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>

examples2d/Cargo.toml

@@ -20,7 +20,7 @@ usvg = "0.14"
 
 [dependencies.rapier_testbed2d]
 path = "../crates/rapier_testbed2d"
-features = ["profiling"]
+features = ["profiler_ui"]
 
 [dependencies.rapier2d]
 path = "../crates/rapier2d"

examples2d/all_examples2.rs

@@ -16,6 +16,7 @@ mod convex_polygons2;
 mod damping2;
 mod debug_box_ball2;
 mod debug_compression2;
+mod debug_intersection2;
 mod debug_total_overlap2;
 mod debug_vertical_column2;
 mod drum2;
@@ -99,6 +100,7 @@ pub fn main() {
         ("Joint motor position", joint_motor_position2::init_world),
         ("(Debug) box ball", debug_box_ball2::init_world),
         ("(Debug) compression", debug_compression2::init_world),
+        ("(Debug) intersection", debug_intersection2::init_world),
         ("(Debug) total overlap", debug_total_overlap2::init_world),
         (
             "(Debug) vertical column",

examples2d/debug_intersection2.rs

@@ -0,0 +1,64 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let rad = 1.0;
+    let collider = ColliderBuilder::ball(rad);
+
+    let count = 100;
+    for x in 0..count {
+        for y in 0..count {
+            let rigid_body = RigidBodyBuilder::fixed().translation(vector![
+                (x as f32 - count as f32 / 2.0) * rad * 3.0,
+                (y as f32 - count as f32 / 2.0) * rad * 3.0
+            ]);
+            let handle = bodies.insert(rigid_body);
+            colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
+            testbed.set_initial_body_color(
+                handle,
+                [
+                    x as f32 / count as f32,
+                    (count - y) as f32 / count as f32,
+                    0.5,
+                ],
+            );
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 0.0], 50.0);
+
+    testbed.add_callback(move |graphics, physics, _, run| {
+        let slow_time = run.timestep_id as f32 / 3.0;
+        let intersection = physics.query_pipeline.intersection_with_shape(
+            &physics.bodies,
+            &physics.colliders,
+            &Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
+            &Ball::new(rad / 2.0),
+            QueryFilter::default(),
+        );
+
+        if let Some(graphics) = graphics {
+            for (handle, _) in physics.bodies.iter() {
+                graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
+            }
+            if let Some(intersection) = intersection {
+                let collider = physics.colliders.get(intersection).unwrap();
+                let body_handle = collider.parent().unwrap();
+
+                graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);
+            }
+        }
+    });
+}

examples2d/trimesh2.rs

@@ -85,6 +85,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 for k in 0..5 {
                     let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone())
+                        .unwrap()
                         .contact_skin(0.2);
                     let rigid_body = RigidBodyBuilder::dynamic()
                         .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])