Fix many warnings.

10 files changed, 30 insertions, 31 deletions

diff --git a/src/geometry/contact_generator/ball_convex_contact_generator.rs b/src/geometry/contact_generator/ball_convex_contact_generator.rs
index 62ebfab..69bc5e3 100644
--- a/src/geometry/contact_generator/ball_convex_contact_generator.rs
+++ b/src/geometry/contact_generator/ball_convex_contact_generator.rs
@@ -1,5 +1,5 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{Ball, Contact, KinematicsCategory, Shape};
+use crate::geometry::{Ball, Contact, KinematicsCategory};
 use crate::math::Isometry;
 use na::Unit;
 use ncollide::query::PointQuery;
diff --git a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs
index 4d9bbc7..b24227a 100644
--- a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs
+++ b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs
@@ -1,11 +1,11 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{Capsule, Contact, ContactManifold, KinematicsCategory, Shape};
+use crate::geometry::{Capsule, Contact, ContactManifold, KinematicsCategory};
 use crate::math::Isometry;
 use crate::math::Vector;
 use approx::AbsDiffEq;
 use na::Unit;
 #[cfg(feature = "dim2")]
-use ncollide::shape::{Segment, SegmentPointLocation};
+use ncollide::shape::SegmentPointLocation;
 
 pub fn generate_contacts_capsule_capsule(ctxt: &mut PrimitiveContactGenerationContext) {
     if let (Some(capsule1), Some(capsule2)) = (ctxt.shape1.as_capsule(), ctxt.shape2.as_capsule()) {
@@ -39,10 +39,11 @@ pub fn generate_contacts<'a>(
     let pos12 = pos1.inverse() * pos2;
     let pos21 = pos12.inverse();
 
-    let capsule2_1 = capsule2.transform_by(&pos12);
+    let seg1 = capsule1.segment();
+    let seg2_1 = capsule2.segment().transformed(&pos12);
     let (loc1, loc2) = ncollide::query::closest_points_segment_segment_with_locations_nD(
-        (&capsule1.a, &capsule1.b),
-        (&capsule2_1.a, &capsule2_1.b),
+        (&seg1.a, &seg1.b),
+        (&seg2_1.a, &seg2_1.b),
     );
 
     // We do this clone to perform contact tracking and transfer impulses.
@@ -65,8 +66,8 @@ pub fn generate_contacts<'a>(
 
     let bcoords1 = loc1.barycentric_coordinates();
     let bcoords2 = loc2.barycentric_coordinates();
-    let local_p1 = capsule1.a * bcoords1[0] + capsule1.b.coords * bcoords1[1];
-    let local_p2 = capsule2_1.a * bcoords2[0] + capsule2_1.b.coords * bcoords2[1];
+    let local_p1 = seg1.a * bcoords1[0] + seg1.b.coords * bcoords1[1];
+    let local_p2 = seg2_1.a * bcoords2[0] + seg2_1.b.coords * bcoords2[1];
 
     let local_n1 =
         Unit::try_new(local_p2 - local_p1, f32::default_epsilon()).unwrap_or(Vector::y_axis());
@@ -87,18 +88,15 @@ pub fn generate_contacts<'a>(
         return;
     }
 
-    let seg1 = Segment::new(capsule1.a, capsule1.b);
-    let seg2 = Segment::new(capsule2_1.a, capsule2_1.b);
-
-    if let (Some(dir1), Some(dir2)) = (seg1.direction(), seg2.direction()) {
+    if let (Some(dir1), Some(dir2)) = (seg1.direction(), seg2_1.direction()) {
         if dir1.dot(&dir2).abs() >= crate::utils::COS_FRAC_PI_8
             && dir1.dot(&local_n1).abs() < crate::utils::SIN_FRAC_PI_8
         {
             // Capsules axes are almost parallel and are almost perpendicular to the normal.
             // Find a second contact point.
             if let Some((clip_a, clip_b)) = crate::geometry::clip_segments_with_normal(
-                (capsule1.a, capsule1.b),
-                (capsule2_1.a, capsule2_1.b),
+                (seg1.a, seg1.b),
+                (seg2_1.a, seg2_1.b),
                 *local_n1,
             ) {
                 let contact =
diff --git a/src/geometry/contact_generator/contact_dispatcher.rs b/src/geometry/contact_generator/contact_dispatcher.rs
index 14b7f79..53165ee 100644
--- a/src/geometry/contact_generator/contact_dispatcher.rs
+++ b/src/geometry/contact_generator/contact_dispatcher.rs
@@ -1,9 +1,10 @@
+#[cfg(feature = "dim3")]
+use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace;
 use crate::geometry::contact_generator::{
     ContactGenerator, ContactPhase, HeightFieldShapeContactGeneratorWorkspace,
-    PfmPfmContactManifoldGeneratorWorkspace, PrimitiveContactGenerator,
-    TrimeshShapeContactGeneratorWorkspace,
+    PrimitiveContactGenerator, TrimeshShapeContactGeneratorWorkspace,
 };
-use crate::geometry::{Shape, ShapeType};
+use crate::geometry::ShapeType;
 use std::any::Any;
 
 /// Trait implemented by structures responsible for selecting a collision-detection algorithm
@@ -92,6 +93,7 @@ impl ContactDispatcher for DefaultContactDispatcher {
                     None,
                 )
             }
+            #[cfg(feature = "dim3")]
             (ShapeType::Cylinder, _)
             | (_, ShapeType::Cylinder)
             | (ShapeType::Cone, _)
diff --git a/src/geometry/contact_generator/contact_generator.rs b/src/geometry/contact_generator/contact_generator.rs
index 9dd0050..b034760 100644
--- a/src/geometry/contact_generator/contact_generator.rs
+++ b/src/geometry/contact_generator/contact_generator.rs
@@ -139,8 +139,8 @@ pub struct PrimitiveContactGenerationContext<'a> {
     pub prediction_distance: f32,
     pub collider1: &'a Collider,
     pub collider2: &'a Collider,
-    pub shape1: &'a Shape,
-    pub shape2: &'a Shape,
+    pub shape1: &'a dyn Shape,
+    pub shape2: &'a dyn Shape,
     pub position1: &'a Isometry<f32>,
     pub position2: &'a Isometry<f32>,
     pub manifold: &'a mut ContactManifold,
@@ -152,8 +152,8 @@ pub struct PrimitiveContactGenerationContextSimd<'a, 'b> {
     pub prediction_distance: f32,
     pub colliders1: [&'a Collider; SIMD_WIDTH],
     pub colliders2: [&'a Collider; SIMD_WIDTH],
-    pub shapes1: [&'a Shape; SIMD_WIDTH],
-    pub shapes2: [&'a Shape; SIMD_WIDTH],
+    pub shapes1: [&'a dyn Shape; SIMD_WIDTH],
+    pub shapes2: [&'a dyn Shape; SIMD_WIDTH],
     pub positions1: &'a Isometry<SimdFloat>,
     pub positions2: &'a Isometry<SimdFloat>,
     pub manifolds: &'a mut [&'b mut ContactManifold],
diff --git a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs
index c3cf588..8650a78 100644
--- a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs
+++ b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs
@@ -1,12 +1,11 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
 #[cfg(feature = "dim3")]
 use crate::geometry::PolyhedronFace;
-use crate::geometry::{cuboid, sat, Capsule, ContactManifold, Cuboid, KinematicsCategory, Shape};
+use crate::geometry::{cuboid, sat, Capsule, ContactManifold, Cuboid, KinematicsCategory};
 #[cfg(feature = "dim2")]
 use crate::geometry::{CuboidFeature, CuboidFeatureFace};
 use crate::math::Isometry;
 use crate::math::Vector;
-use ncollide::shape::Segment;
 
 pub fn generate_contacts_cuboid_capsule(ctxt: &mut PrimitiveContactGenerationContext) {
     if let (Some(cube1), Some(capsule2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_capsule()) {
diff --git a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs b/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs
index 596cfb1..5be5af3 100644
--- a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs
+++ b/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs
@@ -1,5 +1,5 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{cuboid, sat, ContactManifold, CuboidFeature, KinematicsCategory, Shape};
+use crate::geometry::{cuboid, sat, ContactManifold, CuboidFeature, KinematicsCategory};
 use crate::math::Isometry;
 #[cfg(feature = "dim2")]
 use crate::math::Vector;
diff --git a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs b/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs
index 6744c0e..562d7d6 100644
--- a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs
+++ b/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs
@@ -1,7 +1,7 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
 #[cfg(feature = "dim3")]
 use crate::geometry::PolyhedronFace;
-use crate::geometry::{cuboid, sat, ContactManifold, Cuboid, KinematicsCategory, Shape, Triangle};
+use crate::geometry::{cuboid, sat, ContactManifold, Cuboid, KinematicsCategory, Triangle};
 use crate::math::Isometry;
 #[cfg(feature = "dim2")]
 use crate::{
diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
index f507caf..820caa3 100644
--- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
@@ -3,7 +3,7 @@ use crate::geometry::contact_generator::{
 };
 #[cfg(feature = "dim2")]
 use crate::geometry::Capsule;
-use crate::geometry::{Collider, ContactManifold, HeightField, Shape, ShapeType};
+use crate::geometry::{Collider, ContactManifold, HeightField, ShapeType};
 use crate::ncollide::bounding_volume::BoundingVolume;
 #[cfg(feature = "dim3")]
 use crate::{geometry::Triangle, math::Point};
@@ -117,8 +117,8 @@ fn do_generate_contacts(
         let position1 = *collider1.position();
         #[cfg(feature = "dim2")]
         let (position1, sub_shape1) = {
-            let (dpos, height) = crate::utils::segment_to_capsule(&part1.a, &part1.b);
-            (position1 * dpos, Capsule::new(height, 0.0));
+            let (dpos, half_height) = crate::utils::segment_to_capsule(&part1.a, &part1.b);
+            (position1 * dpos, Capsule::new(half_height, 0.0))
         };
         #[cfg(feature = "dim3")]
         let sub_shape1 = *part1;
diff --git a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs
index c150e83..e1e6e7e 100644
--- a/src/geometry/contact_generator/polygon_polygon_contact_generator.rs
+++ b/src/geometry/contact_generator/polygon_polygon_contact_generator.rs
@@ -1,10 +1,10 @@
 use crate::geometry::contact_generator::PrimitiveContactGenerationContext;
-use crate::geometry::{sat, Contact, ContactManifold, KinematicsCategory, Polygon, Shape};
+use crate::geometry::{sat, Contact, ContactManifold, KinematicsCategory, Polygon};
 use crate::math::{Isometry, Point};
 #[cfg(feature = "dim2")]
 use crate::{math::Vector, utils};
 
-pub fn generate_contacts_polygon_polygon(ctxt: &mut PrimitiveContactGenerationContext) {
+pub fn generate_contacts_polygon_polygon(_ctxt: &mut PrimitiveContactGenerationContext) {
     unimplemented!()
     // if let (Shape::Polygon(polygon1), Shape::Polygon(polygon2)) = (ctxt.shape1, ctxt.shape2) {
     //     generate_contacts(
diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
index 49e9b40..502658d 100644
--- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
@@ -1,7 +1,7 @@
 use crate::geometry::contact_generator::{
     ContactGenerationContext, PrimitiveContactGenerationContext,
 };
-use crate::geometry::{Collider, ContactManifold, Shape, ShapeType, Trimesh};
+use crate::geometry::{Collider, ContactManifold, ShapeType, Trimesh};
 use crate::ncollide::bounding_volume::{BoundingVolume, AABB};
 
 pub struct TrimeshShapeContactGeneratorWorkspace {