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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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4
src/dynamics/solver/contact_constraint/two_body_constraint_element.rs
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@@ -243,7 +243,7 @@ impl<N: SimdRealCopy> TwoBodyConstraintElement<N> {
AngVector<N>: SimdDot<AngVector<N>, Result = N>,
{
#[cfg(feature = "dim3")]
let tangents1 = [tangent1, &dir1.cross(&tangent1)];
let tangents1 = [tangent1, &dir1.cross(tangent1)];
#[cfg(feature = "dim2")]
let tangents1 = [&dir1.orthonormal_vector()];
@@ -252,7 +252,7 @@ impl<N: SimdRealCopy> TwoBodyConstraintElement<N> {
for element in elements.iter_mut() {
element
.normal_part
.solve(cfm_factor, &dir1, im1, im2, solver_vel1, solver_vel2);
.solve(cfm_factor, dir1, im1, im2, solver_vel1, solver_vel2);
let limit = limit * element.normal_part.impulse;
let part = &mut element.tangent_part;
part.apply_limit(tangents1, im1, im2, limit, solver_vel1, solver_vel2);