Merge remote-tracking branch 'upstream/master' into example_aabb

.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

crates/parry2d/examples/common_macroquad2d.rs

@@ -10,6 +10,10 @@ 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!(

crates/parry3d-f64/Cargo.toml

@@ -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

@@ -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>
 );
 

crates/parry3d/benches/common/default_gen.rs

@@ -1,11 +1,11 @@
 use na::{
-    self, Isometry2, Isometry3, Matrix2, Matrix3, Matrix4, Point2, Point3, Point4, RealField,
-    Vector2, Vector3, Vector4,
+    self, Isometry2, Isometry3, Matrix2, Matrix3, Matrix4, Point2, Point3, Point4, Vector2,
+    Vector3, Vector4,
 };
 use parry3d::bounding_volume::{Aabb, BoundingSphere};
 use parry3d::math::{Point, Real, Vector};
 use parry3d::query::Ray;
-use parry3d::shape::{Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, Triangle};
+use parry3d::shape::{Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, Triangle};
 use rand::distributions::{Distribution, Standard};
 use rand::Rng;
 
@@ -76,7 +76,11 @@ where
     Standard: Distribution<Real>,
 {
     fn generate<R: Rng>(rng: &mut R) -> Capsule {
-        Capsule::new(rng.gen::<Real>().abs(), rng.gen::<Real>().abs())
+        Capsule::new(
+            rng.gen::<Point<Real>>(),
+            rng.gen::<Point<Real>>(),
+            rng.gen::<Real>().abs(),
+        )
     }
 }
 
@@ -116,16 +120,15 @@ where
     }
 }
 
-impl DefaultGen for ConvexHull
+impl DefaultGen for ConvexPolyhedron
 where
-    Standard: Distribution<Point<Real>>,
+    Standard: Distribution<Real>,
 {
-    fn generate<R: Rng>(rng: &mut R) -> ConvexHull {
+    fn generate<R: Rng>(rng: &mut R) -> ConvexPolyhedron {
         // It is recommended to have at most 100 points.
         // Otherwise, a smarter structure like the DK hierarchy would be needed.
-        // let pts: Vec<_> = (0..100).map(|_| rng.gen()).collect();
-        // ConvexHull::try_from_points(&pts).unwrap()
-        unimplemented!()
+        let pts: Vec<_> = (0..100).map(|_| rng.gen()).collect();
+        ConvexPolyhedron::from_convex_hull(&pts).unwrap()
     }
 }
 

crates/parry3d/benches/common/generators.rs

@@ -1,13 +1,10 @@
-use na::{Point2, Point3};
+use na::Point3;
 use parry3d::shape::TriMesh;
 use rand::Rng;
 
 pub fn generate_trimesh_around_origin<R: Rng>(rng: &mut R) -> TriMesh {
     let pts = (0..3000).map(|_| rng.gen::<Point3<f32>>() * 3.0).collect();
-    let uvs = (0..3000).map(|_| rng.gen::<Point2<f32>>() * 3.0).collect();
-    let indices = (0..1000)
-        .map(|i| Point3::new(i * 3, i * 3 + 1, i * 3 + 2))
-        .collect();
+    let indices = (0..1000).map(|i| [i * 3, i * 3 + 1, i * 3 + 2]).collect();
 
-    TriMesh::new(pts, indices, Some(uvs)).unwrap()
+    TriMesh::new(pts, indices).unwrap()
 }

crates/parry3d/benches/common/macros.rs

@@ -72,7 +72,7 @@ macro_rules! bench_method_gen (
 
                 unsafe {
                     let val: $tres = test::black_box($arg.get_unchecked(i).$method($(unref($args.get_unchecked(i)),)*));
-                    drop(val);
+                    let _ = val;
                 }
             })
         }

crates/parry3d/benches/query/contacts.rs

@@ -13,44 +13,49 @@ mod macros;
 bench_free_fn!(
     bench_ball_against_ball,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Ball,
+    pos2: Isometry3<f32>,
     b2: Ball,
     prediction: f32
 );
 
 bench_free_fn!(
     bench_cuboid_against_cuboid,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Cuboid,
+    pos2: Isometry3<f32>,
     b2: Cuboid,
     prediction: f32
 );
 
 bench_free_fn!(
     bench_capsule_against_capsule,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Capsule,
+    pos2: Isometry3<f32>,
     b2: Capsule,
     prediction: f32
 );
 
 bench_free_fn!(
     bench_cone_against_cone,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Cone,
+    pos2: Isometry3<f32>,
     b2: Cone,
     prediction: f32
 );
 
 bench_free_fn!(
     bench_cylinder_against_cylinder,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Cylinder,
+    pos2: Isometry3<f32>,
     b2: Cylinder,
     prediction: f32
 );

crates/parry3d/benches/query/ray.rs

@@ -3,7 +3,7 @@ use na::Isometry3;
 use parry3d::bounding_volume::{Aabb, BoundingSphere};
 use parry3d::query::{Ray, RayCast};
 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;
@@ -85,8 +85,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_ball_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_ball_with_normal,
+    cast_ray_and_get_normal,
     b: Ball,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -95,8 +95,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_cuboid_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_cuboid_with_normal,
+    cast_ray_and_get_normal,
     c: Cuboid,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -105,8 +105,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_capsule_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_capsule_with_normal,
+    cast_ray_and_get_normal,
     c: Capsule,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -115,8 +115,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_cone_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_cone_with_normal,
+    cast_ray_and_get_normal,
     c: Cone,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -125,8 +125,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_cylinder_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_cylinder_with_normal,
+    cast_ray_and_get_normal,
     c: Cylinder,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -135,8 +135,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_segment_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_segment_with_normal,
+    cast_ray_and_get_normal,
     c: Segment,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -145,8 +145,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_triangle_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_triangle_with_normal,
+    cast_ray_and_get_normal,
     c: Triangle,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -155,18 +155,18 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_convex_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
-    c: ConvexHull,
+    bench_ray_against_convex_with_normal,
+    cast_ray_and_get_normal,
+    c: ConvexPolyhedron,
     pos: Isometry3<f32>,
     ray: Ray,
     max_time_of_impact: f32,
     solid: bool
 );
 
 bench_method_gen!(
-    bench_ray_against_trimesh_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_trimesh_with_normal,
+    cast_ray_and_get_normal,
     m: TriMesh = generate_trimesh_around_origin,
     pos: Isometry3<f32> = generate,
     ray: Ray = generate,

crates/parry3d/benches/support_map/mod.rs

@@ -1,7 +1,7 @@
 use crate::common::{generate, unref};
 use na::{Isometry3, Vector3};
-use parry3d::shape::SupportMap;
-use parry3d::shape::{Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, Triangle};
+use parry3d::shape::{Ball, Capsule, Cone, Cuboid, Cylinder, Segment, Triangle};
+use parry3d::shape::{ConvexPolyhedron, SupportMap};
 use rand::SeedableRng;
 use rand_isaac::IsaacRng;
 use test::Bencher;
@@ -59,10 +59,11 @@ bench_method!(
     m: Isometry3<f32>,
     dir: Vector3<f32>
 );
+
 bench_method!(
     bench_convex_support_map,
     support_point,
-    c: ConvexHull,
+    c: ConvexPolyhedron,
     m: Isometry3<f32>,
     dir: Vector3<f32>
 );

src/mass_properties/mass_properties.rs

@@ -9,6 +9,7 @@ use {na::Matrix3, std::ops::MulAssign};
 #[cfg(feature = "rkyv")]
 use rkyv::{bytecheck, CheckBytes};
 
+#[cfg_attr(feature = "f32", expect(clippy::unnecessary_cast))]
 const EPSILON: Real = f32::EPSILON as Real;
 
 #[derive(Copy, Clone, Debug, Default, PartialEq)]