Fix clippy and enable clippy on CI

58 files changed, 306 insertions, 377 deletions

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_point_ws,
-                            &ground_body,
+                            ground_body,
                             &wheel.raycast_info.contact_point_ws,
                             &self.axle[i],
                         );
@@ -664,11 +664,9 @@ impl DynamicRayCastVehicleController {
 
         if sliding {
             for wheel in &mut self.wheels {
-                if wheel.side_impulse != 0.0 {
-                    if wheel.skid_info < 1.0 {
-                        wheel.forward_impulse *= wheel.skid_info;
-                        wheel.side_impulse *= wheel.skid_info;
-                    }
+                if wheel.side_impulse != 0.0 && wheel.skid_info < 1.0 {
+                    wheel.forward_impulse *= wheel.skid_info;
+                    wheel.side_impulse *= wheel.skid_info;
                 }
             }
         }
diff --git a/src/data/arena.rs b/src/data/arena.rs
index 3332539..57653da 100644
--- a/src/data/arena.rs
+++ b/src/data/arena.rs
@@ -269,7 +269,7 @@ impl<T> Arena<T> {
                     self.free_list_head = next_free;
                     self.len += 1;
                     Some(Index {
-                        index: i as u32,
+                        index: i,
                         generation: self.generation,
                     })
                 }
diff --git a/src/data/pubsub.rs b/src/data/pubsub.rs
index 8c5f41c..619521e 100644
--- a/src/data/pubsub.rs
+++ b/src/data/pubsub.rs
@@ -106,8 +106,7 @@ impl<T> PubSub<T> {
     /// Read the i-th message not yet read by the given subsciber.
     pub fn read_ith(&self, sub: &Subscription<T>, i: usize) -> Option<&T> {
         let cursor = &self.cursors[sub.id as usize];
-        self.messages
-            .get(cursor.next(self.deleted_messages) as usize + i)
+        self.messages.get(cursor.next(self.deleted_messages) + i)
     }
 
     /// Get the messages not yet read by the given subscriber.
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
index 9b06a80..79c4495 100644
--- a/src/dynamics/ccd/ccd_solver.rs
+++ b/src/dynamics/ccd/ccd_solver.rs
@@ -52,32 +52,27 @@ impl CCDSolver {
     ///
     /// The `impacts` should be the result of a previous call to `self.predict_next_impacts`.
     pub fn clamp_motions(&self, dt: Real, bodies: &mut RigidBodySet, impacts: &PredictedImpacts) {
-        match impacts {
-            PredictedImpacts::Impacts(tois) => {
-                for (handle, toi) in tois {
-                    let rb = bodies.index_mut_internal(*handle);
-                    let local_com = &rb.mprops.local_mprops.local_com;
-
-                    let min_toi = (rb.ccd.ccd_thickness
-                        * 0.15
-                        * crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
-                    .min(dt);
-                    // println!(
-                    //     "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
-                    //     min_toi,
-                    //     toi,
-                    //     rb.ccd.ccd_thickness,
-                    //     rb.ccd.max_point_velocity(&rb.integrated_vels)
-                    // );
-                    let new_pos = rb.integrated_vels.integrate(
-                        toi.max(min_toi),
-                        &rb.pos.position,
-                        &local_com,
-                    );
-                    rb.pos.next_position = new_pos;
-                }
+        if let PredictedImpacts::Impacts(tois) = impacts {
+            for (handle, toi) in tois {
+                let rb = bodies.index_mut_internal(*handle);
+                let local_com = &rb.mprops.local_mprops.local_com;
+
+                let min_toi = (rb.ccd.ccd_thickness
+                    * 0.15
+                    * crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
+                .min(dt);
+                // println!(
+                //     "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
+                //     min_toi,
+                //     toi,
+                //     rb.ccd.ccd_thickness,
+                //     rb.ccd.max_point_velocity(&rb.integrated_vels)
+                // );
+                let new_pos =
+                    rb.integrated_vels
+                        .integrate(toi.max(min_toi), &rb.pos.position, local_com);
+                rb.pos.next_position = new_pos;
             }
-            _ => {}
         }
     }
 
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs
index 6f5a47d..719f3c5 100644
--- a/src/dynamics/ccd/toi_entry.rs
+++ b/src/dynamics/ccd/toi_entry.rs
@@ -169,13 +169,15 @@ impl TOIEntry {
 
 impl PartialOrd for TOIEntry {
     fn partial_cmp(&self, other: &Self) -> Option<std::cmp::Ordering> {
-        (-self.toi).partial_cmp(&(-other.toi))
+        Some(self.cmp(other))
     }
 }
 
 impl Ord for TOIEntry {
     fn cmp(&self, other: &Self) -> std::cmp::Ordering {
-        self.partial_cmp(other).unwrap()
+        (-self.toi)
+            .partial_cmp(&(-other.toi))
+            .unwrap_or(std::cmp::Ordering::Equal)
     }
 }
 
diff --git a/src/dynamics/coefficient_combine_rule.rs b/src/dynamics/coefficient_combine_rule.rs
index 1016d09..9f99b7d 100644
--- a/src/dynamics/coefficient_combine_rule.rs
+++ b/src/dynamics/coefficient_combine_rule.rs
@@ -7,10 +7,11 @@ use crate::math::Real;
 /// Each collider has its combination rule of type
 /// `CoefficientCombineRule`. And the rule
 /// actually used is given by `max(first_combine_rule as usize, second_combine_rule as usize)`.
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Default, Copy, Clone, Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub enum CoefficientCombineRule {
     /// The two coefficients are averaged.
+    #[default]
     Average = 0,
     /// The smallest coefficient is chosen.
     Min,
@@ -20,12 +21,6 @@ pub enum CoefficientCombineRule {
     Max,
 }
 
-impl Default for CoefficientCombineRule {
-    fn default() -> Self {
-        CoefficientCombineRule::Average
-    }
-}
-
 impl CoefficientCombineRule {
     pub(crate) fn combine(coeff1: Real, coeff2: Real, rule_value1: u8, rule_value2: u8) -> Real {
         let effective_rule = rule_value1.max(rule_value2);
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index bcb823b..13b3fde 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -71,8 +71,7 @@ impl IntegrationParameters {
     /// NOTE: this resets [`Self::erp`], [`Self::damping_ratio`], [`Self::joint_erp`],
     ///       [`Self::joint_damping_ratio`] to their former default values.
     pub fn switch_to_standard_pgs_solver(&mut self) {
-        self.num_internal_pgs_iterations =
-            self.num_solver_iterations.get() * self.num_internal_pgs_iterations;
+        self.num_internal_pgs_iterations *= self.num_solver_iterations.get();
         self.num_solver_iterations = NonZeroUsize::new(1).unwrap();
         self.erp = 0.8;
         self.damping_ratio = 0.25;
diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs
index 92b9a3e..8f18941 100644
--- a/src/dynamics/island_manager.rs
+++ b/src/dynamics/island_manager.rs
@@ -134,7 +134,7 @@ impl IslandManager {
     }
 
     #[inline(always)]
-    pub(crate) fn iter_active_bodies<'a>(&'a self) -> impl Iterator<Item = RigidBodyHandle> + 'a {
+    pub(crate) fn iter_active_bodies(&self) -> impl Iterator<Item = RigidBodyHandle> + '_ {
         self.active_dynamic_set
             .iter()
             .copied()
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 75c8228..2bb2f64 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -84,9 +84,9 @@ impl FixedJoint {
     }
 }
 
-impl Into<GenericJoint> for FixedJoint {
-    fn into(self) -> GenericJoint {
-        self.data
+impl From<FixedJoint> for GenericJoint {
+    fn from(val: FixedJoint) -> GenericJoint {
+        val.data
     }
 }
 
@@ -143,8 +143,8 @@ impl FixedJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for FixedJointBuilder {
-    fn into(self) -> GenericJoint {
-        self.0.into()
+impl From<FixedJointBuilder> for GenericJoint {
+    fn from(val: FixedJointBuilder) -> GenericJoint {
+        val.0.into()
     }
 }
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index 83e27be..76a7fe1 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -1,3 +1,5 @@
+#![allow(clippy::bad_bit_mask)] // Clippy will complain about the bitmasks due to JointAxesMask::FREE_FIXED_AXES being 0.
+
 use crate::dynamics::solver::MotorParameters;
 use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
 use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
@@ -704,8 +706,8 @@ impl GenericJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for GenericJointBuilder {
-    fn into(self) -> GenericJoint {
-        self.0
+impl From<GenericJointBuilder> for GenericJoint {
+    fn from(val: GenericJointBuilder) -> GenericJoint {
+        val.0
     }
 }
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
index 67f8949..3f9835e 100644
--- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
+++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
@@ -105,8 +105,8 @@ impl ImpulseJointSet {
     }
 
     /// Iterates through all the impulse joints attached to the given rigid-body.
-    pub fn map_attached_joints_mut<'a>(
-        &'a mut self,
+    pub fn map_attached_joints_mut(
+        &mut self,
         body: RigidBodyHandle,
         mut f: impl FnMut(RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &mut ImpulseJoint),
     ) {
@@ -282,7 +282,7 @@ impl ImpulseJointSet {
         &self,
         islands: &IslandManager,
         bodies: &RigidBodySet,
-        out: &mut Vec<Vec<JointIndex>>,
+        out: &mut [Vec<JointIndex>],
     ) {
         for out_island in &mut out[..islands.num_islands()] {
             out_island.clear();
diff --git a/src/dynamics/joint/motor_model.rs b/src/dynamics/joint/motor_model.rs
index e8ffffa..74b8dd3 100644
--- a/src/dynamics/joint/motor_model.rs
+++ b/src/dynamics/joint/motor_model.rs
@@ -1,23 +1,18 @@
 use crate::math::Real;
 
 /// The spring-like model used for constraints resolution.
-#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+#[derive(Default, Copy, Clone, Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub enum MotorModel {
     /// The solved spring-like equation is:
     /// `acceleration = stiffness * (pos - target_pos) + damping * (vel - target_vel)`
+    #[default]
     AccelerationBased,
     /// The solved spring-like equation is:
     /// `force = stiffness * (pos - target_pos) + damping * (vel - target_vel)`
     ForceBased,
 }
 
-impl Default for MotorModel {
-    fn default() -> Self {
-        MotorModel::AccelerationBased
-    }
-}
-
 impl MotorModel {
     /// Combines the coefficients used for solving the spring equation.
     ///
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs
index c65a6ff..617d447 100644
--- a/src/dynamics/joint/multibody_joint/multibody.rs
+++ b/src/dynamics/joint/multibody_joint/multibody.rs
@@ -127,8 +127,9 @@ impl Multibody {
         let mut link_id2new_id = vec![usize::MAX; self.links.len()];
 
         for (i, mut link) in self.links.0.into_iter().enumerate() {
-            let is_new_root = (!joint_only && (i == 0 || link.parent_internal_id == to_remove))
-                || (joint_only && (i == 0 || i == to_remove));
+            let is_new_root = i == 0
+                || !joint_only && link.parent_internal_id == to_remove
+                || joint_only && i == to_remove;
 
             if !joint_only && i == to_remove {
                 continue;
@@ -492,7 +493,7 @@ impl Multibody {
                 parent_to_world = parent_link.local_to_world;
 
                 let (link_j, parent_j) = self.body_jacobians.index_mut_const(i, parent_id);
-                link_j.copy_from(&parent_j);
+                link_j.copy_from(parent_j);
 
                 {
                     let mut link_j_v = link_j.fixed_rows_mut::<DIM>(0);
@@ -602,12 +603,12 @@ impl Multibody {
                 let (coriolis_v, parent_coriolis_v) = self.coriolis_v.index_mut2(i, parent_id);
                 let (coriolis_w, parent_coriolis_w) = self.coriolis_w.index_mut2(i, parent_id);
 
-                coriolis_v.copy_from(&parent_coriolis_v);
-                coriolis_w.copy_from(&parent_coriolis_w);
+                coriolis_v.copy_from(parent_coriolis_v);
+                coriolis_w.copy_from(parent_coriolis_w);
 
                 // [c1 - c0].gcross() * (JDot + JDot/u * qdot)"
                 let shift_cross_tr = link.shift02.gcross_matrix_tr();
-                coriolis_v.gemm(1.0, &shift_cross_tr, &parent_coriolis_w, 1.0);
+                coriolis_v.gemm(1.0, &shift_cross_tr, parent_coriolis_w, 1.0);
 
                 // JDot (but the 2.0 originates from the sum of two identical terms in JDot and JDot/u * gdot)
                 let dvel_cross = (rb.vels.angvel.gcross(link.shift02)
@@ -663,7 +664,7 @@ impl Multibody {
             {
                 // [c3 - c2].gcross() * (JDot + JDot/u * qdot)
                 let shift_cross_tr = link.shift23.gcross_matrix_tr();
-                coriolis_v.gemm(1.0, &shift_cross_tr, &coriolis_w, 1.0);
+                coriolis_v.gemm(1.0, &shift_cross_tr, coriolis_w, 1.0);
 
                 // JDot
                 let dvel_cross = rb.vels.angvel.gcross(link.shift23).gcross_matrix_tr();
@@ -696,16 +697,16 @@ impl Multibody {
             {
                 let mut i_coriolis_dt_w = self.i_coriolis_dt.fixed_rows_mut::<ANG_DIM>(DIM);
                 // NOTE: this is just an axpy, but on row columns.
-                i_coriolis_dt_w.zip_apply(&coriolis_w, |o, x| *o = x * dt * rb_inertia);
+                i_coriolis_dt_w.zip_apply(coriolis_w, |o, x| *o = x * dt * rb_inertia);
             }
             #[cfg(feature = "dim3")]
             {
                 let mut i_coriolis_dt_w = self.i_coriolis_dt.fixed_rows_mut::<ANG_DIM>(DIM);
-                i_coriolis_dt_w.gemm(dt, &rb_inertia, &coriolis_w, 0.0);
+                i_coriolis_dt_w.gemm(dt, &rb_inertia, coriolis_w, 0.0);
             }
 
             self.acc_augmented_mass
-                .gemm_tr(1.0, &rb_j, &self.i_coriolis_dt, 1.0);
+                .gemm_tr(1.0, rb_j, &self.i_coriolis_dt, 1.0);
         }
 
         /*
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index 748de3b..fa0ffdb 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -393,10 +393,10 @@ impl MultibodyJointSet {
 
     /// Iterate through the handles of all the rigid-bodies attached to this rigid-body
     /// by a multibody_joint.
-    pub fn attached_bodies<'a>(
-        &'a self,
+    pub fn attached_bodies(
+        &self,
         body: RigidBodyHandle,
-    ) -> impl Iterator<Item = RigidBodyHandle> + 'a {
+    ) -> impl Iterator<Item = RigidBodyHandle> + '_ {
         self.rb2mb
             .get(body.0)
             .into_iter()
@@ -406,10 +406,10 @@ impl MultibodyJointSet {
 
     /// Iterate through the handles of all the rigid-bodies attached to this rigid-body
     /// by an enabled multibody_joint.
-    pub fn bodies_attached_with_enabled_joint<'a>(
-        &'a self,
+    pub fn bodies_attached_with_enabled_joint(
+        &self,
         body: RigidBodyHandle,
-    ) -> impl Iterator<Item = RigidBodyHandle> + 'a {
+    ) -> impl Iterator<Item = RigidBodyHandle> + '_ {
         self.attached_bodies(body).filter(move |other| {
             if let Some((_, _, link)) = self.joint_between(body, *other) {
                 link.joint.data.is_enabled()
diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index 1e7a016..d0f3a7d 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/src/dynamics/joint/prismatic_joint.rs
@@ -152,9 +152,9 @@ impl PrismaticJoint {
     }
 }
 
-impl Into<GenericJoint> for PrismaticJoint {
-    fn into(self) -> GenericJoint {
-        self.data
+impl From<PrismaticJoint> for GenericJoint {
+    fn from(val: PrismaticJoint) -> GenericJoint {
+        val.data
     }
 }
 
@@ -263,8 +263,8 @@ impl PrismaticJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for PrismaticJointBuilder {
-    fn into(self) -> GenericJoint {
-        self.0.into()
+impl From<PrismaticJointBuilder> for GenericJoint {
+    fn from(val: PrismaticJointBuilder) -> GenericJoint {
+        val.0.into()
     }
 }
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs
index 9400ba8..ba27351 100644
--- a/src/dynamics/joint/revolute_joint.rs
+++ b/src/dynamics/joint/revolute_joint.rs
@@ -17,6 +17,7 @@ pub struct RevoluteJoint {
 impl RevoluteJoint {
     /// Creates a new revolute joint allowing only relative rotations.
     #[cfg(feature = "dim2")]
+    #[allow(clippy::new_without_default)] // For symmetry with 3D which can’t have a Default impl.
     pub fn new() -> Self {
         let data = GenericJointBuilder::new(JointAxesMask::LOCKED_REVOLUTE_AXES);
         Self { data: data.build() }
@@ -137,9 +138,9 @@ impl RevoluteJoint {
     }
 }
 
-impl Into<GenericJoint> for RevoluteJoint {
-    fn into(self) -> GenericJoint {
-        self.data
+impl From<RevoluteJoint> for GenericJoint {
+    fn from(val: RevoluteJoint) -> GenericJoint {
+        val.data
     }
 }
 
@@ -153,6 +154,7 @@ pub struct RevoluteJointBuilder(pub RevoluteJoint);
 impl RevoluteJointBuilder {
     /// Creates a new revolute joint builder.
     #[cfg(feature = "dim2")]
+    #[allow(clippy::new_without_default)] // For symmetry with 3D which can’t have a Default impl.
     pub fn new() -> Self {
         Self(RevoluteJoint::new())
     }
@@