fix wavefront tests + new test for different pos + add them in 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
@@ -40,7 +40,7 @@ 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:
@@ -74,6 +74,6 @@ jobs:
       - name: install stable Rust
         uses: dtolnay/rust-toolchain@master
         with:
-            toolchain: stable
+          toolchain: stable
       - name: cargo doc
         run: cargo doc --workspace --features bytemuck-serialize,serde-serialize,rkyv-serialize,parallel --no-deps --document-private-items

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;
@@ -668,9 +666,10 @@ fn merge_triangle_sets(
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::shape::TriMeshFlags;
-    use crate::transformation::wavefront::*;
+    use crate::bounding_volume::{bounding_sphere, BoundingSphere};
+    use crate::shape::{Ball, Cuboid, TriMeshFlags};
     use obj::Obj;
+    use obj::ObjData;
 
     #[test]
     fn test_same_mesh_intersection() {
@@ -684,7 +683,7 @@ 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
@@ -708,6 +707,33 @@ mod tests {
         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);
+        sphere_mesh.set_flags(TriMeshFlags::all()).unwrap();
+        let mut cuboid_mesh = TriMesh::new(cuboid.0, cuboid.1);
+        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, //.clone().scaled(&Vector3::new(1.001, 1.001, 1.001)),
+            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]
     fn test_offset_cylinder_intersection() {
         let Obj {
@@ -720,7 +746,7 @@ 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
@@ -740,7 +766,7 @@ 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
@@ -776,7 +802,7 @@ 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
@@ -796,7 +822,7 @@ 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
@@ -832,7 +858,7 @@ 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
@@ -852,7 +878,7 @@ 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