4 files changed, 3 insertions, 7 deletions
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint.rs b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
index 2392493..1243d11 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
@@ -128,7 +128,7 @@ impl OneBodyConstraintBuilder {
                 // Normal part.
                 let normal_rhs_wo_bias;
                 {
-                    let mut gcross2 = mprops2
+                    let gcross2 = mprops2
                         .effective_world_inv_inertia_sqrt
                         .transform_vector(dp2.gcross(-force_dir1));
 
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint.rs b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
index 39f4931..1511d4f 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
@@ -8,7 +8,6 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{Isometry, Real, Vector, DIM, MAX_MANIFOLD_POINTS};
 use crate::utils::{self, SimdAngularInertia, SimdBasis, SimdCross, SimdDot};
 use na::{DVector, Matrix2};
-use num::Pow;
 
 use super::{TwoBodyConstraintElement, TwoBodyConstraintNormalPart};
 
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint_element.rs b/src/dynamics/solver/contact_constraint/two_body_constraint_element.rs
index 7e17e73..b794833 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint_element.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint_element.rs
@@ -1,11 +1,9 @@
 use crate::dynamics::integration_parameters::BLOCK_SOLVER_ENABLED;
-use crate::dynamics::solver::contact_constraint::OneBodyConstraintNormalPart;
 use crate::dynamics::solver::SolverVel;
 use crate::math::{AngVector, TangentImpulse, Vector, DIM};
 use crate::utils::{SimdBasis, SimdDot, SimdRealCopy};
-use na::{Matrix2, Vector2};
-use num::Zero;
-use simba::simd::{SimdPartialOrd, SimdValue};
+use na::Vector2;
+use simba::simd::SimdValue;
 
 #[derive(Copy, Clone, Debug)]
 pub(crate) struct TwoBodyConstraintTangentPart<N: SimdRealCopy> {
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
index 0b1b419..4c4ef52 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
@@ -14,7 +14,6 @@ use crate::math::{
 #[cfg(feature = "dim2")]
 use crate::utils::SimdBasis;
 use crate::utils::{self, SimdAngularInertia, SimdCross, SimdDot};
-use na::Matrix2;
 use num::Zero;
 use parry::math::SimdBool;
 use parry::utils::SdpMatrix2;