refactor: remove dead code

Author: zOadT

src/collision/Distance.ts

@@ -111,8 +111,6 @@ export const Distance = function (output: DistanceOutput, cache: SimplexCache, i
   const saveB = []; // int[3]
   let saveCount = 0;
 
-  let distanceSqr1 = Infinity;
-
   // Main iteration loop.
   let iter = 0;
   while (iter < k_maxIters) {
@@ -130,16 +128,6 @@ export const Distance = function (output: DistanceOutput, cache: SimplexCache, i
       break;
     }
 
-    // Compute closest point.
-    const p = simplex.getClosestPoint();
-    const distanceSqr2 = p.lengthSquared();
-
-    // Ensure progress
-    if (distanceSqr2 >= distanceSqr1) {
-      // break;
-    }
-    distanceSqr1 = distanceSqr2;
-
     // Get search direction.
     const d = simplex.getSearchDirection();
 

src/collision/shape/PolygonShape.ts

@@ -206,6 +206,7 @@ export class PolygonShape extends Shape {
     let ih = i0;
 
     while (true) {
+      _ASSERT && console.assert(m < Settings.maxPolygonVertices);
       hull[m] = ih;
 
       let ie = 0;

src/dynamics/Contact.ts

@@ -86,7 +86,7 @@ export type ContactCallback = (
 
 /**
  * Friction mixing law. The idea is to allow either fixture to drive the
- * restitution to zero. For example, anything slides on ice.
+ * friction to zero. For example, anything slides on ice.
  */
 export function mixFriction(friction1: number, friction2: number): number {
   return Math.sqrt(friction1 * friction2);
@@ -822,7 +822,7 @@ export class Contact {
     }
   }
 
-  solveVelocityConstraint(step: TimeStep): void {
+  solveVelocityConstraint(step: TimeStep): void { // TODO das ist irgendwie anders implementiert?
     const bodyA = this.m_fixtureA.m_body;
     const bodyB = this.m_fixtureB.m_body;