Use meshloader to support multiple file formats loading (#744)

Co-authored-by: Tin Lai <tin@tinyiu.com>

crates/rapier3d-urdf/Cargo.toml

@@ -7,13 +7,21 @@ documentation = "https://docs.rs/rapier3d-urdf"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
 keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
 license = "Apache-2.0"
 edition = "2021"
 
 [features]
-stl = ["dep:rapier3d-stl"]
+stl = ["dep:rapier3d-meshloader", "rapier3d-meshloader/stl"]
+collada = ["dep:rapier3d-meshloader", "rapier3d-meshloader/collada"]
+wavefront = ["dep:rapier3d-meshloader", "rapier3d-meshloader/wavefront"]
 
 [dependencies]
 log = "0.4"
@@ -23,4 +31,4 @@ bitflags = "2"
 xurdf = "0.2"
 
 rapier3d = { version = "0.22", path = "../rapier3d" }
-rapier3d-stl = { version = "0.3.0", path = "../rapier3d-stl", optional = true }
+rapier3d-meshloader = { version = "0.3.0", path = "../rapier3d-meshloader", default-features = false, optional = true }