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

12
src/dynamics/joint/fixed_joint.rs
View File

@@ -84,9 +84,9 @@ impl FixedJoint {
}
}
impl Into<GenericJoint> for FixedJoint {
fn into(self) -> GenericJoint {
self.data
impl From<FixedJoint> for GenericJoint {
fn from(val: FixedJoint) -> GenericJoint {
val.data
}
}
@@ -143,8 +143,8 @@ impl FixedJointBuilder {
}
}
impl Into<GenericJoint> for FixedJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
impl From<FixedJointBuilder> for GenericJoint {
fn from(val: FixedJointBuilder) -> GenericJoint {
val.0.into()
}
}

8
src/dynamics/joint/generic_joint.rs
View File

@@ -1,3 +1,5 @@
#![allow(clippy::bad_bit_mask)] // Clippy will complain about the bitmasks due to JointAxesMask::FREE_FIXED_AXES being 0.
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
@@ -704,8 +706,8 @@ impl GenericJointBuilder {
}
}
impl Into<GenericJoint> for GenericJointBuilder {
fn into(self) -> GenericJoint {
self.0
impl From<GenericJointBuilder> for GenericJoint {
fn from(val: GenericJointBuilder) -> GenericJoint {
val.0
}
}

6
src/dynamics/joint/impulse_joint/impulse_joint_set.rs
View File

@@ -105,8 +105,8 @@ impl ImpulseJointSet {
}
/// Iterates through all the impulse joints attached to the given rigid-body.
pub fn map_attached_joints_mut<'a>(
&'a mut self,
pub fn map_attached_joints_mut(
&mut self,
body: RigidBodyHandle,
mut f: impl FnMut(RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &mut ImpulseJoint),
) {
@@ -282,7 +282,7 @@ impl ImpulseJointSet {
&self,
islands: &IslandManager,
bodies: &RigidBodySet,
out: &mut Vec<Vec<JointIndex>>,
out: &mut [Vec<JointIndex>],
) {
for out_island in &mut out[..islands.num_islands()] {
out_island.clear();

9
src/dynamics/joint/motor_model.rs
View File

@@ -1,23 +1,18 @@
use crate::math::Real;
/// The spring-like model used for constraints resolution.
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
#[derive(Default, Copy, Clone, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub enum MotorModel {
/// The solved spring-like equation is:
/// `acceleration = stiffness * (pos - target_pos) + damping * (vel - target_vel)`
#[default]
AccelerationBased,
/// The solved spring-like equation is:
/// `force = stiffness * (pos - target_pos) + damping * (vel - target_vel)`
ForceBased,
}
impl Default for MotorModel {
fn default() -> Self {
MotorModel::AccelerationBased
}
}
impl MotorModel {
/// Combines the coefficients used for solving the spring equation.
///

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);
}
/*

12
src/dynamics/joint/multibody_joint/multibody_joint_set.rs
View File

@@ -393,10 +393,10 @@ impl MultibodyJointSet {
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by a multibody_joint.
pub fn attached_bodies<'a>(
&'a self,
pub fn attached_bodies(
&self,
body: RigidBodyHandle,
) -> impl Iterator<Item = RigidBodyHandle> + 'a {
) -> impl Iterator<Item = RigidBodyHandle> + '_ {
self.rb2mb
.get(body.0)
.into_iter()
@@ -406,10 +406,10 @@ impl MultibodyJointSet {
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by an enabled multibody_joint.
pub fn bodies_attached_with_enabled_joint<'a>(
&'a self,
pub fn bodies_attached_with_enabled_joint(
&self,
body: RigidBodyHandle,
) -> impl Iterator<Item = RigidBodyHandle> + 'a {
) -> impl Iterator<Item = RigidBodyHandle> + '_ {
self.attached_bodies(body).filter(move |other| {
if let Some((_, _, link)) = self.joint_between(body, *other) {
link.joint.data.is_enabled()

12
src/dynamics/joint/prismatic_joint.rs
View File

@@ -152,9 +152,9 @@ impl PrismaticJoint {
}
}
impl Into<GenericJoint> for PrismaticJoint {
fn into(self) -> GenericJoint {
self.data
impl From<PrismaticJoint> for GenericJoint {
fn from(val: PrismaticJoint) -> GenericJoint {
val.data
}
}
@@ -263,8 +263,8 @@ impl PrismaticJointBuilder {
}
}
impl Into<GenericJoint> for PrismaticJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
impl From<PrismaticJointBuilder> for GenericJoint {
fn from(val: PrismaticJointBuilder) -> GenericJoint {
val.0.into()
}
}

14
src/dynamics/joint/revolute_joint.rs
View File

@@ -17,6 +17,7 @@ pub struct RevoluteJoint {
impl RevoluteJoint {
/// Creates a new revolute joint allowing only relative rotations.
#[cfg(feature = "dim2")]
#[allow(clippy::new_without_default)] // For symmetry with 3D which can’t have a Default impl.
pub fn new() -> Self {
let data = GenericJointBuilder::new(JointAxesMask::LOCKED_REVOLUTE_AXES);
Self { data: data.build() }
@@ -137,9 +138,9 @@ impl RevoluteJoint {
}
}
impl Into<GenericJoint> for RevoluteJoint {
fn into(self) -> GenericJoint {
self.data
impl From<RevoluteJoint> for GenericJoint {
fn from(val: RevoluteJoint) -> GenericJoint {
val.data
}
}
@@ -153,6 +154,7 @@ pub struct RevoluteJointBuilder(pub RevoluteJoint);
impl RevoluteJointBuilder {
/// Creates a new revolute joint builder.
#[cfg(feature = "dim2")]
#[allow(clippy::new_without_default)] // For symmetry with 3D which can’t have a Default impl.
pub fn new() -> Self {
Self(RevoluteJoint::new())
}
@@ -241,8 +243,8 @@ impl RevoluteJointBuilder {
}
}
impl Into<GenericJoint> for RevoluteJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
impl From<RevoluteJointBuilder> for GenericJoint {
fn from(val: RevoluteJointBuilder) -> GenericJoint {
val.0.into()
}
}

12
src/dynamics/joint/rope_joint.rs
View File

@@ -134,9 +134,9 @@ impl RopeJoint {
}
}
impl Into<GenericJoint> for RopeJoint {
fn into(self) -> GenericJoint {
self.data
impl From<RopeJoint> for GenericJoint {
fn from(val: RopeJoint) -> GenericJoint {
val.data
}
}
@@ -231,8 +231,8 @@ impl RopeJointBuilder {
}
}
impl Into<GenericJoint> for RopeJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
impl From<RopeJointBuilder> for GenericJoint {
fn from(val: RopeJointBuilder) -> GenericJoint {
val.0.into()
}
}

12
src/dynamics/joint/spherical_joint.rs
View File

@@ -164,9 +164,9 @@ impl SphericalJoint {
}
}
impl Into<GenericJoint> for SphericalJoint {
fn into(self) -> GenericJoint {
self.data
impl From<SphericalJoint> for GenericJoint {
fn from(val: SphericalJoint) -> GenericJoint {
val.data
}
}
@@ -288,8 +288,8 @@ impl SphericalJointBuilder {
}
}
impl Into<GenericJoint> for SphericalJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
impl From<SphericalJointBuilder> for GenericJoint {
fn from(val: SphericalJointBuilder) -> GenericJoint {
val.0.into()
}
}

12
src/dynamics/joint/spring_joint.rs
View File

@@ -94,9 +94,9 @@ impl SpringJoint {
// }
}
impl Into<GenericJoint> for SpringJoint {
fn into(self) -> GenericJoint {
self.data
impl From<SpringJoint> for GenericJoint {
fn from(val: SpringJoint) -> GenericJoint {
val.data
}
}
@@ -165,8 +165,8 @@ impl SpringJointBuilder {
}
}
impl Into<GenericJoint> for SpringJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
impl From<SpringJointBuilder> for GenericJoint {
fn from(val: SpringJointBuilder) -> GenericJoint {
val.0.into()
}
}