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>

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 {
-        Self::new(SharedShape::trimesh(vertices, indices))
+    pub fn trimesh(
+        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 {
-        Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags))
+    ) -> Result<Self, TriMeshBuilderError> {
+        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);