Fix warnings and compilation with the `arbitrary` feature.

src/geometry/isometry.rs

@@ -3,7 +3,6 @@ use std::fmt;
 use std::hash;
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
-use std::marker::PhantomData;
 
 #[cfg(feature = "serde-serialize")]
 use serde::{Deserialize, Serialize};
@@ -37,7 +36,8 @@ use crate::geometry::{AbstractRotation, Point, Translation};
                        Owned<N, D>: Deserialize<'de>"))
 )]
 pub struct Isometry<N: Scalar, D: DimName, R>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// The pure rotational part of this isometry.
     pub rotation: R,
@@ -91,7 +91,8 @@ where
 }
 
 impl<N: Scalar, D: DimName, R: AbstractRotation<N, D> + Clone> Clone for Isometry<N, D, R>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     #[inline]
     fn clone(&self) -> Self {
@@ -100,7 +101,8 @@ where DefaultAllocator: Allocator<N, D>
 }
 
 impl<N: Scalar, D: DimName, R: AbstractRotation<N, D>> Isometry<N, D, R>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// Creates a new isometry from its rotational and translational parts.
     ///
@@ -353,7 +355,8 @@ where
 // This is OK since all constructors of the isometry enforce the Rotation bound already (and
 // explicit struct construction is prevented by the dummy ZST field).
 impl<N: SimdRealField, D: DimName, R> Isometry<N, D, R>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// Converts this isometry into its equivalent homogeneous transformation matrix.
     ///
@@ -440,8 +443,7 @@ where
         other: &Self,
         epsilon: Self::Epsilon,
         max_relative: Self::Epsilon,
-    ) -> bool
-    {
+    ) -> bool {
         self.translation
             .relative_eq(&other.translation, epsilon, max_relative)
             && self

src/geometry/isometry_simba.rs

@@ -2,7 +2,7 @@ use simba::simd::SimdValue;
 
 use crate::base::allocator::Allocator;
 use crate::base::dimension::DimName;
-use crate::base::{DefaultAllocator, Scalar};
+use crate::base::DefaultAllocator;
 use crate::SimdRealField;
 
 use crate::geometry::{AbstractRotation, Isometry, Translation};

src/geometry/point_conversion.rs

@@ -1,6 +1,6 @@
 use num::{One, Zero};
 use simba::scalar::{ClosedDiv, SubsetOf, SupersetOf};
-use simba::simd::{PrimitiveSimdValue, SimdValue};
+use simba::simd::PrimitiveSimdValue;
 
 use crate::base::allocator::Allocator;
 use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
@@ -143,7 +143,8 @@ where
 }
 
 impl<N: Scalar, D: DimName> From<VectorN<N, D>> for Point<N, D>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     #[inline]
     fn from(coords: VectorN<N, D>) -> Self {

src/geometry/quaternion_construction.rs

@@ -71,7 +71,9 @@ impl<N: SimdRealField> Quaternion<N> {
     #[inline]
     // FIXME: take a reference to `vector`?
     pub fn from_parts<SB>(scalar: N, vector: Vector<N, U3, SB>) -> Self
-    where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         Self::new(scalar, vector[0], vector[1], vector[2])
     }
 
@@ -100,14 +102,17 @@ impl<N: SimdRealField> Quaternion<N> {
 
 // FIXME: merge with the previous block.
 impl<N: SimdRealField> Quaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     /// Creates a new quaternion from its polar decomposition.
     ///
     /// Note that `axis` is assumed to be a unit vector.
     // FIXME: take a reference to `axis`?
     pub fn from_polar_decomposition<SB>(scale: N, theta: N, axis: Unit<Vector<N, U3, SB>>) -> Self
-    where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         let rot = UnitQuaternion::<N>::from_axis_angle(&axis, theta * crate::convert(2.0f64));
 
         rot.into_inner() * scale
@@ -115,7 +120,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> One for Quaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn one() -> Self {
@@ -124,7 +130,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> Zero for Quaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn zero() -> Self {
@@ -138,7 +145,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> Distribution<Quaternion<N>> for Standard
-where Standard: Distribution<N>
+where
+    Standard: Distribution<N>,
 {
     #[inline]
     fn sample<'a, R: Rng + ?Sized>(&self, rng: &'a mut R) -> Quaternion<N> {
@@ -148,7 +156,8 @@ where Standard: Distribution<N>
 
 #[cfg(feature = "arbitrary")]
 impl<N: SimdRealField + Arbitrary> Arbitrary for Quaternion<N>
-where Owned<N, U4>: Send
+where
+    Owned<N, U4>: Send,
 {
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
@@ -162,7 +171,8 @@ where Owned<N, U4>: Send
 }
 
 impl<N: SimdRealField> UnitQuaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     /// The rotation identity.
     ///
@@ -209,7 +219,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn from_axis_angle<SB>(axis: &Unit<Vector<N, U3, SB>>, angle: N) -> Self
-    where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         let (sang, cang) = (angle / crate::convert(2.0f64)).simd_sin_cos();
 
         let q = Quaternion::from_parts(cang, axis.as_ref() * sang);
@@ -335,7 +347,9 @@ where N::Element: SimdRealField
     /// convergence parameters and starting solution.
     /// This implements "A Robust Method to Extract the Rotational Part of Deformations" by Müller et al.
     pub fn from_matrix(m: &Matrix3<N>) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         Rotation3::from_matrix(m).into()
     }
 
@@ -352,7 +366,9 @@ where N::Element: SimdRealField
     ///           to the actual solution is provided. Can be set to `UnitQuaternion::identity()` if no other
     ///           guesses come to mind.
     pub fn from_matrix_eps(m: &Matrix3<N>, eps: N, max_iter: usize, guess: Self) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         let guess = Rotation3::from(guess);
         Rotation3::from_matrix_eps(m, eps, max_iter, guess).into()
     }
@@ -619,7 +635,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn new<SB>(axisangle: Vector<N, U3, SB>) -> Self
-    where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         let two: N = crate::convert(2.0f64);
         let q = Quaternion::<N>::from_imag(axisangle / two).exp();
         Self::new_unchecked(q)
@@ -648,7 +666,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn new_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
-    where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         let two: N = crate::convert(2.0f64);
         let q = Quaternion::<N>::from_imag(axisangle / two).exp_eps(eps);
         Self::new_unchecked(q)
@@ -678,7 +698,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn from_scaled_axis<SB>(axisangle: Vector<N, U3, SB>) -> Self
-    where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         Self::new(axisangle)
     }
 
@@ -706,7 +728,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn from_scaled_axis_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
-    where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         Self::new_eps(axisangle, eps)
     }
 
@@ -736,7 +760,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn mean_of(unit_quaternions: impl IntoIterator<Item = Self>) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         let quaternions_matrix: Matrix4<N> = unit_quaternions
             .into_iter()
             .map(|q| q.as_vector() * q.as_vector().transpose())
@@ -765,7 +791,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> One for UnitQuaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn one() -> Self {
@@ -800,7 +827,7 @@ where
 }
 
 #[cfg(feature = "arbitrary")]
-impl<N: SimdRealField + Arbitrary> Arbitrary for UnitQuaternion<N>
+impl<N: RealField + Arbitrary> Arbitrary for UnitQuaternion<N>
 where
     Owned<N, U4>: Send,
     Owned<N, U3>: Send,

src/geometry/quaternion_simba.rs

@@ -2,10 +2,11 @@ use simba::simd::SimdValue;
 
 use crate::base::Vector4;
 use crate::geometry::{Quaternion, UnitQuaternion};
-use crate::{RealField, Scalar};
+use crate::Scalar;
 
 impl<N: Scalar + SimdValue> SimdValue for Quaternion<N>
-where N::Element: Scalar
+where
+    N::Element: Scalar,
 {
     type Element = Quaternion<N::Element>;
     type SimdBool = N::SimdBool;
@@ -47,7 +48,8 @@ where N::Element: Scalar
 }
 
 impl<N: Scalar + SimdValue> SimdValue for UnitQuaternion<N>
-where N::Element: Scalar
+where
+    N::Element: Scalar,
 {
     type Element = UnitQuaternion<N::Element>;
     type SimdBool = N::SimdBool;

src/geometry/similarity_construction.rs

@@ -107,15 +107,15 @@ where
 #[cfg(feature = "arbitrary")]
 impl<N, D: DimName, R> Arbitrary for Similarity<N, D, R>
 where
-    N: SimdRealField + Arbitrary + Send,
-    N::Element: SimdRealField,
+    N: RealField + Arbitrary + Send,
+    N::Element: RealField,
     R: AbstractRotation<N, D> + Arbitrary + Send,
     DefaultAllocator: Allocator<N, D>,
     Owned<N, D>: Send,
 {
     #[inline]
     fn arbitrary<G: Gen>(rng: &mut G) -> Self {
-        let mut s = Arbitrary::arbitrary(rng);
+        let mut s: N = Arbitrary::arbitrary(rng);
         while s.is_zero() {
             s = Arbitrary::arbitrary(rng)
         }
@@ -132,7 +132,8 @@ where
 
 // 2D similarity.
 impl<N: SimdRealField> Similarity<N, U2, Rotation2<N>>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     /// Creates a new similarity from a translation, a rotation, and an uniform scaling factor.
     ///
@@ -157,7 +158,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> Similarity<N, U2, UnitComplex<N>>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     /// Creates a new similarity from a translation and a rotation angle.
     ///

src/geometry/similarity_simba.rs

@@ -2,7 +2,7 @@ use simba::simd::{SimdRealField, SimdValue};
 
 use crate::base::allocator::Allocator;
 use crate::base::dimension::DimName;
-use crate::base::{DefaultAllocator, Scalar};
+use crate::base::DefaultAllocator;
 
 use crate::geometry::{AbstractRotation, Isometry, Similarity};
 

src/geometry/translation.rs

@@ -11,7 +11,7 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
-use simba::scalar::{ClosedAdd, ClosedNeg, ClosedSub, RealField};
+use simba::scalar::{ClosedAdd, ClosedNeg, ClosedSub};
 
 use crate::base::allocator::Allocator;
 use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
@@ -24,7 +24,8 @@ use crate::geometry::Point;
 #[repr(C)]
 #[derive(Debug)]
 pub struct Translation<N: Scalar, D: DimName>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// The translation coordinates, i.e., how much is added to a point's coordinates when it is
     /// translated.
@@ -87,7 +88,9 @@ where
     Owned<N, D>: Serialize,
 {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-    where S: Serializer {
+    where
+        S: Serializer,
+    {
         self.vector.serialize(serializer)
     }
 }
@@ -99,7 +102,9 @@ where
     Owned<N, D>: Deserialize<'a>,
 {
     fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
-    where Des: Deserializer<'a> {
+    where
+        Des: Deserializer<'a>,
+    {
         let matrix = VectorN::<N, D>::deserialize(deserializer)?;
 
         Ok(Translation::from(matrix))
@@ -107,7 +112,8 @@ where
 }
 
 impl<N: Scalar, D: DimName> Translation<N, D>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// Creates a new translation from the given vector.
     #[inline]
@@ -133,7 +139,9 @@ where DefaultAllocator: Allocator<N, D>
     #[inline]
     #[must_use = "Did you mean to use inverse_mut()?"]
     pub fn inverse(&self) -> Translation<N, D>
-    where N: ClosedNeg {
+    where
+        N: ClosedNeg,
+    {
         Translation::from(-&self.vector)
     }
 
@@ -189,13 +197,16 @@ where DefaultAllocator: Allocator<N, D>
     /// ```
     #[inline]
     pub fn inverse_mut(&mut self)
-    where N: ClosedNeg {
+    where
+        N: ClosedNeg,
+    {
         self.vector.neg_mut()
     }
 }
 
 impl<N: Scalar + ClosedAdd, D: DimName> Translation<N, D>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// Translate the given point.
     ///
@@ -214,7 +225,8 @@ where DefaultAllocator: Allocator<N, D>
 }
 
 impl<N: Scalar + ClosedSub, D: DimName> Translation<N, D>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// Translate the given point by the inverse of this translation.
     ///
@@ -233,7 +245,8 @@ where DefaultAllocator: Allocator<N, D>
 impl<N: Scalar + Eq, D: DimName> Eq for Translation<N, D> where DefaultAllocator: Allocator<N, D> {}
 
 impl<N: Scalar + PartialEq, D: DimName> PartialEq for Translation<N, D>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     #[inline]
     fn eq(&self, right: &Translation<N, D>) -> bool {
@@ -275,8 +288,7 @@ where
         other: &Self,
         epsilon: Self::Epsilon,
         max_relative: Self::Epsilon,
-    ) -> bool
-    {
+    ) -> bool {
         self.vector
             .relative_eq(&other.vector, epsilon, max_relative)
     }
@@ -304,7 +316,8 @@ where
  *
  */
 impl<N: Scalar + fmt::Display, D: DimName> fmt::Display for Translation<N, D>
-where DefaultAllocator: Allocator<N, D> + Allocator<usize, D>
+where
+    DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
 {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);

src/geometry/unit_complex_conversion.rs

@@ -2,7 +2,7 @@ use num::Zero;
 use num_complex::Complex;
 
 use simba::scalar::{RealField, SubsetOf, SupersetOf};
-use simba::simd::{PrimitiveSimdValue, SimdRealField, SimdValue};
+use simba::simd::{PrimitiveSimdValue, SimdRealField};
 
 use crate::base::dimension::U2;
 use crate::base::{Matrix2, Matrix3, Scalar};
@@ -155,7 +155,8 @@ impl<N1: RealField, N2: RealField + SupersetOf<N1>> SubsetOf<Matrix3<N2>> for Un
 }
 
 impl<N: SimdRealField> From<UnitComplex<N>> for Rotation2<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn from(q: UnitComplex<N>) -> Self {
@@ -164,7 +165,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> From<Rotation2<N>> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn from(q: Rotation2<N>) -> Self {
@@ -173,7 +175,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> From<UnitComplex<N>> for Matrix3<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn from(q: UnitComplex<N>) -> Matrix3<N> {
@@ -182,7 +185,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> From<UnitComplex<N>> for Matrix2<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn from(q: UnitComplex<N>) -> Self {

src/geometry/unit_complex_ops.rs

@@ -5,7 +5,6 @@ use crate::base::dimension::{U1, U2};
 use crate::base::storage::Storage;
 use crate::base::{DefaultAllocator, Unit, Vector, Vector2};
 use crate::geometry::{Isometry, Point2, Rotation, Similarity, Translation, UnitComplex};
-use simba::scalar::RealField;
 use simba::simd::SimdRealField;
 
 /*
@@ -53,7 +52,8 @@ impl<N: SimdRealField> Mul<Self> for UnitComplex<N> {
 }
 
 impl<'a, N: SimdRealField> Mul<UnitComplex<N>> for &'a UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Output = UnitComplex<N>;
 
@@ -64,7 +64,8 @@ where N::Element: SimdRealField
 }
 
 impl<'b, N: SimdRealField> Mul<&'b UnitComplex<N>> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Output = Self;
 
@@ -75,7 +76,8 @@ where N::Element: SimdRealField
 }
 
 impl<'a, 'b, N: SimdRealField> Mul<&'b UnitComplex<N>> for &'a UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Output = UnitComplex<N>;
 
@@ -87,7 +89,8 @@ where N::Element: SimdRealField
 
 // UnitComplex ÷ UnitComplex
 impl<N: SimdRealField> Div<Self> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Output = Self;
 
@@ -98,7 +101,8 @@ where N::Element: SimdRealField
 }
 
 impl<'a, N: SimdRealField> Div<UnitComplex<N>> for &'a UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Output = UnitComplex<N>;
 
@@ -109,7 +113,8 @@ where N::Element: SimdRealField
 }
 
 impl<'b, N: SimdRealField> Div<&'b UnitComplex<N>> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Output = Self;
 
@@ -120,7 +125,8 @@ where N::Element: SimdRealField
 }
 
 impl<'a, 'b, N: SimdRealField> Div<&'b UnitComplex<N>> for &'a UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Output = UnitComplex<N>;
 
@@ -315,7 +321,8 @@ complex_op_impl_all!(
 
 // UnitComplex ×= UnitComplex
 impl<N: SimdRealField> MulAssign<UnitComplex<N>> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn mul_assign(&mut self, rhs: UnitComplex<N>) {
@@ -324,7 +331,8 @@ where N::Element: SimdRealField
 }
 
 impl<'b, N: SimdRealField> MulAssign<&'b UnitComplex<N>> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn mul_assign(&mut self, rhs: &'b UnitComplex<N>) {
@@ -334,7 +342,8 @@ where N::Element: SimdRealField
 
 // UnitComplex /= UnitComplex
 impl<N: SimdRealField> DivAssign<UnitComplex<N>> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn div_assign(&mut self, rhs: UnitComplex<N>) {
@@ -343,7 +352,8 @@ where N::Element: SimdRealField
 }
 
 impl<'b, N: SimdRealField> DivAssign<&'b UnitComplex<N>> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn div_assign(&mut self, rhs: &'b UnitComplex<N>) {

src/geometry/unit_complex_simba.rs

@@ -2,12 +2,13 @@ use num_complex::Complex;
 use simba::simd::SimdValue;
 use std::ops::Deref;
 
-use crate::base::{Scalar, Unit};
+use crate::base::Unit;
 use crate::geometry::UnitComplex;
 use crate::SimdRealField;
 
 impl<N: SimdRealField> SimdValue for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     type Element = UnitComplex<N::Element>;
     type SimdBool = N::SimdBool;