Make assimp feature disabled by default

.github/workflows/ci.yml

@@ -54,9 +54,9 @@ jobs:
         if: startsWith(matrix.os, 'windows')
 
       - run: cargo fmt --all --check
-      - run: cargo clippy --all-targets
+      - run: cargo clippy --all-features --all-targets
       - run: cargo hack build --feature-powerset
-      - run: cargo test
+      - run: cargo test --all-features
 
   wasm:
     runs-on: ubuntu-20.04
@@ -68,7 +68,7 @@ jobs:
           targets: wasm32-unknown-unknown
       - name: Install wasm-pack
         uses: taiki-e/install-action@wasm-pack
-      - run: cargo build --target wasm32-unknown-unknown --no-default-features --lib
+      - run: cargo build --target wasm32-unknown-unknown --lib
       - run: cargo build --target wasm32-unknown-unknown -p urdf-viz-wasm
       - name: Build wasm example
         run: npm install && npm run build

.github/workflows/release.yml

@@ -72,6 +72,8 @@ jobs:
         with:
           bin: urdf-viz
           include: ${{ matrix.include-files }}
+          # TODO: Should we enable assimp feature for pre-built binary?
+          # all-features: true
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
           CARGO_PROFILE_RELEASE_LTO: true

Cargo.toml

@@ -14,7 +14,7 @@ exclude = [".github/*", "img/*"]
 members = ["examples/wasm"]
 
 [features]
-default = ["assimp"]
+default = []
 assimp = ["dep:assimp", "assimp-sys", "tempfile"]
 
 # Note: k, kiss3d, serde, structopt, tokio, urdf-rs, and wasm-bindgen are public dependencies.

README.md

@@ -15,22 +15,18 @@ If you are using rust-lang already and `cargo` is installed, you can install by
 cargo install urdf-viz
 ```
 
-If you don't use mesh other than `.obj`, `.stl`, and `.dae` files, you can skip install
-of assimp by disabling the `assimp` feature like below.
+If you want to use mesh other than `.obj`, `.stl`, and `.dae` files, you need to install
+with assimp like below.
 
 ```bash
-cargo install urdf-viz --no-default-features
+cargo install urdf-viz --features assimp
 ```
 
-Note: When the `assimp` feature is disabled, materials are not fully supported yet.
-
 ### Pre-requirements for build
 
 #### Common
 
-You need [cmake](https://cmake.org/download/) to use assimp (mesh loader).
-It can be skipped if you use `--no-default-features`, but it will make it
-fail to show mesh files other than `.obj`, `.stl`, and `.dae`.
+If you want to use `--features assimp` to use mesh other than `.obj`, `.stl`, and `.dae` files, you need [cmake](https://cmake.org/download/).
 
 #### On Linux
 
@@ -241,7 +237,7 @@ curl http://127.0.0.1:7777/get_urdf_text
 * [kiss3d](https://github.com/sebcrozet/kiss3d): `urdf-viz` is strongly depend on `kiss3d`, which is super easy to use, great 3D graphic engine.
 * [nalgebra](https://github.com/sebcrozet/nalgebra): linear algebra library.
 * [k](https://github.com/openrr/k): kinematics library which is based on [nalgebra](https://github.com/sebcrozet/nalgebra). It can load URDF files using `urdf-rs`.
-* [assimp-rs](https://github.com/Eljay/assimp-rs): assimp rust interface. `kiss3d` supports `.obj` files natively, but urdf contains `dae` or `stl` files. These files are converted to kiss3d mesh model by `assimp-rs`
+* [mesh-loader](https://github.com/openrr/mesh-loader): Mesh files (`.obj`, `.stl`, and `.dae`) loader.
 * [urdf-rs](https://github.com/openrr/urdf-rs): URDF file loader.
 * [structopt](https://github.com/TeXitoi/structopt): super easy command line arguments parser.
 

examples/wasm/Cargo.toml

@@ -7,7 +7,7 @@ edition = "2021"
 crate-type = ["cdylib"]
 
 [target.'cfg(target_family = "wasm")'.dependencies]
-urdf-viz = { path = "../..", default-features = false }
+urdf-viz = { path = "../.." }
 console_error_panic_hook = "0.1"
 tracing-wasm = "0.2"
 wasm-bindgen = "0.2"

src/assimp_utils.rs

@@ -100,6 +100,7 @@ pub(crate) fn convert_assimp_scene_to_kiss3d_mesh(
             vertices.extend(mesh.vertex_iter().map(|v| na::Point3::new(v.x, v.y, v.z)));
             indices.extend(mesh.face_iter().filter_map(|f| {
                 if f.num_indices == 3 {
+                    // TODO: https://github.com/openrr/urdf-viz/issues/22
                     Some(na::Point3::new(f[0] as u16, f[1] as u16, f[2] as u16))
                 } else {
                     debug!("invalid mesh!");

src/mesh.rs

@@ -207,13 +207,8 @@ fn load_with_mesh_loader(
         let faces = mesh
             .faces
             .into_iter()
-            .map(|f| {
-                na::Point3::new(
-                    f[0].try_into().unwrap(),
-                    f[1].try_into().unwrap(),
-                    f[2].try_into().unwrap(),
-                )
-            })
+            // TODO: https://github.com/openrr/urdf-viz/issues/22
+            .map(|f| na::Point3::new(f[0] as u16, f[1] as u16, f[2] as u16))
             .collect();
 
         let kiss3d_mesh = Rc::new(RefCell::new(kiss3d::resource::Mesh::new(