Fix wavefront tests + new test for different pos + add them in ci (#268)

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

@@ -42,7 +42,7 @@ jobs:
       - name: Check serialization
         run: cargo check --features bytemuck-serialize,serde-serialize,rkyv-serialize;
       - name: Run tests
-        run: cargo test
+        run: cargo test --features wavefront
   build-wasm:
     runs-on: ubuntu-latest
     env:

crates/parry3d-f64/Cargo.toml

@@ -44,6 +44,7 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+# Adds `TriMesh:to_obj_file` function.
 wavefront = ["obj"]
 alloc = []
 improved_fixed_point_support = []
@@ -88,3 +89,7 @@ thiserror = { version = "1", optional = true }
 oorandom = "11"
 ptree = "0.4.0"
 rand = { version = "0.8" }
+
+[package.metadata.docs.rs]
+rustdoc-args = ["-Zunstable-options", "--generate-link-to-definition"]
+features = ["wavefront"]

crates/parry3d/Cargo.toml

@@ -45,6 +45,7 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+# Adds `TriMesh:to_obj_file` function.
 wavefront = ["obj"]
 alloc = []
 improved_fixed_point_support = []
@@ -95,6 +96,7 @@ rand_isaac = "0.3"
 [package.metadata.docs.rs]
 rustdoc-args = ["-Zunstable-options", "--generate-link-to-definition"]
 cargo-args = ["-Zunstable-options", "-Zrustdoc-scrape-examples"]
+features = ["wavefront"]
 
 # The following listing is to allow for examples to be scraped,
 # see https://doc.rust-lang.org/rustdoc/scraped-examples.html#scraped-examples for details.

src/transformation/mesh_intersection/mesh_intersection.rs

@@ -5,8 +5,6 @@ use crate::query::{visitors::BoundingVolumeIntersectionsSimultaneousVisitor, Poi
 use crate::shape::{TriMesh, Triangle};
 use crate::utils;
 use na::{Point3, Vector3};
-#[cfg(feature = "wavefront")]
-use obj::{Group, IndexTuple, ObjData, Object, SimplePolygon};
 use rstar::RTree;
 use spade::{ConstrainedDelaunayTriangulation, InsertionError, Triangulation as _};
 use std::collections::BTreeMap;
@@ -513,7 +511,7 @@ fn insert_into_set(
 fn smallest_angle(points: &[Point3<Real>]) -> Real {
     let n = points.len();
 
-    let mut worst_cos = -2.0;
+    let mut worst_cos: Real = -2.0;
     for i in 0..points.len() {
         let d1 = (points[i] - points[(i + 1) % n]).normalize();
         let d2 = (points[(i + 2) % n] - points[(i + 1) % n]).normalize();
@@ -669,9 +667,9 @@ fn merge_triangle_sets(
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::shape::TriMeshFlags;
-    use crate::transformation::wavefront::*;
+    use crate::shape::{Ball, Cuboid, TriMeshFlags};
     use obj::Obj;
+    use obj::ObjData;
 
     #[test]
     fn test_same_mesh_intersection() {
@@ -685,17 +683,18 @@ mod tests {
         let mesh = TriMesh::with_flags(
             position
                 .iter()
-                .map(|v| Point3::new(v[0] as f64, v[1] as f64, v[2] as f64))
+                .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
                 .collect::<Vec<_>>(),
             objects[0].groups[0]
                 .polys
                 .iter()
                 .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
                 .collect::<Vec<_>>(),
             TriMeshFlags::all(),
-        );
+        )
+        .unwrap();
 
-        let res = intersect_meshes(
+        let _ = intersect_meshes(
             &Isometry::identity(),
             &mesh,
             false,
@@ -706,7 +705,34 @@ mod tests {
         .unwrap()
         .unwrap();
 
-        mesh.to_obj_file(&PathBuf::from("same_test.obj"));
+        let _ = mesh.to_obj_file(&PathBuf::from("same_test.obj"));
+    }
+
+    #[test]
+    fn test_non_origin_pos1_pos2_intersection() {
+        let ball = Ball::new(2f32 as Real).to_trimesh(10, 10);
+        let cuboid = Cuboid::new(Vector3::new(2.0, 1.0, 1.0)).to_trimesh();
+        let mut sphere_mesh = TriMesh::new(ball.0, ball.1).unwrap();
+        sphere_mesh.set_flags(TriMeshFlags::all()).unwrap();
+        let mut cuboid_mesh = TriMesh::new(cuboid.0, cuboid.1).unwrap();
+        cuboid_mesh.set_flags(TriMeshFlags::all()).unwrap();
+
+        let res = intersect_meshes(
+            &Isometry::translation(1.0, 0.0, 0.0),
+            &cuboid_mesh,
+            false,
+            &Isometry::translation(2.0, 0.0, 0.0),
+            &sphere_mesh,
+            false,
+        )
+        .unwrap()
+        .unwrap();
+
+        let _ = res.to_obj_file(&PathBuf::from("test_non_origin_pos1_pos2_intersection.obj"));
+
+        let bounding_sphere = res.local_bounding_sphere();
+        assert!(bounding_sphere.center == Point3::new(1.5, 0.0, 0.0));
+        assert_relative_eq!(2.0615528, bounding_sphere.radius, epsilon = 1.0e-5);
     }
 
     #[test]
@@ -721,15 +747,16 @@ mod tests {
         let offset_mesh = TriMesh::with_flags(
             position
                 .iter()
-                .map(|v| Point3::new(v[0] as f64, v[1] as f64, v[2] as f64))
+                .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
                 .collect::<Vec<_>>(),
             objects[0].groups[0]
                 .polys
                 .iter()
                 .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
                 .collect::<Vec<_>>(),
             TriMeshFlags::all(),
-        );
+        )
+        .unwrap();
 
         let Obj {
             data: ObjData {
@@ -741,15 +768,16 @@ mod tests {
         let center_mesh = TriMesh::with_flags(
             position
                 .iter()
-                .map(|v| Point3::new(v[0] as f64, v[1] as f64, v[2] as f64))
+                .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
                 .collect::<Vec<_>>(),
             objects[0].groups[0]
                 .polys
                 .iter()
                 .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
                 .collect::<Vec<_>>(),
             TriMeshFlags::all(),
-        );
+        )
+        .unwrap();
 
         let res = intersect_meshes(
             &Isometry::identity(),
@@ -762,7 +790,7 @@ mod tests {
         .unwrap()
         .unwrap();
 
-        res.to_obj_file(&PathBuf::from("offset_test.obj"));
+        let _ = res.to_obj_file(&PathBuf::from("offset_test.obj"));
     }
 
     #[test]
@@ -777,15 +805,16 @@ mod tests {
         let stair_mesh = TriMesh::with_flags(
             position
                 .iter()
-                .map(|v| Point3::new(v[0] as f64, v[1] as f64, v[2] as f64))
+                .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
                 .collect::<Vec<_>>(),
             objects[0].groups[0]
                 .polys
                 .iter()
                 .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
                 .collect::<Vec<_>>(),
             TriMeshFlags::all(),
-        );
+        )
+        .unwrap();
 
         let Obj {
             data: ObjData {
@@ -797,15 +826,16 @@ mod tests {
         let bar_mesh = TriMesh::with_flags(
             position
                 .iter()
-                .map(|v| Point3::new(v[0] as f64, v[1] as f64, v[2] as f64))
+                .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
                 .collect::<Vec<_>>(),
             objects[0].groups[0]
                 .polys
                 .iter()
                 .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
                 .collect::<Vec<_>>(),
             TriMeshFlags::all(),
-        );
+        )
+        .unwrap();
 
         let res = intersect_meshes(
             &Isometry::identity(),
@@ -818,7 +848,7 @@ mod tests {
         .unwrap()
         .unwrap();
 
-        res.to_obj_file(&PathBuf::from("stair_test.obj"));
+        let _ = res.to_obj_file(&PathBuf::from("stair_test.obj"));
     }
 
     #[test]
@@ -833,15 +863,16 @@ mod tests {
         let bunny_mesh = TriMesh::with_flags(
             position
                 .iter()
-                .map(|v| Point3::new(v[0] as f64, v[1] as f64, v[2] as f64))
+                .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
                 .collect::<Vec<_>>(),
             objects[0].groups[0]
                 .polys
                 .iter()
                 .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
                 .collect::<Vec<_>>(),
             TriMeshFlags::all(),
-        );
+        )
+        .unwrap();
 
         let Obj {
             data: ObjData {
@@ -853,15 +884,16 @@ mod tests {
         let cylinder_mesh = TriMesh::with_flags(
             position
                 .iter()
-                .map(|v| Point3::new(v[0] as f64, v[1] as f64, v[2] as f64))
+                .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
                 .collect::<Vec<_>>(),
             objects[0].groups[0]
                 .polys
                 .iter()
                 .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
                 .collect::<Vec<_>>(),
             TriMeshFlags::all(),
-        );
+        )
+        .unwrap();
 
         let res = intersect_meshes(
             &Isometry::identity(),
@@ -874,6 +906,6 @@ mod tests {
         .unwrap()
         .unwrap();
 
-        res.to_obj_file(&PathBuf::from("complex_test.obj"));
+        let _ = res.to_obj_file(&PathBuf::from("complex_test.obj"));
     }
 }

src/transformation/mod.rs

@@ -40,4 +40,4 @@ mod to_trimesh;
 pub mod utils;
 
 #[cfg(feature = "wavefront")]
-pub mod wavefront;
+mod wavefront;

src/transformation/wavefront.rs

@@ -3,20 +3,24 @@ use obj::{Group, IndexTuple, ObjData, ObjError, Object, SimplePolygon};
 use std::path::PathBuf;
 
 impl TriMesh {
+    /// Outputs a Wavefront (`.obj`) file at the given path.
+    ///
+    /// This function is enabled by the `wavefront` feature flag.
     pub fn to_obj_file(&self, path: &PathBuf) -> Result<(), ObjError> {
         let mut file = std::fs::File::create(path).unwrap();
 
         ObjData {
+            #[expect(clippy::unnecessary_cast)]
             position: self
                 .vertices()
-                .into_iter()
+                .iter()
                 .map(|v| [v.x as f32, v.y as f32, v.z as f32])
                 .collect(),
             objects: vec![Object {
                 groups: vec![Group {
                     polys: self
                         .indices()
-                        .into_iter()
+                        .iter()
                         .map(|tri| {
                             SimplePolygon(vec![
                                 IndexTuple(tri[0] as usize, None, None),