7 files changed, 10 insertions, 10 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index ae5cc73..d4f685c 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -4,7 +4,7 @@ use crate::geometry::{
     Segment, Shape, ShapeType, Triangle, Trimesh,
 };
 #[cfg(feature = "dim3")]
-use crate::geometry::{Cone, Cylinder, PolygonalFeatureMap, Rounded};
+use crate::geometry::{Cone, Cylinder, Rounded};
 use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
 use na::Point3;
 use ncollide::bounding_volume::AABB;
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};
diff --git a/src/geometry/polygon.rs b/src/geometry/polygon.rs
index cdb1012..d07cfd9 100644
--- a/src/geometry/polygon.rs
+++ b/src/geometry/polygon.rs
@@ -1,3 +1,5 @@
+#![allow(dead_code)] // TODO: remove this once we support polygons.
+
 use crate::math::{Isometry, Point, Vector};
 use ncollide::bounding_volume::AABB;
 
diff --git a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
index 30a02fa..12a8e45 100644
--- a/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
+++ b/src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
@@ -1,3 +1,5 @@
+#![allow(dead_code)]
+
 use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
 use crate::geometry::{sat, Polygon, Proximity};
 use crate::math::Isometry;
diff --git a/src/geometry/sat.rs b/src/geometry/sat.rs
index e2548dd..452b380 100644
--- a/src/geometry/sat.rs
+++ b/src/geometry/sat.rs
@@ -4,6 +4,7 @@ use crate::utils::WSign;
 use na::Unit;
 use ncollide::shape::{Segment, SupportMap};
 
+#[allow(dead_code)]
 pub fn polygon_polygon_compute_separation_features(
     p1: &Polygon,
     p2: &Polygon,