Fix clippy and enable clippy on CI

.github/workflows/rapier-ci-build.yml

@@ -23,6 +23,12 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - run: sudo apt-get install -y cmake libxcb-composite0-dev
+    - name: Clippy
+      run: cargo clippy
+    - name: Clippy rapier2d
+      run: cargo clippy -p rapier-examples-2d --features parallel,simd-stable
+    - name: Clippy rapier3d
+      run: cargo clippy -p rapier-examples-3d --features parallel,simd-stable
     - name: Build rapier2d
       run: cargo build --verbose -p rapier2d;
     - name: Build rapier3d

benchmarks2d/all_benchmarks2.rs

@@ -46,8 +46,8 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
+        .or_else(demo_name_from_url)
-        .unwrap_or(String::new())
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
@@ -66,7 +66,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with(')')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,

benchmarks3d/all_benchmarks3.rs

@@ -36,7 +36,7 @@ fn parse_command_line() -> Command {
 
     while let Some(arg) = args.next() {
         if &arg[..] == "--example" {
-            return Command::Run(args.next().unwrap_or(String::new()));
+            return Command::Run(args.next().unwrap_or_default());
         } else if &arg[..] == "--list" {
             return Command::List;
         }
@@ -68,7 +68,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,

benchmarks3d/keva3.rs

@@ -7,9 +7,7 @@ pub fn build_block(
     colliders: &mut ColliderSet,
     half_extents: Vector<f32>,
     shift: Vector<f32>,
-    mut numx: usize,
+    (mut numx, numy, mut numz): (usize, usize, usize),
-    numy: usize,
-    mut numz: usize,
 ) {
     let dimensions = [half_extents.xyz(), half_extents.zyx()];
     let block_width = 2.0 * half_extents.z * numx as f32;
@@ -56,8 +54,8 @@ pub fn build_block(
     // Close the top.
     let dim = half_extents.zxy();
 
-    for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
+    for i in 0..(block_width / (dim.x * 2.0)) as usize {
-        for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
+        for j in 0..(block_width / (dim.z * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                 i as f32 * dim.x * 2.0 + dim.x + shift.x,
@@ -114,9 +112,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut colliders,
             half_extents,
             vector![-block_width / 2.0, block_height, -block_width / 2.0],
-            numx,
+            (numx, numy, numz),
-            numy,
-            numz,
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
         num_blocks_built += numx * numy * numz;

examples2d/all_examples2.rs

@@ -57,8 +57,8 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
+        .or_else(demo_name_from_url)
-        .unwrap_or(String::new())
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
@@ -85,7 +85,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,

examples2d/trimesh2.rs

@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.look_at(point![0.0, 20.0], 17.0);
 }
 
-const RAPIER_SVG_STR: &'static str = r#"
+const RAPIER_SVG_STR: &str = r#"
 <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
 <svg width="100%" height="100%" viewBox="0 0 527 131" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" xml:space="preserve" xmlns:serif="http://www.serif.com/" style="fill-rule:evenodd;clip-rule:evenodd;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:1.5;">
     <g transform="matrix(1,0,0,1,1,-673)">

examples3d-f64/all_examples3-f64.rs

@@ -43,15 +43,15 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
+        .or_else(demo_name_from_url)
-        .unwrap_or(String::new())
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> =
         vec![("(Debug) serialized", debug_serialized3::init_world)];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,

examples3d/all_examples3.rs

@@ -86,8 +86,8 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
+        .or_else(demo_name_from_url)
-        .unwrap_or(String::new())
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
@@ -157,7 +157,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,

examples3d/ccd3.rs

@@ -27,9 +27,9 @@ fn create_wall(
             colliders.insert_with_parent(collider, handle, bodies);
             k += 1;
             if k % 2 == 0 {
-                testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]);
+                testbed.set_initial_body_color(handle, [1., 131. / 255., 244.0 / 255.]);
             } else {
-                testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]);
+                testbed.set_initial_body_color(handle, [131. / 255., 1., 244.0 / 255.]);
             }
         }
     }

examples3d/joints3.rs

@@ -482,7 +482,7 @@ fn create_actuated_revolute_joints(
             } else if i == num - 1 {
                 let stiffness = 200.0;
                 let damping = 100.0;
-                joint = joint.motor_position(3.14 / 2.0, stiffness, damping);
+                joint = joint.motor_position(std::f32::consts::FRAC_PI_2, stiffness, damping);
             }
 
             if i == 1 {
@@ -541,7 +541,7 @@ fn create_actuated_spherical_joints(
         colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
-            let mut joint = joint_template.clone();
+            let mut joint = joint_template;
 
             if i == 1 {
                 joint = joint
@@ -554,7 +554,12 @@ fn create_actuated_spherical_joints(
                 joint = joint
                     .motor_position(JointAxis::AngX, 0.0, stiffness, damping)
                     .motor_position(JointAxis::AngY, 1.0, stiffness, damping)
-                    .motor_position(JointAxis::AngZ, 3.14 / 2.0, stiffness, damping);
+                    .motor_position(
+                        JointAxis::AngZ,
+                        std::f32::consts::FRAC_PI_2,
+                        stiffness,
+                        damping,
+                    );
             }
 
             if use_articulations {

examples3d/keva3.rs

@@ -7,9 +7,7 @@ pub fn build_block(
     colliders: &mut ColliderSet,
     half_extents: Vector<f32>,
     shift: Vector<f32>,
-    mut numx: usize,
+    (mut numx, numy, mut numz): (usize, usize, usize),
-    numy: usize,
-    mut numz: usize,
 ) {
     let dimensions = [half_extents.xyz(), half_extents.zyx()];
     let block_width = 2.0 * half_extents.z * numx as f32;
@@ -56,8 +54,8 @@ pub fn build_block(
     // Close the top.
     let dim = half_extents.zxy();
 
-    for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
+    for i in 0..(block_width / (dim.x * 2.0)) as usize {
-        for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
+        for j in 0..(block_width / (dim.z * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                 i as f32 * dim.x * 2.0 + dim.x + shift.x,
@@ -114,9 +112,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut colliders,
             half_extents,
             vector![-block_width / 2.0, block_height, -block_width / 2.0],
-            numx,
+            (numx, numy, numz),
-            numy,
-            numz,
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
         num_blocks_built += numx * numy * numz;

examples3d/rope_joints3.rs

@@ -67,7 +67,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(0.15, 0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
 
-    testbed.set_initial_body_color(character_handle, [255. / 255., 131. / 255., 244.0 / 255.]);
+    testbed.set_initial_body_color(character_handle, [1., 131. / 255., 244.0 / 255.]);
 
     /*
      * Tethered Ball

examples3d/vehicle_controller3.rs

@@ -32,9 +32,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0);
     colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);
 
-    let mut tuning = WheelTuning::default();
+    let tuning = WheelTuning {
-    tuning.suspension_stiffness = 100.0;
+        suspension_stiffness: 100.0,
-    tuning.suspension_damping = 10.0;
+        suspension_damping: 10.0,
+        ..WheelTuning::default()
+    };
     let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
     let wheel_positions = [
         point![hw * 1.5, -hh, hw],

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.side_impulse != 0.0 && wheel.skid_info < 1.0 {
-                    if wheel.skid_info < 1.0 {
+                    wheel.forward_impulse *= wheel.skid_info;
-                        wheel.forward_impulse *= wheel.skid_info;
+                    wheel.side_impulse *= wheel.skid_info;
-                        wheel.side_impulse *= wheel.skid_info;
-                    }
                 }
             }
         }

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,
                     })
                 }

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
+        self.messages.get(cursor.next(self.deleted_messages) + i)
-            .get(cursor.next(self.deleted_messages) as usize + i)
     }
 
     /// Get the messages not yet read by the given subscriber.

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 {
+        if let PredictedImpacts::Impacts(tois) = impacts {
-            PredictedImpacts::Impacts(tois) => {
+            for (handle, toi) in tois {
-                for (handle, toi) in tois {
+                let rb = bodies.index_mut_internal(*handle);
-                    let rb = bodies.index_mut_internal(*handle);
+                let local_com = &rb.mprops.local_mprops.local_com;
-                    let local_com = &rb.mprops.local_mprops.local_com;
 
-                    let min_toi = (rb.ccd.ccd_thickness
+                let min_toi = (rb.ccd.ccd_thickness
-                        * 0.15
+                    * 0.15
-                        * crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
+                    * crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
-                    .min(dt);
+                .min(dt);
-                    // println!(
+                // println!(
-                    //     "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
+                //     "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
-                    //     min_toi,
+                //     min_toi,
-                    //     toi,
+                //     toi,
-                    //     rb.ccd.ccd_thickness,
+                //     rb.ccd.ccd_thickness,
-                    //     rb.ccd.max_point_velocity(&rb.integrated_vels)
+                //     rb.ccd.max_point_velocity(&rb.integrated_vels)
-                    // );
+                // );
-                    let new_pos = rb.integrated_vels.integrate(
+                let new_pos =
-                        toi.max(min_toi),
+                    rb.integrated_vels
-                        &rb.pos.position,
+                        .integrate(toi.max(min_toi), &rb.pos.position, local_com);
-                        &local_com,
+                rb.pos.next_position = new_pos;
-                    );
-                    rb.pos.next_position = new_pos;
-                }
             }
-            _ => {}
         }
     }
 

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)
     }
 }
 

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);

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_internal_pgs_iterations *= self.num_solver_iterations.get();
-            self.num_solver_iterations.get() * self.num_internal_pgs_iterations;
         self.num_solver_iterations = NonZeroUsize::new(1).unwrap();
         self.erp = 0.8;
         self.damping_ratio = 0.25;

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()

src/dynamics/joint/fixed_joint.rs

@@ -84,9 +84,9 @@ impl FixedJoint {
     }
 }
 
-impl Into<GenericJoint> for FixedJoint {
+impl From<FixedJoint> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: FixedJoint) -> GenericJoint {
-        self.data
+        val.data
     }
 }
 
@@ -143,8 +143,8 @@ impl FixedJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for FixedJointBuilder {
+impl From<FixedJointBuilder> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: FixedJointBuilder) -> GenericJoint {
-        self.0.into()
+        val.0.into()
     }
 }

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 {
+impl From<GenericJointBuilder> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: GenericJointBuilder) -> GenericJoint {
-        self.0
+        val.0
     }
 }

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>(
+    pub fn map_attached_joints_mut(
-        &'a mut self,
+        &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();

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.
     ///

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))
+            let is_new_root = i == 0
-                || (joint_only && (i == 0 || i == to_remove));
+                || !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_v.copy_from(parent_coriolis_v);
-                coriolis_w.copy_from(&parent_coriolis_w);
+                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);
         }
 
         /*

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>(
+    pub fn attached_bodies(
-        &'a self,
+        &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>(
+    pub fn bodies_attached_with_enabled_joint(
-        &'a self,
+        &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()

src/dynamics/joint/prismatic_joint.rs

@@ -152,9 +152,9 @@ impl PrismaticJoint {
     }
 }
 
-impl Into<GenericJoint> for PrismaticJoint {
+impl From<PrismaticJoint> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: PrismaticJoint) -> GenericJoint {
-        self.data
+        val.data
     }
 }
 
@@ -263,8 +263,8 @@ impl PrismaticJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for PrismaticJointBuilder {
+impl From<PrismaticJointBuilder> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: PrismaticJointBuilder) -> GenericJoint {
-        self.0.into()
+        val.0.into()
     }
 }

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 {
+impl From<RevoluteJoint> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: RevoluteJoint) -> GenericJoint {
-        self.data
+        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())
     }
@@ -241,8 +243,8 @@ impl RevoluteJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for RevoluteJointBuilder {
+impl From<RevoluteJointBuilder> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: RevoluteJointBuilder) -> GenericJoint {
-        self.0.into()
+        val.0.into()
     }
 }

src/dynamics/joint/rope_joint.rs

@@ -134,9 +134,9 @@ impl RopeJoint {
     }
 }
 
-impl Into<GenericJoint> for RopeJoint {
+impl From<RopeJoint> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: RopeJoint) -> GenericJoint {
-        self.data
+        val.data
     }
 }
 
@@ -231,8 +231,8 @@ impl RopeJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for RopeJointBuilder {
+impl From<RopeJointBuilder> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: RopeJointBuilder) -> GenericJoint {
-        self.0.into()
+        val.0.into()
     }
 }

src/dynamics/joint/spherical_joint.rs

@@ -164,9 +164,9 @@ impl SphericalJoint {
     }
 }
 
-impl Into<GenericJoint> for SphericalJoint {
+impl From<SphericalJoint> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: SphericalJoint) -> GenericJoint {
-        self.data
+        val.data
     }
 }
 
@@ -288,8 +288,8 @@ impl SphericalJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for SphericalJointBuilder {
+impl From<SphericalJointBuilder> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: SphericalJointBuilder) -> GenericJoint {
-        self.0.into()
+        val.0.into()
     }
 }

src/dynamics/joint/spring_joint.rs

@@ -94,9 +94,9 @@ impl SpringJoint {
     // }
 }
 
-impl Into<GenericJoint> for SpringJoint {
+impl From<SpringJoint> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: SpringJoint) -> GenericJoint {
-        self.data
+        val.data
     }
 }
 
@@ -165,8 +165,8 @@ impl SpringJointBuilder {
     }
 }
 
-impl Into<GenericJoint> for SpringJointBuilder {
+impl From<SpringJointBuilder> for GenericJoint {
-    fn into(self) -> GenericJoint {
+    fn from(val: SpringJointBuilder) -> GenericJoint {
-        self.0.into()
+        val.0.into()
     }
 }

src/dynamics/rigid_body.rs

@@ -300,16 +300,16 @@ impl RigidBody {
         wake_up: bool,
     ) {
         #[cfg(feature = "dim2")]
-        if self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_X) == !allow_translation_x
+        if self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_X) != allow_translation_x
-            && self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_Y) == !allow_translation_y
+            && self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_Y) != allow_translation_y
         {
             // Nothing to change.
             return;
         }
         #[cfg(feature = "dim3")]
-        if self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_X) == !allow_translation_x
+        if self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_X) != allow_translation_x
-            && self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_Y) == !allow_translation_y
+            && self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_Y) != allow_translation_y
-            && self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_Z) == !allow_translation_z
+            && self.mprops.flags.contains(LockedAxes::TRANSLATION_LOCKED_Z) != allow_translation_z
         {
             // Nothing to change.
             return;
@@ -850,13 +850,11 @@ impl RigidBody {
     ///
     /// This does nothing on non-dynamic bodies.
     pub fn add_force(&mut self, force: Vector<Real>, wake_up: bool) {
-        if !force.is_zero() {
+        if !force.is_zero() && self.body_type == RigidBodyType::Dynamic {
-            if self.body_type == RigidBodyType::Dynamic {
+            self.forces.user_force += force;
-                self.forces.user_force += force;
 
-                if wake_up {
+            if wake_up {
-                    self.wake_up(true);
+                self.wake_up(true);
-                }
             }
         }
     }
@@ -866,13 +864,11 @@ impl RigidBody {
     /// This does nothing on non-dynamic bodies.
     #[cfg(feature = "dim2")]
     pub fn add_torque(&mut self, torque: Real, wake_up: bool) {
-        if !torque.is_zero() {
+        if !torque.is_zero() && self.body_type == RigidBodyType::Dynamic {
-            if self.body_type == RigidBodyType::Dynamic {
+            self.forces.user_torque += torque;
-                self.forces.user_torque += torque;
 
-                if wake_up {
+            if wake_up {
-                    self.wake_up(true);
+                self.wake_up(true);
-                }
             }
         }
     }
@@ -882,13 +878,11 @@ impl RigidBody {
     /// This does nothing on non-dynamic bodies.
     #[cfg(feature = "dim3")]
     pub fn add_torque(&mut self, torque: Vector<Real>, wake_up: bool) {
-        if !torque.is_zero() {
+        if !torque.is_zero() && self.body_type == RigidBodyType::Dynamic {
-            if self.body_type == RigidBodyType::Dynamic {
+            self.forces.user_torque += torque;
-                self.forces.user_torque += torque;
 
-                if wake_up {
+            if wake_up {
-                    self.wake_up(true);
+                self.wake_up(true);
-                }
             }
         }
     }
@@ -897,14 +891,12 @@ impl RigidBody {
     ///
     /// This does nothing on non-dynamic bodies.
     pub fn add_force_at_point(&mut self, force: Vector<Real>, point: Point<Real>, wake_up: bool) {
-        if !force.is_zero() {
+        if !force.is_zero() && self.body_type == RigidBodyType::Dynamic {
-            if self.body_type == RigidBodyType::Dynamic {
+            self.forces.user_force += force;
-                self.forces.user_force += force;
+            self.forces.user_torque += (point - self.mprops.world_com).gcross(force);
-                self.forces.user_torque += (point - self.mprops.world_com).gcross(force);
 
-                if wake_up {
+            if wake_up {
-                    self.wake_up(true);
+                self.wake_up(true);
-                }
             }
         }
     }
@@ -1379,8 +1371,8 @@ impl RigidBodyBuilder {
     }
 }
 
-impl Into<RigidBody> for RigidBodyBuilder {
+impl From<RigidBodyBuilder> for RigidBody {
-    fn into(self) -> RigidBody {
+    fn from(val: RigidBodyBuilder) -> RigidBody {
-        self.build()
+        val.build()
     }
 }

src/dynamics/rigid_body_components.rs

@@ -399,7 +399,7 @@ impl RigidBodyMassProps {
 
     /// Update the world-space mass properties of `self`, taking into account the new position.
     pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>) {
-        self.world_com = self.local_mprops.world_com(&position);
+        self.world_com = self.local_mprops.world_com(position);
         self.effective_inv_mass = Vector::repeat(self.local_mprops.inv_mass);
         self.effective_world_inv_inertia_sqrt =
             self.local_mprops.world_inv_inertia_sqrt(&position.rotation);
@@ -707,7 +707,6 @@ impl std::ops::Add<RigidBodyVelocity> for RigidBodyVelocity {
 }
 
 impl std::ops::AddAssign<RigidBodyVelocity> for RigidBodyVelocity {
-    #[must_use]
     fn add_assign(&mut self, rhs: Self) {
         self.linvel += rhs.linvel;
         self.angvel += rhs.angvel;
@@ -788,7 +787,7 @@ impl RigidBodyForces {
         gravity: &Vector<Real>,
         mass: &Vector<Real>,
     ) {
-        self.force = self.user_force + gravity.component_mul(&mass) * self.gravity_scale;
+        self.force = self.user_force + gravity.component_mul(mass) * self.gravity_scale;
         self.torque = self.user_torque;
     }
 
@@ -877,7 +876,7 @@ impl RigidBodyCcd {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone, Debug, Copy, PartialEq, Eq, Hash)]
+#[derive(Default, Clone, Debug, Copy, PartialEq, Eq, Hash)]
 /// Internal identifiers used by the physics engine.
 pub struct RigidBodyIds {
     pub(crate) active_island_id: usize,
@@ -886,19 +885,8 @@ pub struct RigidBodyIds {
     pub(crate) active_set_timestamp: u32,
 }
 
-impl Default for RigidBodyIds {
-    fn default() -> Self {
-        Self {
-            active_island_id: 0,
-            active_set_id: 0,
-            active_set_offset: 0,
-            active_set_timestamp: 0,
-        }
-    }
-}
-
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone, Debug, PartialEq, Eq)]
+#[derive(Default, Clone, Debug, PartialEq, Eq)]
 /// The set of colliders attached to this rigid-bodies.
 ///
 /// This should not be modified manually unless you really know what
@@ -906,12 +894,6 @@ impl Default for RigidBodyIds {
 /// to a game engine using its component-based interface).
 pub struct RigidBodyColliders(pub Vec<ColliderHandle>);
 
-impl Default for RigidBodyColliders {
-    fn default() -> Self {
-        Self(vec![])
-    }
-}
-
 impl RigidBodyColliders {
     /// Detach a collider from this rigid-body.
     pub fn detach_collider(
@@ -987,16 +969,10 @@ impl RigidBodyColliders {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone, Debug, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
+#[derive(Default, Clone, Debug, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
 /// The dominance groups of a rigid-body.
 pub struct RigidBodyDominance(pub i8);
 
-impl Default for RigidBodyDominance {
-    fn default() -> Self {
-        RigidBodyDominance(0)
-    }
-}
-
 impl RigidBodyDominance {
     /// The actual dominance group of this rigid-body, after taking into account its type.
     pub fn effective_group(&self, status: &RigidBodyType) -> i16 {

src/dynamics/rigid_body_set.rs

@@ -44,7 +44,7 @@ impl RigidBodySet {
     }
 
     pub(crate) fn take_modified(&mut self) -> Vec<RigidBodyHandle> {
-        std::mem::replace(&mut self.modified_bodies, vec![])
+        std::mem::take(&mut self.modified_bodies)
     }
 
     /// The number of rigid bodies on this set.

src/dynamics/solver/contact_constraint/contact_constraints_set.rs

@@ -192,7 +192,7 @@ impl ContactConstraintsSet {
             .interaction_groups
             .simd_interactions
             .chunks_exact(SIMD_WIDTH)
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[i[0]]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[i[0]]).num_constraints)
             .sum();
 
         unsafe {
@@ -211,7 +211,7 @@ impl ContactConstraintsSet {
             .chunks_exact(SIMD_WIDTH)
         {
             let num_to_add =
-                ConstraintsCounts::from_contacts(&manifolds_all[manifolds_i[0]]).num_constraints;
+                ConstraintsCounts::from_contacts(manifolds_all[manifolds_i[0]]).num_constraints;
             let manifold_id = gather![|ii| manifolds_i[ii]];
             let manifolds = gather![|ii| &*manifolds_all[manifolds_i[ii]]];
 
@@ -238,7 +238,7 @@ impl ContactConstraintsSet {
             .interaction_groups
             .nongrouped_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
 
         unsafe {
@@ -278,7 +278,7 @@ impl ContactConstraintsSet {
         let total_num_constraints = self
             .generic_two_body_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
 
         self.generic_velocity_constraints_builder.resize(
@@ -321,7 +321,7 @@ impl ContactConstraintsSet {
         let total_num_constraints = self
             .generic_one_body_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
         self.generic_velocity_one_body_constraints_builder.resize(
             total_num_constraints,
@@ -362,7 +362,7 @@ impl ContactConstraintsSet {
             .one_body_interaction_groups
             .simd_interactions
             .chunks_exact(SIMD_WIDTH)
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[i[0]]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[i[0]]).num_constraints)
             .sum();
 
         unsafe {
@@ -384,7 +384,7 @@ impl ContactConstraintsSet {
             .chunks_exact(SIMD_WIDTH)
         {
             let num_to_add =
-                ConstraintsCounts::from_contacts(&manifolds_all[manifolds_i[0]]).num_constraints;
+                ConstraintsCounts::from_contacts(manifolds_all[manifolds_i[0]]).num_constraints;
             let manifold_id = gather![|ii| manifolds_i[ii]];
             let manifolds = gather![|ii| &*manifolds_all[manifolds_i[ii]]];
             SimdOneBodyConstraintBuilder::generate(
@@ -408,7 +408,7 @@ impl ContactConstraintsSet {
             .one_body_interaction_groups
             .nongrouped_interactions
             .iter()
-            .map(|i| ConstraintsCounts::from_contacts(&manifolds_all[*i]).num_constraints)
+            .map(|i| ConstraintsCounts::from_contacts(manifolds_all[*i]).num_constraints)
             .sum();
 
         unsafe {

src/dynamics/solver/contact_constraint/generic_one_body_constraint.rs

@@ -59,7 +59,7 @@ impl GenericOneBodyConstraintBuilder {
 
         let rb1 = handle1
             .map(|h| SolverBody::from(&bodies[h]))
-            .unwrap_or_else(SolverBody::default);
+            .unwrap_or_default();
 
         let rb2 = &bodies[handle2.unwrap()];
         let (vels2, mprops2) = (&rb2.vels, &rb2.mprops);
@@ -265,7 +265,7 @@ impl GenericOneBodyConstraint {
         solve_restitution: bool,
         solve_friction: bool,
     ) {
-        let solver_vel2 = self.inner.solver_vel2 as usize;
+        let solver_vel2 = self.inner.solver_vel2;
 
         let elements = &mut self.inner.elements[..self.inner.num_contacts as usize];
         OneBodyConstraintElement::generic_solve_group(

src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs

@@ -382,15 +382,15 @@ impl GenericTwoBodyConstraint {
         solve_friction: bool,
     ) {
         let mut solver_vel1 = if self.generic_constraint_mask & 0b01 == 0 {
-            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel1 as usize])
+            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel1])
         } else {
-            GenericRhs::GenericId(self.inner.solver_vel1 as usize)
+            GenericRhs::GenericId(self.inner.solver_vel1)
         };
 
         let mut solver_vel2 = if self.generic_constraint_mask & 0b10 == 0 {
-            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel2 as usize])
+            GenericRhs::SolverVel(solver_vels[self.inner.solver_vel2])
         } else {
-            GenericRhs::GenericId(self.inner.solver_vel2 as usize)
+            GenericRhs::GenericId(self.inner.solver_vel2)
         };
 
         let elements = &mut self.inner.elements[..self.inner.num_contacts as usize];
@@ -415,11 +415,11 @@ impl GenericTwoBodyConstraint {
         );
 
         if let GenericRhs::SolverVel(solver_vel1) = solver_vel1 {
-            solver_vels[self.inner.solver_vel1 as usize] = solver_vel1;
+            solver_vels[self.inner.solver_vel1] = solver_vel1;
         }
 
         if let GenericRhs::SolverVel(solver_vel2) = solver_vel2 {
-            solver_vels[self.inner.solver_vel2 as usize] = solver_vel2;
+            solver_vels[self.inner.solver_vel2] = solver_vel2;
         }
     }
 

src/dynamics/solver/contact_constraint/generic_two_body_constraint_element.rs

@@ -114,7 +114,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 j_id1,
                 ndofs1,
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
             ) + solver_vel2.dvel(
@@ -135,7 +135,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 ndofs1,
                 dlambda,
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
                 im1,
@@ -158,7 +158,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 j_id1,
                 ndofs1,
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
             ) + solver_vel2.dvel(
@@ -173,7 +173,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 j_id1 + j_step,
                 ndofs1,
                 jacobians,
-                &tangents1[1],
+                tangents1[1],
                 &self.gcross1[1],
                 solver_vels,
             ) + solver_vel2.dvel(
@@ -199,7 +199,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 ndofs1,
                 dlambda[0],
                 jacobians,
-                &tangents1[0],
+                tangents1[0],
                 &self.gcross1[0],
                 solver_vels,
                 im1,
@@ -209,7 +209,7 @@ impl TwoBodyConstraintTangentPart<Real> {
                 ndofs1,
                 dlambda[1],
                 jacobians,
-                &tangents1[1],
+                tangents1[1],
                 &self.gcross1[1],
                 solver_vels,
                 im1,
@@ -258,7 +258,7 @@ impl TwoBodyConstraintNormalPart<Real> {
         let j_id1 = j_id1(j_id, ndofs1, ndofs2);
         let j_id2 = j_id2(j_id, ndofs1, ndofs2);
 
-        let dvel = solver_vel1.dvel(j_id1, ndofs1, jacobians, &dir1, &self.gcross1, solver_vels)
+        let dvel = solver_vel1.dvel(j_id1, ndofs1, jacobians, dir1, &self.gcross1, solver_vels)
             + solver_vel2.dvel(j_id2, ndofs2, jacobians, &-dir1, &self.gcross2, solver_vels)
             + self.rhs;
 
@@ -271,7 +271,7 @@ impl TwoBodyConstraintNormalPart<Real> {
             ndofs1,
             dlambda,
             jacobians,
-            &dir1,
+            dir1,
             &self.gcross1,
             solver_vels,
             im1,
@@ -323,7 +323,7 @@ impl TwoBodyConstraintElement<Real> {
                     cfm_factor,
                     nrm_j_id,
                     jacobians,
-                    &dir1,
+                    dir1,
                     im1,
                     im2,
                     ndofs1,
@@ -339,7 +339,7 @@ impl TwoBodyConstraintElement<Real> {
         // Solve friction.
         if solve_friction {
             #[cfg(feature = "dim3")]
-            let tangents1 = [tangent1, &dir1.cross(&tangent1)];
+            let tangents1 = [tangent1, &dir1.cross(tangent1)];
             #[cfg(feature = "dim2")]
             let tangents1 = [&dir1.orthonormal_vector()];
             let mut tng_j_id = tangent_j_id(j_id, ndofs1, ndofs2);

src/dynamics/solver/contact_constraint/one_body_constraint.rs

@@ -76,7 +76,7 @@ impl OneBodyConstraintBuilder {
 
         let rb1 = handle1
             .map(|h| SolverBody::from(&bodies[h]))
-            .unwrap_or_else(SolverBody::default);
+            .unwrap_or_default();
 
         let rb2 = &bodies[handle2.unwrap()];
         let vels2 = &rb2.vels;
@@ -334,7 +334,7 @@ impl OneBodyConstraint {
         solve_normal: bool,
         solve_friction: bool,
     ) {
-        let mut solver_vel2 = solver_vels[self.solver_vel2 as usize];
+        let mut solver_vel2 = solver_vels[self.solver_vel2];
 
         OneBodyConstraintElement::solve_group(
             self.cfm_factor,
@@ -349,7 +349,7 @@ impl OneBodyConstraint {
             solve_friction,
         );
 
-        solver_vels[self.solver_vel2 as usize] = solver_vel2;
+        solver_vels[self.solver_vel2] = solver_vel2;
     }
 
     // FIXME: duplicated code. This is exactly the same as in the two-body velocity constraint.

src/dynamics/solver/contact_constraint/one_body_constraint_element.rs

@@ -204,7 +204,7 @@ impl<N: SimdRealCopy> OneBodyConstraintElement<N> {
         AngVector<N>: SimdDot<AngVector<N>, Result = N>,
     {
         #[cfg(feature = "dim3")]
-        let tangents1 = [tangent1, &dir1.cross(&tangent1)];
+        let tangents1 = [tangent1, &dir1.cross(tangent1)];
         #[cfg(feature = "dim2")]
         let tangents1 = [&dir1.orthonormal_vector()];
 
@@ -213,7 +213,7 @@ impl<N: SimdRealCopy> OneBodyConstraintElement<N> {
             for element in elements.iter_mut() {
                 element
                     .normal_part
-                    .solve(cfm_factor, &dir1, im2, solver_vel2);
+                    .solve(cfm_factor, dir1, im2, solver_vel2);
                 let limit = limit * element.normal_part.impulse;
                 let part = &mut element.tangent_part;
                 part.apply_limit(tangents1, im2, limit, solver_vel2);

src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs

@@ -308,12 +308,8 @@ impl OneBodyConstraintSimd {
         solve_friction: bool,
     ) {
         let mut solver_vel2 = SolverVel {
-            linear: Vector::from(gather![
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].linear]),
-                |ii| solver_vels[self.solver_vel2[ii] as usize].linear
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].angular]),
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].angular
-            ]),
         };
 
         OneBodyConstraintElement::solve_group(
@@ -330,8 +326,8 @@ impl OneBodyConstraintSimd {
         );
 
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii);
+            solver_vels[self.solver_vel2[ii]].linear = solver_vel2.linear.extract(ii);
-            solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii);
+            solver_vels[self.solver_vel2[ii]].angular = solver_vel2.angular.extract(ii);
         }
     }
 

src/dynamics/solver/contact_constraint/two_body_constraint.rs

@@ -380,8 +380,8 @@ impl TwoBodyConstraint {
         solve_normal: bool,
         solve_friction: bool,
     ) {
-        let mut solver_vel1 = solver_vels[self.solver_vel1 as usize];
+        let mut solver_vel1 = solver_vels[self.solver_vel1];
-        let mut solver_vel2 = solver_vels[self.solver_vel2 as usize];
+        let mut solver_vel2 = solver_vels[self.solver_vel2];
 
         TwoBodyConstraintElement::solve_group(
             self.cfm_factor,
@@ -398,8 +398,8 @@ impl TwoBodyConstraint {
             solve_friction,
         );
 
-        solver_vels[self.solver_vel1 as usize] = solver_vel1;
+        solver_vels[self.solver_vel1] = solver_vel1;
-        solver_vels[self.solver_vel2 as usize] = solver_vel2;
+        solver_vels[self.solver_vel2] = solver_vel2;
     }
 
     pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {

src/dynamics/solver/contact_constraint/two_body_constraint_element.rs

@@ -243,7 +243,7 @@ impl<N: SimdRealCopy> TwoBodyConstraintElement<N> {
         AngVector<N>: SimdDot<AngVector<N>, Result = N>,
     {
         #[cfg(feature = "dim3")]
-        let tangents1 = [tangent1, &dir1.cross(&tangent1)];
+        let tangents1 = [tangent1, &dir1.cross(tangent1)];
         #[cfg(feature = "dim2")]
         let tangents1 = [&dir1.orthonormal_vector()];
 
@@ -252,7 +252,7 @@ impl<N: SimdRealCopy> TwoBodyConstraintElement<N> {
             for element in elements.iter_mut() {
                 element
                     .normal_part
-                    .solve(cfm_factor, &dir1, im1, im2, solver_vel1, solver_vel2);
+                    .solve(cfm_factor, dir1, im1, im2, solver_vel1, solver_vel2);
                 let limit = limit * element.normal_part.impulse;
                 let part = &mut element.tangent_part;
                 part.apply_limit(tangents1, im1, im2, limit, solver_vel1, solver_vel2);

src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs

@@ -292,21 +292,13 @@ impl TwoBodyConstraintSimd {
         solve_friction: bool,
     ) {
         let mut solver_vel1 = SolverVel {
-            linear: Vector::from(gather![
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].linear]),
-                |ii| solver_vels[self.solver_vel1[ii] as usize].linear
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].angular]),
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel1[ii] as usize].angular
-            ]),
         };
 
         let mut solver_vel2 = SolverVel {
-            linear: Vector::from(gather![
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].linear]),
-                |ii| solver_vels[self.solver_vel2[ii] as usize].linear
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].angular]),
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].angular
-            ]),
         };
 
         TwoBodyConstraintElement::solve_group(
@@ -325,12 +317,12 @@ impl TwoBodyConstraintSimd {
         );
 
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel1[ii] as usize].linear = solver_vel1.linear.extract(ii);
+            solver_vels[self.solver_vel1[ii]].linear = solver_vel1.linear.extract(ii);
-            solver_vels[self.solver_vel1[ii] as usize].angular = solver_vel1.angular.extract(ii);
+            solver_vels[self.solver_vel1[ii]].angular = solver_vel1.angular.extract(ii);
         }
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii);
+            solver_vels[self.solver_vel2[ii]].linear = solver_vel2.linear.extract(ii);
-            solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii);
+            solver_vels[self.solver_vel2[ii]].angular = solver_vel2.angular.extract(ii);
         }
     }
 

src/dynamics/solver/interaction_groups.rs

@@ -25,7 +25,7 @@ impl<'a> PairInteraction for &'a mut ContactManifold {
 }
 
 #[cfg(feature = "parallel")]
-impl<'a> PairInteraction for JointGraphEdge {
+impl PairInteraction for JointGraphEdge {
     fn body_pair(&self) -> (Option<RigidBodyHandle>, Option<RigidBodyHandle>) {
         (Some(self.weight.body1), Some(self.weight.body2))
     }
@@ -470,11 +470,11 @@ impl InteractionGroups {
                     (bucket.0)[SIMD_LAST_INDEX] = *interaction_i;
                     self.simd_interactions.extend_from_slice(&bucket.0);
                     bucket.1 = 0;
-                    occupied_mask = occupied_mask & (!target_mask_bit);
+                    occupied_mask &= !target_mask_bit;
                 } else {
                     (bucket.0)[bucket.1] = *interaction_i;
                     bucket.1 += 1;
-                    occupied_mask = occupied_mask | target_mask_bit;
+                    occupied_mask |= target_mask_bit;
                 }
 
                 // NOTE: fixed bodies don't transmit forces. Therefore they don't

src/dynamics/solver/joint_constraint/joint_constraints_set.rs

@@ -399,7 +399,7 @@ impl JointConstraintsSet {
     ) {
         for builder in &mut self.generic_velocity_constraints_builder {
             builder.update(
-                &params,
+                params,
                 multibodies,
                 solver_bodies,
                 &mut self.generic_jacobians,
@@ -409,7 +409,7 @@ impl JointConstraintsSet {
 
         for builder in &mut self.generic_velocity_one_body_constraints_builder {
             builder.update(
-                &params,
+                params,
                 multibodies,
                 solver_bodies,
                 &mut self.generic_jacobians,
@@ -418,17 +418,17 @@ impl JointConstraintsSet {
         }
 
         for builder in &mut self.velocity_constraints_builder {
-            builder.update(&params, solver_bodies, &mut self.velocity_constraints);
+            builder.update(params, solver_bodies, &mut self.velocity_constraints);
         }
 
         #[cfg(feature = "simd-is-enabled")]
         for builder in &mut self.simd_velocity_constraints_builder {
-            builder.update(&params, solver_bodies, &mut self.simd_velocity_constraints);
+            builder.update(params, solver_bodies, &mut self.simd_velocity_constraints);
         }
 
         for builder in &mut self.velocity_one_body_constraints_builder {
             builder.update(
-                &params,
+                params,
                 solver_bodies,
                 &mut self.velocity_one_body_constraints,
             );
@@ -437,7 +437,7 @@ impl JointConstraintsSet {
         #[cfg(feature = "simd-is-enabled")]
         for builder in &mut self.simd_velocity_one_body_constraints_builder {
             builder.update(
-                &params,
+                params,
                 solver_bodies,
                 &mut self.simd_velocity_one_body_constraints,
             );

src/dynamics/solver/joint_constraint/joint_generic_constraint_builder.rs

@@ -219,6 +219,7 @@ impl JointGenericTwoBodyConstraintBuilder {
 }
 
 #[derive(Copy, Clone)]
+#[allow(clippy::large_enum_variant)]
 pub enum JointGenericOneBodyConstraintBuilder {
     Internal(JointGenericVelocityOneBodyInternalConstraintBuilder),
     External(JointGenericVelocityOneBodyExternalConstraintBuilder),

src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs

@@ -332,13 +332,13 @@ impl JointTwoBodyConstraint<Real, 1> {
     }
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
-        let mut solver_vel1 = solver_vels[self.solver_vel1[0] as usize];
+        let mut solver_vel1 = solver_vels[self.solver_vel1[0]];
-        let mut solver_vel2 = solver_vels[self.solver_vel2[0] as usize];
+        let mut solver_vel2 = solver_vels[self.solver_vel2[0]];
 
         self.solve_generic(&mut solver_vel1, &mut solver_vel2);
 
-        solver_vels[self.solver_vel1[0] as usize] = solver_vel1;
+        solver_vels[self.solver_vel1[0]] = solver_vel1;
-        solver_vels[self.solver_vel2[0] as usize] = solver_vel2;
+        solver_vels[self.solver_vel2[0]] = solver_vel2;
     }
 
     pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
@@ -399,29 +399,21 @@ impl JointTwoBodyConstraint<SimdReal, SIMD_WIDTH> {
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
         let mut solver_vel1 = SolverVel {
-            linear: Vector::from(gather![
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].linear]),
-                |ii| solver_vels[self.solver_vel1[ii] as usize].linear
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].angular]),
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel1[ii] as usize].angular
-            ]),
         };
         let mut solver_vel2 = SolverVel {
-            linear: Vector::from(gather![
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].linear]),
-                |ii| solver_vels[self.solver_vel2[ii] as usize].linear
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].angular]),
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].angular
-            ]),
         };
 
         self.solve_generic(&mut solver_vel1, &mut solver_vel2);
 
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel1[ii] as usize].linear = solver_vel1.linear.extract(ii);
+            solver_vels[self.solver_vel1[ii]].linear = solver_vel1.linear.extract(ii);
-            solver_vels[self.solver_vel1[ii] as usize].angular = solver_vel1.angular.extract(ii);
+            solver_vels[self.solver_vel1[ii]].angular = solver_vel1.angular.extract(ii);
-            solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii);
+            solver_vels[self.solver_vel2[ii]].linear = solver_vel2.linear.extract(ii);
-            solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii);
+            solver_vels[self.solver_vel2[ii]].angular = solver_vel2.angular.extract(ii);
         }
     }
 
@@ -682,9 +674,9 @@ impl JointOneBodyConstraint<Real, 1> {
     }
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
-        let mut solver_vel2 = solver_vels[self.solver_vel2[0] as usize];
+        let mut solver_vel2 = solver_vels[self.solver_vel2[0]];
         self.solve_generic(&mut solver_vel2);
-        solver_vels[self.solver_vel2[0] as usize] = solver_vel2;
+        solver_vels[self.solver_vel2[0]] = solver_vel2;
     }
 
     pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) {
@@ -751,19 +743,15 @@ impl JointOneBodyConstraint<SimdReal, SIMD_WIDTH> {
 
     pub fn solve(&mut self, solver_vels: &mut [SolverVel<Real>]) {
         let mut solver_vel2 = SolverVel {
-            linear: Vector::from(gather![
+            linear: Vector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].linear]),
-                |ii| solver_vels[self.solver_vel2[ii] as usize].linear
+            angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].angular]),
-            ]),
-            angular: AngVector::from(gather![
-                |ii| solver_vels[self.solver_vel2[ii] as usize].angular
-            ]),
         };
 
         self.solve_generic(&mut solver_vel2);
 
         for ii in 0..SIMD_WIDTH {
-            solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii);
+            solver_vels[self.solver_vel2[ii]].linear = solver_vel2.linear.extract(ii);
-            solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii);
+            solver_vels[self.solver_vel2[ii]].angular = solver_vel2.angular.extract(ii);
         }
     }
 

src/dynamics/solver/mod.rs

@@ -7,17 +7,17 @@ pub(crate) use self::island_solver::IslandSolver;
 // #[cfg(feature = "parallel")]
 // pub(self) use self::parallel_velocity_solver::ParallelVelocitySolver;
 // #[cfg(not(feature = "parallel"))]
-pub(self) use self::solver_constraints_set::SolverConstraintsSet;
+use self::solver_constraints_set::SolverConstraintsSet;
 // #[cfg(not(feature = "parallel"))]
-pub(self) use self::velocity_solver::VelocitySolver;
+use self::velocity_solver::VelocitySolver;
 
-pub(self) use contact_constraint::*;
+use contact_constraint::*;
-pub(self) use interaction_groups::*;
+use interaction_groups::*;
 pub(crate) use joint_constraint::MotorParameters;
 pub use joint_constraint::*;
-pub(self) use solver_body::SolverBody;
+use solver_body::SolverBody;
-pub(self) use solver_constraints_set::{AnyConstraintMut, ConstraintTypes};
+use solver_constraints_set::{AnyConstraintMut, ConstraintTypes};
-pub(self) use solver_vel::SolverVel;
+use solver_vel::SolverVel;
 
 mod categorization;
 mod contact_constraint;

src/dynamics/solver/velocity_solver.rs

@@ -175,8 +175,8 @@ impl VelocitySolver {
             /*
              * Update & solve constraints.
              */
-            joint_constraints.update(&params, multibodies, &self.solver_bodies);
+            joint_constraints.update(params, multibodies, &self.solver_bodies);
-            contact_constraints.update(&params, substep_id, multibodies, &self.solver_bodies);
+            contact_constraints.update(params, substep_id, multibodies, &self.solver_bodies);
 
             for _ in 0..params.num_internal_pgs_iterations {
                 joint_constraints.solve(&mut self.solver_vels, &mut self.generic_solver_vels);
@@ -196,7 +196,7 @@ impl VelocitySolver {
             /*
              * Integrate positions.
              */
-            self.integrate_positions(&params, is_last_substep, bodies, multibodies);
+            self.integrate_positions(params, is_last_substep, bodies, multibodies);
 
             /*
              * Resolution without bias.

src/geometry/broad_phase_multi_sap/broad_phase.rs

@@ -445,9 +445,8 @@ impl BroadPhase {
             );
         }
 
-        let need_region_propagation = !layer.created_regions.is_empty();
+        // Returns true if propagation is needed.
-
+        !layer.created_regions.is_empty()
-        need_region_propagation
     }
 
     /// Updates the broad-phase, taking into account the new collider positions.

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::*;
+use self::sap_axis::*;
-pub(self) use self::sap_endpoint::*;
+use self::sap_endpoint::*;
-pub(self) use self::sap_layer::*;
+use self::sap_layer::*;
-pub(self) use self::sap_proxy::*;
+use self::sap_proxy::*;
-pub(self) use self::sap_region::*;
+use self::sap_region::*;
-pub(self) use self::sap_utils::*;
+use self::sap_utils::*;
 
 mod broad_phase;
 mod broad_phase_pair_event;

src/geometry/broad_phase_multi_sap/sap_axis.rs

@@ -65,9 +65,8 @@ impl SAPAxis {
                 proxy.aabb,
                 self.min_bound
             );
-            let start_endpoint =
+            let start_endpoint = SAPEndpoint::start_endpoint(proxy.aabb.mins[dim], *proxy_id);
-                SAPEndpoint::start_endpoint(proxy.aabb.mins[dim], *proxy_id as u32);
+            let end_endpoint = SAPEndpoint::end_endpoint(proxy.aabb.maxs[dim], *proxy_id);
-            let end_endpoint = SAPEndpoint::end_endpoint(proxy.aabb.maxs[dim], *proxy_id as u32);
 
             self.new_endpoints.push((start_endpoint, 0));
             self.new_endpoints.push((end_endpoint, 0));

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 {
+        matches!(self, SAPProxyData::Region(_))
-            SAPProxyData::Region(_) => true,
-            _ => false,
-        }
     }
 
     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.

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)

src/geometry/collider.rs

@@ -157,10 +157,7 @@ impl Collider {
 
     /// Is this collider enabled?
     pub fn is_enabled(&self) -> bool {
-        match self.flags.enabled {
+        matches!(self.flags.enabled, ColliderEnabled::Enabled)
-            ColliderEnabled::Enabled => true,
-            _ => false,
-        }
     }
 
     /// Sets whether or not this collider is enabled.
@@ -916,8 +913,8 @@ impl ColliderBuilder {
     }
 }
 
-impl Into<Collider> for ColliderBuilder {
+impl From<ColliderBuilder> for Collider {
-    fn into(self) -> Collider {
+    fn from(val: ColliderBuilder) -> Collider {
-        self.build()
+        val.build()
     }
 }

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.

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:

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 intersection.intersecting
-                            if (co1.flags.active_events | co2.flags.active_events)
+                            && (co1.flags.active_events | co2.flags.active_events)
                                 .contains(ActiveEvents::COLLISION_EVENTS)
-                            {
+                        {
-                                intersection.emit_stop_event(
+                            intersection.emit_stop_event(
-                                    bodies,
+                                bodies,
-                                    colliders,
+                                colliders,
-                                    pair.collider1,
+                                pair.collider1,
-                                    pair.collider2,
+                                pair.collider2,
-                                    events,
+                                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.map(|p| p.handle) == co2.parent.map(|p| p.handle) && co1.parent.is_some()
-                if co1.parent.is_some() {
+            {
-                    // Same parents. Ignore collisions.
+                // Same parents. Ignore collisions.
-                    return;
+                return;
-                }
-
-                // These colliders have no parents - continue.
             }
 
+            // 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 pair.has_any_active_contact != had_any_active_contact
-                if active_events.contains(ActiveEvents::COLLISION_EVENTS) {
+                && active_events.contains(ActiveEvents::COLLISION_EVENTS)
-                    if pair.has_any_active_contact {
+            {
-                        pair.emit_start_event(bodies, colliders, events);
+                if pair.has_any_active_contact {
-                    } else {
+                    pair.emit_start_event(bodies, colliders, events);
-                        pair.emit_stop_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();

src/lib.rs

@@ -12,6 +12,9 @@
 
 #![deny(bare_trait_objects)]
 #![warn(missing_docs)] // FIXME: deny that
+#![allow(clippy::too_many_arguments)]
+#![allow(clippy::needless_range_loop)] // TODO: remove this? I find that in the math code using indices adds clarity.
+#![allow(clippy::module_inception)]
 
 #[cfg(all(feature = "dim2", feature = "f32"))]
 pub extern crate parry2d as parry;

src/pipeline/collision_pipeline.rs

@@ -149,7 +149,7 @@ impl CollisionPipeline {
             bodies,
             colliders,
             &modified_colliders[..],
-            &mut removed_colliders,
+            &removed_colliders,
             hooks,
             events,
             true,

src/pipeline/debug_render_pipeline/debug_render_backend.rs

@@ -79,12 +79,10 @@ pub trait DebugRenderBackend {
             self.draw_line(object, a, b, color);
         }
 
-        if closed {
+        if closed && vertices.len() > 2 {
-            if vertices.len() > 2 {
+            let a = transform * (Scale::from(*scale) * vertices[0]);
-                let a = transform * (Scale::from(*scale) * vertices[0]);
+            let b = transform * (Scale::from(*scale) * vertices.last().unwrap());
-                let b = transform * (Scale::from(*scale) * vertices.last().unwrap());
+            self.draw_line(object, a, b, color);
-                self.draw_line(object, a, b, color);
-            }
         }
     }
 }

src/pipeline/debug_render_pipeline/debug_render_pipeline.rs

@@ -41,12 +41,17 @@ impl Default for DebugRenderMode {
     }
 }
 
+#[cfg(feature = "dim2")]
+type InstancesMap = HashMap<TypeId, Vec<Point<Real>>>;
+#[cfg(feature = "dim3")]
+type InstancesMap = HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)>;
+
 /// Pipeline responsible for rendering the state of the physics engine for debugging purpose.
 pub struct DebugRenderPipeline {
     #[cfg(feature = "dim2")]
-    instances: HashMap<TypeId, Vec<Point<Real>>>,
+    instances: InstancesMap,
     #[cfg(feature = "dim3")]
-    instances: HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)>,
+    instances: InstancesMap,
     /// The style used to compute the line colors for each element
     /// to render.
     pub style: DebugRenderStyle,

src/pipeline/debug_render_pipeline/mod.rs

@@ -5,4 +5,4 @@ pub use self::debug_render_style::{DebugColor, DebugRenderStyle};
 mod debug_render_backend;
 mod debug_render_pipeline;
 mod debug_render_style;
-pub(self) mod outlines;
+mod outlines;

src/pipeline/debug_render_pipeline/outlines.rs

@@ -17,6 +17,7 @@ pub fn instances(nsubdivs: u32) -> HashMap<TypeId, Vec<Point<Real>>> {
 }
 
 #[cfg(feature = "dim3")]
+#[allow(clippy::type_complexity)]
 pub fn instances(nsubdivs: u32) -> HashMap<TypeId, (Vec<Point<Real>>, Vec<[u32; 2]>)> {
     let mut result = HashMap::new();
     result.insert(

src/pipeline/physics_hooks.rs

@@ -69,7 +69,7 @@ impl<'a> ContactModificationContext<'a> {
 
         // Test the allowed normal with the local-space contact normal that
         // points towards the exterior of context.collider1.
-        let contact_is_ok = self.manifold.local_n1.dot(&allowed_local_n1) >= cang;
+        let contact_is_ok = self.manifold.local_n1.dot(allowed_local_n1) >= cang;
 
         match *self.user_data {
             CONTACT_CONFIGURATION_UNKNOWN => {

src/pipeline/physics_pipeline.rs

@@ -212,7 +212,7 @@ impl PhysicsPipeline {
             rb.mprops.update_world_mass_properties(&rb.pos.position);
             let effective_mass = rb.mprops.effective_mass();
             rb.forces
-                .compute_effective_force_and_torque(&gravity, &effective_mass);
+                .compute_effective_force_and_torque(gravity, &effective_mass);
         }
         self.counters.stages.update_time.pause();
 
@@ -270,14 +270,13 @@ impl PhysicsPipeline {
                     .enumerate()
                     .for_each(|(island_id, solver)| {
                         let bodies: &mut RigidBodySet =
-                            unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };
+                            unsafe { &mut *bodies.load(Ordering::Relaxed) };
                         let manifolds: &mut Vec<&mut ContactManifold> =
-                            unsafe { std::mem::transmute(manifolds.load(Ordering::Relaxed)) };
+                            unsafe { &mut *manifolds.load(Ordering::Relaxed) };
                         let impulse_joints: &mut Vec<JointGraphEdge> =
-                            unsafe { std::mem::transmute(impulse_joints.load(Ordering::Relaxed)) };
+                            unsafe { &mut *impulse_joints.load(Ordering::Relaxed) };
-                        let multibody_joints: &mut MultibodyJointSet = unsafe {
+                        let multibody_joints: &mut MultibodyJointSet =
-                            std::mem::transmute(multibody_joints.load(Ordering::Relaxed))
+                            unsafe { &mut *multibody_joints.load(Ordering::Relaxed) };
-                        };
 
                         let mut counters = Counters::new(false);
                         solver.init_and_solve(

src/pipeline/query_pipeline.rs

@@ -114,6 +114,7 @@ pub struct QueryFilter<'a> {
     /// If set, any collider attached to this rigid-body will be excluded from the scene query.
     pub exclude_rigid_body: Option<RigidBodyHandle>,
     /// If set, any collider for which this closure returns false will be excluded from the scene query.
+    #[allow(clippy::type_complexity)] // Type doesn’t look really complex?
     pub predicate: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
 }
 
@@ -668,10 +669,10 @@ impl QueryPipeline {
     ///   the shape is penetrating another shape at its starting point **and** its trajectory is such
     ///   that it’s on a path to exist that penetration state.
     /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
-    pub fn cast_shape<'a>(
+    pub fn cast_shape(
         &self,
         bodies: &RigidBodySet,
-        colliders: &'a ColliderSet,
+        colliders: &ColliderSet,
         shape_pos: &Isometry<Real>,
         shape_vel: &Vector<Real>,
         shape: &dyn Shape,
@@ -746,10 +747,10 @@ impl QueryPipeline {
     /// * `shape` - The shape to test.
     /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
     /// * `callback` - A function called with the handles of each collider intersecting the `shape`.
-    pub fn intersections_with_shape<'a>(
+    pub fn intersections_with_shape(
         &self,
         bodies: &RigidBodySet,
-        colliders: &'a ColliderSet,
+        colliders: &ColliderSet,
         shape_pos: &Isometry<Real>,
         shape: &dyn Shape,
         filter: QueryFilter,

src/pipeline/user_changes.rs

@@ -111,15 +111,13 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
                     }
 
                     // Update the active kinematic set.
-                    if changes.contains(RigidBodyChanges::POSITION)
+                    if (changes.contains(RigidBodyChanges::POSITION)
-                        || changes.contains(RigidBodyChanges::COLLIDERS)
+                        || changes.contains(RigidBodyChanges::COLLIDERS))
+                        && rb.is_kinematic()
+                        && islands.active_kinematic_set.get(ids.active_set_id) != Some(handle)
                     {
-                        if rb.is_kinematic()
+                        ids.active_set_id = islands.active_kinematic_set.len();
-                            && islands.active_kinematic_set.get(ids.active_set_id) != Some(handle)
+                        islands.active_kinematic_set.push(*handle);
-                        {
-                            ids.active_set_id = islands.active_kinematic_set.len();
-                            islands.active_kinematic_set.push(*handle);
-                        }
                     }
 
                     // Push the body to the active set if it is not

src/utils.rs

@@ -25,7 +25,7 @@ impl SimdRealCopy for SimdReal {}
 const INV_EPSILON: Real = 1.0e-20;
 
 pub(crate) fn inv(val: Real) -> Real {
-    if val >= -INV_EPSILON && val <= INV_EPSILON {
+    if (-INV_EPSILON..=INV_EPSILON).contains(&val) {
         0.0
     } else {
         1.0 / val

src_testbed/camera2d.rs

@@ -35,6 +35,7 @@ impl Default for OrbitCamera {
 // Adapted from the 3D orbit camera from bevy-orbit-controls
 pub struct OrbitCameraPlugin;
 impl OrbitCameraPlugin {
+    #[allow(clippy::type_complexity)]
     fn update_transform_system(
         mut query: Query<(&OrbitCamera, &mut Transform), (Changed<OrbitCamera>, With<Camera>)>,
     ) {

src_testbed/camera3d.rs

@@ -46,6 +46,7 @@ impl Default for OrbitCamera {
 
 pub struct OrbitCameraPlugin;
 impl OrbitCameraPlugin {
+    #[allow(clippy::type_complexity)]
     fn update_transform_system(
         mut query: Query<(&OrbitCamera, &mut Transform), (Changed<OrbitCamera>, With<Camera>)>,
     ) {

src_testbed/debug_render.rs

@@ -1,3 +1,5 @@
+#![allow(clippy::unnecessary_cast)] // Casts are needed for switching between f32/f64.
+
 use crate::harness::Harness;
 use bevy::gizmos::gizmos::Gizmos;
 use bevy::prelude::*;
@@ -36,8 +38,8 @@ impl<'a> DebugRenderBackend for BevyLinesRenderBackend<'a> {
     #[cfg(feature = "dim2")]
     fn draw_line(&mut self, _: DebugRenderObject, a: Point<Real>, b: Point<Real>, color: [f32; 4]) {
         self.gizmos.line(
-            [a.x as f32, a.y as f32, 1.0e-8 as f32].into(),
+            [a.x as f32, a.y as f32, 1.0e-8].into(),
-            [b.x as f32, b.y as f32, 1.0e-8 as f32].into(),
+            [b.x as f32, b.y as f32, 1.0e-8].into(),
             Color::hsla(color[0], color[1], color[2], color[3]),
         )
     }

src_testbed/graphics.rs

@@ -253,7 +253,7 @@ impl GraphicsManager {
         //     }
         // }
 
-        let nodes = self.b2sn.entry(handle).or_insert_with(Vec::new);
+        let nodes = self.b2sn.entry(handle).or_default();
 
         nodes.append(&mut new_nodes.clone());
 
@@ -276,10 +276,7 @@ impl GraphicsManager {
             .copied()
             .unwrap_or(self.ground_color);
         let color = self.c2color.get(&handle).copied().unwrap_or(color);
-        let mut nodes = std::mem::replace(
+        let mut nodes = std::mem::take(self.b2sn.entry(collider_parent).or_default());
-            self.b2sn.entry(collider_parent).or_insert(vec![]),
-            Vec::new(),
-        );
         self.add_shape(
             commands,
             meshes,

src_testbed/harness/mod.rs

@@ -1,3 +1,5 @@
+#![allow(clippy::unnecessary_cast)] // Casts are needed for switching between f32/f64.
+
 use crate::{
     physics::{PhysicsEvents, PhysicsState},
     TestbedGraphics,
@@ -22,6 +24,12 @@ pub struct RunState {
     pub time: f32,
 }
 
+impl Default for RunState {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
 impl RunState {
     #[cfg(feature = "parallel")]
     pub fn new() -> Self {
@@ -33,7 +41,7 @@ impl RunState {
             .unwrap();
 
         Self {
-            thread_pool: thread_pool,
+            thread_pool,
             num_threads,
             timestep_id: 0,
             time: 0.0,

src_testbed/lib.rs

@@ -1,3 +1,5 @@
+#![allow(clippy::too_many_arguments)]
+
 extern crate nalgebra as na;
 
 #[macro_use]

src_testbed/objects/node.rs

@@ -1,3 +1,5 @@
+#![allow(clippy::unnecessary_cast)] // Casts are needed for switching between f32/f64.
+
 use bevy::prelude::*;
 use bevy::render::mesh::{Indices, VertexAttributeValues};
 

src_testbed/physics/mod.rs

@@ -86,6 +86,12 @@ pub struct PhysicsState {
     pub hooks: Box<dyn PhysicsHooks>,
 }
 
+impl Default for PhysicsState {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
 impl PhysicsState {
     pub fn new() -> Self {
         Self {
@@ -113,7 +119,7 @@ pub struct PhysicsEvents {
 
 impl PhysicsEvents {
     pub fn poll_all(&self) {
-        while let Ok(_) = self.collision_events.try_recv() {}
+        while self.collision_events.try_recv().is_ok() {}
-        while let Ok(_) = self.contact_force_events.try_recv() {}
+        while self.contact_force_events.try_recv().is_ok() {}
     }
 }

src_testbed/testbed.rs

@@ -1,3 +1,5 @@
+#![allow(clippy::bad_bit_mask)] // otherwsie clippy complains because of TestbedStateFlags::NONE which is 0.
+
 use std::env;
 use std::mem;
 use std::num::NonZeroUsize;
@@ -107,6 +109,8 @@ pub enum RapierSolverType {
     StandardPgs,
 }
 
+pub type SimulationBuilders = Vec<(&'static str, fn(&mut Testbed))>;
+
 #[derive(Resource)]
 pub struct TestbedState {
     pub running: RunMode,
@@ -135,7 +139,7 @@ pub struct TestbedState {
 }
 
 #[derive(Resource)]
-struct SceneBuilders(Vec<(&'static str, fn(&mut Testbed))>);
+struct SceneBuilders(SimulationBuilders);
 
 #[cfg(feature = "other-backends")]
 struct OtherBackends {
@@ -237,7 +241,7 @@ impl TestbedApp {
         }
     }
 
-    pub fn from_builders(default: usize, builders: Vec<(&'static str, fn(&mut Testbed))>) -> Self {
+    pub fn from_builders(default: usize, builders: SimulationBuilders) -> Self {
         let mut res = TestbedApp::new_empty();
         res.state
             .action_flags
@@ -247,7 +251,7 @@ impl TestbedApp {
         res
     }
 
-    pub fn set_builders(&mut self, builders: Vec<(&'static str, fn(&mut Testbed))>) {
+    pub fn set_builders(&mut self, builders: SimulationBuilders) {
         self.state.example_names = builders.iter().map(|e| e.0).collect();
         self.builders = SceneBuilders(builders)
     }
@@ -280,7 +284,7 @@ impl TestbedApp {
             use std::io::{BufWriter, Write};
             // Don't enter the main loop. We will just step the simulation here.
             let mut results = Vec::new();
-            let builders = mem::replace(&mut self.builders.0, Vec::new());
+            let builders = mem::take(&mut self.builders.0);
             let backend_names = self.state.backend_names.clone();
 
             for builder in builders {
@@ -423,8 +427,7 @@ impl TestbedApp {
 
 impl<'a, 'b, 'c, 'd, 'e, 'f> TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
     pub fn set_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
-        self.graphics
+        self.graphics.set_body_color(self.materials, body, color);
-            .set_body_color(&mut self.materials, body, color);
     }
 
     pub fn add_body(
@@ -466,7 +469,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
     }
 
     pub fn keys(&self) -> &Input<KeyCode> {
-        &*self.keys
+        self.keys
     }
 }
 
@@ -497,7 +500,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
     }
 
     pub fn harness_mut(&mut self) -> &mut Harness {
-        &mut self.harness
+        self.harness
     }
 
     pub fn set_world(
@@ -1110,30 +1113,30 @@ fn update_testbed(
     // Handle inputs
     {
         let graphics_context = TestbedGraphics {
-            graphics: &mut *graphics,
+            graphics: &mut graphics,
             commands: &mut commands,
             meshes: &mut *meshes,
             materials: &mut *materials,
             components: &mut gfx_components,
             camera_transform: *cameras.single().1,
             camera: &mut cameras.single_mut().2,
-            keys: &*keys,
+            keys: &keys,
         };
 
         let mut testbed = Testbed {
             graphics: Some(graphics_context),
-            state: &mut *state,
+            state: &mut state,
-            harness: &mut *harness,
+            harness: &mut harness,
             #[cfg(feature = "other-backends")]
-            other_backends: &mut *other_backends,
+            other_backends: &mut other_backends,
-            plugins: &mut *plugins,
+            plugins: &mut plugins,
         };
 
-        testbed.handle_common_events(&*keys);
+        testbed.handle_common_events(&keys);
-        testbed.update_character_controller(&*keys);
+        testbed.update_character_controller(&keys);
         #[cfg(feature = "dim3")]
         {
-            testbed.update_vehicle_controller(&*keys);
+            testbed.update_vehicle_controller(&keys);
         }
     }
 
@@ -1144,7 +1147,7 @@ fn update_testbed(
 
         for plugin in &mut plugins.0 {
             plugin.update_ui(
-                &mut ui_context,
+                &ui_context,
                 harness,
                 &mut graphics,
                 &mut commands,
@@ -1190,10 +1193,10 @@ fn update_testbed(
                 .set(TestbedActionFlags::EXAMPLE_CHANGED, false);
             clear(&mut commands, &mut state, &mut graphics, &mut plugins);
             harness.clear_callbacks();
-            for plugin in (*plugins).0.iter_mut() {
+            for plugin in plugins.0.iter_mut() {
                 plugin.clear_graphics(&mut graphics, &mut commands);
             }
-            (*plugins).0.clear();
+            plugins.0.clear();
 
             if state.selected_example != prev_example {
                 harness.physics.integration_parameters = IntegrationParameters::default();
@@ -1219,16 +1222,16 @@ fn update_testbed(
                 components: &mut gfx_components,
                 camera_transform: *cameras.single().1,
                 camera: &mut cameras.single_mut().2,
-                keys: &*keys,
+                keys: &keys,
             };
 
             let mut testbed = Testbed {
                 graphics: Some(graphics_context),
-                state: &mut *state,
+                state: &mut state,
-                harness: &mut *harness,
+                harness: &mut harness,
                 #[cfg(feature = "other-backends")]
-                other_backends: &mut *other_backends,
+                other_backends: &mut other_backends,
-                plugins: &mut *plugins,
+                plugins: &mut plugins,
             };
 
             builders.0[selected_example].1(&mut testbed);
@@ -1371,7 +1374,7 @@ fn update_testbed(
                     components: &mut gfx_components,
                     camera_transform: *cameras.single().1,
                     camera: &mut cameras.single_mut().2,
-                    keys: &*keys,
+                    keys: &keys,
                 };
                 harness.step_with_graphics(Some(&mut testbed_graphics));
 
@@ -1425,8 +1428,8 @@ fn update_testbed(
         for (camera, camera_pos, _) in cameras.iter_mut() {
             highlight_hovered_body(
                 &mut *materials,
-                &mut *graphics,
+                &mut graphics,
-                &mut *state,
+                &mut state,
                 &harness.physics,
                 window,
                 camera,

src_testbed/ui.rs

@@ -44,22 +44,18 @@ pub fn update_ui(
         }
 
         ui.horizontal(|ui| {
-            if ui.button("<").clicked() {
+            if ui.button("<").clicked() && state.selected_example > 0 {
-                if state.selected_example > 0 {
+                state.selected_example -= 1;
-                    state.selected_example -= 1;
+                state
-                    state
+                    .action_flags
-                        .action_flags
+                    .set(TestbedActionFlags::EXAMPLE_CHANGED, true)
-                        .set(TestbedActionFlags::EXAMPLE_CHANGED, true)
-                }
             }
 
-            if ui.button(">").clicked() {
+            if ui.button(">").clicked() && state.selected_example + 1 < state.example_names.len() {
-                if state.selected_example + 1 < state.example_names.len() {
+                state.selected_example += 1;
-                    state.selected_example += 1;
+                state
-                    state
+                    .action_flags
-                        .action_flags
+                    .set(TestbedActionFlags::EXAMPLE_CHANGED, true)
-                        .set(TestbedActionFlags::EXAMPLE_CHANGED, true)
-                }
             }
 
             let mut changed = false;