From 87ec0ced4031633e9084ee2f60d47c4cd57f7f7b Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sat, 8 Jan 2022 21:09:11 +0100
Subject: Address issues with the genral-case for multibody joints

---
 src/dynamics/rigid_body_components.rs | 27 +--------------------------
 1 file changed, 1 insertion(+), 26 deletions(-)

(limited to 'src/dynamics/rigid_body_components.rs')

diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index e24cb57..23ff7a8 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -389,19 +389,6 @@ impl RigidBodyVelocity {
         }
     }
 
-    #[cfg(feature = "dim2")]
-    pub(crate) fn from_vectors(linvel: Vector<Real>, angvel: na::Vector1<Real>) -> Self {
-        Self {
-            linvel,
-            angvel: angvel.x,
-        }
-    }
-
-    #[cfg(feature = "dim3")]
-    pub(crate) fn from_vectors(linvel: Vector<Real>, angvel: Vector<Real>) -> Self {
-        Self { linvel, angvel }
-    }
-
     /// Velocities set to zero.
     #[must_use]
     pub fn zero() -> Self {
@@ -463,21 +450,9 @@ impl RigidBodyVelocity {
         unsafe { std::mem::transmute(self) }
     }
 
-    /// Return `self` transformed by `transform`.
-    #[must_use]
-    pub fn transformed(self, transform: &Isometry<Real>) -> Self {
-        Self {
-            linvel: transform * self.linvel,
-            #[cfg(feature = "dim2")]
-            angvel: self.angvel,
-            #[cfg(feature = "dim3")]
-            angvel: transform * self.angvel,
-        }
-    }
-
     /// Return `self` rotated by `rotation`.
     #[must_use]
-    pub fn rotated(self, rotation: &Rotation<Real>) -> Self {
+    pub fn transformed(self, rotation: &Rotation<Real>) -> Self {
         Self {
             linvel: rotation * self.linvel,
             #[cfg(feature = "dim2")]
-- 
cgit