Fix some clippy warnings and typo

CHANGELOG.md

@@ -38,7 +38,7 @@ conversions targeting the versions 0.13, 0.14, and 0.15 of `glam`.
 Fix a regression introduced in 0.26.0 preventing `DVector` from being serialized with `serde`.
 
 ## [0.26.0]
-This releases integrates `min-const-generics` to nalgebra. See
+This release integrates `min-const-generics` to nalgebra. See
 [our blog post](https://www.dimforge.com/blog/2021/04/12/integrating-const-generics-to-nalgebra)
 for details about this release.
 
@@ -78,7 +78,7 @@ for details about this release.
 
 ## [0.25.3]
 ### Added
-- The `Vector::simd_cap_magnitude` method to cap the magnitude of the a vector with
+- The `Vector::simd_cap_magnitude` method to cap the magnitude of the vector with
   SIMD components.
 
 ## [0.25.2]
@@ -109,7 +109,7 @@ This updates all the dependencies of nalgebra to their latest version, including
 
 ### New crate: nalgebra-sparse
 Alongside this release of `nalgebra`, we are releasing `nalgebra-sparse`: a crate dedicated to sparse matrix
-computation with `nalgebra`. The `sparse` module of `nalgebra`itself still exists for backward compatibility
+computation with `nalgebra`. The `sparse` module of `nalgebra`itself still exists for backward compatibility,
 but it will be deprecated soon in favor of the `nalgebra-sparse` crate.
 
 ### Added
@@ -125,7 +125,7 @@ but it will be deprecated soon in favor of the `nalgebra-sparse` crate.
 ## [0.24.0]
 
 ### Added
-* The `DualQuaternion` type. It is still work-in-progress but the basics are here:
+* The `DualQuaternion` type. It is still work-in-progress, but the basics are here:
   creation from its real and dual part, multiplication of two dual quaternions,
   and normalization.
   
@@ -157,7 +157,7 @@ In this release we improved the documentation of the matrix and vector types by:
    and `Vector.apply(f)`.
  * The `Quaternion::from([N; 4])` conversion to build a quaternion from an array of four elements.
  * The `Isometry::from(Translation)` conversion to build an isometry from a translation.
- * The `Vector::ith_axis(i)` which build a unit vector, e.g., `Unit<Vector3<f32>>` with its i-th component set to 1.0 and the
+ * The `Vector::ith_axis(i)` which build a unit vector, e.g., `Unit<Vector3<f32>>` with its i-th component set to 1.0, and the
    others set to zero.
  * The `Isometry.lerp_slerp` and `Isometry.try_lerp_slerp` methods to interpolate between two isometries using linear
    interpolation for the translational part, and spherical interpolation for the rotational part.
@@ -166,7 +166,7 @@ In this release we improved the documentation of the matrix and vector types by:
    
 ## [0.22.0]
 In this release, we are using the new version 0.2 of simba. One major change of that version is that the
-use of `libm` is now opt-in when building targetting `no-std` environment. If you are using floating-point
+use of `libm` is now opt-in when building targeting `no-std` environment. If you are using floating-point
 operations with nalgebra in a `no-std` environment, you will need to enable the new `libm` feature
 of nalgebra for your code to compile again.
 
@@ -174,7 +174,7 @@ of nalgebra for your code to compile again.
  * The `libm` feature that enables `libm` when building for `no-std` environment.
  * The `libm-force` feature that enables `libm` even when building for a not `no-std` environment.
  * `Cholesky::new_unchecked` which build a Cholesky decomposition without checking that its input is
- positive-definite. It can be use with SIMD types.
+ positive-definite. It can be used with SIMD types.
  * The `Default` trait is now implemented for matrices, and quaternions. They are all filled with zeros,
  except for `UnitQuaternion` which is initialized with the identity.
  * Matrix exponential `matrix.exp()`.
@@ -345,7 +345,7 @@ library (i.e. it supports `#![no_std]`). See the corresponding [documentation](h
   * Add methods `.rotation_between_axis(...)` and `.scaled_rotation_between_axis(...)` to `UnitComplex`
     to compute the rotation matrix between two 2D **unit** vectors.
   * Add methods `.axis_angle()` to `UnitComplex` and `UnitQuaternion` in order to retrieve both the
-    unit rotation axis and the rotation angle simultaneously.
+    unit rotation axis, and the rotation angle simultaneously.
   * Add functions to construct a random matrix with a user-defined distribution: `::from_distribution(...)`.
 
 ## [0.14.0]
@@ -366,7 +366,7 @@ library (i.e. it supports `#![no_std]`). See the corresponding [documentation](h
     the matrix `M` such that for all vector `v` we have
     `M * v == self.cross(&v)`.
   * `.iamin()` that returns the index of the vector entry with
-    smallest absolute value.
+    the smallest absolute value.
   * The `mint` feature that can be enabled in order to allow conversions from
     and to types of the [mint](https://crates.io/crates/mint) crate.
   * Aliases for matrix and vector slices. Their are named by adding `Slice`
@@ -404,7 +404,7 @@ This adds support for serialization using the
   * The alias `MatrixNM` is now deprecated. Use `MatrixMN` instead (we
     reordered M and N to be in alphabetical order).
   * In-place componentwise multiplication and division
-    `.component_mul_mut(...)` and `.component_div_mut(...)` have bee deprecated
+    `.component_mul_mut(...)` and `.component_div_mut(...)` have been deprecated
     for a future renaming. Use `.component_mul_assign(...)` and
     `.component_div_assign(...)` instead.
 
@@ -582,7 +582,7 @@ only:
   * The free functions `::prepend_rotation`, `::append_rotation`,
     `::append_rotation_wrt_center`, `::append_rotation_wrt_point`,
     `::append_transformation`, and `::append_translation ` have been removed.
-    Instead create the rotation or translation object explicitly and use
+    Instead, create the rotation or translation object explicitly and use
     multiplication to compose it with anything else.
 
   * The free function `::outer` has been removed. Use column-vector ×
@@ -608,7 +608,7 @@ Binary operations are now allowed between references as well. For example
 
 ### Modified
 Removed unused parameters to methods from the `ApproxEq` trait. Those were
-required before rust 1.0 to help type inference. The are not needed any more
+required before rust 1.0 to help type inference. They are not needed any more
 since it now allowed to write for a type `T` that implements `ApproxEq`:
 `<T as ApproxEq>::approx_epsilon()`. This replaces the old form:
 `ApproxEq::approx_epsilon(None::<T>)`.
@@ -627,7 +627,7 @@ since it now allowed to write for a type `T` that implements `ApproxEq`:
       `UnitQuaternion::from_axisangle`. The new `::new` method now requires a
       not-normalized quaternion.
 
-Methods names starting with `new_with_` now start with `from_`. This is more
+Method names starting with `new_with_` now start with `from_`. This is more
 idiomatic in Rust.
 
 The `Norm` trait now uses an associated type instead of a type parameter.
@@ -658,8 +658,8 @@ crate for vectors, rotations and points. To enable them, activate the
 
 ## [0.8.0]
 ### Modified
-  * Almost everything (types, methods, and traits) now use full names instead
+  * Almost everything (types, methods, and traits) now use fulls names instead
-    of abbreviations (e.g. `Vec3` becomes `Vector3`). Most changes are abvious.
+    of abbreviations (e.g. `Vec3` becomes `Vector3`). Most changes are obvious.
     Note however that:
     - `::sqnorm` becomes `::norm_squared`.
     - `::sqdist` becomes `::distance_squared`.
@@ -693,11 +693,11 @@ you [there](https://users.nphysics.org)!
 
 ### Removed
   * Removed zero-sized elements `Vector0`, `Point0`.
-  * Removed 4-dimensional transformations `Rotation4` and `Isometry4` (which had an implementation to incomplete to be useful).
+  * Removed 4-dimensional transformations `Rotation4` and `Isometry4` (which had an implementation too incomplete to be useful).
 
 ### Modified
   * Vectors are now multipliable with isometries. This will result into a pure rotation (this is how
-  vectors differ from point semantically: they design directions so they are not translatable).
+  vectors differ from point semantically: they design directions, so they are not translatable).
   * `{Isometry3, Rotation3}::look_at` reimplemented and renamed to `::look_at_rh` and `::look_at_lh` to agree
   with the computer graphics community (in particular, the GLM library). Use the `::look_at_rh`
   variant to build a view matrix that

src/base/indexing.rs

@@ -44,7 +44,7 @@ impl<D: Dim> DimRange<D> for usize {
 #[test]
 fn dimrange_usize() {
     assert_eq!(DimRange::contained_by(&0, Const::<0>), false);
-    assert_eq!(DimRange::contained_by(&0, Const::<1>), true);
+    assert!(DimRange::contained_by(&0, Const::<1>));
 }
 
 impl<D: Dim> DimRange<D> for ops::Range<usize> {
@@ -68,24 +68,23 @@ impl<D: Dim> DimRange<D> for ops::Range<usize> {
 
 #[test]
 fn dimrange_range_usize() {
-    use std::usize::MAX;
     assert_eq!(DimRange::contained_by(&(0..0), Const::<0>), false);
     assert_eq!(DimRange::contained_by(&(0..1), Const::<0>), false);
-    assert_eq!(DimRange::contained_by(&(0..1), Const::<1>), true);
+    assert!(DimRange::contained_by(&(0..1), Const::<1>));
+    assert!(DimRange::contained_by(
+        &((usize::MAX - 1)..usize::MAX),
+        Dynamic::new(usize::MAX)
+    ));
     assert_eq!(
-        DimRange::contained_by(&((MAX - 1)..MAX), Dynamic::new(MAX)),
+        DimRange::length(&((usize::MAX - 1)..usize::MAX), Dynamic::new(usize::MAX)),
-        true
-    );
-    assert_eq!(
-        DimRange::length(&((MAX - 1)..MAX), Dynamic::new(MAX)),
         Dynamic::new(1)
     );
     assert_eq!(
-        DimRange::length(&(MAX..(MAX - 1)), Dynamic::new(MAX)),
+        DimRange::length(&(usize::MAX..(usize::MAX - 1)), Dynamic::new(usize::MAX)),
         Dynamic::new(0)
     );
     assert_eq!(
-        DimRange::length(&(MAX..MAX), Dynamic::new(MAX)),
+        DimRange::length(&(usize::MAX..usize::MAX), Dynamic::new(usize::MAX)),
         Dynamic::new(0)
     );
 }
@@ -111,20 +110,19 @@ impl<D: Dim> DimRange<D> for ops::RangeFrom<usize> {
 
 #[test]
 fn dimrange_rangefrom_usize() {
-    use std::usize::MAX;
     assert_eq!(DimRange::contained_by(&(0..), Const::<0>), false);
     assert_eq!(DimRange::contained_by(&(0..), Const::<0>), false);
-    assert_eq!(DimRange::contained_by(&(0..), Const::<1>), true);
+    assert!(DimRange::contained_by(&(0..), Const::<1>));
+    assert!(DimRange::contained_by(
+        &((usize::MAX - 1)..),
+        Dynamic::new(usize::MAX)
+    ));
     assert_eq!(
-        DimRange::contained_by(&((MAX - 1)..), Dynamic::new(MAX)),
+        DimRange::length(&((usize::MAX - 1)..), Dynamic::new(usize::MAX)),
-        true
-    );
-    assert_eq!(
-        DimRange::length(&((MAX - 1)..), Dynamic::new(MAX)),
         Dynamic::new(1)
     );
     assert_eq!(
-        DimRange::length(&(MAX..), Dynamic::new(MAX)),
+        DimRange::length(&(usize::MAX..), Dynamic::new(usize::MAX)),
         Dynamic::new(0)
     );
 }
@@ -177,7 +175,7 @@ impl<D: Dim> DimRange<D> for ops::RangeFull {
 
 #[test]
 fn dimrange_rangefull() {
-    assert_eq!(DimRange::contained_by(&(..), Const::<0>), true);
+    assert!(DimRange::contained_by(&(..), Const::<0>));
     assert_eq!(DimRange::length(&(..), Const::<1>), Const::<1>);
 }
 
@@ -206,32 +204,31 @@ impl<D: Dim> DimRange<D> for ops::RangeInclusive<usize> {
 
 #[test]
 fn dimrange_rangeinclusive_usize() {
-    use std::usize::MAX;
     assert_eq!(DimRange::contained_by(&(0..=0), Const::<0>), false);
-    assert_eq!(DimRange::contained_by(&(0..=0), Const::<1>), true);
+    assert!(DimRange::contained_by(&(0..=0), Const::<1>));
     assert_eq!(
-        DimRange::contained_by(&(MAX..=MAX), Dynamic::new(MAX)),
+        DimRange::contained_by(&(usize::MAX..=usize::MAX), Dynamic::new(usize::MAX)),
         false
     );
     assert_eq!(
-        DimRange::contained_by(&((MAX - 1)..=MAX), Dynamic::new(MAX)),
+        DimRange::contained_by(&((usize::MAX - 1)..=usize::MAX), Dynamic::new(usize::MAX)),
         false
     );
-    assert_eq!(
+    assert!(DimRange::contained_by(
-        DimRange::contained_by(&((MAX - 1)..=(MAX - 1)), Dynamic::new(MAX)),
+        &((usize::MAX - 1)..=(usize::MAX - 1)),
-        true
+        Dynamic::new(usize::MAX)
-    );
+    ));
     assert_eq!(DimRange::length(&(0..=0), Const::<1>), Dynamic::new(1));
     assert_eq!(
-        DimRange::length(&((MAX - 1)..=MAX), Dynamic::new(MAX)),
+        DimRange::length(&((usize::MAX - 1)..=usize::MAX), Dynamic::new(usize::MAX)),
         Dynamic::new(2)
     );
     assert_eq!(
-        DimRange::length(&(MAX..=(MAX - 1)), Dynamic::new(MAX)),
+        DimRange::length(&(usize::MAX..=(usize::MAX - 1)), Dynamic::new(usize::MAX)),
         Dynamic::new(0)
     );
     assert_eq!(
-        DimRange::length(&(MAX..=MAX), Dynamic::new(MAX)),
+        DimRange::length(&(usize::MAX..=usize::MAX), Dynamic::new(usize::MAX)),
         Dynamic::new(1)
     );
 }
@@ -257,21 +254,20 @@ impl<D: Dim> DimRange<D> for ops::RangeTo<usize> {
 
 #[test]
 fn dimrange_rangeto_usize() {
-    use std::usize::MAX;
+    assert!(DimRange::contained_by(&(..0), Const::<0>));
-    assert_eq!(DimRange::contained_by(&(..0), Const::<0>), true);
     assert_eq!(DimRange::contained_by(&(..1), Const::<0>), false);
-    assert_eq!(DimRange::contained_by(&(..0), Const::<1>), true);
+    assert!(DimRange::contained_by(&(..0), Const::<1>));
+    assert!(DimRange::contained_by(
+        &(..(usize::MAX - 1)),
+        Dynamic::new(usize::MAX)
+    ));
     assert_eq!(
-        DimRange::contained_by(&(..(MAX - 1)), Dynamic::new(MAX)),
+        DimRange::length(&(..(usize::MAX - 1)), Dynamic::new(usize::MAX)),
-        true
+        Dynamic::new(usize::MAX - 1)
     );
     assert_eq!(
-        DimRange::length(&(..(MAX - 1)), Dynamic::new(MAX)),
+        DimRange::length(&(..usize::MAX), Dynamic::new(usize::MAX)),
-        Dynamic::new(MAX - 1)
+        Dynamic::new(usize::MAX)
-    );
-    assert_eq!(
-        DimRange::length(&(..MAX), Dynamic::new(MAX)),
-        Dynamic::new(MAX)
     );
 }
 
@@ -296,21 +292,20 @@ impl<D: Dim> DimRange<D> for ops::RangeToInclusive<usize> {
 
 #[test]
 fn dimrange_rangetoinclusive_usize() {
-    use std::usize::MAX;
     assert_eq!(DimRange::contained_by(&(..=0), Const::<0>), false);
     assert_eq!(DimRange::contained_by(&(..=1), Const::<0>), false);
-    assert_eq!(DimRange::contained_by(&(..=0), Const::<1>), true);
+    assert!(DimRange::contained_by(&(..=0), Const::<1>));
     assert_eq!(
-        DimRange::contained_by(&(..=(MAX)), Dynamic::new(MAX)),
+        DimRange::contained_by(&(..=(usize::MAX)), Dynamic::new(usize::MAX)),
         false
     );
+    assert!(DimRange::contained_by(
+        &(..=(usize::MAX - 1)),
+        Dynamic::new(usize::MAX)
+    ));
     assert_eq!(
-        DimRange::contained_by(&(..=(MAX - 1)), Dynamic::new(MAX)),
+        DimRange::length(&(..=(usize::MAX - 1)), Dynamic::new(usize::MAX)),
-        true
+        Dynamic::new(usize::MAX)
-    );
-    assert_eq!(
-        DimRange::length(&(..=(MAX - 1)), Dynamic::new(MAX)),
-        Dynamic::new(MAX)
     );
 }
 

src/base/storage.rs

@@ -102,6 +102,7 @@ pub unsafe trait Storage<T: Scalar, R: Dim, C: Dim = U1>: Debug + Sized {
 
     /// Retrieves the data buffer as a contiguous slice.
     ///
+    /// # Safety
     /// The matrix components may not be stored in a contiguous way, depending on the strides.
     /// This method is unsafe because this can yield to invalid aliasing when called on some pairs
     /// of matrix slices originating from the same matrix with strides.
@@ -175,6 +176,7 @@ pub unsafe trait StorageMut<T: Scalar, R: Dim, C: Dim = U1>: Storage<T, R, C> {
     ///
     /// Matrix components may not be contiguous, depending on its strides.    
     ///
+    /// # Safety
     /// The matrix components may not be stored in a contiguous way, depending on the strides.
     /// This method is unsafe because this can yield to invalid aliasing when called on some pairs
     /// of matrix slices originating from the same matrix with strides.

src/geometry/dual_quaternion.rs

@@ -275,7 +275,7 @@ where
 }
 
 impl<T: RealField> DualQuaternion<T> {
-    fn to_vector(&self) -> OVector<T, U8> {
+    fn to_vector(self) -> OVector<T, U8> {
         (*self.as_ref()).into()
     }
 }
@@ -724,7 +724,7 @@ where
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_isometry(&self) -> Isometry3<T> {
+    pub fn to_isometry(self) -> Isometry3<T> {
         Isometry3::from_parts(self.translation(), self.rotation())
     }
 
@@ -875,7 +875,7 @@ where
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_homogeneous(&self) -> Matrix4<T> {
+    pub fn to_homogeneous(self) -> Matrix4<T> {
         self.to_isometry().to_homogeneous()
     }
 }

src/geometry/orthographic.rs

@@ -222,7 +222,7 @@ impl<T: RealField> Orthographic3<T> {
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_homogeneous(&self) -> Matrix4<T> {
+    pub fn to_homogeneous(self) -> Matrix4<T> {
         self.matrix
     }
 
@@ -270,7 +270,7 @@ impl<T: RealField> Orthographic3<T> {
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_projective(&self) -> Projective3<T> {
+    pub fn to_projective(self) -> Projective3<T> {
         Projective3::from_matrix_unchecked(self.matrix)
     }
 

src/geometry/perspective.rs

@@ -124,7 +124,7 @@ impl<T: RealField> Perspective3<T> {
     /// Computes the corresponding homogeneous matrix.
     #[inline]
     #[must_use]
-    pub fn to_homogeneous(&self) -> Matrix4<T> {
+    pub fn to_homogeneous(self) -> Matrix4<T> {
         self.matrix.clone_owned()
     }
 
@@ -145,7 +145,7 @@ impl<T: RealField> Perspective3<T> {
     /// This transformation seen as a `Projective3`.
     #[inline]
     #[must_use]
-    pub fn to_projective(&self) -> Projective3<T> {
+    pub fn to_projective(self) -> Projective3<T> {
         Projective3::from_matrix_unchecked(self.matrix)
     }
 

src/geometry/quaternion.rs

@@ -1478,7 +1478,7 @@ where
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_rotation_matrix(&self) -> Rotation<T, 3> {
+    pub fn to_rotation_matrix(self) -> Rotation<T, 3> {
         let i = self.as_ref()[0];
         let j = self.as_ref()[1];
         let k = self.as_ref()[2];
@@ -1513,7 +1513,7 @@ where
     /// The angles are produced in the form (roll, pitch, yaw).
     #[inline]
     #[deprecated(note = "This is renamed to use `.euler_angles()`.")]
-    pub fn to_euler_angles(&self) -> (T, T, T)
+    pub fn to_euler_angles(self) -> (T, T, T)
     where
         T: RealField,
     {
@@ -1561,7 +1561,7 @@ where
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_homogeneous(&self) -> Matrix4<T> {
+    pub fn to_homogeneous(self) -> Matrix4<T> {
         self.to_rotation_matrix().to_homogeneous()
     }
 

src/geometry/rotation_specialization.rs

@@ -883,7 +883,7 @@ impl<T: SimdRealField> Rotation3<T> {
     ///
     /// The angles are produced in the form (roll, pitch, yaw).
     #[deprecated(note = "This is renamed to use `.euler_angles()`.")]
-    pub fn to_euler_angles(&self) -> (T, T, T)
+    pub fn to_euler_angles(self) -> (T, T, T)
     where
         T: RealField,
     {

src/geometry/unit_complex.rs

@@ -261,7 +261,7 @@ where
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_rotation_matrix(&self) -> Rotation2<T> {
+    pub fn to_rotation_matrix(self) -> Rotation2<T> {
         let r = self.re;
         let i = self.im;
 
@@ -282,7 +282,7 @@ where
     /// ```
     #[inline]
     #[must_use]
-    pub fn to_homogeneous(&self) -> Matrix3<T> {
+    pub fn to_homogeneous(self) -> Matrix3<T> {
         self.to_rotation_matrix().to_homogeneous()
     }
 }

src/sparse/cs_matrix.rs

@@ -31,11 +31,9 @@ impl<'a, T: Clone> Iterator for ColumnEntries<'a, T> {
         if self.curr >= self.i.len() {
             None
         } else {
-            let res = Some(
+            let res = Some((unsafe { *self.i.get_unchecked(self.curr) }, unsafe {
-                (unsafe { self.i.get_unchecked(self.curr).clone() }, unsafe {
                 self.v.get_unchecked(self.curr).clone()
-                }),
+            }));
-            );
             self.curr += 1;
             res
         }