Fix clippy and enable clippy on CI

9 files changed, 53 insertions, 62 deletions

diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index 0667184..9e1bc06 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -445,9 +445,8 @@ impl BroadPhase {
             );
         }
 
-        let need_region_propagation = !layer.created_regions.is_empty();
-
-        need_region_propagation
+        // Returns true if propagation is needed.
+        !layer.created_regions.is_empty()
     }
 
     /// Updates the broad-phase, taking into account the new collider positions.
diff --git a/src/geometry/broad_phase_multi_sap/mod.rs b/src/geometry/broad_phase_multi_sap/mod.rs
index 01f7847..0f85e96 100644
--- a/src/geometry/broad_phase_multi_sap/mod.rs
+++ b/src/geometry/broad_phase_multi_sap/mod.rs
@@ -2,12 +2,12 @@ pub use self::broad_phase::BroadPhase;
 pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
 pub use self::sap_proxy::SAPProxyIndex;
 
-pub(self) use self::sap_axis::*;
-pub(self) use self::sap_endpoint::*;
-pub(self) use self::sap_layer::*;
-pub(self) use self::sap_proxy::*;
-pub(self) use self::sap_region::*;
-pub(self) use self::sap_utils::*;
+use self::sap_axis::*;
+use self::sap_endpoint::*;
+use self::sap_layer::*;
+use self::sap_proxy::*;
+use self::sap_region::*;
+use self::sap_utils::*;
 
 mod broad_phase;
 mod broad_phase_pair_event;
diff --git a/src/geometry/broad_phase_multi_sap/sap_axis.rs b/src/geometry/broad_phase_multi_sap/sap_axis.rs
index 4e2ab44..2452148 100644
--- a/src/geometry/broad_phase_multi_sap/sap_axis.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_axis.rs
@@ -65,9 +65,8 @@ impl SAPAxis {
                 proxy.aabb,
                 self.min_bound
             );
-            let start_endpoint =
-                SAPEndpoint::start_endpoint(proxy.aabb.mins[dim], *proxy_id as u32);
-            let end_endpoint = SAPEndpoint::end_endpoint(proxy.aabb.maxs[dim], *proxy_id as u32);
+            let start_endpoint = SAPEndpoint::start_endpoint(proxy.aabb.mins[dim], *proxy_id);
+            let end_endpoint = SAPEndpoint::end_endpoint(proxy.aabb.maxs[dim], *proxy_id);
 
             self.new_endpoints.push((start_endpoint, 0));
             self.new_endpoints.push((end_endpoint, 0));
diff --git a/src/geometry/broad_phase_multi_sap/sap_proxy.rs b/src/geometry/broad_phase_multi_sap/sap_proxy.rs
index 9ddd8b9..4d5d79e 100644
--- a/src/geometry/broad_phase_multi_sap/sap_proxy.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_proxy.rs
@@ -15,10 +15,7 @@ pub enum SAPProxyData {
 
 impl SAPProxyData {
     pub fn is_region(&self) -> bool {
-        match self {
-            SAPProxyData::Region(_) => true,
-            _ => false,
-        }
+        matches!(self, SAPProxyData::Region(_))
     }
 
     pub fn as_region(&self) -> &SAPRegion {
@@ -102,7 +99,7 @@ impl SAPProxies {
     }
 
     pub fn insert(&mut self, proxy: SAPProxy) -> SAPProxyIndex {
-        let result = if self.first_free != NEXT_FREE_SENTINEL {
+        if self.first_free != NEXT_FREE_SENTINEL {
             let proxy_id = self.first_free;
             self.first_free = self.elements[proxy_id as usize].next_free;
             self.elements[proxy_id as usize] = proxy;
@@ -110,15 +107,13 @@ impl SAPProxies {
         } else {
             self.elements.push(proxy);
             self.elements.len() as u32 - 1
-        };
-
-        result
+        }
     }
 
     pub fn remove(&mut self, proxy_id: SAPProxyIndex) {
         let proxy = &mut self.elements[proxy_id as usize];
         proxy.next_free = self.first_free;
-        self.first_free = proxy_id as u32;
+        self.first_free = proxy_id;
     }
 
     // NOTE: this must not take holes into account.
diff --git a/src/geometry/broad_phase_multi_sap/sap_region.rs b/src/geometry/broad_phase_multi_sap/sap_region.rs
index 1a3903b..21ebca5 100644
--- a/src/geometry/broad_phase_multi_sap/sap_region.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_region.rs
@@ -73,6 +73,7 @@ impl SAPRegion {
         old
     }
 
+    #[allow(clippy::vec_box)] // PERF: see if Box actually makes it faster (due to less copying).
     pub fn recycle_or_new(bounds: Aabb, pool: &mut Vec<Box<Self>>) -> Box<Self> {
         if let Some(old) = pool.pop() {
             Self::recycle(bounds, old)
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index bcd4c56..2a31afa 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -157,10 +157,7 @@ impl Collider {
 
     /// Is this collider enabled?
     pub fn is_enabled(&self) -> bool {
-        match self.flags.enabled {
-            ColliderEnabled::Enabled => true,
-            _ => false,
-        }
+        matches!(self.flags.enabled, ColliderEnabled::Enabled)
     }
 
     /// Sets whether or not this collider is enabled.
@@ -916,8 +913,8 @@ impl ColliderBuilder {
     }
 }
 
-impl Into<Collider> for ColliderBuilder {
-    fn into(self) -> Collider {
-        self.build()
+impl From<ColliderBuilder> for Collider {
+    fn from(val: ColliderBuilder) -> Collider {
+        val.build()
     }
 }
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 4bc2a03..799ee65 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -24,11 +24,11 @@ impl ColliderSet {
     }
 
     pub(crate) fn take_modified(&mut self) -> Vec<ColliderHandle> {
-        std::mem::replace(&mut self.modified_colliders, vec![])
+        std::mem::take(&mut self.modified_colliders)
     }
 
     pub(crate) fn take_removed(&mut self) -> Vec<ColliderHandle> {
-        std::mem::replace(&mut self.removed_colliders, vec![])
+        std::mem::take(&mut self.removed_colliders)
     }
 
     /// An always-invalid collider handle.
diff --git a/src/geometry/interaction_groups.rs b/src/geometry/interaction_groups.rs
index 2dfa098..b07389c 100644
--- a/src/geometry/interaction_groups.rs
+++ b/src/geometry/interaction_groups.rs
@@ -1,3 +1,5 @@
+#![allow(clippy::bad_bit_mask)] // Clippy will complain about the bitmasks due to Group::NONE being 0.
+
 /// Pairwise filtering using bit masks.
 ///
 /// This filtering method is based on two 32-bit values:
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 4c3895a..c644b4d 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -126,7 +126,7 @@ impl NarrowPhase {
     /// The returned contact pairs identify pairs of colliders with intersecting bounding-volumes.
     /// To check if any geometric contact happened between the collider shapes, check
     /// [`ContactPair::has_any_active_contact`].
-    pub fn contact_pairs_with<'a>(
+    pub fn contact_pairs_with(
         &self,
         collider: ColliderHandle,
     ) -> impl Iterator<Item = &ContactPair> {
@@ -324,7 +324,7 @@ impl NarrowPhase {
         &mut self,
         intersection_graph_id: ColliderGraphIndex,
         contact_graph_id: ColliderGraphIndex,
-        mut islands: Option<&mut IslandManager>,
+        islands: Option<&mut IslandManager>,
         colliders: &mut ColliderSet,
         bodies: &mut RigidBodySet,
         prox_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
@@ -332,7 +332,7 @@ impl NarrowPhase {
         events: &dyn EventHandler,
     ) {
         // Wake up every body in contact with the deleted collider and generate Stopped collision events.
-        if let Some(islands) = islands.as_deref_mut() {
+        if let Some(islands) = islands {
             for (a, b, pair) in self.contact_graph.interactions_with(contact_graph_id) {
                 if let Some(parent) = colliders.get(a).and_then(|c| c.parent.as_ref()) {
                     islands.wake_up(bodies, parent.handle, true)
@@ -539,18 +539,17 @@ impl NarrowPhase {
 
                     // Emit an intersection lost event if we had an intersection before removing the edge.
                     if let Some(mut intersection) = intersection {
-                        if intersection.intersecting {
-                            if (co1.flags.active_events | co2.flags.active_events)
+                        if intersection.intersecting
+                            && (co1.flags.active_events | co2.flags.active_events)
                                 .contains(ActiveEvents::COLLISION_EVENTS)
-                            {
-                                intersection.emit_stop_event(
-                                    bodies,
-                                    colliders,
-                                    pair.collider1,
-                                    pair.collider2,
-                                    events,
-                                )
-                            }
+                        {
+                            intersection.emit_stop_event(
+                                bodies,
+                                colliders,
+                                pair.collider1,
+                                pair.collider2,
+                                events,
+                            )
                         }
                     }
                 } else {
@@ -588,15 +587,14 @@ impl NarrowPhase {
         if let (Some(co1), Some(co2)) =
             (colliders.get(pair.collider1), colliders.get(pair.collider2))
         {
-            if co1.parent.map(|p| p.handle) == co2.parent.map(|p| p.handle) {
-                if co1.parent.is_some() {
-                    // Same parents. Ignore collisions.
-                    return;
-                }
-
-                // These colliders have no parents - continue.
+            if co1.parent.map(|p| p.handle) == co2.parent.map(|p| p.handle) && co1.parent.is_some()
+            {
+                // Same parents. Ignore collisions.
+                return;
             }
 
+            // These colliders have no parents - continue.
+
             let (gid1, gid2) = self.graph_indices.ensure_pair_exists(
                 pair.collider1.0,
                 pair.collider2.0,
@@ -712,7 +710,7 @@ impl NarrowPhase {
             let co2 = &colliders[handle2];
 
             // TODO: remove the `loop` once labels on blocks is stabilized.
-            'emit_events: loop {
+            'emit_events: {
                 if !co1.changes.needs_narrow_phase_update()
                     && !co2.changes.needs_narrow_phase_update()
                 {
@@ -813,7 +811,7 @@ impl NarrowPhase {
             let co2 = &colliders[pair.collider2];
 
             // TODO: remove the `loop` once labels on blocks are supported.
-            'emit_events: loop {
+            'emit_events: {
                 if !co1.changes.needs_narrow_phase_update()
                     && !co2.changes.needs_narrow_phase_update()
                 {
@@ -979,7 +977,7 @@ impl NarrowPhase {
                     // Apply the user-defined contact modification.
                     if active_hooks.contains(ActiveHooks::MODIFY_SOLVER_CONTACTS) {
                         let mut modifiable_solver_contacts =
-                            std::mem::replace(&mut manifold.data.solver_contacts, Vec::new());
+                            std::mem::take(&mut manifold.data.solver_contacts);
                         let mut modifiable_user_data = manifold.data.user_data;
                         let mut modifiable_normal = manifold.data.normal;
 
@@ -1009,13 +1007,13 @@ impl NarrowPhase {
 
             let active_events = co1.flags.active_events | co2.flags.active_events;
 
-            if pair.has_any_active_contact != had_any_active_contact {
-                if active_events.contains(ActiveEvents::COLLISION_EVENTS) {
-                    if pair.has_any_active_contact {
-                        pair.emit_start_event(bodies, colliders, events);
-                    } else {
-                        pair.emit_stop_event(bodies, colliders, events);
-                    }
+            if pair.has_any_active_contact != had_any_active_contact
+                && active_events.contains(ActiveEvents::COLLISION_EVENTS)
+            {
+                if pair.has_any_active_contact {
+                    pair.emit_start_event(bodies, colliders, events);
+                } else {
+                    pair.emit_stop_event(bodies, colliders, events);
                 }
             }
         });
@@ -1029,7 +1027,7 @@ impl NarrowPhase {
         bodies: &RigidBodySet,
         out_contact_pairs: &mut Vec<TemporaryInteractionIndex>,
         out_manifolds: &mut Vec<&'a mut ContactManifold>,
-        out: &mut Vec<Vec<ContactManifoldIndex>>,
+        out: &mut [Vec<ContactManifoldIndex>],
     ) {
         for out_island in &mut out[..islands.num_islands()] {
             out_island.clear();