parry
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dimforge
2D and 3D collision-detection library for Rust.
Hello, I'm using parry `0.25.3` and and the following snippet returns `Ok(false)` for two overlapping cylinders: ```rust use parry3d::na::Isometry3; use parry3d::query::intersection_test; use parry3d::shape::Cylinder; fn main() { let iso = Isometry3::identity();...
[`CompositeShapeRef::project_local_point`](https://github.com/dimforge/parry/blob/v0.25.1/src/query/point/point_composite_shape.rs#L79) panics when no match is found. Original issue https://github.com/avianphysics/avian/issues/872. Essentially `best_val` is never getting set to anything inside `Bvh::find_best` based on my step-through debugging. https://github.com/dimforge/parry/blob/v0.25.1/src/partitioning/bvh/bvh_traverse.rs#L343
The assertion's predicate is amount >= 0.0 while message requires amount > 0.0, the message should be changed into "The loosening margin must be non-negative." based on semantic. The same...
triangulate_constraints_and_merge_duplicates uses function bulk_load_cdt that can be panic. https://github.com/dimforge/parry/blob/86404116432cc580eae8a8a47b44ffd146950a2c/src/transformation/mesh_intersection/mesh_intersection.rs#L467 May be it posible to replace it for non-panic wersion try_bulk_load_cdt? Somthing about ``` let mut conflicting_edges = Vec::new(); let cdt_triangulation...
I'm using Parry via the Rapier physics engine plugin for Godot. I noticed that shapecasts cast against composite shapes were returning bogus results, and on drilling down, I believe I've...
I do not understand the algorithm involved and I do not know how to reproduce this panic, but a panic happened once and it indicated that this was the source...
I believe the BVH chunking already skips empty sections and when we drop into our `VoxelsChunkRef#voxels_in_range()` we're dropping empty voxels. I'm not advocating for reverting this behavior, only returning the...
In the following snippet, I expect the assert within `trimesh_sdf` to trigger, it seems the function is returning the right distances but not the right inclusion sign. The following are...
In `src/query/contact/contact_support_map_support_map.rs:40` when GJK detects an intersection because the shapes are within the prediction range EPA gives the wrong value for point2 of the contact. ### Test Case ```rust #[cfg(test)]...
https://github.com/dimforge/parry/blob/d955f7527847997ea6a1f4c42602ff9b4a8669d3/src/query/shape_cast/shape_cast_voxels_shape.rs#L23-L42 The returned witness1 should be in local space for the voxel shape. However, we delegate the shape cast to a cuboid representing the individual voxel and never transform the...