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>,