
@@ -695,8 +698,10 @@ impl ColliderBuilder {
         vertices: Vec<Point<Real>>,
         indices: Vec<[u32; 3]>,
         flags: TriMeshFlags,
-    ) -> Self {
-        Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags))
+    ) -> Result<Self, TriMeshBuilderError> {
+        Ok(Self::new(SharedShape::trimesh_with_flags(
+            vertices, indices, flags,
+        )?))
     }
 
     /// Initializes a collider builder with a shape converted from the given triangle mesh index

src/geometry/mesh_converter.rs

@@ -1,6 +1,6 @@
 use parry::bounding_volume;
 use parry::math::{Isometry, Point, Real};
-use parry::shape::{Cuboid, SharedShape, TriMeshFlags};
+use parry::shape::{Cuboid, SharedShape, TriMeshBuilderError, TriMeshFlags};
 
 #[cfg(feature = "dim3")]
 use parry::transformation::vhacd::VHACDParameters;
@@ -17,6 +17,9 @@ pub enum MeshConverterError {
     /// The convex hull calculation carried out by the [`MeshConverter::ConvexHull`] failed.
     #[error("convex-hull computation failed")]
     ConvexHullFailed,
+    /// The TriMesh building failed.
+    #[error("TriMesh building failed")]
+    TriMeshBuilderError(TriMeshBuilderError),
 }
 
 /// Determines how meshes (generally when loaded from a file) are converted into Rapier colliders.
@@ -61,9 +64,11 @@ impl MeshConverter {
     ) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
         let mut transform = Isometry::identity();
         let shape = match self {
-            MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices),
+            MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices)
+                .map_err(MeshConverterError::TriMeshBuilderError)?,
             MeshConverter::TriMeshWithFlags(flags) => {
                 SharedShape::trimesh_with_flags(vertices, indices, *flags)
+                    .map_err(MeshConverterError::TriMeshBuilderError)?
             }
             MeshConverter::Obb => {
                 let (pose, cuboid) = parry::utils::obb(&vertices);

src/pipeline/query_pipeline/mod.rs

@@ -480,17 +480,14 @@ impl QueryPipeline {
         filter: QueryFilter,
     ) -> Option<ColliderHandle> {
         let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
-        #[allow(deprecated)]
         // TODO: replace this with IntersectionCompositeShapeShapeVisitor when it
         //        can return the shape part id.
-        let mut visitor =
-            parry::query::details::IntersectionCompositeShapeShapeBestFirstVisitor::new(
-                &*self.query_dispatcher,
-                shape_pos,
-                &pipeline_shape,
-                shape,
-            );
-
+        let mut visitor = parry::query::details::IntersectionCompositeShapeShapeVisitor::new(
+            &*self.query_dispatcher,
+            shape_pos,
+            &pipeline_shape,
+            shape,
+        );
         self.qbvh
             .traverse_best_first(&mut visitor)
             .map(|h| (h.1 .0))