Fix multiple warnings.

src/dynamics/mass_properties_capsule.rs

@@ -1,7 +1,7 @@
 use crate::dynamics::MassProperties;
-use crate::math::Point;
 #[cfg(feature = "dim3")]
-use crate::{geometry::Capsule, math::Rotation};
+use crate::geometry::Capsule;
+use crate::math::Point;
 
 impl MassProperties {
     pub(crate) fn from_capsule(density: f32, a: Point<f32>, b: Point<f32>, radius: f32) -> Self {

src/dynamics/mass_properties_cone.rs

@@ -1,5 +1,4 @@
 use crate::dynamics::MassProperties;
-use crate::geometry::Cone;
 use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector};
 
 impl MassProperties {

src/dynamics/mass_properties_cylinder.rs

@@ -1,10 +1,7 @@
 use crate::dynamics::MassProperties;
-use crate::math::{PrincipalAngularInertia, Vector};
 #[cfg(feature = "dim3")]
-use {
-    crate::geometry::Capsule,
-    crate::math::{Point, Rotation},
-};
+use crate::math::{Point, Rotation};
+use crate::math::{PrincipalAngularInertia, Vector};
 
 impl MassProperties {
     pub(crate) fn cylinder_y_volume_unit_inertia(

src/geometry/collider.rs

@@ -4,7 +4,7 @@ use crate::geometry::{
     Segment, Shape, ShapeType, Triangle, Trimesh,
 };
 #[cfg(feature = "dim3")]
-use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, Rounded};
+use crate::geometry::{Cone, Cylinder, Rounded};
 use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
 use na::Point3;
 use ncollide::bounding_volume::AABB;

src/geometry/contact_generator/heightfield_shape_contact_generator.rs

@@ -5,8 +5,6 @@ use crate::geometry::contact_generator::{
 use crate::geometry::Capsule;
 use crate::geometry::{Collider, ContactManifold, HeightField, Shape, ShapeType};
 use crate::ncollide::bounding_volume::BoundingVolume;
-#[cfg(feature = "dim3")]
-use crate::{geometry::Triangle, math::Point};
 use std::any::Any;
 use std::collections::hash_map::Entry;
 use std::collections::HashMap;
@@ -111,7 +109,7 @@ fn do_generate_contacts(
     heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| {
         let position1 = collider1.position();
         #[cfg(feature = "dim2")]
-        let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0);
+        let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0); // TODO: use a segment instead.
         #[cfg(feature = "dim3")]
         let sub_shape1 = *part1;
 

src/geometry/contact_generator/pfm_pfm_contact_generator.rs

@@ -1,9 +1,6 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{
-    Contact, ContactManifold, KinematicsCategory, PolygonalFeatureMap, PolyhedronFace,
-};
+use crate::geometry::{KinematicsCategory, PolygonalFeatureMap, PolyhedronFace};
 use crate::math::{Isometry, Vector};
-use crate::na::UnitQuaternion;
 use na::Unit;
 use ncollide::query;
 use ncollide::query::algorithms::{gjk::GJKResult, VoronoiSimplex};
@@ -11,7 +8,6 @@ use ncollide::query::algorithms::{gjk::GJKResult, VoronoiSimplex};
 pub struct PfmPfmContactManifoldGeneratorWorkspace {
     simplex: VoronoiSimplex<f32>,
     last_gjk_dir: Option<Unit<Vector<f32>>>,
-    last_optimal_dir: Option<Unit<Vector<f32>>>,
     feature1: PolyhedronFace,
     feature2: PolyhedronFace,
 }
@@ -21,7 +17,6 @@ impl Default for PfmPfmContactManifoldGeneratorWorkspace {
         Self {
             simplex: VoronoiSimplex::new(),
             last_gjk_dir: None,
-            last_optimal_dir: None,
             feature1: PolyhedronFace::new(),
             feature2: PolyhedronFace::new(),
         }

src/geometry/contact_generator/polygon_polygon_contact_generator.rs

@@ -1,3 +1,5 @@
+#![allow(dead_code)] // TODO: remove this once we support polygons.
+
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
 use crate::geometry::{sat, Contact, ContactManifold, KinematicsCategory, Polygon};
 use crate::math::{Isometry, Point};

src/geometry/polygon.rs

@@ -1,3 +1,5 @@
+#![allow(dead_code)] // TODO: remove this once we support polygons.
+
 use crate::math::{Isometry, Point, Vector};
 use ncollide::bounding_volume::AABB;
 

src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs

@@ -1,3 +1,5 @@
+#![allow(dead_code)]
+
 use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
 use crate::geometry::{sat, Polygon, Proximity};
 use crate::math::Isometry;

src/geometry/sat.rs

@@ -4,6 +4,7 @@ use crate::utils::WSign;
 use na::Unit;
 use ncollide::shape::{Segment, SupportMap};
 
+#[allow(dead_code)]
 pub fn polygon_polygon_compute_separation_features(
     p1: &Polygon,
     p2: &Polygon,

src/utils.rs

@@ -1,7 +1,6 @@
 //! Miscellaneous utilities.
 
 use crate::dynamics::RigidBodyHandle;
-use crate::math::{Isometry, Point, Rotation, Vector};
 #[cfg(all(feature = "enhanced-determinism", feature = "serde-serialize"))]
 use indexmap::IndexMap as HashMap;
 use na::{Matrix2, Matrix3, Matrix3x2, Point2, Point3, Scalar, SimdRealField, Vector2, Vector3};
@@ -1334,28 +1333,3 @@ pub(crate) fn other_handle(
         pair.0
     }
 }
-
-/// Returns the rotation that aligns the y axis to the segment direction.
-pub(crate) fn rotation_wrt_y(a: &Point<f32>, b: &Point<f32>) -> Rotation<f32> {
-    let mut dir = b - a;
-
-    if dir.y < 0.0 {
-        dir = -dir;
-    }
-
-    #[cfg(feature = "dim2")]
-    return Rotation::rotation_between(&Vector::y(), &dir);
-
-    #[cfg(feature = "dim3")]
-    return Rotation::rotation_between(&Vector::y(), &dir).unwrap_or(Rotation::identity());
-}
-
-// Return the transform that aligns the y axis to the segment and move the origin to the segment middle,
-// and the capsule's half-height.
-pub(crate) fn segment_to_capsule(a: &Point<f32>, b: &Point<f32>) -> (Isometry<f32>, f32) {
-    let rot = rotation_wrt_y(a, b);
-    let half_height = (b - a).norm() / 2.0;
-    let center = na::center(a, b);
-    let pos = Isometry::from_parts(center.coords.into(), rot);
-    (pos, half_height)
-}