6 files changed, 28 insertions, 37 deletions

diff --git a/src/data/graph.rs b/src/data/graph.rs
index ea27e03..de958c3 100644
--- a/src/data/graph.rs
+++ b/src/data/graph.rs
@@ -749,20 +749,12 @@ impl<N, E> IndexMut<EdgeIndex> for Graph<N, E> {
 /// The walker does not borrow from the graph, so it lets you step through
 /// neighbors or incident edges while also mutating graph weights, as
 /// in the following example:
+#[derive(Clone)]
 pub struct WalkNeighbors {
     skip_start: NodeIndex,
     next: [EdgeIndex; 2],
 }
 
-impl Clone for WalkNeighbors {
-    fn clone(&self) -> Self {
-        WalkNeighbors {
-            skip_start: self.skip_start,
-            next: self.next,
-        }
-    }
-}
-
 /// Reference to a `Graph` edge.
 #[derive(Debug)]
 pub struct EdgeReference<'a, E: 'a> {
diff --git a/src/dynamics/joint/joint.rs b/src/dynamics/joint/joint.rs
index 074f802..9fe6488 100644
--- a/src/dynamics/joint/joint.rs
+++ b/src/dynamics/joint/joint.rs
@@ -95,6 +95,7 @@ impl From<PrismaticJoint> for JointParams {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// A joint attached to two bodies.
 pub struct Joint {
     /// Handle to the first body attached to this joint.
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 6b897a6..b04ca41 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -27,7 +27,7 @@ pub enum BodyStatus {
 /// A rigid body.
 ///
 /// To create a new rigid-body, use the `RigidBodyBuilder` structure.
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct RigidBody {
     /// The world-space position of the rigid-body.
     pub position: Isometry<f32>,
@@ -58,20 +58,6 @@ pub struct RigidBody {
     pub user_data: u128,
 }
 
-impl Clone for RigidBody {
-    fn clone(&self) -> Self {
-        Self {
-            colliders: Vec::new(),
-            joint_graph_index: RigidBodyGraphIndex::new(crate::INVALID_U32),
-            active_island_id: crate::INVALID_USIZE,
-            active_set_id: crate::INVALID_USIZE,
-            active_set_offset: crate::INVALID_USIZE,
-            active_set_timestamp: crate::INVALID_U32,
-            ..*self
-        }
-    }
-}
-
 impl RigidBody {
     fn new() -> Self {
         Self {
@@ -96,6 +82,15 @@ impl RigidBody {
         }
     }
 
+    pub(crate) fn reset_internal_links(&mut self) {
+        self.colliders = Vec::new();
+        self.joint_graph_index = RigidBodyGraphIndex::new(crate::INVALID_U32);
+        self.active_island_id = crate::INVALID_USIZE;
+        self.active_set_id = crate::INVALID_USIZE;
+        self.active_set_offset = crate::INVALID_USIZE;
+        self.active_set_timestamp = crate::INVALID_U32;
+    }
+
     pub(crate) fn integrate_accelerations(&mut self, dt: f32, gravity: Vector<f32>) {
         if self.mass_properties.inv_mass != 0.0 {
             self.linvel += (gravity + self.linacc) * dt;
diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs
index 83f1c51..2efc2cf 100644
--- a/src/dynamics/rigid_body_set.rs
+++ b/src/dynamics/rigid_body_set.rs
@@ -154,7 +154,11 @@ impl RigidBodySet {
     }
 
     /// Insert a rigid body into this set and retrieve its handle.
-    pub fn insert(&mut self, rb: RigidBody) -> RigidBodyHandle {
+    pub fn insert(&mut self, mut rb: RigidBody) -> RigidBodyHandle {
+        // Make sure the internal links are reset, they may not be
+        // if this rigid-body was obtained by cloning another one.
+        rb.reset_internal_links();
+
         let handle = self.bodies.insert(rb);
         let rb = &mut self.bodies[handle];
 
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index f53d75a..524f265 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -188,6 +188,7 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
 ///
 /// To build a new collider, use the `ColliderBuilder` structure.
@@ -212,20 +213,14 @@ pub struct Collider {
     pub user_data: u128,
 }
 
-impl Clone for Collider {
-    fn clone(&self) -> Self {
-        Self {
-            shape: self.shape.clone(),
-            parent: RigidBodySet::invalid_handle(),
-            contact_graph_index: ColliderGraphIndex::new(crate::INVALID_U32),
-            proximity_graph_index: ColliderGraphIndex::new(crate::INVALID_U32),
-            proxy_index: crate::INVALID_USIZE,
-            ..*self
-        }
+impl Collider {
+    pub(crate) fn reset_internal_links(&mut self) {
+        self.parent = RigidBodySet::invalid_handle();
+        self.contact_graph_index = ColliderGraphIndex::new(crate::INVALID_U32);
+        self.proximity_graph_index = ColliderGraphIndex::new(crate::INVALID_U32);
+        self.proxy_index = crate::INVALID_USIZE;
     }
-}
 
-impl Collider {
     /// The rigid body this collider is attached to.
     pub fn parent(&self) -> RigidBodyHandle {
         self.parent
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 5ac9658..d2bb8cc 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -59,6 +59,10 @@ impl ColliderSet {
         parent_handle: RigidBodyHandle,
         bodies: &mut RigidBodySet,
     ) -> ColliderHandle {
+        // Make sure the internal links are reset, they may not be
+        // if this rigid-body was obtained by cloning another one.
+        coll.reset_internal_links();
+
         coll.parent = parent_handle;
         let parent = bodies
             .get_mut_internal(parent_handle)