nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #104 from EmbarkStudios/clippy-fixes

Browse Source 
Make clippy a bit happier
This commit is contained in:
Sébastien Crozet
2021-02-04 18:20:27 +01:00
committed by GitHub
parent a023040825 85bc81d4fc
commit a272f4ce9e
15 changed files with 48 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/dynamics/joint/joint_set.rs
View File

@@ -55,6 +55,11 @@ impl JointSet {
self.joint_graph.graph.edges.len()
}
/// `true` if there are no joints in this set.
pub fn is_empty(&self) -> bool {
self.joint_graph.graph.edges.is_empty()
}
/// Retrieve the joint graph where edges are joints and nodes are rigid body handles.
pub fn joint_graph(&self) -> &InteractionGraph<RigidBodyHandle, Joint> {
&self.joint_graph

2
src/dynamics/rigid_body.rs
View File

@@ -304,7 +304,7 @@ impl RigidBody {
}
fn integrate_velocity(&self, dt: Real) -> Isometry<Real> {
let com = &self.position * self.mass_properties.local_com;
let com = self.position * self.mass_properties.local_com;
let shift = Translation::from(com.coords);
shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
}

5
src/dynamics/rigid_body_set.rs
View File

@@ -106,6 +106,11 @@ impl RigidBodySet {
self.bodies.len()
}
/// `true` if there are no rigid bodies in this set.
pub fn is_empty(&self) -> bool {
self.bodies.is_empty()
}
/// Is the given body handle valid?
pub fn contains(&self, handle: RigidBodyHandle) -> bool {
self.bodies.contains(handle.0)

4
src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
View File

@@ -84,7 +84,7 @@ impl PrismaticVelocityConstraint {
// .into_inner();
// #[cfg(feature = "dim3")]
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = r21 * basis1;
@@ -380,7 +380,7 @@ impl PrismaticVelocityGroundConstraint {
// .into_inner();
// #[cfg(feature = "dim3")]
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = r21 * basis1;

4
src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
View File

@@ -124,7 +124,7 @@ impl WPrismaticVelocityConstraint {
// .into_inner();
// #[cfg(feature = "dim3")]
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = r21 * basis1;
@@ -483,7 +483,7 @@ impl WPrismaticVelocityGroundConstraint {
// .into_inner();
// #[cfg(feature = "dim3")]
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = r21 * basis1;

4
src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
View File

@@ -56,7 +56,7 @@ impl RevolutePositionConstraint {
let axis1 = position1 * self.local_axis1;
let axis2 = position2 * self.local_axis2;
let delta_rot =
Rotation::rotation_between_axis(&axis1, &axis2).unwrap_or(Rotation::identity());
Rotation::rotation_between_axis(&axis1, &axis2).unwrap_or_else(Rotation::identity);
let ang_error = delta_rot.scaled_axis() * params.joint_erp;
let ang_impulse = self.ang_inv_lhs.transform_vector(ang_error);
@@ -129,7 +129,7 @@ impl RevolutePositionGroundConstraint {
let delta_rot =
Rotation::scaled_rotation_between_axis(&axis2, &self.axis1, params.joint_erp)
.unwrap_or(Rotation::identity());
.unwrap_or_else(Rotation::identity);
position2.rotation = delta_rot * position2.rotation;
let anchor2 = position2 * self.local_anchor2;

4
src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
View File

@@ -46,7 +46,7 @@ impl RevoluteVelocityConstraint {
]);
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = r21 * basis1;
@@ -208,7 +208,7 @@ impl RevoluteVelocityGroundConstraint {
};
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = /*r21 * */ basis1;

4
src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
View File

@@ -73,7 +73,7 @@ impl WRevoluteVelocityConstraint {
Matrix3x2::from_columns(&[position1 * local_basis1[0], position1 * local_basis1[1]]);
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = r21 * basis1;
@@ -290,7 +290,7 @@ impl WRevoluteVelocityGroundConstraint {
let anchor2 = position2 * local_anchor2;
// let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
// .unwrap_or(Rotation::identity())
// .unwrap_or_else(Rotation::identity)
// .to_rotation_matrix()
// .into_inner();
// let basis2 = /*r21 * */ basis1;