Fix multiple warnings.

3 files changed, 4 insertions, 9 deletions

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};