Fix warnings

examples2d/character_controller2.rs

@@ -131,7 +131,7 @@ pub fn init_world(testbed: &mut Testbed) {
             (run_state.time * 2.0).sin() * 2.0,
             (run_state.time * 5.0).sin() * 1.5
         ];
-        let angvel = run_state.time.sin() * 0.5;
+        // let angvel = run_state.time.sin() * 0.5;
 
         // Update the velocity-based kinematic body by setting its velocity.
         if let Some(platform) = physics.bodies.get_mut(platform_handle) {

src/control/character_controller.rs

@@ -26,6 +26,8 @@ pub enum CharacterLength {
 }
 
 impl CharacterLength {
+    /// Returns `self` with its value changed by the closure `f` if `self` is the `Self::Absolute`
+    /// variant.
     pub fn map_absolute(self, f: impl FnOnce(Real) -> Real) -> Self {
         if let Self::Absolute(value) = self {
             Self::Absolute(f(value))
@@ -34,6 +36,16 @@ impl CharacterLength {
         }
     }
 
+    /// Returns `self` with its value changed by the closure `f` if `self` is the `Self::Relative`
+    /// variant.
+    pub fn map_relative(self, f: impl FnOnce(Real) -> Real) -> Self {
+        if let Self::Relative(value) = self {
+            Self::Relative(f(value))
+        } else {
+            self
+        }
+    }
+
     fn eval(self, value: Real) -> Real {
         match self {
             Self::Relative(x) => value * x,
@@ -647,6 +659,10 @@ impl KinematicCharacterController {
         false
     }
 
+    /// For a given collision between a character and its environment, this method will apply
+    /// impulses to the rigid-bodies surrounding the character shape at the time of the collision.
+    /// Note that the impulse calculation is only approximate as it is not based on a global
+    /// constraints resolution scheme.
     pub fn solve_character_collision_impulses(
         &self,
         dt: Real,

src_testbed/testbed.rs

@@ -8,8 +8,8 @@ use crate::plugin::TestbedPlugin;
 use crate::{debug_render, ui};
 use crate::{graphics::GraphicsManager, harness::RunState};
 
-use na::{self, Point2, Point3, Quaternion, Unit, Vector3};
+use na::{self, Point2, Point3, Vector3};
-use rapier::control::{CharacterAutostep, CharacterLength, KinematicCharacterController};
+use rapier::control::KinematicCharacterController;
 use rapier::dynamics::{
     ImpulseJointSet, IntegrationParameters, MultibodyJointSet, RigidBodyActivation,
     RigidBodyHandle, RigidBodySet,
@@ -135,6 +135,7 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
     meshes: &'a mut Assets<Mesh>,
     materials: &'a mut Assets<BevyMaterial>,
     components: &'a mut Query<'b, 'f, (&'c mut Transform,)>,
+    #[allow(dead_code)] // Dead in 2D but not in 3D.
     camera_transform: GlobalTransform,
     camera: &'a mut OrbitCamera,
 }
@@ -662,7 +663,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                     .unwrap()
                     .camera_transform
                     .to_scale_rotation_translation();
-                let rot = Unit::new_unchecked(Quaternion::new(rot.w, rot.x, rot.y, rot.z));
+                let rot = na::Unit::new_unchecked(na::Quaternion::new(rot.w, rot.x, rot.y, rot.z));
                 let mut rot_x = rot * Vector::x();
                 let mut rot_z = rot * Vector::z();
                 rot_x.y = 0.0;