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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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11
src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
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@@ -1,12 +1,11 @@
use crate::dynamics::solver::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel};
use crate::dynamics::solver::{AnyJointVelocityConstraint, DeltaVel};
use crate::dynamics::{
IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RevoluteJoint, RigidBody,
};
use crate::math::{AngularInertia, Real, Rotation, Vector};
use crate::na::UnitQuaternion;
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
use downcast_rs::Downcast;
use na::{Cholesky, Matrix3, Matrix3x2, Matrix5, RealField, Vector5, U2, U3};
use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
#[derive(Debug)]
pub(crate) struct RevoluteVelocityConstraint {
@@ -93,7 +92,7 @@ impl RevoluteVelocityConstraint {
let lin_rhs = (rb2.linvel + rb2.angvel.gcross(r2)) - (rb1.linvel + rb1.angvel.gcross(r1));
let ang_rhs = basis2.tr_mul(&rb2.angvel) - basis1.tr_mul(&rb1.angvel);
let mut rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y);
let rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y);
/*
* Motor.
@@ -102,8 +101,8 @@ impl RevoluteVelocityConstraint {
let motor_axis2 = rb2.position * *joint.local_axis2;
let mut motor_rhs = 0.0;
let mut motor_inv_lhs = 0.0;
let mut motor_max_impulse = joint.motor_max_impulse;
let mut motor_angle = 0.0;
let motor_max_impulse = joint.motor_max_impulse;
let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
params.dt,
@@ -381,8 +380,8 @@ impl RevoluteVelocityGroundConstraint {
*/
let mut motor_rhs = 0.0;
let mut motor_inv_lhs = 0.0;
let mut motor_max_impulse = joint.motor_max_impulse;
let mut motor_angle = 0.0;
let motor_max_impulse = joint.motor_max_impulse;
let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
params.dt,