Fix warnings.

src/dynamics/joint/ball_joint.rs

@@ -74,20 +74,24 @@ impl BallJoint {
         self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0)
     }
 
+    /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn configure_motor_model(&mut self, model: SpringModel) {
         self.motor_model = model;
     }
 
+    /// Sets the target velocity and velocity correction factor this motor.
     #[cfg(feature = "dim2")]
     pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real) {
         self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
     }
 
+    /// Sets the target velocity and velocity correction factor this motor.
     #[cfg(feature = "dim3")]
     pub fn configure_motor_velocity(&mut self, target_vel: Vector<Real>, factor: Real) {
         self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
     }
 
+    /// Sets the target orientation this motor needs to reach.
     pub fn configure_motor_position(
         &mut self,
         target_pos: Rotation<Real>,
@@ -97,6 +101,7 @@ impl BallJoint {
         self.configure_motor(target_pos, na::zero(), stiffness, damping)
     }
 
+    /// Sets the target orientation this motor needs to reach.
     #[cfg(feature = "dim2")]
     pub fn configure_motor(
         &mut self,
@@ -111,6 +116,7 @@ impl BallJoint {
         self.motor_damping = damping;
     }
 
+    /// Configure both the target orientation and target velocity of the motor.
     #[cfg(feature = "dim3")]
     pub fn configure_motor(
         &mut self,

src/dynamics/joint/generic_joint.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::{BallJoint, FixedJoint, PrismaticJoint, RevoluteJoint};
-use crate::math::{Isometry, Real, SpacialVector, SPATIAL_DIM};
+use crate::math::{Isometry, Real, SpacialVector};
 use crate::na::{Rotation3, UnitQuaternion};
 
 #[derive(Copy, Clone, Debug)]

src/dynamics/joint/joint.rs

@@ -130,6 +130,7 @@ pub struct Joint {
 }
 
 impl Joint {
+    /// Can this joint use SIMD-accelerated constraint formulations?
     pub fn supports_simd_constraints(&self) -> bool {
         match &self.params {
             JointParams::PrismaticJoint(joint) => joint.supports_simd_constraints(),

src/dynamics/joint/prismatic_joint.rs

@@ -217,18 +217,22 @@ impl PrismaticJoint {
         Isometry::from_parts(translation, rotation)
     }
 
+    /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn configure_motor_model(&mut self, model: SpringModel) {
         self.motor_model = model;
     }
 
+    /// Sets the target velocity this motor needs to reach.
     pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real) {
         self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
     }
 
+    /// Sets the target position this motor needs to reach.
     pub fn configure_motor_position(&mut self, target_pos: Real, stiffness: Real, damping: Real) {
         self.configure_motor(target_pos, 0.0, stiffness, damping)
     }
 
+    /// Configure both the target position and target velocity of the motor.
     pub fn configure_motor(
         &mut self,
         target_pos: Real,

src/dynamics/joint/revolute_joint.rs

@@ -85,18 +85,22 @@ impl RevoluteJoint {
         self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0)
     }
 
+    /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn configure_motor_model(&mut self, model: SpringModel) {
         self.motor_model = model;
     }
 
+    /// Sets the target velocity this motor needs to reach.
     pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real) {
         self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor)
     }
 
+    /// Sets the target angle this motor needs to reach.
     pub fn configure_motor_position(&mut self, target_pos: Real, stiffness: Real, damping: Real) {
         self.configure_motor(target_pos, 0.0, stiffness, damping)
     }
 
+    /// Configure both the target angle and target velocity of the motor.
     pub fn configure_motor(
         &mut self,
         target_pos: Real,

src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs

@@ -210,7 +210,8 @@ impl BallVelocityConstraint {
             let new_impulse = self.motor_impulse + motor_inv_lhs.transform_vector(dangvel);
 
             #[cfg(feature = "dim2")]
-            let clamped_impulse = na::clamp(new_impulse, -motor_max_impulse, motor_max_impulse);
+            let clamped_impulse =
+                na::clamp(new_impulse, -self.motor_max_impulse, self.motor_max_impulse);
             #[cfg(feature = "dim3")]
             let clamped_impulse = new_impulse.cap_magnitude(self.motor_max_impulse);
 
@@ -418,7 +419,8 @@ impl BallVelocityGroundConstraint {
             let new_impulse = self.motor_impulse + motor_inv_lhs.transform_vector(dangvel);
 
             #[cfg(feature = "dim2")]
-            let clamped_impulse = na::clamp(new_impulse, -motor_max_impulse, motor_max_impulse);
+            let clamped_impulse =
+                na::clamp(new_impulse, -self.motor_max_impulse, self.motor_max_impulse);
             #[cfg(feature = "dim3")]
             let clamped_impulse = new_impulse.cap_magnitude(self.motor_max_impulse);
 

src/dynamics/solver/joint_constraint/joint_position_constraint.rs

@@ -13,7 +13,6 @@ use super::{
     WFixedPositionGroundConstraint, WPrismaticPositionConstraint,
     WPrismaticPositionGroundConstraint,
 };
-use crate::dynamics::solver::DeltaVel;
 use crate::dynamics::{IntegrationParameters, Joint, JointParams, RigidBodySet};
 #[cfg(feature = "simd-is-enabled")]
 use crate::math::SIMD_WIDTH;

src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs

@@ -3,7 +3,7 @@ use crate::dynamics::{
     IntegrationParameters, JointGraphEdge, JointIndex, JointParams, PrismaticJoint, RigidBody,
 };
 use crate::math::{AngularInertia, Real, Vector};
-use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
+use crate::utils::{WAngularInertia, WCross, WCrossMatrix, WDot};
 #[cfg(feature = "dim3")]
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
@@ -148,7 +148,6 @@ impl PrismaticVelocityConstraint {
          */
         let mut motor_rhs = 0.0;
         let mut motor_inv_lhs = 0.0;
-        let mut motor_max_impulse = joint.motor_max_impulse;
 
         let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
             params.dt,
@@ -171,7 +170,11 @@ impl PrismaticVelocityConstraint {
             motor_rhs /= gamma;
         }
 
-        let motor_impulse = na::clamp(joint.motor_impulse, -motor_max_impulse, motor_max_impulse);
+        let motor_impulse = na::clamp(
+            joint.motor_impulse,
+            -joint.motor_max_impulse,
+            joint.motor_max_impulse,
+        );
 
         /*
          * Setup limit constraint.
@@ -202,8 +205,8 @@ impl PrismaticVelocityConstraint {
                 let gcross2 = r2.gcross(*axis2);
                 limits_inv_lhs = crate::utils::inv(
                     im1 + im2
-                        + gcross1.dot(&ii1.transform_vector(gcross1))
+                        + gcross1.gdot(ii1.transform_vector(gcross1))
-                        + gcross2.dot(&ii2.transform_vector(gcross2)),
+                        + gcross2.gdot(ii2.transform_vector(gcross2)),
                 );
             }
         }
@@ -226,7 +229,7 @@ impl PrismaticVelocityConstraint {
             motor_impulse,
             motor_axis1: *axis1,
             motor_axis2: *axis2,
-            motor_max_impulse,
+            motor_max_impulse: joint.motor_max_impulse,
             basis1,
             inv_lhs,
             rhs,
@@ -530,7 +533,6 @@ impl PrismaticVelocityGroundConstraint {
          */
         let mut motor_rhs = 0.0;
         let mut motor_inv_lhs = 0.0;
-        let mut motor_max_impulse = joint.motor_max_impulse;
 
         let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
             params.dt,
@@ -553,7 +555,11 @@ impl PrismaticVelocityGroundConstraint {
             motor_rhs /= gamma;
         }
 
-        let motor_impulse = na::clamp(joint.motor_impulse, -motor_max_impulse, motor_max_impulse);
+        let motor_impulse = na::clamp(
+            joint.motor_impulse,
+            -joint.motor_max_impulse,
+            joint.motor_max_impulse,
+        );
 
         /*
          * Setup limit constraint.
@@ -590,7 +596,7 @@ impl PrismaticVelocityGroundConstraint {
             motor_rhs,
             motor_inv_lhs,
             motor_impulse,
-            motor_max_impulse,
+            motor_max_impulse: joint.motor_max_impulse,
             basis1,
             inv_lhs,
             rhs,

src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs

@@ -7,7 +7,7 @@ use crate::dynamics::{
 use crate::math::{
     AngVector, AngularInertia, Isometry, Point, Real, SimdBool, SimdReal, Vector, SIMD_WIDTH,
 };
-use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
+use crate::utils::{WAngularInertia, WCross, WCrossMatrix, WDot};
 #[cfg(feature = "dim3")]
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
@@ -223,8 +223,8 @@ impl WPrismaticVelocityConstraint {
                 limits_inv_lhs = SimdReal::splat(1.0)
                     / (im1
                         + im2
-                        + gcross1.dot(&ii1.transform_vector(gcross1))
+                        + gcross1.gdot(ii1.transform_vector(gcross1))
-                        + gcross2.dot(&ii2.transform_vector(gcross2)));
+                        + gcross2.gdot(ii2.transform_vector(gcross2)));
             }
         }
 

src/dynamics/solver/joint_constraint/revolute_position_constraint.rs

@@ -1,7 +1,7 @@
 use crate::dynamics::{IntegrationParameters, RevoluteJoint, RigidBody};
 use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector};
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
-use na::{Matrix3x2, Matrix5, Unit};
+use na::Unit;
 
 #[derive(Debug)]
 pub(crate) struct RevolutePositionConstraint {

src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs

@@ -1,12 +1,11 @@
-use crate::dynamics::solver::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel};
+use crate::dynamics::solver::{AnyJointVelocityConstraint, DeltaVel};
 use crate::dynamics::{
     IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RevoluteJoint, RigidBody,
 };
 use crate::math::{AngularInertia, Real, Rotation, Vector};
 use crate::na::UnitQuaternion;
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
-use downcast_rs::Downcast;
+use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
-use na::{Cholesky, Matrix3, Matrix3x2, Matrix5, RealField, Vector5, U2, U3};
 
 #[derive(Debug)]
 pub(crate) struct RevoluteVelocityConstraint {
@@ -93,7 +92,7 @@ impl RevoluteVelocityConstraint {
 
         let lin_rhs = (rb2.linvel + rb2.angvel.gcross(r2)) - (rb1.linvel + rb1.angvel.gcross(r1));
         let ang_rhs = basis2.tr_mul(&rb2.angvel) - basis1.tr_mul(&rb1.angvel);
-        let mut rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y);
+        let rhs = Vector5::new(lin_rhs.x, lin_rhs.y, lin_rhs.z, ang_rhs.x, ang_rhs.y);
 
         /*
          * Motor.
@@ -102,8 +101,8 @@ impl RevoluteVelocityConstraint {
         let motor_axis2 = rb2.position * *joint.local_axis2;
         let mut motor_rhs = 0.0;
         let mut motor_inv_lhs = 0.0;
-        let mut motor_max_impulse = joint.motor_max_impulse;
         let mut motor_angle = 0.0;
+        let motor_max_impulse = joint.motor_max_impulse;
 
         let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
             params.dt,
@@ -381,8 +380,8 @@ impl RevoluteVelocityGroundConstraint {
          */
         let mut motor_rhs = 0.0;
         let mut motor_inv_lhs = 0.0;
-        let mut motor_max_impulse = joint.motor_max_impulse;
         let mut motor_angle = 0.0;
+        let motor_max_impulse = joint.motor_max_impulse;
 
         let (stiffness, damping, gamma, keep_lhs) = joint.motor_model.combine_coefficients(
             params.dt,

src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs

@@ -8,7 +8,7 @@ use crate::math::{
     AngVector, AngularInertia, Isometry, Point, Real, Rotation, SimdReal, Vector, SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
-use na::{Cholesky, Matrix3, Matrix3x2, Matrix5, Vector5, U2, U3};
+use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 
 #[derive(Debug)]
 pub(crate) struct WRevoluteVelocityConstraint {

src/lib.rs

@@ -148,10 +148,4 @@ pub mod math {
     /// single contact constraint.
     #[cfg(feature = "dim3")]
     pub const MAX_MANIFOLD_POINTS: usize = 4;
-
-    #[cfg(feature = "dim2")]
-    pub const SPATIAL_DIM: usize = 3;
-
-    #[cfg(feature = "dim3")]
-    pub const SPATIAL_DIM: usize = 6;
 }