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Fix clippy and enable clippy on CI

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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
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43
src/dynamics/ccd/ccd_solver.rs
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@@ -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;
}
_ => {}
}
}