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>

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);
 
     /*