Fix warnings.

5 files changed, 16 insertions, 1 deletions

diff --git a/src/dynamics/joint/ball_joint.rs b/src/dynamics/joint/ball_joint.rs
index 47c90ab..8481961 100644
--- a/src/dynamics/joint/ball_joint.rs
+++ b/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,
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index 5d776b0..c1549ff 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/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)]
diff --git a/src/dynamics/joint/joint.rs b/src/dynamics/joint/joint.rs
index 290c34c..e0a9d38 100644
--- a/src/dynamics/joint/joint.rs
+++ b/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(),
diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index 4f5c984..3736b7f 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/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,
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs
index 6895d3d..d1181e9 100644
--- a/src/dynamics/joint/revolute_joint.rs
+++ b/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,