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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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6
src/dynamics/solver/contact_constraint/one_body_constraint.rs
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@@ -76,7 +76,7 @@ impl OneBodyConstraintBuilder {
let rb1 = handle1
.map(|h| SolverBody::from(&bodies[h]))
.unwrap_or_else(SolverBody::default);
.unwrap_or_default();
let rb2 = &bodies[handle2.unwrap()];
let vels2 = &rb2.vels;
@@ -334,7 +334,7 @@ impl OneBodyConstraint {
solve_normal: bool,
solve_friction: bool,
) {
let mut solver_vel2 = solver_vels[self.solver_vel2 as usize];
let mut solver_vel2 = solver_vels[self.solver_vel2];
OneBodyConstraintElement::solve_group(
self.cfm_factor,
@@ -349,7 +349,7 @@ impl OneBodyConstraint {
solve_friction,
);
solver_vels[self.solver_vel2 as usize] = solver_vel2;
solver_vels[self.solver_vel2] = solver_vel2;
}
// FIXME: duplicated code. This is exactly the same as in the two-body velocity constraint.