From 2a03d5a59e0b84898166bee191ae226b9128e587 Mon Sep 17 00:00:00 2001
From: Justin Bell <66568249+bellwether-softworks@users.noreply.github.com>
Date: Wed, 8 Jan 2025 09:10:06 -0600
Subject: [PATCH] Addressing fallibility issues (#282)

* Making heap peek fallible

* Switching to use of fallible convex hull processing when instantiating ConvexPolyhedron
---
 src/query/epa/epa3.rs          | 2 +-
 src/shape/convex_polyhedron.rs | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/query/epa/epa3.rs b/src/query/epa/epa3.rs
index 9f8bdc90..7c05daa0 100644
--- a/src/query/epa/epa3.rs
+++ b/src/query/epa/epa3.rs
@@ -314,7 +314,7 @@ impl EPA {
 
         let mut niter = 0;
         let mut max_dist = Real::max_value();
-        let mut best_face_id = *self.heap.peek().unwrap();
+        let mut best_face_id = *self.heap.peek()?;
         let mut old_dist = 0.0;
 
         /*
diff --git a/src/shape/convex_polyhedron.rs b/src/shape/convex_polyhedron.rs
index da03d7ec..ed907e19 100644
--- a/src/shape/convex_polyhedron.rs
+++ b/src/shape/convex_polyhedron.rs
@@ -117,8 +117,9 @@ impl ConvexPolyhedron {
     /// This explicitly computes the convex hull of the given set of points. Use
     /// Returns `None` if the convex hull computation failed.
     pub fn from_convex_hull(points: &[Point<Real>]) -> Option<ConvexPolyhedron> {
-        let (vertices, indices) = crate::transformation::convex_hull(points);
-        Self::from_convex_mesh(vertices, &indices)
+        crate::transformation::try_convex_hull(points)
+            .ok()
+            .and_then(|(vertices, indices)| Self::from_convex_mesh(vertices, &indices))
     }
 
     /// Attempts to create a new solid assumed to be convex from the set of points and indices.