From 891c08177d090c5f045fd01b5e1b5f7b7b26552f Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 6 Mar 2022 11:32:25 +0100
Subject: Rebase on master branch

---
 .../solver/joint_constraint/joint_constraint.rs       |  2 +-
 .../joint_generic_velocity_constraint_builder.rs      |  4 ++--
 .../joint_velocity_constraint_builder.rs              | 19 +++++++++----------
 3 files changed, 12 insertions(+), 13 deletions(-)

(limited to 'src/dynamics/solver/joint_constraint')

diff --git a/src/dynamics/solver/joint_constraint/joint_constraint.rs b/src/dynamics/solver/joint_constraint/joint_constraint.rs
index 988e6a2..f571bc6 100644
--- a/src/dynamics/solver/joint_constraint/joint_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/joint_constraint.rs
@@ -12,7 +12,7 @@ use crate::dynamics::{
 };
 #[cfg(feature = "simd-is-enabled")]
 use crate::math::{Isometry, SimdReal, SIMD_WIDTH};
-use crate::math::{Real, DIM, SPATIAL_DIM};
+use crate::math::{Real, SPATIAL_DIM};
 use crate::prelude::MultibodyJointSet;
 use na::DVector;
 
diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
index 510f46f..1e7df89 100644
--- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
+++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
@@ -58,7 +58,7 @@ impl SolverBody<Real, 1> {
 impl JointVelocityConstraintBuilder<Real> {
     pub fn lock_jacobians_generic(
         &self,
-        params: &IntegrationParameters,
+        _params: &IntegrationParameters,
         jacobians: &mut DVector<Real>,
         j_id: &mut usize,
         joint_id: JointIndex,
@@ -500,7 +500,7 @@ impl JointVelocityConstraintBuilder<Real> {
 impl JointVelocityConstraintBuilder<Real> {
     pub fn lock_jacobians_generic_ground(
         &self,
-        params: &IntegrationParameters,
+        _params: &IntegrationParameters,
         jacobians: &mut DVector<Real>,
         j_id: &mut usize,
         joint_id: JointIndex,
diff --git a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
index 95ab288..8544e31 100644
--- a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
+++ b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
@@ -3,7 +3,7 @@ use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
 };
 use crate::dynamics::solver::joint_constraint::SolverBody;
 use crate::dynamics::solver::MotorParameters;
-use crate::dynamics::{IntegrationParameters, JointAxesMask, JointIndex, JointLimits, JointMotor};
+use crate::dynamics::{IntegrationParameters, JointIndex, JointLimits};
 use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
 use crate::utils::{IndexMut2, WCrossMatrix, WDot, WQuat, WReal};
 use na::SMatrix;
@@ -660,15 +660,14 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
 
     pub fn motor_linear_coupled_ground<const LANES: usize>(
         &self,
-        params: &IntegrationParameters,
-        joint_id: [JointIndex; LANES],
-        body1: &SolverBody<N, LANES>,
-        body2: &SolverBody<N, LANES>,
-        motor_coupled_axes: u8,
-        motors: &[MotorParameters<N>],
-        limited_coupled_axes: u8,
-        limits: &[JointLimits<N>],
-        writeback_id: WritebackId,
+        _joint_id: [JointIndex; LANES],
+        _body1: &SolverBody<N, LANES>,
+        _body2: &SolverBody<N, LANES>,
+        _motor_coupled_axes: u8,
+        _motors: &[MotorParameters<N>],
+        _limited_coupled_axes: u8,
+        _limits: &[JointLimits<N>],
+        _writeback_id: WritebackId,
     ) -> JointVelocityGroundConstraint<N, LANES> {
         todo!()
         /*
-- 
cgit