Make clippy a bit happier

src/geometry/broad_phase_multi_sap.rs

@@ -569,16 +569,16 @@ impl BroadPhase {
             self.removed_colliders = Some(colliders.removed_colliders.subscribe());
         }
 
-        let mut cursor = self.removed_colliders.take().unwrap();
+        let cursor = self.removed_colliders.take().unwrap();
         for collider in colliders.removed_colliders.read(&cursor) {
             self.remove_collider(collider.proxy_index);
         }
 
-        colliders.removed_colliders.ack(&mut cursor);
+        colliders.removed_colliders.ack(&cursor);
         self.removed_colliders = Some(cursor);
     }
 
-    fn remove_collider<'a>(&mut self, proxy_index: usize) {
+    fn remove_collider(&mut self, proxy_index: usize) {
         if proxy_index == crate::INVALID_USIZE {
             // This collider has not been added to the broad-phase yet.
             return;

src/geometry/collider.rs

@@ -361,14 +361,14 @@ impl ColliderBuilder {
     /// Initializes a new collider builder with a 2D convex polygon or 3D convex polyhedron
     /// obtained after computing the convex-hull of the given points.
     pub fn convex_hull(points: &[Point<Real>]) -> Option<Self> {
-        SharedShape::convex_hull(points).map(|cp| Self::new(cp))
+        SharedShape::convex_hull(points).map(Self::new)
     }
 
     /// Initializes a new collider builder with a round 2D convex polygon or 3D convex polyhedron
     /// obtained after computing the convex-hull of the given points. The shape is dilated
     /// by a sphere of radius `border_radius`.
     pub fn round_convex_hull(points: &[Point<Real>], border_radius: Real) -> Option<Self> {
-        SharedShape::round_convex_hull(points, border_radius).map(|cp| Self::new(cp))
+        SharedShape::round_convex_hull(points, border_radius).map(Self::new)
     }
 
     /// Creates a new collider builder that is a convex polygon formed by the
@@ -376,7 +376,7 @@ impl ColliderBuilder {
     /// computed).
     #[cfg(feature = "dim2")]
     pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self> {
-        SharedShape::convex_polyline(points).map(|cp| Self::new(cp))
+        SharedShape::convex_polyline(points).map(Self::new)
     }
 
     /// Creates a new collider builder that is a round convex polygon formed by the
@@ -384,7 +384,7 @@ impl ColliderBuilder {
     /// computed). The polygon shape is dilated by a sphere of radius `border_radius`.
     #[cfg(feature = "dim2")]
     pub fn round_convex_polyline(points: Vec<Point<Real>>, border_radius: Real) -> Option<Self> {
-        SharedShape::round_convex_polyline(points, border_radius).map(|cp| Self::new(cp))
+        SharedShape::round_convex_polyline(points, border_radius).map(Self::new)
     }
 
     /// Creates a new collider builder that is a convex polyhedron formed by the
@@ -392,7 +392,7 @@ impl ColliderBuilder {
     /// computed).
     #[cfg(feature = "dim3")]
     pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[[u32; 3]]) -> Option<Self> {
-        SharedShape::convex_mesh(points, indices).map(|cp| Self::new(cp))
+        SharedShape::convex_mesh(points, indices).map(Self::new)
     }
 
     /// Creates a new collider builder that is a round convex polyhedron formed by the
@@ -404,7 +404,7 @@ impl ColliderBuilder {
         indices: &[[u32; 3]],
         border_radius: Real,
     ) -> Option<Self> {
-        SharedShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp))
+        SharedShape::round_convex_mesh(points, indices, border_radius).map(Self::new)
     }
 
     /// Initializes a collider builder with a heightfield shape defined by its set of height and a scale

src/geometry/collider_set.rs

@@ -80,6 +80,11 @@ impl ColliderSet {
         self.colliders.len()
     }
 
+    /// `true` if there are no colliders in this set.
+    pub fn is_empty(&self) -> bool {
+        self.colliders.is_empty()
+    }
+
     /// Is this collider handle valid?
     pub fn contains(&self, handle: ColliderHandle) -> bool {
         self.colliders.contains(handle.0)

src/geometry/interaction_graph.rs

@@ -120,9 +120,9 @@ impl<N: Copy, E> InteractionGraph<N, E> {
 
     /// All the interaction involving the collision object with graph index `id`.
     pub fn interactions_with(&self, id: ColliderGraphIndex) -> impl Iterator<Item = (N, N, &E)> {
-        self.graph.edges(id).filter_map(move |e| {
+        self.graph.edges(id).map(move |e| {
             let endpoints = self.graph.edge_endpoints(e.id()).unwrap();
-            Some((self.graph[endpoints.0], self.graph[endpoints.1], e.weight()))
+            (self.graph[endpoints.0], self.graph[endpoints.1], e.weight())
         })
     }
 

src/geometry/narrow_phase.rs

@@ -90,10 +90,10 @@ impl NarrowPhase {
     }
 
     /// All the intersections involving the given collider.
-    pub fn intersections_with<'a>(
-        &'a self,
+    pub fn intersections_with(
+        &self,
         collider: ColliderHandle,
-    ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + 'a> {
+    ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
         let id = self.graph_indices.get(collider.0)?;
         Some(
             self.intersection_graph
@@ -141,9 +141,9 @@ impl NarrowPhase {
     }
 
     /// All the intersection pairs maintained by this narrow-phase.
-    pub fn intersection_pairs<'a>(
-        &'a self,
-    ) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + 'a {
+    pub fn intersection_pairs(
+        &self,
+    ) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
         self.intersection_graph
             .interactions_with_endpoints()
             .map(|e| (e.0, e.1, *e.2))
@@ -161,7 +161,7 @@ impl NarrowPhase {
             self.removed_colliders = Some(colliders.removed_colliders.subscribe());
         }
 
-        let mut cursor = self.removed_colliders.take().unwrap();
+        let cursor = self.removed_colliders.take().unwrap();
 
         // TODO: avoid these hash-maps.
         // They are necessary to handle the swap-remove done internally
@@ -196,11 +196,11 @@ impl NarrowPhase {
             i += 1;
         }
 
-        colliders.removed_colliders.ack(&mut cursor);
+        colliders.removed_colliders.ack(&cursor);
         self.removed_colliders = Some(cursor);
     }
 
-    pub(crate) fn remove_collider<'a>(
+    pub(crate) fn remove_collider(
         &mut self,
         intersection_graph_id: ColliderGraphIndex,
         contact_graph_id: ColliderGraphIndex,