From dc4bd24da869cfa8143c3ee9a98cdec662db289e Mon Sep 17 00:00:00 2001 From: Thierry Berger Date: Wed, 8 Jan 2025 17:16:34 +0100 Subject: Update to Parry 0.18 (#770) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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 --- src/pipeline/query_pipeline/mod.rs | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) (limited to 'src/pipeline/query_pipeline') 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 { 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. -- cgit