Fix clippy and enable clippy on CI

81 files changed, 421 insertions, 469 deletions

diff --git a/.github/workflows/rapier-ci-build.yml b/.github/workflows/rapier-ci-build.yml
index 9328bc9..1b29d15 100644
--- a/.github/workflows/rapier-ci-build.yml
+++ b/.github/workflows/rapier-ci-build.yml
@@ -23,6 +23,12 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - run: sudo apt-get install -y cmake libxcb-composite0-dev
+    - name: Clippy
+      run: cargo clippy
+    - name: Clippy rapier2d
+      run: cargo clippy -p rapier-examples-2d --features parallel,simd-stable
+    - name: Clippy rapier3d
+      run: cargo clippy -p rapier-examples-3d --features parallel,simd-stable
     - name: Build rapier2d
       run: cargo build --verbose -p rapier2d;
     - name: Build rapier3d
diff --git a/benchmarks2d/all_benchmarks2.rs b/benchmarks2d/all_benchmarks2.rs
index ce6aaac..fcc7b95 100644
--- a/benchmarks2d/all_benchmarks2.rs
+++ b/benchmarks2d/all_benchmarks2.rs
@@ -46,8 +46,8 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
@@ -66,7 +66,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with(')')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
diff --git a/benchmarks3d/all_benchmarks3.rs b/benchmarks3d/all_benchmarks3.rs
index bca730b..591886e 100644
--- a/benchmarks3d/all_benchmarks3.rs
+++ b/benchmarks3d/all_benchmarks3.rs
@@ -36,7 +36,7 @@ fn parse_command_line() -> Command {
 
     while let Some(arg) = args.next() {
         if &arg[..] == "--example" {
-            return Command::Run(args.next().unwrap_or(String::new()));
+            return Command::Run(args.next().unwrap_or_default());
         } else if &arg[..] == "--list" {
             return Command::List;
         }
@@ -68,7 +68,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
diff --git a/benchmarks3d/keva3.rs b/benchmarks3d/keva3.rs
index ecd6e77..4f5cd54 100644
--- a/benchmarks3d/keva3.rs
+++ b/benchmarks3d/keva3.rs
@@ -7,9 +7,7 @@ pub fn build_block(
     colliders: &mut ColliderSet,
     half_extents: Vector<f32>,
     shift: Vector<f32>,
-    mut numx: usize,
-    numy: usize,
-    mut numz: usize,
+    (mut numx, numy, mut numz): (usize, usize, usize),
 ) {
     let dimensions = [half_extents.xyz(), half_extents.zyx()];
     let block_width = 2.0 * half_extents.z * numx as f32;
@@ -56,8 +54,8 @@ pub fn build_block(
     // Close the top.
     let dim = half_extents.zxy();
 
-    for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
-        for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
+    for i in 0..(block_width / (dim.x * 2.0)) as usize {
+        for j in 0..(block_width / (dim.z * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                 i as f32 * dim.x * 2.0 + dim.x + shift.x,
@@ -114,9 +112,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut colliders,
             half_extents,
             vector![-block_width / 2.0, block_height, -block_width / 2.0],
-            numx,
-            numy,
-            numz,
+            (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
         num_blocks_built += numx * numy * numz;
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 032e4d6..4cdbf98 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -57,8 +57,8 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
@@ -85,7 +85,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs
index 219a583..2cb8410 100644
--- a/examples2d/trimesh2.rs
+++ b/examples2d/trimesh2.rs
@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.look_at(point![0.0, 20.0], 17.0);
 }
 
-const RAPIER_SVG_STR: &'static str = r#"
+const RAPIER_SVG_STR: &str = r#"
 <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
 <svg width="100%" height="100%" viewBox="0 0 527 131" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve" xmlns:serif="http://www.serif.com/" style="fill-rule:evenodd;clip-rule:evenodd;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:1.5;">
     <g transform="matrix(1,0,0,1,1,-673)">
diff --git a/examples3d-f64/all_examples3-f64.rs b/examples3d-f64/all_examples3-f64.rs
index 4464d60..c381eec 100644
--- a/examples3d-f64/all_examples3-f64.rs
+++ b/examples3d-f64/all_examples3-f64.rs
@@ -43,15 +43,15 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> =
         vec![("(Debug) serialized", debug_serialized3::init_world)];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 1bc8419..bac826e 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -86,8 +86,8 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
@@ -157,7 +157,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,
diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs
index 4047f4b..c1a5176 100644
--- a/examples3d/ccd3.rs
+++ b/examples3d/ccd3.rs
@@ -27,9 +27,9 @@ fn create_wall(
             colliders.insert_with_parent(collider, handle, bodies);
             k += 1;
             if k % 2 == 0 {
-                testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]);
+                testbed.set_initial_body_color(handle, [1., 131. / 255., 244.0 / 255.]);
             } else {
-                testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]);
+                testbed.set_initial_body_color(handle, [131. / 255., 1., 244.0 / 255.]);
             }
         }
     }
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index 18a11e7..73f48ae 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -482,7 +482,7 @@ fn create_actuated_revolute_joints(
             } else if i == num - 1 {
                 let stiffness = 200.0;
                 let damping = 100.0;
-                joint = joint.motor_position(3.14 / 2.0, stiffness, damping);
+                joint = joint.motor_position(std::f32::consts::FRAC_PI_2, stiffness, damping);
             }
 
             if i == 1 {
@@ -541,7 +541,7 @@ fn create_actuated_spherical_joints(
         colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
-            let mut joint = joint_template.clone();
+            let mut joint = joint_template;
 
             if i == 1 {
                 joint = joint
@@ -554,7 +554,12 @@ fn create_actuated_spherical_joints(
                 joint = joint
                     .motor_position(JointAxis::AngX, 0.0, stiffness, damping)
                     .motor_position(JointAxis::AngY, 1.0, stiffness, damping)
-                    .motor_position(JointAxis::AngZ, 3.14 / 2.0, stiffness, damping);
+                    .motor_position(
+                        JointAxis::AngZ,
+                        std::f32::consts::FRAC_PI_2,
+                        stiffness,
+                        damping,
+                    );
             }
 
             if use_articulations {
diff --git a/examples3d/keva3.rs b/examples3d/keva3.rs
index ecd6e77..4f5cd54 100644
--- a/examples3d/keva3.rs
+++ b/examples3d/keva3.rs
@@ -7,9 +7,7 @@ pub fn build_block(
     colliders: &mut ColliderSet,
     half_extents: Vector<f32>,
     shift: Vector<f32>,
-    mut numx: usize,
-    numy: usize,
-    mut numz: usize,
+    (mut numx, numy, mut numz): (usize, usize, usize),
 ) {
     let dimensions = [half_extents.xyz(), half_extents.zyx()];
     let block_width = 2.0 * half_extents.z * numx as f32;
@@ -56,8 +54,8 @@ pub fn build_block(
     // Close the top.
     let dim = half_extents.zxy();
 
-    for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
-        for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
+    for i in 0..(block_width / (dim.x * 2.0)) as usize {
+        for j in 0..(block_width / (dim.z * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                 i as f32 * dim.x * 2.0 + dim.x + shift.x,
@@ -114,9 +112,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut colliders,
             half_extents,
             vector![-block_width / 2.0, block_height, -block_width / 2.0],
-            numx,
-            numy,
-            numz,
+            (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
         num_blocks_built += numx * numy * numz;
diff --git a/examples3d/rope_joints3.rs b/examples3d/rope_joints3.rs
index 9696682..11f0716 100644
--- a/examples3d/rope_joints3.rs
+++ b/examples3d/rope_joints3.rs
@@ -67,7 +67,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(0.15, 0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
 
-    testbed.set_initial_body_color(character_handle, [255. / 255., 131. / 255., 244.0 / 255.]);
+    testbed.set_initial_body_color(character_handle, [1., 131. / 255., 244.0 / 255.]);
 
     /*
      * Tethered Ball
diff --git a/examples3d/vehicle_controller3.rs b/examples3d/vehicle_controller3.rs
index 1228c82..846d9fe 100644
--- a/examples3d/vehicle_controller3.rs
+++ b/examples3d/vehicle_controller3.rs
@@ -32,9 +32,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0);
     colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);
 
-    let mut tuning = WheelTuning::default();
-    tuning.suspension_stiffness = 100.0;
-    tuning.suspension_damping = 10.0;
+    let tuning = WheelTuning {
+        suspension_stiffness: 100.0,
+        suspension_damping: 10.0,
+        ..WheelTuning::default()
+    };
     let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
     let wheel_positions = [
         point![hw * 1.5, -hh, hw],
diff --git a/src/control/ray_cast_vehicle_controller.rs b/src/control/ray_cast_vehicle_controller.rs
index 30979e1..00b11eb 100644
--- a/src/control/ray_cast_vehicle_controller.rs
+++ b/src/control/ray_cast_vehicle_controller.rs
@@ -582,7 +582,7 @@ impl DynamicRayCastVehicleController {
                         wheel.side_impulse = resolve_single_bilateral(
                             &bodies[self.chassis],
                             &wheel.raycast_info.contact_poin