dimforge · sebcrozet · Jan 27, 2024 · Jan 27, 2024
diff --git a/.github/workflows/rapier-ci-build.yml b/.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

diff --git a/benchmarks2d/all_benchmarks2.rs b/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())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .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,

diff --git a/benchmarks3d/all_benchmarks3.rs b/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,

diff --git a/benchmarks3d/keva3.rs b/benchmarks3d/keva3.rs
@@ -7,9 +7,7 @@ pub fn build_block(
     colliders: &mut ColliderSet,
     half_extents: Vector<f32>,
     shift: Vector<f32>,
-    mut numx: usize,
-    numy: usize,
-    mut numz: usize,
+    (mut numx, numy, mut numz): (usize, usize, 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 j in 0..(block_width / (dim.z 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 * 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,
-            numy,
-            numz,
+            (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
         num_blocks_built += numx * numy * numz;

diff --git a/examples2d/all_examples2.rs b/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())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .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,

diff --git a/examples2d/trimesh2.rs b/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)">

diff --git a/examples3d-f64/all_examples3-f64.rs b/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())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .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,

diff --git a/examples3d/all_examples3.rs b/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())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .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,

diff --git a/examples3d/ccd3.rs b/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.]);
             }
         }
     }

diff --git a/examples3d/joints3.rs b/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 {

diff --git a/examples3d/keva3.rs b/examples3d/keva3.rs
@@ -7,9 +7,7 @@ pub fn build_block(
     colliders: &mut ColliderSet,
     half_extents: Vector<f32>,
     shift: Vector<f32>,
-    mut numx: usize,
-    numy: usize,
-    mut numz: usize,
+    (mut numx, numy, mut numz): (usize, usize, 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 j in 0..(block_width / (dim.z 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 * 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,
-            numy,
-            numz,
+            (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
         num_blocks_built += numx * numy * numz;

diff --git a/examples3d/rope_joints3.rs b/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

diff --git a/examples3d/vehicle_controller3.rs b/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();
-    tuning.suspension_stiffness = 100.0;
-    tuning.suspension_damping = 10.0;
+    let tuning = WheelTuning {
+        suspension_stiffness: 100.0,
+        suspension_damping: 10.0,
+        ..WheelTuning::default()
+    };
     let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
     let wheel_positions = [
         point![hw * 1.5, -hh, hw],

diff --git a/src/control/ray_cast_vehicle_controller.rs b/src/control/ray_cast_vehicle_controller.rs
@@ -582,7 +582,7 @@ impl DynamicRayCastVehicleController {
                         wheel.side_impulse = resolve_single_bilateral(
                             &bodies[self.chassis],
                             &wheel.raycast_info.contact_point_ws,
-                            &ground_body,
+                            ground_body,
                             &wheel.raycast_info.contact_point_ws,
                             &self.axle[i],
                         );
@@ -664,11 +664,9 @@ impl DynamicRayCastVehicleController {
 
         if sliding {
             for wheel in &mut self.wheels {
-                if wheel.side_impulse != 0.0 {
-                    if wheel.skid_info < 1.0 {
-                        wheel.forward_impulse *= wheel.skid_info;
-                        wheel.side_impulse *= wheel.skid_info;
-                    }
+                if wheel.side_impulse != 0.0 && wheel.skid_info < 1.0 {
+                    wheel.forward_impulse *= wheel.skid_info;
+                    wheel.side_impulse *= wheel.skid_info;
                 }
             }
         }

diff --git a/src/data/arena.rs b/src/data/arena.rs
@@ -269,7 +269,7 @@ impl<T> Arena<T> {
                     self.free_list_head = next_free;
                     self.len += 1;
                     Some(Index {
-                        index: i as u32,
+                        index: i,
                         generation: self.generation,
                     })
                 }

diff --git a/src/data/pubsub.rs b/src/data/pubsub.rs
@@ -106,8 +106,7 @@ impl<T> PubSub<T> {
     /// Read the i-th message not yet read by the given subsciber.
     pub fn read_ith(&self, sub: &Subscription<T>, i: usize) -> Option<&T> {
         let cursor = &self.cursors[sub.id as usize];
-        self.messages
-            .get(cursor.next(self.deleted_messages) as usize + i)
+        self.messages.get(cursor.next(self.deleted_messages) + i)
     }
 
     /// Get the messages not yet read by the given subscriber.

diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
@@ -52,32 +52,27 @@ impl CCDSolver {
     ///
     /// The `impacts` should be the result of a previous call to `self.predict_next_impacts`.
     pub fn clamp_motions(&self, dt: Real, bodies: &mut RigidBodySet, impacts: &PredictedImpacts) {
-        match impacts {
-            PredictedImpacts::Impacts(tois) => {
-                for (handle, toi) in tois {
-                    let rb = bodies.index_mut_internal(*handle);
-                    let local_com = &rb.mprops.local_mprops.local_com;
-
-                    let min_toi = (rb.ccd.ccd_thickness
-                        * 0.15
-                        * crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
-                    .min(dt);
-                    // println!(
-                    //     "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
-                    //     min_toi,
-                    //     toi,
-                    //     rb.ccd.ccd_thickness,
-                    //     rb.ccd.max_point_velocity(&rb.integrated_vels)
-                    // );
-                    let new_pos = rb.integrated_vels.integrate(
-                        toi.max(min_toi),
-                        &rb.pos.position,
-                        &local_com,
-                    );
-                    rb.pos.next_position = new_pos;
-                }
+        if let PredictedImpacts::Impacts(tois) = impacts {
+            for (handle, toi) in tois {
+                let rb = bodies.index_mut_internal(*handle);
+                let local_com = &rb.mprops.local_mprops.local_com;
+
+                let min_toi = (rb.ccd.ccd_thickness
+                    * 0.15
+                    * crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
+                .min(dt);
+                // println!(
+                //     "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
+                //     min_toi,
+                //     toi,
+                //     rb.ccd.ccd_thickness,
+                //     rb.ccd.max_point_velocity(&rb.integrated_vels)
+                // );
+                let new_pos =
+                    rb.integrated_vels
+                        .integrate(toi.max(min_toi), &rb.pos.position, local_com);
+                rb.pos.next_position = new_pos;
             }
-            _ => {}
         }
     }
 

diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs
@@ -169,13 +169,15 @@ impl TOIEntry {
 
 impl PartialOrd for TOIEntry {
     fn partial_cmp(&self, other: &Self) -> Option<std::cmp::Ordering> {
-        (-self.toi).partial_cmp(&(-other.toi))
+        Some(self.cmp(other))
     }
 }
 
 impl Ord for TOIEntry {
     fn cmp(&self, other: &Self) -> std::cmp::Ordering {
-        self.partial_cmp(other).unwrap()
+        (-self.toi)
+            .partial_cmp(&(-other.toi))
+            .unwrap_or(std::cmp::Ordering::Equal)
     }
 }
 

diff --git a/src/dynamics/coefficient_combine_rule.rs b/src/dynamics/coefficient_combine_rule.rs
@@ -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);