Merge branch 'master' into example_bounding_sphere

.github/workflows/parry-ci-build.yml

@@ -2,9 +2,9 @@ name: parry CI build
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 env:
   CARGO_TERM_COLOR: always
@@ -18,6 +18,8 @@ jobs:
         run: cargo fmt -- --check
   clippy:
     runs-on: ubuntu-latest
+    env:
+      RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
       - name: Clippy
@@ -40,7 +42,7 @@ jobs:
       - name: Check serialization
         run: cargo check --features bytemuck-serialize,serde-serialize,rkyv-serialize;
       - name: Run tests
-        run: cargo test
+        run: cargo test --features wavefront
   build-wasm:
     runs-on: ubuntu-latest
     env:
@@ -74,6 +76,16 @@ jobs:
       - name: install stable Rust
         uses: dtolnay/rust-toolchain@master
         with:
-            toolchain: stable
+          toolchain: stable
       - name: cargo doc
         run: cargo doc --workspace --features bytemuck-serialize,serde-serialize,rkyv-serialize,parallel --no-deps --document-private-items
+  check-benchmarks:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install nightly Rust
+        uses: dtolnay/rust-toolchain@master
+        with:
+          toolchain: nightly
+      - name: check benchmarks
+        run: cargo +nightly check --benches

CHANGELOG.md

@@ -2,9 +2,25 @@
 
 ## Unreleased
 
+### Added
+
+- Implement `::to_trimesh` in 2d for `Cuboid` and `Aabb`.
+- Implement `Shape::feature_normal_at_point` for `TriMesh` to retrieve the normal of a face, when passing a `FeatureId::Face`.
+
+### Modified
+
+- Propagate error information while creating a mesh and using functions making use of it (See #262):
+  - `TriMesh::new`
+  - `TriMesh::intersection_with_aabb`
+  - `SharedShape::trimesh`
+  - `SharedShape::trimesh_with_flags`
+
+## v0.17.1
+
 ### Modified
 
 - Improve convergence of epa algorithm in degenerate configurations.
+- Fix bug in the mesh/mesh intersection algorithm that didn’t properly take mesh transforms into account.
 
 ## v0.17.0
 

crates/parry2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d-f64"
-version = "0.17.0"
+version = "0.17.1"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "2 dimensional collision detection library in Rust. 64-bit precision version."

crates/parry2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d"
-version = "0.17.0"
+version = "0.17.1"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "2 dimensional collision detection library in Rust."

crates/parry2d/examples/aabb2d.rs

@@ -1,8 +1,8 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
 extern crate nalgebra as na;
 
-use common_macroquad::{draw_polyline, lissajous_2d, mquad_from_na, na_from_mquad};
+use common_macroquad2d::{draw_polyline, lissajous_2d, mquad_from_na, na_from_mquad};
 use macroquad::prelude::*;
 use na::Isometry2;
 use parry2d::bounding_volume::{Aabb, BoundingVolume};

crates/parry2d/examples/bounding_sphere2d.rs

@@ -1,12 +1,11 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
 extern crate nalgebra as na;
 
-use common_macroquad::{draw_polyline, lissajous_2d, mquad_from_na, na_from_mquad};
+use common_macroquad2d::{draw_polyline, lissajous_2d, mquad_from_na, na_from_mquad};
 use macroquad::prelude::*;
 use na::{Isometry2, Vector2};
 use parry2d::bounding_volume::{Aabb, BoundingVolume};
-use parry2d::shape::Ball;
 use parry2d::shape::Cuboid;
 
 const RENDER_SCALE: f32 = 30.0;

crates/parry2d/examples/common_macroquad.rs → crates/parry2d/examples/common_macroquad2d.rs

@@ -1,5 +1,4 @@
-#[allow(unused, dead_code)]
-use std::f32::consts::{FRAC_PI_2, FRAC_PI_4, FRAC_PI_6};
+use std::f32::consts::{FRAC_PI_2, FRAC_PI_4};
 
 use macroquad::prelude::*;
 use macroquad::{
@@ -11,21 +10,29 @@ use nalgebra::Point2;
 use parry2d::math::Real;
 use parry2d::shape::TriMesh;
 
+/// As this file is used as a module from other examples,
+/// rustc warns about dead code:
+/// - `main()` is needed for this file to be included in examples
+/// - For other functions, they may be "dead code" for an example, but not for others.
+#[allow(dead_code)]
 fn main() {
     println!(
         "This module contains helper functions to use macroquad,
     isolated from the rest of the examples for the sake of simplicity."
     );
 }
 
+#[allow(dead_code)]
 pub fn mquad_from_na(a: Point2<Real>) -> Vec2 {
     Vec2::new(a.x, a.y)
 }
 
+#[allow(dead_code)]
 pub fn na_from_mquad(a: Vec2) -> Point2<Real> {
     Point2::new(a.x, a.y)
 }
 
+#[allow(dead_code)]
 pub fn draw_polyline(polygon: Vec<(Vec2, Vec2)>, color: Color) {
     for i in 0..polygon.len() {
         let a = polygon[i].0;
@@ -34,14 +41,18 @@ pub fn draw_polyline(polygon: Vec<(Vec2, Vec2)>, color: Color) {
     }
 }
 
+#[allow(dead_code)]
 pub fn easy_draw_text(text: &str) {
     macroquad::text::draw_text(text, 10.0, 48.0 + 18.0, 30.0, WHITE);
 }
 
+#[allow(dead_code)]
 pub fn lissajous_2d(t: f32) -> Vec2 {
     // Some hardcoded parameters to have a pleasing lissajous trajectory.
     lissajous_2d_with_params(t, 3.0, 2.0, FRAC_PI_2, FRAC_PI_4)
 }
+
+#[allow(dead_code)]
 pub fn lissajous_2d_with_params(t: f32, a: f32, b: f32, delta_x: f32, delta_y: f32) -> Vec2 {
     // Some hardcoded parameters to have a pleasing lissajous trajectory.
 
@@ -50,10 +61,12 @@ pub fn lissajous_2d_with_params(t: f32, a: f32, b: f32, delta_x: f32, delta_y: f
     Vec2::new(x, y) * 0.75f32
 }
 
+#[allow(dead_code)]
 pub fn draw_line_2d(a: Vec2, b: Vec2, color: Color) {
     draw_line(a.x, a.y, b.x, b.y, 2f32, color);
 }
 
+#[allow(dead_code)]
 pub fn draw_trimesh2(trimesh: &TriMesh, offset: Vec2) {
     let vertices = trimesh.vertices();
     for v in trimesh.indices() {
@@ -67,6 +80,7 @@ pub fn draw_trimesh2(trimesh: &TriMesh, offset: Vec2) {
     }
 }
 
+#[allow(dead_code)]
 pub fn draw_polygon(polygon: &[Point2<f32>], scale: f32, shift: Point2<f32>, color: Color) {
     for i in 0..polygon.len() {
         let a = polygon[i];
@@ -82,6 +96,7 @@ pub fn draw_polygon(polygon: &[Point2<f32>], scale: f32, shift: Point2<f32>, col
     }
 }
 
+#[allow(dead_code)]
 pub fn draw_point(point: Point2<f32>, scale: f32, shift: Point2<f32>, color: Color) {
     let edge_len = 0.15;
     draw_line(

crates/parry2d/examples/convex_hull2d.rs

@@ -1,11 +1,10 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
-use std::f32::consts::{FRAC_PI_2, FRAC_PI_4};
-
-use common_macroquad::{draw_point, draw_polygon, lissajous_2d_with_params, na_from_mquad};
+use common_macroquad2d::{draw_point, draw_polygon, lissajous_2d_with_params, na_from_mquad};
 use macroquad::prelude::*;
 use nalgebra::Point2;
 use parry2d::transformation;
+use std::f32::consts::{FRAC_PI_2, FRAC_PI_4};
 
 const RENDER_SCALE: f32 = 30.0;
 

crates/parry2d/examples/point_in_poly2d.rs

@@ -1,6 +1,6 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
-use common_macroquad::{draw_point, draw_polygon};
+use common_macroquad2d::{draw_point, draw_polygon};
 use macroquad::prelude::*;
 use nalgebra::{Point2, UnitComplex, Vector2};
 use parry2d::utils::point_in_poly2d;

crates/parry2d/examples/polygons_intersection2d.rs

@@ -1,6 +1,6 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
-use common_macroquad::draw_polygon;
+use common_macroquad2d::draw_polygon;
 use macroquad::prelude::*;
 use nalgebra::{Point2, UnitComplex, Vector2};
 use parry2d::shape::Ball;

crates/parry2d/examples/project_point2d.rs

@@ -1,6 +1,6 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
-use common_macroquad::{draw_line_2d, draw_trimesh2, lissajous_2d, mquad_from_na, na_from_mquad};
+use common_macroquad2d::{draw_line_2d, draw_trimesh2, lissajous_2d, mquad_from_na, na_from_mquad};
 use macroquad::prelude::*;
 use nalgebra::{Point3, UnitComplex, Vector2};
 use parry2d::math::{Isometry, Translation};
@@ -22,7 +22,7 @@ async fn main() {
     let scale = 200f32;
     let (points, indices) = Cuboid::new(Vector2::new(0.2 * scale, 0.5 * scale)).to_trimesh();
 
-    let trimesh = TriMesh::with_flags(points, indices, TriMeshFlags::ORIENTED);
+    let trimesh = TriMesh::with_flags(points, indices, TriMeshFlags::ORIENTED).unwrap();
     for _i in 1.. {
         clear_background(BLACK);
 

crates/parry2d/examples/raycasts_animated.rs

@@ -1,6 +1,6 @@
-mod common_macroquad;
+mod common_macroquad2d;
 
-use common_macroquad::draw_point;
+use common_macroquad2d::draw_point;
 use macroquad::prelude::*;
 use nalgebra::{Isometry2, Point2, UnitComplex, Vector2};
 use parry2d::math::Isometry;

crates/parry2d/tests/query/point_composite_shape.rs

@@ -10,7 +10,7 @@ fn project_local_point_and_get_feature_gets_the_enclosing_triangle() {
         Point2::new(1.0, 1.0),
     ];
 
-    let mesh = TriMesh::new(vertices, vec![[0, 1, 2], [3, 0, 2]]);
+    let mesh = TriMesh::new(vertices, vec![[0, 1, 2], [3, 0, 2]]).unwrap();
     let query_pt = Point2::new(0.6, 0.6); // Inside the top-right triangle (index 1)
 
     let (proj, feat) = mesh.project_local_point_and_get_feature(&query_pt);
@@ -34,7 +34,7 @@ fn project_local_point_and_get_feature_projects_correctly_from_outside() {
         Point2::new(1.0, 1.0),
     ];
 
-    let mesh = TriMesh::new(vertices, vec![[0, 1, 2], [3, 0, 2]]);
+    let mesh = TriMesh::new(vertices, vec![[0, 1, 2], [3, 0, 2]]).unwrap();
 
     {
         let query_pt = Point2::new(-1.0, 0.0); // Left from the bottom-left triangle (index 0)

crates/parry3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry3d-f64"
-version = "0.17.0"
+version = "0.17.1"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "3 dimensional collision detection library in Rust. 64-bits precision version."
@@ -44,6 +44,7 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+# Adds `TriMesh:to_obj_file` function.
 wavefront = ["obj"]
 alloc = []
 improved_fixed_point_support = []
@@ -88,3 +89,7 @@ thiserror = { version = "1", optional = true }
 oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.8" }
+
+[package.metadata.docs.rs]
+rustdoc-args = ["-Zunstable-options", "--generate-link-to-definition"]
+features = ["wavefront"]

crates/parry3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry3d"
-version = "0.17.0"
+version = "0.17.1"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "3 dimensional collision detection library in Rust."
@@ -45,6 +45,7 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+# Adds `TriMesh:to_obj_file` function.
 wavefront = ["obj"]
 alloc = []
 improved_fixed_point_support = []
@@ -89,10 +90,13 @@ oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.8" }
 macroquad = "0.4.12"
+nalgebra = { version = "0.33", default-features = false, features = ["rand"] }
+rand_isaac = "0.3"
 
 [package.metadata.docs.rs]
 rustdoc-args = ["-Zunstable-options", "--generate-link-to-definition"]
 cargo-args = ["-Zunstable-options", "-Zrustdoc-scrape-examples"]
+features = ["wavefront"]
 
 # The following listing is to allow for examples to be scraped,
 # see https://doc.rust-lang.org/rustdoc/scraped-examples.html#scraped-examples for details.

crates/parry3d/benches/bounding_volume/mod.rs

@@ -3,7 +3,7 @@ use na::Isometry3;
 use parry3d::bounding_volume::BoundingVolume;
 use parry3d::bounding_volume::{Aabb, BoundingSphere};
 use parry3d::shape::{
-    Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, TriMesh, Triangle,
+    Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, TriMesh, Triangle,
 };
 use rand::SeedableRng;
 use rand_isaac::IsaacRng;
@@ -135,13 +135,13 @@ bench_method!(
 bench_method!(
     bench_convex_aabb,
     aabb: Aabb,
-    c: ConvexHull,
+    c: ConvexPolyhedron,
     m: Isometry3<f32>
 );
 bench_method!(
     bench_convex_bounding_sphere,
     bounding_sphere: BoundingSphere,
-    c: ConvexHull,
+    c: ConvexPolyhedron,
     m: Isometry3<f32>
 );