Simplified mesh intersection logic

crates/parry3d-f64/Cargo.toml

@@ -29,6 +29,7 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+wavefront = ["obj"]
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -59,6 +60,11 @@ 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 }
+rstar = "0.12.0"
+obj = { version = "0.10.2", optional = true }
+
+[target.'cfg(not(target_os = "cuda"))'.dependencies]
+cust = { version = "0.3", optional = true }
 log = "0.4"
 ordered-float = { version = "4", default-features = false }
 thiserror = { version = "1", optional = true }

crates/parry3d/Cargo.toml

@@ -63,6 +63,7 @@ bytemuck = { version = "1", features = ["derive"], optional = true }
 log = "0.4"
 ordered-float = { version = "4", default-features = false }
 thiserror = { version = "1", optional = true }
+rstar = "0.12.0"
 
 [dev-dependencies]
 oorandom = "11"

src/query/point/point_query.rs

@@ -33,6 +33,11 @@ impl PointProjection {
             point: pos * self.point,
         }
     }
+
+    /// Returns `true` if `Self::is_inside` is `true` or if the distance between the projected point and `point` is smaller than `min_dist`.
+    pub fn is_inside_eps(&self, original_point: &Point<Real>, min_dist: Real) -> bool {
+        self.is_inside || na::distance_squared(original_point, &self.point) < min_dist * min_dist
+    }
 }
 
 /// Trait of objects that can be tested for point inclusion and projection.

src/shape/triangle.rs

@@ -232,6 +232,8 @@ impl Triangle {
     /// product).
     #[inline]
     pub fn scaled_normal(&self) -> Vector<Real> {
+        // Note: on thin triangles this can cause numerical issues. A more robust
+        // way to do this is to look for the incident angle closest to 90 degrees.
         let ab = self.b - self.a;
         let ac = self.c - self.a;
         ab.cross(&ac)

src/shape/trimesh.rs

@@ -172,18 +172,25 @@ pub struct TriMeshTopology {
     pub half_edges: Vec<TopoHalfEdge>,
 }
 
-impl TriMeshTopology {
-    #[cfg(feature = "dim3")]
-    pub(crate) fn face_half_edges_ids(&self, fid: u32) -> [u32; 3] {
-        let first_half_edge = self.faces[fid as usize].half_edge;
-
-        let mut result = [first_half_edge; 3];
-        for k in 1..3 {
-            let half_edge = self.half_edges[result[k - 1] as usize];
-            result[k] = half_edge.next;
+#[cfg(all(feature = "std", feature = "cuda"))]
+impl TriMeshTopology<CudaStorage> {
+    fn as_device_ptr(&self) -> TriMeshTopology<CudaStoragePtr> {
+        TriMeshTopology {
+            vertices: self.vertices.as_device_ptr(),
+            faces: self.faces.as_device_ptr(),
+            half_edges: self.half_edges.as_device_ptr(),
         }
+    }
+}
 
-        result
+#[cfg(all(feature = "std", feature = "cuda"))]
+impl TriMeshTopology<DefaultStorage> {
+    fn to_cuda(&self) -> CudaResult<TriMeshTopology<CudaStorage>> {
+        Ok(TriMeshTopology {
+            vertices: CudaArray1::new(&self.vertices)?,
+            faces: CudaArray1::new(&self.faces)?,
+            half_edges: CudaArray1::new(&self.half_edges)?,
+        })
     }
 }