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Fix warnings.

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This commit is contained in:
Crozet Sébastien
2021-02-22 14:20:06 +01:00
parent 4c9138fd2b
commit 0eec28325e
13 changed files with 45 additions and 30 deletions
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24
src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
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@@ -3,7 +3,7 @@ use crate::dynamics::{
IntegrationParameters, JointGraphEdge, JointIndex, JointParams, PrismaticJoint, RigidBody,
};
use crate::math::{AngularInertia, Real, Vector};
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
use crate::utils::{WAngularInertia, WCross, WCrossMatrix, WDot};
#[cfg(feature = "dim3")]
use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
#[cfg(feature = "dim2")]
@@ -148,7 +148,6 @@ impl PrismaticVelocityConstraint {
*/
let mut motor_rhs = 0.0;
let mut motor_inv_lhs = 0.0;
let mut motor_max_impulse = joint.motor_max_impulse;
let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
params.dt,
@@ -171,7 +170,11 @@ impl PrismaticVelocityConstraint {
motor_rhs /= gamma;
}
let motor_impulse = na::clamp(joint.motor_impulse, -motor_max_impulse, motor_max_impulse);
let motor_impulse = na::clamp(
joint.motor_impulse,
-joint.motor_max_impulse,
joint.motor_max_impulse,
);
/*
* Setup limit constraint.
@@ -202,8 +205,8 @@ impl PrismaticVelocityConstraint {
let gcross2 = r2.gcross(*axis2);
limits_inv_lhs = crate::utils::inv(
im1 + im2
+ gcross1.dot(&ii1.transform_vector(gcross1))
+ gcross2.dot(&ii2.transform_vector(gcross2)),
+ gcross1.gdot(ii1.transform_vector(gcross1))
+ gcross2.gdot(ii2.transform_vector(gcross2)),
);
}
}
@@ -226,7 +229,7 @@ impl PrismaticVelocityConstraint {
motor_impulse,
motor_axis1: *axis1,
motor_axis2: *axis2,
motor_max_impulse,
motor_max_impulse: joint.motor_max_impulse,
basis1,
inv_lhs,
rhs,
@@ -530,7 +533,6 @@ impl PrismaticVelocityGroundConstraint {
*/
let mut motor_rhs = 0.0;
let mut motor_inv_lhs = 0.0;
let mut motor_max_impulse = joint.motor_max_impulse;
let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
params.dt,
@@ -553,7 +555,11 @@ impl PrismaticVelocityGroundConstraint {
motor_rhs /= gamma;
}
let motor_impulse = na::clamp(joint.motor_impulse, -motor_max_impulse, motor_max_impulse);
let motor_impulse = na::clamp(
joint.motor_impulse,
-joint.motor_max_impulse,
joint.motor_max_impulse,
);
/*
* Setup limit constraint.
@@ -590,7 +596,7 @@ impl PrismaticVelocityGroundConstraint {
motor_rhs,
motor_inv_lhs,
motor_impulse,
motor_max_impulse,
motor_max_impulse: joint.motor_max_impulse,
basis1,
inv_lhs,
rhs,