Fix clippy and enable clippy on CI

10 files changed, 49 insertions, 61 deletions

diff --git a/src/dynamics/solver/contact_constraint/contact_constraints_set.rs b/src/dynamics/solver/contact_constraint/contact_constraints_set.rs
index 4d02270..b5fdb6d 100644
--- a/src/dynamics/solver/contact_constraint/contact_constraints_set.rs
+++ b/src/dynamics/solver/contact_constraint/contact_constraints_set.rs
@@ -192,7 +192,7 @@ impl ContactConstraintsSet {
             .interaction_groups
             .simd_interactions
             .chunks_exact(SIMD_WIDTH)
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[i[0]]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[i[0]]).num_constraints)
             .sum();
 
         unsafe {
@@ -211,7 +211,7 @@ impl ContactConstraintsSet {
             .chunks_exact(SIMD_WIDTH)
         {
             let num_to_add =
-                ConstraintsCounts::from_contacts(&manifolds_all[manifolds_i[0]]).num_constraints;
+                ConstraintsCounts::from_contacts(manifolds_all[manifolds_i[0]]).num_constraints;
             let manifold_id = gather![|ii| manifolds_i[ii]];
             let manifolds = gather![|ii| &*manifolds_all[manifolds_i[ii]]];
 
@@ -238,7 +238,7 @@ impl ContactConstraintsSet {
             .interaction_groups
             .nongrouped_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
 
         unsafe {
@@ -278,7 +278,7 @@ impl ContactConstraintsSet {
         let total_num_constraints = self
             .generic_two_body_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
 
         self.generic_velocity_constraints_builder.resize(
@@ -321,7 +321,7 @@ impl ContactConstraintsSet {
         let total_num_constraints = self
             .generic_one_body_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
         self.generic_velocity_one_body_constraints_builder.resize(
             total_num_constraints,
@@ -362,7 +362,7 @@ impl ContactConstraintsSet {
             .one_body_interaction_groups
             .simd_interactions
             .chunks_exact(SIMD_WIDTH)
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[i[0]]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[i[0]]).num_constraints)
             .sum();
 
         unsafe {
@@ -384,7 +384,7 @@ impl ContactConstraintsSet {
             .chunks_exact(SIMD_WIDTH)
         {
             let num_to_add =
-                ConstraintsCounts::from_contacts(&manifolds_all[manifolds_i[0]]).num_constraints;
+                ConstraintsCounts::from_contacts(manifolds_all[manifolds_i[0]]).num_constraints;
             let manifold_id = gather![|ii| manifolds_i[ii]];
             let manifolds = gather![|ii| &*manifolds_all[manifolds_i[ii]]];
             SimdOneBodyConstraintBuilder::generate(
@@ -408,7 +408,7 @@ impl ContactConstraintsSet {
             .one_body_interaction_groups
             .nongrouped_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
 
         unsafe {
diff --git a/src/dynamics/solver/contact_constraint/generic_one_body_constraint.rs b/src/dynamics/solver/contact_constraint/generic_one_body_constraint.rs
index 7c39eab..7b1f8ea 100644
--- a/src/dynamics/solver/contact_constraint/generic_one_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/generic_one_body_constraint.rs
@@ -59,7 +59,7 @@ impl GenericOneBodyConstraintBuilder {
 
         let rb1 = handle1
             .map(|h| SolverBody::from(&bodies[h]))
-            .unwrap_or_else(SolverBody::default);
+            .unwrap_or_default();
 
         let rb2 = &bodies[handle2.unwrap()];
         let (vels2, mprops2) = (&rb2.vels, &rb2.mprops);
@@ -265,7 +265,7 @@ impl GenericOneBodyConstraint {
         solve_restitution: bool,
         solve_friction: bool,
     ) {
-        let solver_vel2 = self.inner.solver_vel2 as usize;
+        let solver_vel2 = self.inner.solver_vel2;
 
         let elements = &mut self.inner.elements[..self.inner.num_contacts as usize];
         OneBodyConstraintElement::generic_solve_group(
diff --git a/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs b/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
index a4924fe..073f585 100644
--- a/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
@@ -382,15 +382,15 @@ impl GenericTwoBodyConstraint {
         solve_friction: bool,
     ) {
         let mut solver_vel1 = if self.generic_constraint_mask & 0b01 == 0 {
-            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel1 as usize])
+            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel1])
         } else {
-            GenericRhs::GenericId(self.inner.solver_vel1 as usize)
+            GenericRhs::GenericId(self.inner.solver_vel1)
         };
 
         let mut solver_vel2 = if self.generic_constraint_mask & 0b10 == 0 {
-            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel2 as usize])
+            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel2])
         } else {
-            GenericRhs::GenericId(self.inner.solver_vel2 as usize)
+            GenericRhs::GenericId(self.inner.solver_vel2)
         };
 
         let elements = &mut self.inner.elements[..self.inner.num_contacts as usize];
@@ -415,11 +415,11 @@ impl GenericTwoBodyConstraint {
         );
 
         if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
-            solver_vels[self.inner.solver_vel1 as usize] = solver_vel1;
+            solver_vels[self.inner.solver_vel1] = solver_vel1;
         }
 
         if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
-            solver_vels[self.inner.solver_vel2 as usize] = solver_vel2;
+            solver_vels[self.inner.solver_vel2] = solver_vel2;
         }
     }
 
diff --git a/src/dynamics/solver/contact_constraint/generic_two_body_constraint_element.rs b/src/dynamics/solver/contact_constraint/generic_two_body_constraint_element.rs
index f3bd3a0..40740a0 100644
--- a/src/dynamics/solver/contact_constraint/generic_two_body_constraint_element.rs
+++ b/src/dynamics/solver/contact_constraint/generic_two_body_constraint_element.rs
@@ -114,7 +114,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 j_id1,
                 ndofs1,
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
             ) + solver_vel2.dvel(
@@ -135,7 +135,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 ndofs1,
                 dlambda,
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
                 im1,
@@ -158,7 +158,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 j_id1,
                 ndofs1,
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
             ) + solver_vel2.dvel(
@@ -173,7 +173,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 j_id1 + j_step,
                 ndofs1,
                 jacobians,
-                &tangents1[1],
+                tangents1[1],
                 &self.gcross1[1],
                 solver_vels,
             ) + solver_vel2.dvel(
@@ -199,7 +199,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 ndofs1,
                 dlambda[0],
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
                 im1,
@@ -209,7 +209,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 ndofs1,
                 dlambda[1],
                 jacobians,
-                &tangents1[1],
+                tangents1[1],
                 &self.gcross1[1],
                 solver_vels,
                 im1,
@@ -258,7 +258,7 @@ impl TwoBodyConstraintNormalPart<Real> {
         let j_id1 = j_id1(j_id, ndofs1, ndofs2);
         let j_id2 = j_id2(j_id, ndofs1, ndofs2);
 
-        let dvel = solver_vel1.dvel(j_id1, ndofs1, jacobians, &dir1, &self.gcross1, solver_vels)
+        let dvel = solver_vel1.dvel(j_id1, ndofs1, jacobians, dir1, &self.gcross1, solver_vels)
             + solver_vel2.dvel(j_id2, ndofs2, jacobians, &-dir1, &self.gcross2, solver_vels)
             + self.rhs;
 
@@ -271,7 +271,7 @@ impl TwoBodyConstraintNormalPart<Real> {
             ndofs1,
             dlambda,
             jacobians,
-            &dir1,
+            dir1,
             &self.gcross1,
             solver_vels,
             im1,
@@ -323,7 +323,7 @@ impl TwoBodyConstraintElement<Real> {
                     cfm_factor,
                     nrm_j_id,
                     jacobians,
-                    &dir1,
+                    dir1,
                     im1,
                     im2,
                     ndofs1,
@@ -339,7 +339,7 @@ impl TwoBodyConstraintElement<Real> {
         // Solve friction.
         if solve_friction {
             #[cfg(feature = "dim3")]
-            let tangents1 = [tangent1, &dir1.cross(&tangent1)];
+            let tangents1 = [tangent1, &dir1.cross(tangent1)];
             #[cfg(feature = "dim2")]
             let tangents1 = [&dir1.orthonormal_vector()];
             let mut tng_j_id = tangent_j_id(j_id, ndofs1, ndofs2);
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint.rs b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
index 57931cd..be108a4 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
@@ -76,7 +76,7 @@ impl OneBodyConstraintBuilder {
 
         let rb1 = handle1
             .map(|h| SolverBody::from(&bodies[h]))
-            .unwrap_or_else(SolverBody::default);
+            .unwrap_or_default();
 
         let rb2 = &bodies[handle2.unwrap()];
         let vels2 = &rb2.vels;
@@ -334,7 +334,7 @@ impl OneBodyConstraint {
         solve_normal: bool,
         solve_friction: bool,
     ) {
-        let mut solver_vel2 = solver_vels[self.solver_vel2 as usize];
+        let mut solver_vel2 = solver_vels[self.solver_vel2];
 
         OneBodyConstraintElement::solve_group(
             self.cfm_factor,
@@ -349,7 +349,7 @@ impl OneBodyConstraint {
             solve_friction,
         );
 
-        solver_vels[self.solver_vel2 as usize] = solver_vel2;
+        solver_vels[self.solver_vel2] = solver_vel2;
     }
 
     // FIXME: duplicated code. This is exactly the same as in the two-body velocity constraint.
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint_element.rs b/src/dynamics/solver/contact_constraint/one_body_constraint_element.rs
index c5c0944..d9ff7f4 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint_element.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint_element.rs
@@ -204,7 +204,7 @@ impl<N: SimdRealCopy> OneBodyConstraintElement<N> {
         AngVector<N>: SimdDot<AngVector<N>, Result = N>,
     {
         #[cfg(feature = "dim3")]
-        let tangents1 = [tangent1, &dir1.cross(&tangent1)];
+        let tangents1 = [tangent1, &dir1.cross(tangent1)];
         #[cfg(feature = "dim2")]
         let tangents1 = [&dir1.orthonormal_vector()];
 
@@ -213,7 +213,7 @@ impl<N: SimdRealCopy> OneBodyConstraintElement<N> {
             for element in elements.iter_mut() {
                 element
                     .normal_part
-                    .solve(cfm_factor, &dir1, im2, solver_vel2);
+                    .solve(cfm_factor, dir1, im2, solver_vel2);
                 let limit = limit * element.normal_part.impulse;
                 let part = &mut element.tangent_part;
                 part.apply_limit(tangents1, im2, limit, solver_vel2);
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
index 33e0d77..cd2ea56 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
@@ -308,12 +308,8 @@ impl OneBodyConstraintSimd {
         solve_friction: bool,
     ) {
         let mut solver_vel2 = SolverVel {
-            linear: Vector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].linear
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].angular
-            ]),
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].linear]),
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].angular]),
         };
 
         OneBodyConstraintElement::solve_group(
@@ -330,8 +326,8 @@ impl OneBodyConstraintSimd {
         );
 
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii);
-            solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii);
+            solver_vels[self.solver_vel2[ii]].linear = solver_vel2.linear.extract(ii);
+            solver_vels[self.solver_vel2[ii]].angular = solver_vel2.angular.extract(ii);
         }
     }
 
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint.rs b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
index 9b552ca..0a0ebd6 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
@@ -380,8 +380,8 @@ impl TwoBodyConstraint {
         solve_normal: bool,
         solve_friction: bool,
     ) {
-        let mut solver_vel1 = solver_vels[self.solver_vel1 as usize];
-        let mut solver_vel2 = solver_vels[self.solver_vel2 as usize];
+        let mut solver_vel1 = solver_vels[self.solver_vel1];
+        let mut solver_vel2 = solver_vels[self.solver_vel2];
 
         TwoBodyConstraintElement::solve_group(
             self.cfm_factor,
@@ -398,8 +398,8 @@ impl TwoBodyConstraint {
             solve_friction,
         );
 
-        solver_vels[self.solver_vel1 as usize] = solver_vel1;
-        solver_vels[self.solver_vel2 as usize] = solver_vel2;
+        solver_vels[self.solver_vel1] = solver_vel1;
+        solver_vels[self.solver_vel2] = solver_vel2;
     }
 
     pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
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 a8c0037..8c720b9 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint_element.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint_element.rs
@@ -243,7 +243,7 @@ impl<N: SimdRealCopy> TwoBodyConstraintElement<N> {
         AngVector<N>: SimdDot<AngVector<N>, Result = N>,
     {
         #[cfg(feature = "dim3")]
-        let tangents1 = [tangent1, &dir1.cross(&tangent1)];
+        let tangents1 = [tangent1, &dir1.cross(tangent1)];
         #[cfg(feature = "dim2")]
         let tangents1 = [&dir1.orthonormal_vector()];
 
@@ -252,7 +252,7 @@ impl<N: SimdRealCopy> TwoBodyConstraintElement<N> {
             for element in elements.iter_mut() {
                 element
                     .normal_part
-                    .solve(cfm_factor, &dir1, im1, im2, solver_vel1, solver_vel2);
+                    .solve(cfm_factor, dir1, im1, im2, solver_vel1, solver_vel2);
                 let limit = limit * element.normal_part.impulse;
                 let part = &mut element.tangent_part;
                 part.apply_limit(tangents1, im1, im2, limit, solver_vel1, solver_vel2);
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 b9f3e52..ee176d6 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
@@ -292,21 +292,13 @@ impl TwoBodyConstraintSimd {
         solve_friction: bool,
     ) {
         let mut solver_vel1 = SolverVel {
-            linear: Vector::from(gather![
-                |ii| solver_vels[self.solver_vel1[ii] as usize].linear
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel1[ii] as usize].angular
-            ]),
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].linear]),
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].angular]),
         };
 
         let mut solver_vel2 = SolverVel {
-            linear: Vector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].linear
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].angular
-            ]),
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].linear]),
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].angular]),
         };
 
         TwoBodyConstraintElement::solve_group(
@@ -325,12 +317,12 @@ impl TwoBodyConstraintSimd {
         );
 
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel1[ii] as usize].linear = solver_vel1.linear.extract(ii);
-            solver_vels[self.solver_vel1[ii] as usize].angular = solver_vel1.angular.extract(ii);
+            solver_vels[self.solver_vel1[ii]].linear = solver_vel1.linear.extract(ii);
+            solver_vels[self.solver_vel1[ii]].angular = solver_vel1.angular.extract(ii);
         }
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii);
-            solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii);
+            solver_vels[self.solver_vel2[ii]].linear = solver_vel2.linear.extract(ii);
+            solver_vels[self.solver_vel2[ii]].angular = solver_vel2.angular.extract(ii);
         }
     }