Update to Parry 0.18 (#770)

* update to parry ~main

* use traverse_depth_first

* add example to test intersection

* rely on upstream PR rather than local

* re-enable profiler_ui for examples

* rely on official parry repository

* chore: switch back to the published version of parry

* chore: update changelog

* chore: remove dead code

* fix compilation of rapier3d-meshloader and rapier3d-urdf

* chore: cargo fmt

---------

Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>

crates/rapier2d-f64/Cargo.toml

@@ -68,7 +68,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry2d-f64 = "0.17.0"
+parry2d-f64 = "0.18.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier2d/Cargo.toml

@@ -68,7 +68,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry2d = "0.17.0"
+parry2d = "0.18.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-f64/Cargo.toml

@@ -71,7 +71,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry3d-f64 = "0.17.0"
+parry3d-f64 = "0.18.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-meshloader/Cargo.toml

@@ -27,6 +27,6 @@ wavefront = ["mesh-loader/obj"]
 [dependencies]
 thiserror = "1.0.61"
 profiling = "1.0"
-mesh-loader = { version = "0.1.12", optional = true }
+mesh-loader = "0.1.12"
 
 rapier3d = { version = "0.22", path = "../rapier3d" }

crates/rapier3d-urdf/Cargo.toml

@@ -19,9 +19,11 @@ license = "Apache-2.0"
 edition = "2021"
 
 [features]
-stl = ["dep:rapier3d-meshloader", "rapier3d-meshloader/stl"]
-collada = ["dep:rapier3d-meshloader", "rapier3d-meshloader/collada"]
-wavefront = ["dep:rapier3d-meshloader", "rapier3d-meshloader/wavefront"]
+stl = ["dep:rapier3d-meshloader", "rapier3d-meshloader/stl", "__meshloader_is_enabled"]
+collada = ["dep:rapier3d-meshloader", "rapier3d-meshloader/collada", "__meshloader_is_enabled"]
+wavefront = ["dep:rapier3d-meshloader", "rapier3d-meshloader/wavefront", "__meshloader_is_enabled"]
+## Private feature for detecting when meshloader is enabled by any of the file type features above.
+__meshloader_is_enabled = []
 
 [dependencies]
 log = "0.4"

crates/rapier3d-urdf/src/lib.rs

@@ -37,7 +37,6 @@ use rapier3d::{
     geometry::{Collider, ColliderBuilder, ColliderHandle, ColliderSet, SharedShape, TriMeshFlags},
     math::{Isometry, Point, Real, Vector},
     na,
-    prelude::MeshConverter,
 };
 use std::collections::HashMap;
 use std::path::Path;
@@ -462,7 +461,7 @@ fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> Rigid
 
 fn urdf_to_colliders(
     options: &UrdfLoaderOptions,
-    mesh_dir: &Path,
+    _mesh_dir: &Path, // Unused if none of the meshloader features is enabled.
     geometry: &Geometry,
     origin: &Pose,
 ) -> Vec<Collider> {
@@ -496,14 +495,20 @@ fn urdf_to_colliders(
         Geometry::Sphere { radius } => {
             colliders.push(SharedShape::ball(*radius as Real));
         }
+        #[cfg(not(feature = "__meshloader_is_enabled"))]
+        Geometry::Mesh { .. } => {
+            log::error!("Mesh loading is disabled by default. Enable one of the format features (`stl`, `collada`, `wavefront`) of `rapier3d-urdf` for mesh support.");
+        }
+        #[cfg(feature = "__meshloader_is_enabled")]
         Geometry::Mesh { filename, scale } => {
-            let full_path = mesh_dir.join(filename);
+            let full_path = _mesh_dir.join(filename);
             let scale = scale
                 .map(|s| Vector::new(s[0] as Real, s[1] as Real, s[2] as Real))
                 .unwrap_or_else(|| Vector::<Real>::repeat(1.0));
+
             let Ok(loaded_mesh) = rapier3d_meshloader::load_from_path(
                 full_path,
-                &MeshConverter::TriMeshWithFlags(options.trimesh_flags),
+                &rapier3d::prelude::MeshConverter::TriMeshWithFlags(options.trimesh_flags),
                 scale,
             ) else {
                 return Vec::new();

crates/rapier3d/Cargo.toml

@@ -71,7 +71,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry3d = "0.17.0"
+parry3d = "0.18.0"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier_testbed2d-f64/Cargo.toml

@@ -34,12 +34,12 @@ default = ["dim2"]
 dim2 = []
 parallel = ["rapier/parallel", "num_cpus"]
 other-backends = ["wrapped2d"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = ["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "profiling"]
+features = ["parallel", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"

crates/rapier_testbed2d/Cargo.toml

@@ -34,12 +34,12 @@ default = ["dim2"]
 dim2 = []
 parallel = ["rapier/parallel", "num_cpus"]
 other-backends = ["wrapped2d"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = ["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "other-backends", "profiling"]
+features = ["parallel", "other-backends", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"

crates/rapier_testbed3d-f64/Cargo.toml

@@ -36,12 +36,12 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 default = ["dim3"]
 dim3 = []
 parallel = ["rapier/parallel", "num_cpus"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = ["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "profiling"]
+features = ["parallel", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"

crates/rapier_testbed3d/Cargo.toml

@@ -34,12 +34,12 @@ default = ["dim3"]
 dim3 = []
 parallel = ["rapier/parallel", "num_cpus"]
 other-backends = ["physx", "physx-sys", "glam"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = ["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "other-backends", "profiling"]
+features = ["parallel", "other-backends", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"