Fix multiple warnings.

17 files changed, 23 insertions, 51 deletions

diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
index 4e7fae1..0717c67 100644
--- a/examples3d/debug_cylinder3.rs
+++ b/examples3d/debug_cylinder3.rs
@@ -1,4 +1,4 @@
-use na::{Point3, Vector3};
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shifty / 2.0;
     let centerz = shiftz * (num / 2) as f32;
 
-    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+    let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
     let x = -centerx + offset;
     let y = centery + 3.0;
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index 6a98077..db15341 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -1,4 +1,4 @@
-use na::{Point3, Vector3};
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
diff --git a/src/dynamics/mass_properties_capsule.rs b/src/dynamics/mass_properties_capsule.rs
index dae6cfb..3b1b214 100644
--- a/src/dynamics/mass_properties_capsule.rs
+++ b/src/dynamics/mass_properties_capsule.rs
@@ -1,7 +1,7 @@
 use crate::dynamics::MassProperties;
-use crate::math::Point;
 #[cfg(feature = "dim3")]
-use crate::{geometry::Capsule, math::Rotation};
+use crate::geometry::Capsule;
+use crate::math::Point;
 
 impl MassProperties {
     pub(crate) fn from_capsule(density: f32, a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
diff --git a/src/dynamics/mass_properties_cone.rs b/src/dynamics/mass_properties_cone.rs
index 0fb61b6..12f831f 100644
--- a/src/dynamics/mass_properties_cone.rs
+++ b/src/dynamics/mass_properties_cone.rs
@@ -1,5 +1,4 @@
 use crate::dynamics::MassProperties;
-use crate::geometry::Cone;
 use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector};
 
 impl MassProperties {
diff --git a/src/dynamics/mass_properties_cylinder.rs b/src/dynamics/mass_properties_cylinder.rs
index 8d4f254..7c8054a 100644
--- a/src/dynamics/mass_properties_cylinder.rs
+++ b/src/dynamics/mass_properties_cylinder.rs
@@ -1,10 +1,7 @@
 use crate::dynamics::MassProperties;
-use crate::math::{PrincipalAngularInertia, Vector};
 #[cfg(feature = "dim3")]
-use {
-    crate::geometry::Capsule,
-    crate::math::{Point, Rotation},
-};
+use crate::math::{Point, Rotation};
+use crate::math::{PrincipalAngularInertia, Vector};
 
 impl MassProperties {
     pub(crate) fn cylinder_y_volume_unit_inertia(
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index ae5cc73..d4f685c 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -4,7 +4,7 @@ use crate::geometry::{
     Segment, Shape, ShapeType, Triangle, Trimesh,
 };
 #[cfg(feature = "dim3")]
-use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, Rounded};
+use crate::geometry::{Cone, Cylinder, Rounded};
 use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
 use na::Point3;
 use ncollide::bounding_volume::AABB;
diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
index 81752e4..9224d4e 100644
--- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
@@ -5,8 +5,6 @@ use crate::geometry::contact_generator::{
 use crate::geometry::Capsule;
 use crate::geometry::{Collider, ContactManifold, HeightField, Shape, ShapeType};
 use crate::ncollide::bounding_volume::BoundingVolume;
-#[cfg(feature = "dim3")]
-use crate::{geometry::Triangle, math::Point};
 use std::any::Any;
 use std::collections::hash_map::Entry;
 use std::collections::HashMap;
@@ -111,7 +109,7 @@ fn do_generate_contacts(
     heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| {
         let position1 = collider1.position();
         #[cfg(feature = "dim2")]
-        let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0);
+        let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0); // TODO: use a segment instead.
         #[cfg(feature = "dim3")]
         let sub_shape1 = *part1;
 
diff --git a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
index 37f8629..62a38ae 100644
--- a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
+++ b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
@@ -1,9 +1,6 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{
-    Contact, ContactManifold, KinematicsCategory, PolygonalFeatureMap, PolyhedronFace,
-};
+use crate::geometry::{KinematicsCategory, PolygonalFeatureMap, PolyhedronFace};
 use crate::math::{Isometry, Vector};
-use crate::na::UnitQuaternion;
 use na::Unit;
 use ncollide::query;
 use ncollide::query::algorithms::{gjk::GJKResult, VoronoiSimplex};
@@ -11,7 +8,6 @@ use ncollide::query::algorithms::{gjk::GJKResult, VoronoiSimplex};
 pub struct PfmPfmContactManifoldGeneratorWorkspace {
     simplex: VoronoiSimplex<f32>,
     last_gjk_dir: Option<Unit<Vector<f32>>>,
-    last_optimal_dir: Option<Unit<Vector<f32>>>,
     feature1: PolyhedronFace,
     feature2: PolyhedronFace,
 }
@@ -21,7 +17,6 @@ impl Default for PfmPfmContactManifoldGeneratorWorkspace {
         Self {
             simplex: VoronoiSimplex::new(),
             last_gjk_dir: None,
-            last_optimal_dir: None,
             feature1: PolyhedronFace::new(),
             feature2: PolyhedronFace::new(),
         }
diff --git a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs
index e1e6e7e..0e7543d 100644
--- a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs
+++ b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs
@@ -1,3 +1,5 @@
+#![allow(dead_code)] // TODO: remove this once we support polygons.
+
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
 use crate::geometry::{sat, Contact, ContactManifold, KinematicsCategory, Polygon};
 use crate::math::{Isometry, Point};
diff --git a/src/geometry/polygon.rs b/src/geometry/polygon.rs
index cdb1012..d07cfd9 100644
--- a/src/geometry/polygon.rs
+++ b/src/geometry/polygon.rs
@@ -1,3 +1,5 @@
+#![allow(dead_code)] // TODO: remove this once we support polygons.
+
 use crate::math::{Isometry, Point, Vector};
 use ncollide::bounding_volume::AABB;
 
diff --git a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
index 30a02fa..12a8e45 100644
--- a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
+++ b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
@@ -1,3 +1,5 @@
+#![allow(dead_code)]
+
 use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
 use crate::geometry::{sat, Polygon, Proximity};
 use crate::math::Isometry;
diff --git a/src/geometry/sat.rs b/src/geometry/sat.rs
index e2548dd..452b380 100644
--- a/src/geometry/sat.rs
+++ b/src/geometry/sat.rs
@@ -4,6 +4,7 @@ use crate::utils::WSign;
 use na::Unit;
 use ncollide::shape::{Segment, SupportMap};
 
+#[allow(dead_code)]
 pub fn polygon_polygon_compute_separation_features(
     p1: &Polygon,
     p2: &Polygon,
diff --git a/src/utils.rs b/src/utils.rs
index 0bc9e17..a398a02 100644
--- a/src/utils.rs
+++ b/src/utils.rs
@@ -1,7 +1,6 @@
 //! Miscellaneous utilities.
 
 use crate::dynamics::RigidBodyHandle;
-use crate::math::{Isometry, Point, Rotation, Vector};
 #[cfg(all(feature = "enhanced-determinism", feature = "serde-serialize"))]
 use indexmap::IndexMap as HashMap;
 use na::{Matrix2, Matrix3, Matrix3x2, Point2, Point3, Scalar, SimdRealField, Vector2, Vector3};
@@ -1334,28 +1333,3 @@ pub(crate) fn other_handle(
         pair.0
     }
 }
-
-/// Returns the rotation that aligns the y axis to the segment direction.
-pub(crate) fn rotation_wrt_y(a: &Point<f32>, b: &Point<f32>) -> Rotation<f32> {
-    let mut dir = b - a;
-
-    if dir.y < 0.0 {
-        dir = -dir;
-    }
-
-    #[cfg(feature = "dim2")]
-    return Rotation::rotation_between(&Vector::y(), &dir);
-
-    #[cfg(feature = "dim3")]
-    return Rotation::rotation_between(&Vector::y(), &dir).unwrap_or(Rotation::identity());
-}
-
-// Return the transform that aligns the y axis to the segment and move the origin to the segment middle,
-// and the capsule's half-height.
-pub(crate) fn segment_to_capsule(a: &Point<f32>, b: &Point<f32>) -> (Isometry<f32>, f32) {
-    let rot = rotation_wrt_y(a, b);
-    let half_height = (b - a).norm() / 2.0;
-    let center = na::center(a, b);
-    let pos = Isometry::from_parts(center.coords.into(), rot);
-    (pos, half_height)
-}
diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs
index 9156c2a..769b12d 100644
--- a/src_testbed/box2d_backend.rs
+++ b/src_testbed/box2d_backend.rs
@@ -5,7 +5,7 @@ use rapier::counters::Counters;
 use rapier::dynamics::{
     IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
 };
-use rapier::geometry::{Collider, ColliderSet, Shape};
+use rapier::geometry::{Collider, ColliderSet};
 use std::f32;
 
 use wrapped2d::b2;
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index a2b0331..3a0e487 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -12,7 +12,7 @@ use rapier::counters::Counters;
 use rapier::dynamics::{
     IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
 };
-use rapier::geometry::{Collider, ColliderSet, Shape};
+use rapier::geometry::{Collider, ColliderSet};
 use rapier::math::Vector;
 use std::collections::HashMap;
 #[cfg(feature = "dim3")]
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 7db3c4c..74d6af2 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -6,7 +6,7 @@ use rapier::counters::Counters;
 use rapier::dynamics::{
     IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
 };
-use rapier::geometry::{Collider, ColliderSet, Shape};
+use rapier::geometry::{Collider, ColliderSet};
 use rapier::utils::WBasis;
 use std::collections::HashMap;
 
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 3d7fd7d..2b733a3 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -21,7 +21,9 @@ use na::{self, Point2, Point3, Vector3};
 use rapier::dynamics::{
     ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet,
 };
-use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent, Ray};
+#[cfg(feature = "dim3")]
+use rapier::geometry::Ray;
+use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent};
 use rapier::math::Vector;
 use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
 #[cfg(feature = "fluids")]