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>

1 files changed, 8 insertions, 11 deletions

diff --git a/src/pipeline/query_pipeline/mod.rs b/src/pipeline/query_pipeline/mod.rs
index 06a5e2f..95e1f00 100644
--- a/src/pipeline/query_pipeline/mod.rs
+++ b/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 =
-            parry::query::details::IntersectionCompositeShapeShapeBestFirstVisitor::new(
-                &*self.query_dispatcher,
-                shape_pos,
-                &pipeline_shape,
-                shape,
-            );
+        let mut visitor = parry::query::details::IntersectionCompositeShapeShapeVisitor::new(
+            &*self.query_dispatcher,
+            shape_pos,
+            &pipeline_shape,
+            shape,
+        );
 
-        self.qbvh
-            .traverse_best_first(&mut visitor)
-            .map(|h| (h.1 .0))
+        self.qbvh.traverse_depth_first(&mut visitor);
+        visitor.found_intersection
     }
 
     /// Find the projection of a point on the closest collider.