chore: clippy fixes

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>,
 }