Remove ply reader. Contains security flaw due depending on vulnerable…

… linked-hash-map, not in use anyway.

Cargo.toml

@@ -35,8 +35,6 @@ parry3d = { version = "0.17", optional = true }
 # Palellization of collision
 rayon = { version = "1.10", optional = true }
 
-# For loading meshes, needed for collision and visualization
-ply-rs = { version = "0.1", optional = true }
 stl_io = { version = "0.8", optional = true }
 
 # Needed for visualization. We must disable audio by not including

src/read_trimesh.rs

@@ -8,67 +8,7 @@ use std::fs::File;
 use std::io::BufReader;
 use nalgebra::Point3;
 
-/// Function to load a TriMesh from a PLY file
-#[allow(dead_code)]
-pub fn load_trimesh_from_ply(ply_file_path: &str) -> TriMesh {
-    // Open the file
-    let file = File::open(ply_file_path)
-        .expect(&format!("Could not open PLY file: {}", ply_file_path));
-    let mut reader = BufReader::new(file);
-
-    // Create a PLY parser and parse the header
-    let parser = Parser::<DefaultElement>::new();
-    let ply = parser.read_ply(&mut reader)
-        .expect(&format!("Could not parse PLY file: {}", ply_file_path));
-
-    // Extract vertices and faces from the PLY file
-    let mut vertices = Vec::new();
-    let mut indices = Vec::new();
-
-    // Extract vertices
-    if let Some(vertices_elem) = ply.payload.get("vertex") {
-        for vertex in vertices_elem {
-            let x = match vertex.get("x").unwrap() {
-                Property::Float(val) => *val,
-                Property::Double(val) => *val as f32,
-                _ => panic!("Unexpected type for vertex x"),
-            };
-            let y = match vertex.get("y").unwrap() {
-                Property::Float(val) => *val,
-                Property::Double(val) => *val as f32,
-                _ => panic!("Unexpected type for vertex y"),
-            };
-            let z = match vertex.get("z").unwrap() {
-                Property::Float(val) => *val,
-                Property::Double(val) => *val as f32,
-                _ => panic!("Unexpected type for vertex z"),
-            };
-
-            vertices.push([x, y, z].into()); // Push vertex to the vertices list
-        }
-    }
-
-    // Extract faces (indices)
-    if let Some(faces_elem) = ply.payload.get("face") {
-        for face in faces_elem {
-            if let Property::ListUInt(indices_list) = face.get("vertex_indices").unwrap() {
-                let i1 = indices_list[0];
-                let i2 = indices_list[1];
-                let i3 = indices_list[2];
-                indices.push([i1, i2, i3].into()); // Push triangle indices
-            } else {
-                panic!("Unexpected type for face indices");
-            }
-        }
-    }
-
-    // Create a TriMesh from vertices and indices
-    TriMesh::with_flags(vertices, indices, 
-                        TriMeshFlags::FIX_INTERNAL_EDGES | TriMeshFlags::MERGE_DUPLICATE_VERTICES)
-}
-
 /// Function to load a TriMesh from an STL file
-#[allow(dead_code)] 
 pub fn load_trimesh_from_stl(stl_file_path: &str) -> TriMesh {
     // Open the STL file
     let file = File::open(stl_file_path)