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-rw-r--r--src/dynamics/joint/fixed_joint.rs12
-rw-r--r--src/dynamics/joint/generic_joint.rs8
-rw-r--r--src/dynamics/joint/impulse_joint/impulse_joint_set.rs6
-rw-r--r--src/dynamics/joint/motor_model.rs9
-rw-r--r--src/dynamics/joint/multibody_joint/multibody.rs21
-rw-r--r--src/dynamics/joint/multibody_joint/multibody_joint_set.rs12
-rw-r--r--src/dynamics/joint/prismatic_joint.rs12
-rw-r--r--src/dynamics/joint/revolute_joint.rs14
-rw-r--r--src/dynamics/joint/rope_joint.rs12
-rw-r--r--src/dynamics/joint/spherical_joint.rs12
-rw-r--r--src/dynamics/joint/spring_joint.rs12
11 files changed, 65 insertions, 65 deletions
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 75c8228..2bb2f64 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -84,9 +84,9 @@ impl FixedJoint {
}
}
-impl Into<GenericJoint> for FixedJoint {
- fn into(self) -> GenericJoint {
- self.data
+impl From<FixedJoint> for GenericJoint {
+ fn from(val: FixedJoint) -> GenericJoint {
+ val.data
}
}
@@ -143,8 +143,8 @@ impl FixedJointBuilder {
}
}
-impl Into<GenericJoint> for FixedJointBuilder {
- fn into(self) -> GenericJoint {
- self.0.into()
+impl From<FixedJointBuilder> for GenericJoint {
+ fn from(val: FixedJointBuilder) -> GenericJoint {
+ val.0.into()
}
}
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index 83e27be..76a7fe1 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -1,3 +1,5 @@
+#![allow(clippy::bad_bit_mask)] // Clippy will complain about the bitmasks due to JointAxesMask::FREE_FIXED_AXES being 0.
+
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
@@ -704,8 +706,8 @@ impl GenericJointBuilder {
}
}
-impl Into<GenericJoint> for GenericJointBuilder {
- fn into(self) -> GenericJoint {
- self.0
+impl From<GenericJointBuilder> for GenericJoint {
+ fn from(val: GenericJointBuilder) -> GenericJoint {
+ val.0
}
}
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
index 67f8949..3f9835e 100644
--- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
+++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
@@ -105,8 +105,8 @@ impl ImpulseJointSet {
}
/// Iterates through all the impulse joints attached to the given rigid-body.
- pub fn map_attached_joints_mut<'a>(
- &'a mut self,
+ pub fn map_attached_joints_mut(
+ &mut self,
body: RigidBodyHandle,
mut f: impl FnMut(RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &mut ImpulseJoint),
) {
@@ -282,7 +282,7 @@ impl ImpulseJointSet {
&self,
islands: &IslandManager,
bodies: &RigidBodySet,
- out: &mut Vec<Vec<JointIndex>>,
+ out: &mut [Vec<JointIndex>],
) {
for out_island in &mut out[..islands.num_islands()] {
out_island.clear();
diff --git a/src/dynamics/joint/motor_model.rs b/src/dynamics/joint/motor_model.rs
index e8ffffa..74b8dd3 100644
--- a/src/dynamics/joint/motor_model.rs
+++ b/src/dynamics/joint/motor_model.rs
@@ -1,23 +1,18 @@
use crate::math::Real;
/// The spring-like model used for constraints resolution.
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Default, Copy, Clone, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub enum MotorModel {
/// The solved spring-like equation is:
/// `acceleration = stiffness * (pos - target_pos) + damping * (vel - target_vel)`
+ #[default]
AccelerationBased,
/// The solved spring-like equation is:
/// `force = stiffness * (pos - target_pos) + damping * (vel - target_vel)`
ForceBased,
}
-impl Default for MotorModel {
- fn default() -> Self {
- MotorModel::AccelerationBased
- }
-}
-
impl MotorModel {
/// Combines the coefficients used for solving the spring equation.
///
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs
index c65a6ff..617d447 100644
--- a/src/dynamics/joint/multibody_joint/multibody.rs
+++ b/src/dynamics/joint/multibody_joint/multibody.rs
@@ -127,8 +127,9 @@ impl Multibody {
let mut link_id2new_id = vec![usize::MAX; self.links.len()];
for (i, mut link) in self.links.0.into_iter().enumerate() {
- let is_new_root = (!joint_only && (i == 0 || link.parent_internal_id == to_remove))
- || (joint_only && (i == 0 || i == to_remove));
+ let is_new_root = i == 0
+ || !joint_only && link.parent_internal_id == to_remove
+ || joint_only && i == to_remove;
if !joint_only && i == to_remove {
continue;
@@ -492,7 +493,7 @@ impl Multibody {
parent_to_world = parent_link.local_to_world;
let (link_j, parent_j) = self.body_jacobians.index_mut_const(i, parent_id);
- link_j.copy_from(&parent_j);
+ link_j.copy_from(parent_j);
{
let mut link_j_v = link_j.fixed_rows_mut::<DIM>(0);
@@ -602,12 +603,12 @@ impl Multibody {
let (coriolis_v, parent_coriolis_v) = self.coriolis_v.index_mut2(i, parent_id);
let (coriolis_w, parent_coriolis_w) = self.coriolis_w.index_mut2(i, parent_id);
- coriolis_v.copy_from(&parent_coriolis_v);
- coriolis_w.copy_from(&parent_coriolis_w);
+ coriolis_v.copy_from(parent_coriolis_v);
+ coriolis_w.copy_from(parent_coriolis_w);
// [c1 - c0].gcross() * (JDot + JDot/u * qdot)"
let shift_cross_tr = link.shift02.gcross_matrix_tr();
- coriolis_v.gemm(1.0, &shift_cross_tr, &parent_coriolis_w, 1.0);
+ coriolis_v.gemm(1.0, &shift_cross_tr, parent_coriolis_w, 1.0);
// JDot (but the 2.0 originates from the sum of two identical terms in JDot and JDot/u * gdot)
let dvel_cross = (rb.vels.angvel.gcross(link.shift02)
@@ -663,7 +664,7 @@ impl Multibody {
{
// [c3 - c2].gcross() * (JDot + JDot/u * qdot)
let shift_cross_tr = link.shift23.gcross_matrix_tr();
- coriolis_v.gemm(1.0, &shift_cross_tr, &coriolis_w, 1.0);
+ coriolis_v.gemm(1.0, &shift_cross_tr, coriolis_w, 1.0);
// JDot
let dvel_cross = rb.vels.angvel.gcross(link.shift23).gcross_matrix_tr();
@@ -696,16 +697,16 @@ impl Multibody {
{
let mut i_coriolis_dt_w = self.i_coriolis_dt.fixed_rows_mut::<ANG_DIM>(DIM);
// NOTE: this is just an axpy, but on row columns.
- i_coriolis_dt_w.zip_apply(&coriolis_w, |o, x| *o = x * dt * rb_inertia);
+ i_coriolis_dt_w.zip_apply(coriolis_w, |o, x| *o = x * dt * rb_inertia);
}
#[cfg(feature = "dim3")]
{
let mut i_coriolis_dt_w = self.i_coriolis_dt.fixed_rows_mut::<ANG_DIM>(DIM);
- i_coriolis_dt_w.gemm(dt, &rb_inertia, &coriolis_w, 0.0);
+ i_coriolis_dt_w.gemm(dt, &rb_inertia, coriolis_w, 0.0);
}
self.acc_augmented_mass
- .gemm_tr(1.0, &rb_j, &self.i_coriolis_dt, 1.0);
+ .gemm_tr(1.0, rb_j, &self.i_coriolis_dt, 1.0);
}
/*
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index 748de3b..fa0ffdb 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -393,10 +393,10 @@ impl MultibodyJointSet {
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by a multibody_joint.
- pub fn attached_bodies<'a>(
- &'a self,
+ pub fn attached_bodies(
+ &self,
body: RigidBodyHandle,
- ) -> impl Iterator<Item = RigidBodyHandle> + 'a {
+ ) -> impl Iterator<Item = RigidBodyHandle> + '_ {
self.rb2mb
.get(body.0)
.into_iter()
@@ -406,10 +406,10 @@ impl MultibodyJointSet {
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by an enabled multibody_joint.
- pub fn bodies_attached_with_enabled_joint<'a>(
- &'a self,
+ pub fn bodies_attached_with_enabled_joint(
+ &self,
body: RigidBodyHandle,
- ) -> impl Iterator<Item = RigidBodyHandle> + 'a {
+ ) -> impl Iterator<Item = RigidBodyHandle> + '_ {
self.attached_bodies(body).filter(move |other| {
if let Some((_, _, link)) = self.joint_between(body, *other) {
link.joint.data.is_enabled()
diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index 1e7a016..d0f3a7d 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/src/dynamics/joint/prismatic_joint.rs
@@ -152,9 +152,9 @@ impl PrismaticJoint {
}
}
-impl Into<GenericJoint> for PrismaticJoint {
- fn into(self) -> GenericJoint {
- self.data
+impl From<PrismaticJoint> for GenericJoint {
+ fn from(val: PrismaticJoint) -> GenericJoint {
+ val.data
}
}
@@ -263,8 +263,8 @@ impl PrismaticJointBuilder {
}
}
-impl Into<GenericJoint> for PrismaticJointBuilder {
- fn into(self) -> GenericJoint {
- self.0.into()
+impl From<PrismaticJointBuilder> for GenericJoint {
+ fn from(val: PrismaticJointBuilder) -> GenericJoint {
+ val.0.into()
}
}
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs
index 9400ba8..ba27351 100644
--- a/src/dynamics/joint/revolute_joint.rs
+++ b/src/dynamics/joint/revolute_joint.rs
@@ -17,6 +17,7 @@ pub struct RevoluteJoint {
impl RevoluteJoint {
/// Creates a new revolute joint allowing only relative rotations.
#[cfg(feature = "dim2")]
+ #[allow(clippy::new_without_default)] // For symmetry with 3D which can’t have a Default impl.
pub fn new() -> Self {
let data = GenericJointBuilder::new(JointAxesMask::LOCKED_REVOLUTE_AXES);
Self { data: data.build() }
@@ -137,9 +138,9 @@ impl RevoluteJoint {
}
}
-impl Into<GenericJoint> for RevoluteJoint {
- fn into(self) -> GenericJoint {
- self.data
+impl From<RevoluteJoint> for GenericJoint {
+ fn from(val: RevoluteJoint) -> GenericJoint {
+ val.data
}
}
@@ -153,6 +154,7 @@ pub struct RevoluteJointBuilder(pub RevoluteJoint);
impl RevoluteJointBuilder {
/// Creates a new revolute joint builder.
#[cfg(feature = "dim2")]
+ #[allow(clippy::new_without_default)] // For symmetry with 3D which can’t have a Default impl.
pub fn new() -> Self {
Self(RevoluteJoint::new())
}
@@ -241,8 +243,8 @@ impl RevoluteJointBuilder {
}
}
-impl Into<GenericJoint> for RevoluteJointBuilder {
- fn into(self) -> GenericJoint {
- self.0.into()
+impl From<RevoluteJointBuilder> for GenericJoint {
+ fn from(val: RevoluteJointBuilder) -> GenericJoint {
+ val.0.into()
}
}
diff --git a/src/dynamics/joint/rope_joint.rs b/src/dynamics/joint/rope_joint.rs
index 08c90e5..64a66ea 100644
--- a/src/dynamics/joint/rope_joint.rs
+++ b/src/dynamics/joint/rope_joint.rs
@@ -134,9 +134,9 @@ impl RopeJoint {
}
}
-impl Into<GenericJoint> for RopeJoint {
- fn into(self) -> GenericJoint {
- self.data
+impl From<RopeJoint> for GenericJoint {
+ fn from(val: RopeJoint) -> GenericJoint {
+ val.data
}
}
@@ -231,8 +231,8 @@ impl RopeJointBuilder {
}
}
-impl Into<GenericJoint> for RopeJointBuilder {
- fn into(self) -> GenericJoint {
- self.0.into()
+impl From<RopeJointBuilder> for GenericJoint {
+ fn from(val: RopeJointBuilder) -> GenericJoint {
+ val.0.into()
}
}
diff --git a/src/dynamics/joint/spherical_joint.rs b/src/dynamics/joint/spherical_joint.rs
index 6f2dc39..dcbf5fb 100644
--- a/src/dynamics/joint/spherical_joint.rs
+++ b/src/dynamics/joint/spherical_joint.rs
@@ -164,9 +164,9 @@ impl SphericalJoint {
}
}
-impl Into<GenericJoint> for SphericalJoint {
- fn into(self) -> GenericJoint {
- self.data
+impl From<SphericalJoint> for GenericJoint {
+ fn from(val: SphericalJoint) -> GenericJoint {
+ val.data
}
}
@@ -288,8 +288,8 @@ impl SphericalJointBuilder {
}
}
-impl Into<GenericJoint> for SphericalJointBuilder {
- fn into(self) -> GenericJoint {
- self.0.into()
+impl From<SphericalJointBuilder> for GenericJoint {
+ fn from(val: SphericalJointBuilder) -> GenericJoint {
+ val.0.into()
}
}
diff --git a/src/dynamics/joint/spring_joint.rs b/src/dynamics/joint/spring_joint.rs
index d9a849a..f5cb5bd 100644
--- a/src/dynamics/joint/spring_joint.rs
+++ b/src/dynamics/joint/spring_joint.rs
@@ -94,9 +94,9 @@ impl SpringJoint {
// }
}
-impl Into<GenericJoint> for SpringJoint {
- fn into(self) -> GenericJoint {
- self.data
+impl From<SpringJoint> for GenericJoint {
+ fn from(val: SpringJoint) -> GenericJoint {
+ val.data
}
}
@@ -165,8 +165,8 @@ impl SpringJointBuilder {
}
}
-impl Into<GenericJoint> for SpringJointBuilder {
- fn into(self) -> GenericJoint {
- self.0.into()
+impl From<SpringJointBuilder> for GenericJoint {
+ fn from(val: SpringJointBuilder) -> GenericJoint {
+ val.0.into()
}
}
generated by cgit (git 2.34.1) at 2026-02-07 12:37:37 +0000