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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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3
src/dynamics/integration_parameters.rs
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@@ -71,8 +71,7 @@ impl IntegrationParameters {
/// NOTE: this resets [`Self::erp`], [`Self::damping_ratio`], [`Self::joint_erp`],
/// [`Self::joint_damping_ratio`] to their former default values.
pub fn switch_to_standard_pgs_solver(&mut self) {
self.num_internal_pgs_iterations =
self.num_solver_iterations.get() * self.num_internal_pgs_iterations;
self.num_internal_pgs_iterations *= self.num_solver_iterations.get();
self.num_solver_iterations = NonZeroUsize::new(1).unwrap();
self.erp = 0.8;
self.damping_ratio = 0.25;