Fix clippy and enable clippy on CI

16 files changed, 87 insertions, 110 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);
         }
     }
 
diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs
index d654a59..1e834e6 100644
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -25,7 +25,7 @@ impl<'a> PairInteraction for &'a mut ContactManifold {
 }
 
 #[cfg(feature = "parallel")]
-impl<'a> PairInteraction for JointGraphEdge {
+impl PairInteraction for JointGraphEdge {
     fn body_pair(&self) -> (Option<RigidBodyHandle>, Option<RigidBodyHandle>) {
         (Some(self.weight.body1), Some(self.weight.body2))
     }
@@ -470,11 +470,11 @@ impl InteractionGroups {
                     (bucket.0)[SIMD_LAST_INDEX] = *interaction_i;
                     self.simd_interactions.extend_from_slice(&bucket.0);
                     bucket.1 = 0;
-                    occupied_mask = occupied_mask & (!target_mask_bit);
+                    occupied_mask &= !target_mask_bit;
                 } else {
                     (bucket.0)[bucket.1] = *interaction_i;
                     bucket.1 += 1;
-                    occupied_mask = occupied_mask | target_mask_bit;
+                    occupied_mask |= target_mask_bit;
                 }
 
                 // NOTE: fixed bodies don't transmit forces. Therefore they don't
diff --git a/src/dynamics/solver/joint_constraint/joint_constraints_set.rs b/src/dynamics/solver/joint_constraint/joint_constraints_set.rs
index 21b6459..64c1e83 100644
--- a/src/dynamics/solver/joint_constraint/joint_constraints_set.rs
+++ b/src/dynamics/solver/joint_constraint/joint_constraints_set.rs
@@ -399,7 +399,7 @@ impl JointConstraintsSet {
     ) {
         for builder in &mut self.generic_velocity_constraints_builder {
             builder.update(
-                &params,
+                params,
                 multibodies,
                 solver_bodies,
                 &mut self.generic_jacobians,
@@ -409,7 +409,7 @@ impl JointConstraintsSet {
 
         for builder in &mut self.generic_velocity_one_body_constraints_builder {
             builder.update(
-                &params,
+                params,
                 multibodies,
                 solver_bodies,
                 &mut self.generic_jacobians,
@@ -418,17 +418,17 @@ impl JointConstraintsSet {
         }
 
         for builder in &mut self.velocity_constraints_builder {
-            builder.update(&params, solver_bodies, &mut self.velocity_constraints);
+            builder.update(params, solver_bodies, &mut self.velocity_constraints);
         }
 
         #[cfg(feature = "simd-is-enabled")]
         for builder in &mut self.simd_velocity_constraints_builder {
-            builder.update(&params, solver_bodies, &mut self.simd_velocity_constraints);
+            builder.update(params, solver_bodies, &mut self.simd_velocity_constraints);
         }
 
         for builder in &mut self.velocity_one_body_constraints_builder {
             builder.update(
-                &params,
+                params,
                 solver_bodies,
                 &mut self.velocity_one_body_constraints,
             );
@@ -437,7 +437,7 @@ impl JointConstraintsSet {
         #[cfg(feature = "simd-is-enabled")]
         for builder in &mut self.simd_velocity_one_body_constraints_builder {
             builder.update(
-                &params,
+                params,
                 solver_bodies,
                 &mut self.simd_velocity_one_body_constraints,
             );
diff --git a/src/dynamics/solver/joint_constraint/joint_generic_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_generic_constraint_builder.rs
index 5523962..34256a2 100644
--- a/src/dynamics/solver/joint_constraint/joint_generic_constraint_builder.rs
+++ b/src/dynamics/solver/joint_constraint/joint_generic_constraint_builder.rs
@@ -219,6 +219,7 @@ impl JointGenericTwoBodyConstraintBuilder {
 }
 
 #[derive(Copy, Clone)]
+#[allow(clippy::large_enum_variant)]
 pub enum JointGenericOneBodyConstraintBuilder {
     Internal(JointGenericVelocityOneBodyInternalConstraintBuilder),
     External(JointGenericVelocityOneBodyExternalConstraintBuilder),
diff --git a/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
index 274e94e..e184e3d 100644
--- a/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
@@ -332,13 +332,13 @@ impl JointTwoBodyConstraint<Real, 1> {
     }
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
-        let mut solver_vel1 = solver_vels[self.solver_vel1[0] as usize];
-        let mut solver_vel2 = solver_vels[self.solver_vel2[0] as usize];
+        let mut solver_vel1 = solver_vels[self.solver_vel1[0]];
+        let mut solver_vel2 = solver_vels[self.solver_vel2[0]];
 
         self.solve_generic(&mut solver_vel1, &mut solver_vel2);
 
-        solver_vels[self.solver_vel1[0] as usize] = solver_vel1;
-        solver_vels[self.solver_vel2[0] as usize] = solver_vel2;
+        solver_vels[self.solver_vel1[0]] = solver_vel1;
+        solver_vels[self.solver_vel2[0]] = solver_vel2;
     }
 
     pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
@@ -399,29 +399,21 @@ impl JointTwoBodyConstraint<SimdReal, SIMD_WIDTH> {
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
         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]),
         };
 
         self.solve_generic(&mut solver_vel1, &mut solver_vel2);
 
         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_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_vel1[ii]].linear = solver_vel1.linear.extract(ii);
+            solver_vels[self.solver_vel1[ii]].angular = solver_vel1.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);
         }
     }
 
@@ -682,9 +674,9 @@ impl JointOneBodyConstraint<Real, 1> {
     }
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
-        let mut solver_vel2 = solver_vels[self.solver_vel2[0] as usize];
+        let mut solver_vel2 = solver_vels[self.solver_vel2[0]];
         self.solve_generic(&mut solver_vel2);
-        solver_vels[self.solver_vel2[0] as usize] = solver_vel2;
+        solver_vels[self.solver_vel2[0]] = solver_vel2;
     }
 
     pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
@@ -751,19 +743,15 @@ impl JointOneBodyConstraint<SimdReal, SIMD_WIDTH> {
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
         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]),
         };
 
         self.solve_generic(&mut solver_vel2);
 
         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/mod.rs b/src/dynamics/solver/mod.rs
index 5b11545..37585a2 100644
--- a/src/dynamics/solver/mod.rs
+++ b/src/dynamics/solver/mod.rs
@@ -7,17 +7,17 @@ pub(crate) use self::island_solver::IslandSolver;
 // #[cfg(feature = "parallel")]
 // pub(self) use self::parallel_velocity_solver::ParallelVelocitySolver;
 // #[cfg(not(feature = "parallel"))]
-pub(self) use self::solver_constraints_set::SolverConstraintsSet;
+use self::solver_constraints_set::SolverConstraintsSet;
 // #[cfg(not(feature = "parallel"))]
-pub(self) use self::velocity_solver::VelocitySolver;
+use self::velocity_solver::VelocitySolver;
 
-pub(self) use contact_constraint::*;
-pub(self) use interaction_groups::*;
+use contact_constraint::*;
+use interaction_groups::*;
 pub(crate) use joint_constraint::MotorParameters;
 pub use joint_constraint::*;
-pub(self) use solver_body::SolverBody;
-pub(self) use solver_constraints_set::{AnyConstraintMut, ConstraintTypes};
-pub(self) use solver_vel::SolverVel;
+use solver_body::SolverBody;
+use solver_constraints_set::{AnyConstraintMut, ConstraintTypes};
+use solver_vel::SolverVel;
 
 mod categorization;
 mod contact_constraint;
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs
index 1d4a0ae..928b427 100644
--- a/src/dynamics/solver/velocity_solver.rs
+++ b/src/dynamics/solver/velocity_solver.rs
@@ -175,8 +175,8 @@ impl VelocitySolver {
             /*
              * Update & solve constraints.
              */
-            joint_constraints.update(&params, multibodies, &self.solver_bodies);
-            contact_constraints.update(&params, substep_id, multibodies, &self.solver_bodies);
+            joint_constraints.update(params, multibodies, &self.solver_bodies);
+            contact_constraints.update(params, substep_id, multibodies, &self.solver_bodies);
 
             for _ in 0..params.num_internal_pgs_iterations {
                 joint_constraints.solve(&mut self.solver_vels, &mut self.generic_solver_vels);
@@ -196,7 +196,7 @@ impl VelocitySolver {
             /*
              * Integrate positions.
              */
-            self.integrate_positions(&params, is_last_substep, bodies, multibodies);
+            self.integrate_positions(params, is_last_substep, bodies, multibodies);
 
             /*
              * Resolution without bias.