Cargo doc ci

.github/workflows/parry-ci-build.yml

@@ -2,9 +2,9 @@ name: parry CI build
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 env:
   CARGO_TERM_COLOR: always
@@ -22,6 +22,18 @@ jobs:
       - uses: actions/checkout@v4
       - name: Clippy
         run: cargo clippy
+  doc:
+    runs-on: ubuntu-latest
+    env:
+      RUSTDOCFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          prefix-key: ${{ env.RUST_CACHE_KEY }}
+      - name: Cargo doc
+        run: cargo doc
   build-native:
     runs-on: ubuntu-latest
     env:

CHANGELOG.md

@@ -1,5 +1,36 @@
 # Change Log
 
+## Unreleased
+
+### Modified
+
+- `TypedShape::Custom(u32)` is now `TypedShape::Custom(&dyn Shape)`.
+
+## v0.16.1
+
+### Fix
+
+- Fix occasional crash in mesh/mesh intersection if some of the vertex coordinates are very small.
+
+## v0.16.0
+
+### Fix
+
+- Fix edge case where some of the principal angular inertia are clamped to zero
+  for decimeter-sized objects.
+- Have ball-ball shape casting take into account the `stop_on_penetration` flags.
+- Don’t panic in EPA for a corner case that needs some additional debugging. Show a debug log instead.
+
+### Added
+
+- Implement concave polygons intersections: `polygons_intersection_points`, `polygon_intersection`.
+
+### Modified
+
+- Update `bitflags` to version ^2.3
+- Update `nalgebra` to 0.33.
+- Update `indexmap` to 2.
+
 ## v0.15.1
 
 ### Fix

crates/parry2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d-f64"
-version = "0.15.1"
+version = "0.16.1"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "2 dimensional collision detection library in Rust. 64-bit precision version."
@@ -19,14 +19,14 @@ maintenance = { status = "actively-developed" }
 [features]
 default = ["required-features", "std"]
 required-features = ["dim2", "f64"]
-std = ["nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade"]
+std = ["nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade", "thiserror"]
 dim2 = []
 f64 = []
-serde-serialize = ["serde", "nalgebra/serde-serialize", "arrayvec/serde"]
+serde-serialize = ["serde", "nalgebra/serde-serialize", "arrayvec/serde", "bitflags/serde"]
 rkyv-serialize = ["rkyv/validation", "nalgebra/rkyv-serialize", "simba/rkyv-serialize"]
 bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
 
@@ -41,28 +41,30 @@ required-features = ["required-features"]
 
 [dependencies]
 either = { version = "1", default-features = false }
-bitflags = "1"
+bitflags = "2.3"
 downcast-rs = { version = "1", default-features = false }
 num-traits = { version = "0.2", default-features = false }
 smallvec = "1"
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
-simba = { version = "0.8", default-features = false }
-nalgebra = { version = "0.32", default-features = false, features = ["libm"] }
+simba = { version = "0.9", default-features = false }
+nalgebra = { version = "0.33", default-features = false, features = ["libm"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive"] }
 rkyv = { version = "0.7.41", optional = true }
 num-derive = "0.4"
-indexmap = { version = "1", features = ["serde-1"], optional = true }
-rustc-hash = { version = "1", optional = true }
+indexmap = { version = "2", features = ["serde"], optional = true }
+rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true } # Make this optional?
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
 log = "0.4"
+ordered-float = { version = "4", default-features = false }
+thiserror = { version = "1", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.8", default-features = false, features = ["partial_fixed_point_support"] }
+simba = { version = "0.9", default-features = false }
 oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.8" }

crates/parry2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d"
-version = "0.15.1"
+version = "0.16.1"
 authors = ["Sébastien Crozet <[email protected]>"]
 
 description = "2 dimensional collision detection library in Rust."
@@ -19,14 +19,14 @@ maintenance = { status = "actively-developed" }
 [features]
 default = ["required-features", "std"]
 required-features = ["dim2", "f32"]
-std = ["nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade"]
+std = ["nalgebra/std", "slab", "rustc-hash", "simba/std", "arrayvec/std", "spade", "thiserror"]
 dim2 = []
 f32 = []
-serde-serialize = ["serde", "nalgebra/serde-serialize", "arrayvec/serde"]
+serde-serialize = ["serde", "nalgebra/serde-serialize", "arrayvec/serde", "bitflags/serde"]
 rkyv-serialize = ["rkyv/validation", "nalgebra/rkyv-serialize", "simba/rkyv-serialize"]
 bytemuck-serialize = ["bytemuck", "nalgebra/convert-bytemuck"]
 simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/packed_simd", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
 
@@ -41,28 +41,31 @@ required-features = ["required-features"]
 
 [dependencies]
 either = { version = "1", default-features = false }
-bitflags = "1"
+bitflags = "2.3"
 downcast-rs = { version = "1", default-features = false }
 num-traits = { version = "0.2", default-features = false }
 smallvec = "1"
 slab = { version = "0.4", optional = true }
 arrayvec = { version = "0.7", default-features = false }
-simba = { version = "0.8", default-features = false }
-nalgebra = { version = "0.32", default-features = false, features = ["libm"] }
+simba = { version = "0.9", default-features = false }
+nalgebra = { version = "0.33", default-features = false, features = ["libm"] }
 approx = { version = "0.5", default-features = false }
 serde = { version = "1.0", optional = true, features = ["derive"] }
 rkyv = { version = "0.7.41", optional = true }
 num-derive = "0.4"
-indexmap = { version = "1", features = ["serde-1"], optional = true }
-rustc-hash = { version = "1", optional = true }
+indexmap = { version = "2", features = ["serde"], optional = true }
+rustc-hash = { version = "2", optional = true }
 cust_core = { version = "0.1", optional = true }
 spade = { version = "2", optional = true }
 rayon = { version = "1", optional = true }
 bytemuck = { version = "1", features = ["derive"], optional = true }
+ordered-float = { version = "4", default-features = false }
 log = "0.4"
+thiserror = { version = "1", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.8", default-features = false, features = ["partial_fixed_point_support"] }
+simba = { version = "0.9", default-features = false }
 oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.8" }
+macroquad = "0.4"

crates/parry2d/examples/point_in_poly2d.rs

@@ -0,0 +1,108 @@
+use macroquad::prelude::*;
+use nalgebra::{Point2, UnitComplex, Vector2};
+use parry2d::utils::point_in_poly2d;
+
+const RENDER_SCALE: f32 = 30.0;
+
+#[macroquad::main("parry2d::utils::point_in_poly2d")]
+async fn main() {
+    let mut spikes = spikes_polygon();
+    let test_points = grid_points();
+
+    let animation_rotation = UnitComplex::new(0.02);
+    let spikes_render_pos = Point2::new(screen_width() / 2.0, screen_height() / 2.0);
+
+    loop {
+        clear_background(BLACK);
+
+        /*
+         * Compute polygon intersections.
+         */
+        spikes
+            .iter_mut()
+            .for_each(|pt| *pt = animation_rotation * *pt);
+        draw_polygon(&spikes, RENDER_SCALE, spikes_render_pos, BLUE);
+
+        for point in &test_points {
+            if point_in_poly2d(point, &spikes) {
+                draw_point(*point, RENDER_SCALE, spikes_render_pos, RED);
+            } else {
+                draw_point(*point, RENDER_SCALE, spikes_render_pos, GREEN);
+            }
+        }
+
+        next_frame().await
+    }
+}
+
+fn spikes_polygon() -> Vec<Point2<f32>> {
+    let teeths = 3;
+    let width = 15.0;
+    let height = 7.5;
+    let tooth_width = width / (teeths as f32);
+    let center = Vector2::new(width / 2.0, height / 2.0);
+
+    let mut polygon = vec![
+        Point2::new(width, 0.0) - center,
+        Point2::new(width, height) - center,
+        Point2::new(0.0, height) - center,
+    ];
+
+    for i in 0..teeths {
+        let x = i as f32 * tooth_width;
+        polygon.push(Point2::new(x, 0.0) - center);
+        polygon.push(Point2::new(x + tooth_width / 2.0, height * 1.5) - center);
+    }
+
+    polygon
+}
+
+fn grid_points() -> Vec<Point2<f32>> {
+    let count = 40;
+    let spacing = 0.6;
+    let mut pts = vec![];
+    for i in 0..count {
+        for j in 0..count {
+            pts.push(Point2::new(
+                (i as f32 - count as f32 / 2.0) * spacing,
+                (j as f32 - count as f32 / 2.0) * spacing,
+            ));
+        }
+    }
+    pts
+}
+
+fn draw_polygon(polygon: &[Point2<f32>], scale: f32, shift: Point2<f32>, color: Color) {
+    for i in 0..polygon.len() {
+        let a = polygon[i];
+        let b = polygon[(i + 1) % polygon.len()];
+        draw_line(
+            a.x * scale + shift.x,
+            a.y * scale + shift.y,
+            b.x * scale + shift.x,
+            b.y * scale + shift.y,
+            2.0,
+            color,
+        );
+    }
+}
+
+fn draw_point(point: Point2<f32>, scale: f32, shift: Point2<f32>, color: Color) {
+    let edge_len = 0.15;
+    draw_line(
+        (point.x - edge_len) * scale + shift.x,
+        point.y * scale + shift.y,
+        (point.x + edge_len) * scale + shift.x,
+        point.y * scale + shift.y,
+        2.0,
+        color,
+    );
+    draw_line(
+        point.x * scale + shift.x,
+        (point.y - edge_len) * scale + shift.y,
+        point.x * scale + shift.x,
+        (point.y + edge_len) * scale + shift.y,
+        2.0,
+        color,
+    );
+}