rapier2d panic in `CompositeShapeRef::project_local_point` caused by unwrap.

[tadeohepperle]

I am hitting a panic caused by Option::unwrap() in Rapier2D. Here is a small reproducable example that panics upon being run:

use rapier2d::math::Vec2;

fn main() {
    let mut physics = PhysicsWorld::new();
    // this line has no effect, panic still happens if commented out:
    physics.step();
    // this line has no effect, panic still happens if commented out:
    physics.add_box_collider(Vec2::new(0.0, -10.0), Vec2::new(100.0, 20.0));

    let query_pipeline = physics.broad_phase.as_query_pipeline(
        physics.narrow_phase.query_dispatcher(),
        &physics.rigid_body_set,
        &physics.collider_set,
        rapier2d::prelude::QueryFilter::only_dynamic(),
    );

    let point = rapier2d::glamx::Vec2::new(-2.5586283, 2.1454737);
    let res = query_pipeline.project_point(point, f32::MAX, true);
    println!("Result: {res:?}");
}

struct PhysicsWorld {
    gravity: f32,
    rigid_body_set: rapier2d::dynamics::RigidBodySet,
    collider_set: rapier2d::geometry::ColliderSet,
    integration_parameters: rapier2d::dynamics::IntegrationParameters,
    physics_pipeline: rapier2d::pipeline::PhysicsPipeline,
    island_manager: rapier2d::dynamics::IslandManager,
    broad_phase: rapier2d::geometry::DefaultBroadPhase,
    narrow_phase: rapier2d::geometry::NarrowPhase,
    impulse_joint_set: rapier2d::dynamics::ImpulseJointSet,
    multibody_joint_set: rapier2d::dynamics::MultibodyJointSet,
    ccd_solver: rapier2d::dynamics::CCDSolver,
}

impl PhysicsWorld {
    pub fn new() -> Self {
        let integration_parameters = rapier2d::dynamics::IntegrationParameters::default();
        Self {
            gravity: 9.81,
            rigid_body_set: rapier2d::dynamics::RigidBodySet::new(),
            collider_set: rapier2d::geometry::ColliderSet::new(),
            integration_parameters,
            physics_pipeline: rapier2d::pipeline::PhysicsPipeline::new(),
            island_manager: rapier2d::dynamics::IslandManager::new(),
            broad_phase: rapier2d::geometry::DefaultBroadPhase::new(),
            narrow_phase: rapier2d::geometry::NarrowPhase::new(),
            impulse_joint_set: rapier2d::dynamics::ImpulseJointSet::new(),
            multibody_joint_set: rapier2d::dynamics::MultibodyJointSet::new(),
            ccd_solver: rapier2d::dynamics::CCDSolver::new(),
        }
    }

    pub fn step(&mut self) {
        self.physics_pipeline.step(
            rapier2d::glamx::Vec2::new(0.0, -self.gravity),
            &self.integration_parameters,
            &mut self.island_manager,
            &mut self.broad_phase,
            &mut self.narrow_phase,
            &mut self.rigid_body_set,
            &mut self.collider_set,
            &mut self.impulse_joint_set,
            &mut self.multibody_joint_set,
            &mut self.ccd_solver,
            &(),
            &(),
        );
    }

    pub fn add_box_collider(
        &mut self,
        pos: Vec2,
        size: Vec2,
    ) -> rapier2d::geometry::ColliderHandle {
        let collider = rapier2d::geometry::ColliderBuilder::cuboid(size.x * 0.5, size.y * 0.5)
            .translation(rapier2d::glamx::Vec2::new(pos.x, pos.y));
        self.collider_set.insert(collider)
    }
}

The panic:

thread 'main' (1141160) panicked at /home/tadeo/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/parry2d-0.26.0/src/query/point/point_composite_shape.rs:78:14:
called `Option::unwrap()` on a `None` value