Fix most clippy warnings

2021-06-18 02:45:37 -05:00 · 2021-06-18 02:45:37 -05:00 · 281b140365
parent 38add0b00d
commit 281b140365
39 changed files with 318 additions and 298 deletions
--- a/src/base/blas.rs
+++ b/src/base/blas.rs
@ -278,6 +278,7 @@ where
    }
 }

+#[allow(clippy::too_many_arguments)]
 fn array_axcpy<T>(
    y: &mut [T],
    a: T,
@ -334,6 +335,7 @@ where
    /// assert_eq!(vec1, Vector3::new(6.0, 12.0, 18.0));
    /// ```
    #[inline]
+    #[allow(clippy::many_single_char_names)]
    pub fn axcpy<D2: Dim, SB>(&mut self, a: T, x: &Vector<T, D2, SB>, c: T, b: T)
    where
        SB: Storage<T, D2>,
--- a/src/base/construction.rs
+++ b/src/base/construction.rs
@ -906,6 +906,7 @@ macro_rules! componentwise_constructors_impl(
        impl<T> Matrix<T, Const<$R>, Const<$C>, ArrayStorage<T, $R, $C>> {
            /// Initializes this matrix from its components.
            #[inline]
+            #[allow(clippy::too_many_arguments)]
            pub const fn new($($($args: T),*),*) -> Self {
                unsafe {
                    Self::from_data_statically_unchecked(
--- a/src/base/conversion.rs
+++ b/src/base/conversion.rs
@ -2,7 +2,6 @@
 use alloc::vec::Vec;
 use simba::scalar::{SubsetOf, SupersetOf};
 use std::convert::{AsMut, AsRef, From, Into};
-use std::mem;

 use simba::simd::{PrimitiveSimdValue, SimdValue};

@ -110,11 +109,11 @@ impl<T: Scalar, const D: usize> From<[T; D]> for SVector<T, D> {
    }
 }

-impl<T: Scalar, const D: usize> Into<[T; D]> for SVector<T, D> {
+impl<T: Scalar, const D: usize> From<SVector<T, D>> for [T; D] {
    #[inline]
-    fn into(self) -> [T; D] {
+    fn from(vec: SVector<T, D>) -> Self {
        // TODO: unfortunately, we must clone because we can move out of an array.
-        self.data.0[0].clone()
+        vec.data.0[0].clone()
    }
 }

@ -128,13 +127,13 @@ where
    }
 }

-impl<T: Scalar, const D: usize> Into<[T; D]> for RowSVector<T, D>
+impl<T: Scalar, const D: usize> From<RowSVector<T, D>> for [T; D]
 where
    Const<D>: IsNotStaticOne,
 {
    #[inline]
-    fn into(self) -> [T; D] {
-        self.transpose().into()
+    fn from(vec: RowSVector<T, D>) -> [T; D] {
+        vec.transpose().into()
    }
 }

@ -146,7 +145,7 @@ macro_rules! impl_from_into_asref_1D(
            #[inline]
            fn as_ref(&self) -> &[T; $SZ] {
                unsafe {
-                    mem::transmute(self.data.ptr())
+                    &*(self.data.ptr() as *const [T; $SZ])
                }
            }
        }
@ -157,7 +156,7 @@ macro_rules! impl_from_into_asref_1D(
            #[inline]
            fn as_mut(&mut self) -> &mut [T; $SZ] {
                unsafe {
-                    mem::transmute(self.data.ptr_mut())
+                    &mut *(self.data.ptr_mut() as *mut [T; $SZ])
                }
            }
        }
@ -186,10 +185,10 @@ impl<T: Scalar, const R: usize, const C: usize> From<[[T; R]; C]> for SMatrix<T,
    }
 }

-impl<T: Scalar, const R: usize, const C: usize> Into<[[T; R]; C]> for SMatrix<T, R, C> {
+impl<T: Scalar, const R: usize, const C: usize> From<SMatrix<T, R, C>> for [[T; R]; C] {
    #[inline]
-    fn into(self) -> [[T; R]; C] {
-        self.data.0
+    fn from(vec: SMatrix<T, R, C>) -> Self {
+        vec.data.0
    }
 }

@ -200,7 +199,7 @@ macro_rules! impl_from_into_asref_2D(
            #[inline]
            fn as_ref(&self) -> &[[T; $SZRows]; $SZCols] {
                unsafe {
-                    mem::transmute(self.data.ptr())
+                    &*(self.data.ptr() as *const [[T; $SZRows]; $SZCols])
                }
            }
        }
@ -210,7 +209,7 @@ macro_rules! impl_from_into_asref_2D(
            #[inline]
            fn as_mut(&mut self) -> &mut [[T; $SZRows]; $SZCols] {
                unsafe {
-                    mem::transmute(self.data.ptr_mut())
+                    &mut *(self.data.ptr_mut() as *mut [[T; $SZRows]; $SZCols])
                }
            }
        }
@ -427,21 +426,21 @@ impl<'a, T: Scalar> From<Vec<T>> for DVector<T> {
    }
 }

-impl<'a, T: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorage<T, R, C>> Into<&'a [T]>
-    for &'a Matrix<T, R, C, S>
+impl<'a, T: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorage<T, R, C>>
+    From<&'a Matrix<T, R, C, S>> for &'a [T]
 {
    #[inline]
-    fn into(self) -> &'a [T] {
-        self.as_slice()
+    fn from(matrix: &'a Matrix<T, R, C, S>) -> Self {
+        matrix.as_slice()
    }
 }

-impl<'a, T: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorageMut<T, R, C>> Into<&'a mut [T]>
-    for &'a mut Matrix<T, R, C, S>
+impl<'a, T: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorageMut<T, R, C>>
+    From<&'a mut Matrix<T, R, C, S>> for &'a mut [T]
 {
    #[inline]
-    fn into(self) -> &'a mut [T] {
-        self.as_mut_slice()
+    fn from(matrix: &'a mut Matrix<T, R, C, S>) -> Self {
+        matrix.as_mut_slice()
    }
 }

--- a/src/base/coordinates.rs
+++ b/src/base/coordinates.rs
@ -4,7 +4,6 @@
 //! components using their names. For example, if `v` is a 3D vector, one can write `v.z` instead
 //! of `v[2]`.

-use std::mem;
 use std::ops::{Deref, DerefMut};

 use crate::base::dimension::{U1, U2, U3, U4, U5, U6};
@ -38,7 +37,7 @@ macro_rules! deref_impl(

            #[inline]
            fn deref(&self) -> &Self::Target {
-                unsafe { mem::transmute(self.data.ptr()) }
+                unsafe { &*(self.data.ptr() as *const Self::Target) }
            }
        }

@ -46,7 +45,7 @@ macro_rules! deref_impl(
            where S: ContiguousStorageMut<T, $R, $C> {
            #[inline]
            fn deref_mut(&mut self) -> &mut Self::Target {
-                unsafe { mem::transmute(self.data.ptr_mut()) }
+                unsafe { &mut *(self.data.ptr_mut() as *mut Self::Target) }
            }
        }
    }
--- a/src/base/iter.rs
+++ b/src/base/iter.rs
@ -96,6 +96,10 @@ macro_rules! iterator {
                            let stride = self.strides.0.value();
                            self.ptr = self.ptr.add(stride);
                        }
+
+                        // We want either `& *last` or `&mut *last` here, depending
+                        // on the mutability of `$Ref`.
+                        #[allow(clippy::transmute_ptr_to_ref)]
                        Some(mem::transmute(old))
                    }
                }
@ -139,13 +143,13 @@ macro_rules! iterator {
                        let inner_remaining = self.size % inner_size;

                        // Compute pointer to last element
-                        let last = self.ptr.offset(
-                            (outer_remaining * outer_stride + inner_remaining * inner_stride)
-                                as isize,
-                        );
+                        let last = self
+                            .ptr
+                            .add((outer_remaining * outer_stride + inner_remaining * inner_stride));

                        // We want either `& *last` or `&mut *last` here, depending
                        // on the mutability of `$Ref`.
+                        #[allow(clippy::transmute_ptr_to_ref)]
                        Some(mem::transmute(last))
                    }
                }
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@ -567,6 +567,7 @@ impl<T: Scalar, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
    /// Tests whether `self` and `rhs` are exactly equal.
    #[inline]
    #[must_use]
+    #[allow(clippy::should_implement_trait)]
    pub fn eq<R2, C2, SB>(&self, other: &Matrix<T, R2, C2, SB>) -> bool
    where
        T: PartialEq,
--- a/src/base/ops.rs
+++ b/src/base/ops.rs
@ -529,7 +529,7 @@ macro_rules! left_scalar_mul_impl(

                // for rhs in res.iter_mut() {
                for rhs in res.as_mut_slice().iter_mut() {
-                    *rhs = self * *rhs
+                    *rhs *= self
                }

                res
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@ -1,6 +1,5 @@
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
-use std::mem;
 use std::ops::Deref;

 #[cfg(feature = "serde-serialize-no-std")]
@ -228,8 +227,8 @@ impl<T> Unit<T> {

    /// Wraps the given reference, assuming it is already normalized.
    #[inline]
-    pub fn from_ref_unchecked<'a>(value: &'a T) -> &'a Self {
-        unsafe { mem::transmute(value) }
+    pub fn from_ref_unchecked(value: &T) -> &Self {
+        unsafe { &*(value as *const T as *const Self) }
    }

    /// Retrieves the underlying value.
@ -332,7 +331,7 @@ impl<T> Deref for Unit<T> {

    #[inline]
    fn deref(&self) -> &T {
-        unsafe { mem::transmute(self) }
+        unsafe { &*(self as *const Self as *const T) }
    }
 }

--- a/src/base/vec_storage.rs
+++ b/src/base/vec_storage.rs
@ -143,9 +143,9 @@ impl<T, R: Dim, C: Dim> VecStorage<T, R, C> {
    }
 }

-impl<T, R: Dim, C: Dim> Into<Vec<T>> for VecStorage<T, R, C> {
-    fn into(self) -> Vec<T> {
-        self.data
+impl<T, R: Dim, C: Dim> From<VecStorage<T, R, C>> for Vec<T> {
+    fn from(vec: VecStorage<T, R, C>) -> Self {
+        vec.data
    }
 }

--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@ -1,3 +1,6 @@
+// The macros break if the references are taken out, for some reason.
+#![allow(clippy::op_ref)]
+
 use crate::{
    Isometry3, Matrix4, Normed, OVector, Point3, Quaternion, Scalar, SimdRealField, Translation3,
    Unit, UnitQuaternion, Vector3, Zero, U8,
@ -273,7 +276,7 @@ where

 impl<T: RealField> DualQuaternion<T> {
    fn to_vector(&self) -> OVector<T, U8> {
-        self.as_ref().clone().into()
+        (*self.as_ref()).into()
    }
 }

@ -618,9 +621,9 @@ where
        let other = {
            let dot_product = self.as_ref().real.coords.dot(&other.as_ref().real.coords);
            if dot_product < T::zero() {
-                -other.clone()
+                -*other
            } else {
-                other.clone()
+                *other
            }
        };

--- a/src/geometry/dual_quaternion_construction.rs
+++ b/src/geometry/dual_quaternion_construction.rs
@ -186,9 +186,9 @@ where
    pub fn from_parts(translation: Translation3<T>, rotation: UnitQuaternion<T>) -> Self {
        let half: T = crate::convert(0.5f64);
        UnitDualQuaternion::new_unchecked(DualQuaternion {
-            real: rotation.clone().into_inner(),
+            real: rotation.into_inner(),
            dual: Quaternion::from_parts(T::zero(), translation.vector)
-                * rotation.clone().into_inner()
+                * rotation.into_inner()
                * half,
        })
    }
--- a/src/geometry/dual_quaternion_ops.rs
+++ b/src/geometry/dual_quaternion_ops.rs
@ -1,3 +1,6 @@
+// The macros break if the references are taken out, for some reason.
+#![allow(clippy::op_ref)]
+
 /*
 * This file provides:
 *
@ -49,7 +52,6 @@ use crate::{
    DualQuaternion, Isometry3, Point, Point3, Quaternion, SimdRealField, Translation3, Unit,
    UnitDualQuaternion, UnitQuaternion, Vector, Vector3, U3,
 };
-use std::mem;
 use std::ops::{
    Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub, SubAssign,
 };
@ -57,14 +59,14 @@ use std::ops::{
 impl<T: SimdRealField> AsRef<[T; 8]> for DualQuaternion<T> {
    #[inline]
    fn as_ref(&self) -> &[T; 8] {
-        unsafe { mem::transmute(self) }
+        unsafe { &*(self as *const Self as *const [T; 8]) }
    }
 }

 impl<T: SimdRealField> AsMut<[T; 8]> for DualQuaternion<T> {
    #[inline]
    fn as_mut(&mut self) -> &mut [T; 8] {
-        unsafe { mem::transmute(self) }
+        unsafe { &mut *(self as *mut Self as *mut [T; 8]) }
    }
 }

@ -564,7 +566,7 @@ dual_quaternion_op_impl!(
    (U4, U1), (U3, U1);
    self: &'a UnitDualQuaternion<T>, rhs: &'b Translation3<T>,
    Output = UnitDualQuaternion<T> => U3, U1;
-    self * UnitDualQuaternion::<T>::from_parts(rhs.clone(), UnitQuaternion::identity());
+    self * UnitDualQuaternion::<T>::from_parts(*rhs, UnitQuaternion::identity());
    'a, 'b);

 dual_quaternion_op_impl!(
@ -580,7 +582,7 @@ dual_quaternion_op_impl!(
    (U4, U1), (U3, U3);
    self: UnitDualQuaternion<T>, rhs: &'b Translation3<T>,
    Output = UnitDualQuaternion<T> => U3, U1;
-    self * UnitDualQuaternion::<T>::from_parts(rhs.clone(), UnitQuaternion::identity());
+    self * UnitDualQuaternion::<T>::from_parts(*rhs, UnitQuaternion::identity());
    'b);

 dual_quaternion_op_impl!(
@ -632,7 +634,7 @@ dual_quaternion_op_impl!(
    (U3, U1), (U4, U1);
    self: &'b Translation3<T>, rhs: &'a UnitDualQuaternion<T>,
    Output = UnitDualQuaternion<T> => U3, U1;
-    UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
+    UnitDualQuaternion::<T>::from_parts(*self, UnitQuaternion::identity()) * rhs;
    'a, 'b);

 dual_quaternion_op_impl!(
@ -640,7 +642,7 @@ dual_quaternion_op_impl!(
    (U3, U1), (U4, U1);
    self: &'a Translation3<T>, rhs: UnitDualQuaternion<T>,
    Output = UnitDualQuaternion<T> => U3, U1;
-    UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
+    UnitDualQuaternion::<T>::from_parts(*self, UnitQuaternion::identity()) * rhs;
    'a);

 dual_quaternion_op_impl!(
@ -664,7 +666,7 @@ dual_quaternion_op_impl!(
    (U3, U1), (U4, U1);
    self: &'b Translation3<T>, rhs: &'a UnitDualQuaternion<T>,
    Output = UnitDualQuaternion<T> => U3, U1;
-    UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
+    UnitDualQuaternion::<T>::from_parts(*self, UnitQuaternion::identity()) / rhs;
    'a, 'b);

 dual_quaternion_op_impl!(
@ -672,7 +674,7 @@ dual_quaternion_op_impl!(
    (U3, U1), (U4, U1);
    self: &'a Translation3<T>, rhs: UnitDualQuaternion<T>,
    Output = UnitDualQuaternion<T> => U3, U1;
-    UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
+    UnitDualQuaternion::<T>::from_parts(*self, UnitQuaternion::identity()) / rhs;
    'a);

 dual_quaternion_op_impl!(
@ -860,7 +862,7 @@ dual_quaternion_op_impl!(
    Output = Point3<T> => U3, U1;
    {
        let two: T = crate::convert(2.0f64);
-        let q_point = Quaternion::from_parts(T::zero(), rhs.coords.clone());
+        let q_point = Quaternion::from_parts(T::zero(), rhs.coords);
        Point::from(
            ((self.as_ref().real * q_point + self.as_ref().dual * two) * self.as_ref().real.conjugate())
                .vector()
@ -1115,7 +1117,7 @@ dual_quaternion_op_impl!(
    MulAssign, mul_assign;
    (U4, U1), (U4, U1);
    self: UnitDualQuaternion<T>, rhs: &'b UnitQuaternion<T>;
-    *self *= rhs.clone(); 'b);
+    *self *= *rhs; 'b);

 // UnitDualQuaternion ÷= UnitQuaternion
 dual_quaternion_op_impl!(
@ -1151,7 +1153,7 @@ dual_quaternion_op_impl!(
    MulAssign, mul_assign;
    (U4, U1), (U4, U1);
    self: UnitDualQuaternion<T>, rhs: &'b Translation3<T>;
-    *self *= rhs.clone(); 'b);
+    *self *= *rhs; 'b);

 // UnitDualQuaternion ÷= Translation3
 dual_quaternion_op_impl!(
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@ -270,7 +270,7 @@ where
    #[must_use]
    pub fn inv_mul(&self, rhs: &Isometry<T, R, D>) -> Self {
        let inv_rot1 = self.rotation.inverse();
-        let tr_12 = rhs.translation.vector.clone() - self.translation.vector.clone();
+        let tr_12 = rhs.translation.vector - self.translation.vector;
        Isometry::from_parts(
            inv_rot1.transform_vector(&tr_12).into(),
            inv_rot1 * rhs.rotation.clone(),
@ -435,7 +435,7 @@ where
    #[must_use]
    pub fn inverse_transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
        self.rotation
-            .inverse_transform_point(&(pt - &self.translation.vector))
+            .inverse_transform_point(&(pt - self.translation.vector))
    }

    /// Transform the given vector by the inverse of this isometry, ignoring the
--- a/src/geometry/isometry_conversion.rs
+++ b/src/geometry/isometry_conversion.rs
@ -239,7 +239,7 @@ where
 {
    #[inline]
    fn from(arr: [Isometry<T::Element, R::Element, D>; 2]) -> Self {
-        let tra = Translation::from([arr[0].translation.clone(), arr[1].translation.clone()]);
+        let tra = Translation::from([arr[0].translation, arr[1].translation]);
        let rot = R::from([arr[0].rotation, arr[0].rotation]);

        Self::from_parts(tra, rot)
@ -258,10 +258,10 @@ where
    #[inline]
    fn from(arr: [Isometry<T::Element, R::Element, D>; 4]) -> Self {
        let tra = Translation::from([
-            arr[0].translation.clone(),
-            arr[1].translation.clone(),
-            arr[2].translation.clone(),
-            arr[3].translation.clone(),
+            arr[0].translation,
+            arr[1].translation,
+            arr[2].translation,
+            arr[3].translation,
        ]);
        let rot = R::from([
            arr[0].rotation,
@ -286,14 +286,14 @@ where
    #[inline]
    fn from(arr: [Isometry<T::Element, R::Element, D>; 8]) -> Self {
        let tra = Translation::from([
-            arr[0].translation.clone(),
-            arr[1].translation.clone(),
-            arr[2].translation.clone(),
-            arr[3].translation.clone(),
-            arr[4].translation.clone(),
-            arr[5].translation.clone(),
-            arr[6].translation.clone(),
-            arr[7].translation.clone(),
+            arr[0].translation,
+            arr[1].translation,
+            arr[2].translation,
+            arr[3].translation,
+            arr[4].translation,
+            arr[5].translation,
+            arr[6].translation,
+            arr[7].translation,
        ]);
        let rot = R::from([
            arr[0].rotation,
@ -322,22 +322,22 @@ where
    #[inline]
    fn from(arr: [Isometry<T::Element, R::Element, D>; 16]) -> Self {
        let tra = Translation::from([
-            arr[0].translation.clone(),
-            arr[1].translation.clone(),
-            arr[2].translation.clone(),
-            arr[3].translation.clone(),
-            arr[4].translation.clone(),
-            arr[5].translation.clone(),
-            arr[6].translation.clone(),
-            arr[7].translation.clone(),
-            arr[8].translation.clone(),
-            arr[9].translation.clone(),
-            arr[10].translation.clone(),
-            arr[11].translation.clone(),
-            arr[12].translation.clone(),
-            arr[13].translation.clone(),
-            arr[14].translation.clone(),
-            arr[15].translation.clone(),
+            arr[0].translation,
+            arr[1].translation,
+            arr[2].translation,
+            arr[3].translation,
+            arr[4].translation,
+            arr[5].translation,
+            arr[6].translation,
+            arr[7].translation,
+            arr[8].translation,
+            arr[9].translation,
+            arr[10].translation,
+            arr[11].translation,
+            arr[12].translation,
+            arr[13].translation,
+            arr[14].translation,
+            arr[15].translation,
        ]);
        let rot = R::from([
            arr[0].rotation,
--- a/src/geometry/isometry_ops.rs
+++ b/src/geometry/isometry_ops.rs
@ -1,3 +1,6 @@
+// The macros break if the references are taken out, for some reason.
+#![allow(clippy::op_ref)]
+
 use num::{One, Zero};
 use std::ops::{Div, DivAssign, Mul, MulAssign};

@ -198,7 +201,7 @@ md_assign_impl_all!(
    const D; for; where;
    self: Isometry<T, Rotation<T, D>, D>, rhs: Rotation<T, D>;
    [val] => self.rotation *= rhs;
-    [ref] => self.rotation *= rhs.clone();
+    [ref] => self.rotation *= *rhs;
 );

 md_assign_impl_all!(
@ -365,9 +368,9 @@ isometry_from_composition_impl_all!(
    D;
    self: Rotation<T, D>, right: Translation<T, D>, Output = Isometry<T, Rotation<T, D>, D>;
    [val val] => Isometry::from_parts(Translation::from(&self * right.vector),  self);
-    [ref val] => Isometry::from_parts(Translation::from(self * right.vector),   self.clone());
+    [ref val] => Isometry::from_parts(Translation::from(self * right.vector),   *self);
    [val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
-    [ref ref] => Isometry::from_parts(Translation::from(self * &right.vector),  self.clone());
+    [ref ref] => Isometry::from_parts(Translation::from(self * &right.vector),  *self);
 );

 // UnitQuaternion × Translation
@ -389,9 +392,9 @@ isometry_from_composition_impl_all!(
    self: Isometry<T, Rotation<T, D>, D>, rhs: Rotation<T, D>,
    Output = Isometry<T, Rotation<T, D>, D>;
    [val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // TODO: do not clone.
-    [val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
-    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
+    [ref val] => Isometry::from_parts(self.translation, self.rotation * rhs);
+    [val ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
+    [ref ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
 );

 // Rotation × Isometry
@ -416,9 +419,9 @@ isometry_from_composition_impl_all!(
    self: Isometry<T, Rotation<T, D>, D>, rhs: Rotation<T, D>,
    Output = Isometry<T, Rotation<T, D>, D>;
    [val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // TODO: do not clone.
-    [val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
-    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
+    [ref val] => Isometry::from_parts(self.translation, self.rotation / rhs);
+    [val ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
+    [ref ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
 );

 // Rotation ÷ Isometry
@ -441,9 +444,9 @@ isometry_from_composition_impl_all!(
    self: Isometry<T, UnitQuaternion<T>, 3>, rhs: UnitQuaternion<T>,
    Output = Isometry<T, UnitQuaternion<T>, 3>;
    [val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation * rhs); // TODO: do not clone.
+    [ref val] => Isometry::from_parts(self.translation, self.rotation * rhs);
    [val ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
-    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation * *rhs);
+    [ref ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
 );

 // UnitQuaternion × Isometry
@ -468,9 +471,9 @@ isometry_from_composition_impl_all!(
    self: Isometry<T, UnitQuaternion<T>, 3>, rhs: UnitQuaternion<T>,
    Output = Isometry<T, UnitQuaternion<T>, 3>;
    [val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation / rhs); // TODO: do not clone.
+    [ref val] => Isometry::from_parts(self.translation, self.rotation / rhs);
    [val ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
-    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation / *rhs);
+    [ref ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
 );

 // UnitQuaternion ÷ Isometry
@ -492,9 +495,9 @@ isometry_from_composition_impl_all!(
    D;
    self: Translation<T, D>, right: Rotation<T, D>, Output = Isometry<T, Rotation<T, D>, D>;
    [val val] => Isometry::from_parts(self, right);
-    [ref val] => Isometry::from_parts(self.clone(), right);
-    [val ref] => Isometry::from_parts(self, right.clone());
-    [ref ref] => Isometry::from_parts(self.clone(), right.clone());
+    [ref val] => Isometry::from_parts(*self, right);
+    [val ref] => Isometry::from_parts(self, *right);
+    [ref ref] => Isometry::from_parts(*self, *right);
 );

 // Translation × UnitQuaternion
@ -503,9 +506,9 @@ isometry_from_composition_impl_all!(
    ;
    self: Translation<T, 3>, right: UnitQuaternion<T>, Output = Isometry<T, UnitQuaternion<T>, 3>;
    [val val] => Isometry::from_parts(self, right);
-    [ref val] => Isometry::from_parts(self.clone(), right);
+    [ref val] => Isometry::from_parts(*self, right);
    [val ref] => Isometry::from_parts(self, *right);
-    [ref ref] => Isometry::from_parts(self.clone(), *right);
+    [ref ref] => Isometry::from_parts(*self, *right);
 );

 // Isometry × UnitComplex
@ -515,9 +518,9 @@ isometry_from_composition_impl_all!(
    self: Isometry<T, UnitComplex<T>, 2>, rhs: UnitComplex<T>,
    Output = Isometry<T, UnitComplex<T>, 2>;
    [val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation * rhs); // TODO: do not clone.
+    [ref val] => Isometry::from_parts(self.translation, self.rotation * rhs);
    [val ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
-    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation * *rhs);
+    [ref ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
 );

 // Isometry ÷ UnitComplex
@ -527,7 +530,7 @@ isometry_from_composition_impl_all!(
    self: Isometry<T, UnitComplex<T>, 2>, rhs: UnitComplex<T>,
    Output = Isometry<T, UnitComplex<T>, 2>;
    [val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation / rhs); // TODO: do not clone.
+    [ref val] => Isometry::from_parts(self.translation, self.rotation / rhs);
    [val ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
-    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation / *rhs);
+    [ref ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
 );
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@ -8,7 +8,6 @@ use rand::{
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 use std::fmt;
-use std::mem;

 use simba::scalar::RealField;

@ -258,7 +257,7 @@ impl<T: RealField> Orthographic3<T> {
    #[inline]
    #[must_use]
    pub fn as_projective(&self) -> &Projective3<T> {
-        unsafe { mem::transmute(self) }
+        unsafe { &*(self as *const Orthographic3<T> as *const Projective3<T>) }
    }

    /// This transformation seen as a `Projective3`.
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@ -9,7 +9,6 @@ use rand::{
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 use std::fmt;
-use std::mem;

 use simba::scalar::RealField;

@ -140,7 +139,7 @@ impl<T: RealField> Perspective3<T> {
    #[inline]
    #[must_use]
    pub fn as_projective(&self) -> &Projective3<T> {
-        unsafe { mem::transmute(self) }
+        unsafe { &*(self as *const Perspective3<T> as *const Projective3<T>) }
    }

    /// This transformation seen as a `Projective3`.
@ -256,8 +255,9 @@ impl<T: RealField> Perspective3<T> {
    #[inline]
    pub fn set_fovy(&mut self, fovy: T) {
        let old_m22 = self.matrix[(1, 1)];
-        self.matrix[(1, 1)] = T::one() / (fovy / crate::convert(2.0)).tan();
-        self.matrix[(0, 0)] = self.matrix[(0, 0)] * (self.matrix[(1, 1)] / old_m22);
+        let new_m22 = T::one() / (fovy / crate::convert(2.0)).tan();
+        self.matrix[(1, 1)] = new_m22;
+        self.matrix[(0, 0)] *= new_m22 / old_m22;
    }

    /// Updates this perspective matrix with a new near plane offset of the view frustum.
--- a/src/geometry/point_conversion.rs
+++ b/src/geometry/point_conversion.rs
@ -90,10 +90,10 @@ impl<T: Scalar, const D: usize> From<[T; D]> for Point<T, D> {
    }
 }

-impl<T: Scalar, const D: usize> Into<[T; D]> for Point<T, D> {
+impl<T: Scalar, const D: usize> From<Point<T, D>> for [T; D] {
    #[inline]
-    fn into(self) -> [T; D] {
-        self.coords.into()
+    fn from(p: Point<T, D>) -> Self {
+        p.coords.into()
    }
 }

--- a/src/geometry/quaternion_coordinates.rs
+++ b/src/geometry/quaternion_coordinates.rs
@ -1,4 +1,3 @@
-use std::mem;
 use std::ops::{Deref, DerefMut};

 use simba::simd::SimdValue;
@ -13,13 +12,13 @@ impl<T: Scalar + SimdValue> Deref for Quaternion<T> {

    #[inline]
    fn deref(&self) -> &Self::Target {
-        unsafe { mem::transmute(self) }
+        unsafe { &*(self as *const Self as *const Self::Target) }
    }
 }

 impl<T: Scalar + SimdValue> DerefMut for Quaternion<T> {
    #[inline]
    fn deref_mut(&mut self) -> &mut Self::Target {
-        unsafe { mem::transmute(self) }
+        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
    }
 }
--- a/src/geometry/quaternion_ops.rs
+++ b/src/geometry/quaternion_ops.rs
@ -1,3 +1,6 @@
+// The macros break if the references are taken out, for some reason.
+#![allow(clippy::op_ref)]
+
 /*
 * This file provides:
 * ===================
--- a/src/geometry/rotation_conversion.rs
+++ b/src/geometry/rotation_conversion.rs
@ -267,10 +267,7 @@ where
 {
    #[inline]
    fn from(arr: [Rotation<T::Element, D>; 2]) -> Self {
-        Self::from_matrix_unchecked(OMatrix::from([
-            arr[0].clone().into_inner(),
-            arr[1].clone().into_inner(),
-        ]))
+        Self::from_matrix_unchecked(OMatrix::from([arr[0].into_inner(), arr[1].into_inner()]))
    }
 }

@ -283,10 +280,10 @@ where
    #[inline]
    fn from(arr: [Rotation<T::Element, D>; 4]) -> Self {
        Self::from_matrix_unchecked(OMatrix::from([
-            arr[0].clone().into_inner(),
-            arr[1].clone().into_inner(),
-            arr[2].clone().into_inner(),
-            arr[3].clone().into_inner(),
+            arr[0].into_inner(),
+            arr[1].into_inner(),
+            arr[2].into_inner(),
+            arr[3].into_inner(),
        ]))
    }
 }
@ -300,14 +297,14 @@ where
    #[inline]
    fn from(arr: [Rotation<T::Element, D>; 8]) -> Self {
        Self::from_matrix_unchecked(OMatrix::from([
-            arr[0].clone().into_inner(),
-            arr[1].clone().into_inner(),
-            arr[2].clone().into_inner(),
-            arr[3].clone().into_inner(),
-            arr[4].clone().into_inner(),
-            arr[5].clone().into_inner(),
-            arr[6].clone().into_inner(),
-            arr[7].clone().into_inner(),
+            arr[0].into_inner(),
+            arr[1].into_inner(),
+            arr[2].into_inner(),
+            arr[3].into_inner(),
+            arr[4].into_inner(),
+            arr[5].into_inner(),
+            arr[6].into_inner(),
+            arr[7].into_inner(),
        ]))
    }
 }
@ -321,22 +318,22 @@ where
    #[inline]
    fn from(arr: [Rotation<T::Element, D>; 16]) -> Self {
        Self::from_matrix_unchecked(OMatrix::from([
-            arr[0].clone().into_inner(),
-            arr[1].clone().into_inner(),
-            arr[2].clone().into_inner(),
-            arr[3].clone().into_inner(),
-            arr[4].clone().into_inner(),
-            arr[5].clone().into_inner(),
-            arr[6].clone().into_inner(),
-            arr[7].clone().into_inner(),
-            arr[8].clone().into_inner(),
-            arr[9].clone().into_inner(),
-            arr[10].clone().into_inner(),
-            arr[11].clone().into_inner(),
-            arr[12].clone().into_inner(),
-            arr[13].clone().into_inner(),
-            arr[14].clone().into_inner(),
-            arr[15].clone().into_inner(),
+            arr[0].into_inner(),
+            arr[1].into_inner(),
+            arr[2].into_inner(),
+            arr[3].into_inner(),
+            arr[4].into_inner(),
+            arr[5].into_inner(),
+            arr[6].into_inner(),
+            arr[7].into_inner(),
+            arr[8].into_inner(),
+            arr[9].into_inner(),
+            arr[10].into_inner(),
+            arr[11].into_inner(),
+            arr[12].into_inner(),
+            arr[13].into_inner(),
+            arr[14].into_inner(),
+            arr[15].into_inner(),
        ]))
    }
 }
--- a/src/geometry/rotation_specialization.rs
+++ b/src/geometry/rotation_specialization.rs
@ -857,11 +857,7 @@ impl<T: SimdRealField> Rotation3<T> {
    where
        T: RealField,
    {
-        if let Some(axis) = self.axis() {
-            Some((axis, self.angle()))
-        } else {
-            None
-        }
+        self.axis().map(|axis| (axis, self.angle()))
    }

    /// The rotation angle needed to make `self` and `other` coincide.
--- a/src/geometry/similarity.rs
+++ b/src/geometry/similarity.rs
@ -178,7 +178,7 @@ where
        );

        Self::from_parts(
-            Translation::from(&self.isometry.translation.vector * scaling),
+            Translation::from(self.isometry.translation.vector * scaling),
            self.isometry.rotation.clone(),
            self.scaling * scaling,
        )
--- a/src/geometry/similarity_conversion.rs
+++ b/src/geometry/similarity_conversion.rs
@ -197,7 +197,7 @@ where
 {
    #[inline]
    fn from(arr: [Similarity<T::Element, R::Element, D>; 2]) -> Self {
-        let iso = Isometry::from([arr[0].isometry.clone(), arr[1].isometry.clone()]);
+        let iso = Isometry::from([arr[0].isometry, arr[1].isometry]);
        let scale = T::from([arr[0].scaling(), arr[1].scaling()]);

        Self::from_isometry(iso, scale)
@ -216,10 +216,10 @@ where
    #[inline]
    fn from(arr: [Similarity<T::Element, R::Element, D>; 4]) -> Self {
        let iso = Isometry::from([
-            arr[0].isometry.clone(),
-            arr[1].isometry.clone(),
-            arr[2].isometry.clone(),
-            arr[3].isometry.clone(),
+            arr[0].isometry,
+            arr[1].isometry,
+            arr[2].isometry,
+            arr[3].isometry,
        ]);
        let scale = T::from([
            arr[0].scaling(),
@ -244,14 +244,14 @@ where
    #[inline]
    fn from(arr: [Similarity<T::Element, R::Element, D>; 8]) -> Self {
        let iso = Isometry::from([
-            arr[0].isometry.clone(),
-            arr[1].isometry.clone(),
-            arr[2].isometry.clone(),
-            arr[3].isometry.clone(),
-            arr[4].isometry.clone(),
-            arr[5].isometry.clone(),
-            arr[6].isometry.clone(),
-            arr[7].isometry.clone(),
+            arr[0].isometry,
+            arr[1].isometry,
+            arr[2].isometry,
+            arr[3].isometry,
+            arr[4].isometry,
+            arr[5].isometry,
+            arr[6].isometry,
+            arr[7].isometry,
        ]);
        let scale = T::from([
            arr[0].scaling(),
@ -280,22 +280,22 @@ where
    #[inline]
    fn from(arr: [Similarity<T::Element, R::Element, D>; 16]) -> Self {
        let iso = Isometry::from([
-            arr[0].isometry.clone(),
-            arr[1].isometry.clone(),
-            arr[2].isometry.clone(),
-            arr[3].isometry.clone(),
-            arr[4].isometry.clone(),
-            arr[5].isometry.clone(),
-            arr[6].isometry.clone(),
-            arr[7].isometry.clone(),
-            arr[8].isometry.clone(),
-            arr[9].isometry.clone(),
-            arr[10].isometry.clone(),
-            arr[11].isometry.clone(),
-            arr[12].isometry.clone(),
-            arr[13].isometry.clone(),
-            arr[14].isometry.clone(),
-            arr[15].isometry.clone(),
+            arr[0].isometry,
+            arr[1].isometry,
+            arr[2].isometry,
+            arr[3].isometry,
+            arr[4].isometry,
+            arr[5].isometry,
+            arr[6].isometry,
+            arr[7].isometry,
+            arr[8].isometry,
+            arr[9].isometry,
+            arr[10].isometry,
+            arr[11].isometry,
+            arr[12].isometry,
+            arr[13].isometry,
+            arr[14].isometry,
+            arr[15].isometry,
        ]);
        let scale = T::from([
            arr[0].scaling(),
--- a/src/geometry/similarity_ops.rs
+++ b/src/geometry/similarity_ops.rs
@ -1,3 +1,6 @@
+// The macros break if the references are taken out, for some reason.
+#![allow(clippy::op_ref)]
+
 use num::{One, Zero};
 use std::ops::{Div, DivAssign, Mul, MulAssign};

@ -219,7 +222,7 @@ md_assign_impl_all!(
    const D; for; where;
    self: Similarity<T, Rotation<T, D>, D>, rhs: Rotation<T, D>;
    [val] => self.isometry.rotation *= rhs;
-    [ref] => self.isometry.rotation *= rhs.clone();
+    [ref] => self.isometry.rotation *= *rhs;
 );

 md_assign_impl_all!(
--- a/src/geometry/transform.rs
+++ b/src/geometry/transform.rs
@ -399,11 +399,9 @@ where
    #[inline]
    #[must_use = "Did you mean to use try_inverse_mut()?"]
    pub fn try_inverse(self) -> Option<Transform<T, C, D>> {
-        if let Some(m) = self.matrix.try_inverse() {
-            Some(Transform::from_matrix_unchecked(m))
-        } else {
-            None
-        }
+        self.matrix
+            .try_inverse()
+            .map(Transform::from_matrix_unchecked)
    }

    /// Inverts this transformation. Use `.try_inverse` if this transform has the `TGeneral`
--- a/src/geometry/transform_ops.rs
+++ b/src/geometry/transform_ops.rs
@ -1,3 +1,6 @@
+// The macros break if the references are taken out, for some reason.
+#![allow(clippy::op_ref)]
+
 use num::{One, Zero};
 use std::ops::{Div, DivAssign, Index, IndexMut, Mul, MulAssign};

--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@ -38,7 +38,7 @@ where
    }
 }

-impl<T: Scalar + Copy, const D: usize> Copy for Translation<T, D> where Owned<T, Const<D>>: Copy {}
+impl<T: Scalar + Copy, const D: usize> Copy for Translation<T, D> {}

 impl<T: Scalar, const D: usize> Clone for Translation<T, D>
 where
--- a/src/geometry/translation_conversion.rs
+++ b/src/geometry/translation_conversion.rs
@ -77,7 +77,7 @@ where
 {
    #[inline]
    fn to_superset(&self) -> UnitDualQuaternion<T2> {
-        let dq = UnitDualQuaternion::<T1>::from_parts(self.clone(), UnitQuaternion::identity());
+        let dq = UnitDualQuaternion::<T1>::from_parts(*self, UnitQuaternion::identity());
        dq.to_superset()
    }

@ -212,16 +212,14 @@ impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
 impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
    #[inline]
    fn from(pt: Point<T, D>) -> Self {
-        Translation {
-            vector: pt.coords.into(),
-        }
+        Translation { vector: pt.coords }
    }
 }

-impl<T: Scalar, const D: usize> Into<[T; D]> for Translation<T, D> {
+impl<T: Scalar, const D: usize> From<Translation<T, D>> for [T; D] {
    #[inline]
-    fn into(self) -> [T; D] {
-        self.vector.into()
+    fn from(t: Translation<T, D>) -> Self {
+        t.vector.into()
    }
 }

--- a/src/geometry/translation_coordinates.rs
+++ b/src/geometry/translation_coordinates.rs
@ -1,4 +1,3 @@
-use std::mem;
 use std::ops::{Deref, DerefMut};

 use crate::base::coordinates::{X, XY, XYZ, XYZW, XYZWA, XYZWAB};
@ -19,15 +18,14 @@ macro_rules! deref_impl(

            #[inline]
            fn deref(&self) -> &Self::Target {
-                unsafe { mem::transmute(self) }
+                unsafe { &*(self as *const Translation<T, $D> as *const Self::Target) }
            }
        }

-        impl<T: Scalar> DerefMut for Translation<T, $D>
-             {
+        impl<T: Scalar> DerefMut for Translation<T, $D> {
            #[inline]
            fn deref_mut(&mut self) -> &mut Self::Target {
-                unsafe { mem::transmute(self) }
+                unsafe { &mut *(self as *mut Translation<T, $D> as *mut Self::Target) }
            }
        }
    }
--- a/src/geometry/unit_complex_ops.rs
+++ b/src/geometry/unit_complex_ops.rs
@ -1,3 +1,6 @@
+// The macros break if the references are taken out, for some reason.
+#![allow(clippy::op_ref)]
+
 use std::ops::{Div, DivAssign, Mul, MulAssign};

 use crate::base::storage::Storage;
@ -314,10 +317,10 @@ complex_op_impl_all!(
    ;
    self: Translation<T, 2>, right: UnitComplex<T>,
    Output = Isometry<T, UnitComplex<T>, 2>;
-    [val val] => Isometry::from_parts(self, right);
-    [ref val] => Isometry::from_parts(self.clone(), right);
-    [val ref] => Isometry::from_parts(self, *right);
-    [ref ref] => Isometry::from_parts(self.clone(), *right);
+    [val val] => Isometry::from_parts(self,   right);
+    [ref val] => Isometry::from_parts(*self,  right);
+    [val ref] => Isometry::from_parts(self,  *right);
+    [ref ref] => Isometry::from_parts(*self, *right);
 );

 // UnitComplex ×= UnitComplex
@ -327,7 +330,7 @@ where
 {
    #[inline]
    fn mul_assign(&mut self, rhs: UnitComplex<T>) {
-        *self = &*self * rhs
+        *self = *self * rhs
    }
 }

@ -337,7 +340,7 @@ where
 {
    #[inline]
    fn mul_assign(&mut self, rhs: &'b UnitComplex<T>) {
-        *self = &*self * rhs
+        *self = *self * rhs
    }
 }

@ -348,7 +351,7 @@ where
 {
    #[inline]
    fn div_assign(&mut self, rhs: UnitComplex<T>) {
-        *self = &*self / rhs
+        *self = *self / rhs
    }
 }

@ -358,7 +361,7 @@ where
 {
    #[inline]
    fn div_assign(&mut self, rhs: &'b UnitComplex<T>) {
-        *self = &*self / rhs
+        *self = *self / rhs
    }
 }

@ -369,7 +372,7 @@ where
 {
    #[inline]
    fn mul_assign(&mut self, rhs: Rotation<T, 2>) {
-        *self = &*self * rhs
+        *self = *self * rhs
    }
 }

@ -379,7 +382,7 @@ where
 {
    #[inline]
    fn mul_assign(&mut self, rhs: &'b Rotation<T, 2>) {
-        *self = &*self * rhs
+        *self = *self * rhs
    }
 }

@ -390,7 +393,7 @@ where
 {
    #[inline]
    fn div_assign(&mut self, rhs: Rotation<T, 2>) {
-        *self = &*self / rhs
+        *self = *self / rhs
    }
 }

@ -400,7 +403,7 @@ where
 {
    #[inline]
    fn div_assign(&mut self, rhs: &'b Rotation<T, 2>) {
-        *self = &*self / rhs
+        *self = *self / rhs
    }
 }

--- a/src/lib.rs
+++ b/src/lib.rs
@ -1,3 +1,4 @@
+#![allow(clippy::type_complexity)]
 /*!
 # nalgebra

@ -199,19 +200,15 @@ where
        while val < min {
            val += width
        }
-
-        val
    } else if val > max {
        val -= width;

        while val > max {
            val -= width
        }
-
-        val
-    } else {
-        val
    }
+
+    val
 }

 /// Returns a reference to the input value clamped to the interval `[min, max]`.
@ -393,7 +390,7 @@ pub fn center<T: SimdComplexField, const D: usize>(
    p1: &Point<T, D>,
    p2: &Point<T, D>,
 ) -> Point<T, D> {
-    ((&p1.coords + &p2.coords) * convert::<_, T>(0.5)).into()
+    ((p1.coords + p2.coords) * convert::<_, T>(0.5)).into()
 }

 /// The distance between two points.
@ -407,7 +404,7 @@ pub fn distance<T: SimdComplexField, const D: usize>(
    p1: &Point<T, D>,
    p2: &Point<T, D>,
 ) -> T::SimdRealField {
-    (&p2.coords - &p1.coords).norm()
+    (p2.coords - p1.coords).norm()
 }

 /// The squared distance between two points.
@ -421,7 +418,7 @@ pub fn distance_squared<T: SimdComplexField, const D: usize>(
    p1: &Point<T, D>,
    p2: &Point<T, D>,
 ) -> T::SimdRealField {
-    (&p2.coords - &p1.coords).norm_squared()
+    (p2.coords - p1.coords).norm_squared()
 }

 /*
--- a/src/linalg/balancing.rs
+++ b/src/linalg/balancing.rs
@ -8,17 +8,17 @@ use crate::base::dimension::Dim;
 use crate::base::storage::Storage;
 use crate::base::{Const, DefaultAllocator, OMatrix, OVector};

-/// Applies in-place a modified Parlett and Reinsch matrix balancing with 2-norm to the matrix `m` and returns
+/// Applies in-place a modified Parlett and Reinsch matrix balancing with 2-norm to the matrix and returns
 /// the corresponding diagonal transformation.
 ///
 /// See https://arxiv.org/pdf/1401.5766.pdf
-pub fn balance_parlett_reinsch<T: RealField, D: Dim>(m: &mut OMatrix<T, D, D>) -> OVector<T, D>
+pub fn balance_parlett_reinsch<T: RealField, D: Dim>(matrix: &mut OMatrix<T, D, D>) -> OVector<T, D>
 where
    DefaultAllocator: Allocator<T, D, D> + Allocator<T, D>,
 {
-    assert!(m.is_square(), "Unable to balance a non-square matrix.");
+    assert!(matrix.is_square(), "Unable to balance a non-square matrix.");

-    let dim = m.data.shape().0;
+    let dim = matrix.data.shape().0;
    let radix: T = crate::convert(2.0f64);
    let mut d = OVector::from_element_generic(dim, Const::<1>, T::one());

@ -28,36 +28,37 @@ where
        converged = true;

        for i in 0..dim.value() {
-            let mut c = m.column(i).norm_squared();
-            let mut r = m.row(i).norm_squared();
+            let mut n_col = matrix.column(i).norm_squared();
+            let mut n_row = matrix.row(i).norm_squared();
            let mut f = T::one();

-            let s = c + r;
-            c = c.sqrt();
-            r = r.sqrt();
+            let s = n_col + n_row;
+            n_col = n_col.sqrt();
+            n_row = n_row.sqrt();

-            if c.is_zero() || r.is_zero() {
+            if n_col.is_zero() || n_row.is_zero() {
                continue;
            }

-            while c < r / radix {
-                c *= radix;
-                r /= radix;
+            while n_col < n_row / radix {
+                n_col *= radix;
+                n_row /= radix;
                f *= radix;
            }

-            while c >= r * radix {
-                c /= radix;
-                r *= radix;
+            while n_col >= n_row * radix {
+                n_col /= radix;
+                n_row *= radix;
                f /= radix;
            }

            let eps: T = crate::convert(0.95);
-            if c * c + r * r < eps * s {
+            #[allow(clippy::suspicious_operation_groupings)]
+            if n_col * n_col + n_row * n_row < eps * s {
                converged = false;
                d[i] *= f;
-                m.column_mut(i).mul_assign(f);
-                m.row_mut(i).div_assign(f);
+                matrix.column_mut(i).mul_assign(f);
+                matrix.row_mut(i).div_assign(f);
            }
        }
    }
--- a/src/linalg/exp.rs
+++ b/src/linalg/exp.rs
@ -442,31 +442,31 @@ where
            return self.map(|v| v.exp());
        }

-        let mut h = ExpmPadeHelper::new(self.clone(), true);
+        let mut helper = ExpmPadeHelper::new(self.clone(), true);

-        let eta_1 = T::RealField::max(h.d4_loose(), h.d6_loose());
-        if eta_1 < convert(1.495_585_217_958_292e-2) && ell(&h.a, 3) == 0 {
-            let (u, v) = h.pade3();
+        let eta_1 = T::RealField::max(helper.d4_loose(), helper.d6_loose());
+        if eta_1 < convert(1.495_585_217_958_292e-2) && ell(&helper.a, 3) == 0 {
+            let (u, v) = helper.pade3();
            return solve_p_q(u, v);
        }

-        let eta_2 = T::RealField::max(h.d4_tight(), h.d6_loose());
-        if eta_2 < convert(2.539_398_330_063_230e-1) && ell(&h.a, 5) == 0 {
-            let (u, v) = h.pade5();
+        let eta_2 = T::RealField::max(helper.d4_tight(), helper.d6_loose());
+        if eta_2 < convert(2.539_398_330_063_23e-1) && ell(&helper.a, 5) == 0 {
+            let (u, v) = helper.pade5();
            return solve_p_q(u, v);
        }

-        let eta_3 = T::RealField::max(h.d6_tight(), h.d8_loose());
-        if eta_3 < convert(9.504_178_996_162_932e-1) && ell(&h.a, 7) == 0 {
-            let (u, v) = h.pade7();
+        let eta_3 = T::RealField::max(helper.d6_tight(), helper.d8_loose());
+        if eta_3 < convert(9.504_178_996_162_932e-1) && ell(&helper.a, 7) == 0 {
+            let (u, v) = helper.pade7();
            return solve_p_q(u, v);
        }
-        if eta_3 < convert(2.097_847_961_257_068e+0) && ell(&h.a, 9) == 0 {
-            let (u, v) = h.pade9();
+        if eta_3 < convert(2.097_847_961_257_068e0) && ell(&helper.a, 9) == 0 {
+            let (u, v) = helper.pade9();
            return solve_p_q(u, v);
        }

-        let eta_4 = T::RealField::max(h.d8_loose(), h.d10_loose());
+        let eta_4 = T::RealField::max(helper.d8_loose(), helper.d10_loose());
        let eta_5 = T::RealField::min(eta_3, eta_4);
        let theta_13 = convert(4.25);

@ -482,9 +482,12 @@ where
            }
        };

-        s += ell(&(&h.a * convert::<f64, T>(2.0_f64.powf(-(s as f64)))), 13);
+        s += ell(
+            &(&helper.a * convert::<f64, T>(2.0_f64.powf(-(s as f64)))),
+            13,
+        );

-        let (u, v) = h.pade13_scaled(s);
+        let (u, v) = helper.pade13_scaled(s);
        let mut x = solve_p_q(u, v);

        for _ in 0..s {
--- a/src/linalg/pow.rs
+++ b/src/linalg/pow.rs
@ -31,10 +31,8 @@ where

        // If e is negative, we compute the inverse matrix, then raise it to the
        // power of -e.
-        if e < zero {
-            if !self.try_inverse_mut() {
-                return false;
-            }
+        if e < zero && !self.try_inverse_mut() {
+            return false;
        }

        let one = I::one();
--- a/src/linalg/schur.rs
+++ b/src/linalg/schur.rs
@ -1,3 +1,4 @@
+#![allow(clippy::suspicious_operation_groupings)]
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Serialize};

--- a/src/linalg/svd.rs
+++ b/src/linalg/svd.rs
@ -121,11 +121,15 @@ where
            matrix.unscale_mut(m_amax);
        }

-        let b = Bidiagonal::new(matrix);
-        let mut u = if compute_u { Some(b.u()) } else { None };
-        let mut v_t = if compute_v { Some(b.v_t()) } else { None };
-        let mut diagonal = b.diagonal();
-        let mut off_diagonal = b.off_diagonal();
+        let bi_matrix = Bidiagonal::new(matrix);
+        let mut u = if compute_u { Some(bi_matrix.u()) } else { None };
+        let mut v_t = if compute_v {
+            Some(bi_matrix.v_t())
+        } else {
+            None
+        };
+        let mut diagonal = bi_matrix.diagonal();
+        let mut off_diagonal = bi_matrix.off_diagonal();

        let mut niter = 0;
        let (mut start, mut end) = Self::delimit_subproblem(
@ -133,7 +137,7 @@ where
            &mut off_diagonal,
            &mut u,
            &mut v_t,
-            b.is_upper_diagonal(),
+            bi_matrix.is_upper_diagonal(),
            dim - 1,
            eps,
        );
@ -142,6 +146,7 @@ where
            let subdim = end - start + 1;

            // Solve the subproblem.
+            #[allow(clippy::comparison_chain)]
            if subdim > 2 {
                let m = end - 1;
                let n = end;
@ -201,7 +206,7 @@ where
                        subm[(0, 0)] = norm2;

                        if let Some(ref mut v_t) = v_t {
-                            if b.is_upper_diagonal() {
+                            if bi_matrix.is_upper_diagonal() {
                                rot1.rotate(&mut v_t.fixed_rows_mut::<2>(k));
                            } else {
                                rot2.rotate(&mut v_t.fixed_rows_mut::<2>(k));
@ -209,7 +214,7 @@ where
                        }

                        if let Some(ref mut u) = u {
-                            if b.is_upper_diagonal() {
+                            if bi_matrix.is_upper_diagonal() {
                                rot2.inverse().rotate_rows(&mut u.fixed_columns_mut::<2>(k));
                            } else {
                                rot1.inverse().rotate_rows(&mut u.fixed_columns_mut::<2>(k));
@ -236,8 +241,10 @@ where
                    diagonal[start],
                    off_diagonal[start],
                    diagonal[start + 1],
-                    compute_u && b.is_upper_diagonal() || compute_v && !b.is_upper_diagonal(),
-                    compute_v && b.is_upper_diagonal() || compute_u && !b.is_upper_diagonal(),
+                    compute_u && bi_matrix.is_upper_diagonal()
+                        || compute_v && !bi_matrix.is_upper_diagonal(),
+                    compute_v && bi_matrix.is_upper_diagonal()
+                        || compute_u && !bi_matrix.is_upper_diagonal(),
                );
                let u2 = u2.map(|u2| GivensRotation::new_unchecked(u2.c(), T::from_real(u2.s())));
                let v2 = v2.map(|v2| GivensRotation::new_unchecked(v2.c(), T::from_real(v2.s())));
@ -247,7 +254,7 @@ where
                off_diagonal[start] = T::RealField::zero();

                if let Some(ref mut u) = u {
-                    let rot = if b.is_upper_diagonal() {
+                    let rot = if bi_matrix.is_upper_diagonal() {
                        u2.unwrap()
                    } else {
                        v2.unwrap()
@ -256,7 +263,7 @@ where
                }

                if let Some(ref mut v_t) = v_t {
-                    let rot = if b.is_upper_diagonal() {
+                    let rot = if bi_matrix.is_upper_diagonal() {
                        v2.unwrap()
                    } else {
                        u2.unwrap()
@ -273,7 +280,7 @@ where
                &mut off_diagonal,
                &mut u,
                &mut v_t,
-                b.is_upper_diagonal(),
+                bi_matrix.is_upper_diagonal(),
                end,
                eps,
            );
--- a/src/linalg/symmetric_eigen.rs
+++ b/src/linalg/symmetric_eigen.rs
@ -87,7 +87,7 @@ where
    }

    fn do_decompose(
-        mut m: OMatrix<T, D, D>,
+        mut matrix: OMatrix<T, D, D>,
        eigenvectors: bool,
        eps: T::RealField,
        max_niter: usize,
@ -97,33 +97,33 @@ where
        DefaultAllocator: Allocator<T, DimDiff<D, U1>> + Allocator<T::RealField, DimDiff<D, U1>>,
    {
        assert!(
-            m.is_square(),
+            matrix.is_square(),
            "Unable to compute the eigendecomposition of a non-square matrix."
        );
-        let dim = m.nrows();
-        let m_amax = m.camax();
+        let dim = matrix.nrows();
+        let m_amax = matrix.camax();

        if !m_amax.is_zero() {
-            m.unscale_mut(m_amax);
+            matrix.unscale_mut(m_amax);
        }

-        let (mut q, mut diag, mut off_diag);
+        let (mut q_mat, mut diag, mut off_diag);

        if eigenvectors {
-            let res = SymmetricTridiagonal::new(m).unpack();
-            q = Some(res.0);
+            let res = SymmetricTridiagonal::new(matrix).unpack();
+            q_mat = Some(res.0);
            diag = res.1;
            off_diag = res.2;
        } else {
-            let res = SymmetricTridiagonal::new(m).unpack_tridiagonal();
-            q = None;
+            let res = SymmetricTridiagonal::new(matrix).unpack_tridiagonal();
+            q_mat = None;
            diag = res.0;
            off_diag = res.1;
        }

        if dim == 1 {
            diag.scale_mut(m_amax);
-            return Some((diag, q));
+            return Some((diag, q_mat));
        }

        let mut niter = 0;
@ -132,11 +132,12 @@ where
        while end != start {
            let subdim = end - start + 1;

+            #[allow(clippy::comparison_chain)]
            if subdim > 2 {
                let m = end - 1;
                let n = end;

-                let mut v = Vector2::new(
+                let mut vec = Vector2::new(
                    diag[start] - wilkinson_shift(diag[m], diag[n], off_diag[m]),
                    off_diag[start],
                );
@ -144,7 +145,7 @@ where
                for i in start..n {
                    let j = i + 1;

-                    if let Some((rot, norm)) = GivensRotation::cancel_y(&v) {
+                    if let Some((rot, norm)) = GivensRotation::cancel_y(&vec) {
                        if i > start {
                            // Not the first iteration.
                            off_diag[i - 1] = norm;
@ -165,12 +166,12 @@ where
                        off_diag[i] = cs * (mii - mjj) + mij * (cc - ss);

                        if i != n - 1 {
-                            v.x = off_diag[i];
-                            v.y = -rot.s() * off_diag[i + 1];
+                            vec.x = off_diag[i];
+                            vec.y = -rot.s() * off_diag[i + 1];
                            off_diag[i + 1] *= rot.c();
                        }

-                        if let Some(ref mut q) = q {
+                        if let Some(ref mut q) = q_mat {
                            let rot = GivensRotation::new_unchecked(rot.c(), T::from_real(rot.s()));
                            rot.inverse().rotate_rows(&mut q.fixed_columns_mut::<2>(i));
                        }
@ -195,7 +196,7 @@ where
                diag[start] = eigvals[0];
                diag[start + 1] = eigvals[1];

-                if let Some(ref mut q) = q {
+                if let Some(ref mut q) = q_mat {
                    if let Some((rot, _)) = GivensRotation::try_new(basis.x, basis.y, eps) {
                        let rot = GivensRotation::new_unchecked(rot.c(), T::from_real(rot.s()));
                        rot.rotate_rows(&mut q.fixed_columns_mut::<2>(start));
@ -219,7 +220,7 @@ where

        diag.scale_mut(m_amax);

-        Some((diag, q))
+        Some((diag, q_mat))
    }

    fn delimit_subproblem(
--- a/tests/linalg/convolution.rs
+++ b/tests/linalg/convolution.rs
@ -26,18 +26,20 @@ fn convolve_same_check() {
    // Panic Tests
    // These really only apply to dynamic sized vectors
    assert!(panic::catch_unwind(|| {
-        DVector::from_vec(vec![1.0, 2.0])
+        let _ = DVector::from_vec(vec![1.0, 2.0])
            .convolve_same(DVector::from_vec(vec![1.0, 2.0, 3.0, 4.0]));
    })
    .is_err());

    assert!(panic::catch_unwind(|| {
-        DVector::<f32>::from_vec(vec![]).convolve_same(DVector::from_vec(vec![1.0, 2.0, 3.0, 4.0]));
+        let _ = DVector::<f32>::from_vec(vec![])
+            .convolve_same(DVector::from_vec(vec![1.0, 2.0, 3.0, 4.0]));
    })
    .is_err());

    assert!(panic::catch_unwind(|| {
-        DVector::from_vec(vec![1.0, 2.0, 3.0, 4.0]).convolve_same(DVector::<f32>::from_vec(vec![]));
+        let _ = DVector::from_vec(vec![1.0, 2.0, 3.0, 4.0])
+            .convolve_same(DVector::<f32>::from_vec(vec![]));
    })
    .is_err());
 }