chore: clippy fixes

29 files changed, 38 insertions, 52 deletions

diff --git a/benchmarks2d/vertical_stacks2.rs b/benchmarks2d/vertical_stacks2.rs
index aaf7933..15552ba 100644
--- a/benchmarks2d/vertical_stacks2.rs
+++ b/benchmarks2d/vertical_stacks2.rs
@@ -10,15 +10,14 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
-
-    let rad = 0.5; // 50.0 / 2.0; // 0.5;
-    let rad = 50.0 / 2.0; // 0.5;
+    let num = 80;
+    let rad = 0.5;
 
     /*
      * Ground
      */
     let ground_size = num as f32 * rad * 10.0;
-    let ground_thickness = 25.0;
+    let ground_thickness = 1.0;
 
     let rigid_body = RigidBodyBuilder::fixed();
     let ground_handle = bodies.insert(rigid_body);
@@ -31,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let shiftx_centerx = [
         (rad * 2.0 + 0.0002, -(num as f32) * rad * 2.0 * 1.5),
-         (rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5),
+        (rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5),
     ];
 
     for (shiftx, centerx) in shiftx_centerx {
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index fc0d7f4..cb7baec 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry2d-f64 = "0.13.1"
+parry2d-f64 = "0.14.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index 891cbb5..5c86692 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry2d = "0.13.1"
+parry2d = "0.14.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index a1279fd..c2ed4b6 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry3d-f64 = "0.13.1"
+parry3d-f64 = "0.14.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index ee33214..b5276e8 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = ["now"], optional = true }
 num-traits = "0.2"
 nalgebra = "0.32"
-parry3d = "0.13.1"
+parry3d = "0.14.0"
 simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/examples2d/s2d_arch.rs b/examples2d/s2d_arch.rs
index ea92e66..5b935e9 100644
--- a/examples2d/s2d_arch.rs
+++ b/examples2d/s2d_arch.rs
@@ -10,6 +10,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
+    #[allow(clippy::excessive_precision)]
     let mut ps1 = [
         Point::new(16.0, 0.0),
         Point::new(14.93803712795643, 5.133601056842984),
@@ -22,6 +23,7 @@ pub fn init_world(testbed: &mut Testbed) {
         Point::new(2.405937953536585, 39.09554102558315),
     ];
 
+    #[allow(clippy::excessive_precision)]
     let mut ps2 = [
         Point::new(24.0, 0.0),
         Point::new(22.33619528222415, 6.02299846205841),
diff --git a/examples2d/s2d_ball_and_chain.rs b/examples2d/s2d_ball_and_chain.rs
index cbc1a1f..29e0d87 100644
--- a/examples2d/s2d_ball_and_chain.rs
+++ b/examples2d/s2d_ball_and_chain.rs
@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let friction = 0.6;
     let capsule = ColliderBuilder::capsule_x(hx, 0.125)
         .friction(friction)
-        .density(20.0);
+        .density(density);
 
     let mut prev = ground;
     for i in 0..count {
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(radius)
         .friction(friction)
-        .density(20.0);
+        .density(density);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let pivot = point![(2.0 * count as f32) * hx, count as f32 * hx];
@@ -64,7 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
         .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
         .contacts_enabled(false);
     impulse_joints.insert(prev, handle, joint, true);
-    prev = handle;
 
     /*
      * Set up the testbed.
diff --git a/examples2d/s2d_bridge.rs b/examples2d/s2d_bridge.rs
index 712997e..ab9c96f 100644
--- a/examples2d/s2d_bridge.rs
+++ b/examples2d/s2d_bridge.rs
@@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
             .angular_damping(0.1)
             .translation(vector![x_base + 0.5 + 1.0 * i as f32, 20.0]);
         let handle = bodies.insert(rigid_body);
-        let collider = ColliderBuilder::cuboid(0.5, 0.125).density(20.0);
+        let collider = ColliderBuilder::cuboid(0.5, 0.125).density(density);
         colliders.insert_with_parent(collider, handle, &mut bodies);
 
         let pivot = point![x_base + 1.0 * i as f32, 20.0];
diff --git a/examples2d/s2d_card_house.rs b/examples2d/s2d_card_house.rs
index 0862062..5e2c5dc 100644
--- a/examples2d/s2d_card_house.rs
+++ b/examples2d/s2d_card_house.rs
@@ -10,7 +10,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
-    let extent = 1.0;
     let friction = 0.7;
 
     /*
diff --git a/examples2d/s2d_confined.rs b/examples2d/s2d_confined.rs
index 8b75a3d..ee54408 100644
--- a/examples2d/s2d_confined.rs
+++ b/examples2d/s2d_confined.rs
@@ -38,13 +38,13 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the spheres
      */
-    let mut row = 0;
+    let mut row;
     let mut count = 0;
     let mut column = 0;
 
     while count < max_count {
         row = 0;
-        for i in 0..grid_count {
+        for _ in 0..grid_count {
             let x = -8.75 + column as f32 * 18.0 / (grid_count as f32);
             let y = 1.5 + row as f32 * 18.0 / (grid_count as f32);
             let body = RigidBodyBuilder::dynamic()
diff --git a/examples2d/s2d_far_pyramid.rs b/examples2d/s2d_far_pyramid.rs
index f5e34c0..7948731 100644
--- a/examples2d/s2d_far_pyramid.rs
+++ b/examples2d/s2d_far_pyramid.rs
@@ -11,7 +11,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let multibody_joints = MultibodyJointSet::new();
 
     let origin = vector![100_000.0, -80_000.0];
-    let extent = 1.0;
     let friction = 0.6;
 
     /*
diff --git a/examples2d/s2d_high_mass_ratio_3.rs b/examples2d/s2d_high_mass_ratio_3.rs
index f8dd3ee..b1f6340 100644
--- a/examples2d/s2d_high_mass_ratio_3.rs
+++ b/examples2d/s2d_high_mass_ratio_3.rs
@@ -16,8 +16,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_width = 66.0 * extent;
-
     let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
diff --git a/examples2d/s2d_joint_grid.rs b/examples2d/s2d_joint_grid.rs
index 97cea07..0033c70 100644
--- a/examples2d/s2d_joint_grid.rs
+++ b/examples2d/s2d_joint_grid.rs
@@ -11,12 +11,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let multibody_joints = MultibodyJointSet::new();
 
     /*
-     * Ground
-     */
-    let ground = bodies.insert(RigidBodyBuilder::fixed());
-
-    /*
-     * Create the bridge.
+     * Create the joint grid.
      */
     let rad = 0.4;
     let numi = 100;
diff --git a/examples2d/s2d_pyramid.rs b/examples2d/s2d_pyramid.rs
index 45e6310..c35fe63 100644
--- a/examples2d/s2d_pyramid.rs
+++ b/examples2d/s2d_pyramid.rs
@@ -10,8 +10,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
-    let extent = 1.0;
-
     /*
      * Ground
      */
diff --git a/examples3d/debug_thin_cube_on_mesh3.rs b/examples3d/debug_thin_cube_on_mesh3.rs
index edf6664..4ad557a 100644
--- a/examples3d/debug_thin_cube_on_mesh3.rs
+++ b/examples3d/debug_thin_cube_on_mesh3.rs
@@ -16,9 +16,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = 100.1;
-    let ground_height = 0.1;
-
     // let vertices = vec![
     //     point![-50.0, 0.0, -50.0],
     //     point![-50.0, 0.0, 50.0],
diff --git a/examples3d/dynamic_trimesh3.rs b/examples3d/dynamic_trimesh3.rs
index 8d71899..0a82476 100644
--- a/examples3d/dynamic_trimesh3.rs
+++ b/examples3d/dynamic_trimesh3.rs
@@ -21,10 +21,9 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
     /*
      * Ground
      */
-    let ground_size = 50.0;
-    let ground_height = 0.1;
-
     //// OPTION 1: floor made of a single big box.
+    // let ground_size = 50.0;
+    // let ground_height = 0.1;
     // let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     // let handle = bodies.insert(rigid_body);
     // let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
@@ -38,7 +37,7 @@ pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) {
     });
     let heightfield = HeightField::new(heights, vector![100.0, 2.0, 100.0]);
     let mut trimesh = TriMesh::from(heightfield);
-    trimesh.set_flags(TriMeshFlags::FIX_INTERNAL_EDGES);
+    let _ = trimesh.set_flags(TriMeshFlags::FIX_INTERNAL_EDGES);
     colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())));
 
     /*
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index b883b0e..8b2ba3b 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -178,10 +178,16 @@ impl IntegrationParameters {
                 * self.joint_damping_ratio)
     }
 
+    /// Amount of penetration the engine won’t attempt to correct (default: `0.001` multiplied by
+    /// [`Self::length_unit`]).
     pub fn allowed_linear_error(&self) -> Real {
         self.normalized_allowed_linear_error * self.length_unit
     }
 
+    /// Maximum amount of penetration the solver will attempt to resolve in one timestep.
+    ///
+    /// This is equal to [`Self::normalized_max_penetration_correction`] multiplied by
+    /// [`Self::length_unit`].
     pub fn max_penetration_correction(&self) -> Real {
         if self.normalized_max_penetration_correction != Real::MAX {
             self.normalized_max_penetration_correction * self.length_unit
@@ -190,11 +196,13 @@ impl IntegrationParameters {
         }
     }
 
+    /// The maximal distance separating two objects that will generate predictive contacts
+    /// (default: `0.002m` multiped by [`Self::length_unit`]).
     pub fn prediction_distance(&self) -> Real {
         self.normalized_prediction_distance * self.length_unit
     }
 
-    /// Initialize the simulation paramaters with settings matching the TGS-soft solver
+    /// Initialize the simulation parameters with settings matching the TGS-soft solver
     /// with warmstarting.
     ///
     /// This is the default configuration, equivalent to [`IntegrationParameters::default()`].
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;
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs
index 7ea48ab..b0bafb8 100644
--- a/src/dynamics/solver/velocity_solver.rs
+++ b/src/dynamics/solver/velocity_solver.rs
@@ -10,7 +10,6 @@ use crate::math::Real;
 use crate::prelude::RigidBodyVelocity;
 use crate::utils::SimdAngularInertia;
 use na::DVector;
-use ordered_float::OrderedFloat;
 
 pub(crate) struct VelocitySolver {
     pub solver_bodies: Vec<SolverBody>,
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
index 0fa499f..c02b222 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
@@ -3,7 +3,7 @@ use super::{
 };
 use crate::geometry::{
     BroadPhaseProxyIndex, Collider, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
-    ColliderPosition, ColliderSet, ColliderShape,
+    ColliderSet,
 };
 use crate::math::{Isometry, Real};
 use crate::prelude::{BroadPhase, RigidBodySet};
@@ -606,7 +606,7 @@ impl BroadPhase for BroadPhaseMultiSap {
                     prediction_distance,
                     *handle,
                     &mut new_proxy_id,
-                    &co,
+                    co,
                     next_pos.as_ref(),
                 ) {
                     need_region_propagation = true;
diff --git a/src/geometry/broad_phase_qbvh.rs b/src/geometry/broad_phase_qbvh.rs
index be8c53b..5fd6bcf 100644
--- a/src/geometry/broad_phase_qbvh.rs
+++ b/src/geometry/broad_phase_qbvh.rs
@@ -1,5 +1,4 @@
 use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
-use parry::bounding_volume::BoundingVolume;
 use parry::math::Real;
 use parry::partitioning::Qbvh;
 use parry::partitioning::QbvhUpdateWorkspace;
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs
index ee3a6ac..f5d0f64 100644
--- a/src/geometry/contact_pair.rs
+++ b/src/geometry/contact_pair.rs
@@ -1,9 +1,8 @@
 use crate::dynamics::{RigidBodyHandle, RigidBodySet};
 use crate::geometry::{ColliderHandle, ColliderSet, Contact, ContactManifold};
-use crate::math::{Point, Real, TangentImpulse, Vector, ANG_DIM};
+use crate::math::{Point, Real, TangentImpulse, Vector};
 use crate::pipeline::EventHandler;
 use crate::prelude::CollisionEventFlags;
-use parry::math::AngVector;
 use parry::query::ContactManifoldsWorkspace;
 
 use super::CollisionEvent;
@@ -304,7 +303,9 @@ pub struct SolverContact {
     pub tangent_velocity: Vector<Real>,
     /// Whether or not this contact existed during the last timestep.
     pub is_new: bool,
+    /// Impulse used to warmstart the solve for the normal constraint.
     pub warmstart_impulse: Real,
+    /// Impulse used to warmstart the solve for the friction constraints.
     pub warmstart_tangent_impulse: TangentImpulse<Real>,
 }
 
diff --git a/src/lib.rs b/src/lib.rs
index 9346b9e..32e1541 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -166,6 +166,7 @@ pub mod math {
     #[cfg(feature = "dim2")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut3xX<'a, N>;
 
+    /// The type of impulse applied for friction constraints.
     #[cfg(feature = "dim2")]
     pub type TangentImpulse<N> = na::Vector1<N>;
 
@@ -198,6 +199,7 @@ pub mod math {
     #[cfg(feature = "dim3")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut6xX<'a, N>;
 
+    /// The type of impulse applied for friction constraints.
     #[cfg(feature = "dim3")]
     pub type TangentImpulse<N> = na::Vector2<N>;
 
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
index 59af7c6..bca0cc4 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline.rs
@@ -16,7 +16,6 @@ use parry::query::visitors::{
 };
 use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, TOI};
 use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
-use parry::utils::DefaultStorage;
 use std::sync::Arc;
 
 /// A pipeline for performing queries on all the colliders of a scene.
@@ -248,7 +247,6 @@ impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
     type PartShape = dyn Shape;
     type PartNormalConstraints = dyn NormalConstraints;
     type PartId = ColliderHandle;
-    type QbvhStorage = DefaultStorage;
 
     fn map_typed_part_at(
         &self,
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index d5406d0..f76100d 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -1114,7 +1114,6 @@ fn update_testbed(
 ) {
     let meshes = &mut *meshes;
     let materials = &mut *materials;
-    let prev_example = state.selected_example;
 
     // Handle inputs
     {
diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
index e18cc65..7f3bdac 100644
--- a/src_testbed/ui.rs
+++ b/src_testbed/ui.rs
@@ -10,7 +10,6 @@ use crate::testbed::{
 };
 
 use crate::PhysicsState;
-use bevy_egui::egui::WidgetType::CollapsingHeader;
 use bevy_egui::egui::{Slider, Ui};
 use bevy_egui::{egui, EguiContexts};
 use rapier::dynamics::IntegrationParameters;