Make clippy a bit happier

8 files changed, 21 insertions, 11 deletions

diff --git a/src/dynamics/joint/joint_set.rs b/src/dynamics/joint/joint_set.rs
index a87532a..ed3e69a 100644
--- a/src/dynamics/joint/joint_set.rs
+++ b/src/dynamics/joint/joint_set.rs
@@ -55,6 +55,11 @@ impl JointSet {
         self.joint_graph.graph.edges.len()
     }
 
+    /// `true` if there are no joints in this set.
+    pub fn is_empty(&self) -> bool {
+        self.joint_graph.graph.edges.is_empty()
+    }
+
     /// Retrieve the joint graph where edges are joints and nodes are rigid body handles.
     pub fn joint_graph(&self) -> &InteractionGraph<RigidBodyHandle, Joint> {
         &self.joint_graph
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 5fb6183..a70239d 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -304,7 +304,7 @@ impl RigidBody {
     }
 
     fn integrate_velocity(&self, dt: Real) -> Isometry<Real> {
-        let com = &self.position * self.mass_properties.local_com;
+        let com = self.position * self.mass_properties.local_com;
         let shift = Translation::from(com.coords);
         shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
     }
diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs
index 36cf4d3..79d5827 100644
--- a/src/dynamics/rigid_body_set.rs
+++ b/src/dynamics/rigid_body_set.rs
@@ -106,6 +106,11 @@ impl RigidBodySet {
         self.bodies.len()
     }
 
+    /// `true` if there are no rigid bodies in this set.
+    pub fn is_empty(&self) -> bool {
+        self.bodies.is_empty()
+    }
+
     /// Is the given body handle valid?
     pub fn contains(&self, handle: RigidBodyHandle) -> bool {
         self.bodies.contains(handle.0)
diff --git a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
index d1943fc..a361a37 100644
--- a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
@@ -84,7 +84,7 @@ impl PrismaticVelocityConstraint {
         //     .into_inner();
         // #[cfg(feature = "dim3")]
         // let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //     .unwrap_or(Rotation::identity())
+        //     .unwrap_or_else(Rotation::identity)
         //     .to_rotation_matrix()
         //     .into_inner();
         // let basis2 = r21 * basis1;
@@ -380,7 +380,7 @@ impl PrismaticVelocityGroundConstraint {
         //     .into_inner();
         // #[cfg(feature = "dim3")]
         // let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //     .unwrap_or(Rotation::identity())
+        //     .unwrap_or_else(Rotation::identity)
         //     .to_rotation_matrix()
         //     .into_inner();
         // let basis2 = r21 * basis1;
diff --git a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
index f24cfa5..77a6fe7 100644
--- a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
@@ -124,7 +124,7 @@ impl WPrismaticVelocityConstraint {
         //     .into_inner();
         // #[cfg(feature = "dim3")]
         // let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //     .unwrap_or(Rotation::identity())
+        //     .unwrap_or_else(Rotation::identity)
         //     .to_rotation_matrix()
         //     .into_inner();
         // let basis2 = r21 * basis1;
@@ -483,7 +483,7 @@ impl WPrismaticVelocityGroundConstraint {
         //     .into_inner();
         // #[cfg(feature = "dim3")]
         // let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //     .unwrap_or(Rotation::identity())
+        //     .unwrap_or_else(Rotation::identity)
         //     .to_rotation_matrix()
         //     .into_inner();
         // let basis2 = r21 * basis1;
diff --git a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
index 19dd451..afc23f3 100644
--- a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
@@ -56,7 +56,7 @@ impl RevolutePositionConstraint {
         let axis1 = position1 * self.local_axis1;
         let axis2 = position2 * self.local_axis2;
         let delta_rot =
-            Rotation::rotation_between_axis(&axis1, &axis2).unwrap_or(Rotation::identity());
+            Rotation::rotation_between_axis(&axis1, &axis2).unwrap_or_else(Rotation::identity);
         let ang_error = delta_rot.scaled_axis() * params.joint_erp;
         let ang_impulse = self.ang_inv_lhs.transform_vector(ang_error);
 
@@ -129,7 +129,7 @@ impl RevolutePositionGroundConstraint {
 
         let delta_rot =
             Rotation::scaled_rotation_between_axis(&axis2, &self.axis1, params.joint_erp)
-                .unwrap_or(Rotation::identity());
+                .unwrap_or_else(Rotation::identity);
         position2.rotation = delta_rot * position2.rotation;
 
         let anchor2 = position2 * self.local_anchor2;
diff --git a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
index 38f56d9..6270a8e 100644
--- a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
@@ -46,7 +46,7 @@ impl RevoluteVelocityConstraint {
         ]);
 
         //        let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //            .unwrap_or(Rotation::identity())
+        //            .unwrap_or_else(Rotation::identity)
         //            .to_rotation_matrix()
         //            .into_inner();
         //        let basis2 = r21 * basis1;
@@ -208,7 +208,7 @@ impl RevoluteVelocityGroundConstraint {
         };
 
         //        let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //            .unwrap_or(Rotation::identity())
+        //            .unwrap_or_else(Rotation::identity)
         //            .to_rotation_matrix()
         //            .into_inner();
         //        let basis2 = /*r21 * */ basis1;
diff --git a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
index 822c2ac..047763d 100644
--- a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
@@ -73,7 +73,7 @@ impl WRevoluteVelocityConstraint {
             Matrix3x2::from_columns(&[position1 * local_basis1[0], position1 * local_basis1[1]]);
 
         //        let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //            .unwrap_or(Rotation::identity())
+        //            .unwrap_or_else(Rotation::identity)
         //            .to_rotation_matrix()
         //            .into_inner();
         //        let basis2 = r21 * basis1;
@@ -290,7 +290,7 @@ impl WRevoluteVelocityGroundConstraint {
         let anchor2 = position2 * local_anchor2;
 
         //        let r21 = Rotation::rotation_between_axis(&axis1, &axis2)
-        //            .unwrap_or(Rotation::identity())
+        //            .unwrap_or_else(Rotation::identity)
         //            .to_rotation_matrix()
         //            .into_inner();
         //        let basis2 = /*r21 * */ basis1;