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>

CHANGELOG.md

@@ -19,6 +19,7 @@
 - `InteractionGroups` default value for `memberships` is now `GROUP_1` (#706)
 - `ImpulseJointSet::get_mut` has a new parameter `wake_up: bool`, to wake up connected bodies.
 - Removed unmaintained `instant` in favor of `web-time`. This effectively removes the `wasm-bindgen` transitive dependency as it's no longer needed.
+- Significantly improve performances of `QueryPipeline::intersection_with_shape`.
 
 ## v0.22.0 (20 July 2024)
 

benchmarks3d/trimesh3.rs

@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::trimesh(vertices, indices);
+    let collider = ColliderBuilder::trimesh(vertices, indices).unwrap();
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*

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"]
+stl = ["dep:rapier3d-meshloader", "rapier3d-meshloader/stl", "__meshloader_is_enabled"]
-collada = ["dep:rapier3d-meshloader", "rapier3d-meshloader/collada"]
+collada = ["dep:rapier3d-meshloader", "rapier3d-meshloader/collada", "__meshloader_is_enabled"]
-wavefront = ["dep:rapier3d-meshloader", "rapier3d-meshloader/wavefront"]
+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"

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])

examples3d/Cargo.toml

@@ -23,7 +23,7 @@ bincode = "1"
 
 [dependencies.rapier_testbed3d]
 path = "../crates/rapier_testbed3d"
-features = ["profiling"]
+features = ["profiler_ui"]
 
 [dependencies.rapier3d]
 path = "../crates/rapier3d"

examples3d/debug_trimesh3.rs

@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::trimesh(vtx, idx);
+    let collider = ColliderBuilder::trimesh(vtx, idx).expect("Could not create trimesh collider.");
     colliders.insert_with_parent(collider, handle, &mut bodies);
     testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);
 

examples3d/dynamic_trimesh3.rs

@@ -93,6 +93,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
             } else {
                 // SharedShape::trimesh(vertices, indices)
                 SharedShape::trimesh_with_flags(vertices, indices, TriMeshFlags::FIX_INTERNAL_EDGES)
+                    .unwrap()
             };
             shapes.push(decomposed_shape);
 

examples3d/trimesh3.rs

@@ -42,7 +42,8 @@ pub fn init_world(testbed: &mut Testbed) {
         vertices,
         indices,
         TriMeshFlags::MERGE_DUPLICATE_VERTICES,
-    );
+    )
+    .unwrap();
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*

src/geometry/collider.rs

@@ -10,7 +10,7 @@ use crate::pipeline::{ActiveEvents, ActiveHooks};
 use crate::prelude::ColliderEnabled;
 use na::Unit;
 use parry::bounding_volume::{Aabb, BoundingVolume};
-use parry::shape::{Shape, TriMeshFlags};
+use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags};
 
 #[cfg(feature = "dim3")]
 use crate::geometry::HeightFieldFlags;
@@ -685,8 +685,11 @@ impl ColliderBuilder {
     }
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
-    pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
+    pub fn trimesh(
-        Self::new(SharedShape::trimesh(vertices, indices))
+        vertices: Vec<Point<Real>>,
+        indices: Vec<[u32; 3]>,
+    ) -> Result<Self, TriMeshBuilderError> {
+        Ok(Self::new(SharedShape::trimesh(vertices, indices)?))
     }
 
     /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers and
@@ -695,8 +698,10 @@ impl ColliderBuilder {
         vertices: Vec<Point<Real>>,
         indices: Vec<[u32; 3]>,
         flags: TriMeshFlags,
-    ) -> Self {
+    ) -> Result<Self, TriMeshBuilderError> {
-        Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags))
+        Ok(Self::new(SharedShape::trimesh_with_flags(
+            vertices, indices, flags,
+        )?))
     }
 
     /// Initializes a collider builder with a shape converted from the given triangle mesh index

src/geometry/mesh_converter.rs

@@ -1,6 +1,6 @@
 use parry::bounding_volume;
 use parry::math::{Isometry, Point, Real};
-use parry::shape::{Cuboid, SharedShape, TriMeshFlags};
+use parry::shape::{Cuboid, SharedShape, TriMeshBuilderError, TriMeshFlags};
 
 #[cfg(feature = "dim3")]
 use parry::transformation::vhacd::VHACDParameters;
@@ -17,6 +17,9 @@ pub enum MeshConverterError {
     /// The convex hull calculation carried out by the [`MeshConverter::ConvexHull`] failed.
     #[error("convex-hull computation failed")]
     ConvexHullFailed,
+    /// The TriMesh building failed.
+    #[error("TriMesh building failed")]
+    TriMeshBuilderError(TriMeshBuilderError),
 }
 
 /// Determines how meshes (generally when loaded from a file) are converted into Rapier colliders.
@@ -61,9 +64,11 @@ impl MeshConverter {
     ) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
         let mut transform = Isometry::identity();
         let shape = match self {
-            MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices),
+            MeshConverter::TriMesh => SharedShape::trimesh(vertices, indices)
+                .map_err(MeshConverterError::TriMeshBuilderError)?,
             MeshConverter::TriMeshWithFlags(flags) => {
                 SharedShape::trimesh_with_flags(vertices, indices, *flags)
+                    .map_err(MeshConverterError::TriMeshBuilderError)?
             }
             MeshConverter::Obb => {
                 let (pose, cuboid) = parry::utils::obb(&vertices);

src/pipeline/query_pipeline/mod.rs

@@ -480,20 +480,17 @@ impl QueryPipeline {
         filter: QueryFilter,
     ) -> Option<ColliderHandle> {
         let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
-        #[allow(deprecated)]
         // TODO: replace this with IntersectionCompositeShapeShapeVisitor when it
         //        can return the shape part id.
-        let mut visitor =
+        let mut visitor = parry::query::details::IntersectionCompositeShapeShapeVisitor::new(
-            parry::query::details::IntersectionCompositeShapeShapeBestFirstVisitor::new(
+            &*self.query_dispatcher,
-                &*self.query_dispatcher,
+            shape_pos,
-                shape_pos,
+            &pipeline_shape,
-                &pipeline_shape,
+            shape,
-                shape,
+        );
-            );
 
-        self.qbvh
+        self.qbvh.traverse_depth_first(&mut visitor);
-            .traverse_best_first(&mut visitor)
+        visitor.found_intersection
-            .map(|h| (h.1 .0))
     }
 
     /// Find the projection of a point on the closest collider.

src_testbed/testbed.rs

@@ -249,7 +249,7 @@ impl TestbedApp {
     }
 
     pub fn run_with_init(mut self, mut init: impl FnMut(&mut App)) {
-        #[cfg(feature = "profiling")]
+        #[cfg(feature = "profiler_ui")]
         puffin_egui::puffin::set_scopes_on(true);
 
         let mut args = env::args();

src_testbed/ui.rs

@@ -22,7 +22,7 @@ pub fn update_ui(
     harness: &mut Harness,
     debug_render: &mut DebugRenderPipelineResource,
 ) {
-    #[cfg(feature = "profiling")]
+    #[cfg(feature = "profiler_ui")]
     {
         let window = egui::Window::new("Profiling");
         let window = window.default_open(false);