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

21
src/dynamics/joint/multibody_joint/multibody.rs
View File

@@ -127,8 +127,9 @@ impl Multibody {
let mut link_id2new_id = vec![usize::MAX; self.links.len()];
for (i, mut link) in self.links.0.into_iter().enumerate() {
let is_new_root = (!joint_only && (i == 0 || link.parent_internal_id == to_remove))
|| (joint_only && (i == 0 || i == to_remove));
let is_new_root = i == 0
|| !joint_only && link.parent_internal_id == to_remove
|| joint_only && i == to_remove;
if !joint_only && i == to_remove {
continue;
@@ -492,7 +493,7 @@ impl Multibody {
parent_to_world = parent_link.local_to_world;
let (link_j, parent_j) = self.body_jacobians.index_mut_const(i, parent_id);
link_j.copy_from(&parent_j);
link_j.copy_from(parent_j);
{
let mut link_j_v = link_j.fixed_rows_mut::<DIM>(0);
@@ -602,12 +603,12 @@ impl Multibody {
let (coriolis_v, parent_coriolis_v) = self.coriolis_v.index_mut2(i, parent_id);
let (coriolis_w, parent_coriolis_w) = self.coriolis_w.index_mut2(i, parent_id);
coriolis_v.copy_from(&parent_coriolis_v);
coriolis_w.copy_from(&parent_coriolis_w);
coriolis_v.copy_from(parent_coriolis_v);
coriolis_w.copy_from(parent_coriolis_w);
// [c1 - c0].gcross() * (JDot + JDot/u * qdot)"
let shift_cross_tr = link.shift02.gcross_matrix_tr();
coriolis_v.gemm(1.0, &shift_cross_tr, &parent_coriolis_w, 1.0);
coriolis_v.gemm(1.0, &shift_cross_tr, parent_coriolis_w, 1.0);
// JDot (but the 2.0 originates from the sum of two identical terms in JDot and JDot/u * gdot)
let dvel_cross = (rb.vels.angvel.gcross(link.shift02)
@@ -663,7 +664,7 @@ impl Multibody {
{
// [c3 - c2].gcross() * (JDot + JDot/u * qdot)
let shift_cross_tr = link.shift23.gcross_matrix_tr();
coriolis_v.gemm(1.0, &shift_cross_tr, &coriolis_w, 1.0);
coriolis_v.gemm(1.0, &shift_cross_tr, coriolis_w, 1.0);
// JDot
let dvel_cross = rb.vels.angvel.gcross(link.shift23).gcross_matrix_tr();
@@ -696,16 +697,16 @@ impl Multibody {
{
let mut i_coriolis_dt_w = self.i_coriolis_dt.fixed_rows_mut::<ANG_DIM>(DIM);
// NOTE: this is just an axpy, but on row columns.
i_coriolis_dt_w.zip_apply(&coriolis_w, |o, x| *o = x * dt * rb_inertia);
i_coriolis_dt_w.zip_apply(coriolis_w, |o, x| *o = x * dt * rb_inertia);
}
#[cfg(feature = "dim3")]
{
let mut i_coriolis_dt_w = self.i_coriolis_dt.fixed_rows_mut::<ANG_DIM>(DIM);
i_coriolis_dt_w.gemm(dt, &rb_inertia, &coriolis_w, 0.0);
i_coriolis_dt_w.gemm(dt, &rb_inertia, coriolis_w, 0.0);
}
self.acc_augmented_mass
.gemm_tr(1.0, &rb_j, &self.i_coriolis_dt, 1.0);
.gemm_tr(1.0, rb_j, &self.i_coriolis_dt, 1.0);
}
/*