More Debug derives. (#686)

src/dynamics/joint/impulse_joint/impulse_joint_set.rs

@@ -36,7 +36,7 @@ pub(crate) type JointIndex = usize;
 pub(crate) type JointGraphEdge = crate::data::graph::Edge<ImpulseJoint>;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone, Default)]
+#[derive(Clone, Default, Debug)]
 /// A set of impulse_joints that can be handled by a physics `World`.
 pub struct ImpulseJointSet {
     rb_graph_ids: Coarena<RigidBodyGraphIndex>,

src/dynamics/joint/multibody_joint/multibody.rs

@@ -62,7 +62,7 @@ fn concat_rb_mass_matrix(
 
 /// An articulated body simulated using the reduced-coordinates approach.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone)]
+#[derive(Clone, Debug)]
 pub struct Multibody {
     // TODO: serialization: skip the workspace fields.
     pub(crate) links: MultibodyLinkVec,

src/dynamics/joint/multibody_joint/multibody_joint_set.rs

@@ -86,7 +86,7 @@ impl Default for MultibodyLinkId {
 #[derive(Default)]
 /// A set of rigid bodies that can be handled by a physics pipeline.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone)]
+#[derive(Clone, Debug)]
 pub struct MultibodyJointSet {
     pub(crate) multibodies: Arena<Multibody>, // NOTE: a Slab would be sufficient.
     pub(crate) rb2mb: Coarena<MultibodyLinkId>,

src/dynamics/joint/multibody_joint/multibody_link.rs

@@ -6,7 +6,7 @@ use crate::prelude::RigidBodyVelocity;
 
 /// One link of a multibody.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Copy, Clone)]
+#[derive(Copy, Clone, Debug)]
 pub struct MultibodyLink {
     // FIXME: make all those private.
     pub(crate) internal_id: usize,
@@ -104,7 +104,7 @@ impl MultibodyLink {
 
 // FIXME: keep this even if we already have the Index2 traits?
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone)]
+#[derive(Clone, Debug)]
 pub(crate) struct MultibodyLinkVec(pub Vec<MultibodyLink>);
 
 impl MultibodyLinkVec {

src/dynamics/joint/multibody_joint/multibody_workspace.rs

@@ -4,7 +4,7 @@ use na::DVector;
 
 /// A temporary workspace for various updates of the multibody.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone)]
+#[derive(Clone, Debug)]
 pub(crate) struct MultibodyWorkspace {
     pub accs: Vec<RigidBodyVelocity>,
     pub ndofs_vec: DVector<Real>,