chore: clippy fixes

src/dynamics/integration_parameters.rs

@@ -178,10 +178,16 @@ impl IntegrationParameters {
                 * self.joint_damping_ratio)
     }
 
+    /// Amount of penetration the engine won’t attempt to correct (default: `0.001` multiplied by
+    /// [`Self::length_unit`]).
     pub fn allowed_linear_error(&self) -> Real {
         self.normalized_allowed_linear_error * self.length_unit
     }
 
+    /// Maximum amount of penetration the solver will attempt to resolve in one timestep.
+    ///
+    /// This is equal to [`Self::normalized_max_penetration_correction`] multiplied by
+    /// [`Self::length_unit`].
     pub fn max_penetration_correction(&self) -> Real {
         if self.normalized_max_penetration_correction != Real::MAX {
             self.normalized_max_penetration_correction * self.length_unit
@@ -190,11 +196,13 @@ impl IntegrationParameters {
         }
     }
 
+    /// The maximal distance separating two objects that will generate predictive contacts
+    /// (default: `0.002m` multiped by [`Self::length_unit`]).
     pub fn prediction_distance(&self) -> Real {
         self.normalized_prediction_distance * self.length_unit
     }
 
-    /// Initialize the simulation paramaters with settings matching the TGS-soft solver
+    /// Initialize the simulation parameters with settings matching the TGS-soft solver
     /// with warmstarting.
     ///
     /// This is the default configuration, equivalent to [`IntegrationParameters::default()`].

src/dynamics/solver/contact_constraint/one_body_constraint.rs

@@ -128,7 +128,7 @@ impl OneBodyConstraintBuilder {
                 // Normal part.
                 let normal_rhs_wo_bias;
                 {
-                    let mut gcross2 = mprops2
+                    let gcross2 = mprops2
                         .effective_world_inv_inertia_sqrt
                         .transform_vector(dp2.gcross(-force_dir1));
 

src/dynamics/solver/contact_constraint/two_body_constraint.rs

@@ -8,7 +8,6 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{Isometry, Real, Vector, DIM, MAX_MANIFOLD_POINTS};
 use crate::utils::{self, SimdAngularInertia, SimdBasis, SimdCross, SimdDot};
 use na::{DVector, Matrix2};
-use num::Pow;
 
 use super::{TwoBodyConstraintElement, TwoBodyConstraintNormalPart};
 

src/dynamics/solver/contact_constraint/two_body_constraint_element.rs

@@ -1,11 +1,9 @@
 use crate::dynamics::integration_parameters::BLOCK_SOLVER_ENABLED;
-use crate::dynamics::solver::contact_constraint::OneBodyConstraintNormalPart;
 use crate::dynamics::solver::SolverVel;
 use crate::math::{AngVector, TangentImpulse, Vector, DIM};
 use crate::utils::{SimdBasis, SimdDot, SimdRealCopy};
-use na::{Matrix2, Vector2};
-use num::Zero;
-use simba::simd::{SimdPartialOrd, SimdValue};
+use na::Vector2;
+use simba::simd::SimdValue;
 
 #[derive(Copy, Clone, Debug)]
 pub(crate) struct TwoBodyConstraintTangentPart<N: SimdRealCopy> {

src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs

@@ -14,7 +14,6 @@ use crate::math::{
 #[cfg(feature = "dim2")]
 use crate::utils::SimdBasis;
 use crate::utils::{self, SimdAngularInertia, SimdCross, SimdDot};
-use na::Matrix2;
 use num::Zero;
 use parry::math::SimdBool;
 use parry::utils::SdpMatrix2;

src/dynamics/solver/velocity_solver.rs

@@ -10,7 +10,6 @@ use crate::math::Real;
 use crate::prelude::RigidBodyVelocity;
 use crate::utils::SimdAngularInertia;
 use na::DVector;
-use ordered_float::OrderedFloat;
 
 pub(crate) struct VelocitySolver {
     pub solver_bodies: Vec<SolverBody>,

src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs

@@ -3,7 +3,7 @@ use super::{
 };
 use crate::geometry::{
     BroadPhaseProxyIndex, Collider, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
-    ColliderPosition, ColliderSet, ColliderShape,
+    ColliderSet,
 };
 use crate::math::{Isometry, Real};
 use crate::prelude::{BroadPhase, RigidBodySet};
@@ -606,7 +606,7 @@ impl BroadPhase for BroadPhaseMultiSap {
                     prediction_distance,
                     *handle,
                     &mut new_proxy_id,
-                    &co,
+                    co,
                     next_pos.as_ref(),
                 ) {
                     need_region_propagation = true;

src/geometry/broad_phase_qbvh.rs

@@ -1,5 +1,4 @@
 use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
-use parry::bounding_volume::BoundingVolume;
 use parry::math::Real;
 use parry::partitioning::Qbvh;
 use parry::partitioning::QbvhUpdateWorkspace;

src/geometry/contact_pair.rs

@@ -1,9 +1,8 @@
 use crate::dynamics::{RigidBodyHandle, RigidBodySet};
 use crate::geometry::{ColliderHandle, ColliderSet, Contact, ContactManifold};
-use crate::math::{Point, Real, TangentImpulse, Vector, ANG_DIM};
+use crate::math::{Point, Real, TangentImpulse, Vector};
 use crate::pipeline::EventHandler;
 use crate::prelude::CollisionEventFlags;
-use parry::math::AngVector;
 use parry::query::ContactManifoldsWorkspace;
 
 use super::CollisionEvent;
@@ -304,7 +303,9 @@ pub struct SolverContact {
     pub tangent_velocity: Vector<Real>,
     /// Whether or not this contact existed during the last timestep.
     pub is_new: bool,
+    /// Impulse used to warmstart the solve for the normal constraint.
     pub warmstart_impulse: Real,
+    /// Impulse used to warmstart the solve for the friction constraints.
     pub warmstart_tangent_impulse: TangentImpulse<Real>,
 }
 

src/lib.rs

@@ -166,6 +166,7 @@ pub mod math {
     #[cfg(feature = "dim2")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut3xX<'a, N>;
 
+    /// The type of impulse applied for friction constraints.
     #[cfg(feature = "dim2")]
     pub type TangentImpulse<N> = na::Vector1<N>;
 
@@ -198,6 +199,7 @@ pub mod math {
     #[cfg(feature = "dim3")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut6xX<'a, N>;
 
+    /// The type of impulse applied for friction constraints.
     #[cfg(feature = "dim3")]
     pub type TangentImpulse<N> = na::Vector2<N>;
 

src/pipeline/query_pipeline.rs

@@ -16,7 +16,6 @@ use parry::query::visitors::{
 };
 use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, TOI};
 use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
-use parry::utils::DefaultStorage;
 use std::sync::Arc;
 
 /// A pipeline for performing queries on all the colliders of a scene.
@@ -248,7 +247,6 @@ impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
     type PartShape = dyn Shape;
     type PartNormalConstraints = dyn NormalConstraints;
     type PartId = ColliderHandle;
-    type QbvhStorage = DefaultStorage;
 
     fn map_typed_part_at(
         &self,