From 1a54ac0ff30e232c248e3710fa2fc7f4018a77fa Mon Sep 17 00:00:00 2001
From: Yang Zhou <yangzhou.info@gmail.com>
Date: Wed, 18 Dec 2024 17:35:29 -0500
Subject: [PATCH] remove log_mesh since rerun 0.21.0 support world grid; update
 deps

---
 Cargo.toml  |  8 ++++----
 README.md   |  2 +-
 src/lib.rs  | 47 -----------------------------------------------
 src/main.rs |  1 -
 4 files changed, 5 insertions(+), 53 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 73ca65f4..92a9a69b 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -3,7 +3,7 @@ exclude = ["assets/", "CONTRIBUTING.md", "CODE_OF_CONDUCT.md", "SECURITY.md"]
 name = "peng_quad"
 version = "0.5.3"
 edition = "2021"
-rust-version = "1.79"
+rust-version = "1.80"
 authors = ["Yang Zhou <yangzhou.info@gmail.com>"]
 description = "Peng is a minimal quadrotor pipeline including quadrotor dynamics, IMU simulation, various trajectory planners, PID controller and depth map rendering."
 license = "MIT OR Apache-2.0"
@@ -30,9 +30,9 @@ lto = "thin"      # Do a second optimization pass over the entire program, inclu
 nalgebra = "0.33.2"
 rand = { version = "0.8.5", features = ["rand_chacha"] }
 rand_distr = "0.4.3"
-rerun = "0.20.3"
-thiserror = "2.0.4"
-serde = { version = "1.0.215", features = ["derive"] }
+rerun = "0.21.0"
+thiserror = "2.0.7"
+serde = { version = "1.0.216", features = ["derive"] }
 serde_yaml = "0.9.34"
 env_logger = "0.11.5"
 log = "0.4.22"
diff --git a/README.md b/README.md
index 711a687e..df40551d 100644
--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@
 
 Peng is a minimal quadrotor autonomy framework written in Rust that provides real-time dynamics simulation, trajectory planning, and control with modern visualization capabilities.
 
-[![rerun demo](https://raw.githubusercontent.com/makeecat/Peng/main/assets/Peng_demo.gif)](https://rerun.io/viewer/version/0.19.0/?url=https%3A%2F%2Fyangrobotics.com%2Ffiles%2Fpeng_v0.5.3_demo.rrd)
+[![rerun demo](https://raw.githubusercontent.com/makeecat/Peng/main/assets/Peng_demo.gif)](https://rerun.io/viewer/version/0.21.0/?url=https%3A%2F%2Fyangrobotics.com%2Ffiles%2Fpeng_v0.5.3a_demo.rrd)
 
 ## 🎯 Key Features
 
diff --git a/src/lib.rs b/src/lib.rs
index fc8f2035..d23669a7 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -2573,53 +2573,6 @@ pub fn log_trajectory(
     )?;
     Ok(())
 }
-/// Log mesh data to the rerun recording stream
-/// # Arguments
-/// * `rec` - The rerun::RecordingStream instance
-/// * `division` - The number of divisions in the mesh
-/// * `spacing` - The spacing between divisions
-/// # Errors
-/// * If the data cannot be logged to the recording stream
-/// # Example
-/// ```no_run
-/// use peng_quad::log_mesh;
-/// let rec = rerun::RecordingStreamBuilder::new("log.rerun").connect().unwrap();
-/// log_mesh(&rec, 10, 0.1).unwrap();
-/// ```
-pub fn log_mesh(
-    rec: &rerun::RecordingStream,
-    division: usize,
-    spacing: f32,
-) -> Result<(), SimulationError> {
-    let grid_size: usize = division + 1;
-    let half_grid_size: f32 = (division as f32 * spacing) / 2.0;
-    let points: Vec<rerun::external::glam::Vec3> = (0..grid_size)
-        .flat_map(|i| {
-            (0..grid_size).map(move |j| {
-                rerun::external::glam::Vec3::new(
-                    j as f32 * spacing - half_grid_size,
-                    i as f32 * spacing - half_grid_size,
-                    0.0,
-                )
-            })
-        })
-        .collect();
-    let horizontal_lines: Vec<Vec<rerun::external::glam::Vec3>> = (0..grid_size)
-        .map(|i| points[i * grid_size..(i + 1) * grid_size].to_vec())
-        .collect();
-    let vertical_lines: Vec<Vec<rerun::external::glam::Vec3>> = (0..grid_size)
-        .map(|j| (0..grid_size).map(|i| points[i * grid_size + j]).collect())
-        .collect();
-    let line_strips: Vec<Vec<rerun::external::glam::Vec3>> =
-        horizontal_lines.into_iter().chain(vertical_lines).collect();
-    rec.log(
-        "world/mesh",
-        &rerun::LineStrips3D::new(line_strips)
-            .with_colors([rerun::Color::from_rgb(255, 255, 255)])
-            .with_radii([0.02]),
-    )?;
-    Ok(())
-}
 /// Log depth image data to the rerun recording stream
 ///
 /// When the depth value is `f32::INFINITY`, the pixel is considered invalid and logged as black
diff --git a/src/main.rs b/src/main.rs
index 91731f9b..f68f092e 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -95,7 +95,6 @@ fn main() -> Result<(), SimulationError> {
     if let Some(rec) = &rec {
         rec.log_file_from_path(config.rerun_blueprint, None, false)?;
         rec.set_time_seconds("timestamp", 0);
-        log_mesh(rec, config.mesh.division, config.mesh.spacing)?;
         log_maze_tube(rec, &maze)?;
         log_maze_obstacles(rec, &maze)?;
     }