chore: warning/clippy fixes

crates/parry2d/examples/point_in_poly2d.rs

@@ -1,7 +1,5 @@
 use macroquad::prelude::*;
 use nalgebra::{Point2, UnitComplex, Vector2};
-use parry2d::shape::Ball;
-use parry2d::transformation::polygons_intersection_points;
 use parry2d::utils::point_in_poly2d;
 
 const RENDER_SCALE: f32 = 30.0;
@@ -14,7 +12,7 @@ async fn main() {
     let animation_rotation = UnitComplex::new(0.02);
     let spikes_render_pos = Point2::new(screen_width() / 2.0, screen_height() / 2.0);
 
-    for i in 0.. {
+    loop {
         clear_background(BLACK);
 
         /*

crates/parry2d/examples/polygons_intersection2d.rs

@@ -11,7 +11,6 @@ async fn main() {
     let mut animated_spikes = spikes.clone();
 
     let star = star_polygon();
-    let mut animated_star = star.clone();
 
     let animation_scale = 2.0;
     let animation_rotation = UnitComplex::new(0.008);
@@ -23,7 +22,10 @@ async fn main() {
         clear_background(BLACK);
 
         /*
-         * Compute polygon intersections.
+         *
+         * Compute the rotated/scaled polygons, and compute their intersection with the original
+         * polygon.
+         *
          */
         animated_spikes
             .iter_mut()
@@ -38,10 +40,13 @@ async fn main() {
                     * ((i as f32 / 100.0).sin().abs() * animation_scale)
             })
             .collect();
+
         let star_intersections = polygons_intersection_points(&star, &animated_star);
 
         /*
+         *
          * Render the polygons and their intersections.
+         *
          */
         draw_polygon(&spikes, RENDER_SCALE, spikes_render_pos, BLUE);
         draw_polygon(&animated_spikes, RENDER_SCALE, spikes_render_pos, GREEN);
@@ -60,9 +65,8 @@ async fn main() {
             for intersection in intersections {
                 draw_polygon(&intersection, RENDER_SCALE, spikes_render_pos, RED);
             }
-        } else {
-            eprintln!("Entered infinite loop.");
         }
+
         if let Ok(intersections) = star_intersections {
             draw_text(
                 &format!("# star intersections: {}", intersections.len()),
@@ -74,8 +78,6 @@ async fn main() {
             for intersection in intersections {
                 draw_polygon(&intersection, RENDER_SCALE, star_render_pos, RED);
             }
-        } else {
-            eprintln!("Entered infinite loop.");
         }
 
         next_frame().await

crates/parry3d/benches/query/ray.rs

@@ -13,7 +13,7 @@ use test::Bencher;
 #[macro_use]
 mod macros;
 
-// FIXME: will the randomness of `solid` and `max_time_of_impact` affect too much the benchmark?
+// TODO: will the randomness of `solid` and `max_time_of_impact` affect too much the benchmark?
 bench_method!(
     bench_ray_against_ball,
     cast_ray,

src/bounding_volume/aabb_utils.rs

@@ -16,7 +16,7 @@ where
     let mut basis = na::zero::<Vector<Real>>();
 
     for d in 0..DIM {
-        // FIXME: this could be further improved iterating on `m`'s columns, and passing
+        // TODO: this could be further improved iterating on `m`'s columns, and passing
         // Id as the transformation matrix.
         basis[d] = 1.0;
         max[d] = i.support_point(m, &basis)[d];
@@ -40,7 +40,7 @@ where
     let mut basis = na::zero::<Vector<Real>>();
 
     for d in 0..DIM {
-        // FIXME: this could be further improved iterating on `m`'s columns, and passing
+        // TODO: this could be further improved iterating on `m`'s columns, and passing
         // Id as the transformation matrix.
         basis[d] = 1.0;
         max[d] = i.local_support_point(&basis)[d];

src/bounding_volume/bounding_sphere.rs

@@ -56,7 +56,7 @@ impl BoundingVolume for BoundingSphere {
 
     #[inline]
     fn intersects(&self, other: &BoundingSphere) -> bool {
-        // FIXME: refactor that with the code from narrow_phase::ball_ball::collide(...) ?
+        // TODO: refactor that with the code from narrow_phase::ball_ball::collide(...) ?
         let delta_pos = other.center - self.center;
         let distance_squared = delta_pos.norm_squared();
         let sum_radius = self.radius + other.radius;

src/bounding_volume/bounding_sphere_utils.rs

@@ -3,7 +3,7 @@ use crate::utils;
 use na::{self, ComplexField};
 
 /// Computes the bounding sphere of a set of point, given its center.
-// FIXME: return a bounding sphere?
+// TODO: return a bounding sphere?
 #[inline]
 pub fn point_cloud_bounding_sphere_with_center(
     pts: &[Point<Real>],
@@ -23,7 +23,7 @@ pub fn point_cloud_bounding_sphere_with_center(
 }
 
 /// Computes a bounding sphere of the specified set of point.
-// FIXME: return a bounding sphere?
+// TODO: return a bounding sphere?
 #[inline]
 pub fn point_cloud_bounding_sphere(pts: &[Point<Real>]) -> (Point<Real>, Real) {
     point_cloud_bounding_sphere_with_center(pts, utils::center(pts))

src/bounding_volume/bounding_volume.rs

@@ -6,7 +6,7 @@ use crate::math::{Point, Real};
 /// intersection, inclusion test. Two bounding volume must also be mergeable into a bigger bounding
 /// volume.
 pub trait BoundingVolume {
-    // FIXME: keep that ? What about non-spacial bounding volumes (e.g. bounding cones, curvature
+    // TODO: keep that ? What about non-spacial bounding volumes (e.g. bounding cones, curvature
     // bounds, etc.) ?
     /// Returns a point inside of this bounding volume. This is ideally its center.
     fn center(&self) -> Point<Real>;

src/partitioning/qbvh/traversal.rs

@@ -271,7 +271,7 @@ impl<LeafData: IndexedData> Qbvh<LeafData> {
 
     /// Retrieve all the data of the nodes with Aabbs intersecting
     /// the given Aabb:
-    // FIXME: implement a visitor pattern to merge intersect_aabb
+    // TODO: implement a visitor pattern to merge intersect_aabb
     // and intersect_ray into a single method.
     pub fn intersect_aabb(&self, aabb: &Aabb, out: &mut Vec<LeafData>) {
         if self.nodes.is_empty() {

src/query/closest_points/closest_points_composite_shape_shape.rs

@@ -8,16 +8,16 @@ use na;
 use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
 
 /// Closest points between a composite shape and any other shape.
-pub fn closest_points_composite_shape_shape<D: ?Sized, G1: ?Sized>(
+pub fn closest_points_composite_shape_shape<D, G1>(
     dispatcher: &D,
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &dyn Shape,
     margin: Real,
 ) -> ClosestPoints
 where
-    D: QueryDispatcher,
-    G1: TypedSimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G1: ?Sized + TypedSimdCompositeShape,
 {
     let mut visitor =
         CompositeShapeAgainstShapeClosestPointsVisitor::new(dispatcher, pos12, g1, g2, margin);
@@ -30,16 +30,16 @@ where
 }
 
 /// Closest points between a shape and a composite shape.
-pub fn closest_points_shape_composite_shape<D: ?Sized, G2: ?Sized>(
+pub fn closest_points_shape_composite_shape<D, G2>(
     dispatcher: &D,
     pos12: &Isometry<Real>,
     g1: &dyn Shape,
     g2: &G2,
     margin: Real,
 ) -> ClosestPoints
 where
-    D: QueryDispatcher,
-    G2: TypedSimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G2: ?Sized + TypedSimdCompositeShape,
 {
     closest_points_composite_shape_shape(dispatcher, &pos12.inverse(), g2, g1, margin).flipped()
 }

src/query/closest_points/closest_points_line_line.rs

@@ -71,7 +71,7 @@ pub fn closest_points_line_line_parameters_eps<const D: usize>(
     }
 }
 
-// FIXME: can we re-used this for the segment/segment case?
+// TODO: can we re-used this for the segment/segment case?
 /// Closest points between two segments.
 #[inline]
 pub fn closest_points_line_line(

src/query/closest_points/closest_points_segment_segment.rs

@@ -23,7 +23,7 @@ pub fn closest_points_segment_segment(
     }
 }
 
-// FIXME: use this specialized procedure for distance/interference/contact determination as well.
+// TODO: use this specialized procedure for distance/interference/contact determination as well.
 /// Closest points between two segments.
 #[inline]
 pub fn closest_points_segment_segment_with_locations(

src/query/closest_points/closest_points_support_map_support_map.rs

@@ -6,15 +6,15 @@ use crate::shape::SupportMap;
 use na::Unit;
 
 /// Closest points between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
-pub fn closest_points_support_map_support_map<G1: ?Sized, G2: ?Sized>(
+pub fn closest_points_support_map_support_map<G1, G2>(
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &G2,
     prediction: Real,
 ) -> ClosestPoints
 where
-    G1: SupportMap,
-    G2: SupportMap,
+    G1: ?Sized + SupportMap,
+    G2: ?Sized + SupportMap,
 {
     match closest_points_support_map_support_map_with_params(
         pos12,
@@ -36,7 +36,7 @@ where
 /// Closest points between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
 ///
 /// This allows a more fine grained control other the underlying GJK algorigtm.
-pub fn closest_points_support_map_support_map_with_params<G1: ?Sized, G2: ?Sized>(
+pub fn closest_points_support_map_support_map_with_params<G1, G2>(
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &G2,
@@ -45,11 +45,11 @@ pub fn closest_points_support_map_support_map_with_params<G1: ?Sized, G2: ?Sized
     init_dir: Option<Vector<Real>>,
 ) -> GJKResult
 where
-    G1: SupportMap,
-    G2: SupportMap,
+    G1: ?Sized + SupportMap,
+    G2: ?Sized + SupportMap,
 {
     let dir = match init_dir {
-        // FIXME: or pos12.translation.vector (without the minus sign) ?
+        // TODO: or pos12.translation.vector (without the minus sign) ?
         None => -pos12.translation.vector,
         Some(dir) => dir,
     };

src/query/contact/contact_composite_shape_shape.rs

@@ -6,16 +6,16 @@ use crate::shape::{Shape, SimdCompositeShape};
 use crate::utils::IsometryOpt;
 
 /// Best contact between a composite shape (`Mesh`, `Compound`) and any other shape.
-pub fn contact_composite_shape_shape<D: ?Sized, G1: ?Sized>(
+pub fn contact_composite_shape_shape<D, G1>(
     dispatcher: &D,
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &dyn Shape,
     prediction: Real,
 ) -> Option<Contact>
 where
-    D: QueryDispatcher,
-    G1: SimdCompositeShape,
+    D: ?Sized + QueryDispatcher,
+    G1: ?Sized + SimdCompositeShape,
 {
     // Find new collisions
     let ls_aabb2 = g2.compute_aabb(pos12).loosened(prediction);

src/query/contact/contact_support_map_support_map.rs

@@ -7,15 +7,15 @@ use crate::shape::SupportMap;
 use na::Unit;
 
 /// Contact between support-mapped shapes (`Cuboid`, `ConvexHull`, etc.)
-pub fn contact_support_map_support_map<G1: ?Sized, G2: ?Sized>(
+pub fn contact_support_map_support_map<G1, G2>(
     pos12: &Isometry<Real>,
     g1: &G1,
     g2: &G2,
     prediction: Real,
 ) -> Option<Contact>
 where
-    G1: SupportMap,
-    G2: SupportMap,
+    G1: ?Sized + SupportMap,
+    G2: ?Sized + SupportMap,
 {
     let simplex = &mut VoronoiSimplex::new();
     match contact_support_map_support_map_with_params(pos12, g1, g2, prediction, simplex, None) {

src/query/contact_manifolds/contact_manifold.rs

@@ -182,7 +182,7 @@ impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, Co
         // const DOT_THRESHOLD: Real = 0.crate::COS_10_DEGREES;
         // const DOT_THRESHOLD: Real = crate::utils::COS_5_DEGREES;
         const DOT_THRESHOLD: Real = crate::utils::COS_1_DEGREES;
-        const DIST_SQ_THRESHOLD: Real = 1.0e-6; // FIXME: this should not be hard-coded.
+        const DIST_SQ_THRESHOLD: Real = 1.0e-6; // TODO: this should not be hard-coded.
         self.try_update_contacts_eps(pos12, DOT_THRESHOLD, DIST_SQ_THRESHOLD)
     }
 

src/query/contact_manifolds/contact_manifolds_capsule_capsule.rs

@@ -43,7 +43,7 @@ pub fn contact_manifold_capsule_capsule<'a, ManifoldData, ContactData>(
     );
 
     // We do this clone to perform contact tracking and transfer impulses.
-    // FIXME: find a more efficient way of doing this.
+    // TODO: find a more efficient way of doing this.
     let old_manifold_points = manifold.points.clone();
     manifold.clear();
 

src/query/contact_manifolds/contact_manifolds_cuboid_capsule.rs

@@ -123,7 +123,7 @@ pub fn contact_manifold_cuboid_capsule<'a, ManifoldData, ContactData>(
     }
 
     // We do this clone to perform contact tracking and transfer impulses.
-    // FIXME: find a more efficient way of doing this.
+    // TODO: find a more efficient way of doing this.
     let old_manifold_points = manifold.points.clone();
     manifold.clear();
 

src/query/contact_manifolds/contact_manifolds_cuboid_cuboid.rs

@@ -77,7 +77,7 @@ pub fn contact_manifold_cuboid_cuboid<'a, ManifoldData, ContactData: Default + C
     }
 
     // We do this clone to perform contact tracking and transfer impulses.
-    // FIXME: find a more efficient way of doing this.
+    // TODO: find a more efficient way of doing this.
     let old_manifold_points = manifold.points.clone();
     manifold.clear();
 

src/query/contact_manifolds/contact_manifolds_cuboid_triangle.rs

@@ -141,7 +141,7 @@ pub fn contact_manifold_cuboid_triangle<'a, ManifoldData, ContactData>(
     }
 
     // We do this clone to perform contact tracking and transfer impulses.
-    // FIXME: find a more efficient way of doing this.
+    // TODO: find a more efficient way of doing this.
     let old_manifold_points = manifold.points.clone();
     manifold.clear();
 

src/query/contact_manifolds/contact_manifolds_halfspace_pfm.rs

@@ -57,7 +57,7 @@ pub fn contact_manifold_halfspace_pfm<'a, ManifoldData, ContactData, S2>(
     pfm2.local_support_feature(&-normal1_2, &mut feature2);
 
     // We do this clone to perform contact tracking and transfer impulses.
-    // FIXME: find a more efficient way of doing this.
+    // TODO: find a more efficient way of doing this.
     let old_manifold_points = std::mem::take(&mut manifold.points);
 
     for i in 0..feature2.num_vertices {

src/query/contact_manifolds/contact_manifolds_trimesh_shape.rs

@@ -115,7 +115,7 @@ pub fn contact_manifolds_trimesh_shape<ManifoldData, ContactData>(
         new_local_aabb2.mins -= extra_margin;
         new_local_aabb2.maxs += extra_margin;
 
-        let local_aabb2 = new_local_aabb2; // .loosened(prediction * 2.0); // FIXME: what would be the best value?
+        let local_aabb2 = new_local_aabb2; // .loosened(prediction * 2.0); // TODO: what would be the best value?
         std::mem::swap(
             &mut workspace.old_interferences,
             &mut workspace.interferences,

src/query/distance/distance_support_map_support_map.rs

@@ -32,7 +32,7 @@ where
     G1: SupportMap,
     G2: SupportMap,
 {
-    // FIXME: or m2.translation - m1.translation ?
+    // TODO: or m2.translation - m1.translation ?
     let dir = init_dir.unwrap_or_else(|| -pos12.translation.vector);
 
     if let Some(dir) = Unit::try_new(dir, crate::math::DEFAULT_EPSILON) {
@@ -50,6 +50,6 @@ where
         GJKResult::Intersection => 0.0,
         GJKResult::ClosestPoints(p1, p2, _) => na::distance(&p1, &p2),
         GJKResult::Proximity(_) => unreachable!(),
-        GJKResult::NoIntersection(_) => 0.0, // FIXME: GJK did not converge.
+        GJKResult::NoIntersection(_) => 0.0, // TODO: GJK did not converge.
     }
 }

src/query/epa/epa2.rs

@@ -321,7 +321,7 @@ impl EPA {
                 if f.1 {
                     let dist = f.0.normal.dot(&f.0.proj.coords);
                     if dist < curr_dist {
-                        // FIXME: if we reach this point, there were issues due to
+                        // TODO: if we reach this point, there were issues due to
                         // numerical errors.
                         let cpts = f.0.closest_points(&self.vertices);
                         return Some((cpts.0, cpts.1, f.0.normal));

src/query/epa/epa3.rs

@@ -355,7 +355,7 @@ impl EPA {
             let first_new_face_id = self.faces.len();
 
             if self.silhouette.is_empty() {
-                // FIXME: Something went very wrong because we failed to extract a silhouette…
+                // TODO: Something went very wrong because we failed to extract a silhouette…
                 return None;
             }
 
@@ -364,7 +364,7 @@ impl EPA {
                     let new_face_id = self.faces.len();
                     let new_face;
 
-                    // FIXME: NLL
+                    // TODO: NLL
                     {
                         let face_adj = &mut self.faces[edge.face_id];
                         let pt_id1 = face_adj.pts[(edge.opp_pt_id + 2) % 3];
@@ -383,7 +383,7 @@ impl EPA {
                         let pt = self.vertices[self.faces[new_face_id].pts[0]].point.coords;
                         let dist = self.faces[new_face_id].normal.dot(&pt);
                         if dist < curr_dist {
-                            // FIXME: if we reach this point, there were issues due to
+                            // TODO: if we reach this point, there were issues due to
                             // numerical errors.
                             let points = face.closest_points(&self.vertices);
                             return Some((points.0, points.1, face.normal));