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

Fix clippy and enable clippy on CI

Browse Source
This commit is contained in:
Sébastien Crozet
2024-01-27 16:49:53 +01:00
committed by Sébastien Crozet
parent aef873f20e
commit da92e5c283
81 changed files with 420 additions and 468 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
src/dynamics/ccd/ccd_solver.rs
View File

@@ -52,32 +52,27 @@ impl CCDSolver {
///
/// The `impacts` should be the result of a previous call to `self.predict_next_impacts`.
pub fn clamp_motions(&self, dt: Real, bodies: &mut RigidBodySet, impacts: &PredictedImpacts) {
match impacts {
PredictedImpacts::Impacts(tois) => {
for (handle, toi) in tois {
let rb = bodies.index_mut_internal(*handle);
let local_com = &rb.mprops.local_mprops.local_com;
if let PredictedImpacts::Impacts(tois) = impacts {
for (handle, toi) in tois {
let rb = bodies.index_mut_internal(*handle);
let local_com = &rb.mprops.local_mprops.local_com;
let min_toi = (rb.ccd.ccd_thickness
* 0.15
* crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
.min(dt);
// println!(
// "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
// min_toi,
// toi,
// rb.ccd.ccd_thickness,
// rb.ccd.max_point_velocity(&rb.integrated_vels)
// );
let new_pos = rb.integrated_vels.integrate(
toi.max(min_toi),
&rb.pos.position,
&local_com,
);
rb.pos.next_position = new_pos;
}
let min_toi = (rb.ccd.ccd_thickness
* 0.15
* crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
.min(dt);
// println!(
// "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
// min_toi,
// toi,
// rb.ccd.ccd_thickness,
// rb.ccd.max_point_velocity(&rb.integrated_vels)
// );
let new_pos =
rb.integrated_vels
.integrate(toi.max(min_toi), &rb.pos.position, local_com);
rb.pos.next_position = new_pos;
}
_ => {}
}
}

6
src/dynamics/ccd/toi_entry.rs
View File

@@ -169,13 +169,15 @@ impl TOIEntry {
impl PartialOrd for TOIEntry {
fn partial_cmp(&self, other: &Self) -> Option<std::cmp::Ordering> {
(-self.toi).partial_cmp(&(-other.toi))
Some(self.cmp(other))
}
}
impl Ord for TOIEntry {
fn cmp(&self, other: &Self) -> std::cmp::Ordering {
self.partial_cmp(other).unwrap()
(-self.toi)
.partial_cmp(&(-other.toi))
.unwrap_or(std::cmp::Ordering::Equal)
}
}