Use meshloader to support multiple file formats loading (#744)

Co-authored-by: Tin Lai <tin@tinyiu.com>

5 files changed, 362 insertions, 0 deletions

diff --git a/crates/rapier3d-meshloader/CHANGELOG.md b/crates/rapier3d-meshloader/CHANGELOG.md
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+## Unreleased
+
+Renamed the crate from `rapier3d-stl` to `rapier3d-meshloader`, to better reflect its support for multiple formats.
+
+### Added
+
+- Add optional support for Collada and Wavefront files through new feature flags `collada` and `wavefront`.
+
+### Modified
+
+- Support for STL is now optional through feature `stl`.
+- Features `stl`, `wavefront` and `collada` are enabled by default.
+
+## 0.3.0
+
+This is the initial release of the `rapier3d-stl` crate.
+
+### Added
+
+- Add `load_from_path` for creating a shape from a stl file.
+- Add `load_from_reader` for creating a shape from an object implementing `Read`.
+- Add `load_from_raw_mesh` for creating a shape from an already loaded `IndexedMesh`.
diff --git a/crates/rapier3d-meshloader/Cargo.toml b/crates/rapier3d-meshloader/Cargo.toml
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+[package]
+name = "rapier3d-meshloader"
+version = "0.3.0"
+authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
+description = "STL file loader for the 3D rapier physics engine."
+documentation = "https://docs.rs/rapier3d-meshloader"
+homepage = "https://rapier.rs"
+repository = "https://github.com/dimforge/rapier"
+readme = "README.md"
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
+keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
+license = "Apache-2.0"
+edition = "2021"
+
+[features]
+default = ["stl", "collada", "wavefront"]
+stl = ["mesh-loader/stl"]
+collada = ["mesh-loader/collada"]
+wavefront = ["mesh-loader/obj"]
+
+[dependencies]
+thiserror = "1.0.61"
+mesh-loader = { version = "0.1.12", optional = true }
+
+rapier3d = { version = "0.22", path = "../rapier3d" }
diff --git a/crates/rapier3d-meshloader/LICENSE b/crates/rapier3d-meshloader/LICENSE
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index 0000000..97f4383
--- /dev/null
+++ b/crates/rapier3d-meshloader/LICENSE
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diff --git a/crates/rapier3d-meshloader/README.md b/crates/rapier3d-meshloader/README.md
new file mode 100644
index 0000000..003a7fa
--- /dev/null
+++ b/crates/rapier3d-meshloader/README.md
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+## Mesh loader for the Rapier physics engine
+
+Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-meshloader`
+crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
+library) from different file formats, see the following features list:
+
+- `stl`: support .stl files
+- `collada`: support .dae files
+- `wavefront`: support .obj files
+
+## Resources and discussions
+
+- [Dimforge](https://dimforge.com): See all the open-source projects we are working on! Follow our announcements
+  on our [blog](https://www.dimforge.com/blog).
+- [User guide](https://www.rapier.rs/docs/): Learn to use Rapier in your project by reading the official User Guides.
+- [Discord](https://discord.gg/vt9DJSW): Come chat with us, get help, suggest features, on Discord!
+- [NPM packages](https://www.npmjs.com/search?q=%40dimforge): Check out our NPM packages for Rapier, if you need to
+  use it with JavaScript/Typescript.
+
+Please make sure to familiarize yourself with our [Code of Conduct](CODE_OF_CONDUCT.md)
+and our [Contribution Guidelines](CONTRIBUTING.md) before contributing or participating in
+discussions with the community.
diff --git a/crates/rapier3d-meshloader/src/lib.rs b/crates/rapier3d-meshloader/src/lib.rs
new file mode 100644
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+++ b/crates/rapier3d-meshloader/src/lib.rs
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+#![doc = include_str!("../README.md")]
+#![deny(missing_docs)]
+
+use mesh_loader::Mesh;
+use rapier3d::geometry::{MeshConverter, SharedShape};
+use rapier3d::math::{Isometry, Point, Real, Vector};
+use rapier3d::prelude::MeshConverterError;
+use std::path::Path;
+
+/// The result of loading a shape.
+pub struct LoadedShape {
+    /// The shape loaded from the file and converted by the [`MeshConverter`].
+    pub shape: SharedShape,
+    /// The shape’s pose.
+    pub pose: Isometry<Real>,
+    /// The raw mesh read from the file without any modification.
+    pub raw_mesh: Mesh,
+}
+
+/// Error while loading an STL file.
+#[derive(thiserror::Error, Debug)]
+pub enum MeshLoaderError {
+    /// An error triggered by rapier’s [`MeshConverter`].
+    #[error(transparent)]
+    MeshConverter(#[from] MeshConverterError),
+    /// A generic IO error.
+    #[error(transparent)]
+    Io(#[from] std::io::Error),
+}
+
+/// Loads parry shapes from a file.
+///
+/// # Parameters
+/// - `path`: the file’s path.
+/// - `converter`: controls how the shapes are computed from the content. In particular, it lets
+///                you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
+///                bounding box, etc.
+/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
+///            affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
+///            in [`LoadedShape::raw_mesh`] remains unscaled.
+pub fn load_from_path(
+    path: impl AsRef<Path>,
+    converter: &MeshConverter,
+    scale: Vector<Real>,
+) -> Result<Vec<Result<LoadedShape, MeshConverterError>>, MeshLoaderError> {
+    let loader = mesh_loader::Loader::default();
+    let mut colliders = vec![];
+    let scene = loader.load(path)?;
+    for (raw_mesh, _) in scene.meshes.into_iter().zip(scene.materials) {
+        let shape = load_from_raw_mesh(&raw_mesh, converter, scale);
+
+        colliders.push(shape.map(|(shape, pose)| LoadedShape {
+            shape,
+            pose,
+            raw_mesh,
+        }));
+    }
+    Ok(colliders)
+}
+
+/// Loads an file as a shape from a preloaded raw [`mesh_loader::Mesh`].
+///
+/// # Parameters
+/// - `raw_mesh`: the raw mesh.
+/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
+///                you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
+///                bounding box, etc.
+/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
+///            affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
+///            in [`LoadedShape::raw_mesh`] remains unscaled.
+pub fn load_from_raw_mesh(
+    raw_mesh: &Mesh,
+    converter: &MeshConverter,
+    scale: Vector<Real>,
+) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
+    let mut vertices: Vec<_> = raw_mesh
+        .vertices
+        .iter()
+        .map(|xyz| Point::new(xyz[0], xyz[1], xyz[2]))
+        .collect();
+    vertices
+        .iter_mut()
+        .for_each(|pt| pt.coords.component_mul_assign(&scale));
+    let indices: Vec<_> = raw_mesh.faces.clone();
+    converter.convert(vertices, indices)
+}