chore: add more comments

src/dynamics/ccd/toi_entry.rs

@@ -13,7 +13,6 @@ pub struct TOIEntry {
     // We call this "pseudo" intersection because this also
     // includes colliders pairs with mismatching solver_groups.
     pub is_pseudo_intersection_test: bool,
-    pub timestamp: usize,
 }
 
 impl TOIEntry {
@@ -24,7 +23,6 @@ impl TOIEntry {
         c2: ColliderHandle,
         b2: Option<RigidBodyHandle>,
         is_pseudo_intersection_test: bool,
-        timestamp: usize,
     ) -> Self {
         Self {
             toi,
@@ -33,7 +31,6 @@ impl TOIEntry {
             c2,
             b2,
             is_pseudo_intersection_test,
-            timestamp,
         }
     }
 
@@ -149,7 +146,6 @@ impl TOIEntry {
             ch2,
             co2.parent.map(|p| p.handle),
             is_pseudo_intersection_test,
-            0,
         ))
     }
 

src/dynamics/joint/multibody_joint/multibody.rs

@@ -569,8 +569,6 @@ impl Multibody {
             return; // Nothing to do.
         }
 
-        let mut kinematic_ndofs = 0;
-
         if self.augmented_mass.ncols() != self.ndofs {
             // TODO: do a resize instead of a full reallocation.
             self.augmented_mass = DMatrix::zeros(self.ndofs, self.ndofs);
@@ -1058,7 +1056,7 @@ impl Multibody {
         bodies: &RigidBodySet,
         link_id: usize,
         displacement: Option<&[Real]>,
-        mut out_jacobian: Option<&mut Jacobian<Real>>,
+        out_jacobian: Option<&mut Jacobian<Real>>,
     ) -> Isometry<Real> {
         let branch = self.kinematic_branch(link_id);
         self.forward_kinematics_single_branch(bodies, &branch, displacement, out_jacobian)

src/dynamics/joint/multibody_joint/multibody_joint.rs

@@ -17,6 +17,10 @@ use na::{UnitQuaternion, Vector3};
 pub struct MultibodyJoint {
     /// The joint’s description.
     pub data: GenericJoint,
+    /// Is the joint a kinematic joint?
+    ///
+    /// Kinematic joint velocities are never changed by the physics engine. This gives the user
+    /// total control over the values of their degrees of freedoms.
     pub kinematic: bool,
     pub(crate) coords: SpacialVector<Real>,
     pub(crate) joint_rot: Rotation<Real>,

src/dynamics/joint/multibody_joint/multibody_joint_set.rs

@@ -158,7 +158,6 @@ impl MultibodyJointSet {
         kinematic: bool,
         wake_up: bool,
     ) -> Option<MultibodyJointHandle> {
-        println!("Inserting kinematic: {}", kinematic);
         let link1 = self.rb2mb.get(body1.0).copied().unwrap_or_else(|| {
             let mb_handle = self.multibodies.insert(Multibody::with_root(body1, true));
             MultibodyLinkId {

src/dynamics/solver/contact_constraint/contact_constraints_set.rs

@@ -28,6 +28,7 @@ use {
 #[derive(Debug)]
 pub struct ConstraintsCounts {
     pub num_constraints: usize,
+    #[allow(dead_code)] // Keep this around for now. Might be useful once we rework parallelism.
     pub num_jacobian_lines: usize,
 }
 

src/dynamics/solver/joint_constraint/joint_constraint_builder.rs

@@ -9,11 +9,11 @@ use crate::dynamics::{GenericJoint, ImpulseJoint, IntegrationParameters, JointIn
 use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
 use crate::prelude::RigidBodySet;
 use crate::utils;
-use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdQuat, SimdRealCopy};
+use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdRealCopy};
 use na::SMatrix;
 
 #[cfg(feature = "dim3")]
-use crate::utils::SimdBasis;
+use crate::utils::{SimdBasis, SimdQuat};
 
 #[cfg(feature = "simd-is-enabled")]
 use crate::math::{SimdReal, SIMD_WIDTH};
@@ -345,9 +345,11 @@ impl JointOneBodyConstraintBuilderSimd {
 #[derive(Debug, Copy, Clone)]
 pub struct JointTwoBodyConstraintHelper<N: SimdRealCopy> {
     pub basis: Matrix<N>,
+    #[cfg(feature = "dim3")]
     pub basis2: Matrix<N>, // TODO: used for angular coupling. Can we avoid storing this?
     pub cmat1_basis: SMatrix<N, ANG_DIM, DIM>,
     pub cmat2_basis: SMatrix<N, ANG_DIM, DIM>,
+    #[cfg(feature = "dim3")]
     pub ang_basis: SMatrix<N, ANG_DIM, ANG_DIM>,
     pub lin_err: Vector<N>,
     pub ang_err: Rotation<N>,
@@ -387,7 +389,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
         let cmat1 = r1.gcross_matrix();
         let cmat2 = r2.gcross_matrix();
 
-        #[allow(unused_mut)] // The mut is needed for 3D
+        #[cfg(feature = "dim3")]
         let mut ang_basis = frame1.rotation.diff_conj1_2(&frame2.rotation).transpose();
         #[allow(unused_mut)] // The mut is needed for 3D
         let mut ang_err = frame1.rotation.inverse() * frame2.rotation;
@@ -401,9 +403,11 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
 
         Self {
             basis,
+            #[cfg(feature = "dim3")]
             basis2: frame2.rotation.to_rotation_matrix().into_inner(),
             cmat1_basis: cmat1 * basis,
             cmat2_basis: cmat2 * basis,
+            #[cfg(feature = "dim3")]
             ang_basis,
             lin_err,
             ang_err,