feat: make connected component calculation infaillible + add helper f…

…unctions (#291)

* feat: allow calculating meshes connected components when there is no topology

* feat: add helper functions to get trimesh connected-components as actual meshes

* chore: update changelog

CHANGELOG.md

@@ -17,6 +17,19 @@
 - Removed `IntersectionCompositeShapeShapeBestFirstVisitor` (which had been deprecated for a while):
   use `IntersectionCompositeShapeShapeVisitor` instead.
 
+## v0.17.4
+
+### Added
+
+- Add `TriMeshConnectedComponents::to_meshes` and `::to_mesh_buffers` to easily extract individual meshes from the set
+  of connected components.
+- Add `TriMesh::connected_component_meshes` to get the connected components as meshes directly.
+
+### Modified
+
+- Connected-components extraction will never fail now, and no longer require the successful calculation of the mesh’s
+  half-edge topology.
+
 ## v0.17.3
 
 ### Fix

crates/parry2d-f64/Cargo.toml

@@ -30,6 +30,7 @@ std = [
     "arrayvec/std",
     "spade",
     "thiserror",
+    "ena"
 ]
 dim2 = []
 f64 = []
@@ -84,6 +85,7 @@ bytemuck = { version = "1", features = ["derive"], optional = true }
 log = "0.4"
 ordered-float = { version = "4", default-features = false }
 thiserror = { version = "1", optional = true }
+ena = { version = "0.14.3", optional = true }
 
 [dev-dependencies]
 simba = { version = "0.9", default-features = false }

crates/parry2d/Cargo.toml

@@ -30,6 +30,7 @@ std = [
     "arrayvec/std",
     "spade",
     "thiserror",
+    "ena"
 ]
 dim2 = []
 f32 = []
@@ -84,6 +85,7 @@ bytemuck = { version = "1", features = ["derive"], optional = true }
 ordered-float = { version = "4", default-features = false }
 log = "0.4"
 thiserror = { version = "1", optional = true }
+ena = { version = "0.14.3", optional = true }
 
 [dev-dependencies]
 simba = { version = "0.9", default-features = false }

crates/parry3d-f64/Cargo.toml

@@ -30,6 +30,7 @@ std = [
     "arrayvec/std",
     "spade",
     "thiserror",
+    "ena"
 ]
 dim3 = []
 f64 = []
@@ -80,6 +81,7 @@ rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
 rstar = "0.12.0"
 obj = { version = "0.10.2", optional = true }
+ena = { version = "0.14.3", optional = true }
 
 log = "0.4"
 ordered-float = { version = "4", default-features = false }

crates/parry3d/Cargo.toml

@@ -30,6 +30,7 @@ std = [
     "arrayvec/std",
     "spade",
     "thiserror",
+    "ena"
 ]
 dim3 = []
 f32 = []
@@ -84,6 +85,7 @@ ordered-float = { version = "4", default-features = false }
 thiserror = { version = "1", optional = true }
 rstar = "0.12.0"
 obj = { version = "0.10.2", optional = true }
+ena = { version = "0.14.3", optional = true }
 
 [dev-dependencies]
 oorandom = "11"