Merge branch 'dev' into ub3

Cargo.toml

@@ -119,4 +119,4 @@ lto = true
 
 [package.metadata.docs.rs]
 # Enable certain features when building docs for docs.rs
-features = [ "proptest-support", "compare", "macros" ]
+features = [ "proptest-support", "compare", "macros", "rand" ]

clippy.toml

@@ -0,0 +1,2 @@
+too-many-arguments-threshold = 8
+type-complexity-threshold = 675

nalgebra-glm/src/aliases.rs

@@ -320,7 +320,7 @@ pub type DMat4x4 = Matrix4<f64>;
 pub type Mat2 = Matrix2<f32>;
 /// A 2x2 matrix with `f32` components.
 pub type Mat2x2 = Matrix2<f32>;
-/// A 2x2 matrix with `f32` components.
+/// A 2x3 matrix with `f32` components.
 pub type Mat2x3 = Matrix2x3<f32>;
 /// A 2x4 matrix with `f32` components.
 pub type Mat2x4 = Matrix2x4<f32>;

nalgebra-glm/src/lib.rs

@@ -110,6 +110,16 @@
    and keep in mind it is possible to convert, e.g., an `Isometry3` to a `Mat4` and vice-versa (see the [conversions section](#conversions)).
 */
 
+#![deny(
+    nonstandard_style,
+    unused,
+    missing_docs,
+    rust_2018_idioms,
+    rust_2018_compatibility,
+    future_incompatible,
+    missing_copy_implementations,
+    missing_debug_implementations
+)]
 #![doc(html_favicon_url = "https://nalgebra.org/img/favicon.ico")]
 #![cfg_attr(not(feature = "std"), no_std)]
 

nalgebra-lapack/src/hessenberg.rs

@@ -85,7 +85,7 @@ where
         );
         lapack_panic!(info);
 
-        Self { h: m, tau: tau }
+        Self { h: m, tau }
     }
 
     /// Computes the hessenberg matrix of this decomposition.

nalgebra-lapack/src/qr.rs

@@ -61,7 +61,7 @@ where
             unsafe { Matrix::new_uninitialized_generic(nrows.min(ncols), U1).assume_init() };
 
         if nrows.value() == 0 || ncols.value() == 0 {
-            return Self { qr: m, tau: tau };
+            return Self { qr: m, tau };
         }
 
         let lwork = T::xgeqrf_work_size(
@@ -86,7 +86,7 @@ where
             &mut info,
         );
 
-        Self { qr: m, tau: tau }
+        Self { qr: m, tau }
     }
 
     /// Retrieves the upper trapezoidal submatrix `R` of this decomposition.

nalgebra-lapack/src/schur.rs

@@ -125,7 +125,7 @@ where
             re: wr,
             im: wi,
             t: m,
-            q: q,
+            q,
         })
     }
 

nalgebra-macros/src/lib.rs

@@ -3,7 +3,18 @@
 //! This crate is not intended for direct consumption. Instead, the macros are re-exported by
 //! `nalgebra` if the `macros` feature is enabled (enabled by default).
 
-extern crate proc_macro;
+#![deny(
+    nonstandard_style,
+    unused,
+    missing_docs,
+    rust_2018_idioms,
+    rust_2018_compatibility,
+    future_incompatible,
+    missing_copy_implementations,
+    missing_debug_implementations,
+    clippy::all,
+    clippy::pedantic
+)]
 
 use proc_macro::TokenStream;
 use quote::{quote, ToTokens, TokenStreamExt};
@@ -60,7 +71,7 @@ impl Matrix {
 type MatrixRowSyntax = Punctuated<Expr, Token![,]>;
 
 impl Parse for Matrix {
-    fn parse(input: ParseStream) -> Result<Self> {
+    fn parse(input: ParseStream<'_>) -> Result<Self> {
         let mut rows = Vec::new();
         let mut ncols = None;
 
@@ -205,7 +216,7 @@ impl Vector {
 }
 
 impl Parse for Vector {
-    fn parse(input: ParseStream) -> Result<Self> {
+    fn parse(input: ParseStream<'_>) -> Result<Self> {
         // The syntax of a vector is just the syntax of a single matrix row
         if input.is_empty() {
             Ok(Self {

nalgebra-sparse/src/cs.rs

@@ -116,7 +116,7 @@ impl<T> CsMatrix<T> {
     /// Returns an entry for the given major/minor indices, or `None` if the indices are out
     /// of bounds.
     #[must_use]
-    pub fn get_entry(&self, major_index: usize, minor_index: usize) -> Option<SparseEntry<T>> {
+    pub fn get_entry(&self, major_index: usize, minor_index: usize) -> Option<SparseEntry<'_, T>> {
         let row_range = self.get_index_range(major_index)?;
         let (_, minor_indices, values) = self.cs_data();
         let minor_indices = &minor_indices[row_range.clone()];
@@ -135,7 +135,7 @@ impl<T> CsMatrix<T> {
         &mut self,
         major_index: usize,
         minor_index: usize,
-    ) -> Option<SparseEntryMut<T>> {
+    ) -> Option<SparseEntryMut<'_, T>> {
         let row_range = self.get_index_range(major_index)?;
         let minor_dim = self.pattern().minor_dim();
         let (_, minor_indices, values) = self.cs_data_mut();
@@ -145,7 +145,7 @@ impl<T> CsMatrix<T> {
     }
 
     #[must_use]
-    pub fn get_lane(&self, index: usize) -> Option<CsLane<T>> {
+    pub fn get_lane(&self, index: usize) -> Option<CsLane<'_, T>> {
         let range = self.get_index_range(index)?;
         let (_, minor_indices, values) = self.cs_data();
         Some(CsLane {
@@ -157,7 +157,7 @@ impl<T> CsMatrix<T> {
 
     #[inline]
     #[must_use]
-    pub fn get_lane_mut(&mut self, index: usize) -> Option<CsLaneMut<T>> {
+    pub fn get_lane_mut(&mut self, index: usize) -> Option<CsLaneMut<'_, T>> {
         let range = self.get_index_range(index)?;
         let minor_dim = self.pattern().minor_dim();
         let (_, minor_indices, values) = self.cs_data_mut();
@@ -169,12 +169,12 @@ impl<T> CsMatrix<T> {
     }
 
     #[inline]
-    pub fn lane_iter(&self) -> CsLaneIter<T> {
+    pub fn lane_iter(&self) -> CsLaneIter<'_, T> {
         CsLaneIter::new(self.pattern(), self.values())
     }
 
     #[inline]
-    pub fn lane_iter_mut(&mut self) -> CsLaneIterMut<T> {
+    pub fn lane_iter_mut(&mut self) -> CsLaneIterMut<'_, T> {
         CsLaneIterMut::new(&self.sparsity_pattern, &mut self.values)
     }
 
@@ -406,7 +406,7 @@ macro_rules! impl_cs_lane_common_methods {
 
             #[inline]
             #[must_use]
-            pub fn get_entry(&self, global_col_index: usize) -> Option<SparseEntry<T>> {
+            pub fn get_entry(&self, global_col_index: usize) -> Option<SparseEntry<'_, T>> {
                 get_entry_from_slices(
                     self.minor_dim,
                     self.minor_indices,
@@ -431,7 +431,7 @@ impl<'a, T> CsLaneMut<'a, T> {
     }
 
     #[must_use]
-    pub fn get_entry_mut(&mut self, global_minor_index: usize) -> Option<SparseEntryMut<T>> {
+    pub fn get_entry_mut(&mut self, global_minor_index: usize) -> Option<SparseEntryMut<'_, T>> {
         get_mut_entry_from_slices(
             self.minor_dim,
             self.minor_indices,

nalgebra-sparse/src/csc.rs

@@ -260,7 +260,7 @@ impl<T> CscMatrix<T> {
     /// let triplets: Vec<_> = csc.triplet_iter().map(|(i, j, v)| (i, j, *v)).collect();
     /// assert_eq!(triplets, vec![(0, 0, 1), (2, 0, 3), (1, 1, 2), (0, 2, 4)]);
     /// ```
-    pub fn triplet_iter(&self) -> CscTripletIter<T> {
+    pub fn triplet_iter(&self) -> CscTripletIter<'_, T> {
         CscTripletIter {
             pattern_iter: self.pattern().entries(),
             values_iter: self.values().iter(),
@@ -290,7 +290,7 @@ impl<T> CscMatrix<T> {
     /// let triplets: Vec<_> = csc.triplet_iter().map(|(i, j, v)| (i, j, *v)).collect();
     /// assert_eq!(triplets, vec![(0, 0, 1), (2, 0, 0), (1, 1, 2), (0, 2, 4)]);
     /// ```
-    pub fn triplet_iter_mut(&mut self) -> CscTripletIterMut<T> {
+    pub fn triplet_iter_mut(&mut self) -> CscTripletIterMut<'_, T> {
         let (pattern, values) = self.cs.pattern_and_values_mut();
         CscTripletIterMut {
             pattern_iter: pattern.entries(),
@@ -305,7 +305,7 @@ impl<T> CscMatrix<T> {
     /// Panics if column index is out of bounds.
     #[inline]
     #[must_use]
-    pub fn col(&self, index: usize) -> CscCol<T> {
+    pub fn col(&self, index: usize) -> CscCol<'_, T> {
         self.get_col(index).expect("Row index must be in bounds")
     }
 
@@ -315,7 +315,7 @@ impl<T> CscMatrix<T> {
     /// ------
     /// Panics if column index is out of bounds.
     #[inline]
-    pub fn col_mut(&mut self, index: usize) -> CscColMut<T> {
+    pub fn col_mut(&mut self, index: usize) -> CscColMut<'_, T> {
         self.get_col_mut(index)
             .expect("Row index must be in bounds")
     }
@@ -323,26 +323,26 @@ impl<T> CscMatrix<T> {
     /// Return the column at the given column index, or `None` if out of bounds.
     #[inline]
     #[must_use]
-    pub fn get_col(&self, index: usize) -> Option<CscCol<T>> {
+    pub fn get_col(&self, index: usize) -> Option<CscCol<'_, T>> {
         self.cs.get_lane(index).map(|lane| CscCol { lane })
     }
 
     /// Mutable column access for the given column index, or `None` if out of bounds.
     #[inline]
     #[must_use]
-    pub fn get_col_mut(&mut self, index: usize) -> Option<CscColMut<T>> {
+    pub fn get_col_mut(&mut self, index: usize) -> Option<CscColMut<'_, T>> {
         self.cs.get_lane_mut(index).map(|lane| CscColMut { lane })
     }
 
     /// An iterator over columns in the matrix.
-    pub fn col_iter(&self) -> CscColIter<T> {
+    pub fn col_iter(&self) -> CscColIter<'_, T> {
         CscColIter {
             lane_iter: CsLaneIter::new(self.pattern(), self.values()),
         }
     }
 
     /// A mutable iterator over columns in the matrix.
-    pub fn col_iter_mut(&mut self) -> CscColIterMut<T> {
+    pub fn col_iter_mut(&mut self) -> CscColIterMut<'_, T> {
         let (pattern, values) = self.cs.pattern_and_values_mut();
         CscColIterMut {
             lane_iter: CsLaneIterMut::new(pattern, values),
@@ -408,7 +408,7 @@ impl<T> CscMatrix<T> {
     /// Each call to this function incurs the cost of a binary search among the explicitly
     /// stored row entries for the given column.
     #[must_use]
-    pub fn get_entry(&self, row_index: usize, col_index: usize) -> Option<SparseEntry<T>> {
+    pub fn get_entry(&self, row_index: usize, col_index: usize) -> Option<SparseEntry<'_, T>> {
         self.cs.get_entry(col_index, row_index)
     }
 
@@ -421,7 +421,7 @@ impl<T> CscMatrix<T> {
         &mut self,
         row_index: usize,
         col_index: usize,
-    ) -> Option<SparseEntryMut<T>> {
+    ) -> Option<SparseEntryMut<'_, T>> {
         self.cs.get_entry_mut(col_index, row_index)
     }
 
@@ -434,7 +434,7 @@ impl<T> CscMatrix<T> {
     /// ------
     /// Panics if `row_index` or `col_index` is out of bounds.
     #[must_use]
-    pub fn index_entry(&self, row_index: usize, col_index: usize) -> SparseEntry<T> {
+    pub fn index_entry(&self, row_index: usize, col_index: usize) -> SparseEntry<'_, T> {
         self.get_entry(row_index, col_index)
             .expect("Out of bounds matrix indices encountered")
     }
@@ -447,7 +447,7 @@ impl<T> CscMatrix<T> {
     /// Panics
     /// ------
     /// Panics if `row_index` or `col_index` is out of bounds.
-    pub fn index_entry_mut(&mut self, row_index: usize, col_index: usize) -> SparseEntryMut<T> {
+    pub fn index_entry_mut(&mut self, row_index: usize, col_index: usize) -> SparseEntryMut<'_, T> {
         self.get_entry_mut(row_index, col_index)
             .expect("Out of bounds matrix indices encountered")
     }
@@ -666,7 +666,7 @@ macro_rules! impl_csc_col_common_methods {
             /// Each call to this function incurs the cost of a binary search among the explicitly
             /// stored row entries.
             #[must_use]
-            pub fn get_entry(&self, global_row_index: usize) -> Option<SparseEntry<T>> {
+            pub fn get_entry(&self, global_row_index: usize) -> Option<SparseEntry<'_, T>> {
                 self.lane.get_entry(global_row_index)
             }
         }
@@ -693,7 +693,7 @@ impl<'a, T> CscColMut<'a, T> {
 
     /// Returns a mutable entry for the given global row index.
     #[must_use]
-    pub fn get_entry_mut(&mut self, global_row_index: usize) -> Option<SparseEntryMut<T>> {
+    pub fn get_entry_mut(&mut self, global_row_index: usize) -> Option<SparseEntryMut<'_, T>> {
         self.lane.get_entry_mut(global_row_index)
     }
 }

nalgebra-sparse/src/csr.rs

@@ -262,7 +262,7 @@ impl<T> CsrMatrix<T> {
     /// let triplets: Vec<_> = csr.triplet_iter().map(|(i, j, v)| (i, j, *v)).collect();
     /// assert_eq!(triplets, vec![(0, 0, 1), (0, 2, 2), (1, 1, 3), (2, 0, 4)]);
     /// ```
-    pub fn triplet_iter(&self) -> CsrTripletIter<T> {
+    pub fn triplet_iter(&self) -> CsrTripletIter<'_, T> {
         CsrTripletIter {
             pattern_iter: self.pattern().entries(),
             values_iter: self.values().iter(),
@@ -292,7 +292,7 @@ impl<T> CsrMatrix<T> {
     /// let triplets: Vec<_> = csr.triplet_iter().map(|(i, j, v)| (i, j, *v)).collect();
     /// assert_eq!(triplets, vec![(0, 0, 1), (0, 2, 2), (1, 1, 3), (2, 0, 0)]);
     /// ```
-    pub fn triplet_iter_mut(&mut self) -> CsrTripletIterMut<T> {
+    pub fn triplet_iter_mut(&mut self) -> CsrTripletIterMut<'_, T> {
         let (pattern, values) = self.cs.pattern_and_values_mut();
         CsrTripletIterMut {
             pattern_iter: pattern.entries(),
@@ -307,7 +307,7 @@ impl<T> CsrMatrix<T> {
     /// Panics if row index is out of bounds.
     #[inline]
     #[must_use]
-    pub fn row(&self, index: usize) -> CsrRow<T> {
+    pub fn row(&self, index: usize) -> CsrRow<'_, T> {
         self.get_row(index).expect("Row index must be in bounds")
     }
 
@@ -317,7 +317,7 @@ impl<T> CsrMatrix<T> {
     /// ------
     /// Panics if row index is out of bounds.
     #[inline]
-    pub fn row_mut(&mut self, index: usize) -> CsrRowMut<T> {
+    pub fn row_mut(&mut self, index: usize) -> CsrRowMut<'_, T> {
         self.get_row_mut(index)
             .expect("Row index must be in bounds")
     }
@@ -325,26 +325,26 @@ impl<T> CsrMatrix<T> {
     /// Return the row at the given row index, or `None` if out of bounds.
     #[inline]
     #[must_use]
-    pub fn get_row(&self, index: usize) -> Option<CsrRow<T>> {
+    pub fn get_row(&self, index: usize) -> Option<CsrRow<'_, T>> {
         self.cs.get_lane(index).map(|lane| CsrRow { lane })
     }
 
     /// Mutable row access for the given row index, or `None` if out of bounds.
     #[inline]
     #[must_use]
-    pub fn get_row_mut(&mut self, index: usize) -> Option<CsrRowMut<T>> {
+    pub fn get_row_mut(&mut self, index: usize) -> Option<CsrRowMut<'_, T>> {
         self.cs.get_lane_mut(index).map(|lane| CsrRowMut { lane })
     }
 
     /// An iterator over rows in the matrix.
-    pub fn row_iter(&self) -> CsrRowIter<T> {
+    pub fn row_iter(&self) -> CsrRowIter<'_, T> {
         CsrRowIter {
             lane_iter: CsLaneIter::new(self.pattern(), self.values()),
         }
     }
 
     /// A mutable iterator over rows in the matrix.
-    pub fn row_iter_mut(&mut self) -> CsrRowIterMut<T> {
+    pub fn row_iter_mut(&mut self) -> CsrRowIterMut<'_, T> {
         let (pattern, values) = self.cs.pattern_and_values_mut();
         CsrRowIterMut {
             lane_iter: CsLaneIterMut::new(pattern, values),
@@ -410,7 +410,7 @@ impl<T> CsrMatrix<T> {
     /// Each call to this function incurs the cost of a binary search among the explicitly
     /// stored column entries for the given row.
     #[must_use]
-    pub fn get_entry(&self, row_index: usize, col_index: usize) -> Option<SparseEntry<T>> {
+    pub fn get_entry(&self, row_index: usize, col_index: usize) -> Option<SparseEntry<'_, T>> {
         self.cs.get_entry(row_index, col_index)
     }
 
@@ -423,7 +423,7 @@ impl<T> CsrMatrix<T> {
         &mut self,
         row_index: usize,
         col_index: usize,
-    ) -> Option<SparseEntryMut<T>> {
+    ) -> Option<SparseEntryMut<'_, T>> {
         self.cs.get_entry_mut(row_index, col_index)
     }
 
@@ -436,7 +436,7 @@ impl<T> CsrMatrix<T> {
     /// ------
     /// Panics if `row_index` or `col_index` is out of bounds.
     #[must_use]
-    pub fn index_entry(&self, row_index: usize, col_index: usize) -> SparseEntry<T> {
+    pub fn index_entry(&self, row_index: usize, col_index: usize) -> SparseEntry<'_, T> {
         self.get_entry(row_index, col_index)
             .expect("Out of bounds matrix indices encountered")
     }
@@ -449,7 +449,7 @@ impl<T> CsrMatrix<T> {
     /// Panics
     /// ------
     /// Panics if `row_index` or `col_index` is out of bounds.
-    pub fn index_entry_mut(&mut self, row_index: usize, col_index: usize) -> SparseEntryMut<T> {
+    pub fn index_entry_mut(&mut self, row_index: usize, col_index: usize) -> SparseEntryMut<'_, T> {
         self.get_entry_mut(row_index, col_index)
             .expect("Out of bounds matrix indices encountered")
     }
@@ -667,7 +667,7 @@ macro_rules! impl_csr_row_common_methods {
             /// stored column entries.
             #[inline]
             #[must_use]
-            pub fn get_entry(&self, global_col_index: usize) -> Option<SparseEntry<T>> {
+            pub fn get_entry(&self, global_col_index: usize) -> Option<SparseEntry<'_, T>> {
                 self.lane.get_entry(global_col_index)
             }
         }
@@ -697,7 +697,7 @@ impl<'a, T> CsrRowMut<'a, T> {
     /// Returns a mutable entry for the given global column index.
     #[inline]
     #[must_use]
-    pub fn get_entry_mut(&mut self, global_col_index: usize) -> Option<SparseEntryMut<T>> {
+    pub fn get_entry_mut(&mut self, global_col_index: usize) -> Option<SparseEntryMut<'_, T>> {
         self.lane.get_entry_mut(global_col_index)
     }
 }

nalgebra-sparse/src/factorization/cholesky.rs

@@ -72,7 +72,7 @@ pub struct CscCholesky<T> {
     work_c: Vec<usize>,
 }
 
-#[derive(Debug, PartialEq, Eq, Clone)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
 #[non_exhaustive]
 /// Possible errors produced by the Cholesky factorization.
 pub enum CholeskyError {

nalgebra-sparse/src/lib.rs

@@ -131,12 +131,15 @@
 //!     assert_matrix_eq!(y, y_expected, comp = abs, tol = 1e-9);
 //! }
 //! ```
-#![deny(non_camel_case_types)]
+#![deny(
-#![deny(unused_parens)]
+    nonstandard_style,
-#![deny(non_upper_case_globals)]
+    unused,
-#![deny(unused_qualifications)]
+    missing_docs,
-#![deny(unused_results)]
+    rust_2018_idioms,
-#![deny(missing_docs)]
+    rust_2018_compatibility,
+    future_incompatible,
+    missing_copy_implementations
+)]
 
 pub extern crate nalgebra as na;
 pub mod convert;
@@ -190,7 +193,7 @@ impl SparseFormatError {
 
 /// The type of format error described by a [SparseFormatError](struct.SparseFormatError.html).
 #[non_exhaustive]
-#[derive(Debug, Clone, PartialEq, Eq)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum SparseFormatErrorKind {
     /// Indicates that the index data associated with the format contains at least one index
     /// out of bounds.
@@ -208,7 +211,7 @@ pub enum SparseFormatErrorKind {
 }
 
 impl fmt::Display for SparseFormatError {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(f, "{}", self.error)
     }
 }

nalgebra-sparse/src/matrixcompare.rs

@@ -28,7 +28,7 @@ macro_rules! impl_matrix_for_csr_csc {
                 self.ncols()
             }
 
-            fn access(&self) -> Access<T> {
+            fn access(&self) -> Access<'_, T> {
                 Access::Sparse(self)
             }
         }
@@ -59,7 +59,7 @@ impl<T: Clone> matrixcompare_core::Matrix<T> for CooMatrix<T> {
         self.ncols()
     }
 
-    fn access(&self) -> Access<T> {
+    fn access(&self) -> Access<'_, T> {
         Access::Sparse(self)
     }
 }

nalgebra-sparse/src/ops/serial/cs.rs

@@ -131,10 +131,10 @@ where
 /// the transposed operation must be specified for the CSC matrix.
 pub fn spmm_cs_dense<T>(
     beta: T,
-    mut c: DMatrixSliceMut<T>,
+    mut c: DMatrixSliceMut<'_, T>,
     alpha: T,
     a: Op<&CsMatrix<T>>,
-    b: Op<DMatrixSlice<T>>,
+    b: Op<DMatrixSlice<'_, T>>,
 ) where
     T: Scalar + ClosedAdd + ClosedMul + Zero + One,
 {

nalgebra-sparse/src/ops/serial/csc.rs

@@ -27,10 +27,10 @@ pub fn spmm_csc_dense<'a, T>(
 
 fn spmm_csc_dense_<T>(
     beta: T,
-    c: DMatrixSliceMut<T>,
+    c: DMatrixSliceMut<'_, T>,
     alpha: T,
     a: Op<&CscMatrix<T>>,
-    b: Op<DMatrixSlice<T>>,
+    b: Op<DMatrixSlice<'_, T>>,
 ) where
     T: Scalar + ClosedAdd + ClosedMul + Zero + One,
 {
@@ -147,7 +147,7 @@ pub fn spsolve_csc_lower_triangular<'a, T: RealField>(
 
 fn spsolve_csc_lower_triangular_no_transpose<T: RealField>(
     l: &CscMatrix<T>,
-    b: DMatrixSliceMut<T>,
+    b: DMatrixSliceMut<'_, T>,
 ) -> Result<(), OperationError> {
     let mut x = b;
 
@@ -205,7 +205,7 @@ fn spsolve_encountered_zero_diagonal() -> Result<(), OperationError> {
 
 fn spsolve_csc_lower_triangular_transpose<T: RealField>(
     l: &CscMatrix<T>,
-    b: DMatrixSliceMut<T>,
+    b: DMatrixSliceMut<'_, T>,
 ) -> Result<(), OperationError> {
     let mut x = b;
 

nalgebra-sparse/src/ops/serial/csr.rs

@@ -22,10 +22,10 @@ pub fn spmm_csr_dense<'a, T>(
 
 fn spmm_csr_dense_<T>(
     beta: T,
-    c: DMatrixSliceMut<T>,
+    c: DMatrixSliceMut<'_, T>,
     alpha: T,
     a: Op<&CsrMatrix<T>>,
-    b: Op<DMatrixSlice<T>>,
+    b: Op<DMatrixSlice<'_, T>>,
 ) where
     T: Scalar + ClosedAdd + ClosedMul + Zero + One,
 {

nalgebra-sparse/src/ops/serial/mod.rs

@@ -74,7 +74,7 @@ pub struct OperationError {
 
 /// The different kinds of operation errors that may occur.
 #[non_exhaustive]
-#[derive(Clone, Debug)]
+#[derive(Copy, Clone, Debug)]
 pub enum OperationErrorKind {
     /// Indicates that one or more sparsity patterns involved in the operation violate the
     /// expectations of the routine.

nalgebra-sparse/src/pattern.rs

@@ -205,7 +205,7 @@ impl SparsityPattern {
     /// ```
     ///
     #[must_use]
-    pub fn entries(&self) -> SparsityPatternIter {
+    pub fn entries(&self) -> SparsityPatternIter<'_> {
         SparsityPatternIter::from_pattern(self)
     }
 
@@ -260,7 +260,7 @@ impl SparsityPattern {
 
 /// Error type for `SparsityPattern` format errors.
 #[non_exhaustive]
-#[derive(Debug, PartialEq, Eq)]
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
 pub enum SparsityPatternFormatError {
     /// Indicates an invalid number of offsets.
     ///

rustfmt.toml

@@ -0,0 +1,3 @@
+edition = "2018"
+use_try_shorthand = true
+use_field_init_shorthand = true

src/base/array_storage.rs

@@ -48,7 +48,7 @@ where
 
 impl<T: Debug, const R: usize, const C: usize> Debug for ArrayStorage<T, R, C> {
     #[inline]
-    fn fmt(&self, fmt: &mut Formatter) -> fmt::Result {
+    fn fmt(&self, fmt: &mut Formatter<'_>) -> fmt::Result {
         self.0.fmt(fmt)
     }
 }
@@ -227,7 +227,7 @@ where
 {
     type Value = ArrayStorage<T, R, C>;
 
-    fn expecting(&self, formatter: &mut Formatter) -> fmt::Result {
+    fn expecting(&self, formatter: &mut Formatter<'_>) -> fmt::Result {
         formatter.write_str("a matrix array")
     }
 

src/base/blas.rs

@@ -441,8 +441,8 @@ where
         x: &Vector<T, D3, SC>,
         beta: T,
         dot: impl Fn(
-            &DVectorSlice<T, SB::RStride, SB::CStride>,
+            &DVectorSlice<'_, T, SB::RStride, SB::CStride>,
-            &DVectorSlice<T, SC::RStride, SC::CStride>,
+            &DVectorSlice<'_, T, SC::RStride, SC::CStride>,
         ) -> T,
     ) where
         T: One,
@@ -605,7 +605,7 @@ where
         a: &Matrix<T, R2, C2, SB>,
         x: &Vector<T, D3, SC>,
         beta: T,
-        dot: impl Fn(&VectorSlice<T, R2, SB::RStride, SB::CStride>, &Vector<T, D3, SC>) -> T,
+        dot: impl Fn(&VectorSlice<'_, T, R2, SB::RStride, SB::CStride>, &Vector<T, D3, SC>) -> T,
     ) where
         T: One,
         SB: Storage<T, R2, C2>,

src/base/cg.rs

@@ -79,7 +79,7 @@ impl<T: RealField> Matrix3<T> {
 
     /// Creates a new homogeneous matrix that applies a scaling factor for each dimension with respect to point.
     ///
-    /// Can be used to implement "zoom_to" functionality.
+    /// Can be used to implement `zoom_to` functionality.
     #[inline]
     pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector2<T>, pt: &Point2<T>) -> Self {
         let zero = T::zero();
@@ -119,7 +119,7 @@ impl<T: RealField> Matrix4<T> {
 
     /// Creates a new homogeneous matrix that applies a scaling factor for each dimension with respect to point.
     ///
-    /// Can be used to implement "zoom_to" functionality.
+    /// Can be used to implement `zoom_to` functionality.
     #[inline]
     pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector3<T>, pt: &Point3<T>) -> Self {
         let zero = T::zero();
@@ -187,7 +187,7 @@ impl<T: RealField> Matrix4<T> {
         IsometryMatrix3::face_towards(eye, target, up).to_homogeneous()
     }
 
-    /// Deprecated: Use [Matrix4::face_towards] instead.
+    /// Deprecated: Use [`Matrix4::face_towards`] instead.
     #[deprecated(note = "renamed to `face_towards`")]
     pub fn new_observer_frame(eye: &Point3<T>, target: &Point3<T>, up: &Vector3<T>) -> Self {
         Matrix4::face_towards(eye, target, up)

src/base/constraint.rs

@@ -3,6 +3,7 @@
 use crate::base::dimension::{Dim, DimName, Dynamic};
 
 /// A type used in `where` clauses for enforcing constraints.
+#[derive(Copy, Clone, Debug)]
 pub struct ShapeConstraint;
 
 /// Constraints `C1` and `R2` to be equivalent.

src/base/construction.rs

@@ -938,19 +938,19 @@ macro_rules! transpose_array(
         [$([$a]),*]
     };
     [$($a: ident),*; $($b: ident),*;] => {
-        [$([$a, $b]),*];
+        [$([$a, $b]),*]
     };
     [$($a: ident),*; $($b: ident),*; $($c: ident),*;] => {
-        [$([$a, $b, $c]),*];
+        [$([$a, $b, $c]),*]
     };
     [$($a: ident),*; $($b: ident),*; $($c: ident),*; $($d: ident),*;] => {
-        [$([$a, $b, $c, $d]),*];
+        [$([$a, $b, $c, $d]),*]
     };
     [$($a: ident),*; $($b: ident),*; $($c: ident),*; $($d: ident),*; $($e: ident),*;] => {
-        [$([$a, $b, $c, $d, $e]),*];
+        [$([$a, $b, $c, $d, $e]),*]
     };
     [$($a: ident),*; $($b: ident),*; $($c: ident),*; $($d: ident),*; $($e: ident),*; $($f: ident),*;] => {
-        [$([$a, $b, $c, $d, $e, $f]),*];
+        [$([$a, $b, $c, $d, $e, $f]),*]
     };
 );
 

src/base/default_allocator.rs

@@ -34,6 +34,7 @@ use crate::U1;
 /// This struct is useless on its own. Instead, it's used in trait
 /// An allocator based on `GenericArray` and `VecStorage` for statically-sized and dynamically-sized
 /// matrices respectively.
+#[derive(Copy, Clone, Debug)]
 pub struct DefaultAllocator;
 
 // Static - Static

src/base/iter.rs

@@ -178,7 +178,7 @@ iterator!(struct MatrixIterMut for StorageMut.ptr_mut -> *mut T, &'a mut T, &'a
  * Row iterators.
  *
  */
-#[derive(Clone)]
+#[derive(Clone, Debug)]
 /// An iterator through the rows of a matrix.
 pub struct RowIter<'a, T, R: Dim, C: Dim, S: Storage<T, R, C>> {
     mat: &'a Matrix<T, R, C, S>,
@@ -288,7 +288,7 @@ impl<'a, T, R: Dim, C: Dim, S: 'a + StorageMut<T, R, C>> ExactSizeIterator
  * Column iterators.
  *
  */
-#[derive(Clone)]
+#[derive(Clone, Debug)]
 /// An iterator through the columns of a matrix.
 pub struct ColumnIter<'a, T, R: Dim, C: Dim, S: Storage<T, R, C>> {
     mat: &'a Matrix<T, R, C, S>,

src/base/matrix.rs

@@ -252,7 +252,7 @@ impl<T: Clone, R: Dim, C: Dim, S: Storage<T, R, C>> matrixcompare_core::Matrix<T
         self.ncols()
     }
 
-    fn access(&self) -> matrixcompare_core::Access<T> {
+    fn access(&self) -> matrixcompare_core::Access<'_, T> {
         matrixcompare_core::Access::Dense(self)
     }
 }
@@ -431,7 +431,7 @@ impl<T, R: Dim, C: Dim, S> Matrix<MaybeUninit<T>, R, C, S> {
 }
 
 impl<T, const R: usize, const C: usize> SMatrix<T, R, C> {
-    /// Creates a new statically-allocated matrix from the given [ArrayStorage].
+    /// Creates a new statically-allocated matrix from the given [`ArrayStorage`].
     ///
     /// This method exists primarily as a workaround for the fact that `from_data` can not
     /// work in `const fn` contexts.
@@ -447,7 +447,7 @@ impl<T, const R: usize, const C: usize> SMatrix<T, R, C> {
 // `from_data` const fn compatible
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<T> DMatrix<T> {
-    /// Creates a new heap-allocated matrix from the given [VecStorage].
+    /// Creates a new heap-allocated matrix from the given [`VecStorage`].
     ///
     /// This method exists primarily as a workaround for the fact that `from_data` can not
     /// work in `const fn` contexts.
@@ -462,7 +462,7 @@ impl<T> DMatrix<T> {
 // `from_data` const fn compatible
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<T> DVector<T> {
-    /// Creates a new heap-allocated matrix from the given [VecStorage].
+    /// Creates a new heap-allocated matrix from the given [`VecStorage`].
     ///
     /// This method exists primarily as a workaround for the fact that `from_data` can not
     /// work in `const fn` contexts.
@@ -1129,7 +1129,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     /// assert_eq!(*it.next().unwrap(), 23);
     /// assert!(it.next().is_none());
     #[inline]
-    pub fn iter(&self) -> MatrixIter<T, R, C, S> {
+    pub fn iter(&self) -> MatrixIter<'_, T, R, C, S> {
         MatrixIter::new(&self.data)
     }
 
@@ -1145,7 +1145,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     /// }
     /// ```
     #[inline]
-    pub fn row_iter(&self) -> RowIter<T, R, C, S> {
+    pub fn row_iter(&self) -> RowIter<'_, T, R, C, S> {
         RowIter::new(self)
     }
 
@@ -1160,13 +1160,13 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     /// }
     /// ```
     #[inline]
-    pub fn column_iter(&self) -> ColumnIter<T, R, C, S> {
+    pub fn column_iter(&self) -> ColumnIter<'_, T, R, C, S> {
         ColumnIter::new(self)
     }
 
     /// Mutably iterates through this matrix coordinates.
     #[inline]
-    pub fn iter_mut(&mut self) -> MatrixIterMut<T, R, C, S>
+    pub fn iter_mut(&mut self) -> MatrixIterMut<'_, T, R, C, S>
     where
         S: StorageMut<T, R, C>,
     {
@@ -1189,7 +1189,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     /// assert_eq!(a, expected);
     /// ```
     #[inline]
-    pub fn row_iter_mut(&mut self) -> RowIterMut<T, R, C, S>
+    pub fn row_iter_mut(&mut self) -> RowIterMut<'_, T, R, C, S>
     where
         S: StorageMut<T, R, C>,
     {
@@ -1212,7 +1212,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     /// assert_eq!(a, expected);
     /// ```
     #[inline]
-    pub fn column_iter_mut(&mut self) -> ColumnIterMut<T, R, C, S>
+    pub fn column_iter_mut(&mut self) -> ColumnIterMut<'_, T, R, C, S>
     where
         S: StorageMut<T, R, C>,
     {
@@ -2038,9 +2038,9 @@ macro_rules! impl_fmt {
             T: Scalar + $trait,
             S: Storage<T, R, C>,
         {
-            fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+            fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
                 #[cfg(feature = "std")]
-                fn val_width<T: Scalar + $trait>(val: &T, f: &mut fmt::Formatter) -> usize {
+                fn val_width<T: Scalar + $trait>(val: &T, f: &mut fmt::Formatter<'_>) -> usize {
                     match f.precision() {
                         Some(precision) => format!($fmt_str_with_precision, val, precision)
                             .chars()
@@ -2050,7 +2050,7 @@ macro_rules! impl_fmt {
                 }
 
                 #[cfg(not(feature = "std"))]
-                fn val_width<T: Scalar + $trait>(_: &T, _: &mut fmt::Formatter) -> usize {
+                fn val_width<T: Scalar + $trait>(_: &T, _: &mut fmt::Formatter<'_>) -> usize {
                     4
                 }
 

src/base/matrix_slice.rs

@@ -354,20 +354,20 @@ macro_rules! matrix_slice_impl(
          */
         /// Returns a slice containing the i-th row of this matrix.
         #[inline]
-        pub fn $row($me: $Me, i: usize) -> $MatrixSlice<T, U1, C, S::RStride, S::CStride> {
+        pub fn $row($me: $Me, i: usize) -> $MatrixSlice<'_, T, U1, C, S::RStride, S::CStride> {
             $me.$fixed_rows::<1>(i)
         }
 
         /// Returns a slice containing the `n` first elements of the i-th row of this matrix.
         #[inline]
-        pub fn $row_part($me: $Me, i: usize, n: usize) -> $MatrixSlice<T, U1, Dynamic, S::RStride, S::CStride> {
+        pub fn $row_part($me: $Me, i: usize, n: usize) -> $MatrixSlice<'_, T, U1, Dynamic, S::RStride, S::CStride> {
             $me.$generic_slice((i, 0), (Const::<1>, Dynamic::new(n)))
         }
 
         /// Extracts from this matrix a set of consecutive rows.
         #[inline]
         pub fn $rows($me: $Me, first_row: usize, nrows: usize)
-            -> $MatrixSlice<T, Dynamic, C, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, Dynamic, C, S::RStride, S::CStride> {
 
             $me.$rows_generic(first_row, Dynamic::new(nrows))
         }
@@ -375,7 +375,7 @@ macro_rules! matrix_slice_impl(
         /// Extracts from this matrix a set of consecutive rows regularly skipping `step` rows.
         #[inline]
         pub fn $rows_with_step($me: $Me, first_row: usize, nrows: usize, step: usize)
-            -> $MatrixSlice<T, Dynamic, C, Dynamic, S::CStride> {
+            -> $MatrixSlice<'_, T, Dynamic, C, Dynamic, S::CStride> {
 
             $me.$rows_generic_with_step(first_row, Dynamic::new(nrows), step)
         }
@@ -383,7 +383,7 @@ macro_rules! matrix_slice_impl(
         /// Extracts a compile-time number of consecutive rows from this matrix.
         #[inline]
         pub fn $fixed_rows<const RSLICE: usize>($me: $Me, first_row: usize)
-            -> $MatrixSlice<T, Const<RSLICE>, C, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, Const<RSLICE>, C, S::RStride, S::CStride> {
 
             $me.$rows_generic(first_row, Const::<RSLICE>)
         }
@@ -392,7 +392,7 @@ macro_rules! matrix_slice_impl(
         /// rows.
         #[inline]
         pub fn $fixed_rows_with_step<const RSLICE: usize>($me: $Me, first_row: usize, step: usize)
-            -> $MatrixSlice<T, Const<RSLICE>, C, Dynamic, S::CStride> {
+            -> $MatrixSlice<'_, T, Const<RSLICE>, C, Dynamic, S::CStride> {
 
             $me.$rows_generic_with_step(first_row, Const::<RSLICE>, step)
         }
@@ -401,7 +401,7 @@ macro_rules! matrix_slice_impl(
         /// argument may or may not be values known at compile-time.
         #[inline]
         pub fn $rows_generic<RSlice: Dim>($me: $Me, row_start: usize, nrows: RSlice)
-            -> $MatrixSlice<T, RSlice, C, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, RSlice, C, S::RStride, S::CStride> {
 
             let my_shape  = $me.data.shape();
             $me.assert_slice_index((row_start, 0), (nrows.value(), my_shape.1.value()), (0, 0));
@@ -418,7 +418,7 @@ macro_rules! matrix_slice_impl(
         /// argument may or may not be values known at compile-time.
         #[inline]
         pub fn $rows_generic_with_step<RSlice>($me: $Me, row_start: usize, nrows: RSlice, step: usize)
-            -> $MatrixSlice<T, RSlice, C, Dynamic, S::CStride>
+            -> $MatrixSlice<'_, T, RSlice, C, Dynamic, S::CStride>
             where RSlice: Dim {
 
             let my_shape = $me.data.shape();
@@ -441,20 +441,20 @@ macro_rules! matrix_slice_impl(
          */
         /// Returns a slice containing the i-th column of this matrix.
         #[inline]
-        pub fn $column($me: $Me, i: usize) -> $MatrixSlice<T, R, U1, S::RStride, S::CStride> {
+        pub fn $column($me: $Me, i: usize) -> $MatrixSlice<'_, T, R, U1, S::RStride, S::CStride> {
             $me.$fixed_columns::<1>(i)
         }
 
         /// Returns a slice containing the `n` first elements of the i-th column of this matrix.
         #[inline]
-        pub fn $column_part($me: $Me, i: usize, n: usize) -> $MatrixSlice<T, Dynamic, U1, S::RStride, S::CStride> {
+        pub fn $column_part($me: $Me, i: usize, n: usize) -> $MatrixSlice<'_, T, Dynamic, U1, S::RStride, S::CStride> {
             $me.$generic_slice((0, i), (Dynamic::new(n), Const::<1>))
         }
 
         /// Extracts from this matrix a set of consecutive columns.
         #[inline]
         pub fn $columns($me: $Me, first_col: usize, ncols: usize)
-            -> $MatrixSlice<T, R, Dynamic, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, R, Dynamic, S::RStride, S::CStride> {
 
             $me.$columns_generic(first_col, Dynamic::new(ncols))
         }
@@ -463,7 +463,7 @@ macro_rules! matrix_slice_impl(
         /// columns.
         #[inline]
         pub fn $columns_with_step($me: $Me, first_col: usize, ncols: usize, step: usize)
-            -> $MatrixSlice<T, R, Dynamic, S::RStride, Dynamic> {
+            -> $MatrixSlice<'_, T, R, Dynamic, S::RStride, Dynamic> {
 
             $me.$columns_generic_with_step(first_col, Dynamic::new(ncols), step)
         }
@@ -471,7 +471,7 @@ macro_rules! matrix_slice_impl(
         /// Extracts a compile-time number of consecutive columns from this matrix.
         #[inline]
         pub fn $fixed_columns<const CSLICE: usize>($me: $Me, first_col: usize)
-            -> $MatrixSlice<T, R, Const<CSLICE>, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, R, Const<CSLICE>, S::RStride, S::CStride> {
 
             $me.$columns_generic(first_col, Const::<CSLICE>)
         }
@@ -480,7 +480,7 @@ macro_rules! matrix_slice_impl(
         /// `step` columns.
         #[inline]
         pub fn $fixed_columns_with_step<const CSLICE: usize>($me: $Me, first_col: usize, step: usize)
-            -> $MatrixSlice<T, R, Const<CSLICE>, S::RStride, Dynamic> {
+            -> $MatrixSlice<'_, T, R, Const<CSLICE>, S::RStride, Dynamic> {
 
             $me.$columns_generic_with_step(first_col, Const::<CSLICE>, step)
         }
@@ -489,7 +489,7 @@ macro_rules! matrix_slice_impl(
         /// known at compile-time.
         #[inline]
         pub fn $columns_generic<CSlice: Dim>($me: $Me, first_col: usize, ncols: CSlice)
-            -> $MatrixSlice<T, R, CSlice, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, R, CSlice, S::RStride, S::CStride> {
 
             let my_shape = $me.data.shape();
             $me.assert_slice_index((0, first_col), (my_shape.0.value(), ncols.value()), (0, 0));
@@ -505,7 +505,7 @@ macro_rules! matrix_slice_impl(
         /// or may not be values known at compile-time.
         #[inline]
         pub fn $columns_generic_with_step<CSlice: Dim>($me: $Me, first_col: usize, ncols: CSlice, step: usize)
-            -> $MatrixSlice<T, R, CSlice, S::RStride, Dynamic> {
+            -> $MatrixSlice<'_, T, R, CSlice, S::RStride, Dynamic> {
 
             let my_shape = $me.data.shape();
             let my_strides = $me.data.strides();
@@ -530,7 +530,7 @@ macro_rules! matrix_slice_impl(
         /// consecutive elements.
         #[inline]
         pub fn $slice($me: $Me, start: (usize, usize), shape: (usize, usize))
-            -> $MatrixSlice<T, Dynamic, Dynamic, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, Dynamic, Dynamic, S::RStride, S::CStride> {
 
             $me.assert_slice_index(start, shape, (0, 0));
             let shape = (Dynamic::new(shape.0), Dynamic::new(shape.1));
@@ -547,7 +547,7 @@ macro_rules! matrix_slice_impl(
         /// original matrix.
         #[inline]
         pub fn $slice_with_steps($me: $Me, start: (usize, usize), shape: (usize, usize), steps: (usize, usize))
-            -> $MatrixSlice<T, Dynamic, Dynamic, Dynamic, Dynamic> {
+            -> $MatrixSlice<'_, T, Dynamic, Dynamic, Dynamic, Dynamic> {
             let shape = (Dynamic::new(shape.0), Dynamic::new(shape.1));
 
             $me.$generic_slice_with_steps(start, shape, steps)
@@ -557,7 +557,7 @@ macro_rules! matrix_slice_impl(
         /// CSlice::dim())` consecutive components.
         #[inline]
         pub fn $fixed_slice<const RSLICE: usize, const CSLICE: usize>($me: $Me, irow: usize, icol: usize)
-            -> $MatrixSlice<T, Const<RSLICE>, Const<CSLICE>, S::RStride, S::CStride> {
+            -> $MatrixSlice<'_, T, Const<RSLICE>, Const<CSLICE>, S::RStride, S::CStride> {
 
             $me.assert_slice_index((irow, icol), (RSLICE, CSLICE), (0, 0));
             let shape = (Const::<RSLICE>, Const::<CSLICE>);
@@ -574,7 +574,7 @@ macro_rules! matrix_slice_impl(
         /// the original matrix.
         #[inline]
         pub fn $fixed_slice_with_steps<const RSLICE: usize, const CSLICE: usize>($me: $Me, start: (usize, usize), steps: (usize, usize))
-            -> $MatrixSlice<T, Const<RSLICE>, Const<CSLICE>, Dynamic, Dynamic> {
+            -> $MatrixSlice<'_, T, Const<RSLICE>, Const<CSLICE>, Dynamic, Dynamic> {
             let shape = (Const::<RSLICE>, Const::<CSLICE>);
             $me.$generic_slice_with_steps(start, shape, steps)
         }
@@ -598,7 +598,7 @@ macro_rules! matrix_slice_impl(
                                                          start: (usize, usize),
                                                          shape: (RSlice, CSlice),
                                                          steps: (usize, usize))
-            -> $MatrixSlice<T, RSlice, CSlice, Dynamic, Dynamic>
+            -> $MatrixSlice<'_, T, RSlice, CSlice, Dynamic, Dynamic>
             where RSlice: Dim,
                   CSlice: Dim {
 
@@ -625,13 +625,13 @@ macro_rules! matrix_slice_impl(
          * Splitting.
          *
          */
-        /// Splits this NxM matrix into two parts delimited by two ranges.
+        /// Splits this `NxM` matrix into two parts delimited by two ranges.
         ///
         /// Panics if the ranges overlap or if the first range is empty.
         #[inline]
         pub fn $rows_range_pair<Range1: SliceRange<R>, Range2: SliceRange<R>>($me: $Me, r1: Range1, r2: Range2)
-            -> ($MatrixSlice<T, Range1::Size, C, S::RStride, S::CStride>,
+            -> ($MatrixSlice<'_, T, Range1::Size, C, S::RStride, S::CStride>,
-                $MatrixSlice<T, Range2::Size, C, S::RStride, S::CStride>) {
+                $MatrixSlice<'_, T, Range2::Size, C, S::RStride, S::CStride>) {
 
             let (nrows, ncols) = $me.data.shape();
             let strides        = $me.data.strides();
@@ -661,13 +661,13 @@ macro_rules! matrix_slice_impl(
             }
         }
 
-        /// Splits this NxM matrix into two parts delimited by two ranges.
+        /// Splits this `NxM` matrix into two parts delimited by two ranges.
         ///
         /// Panics if the ranges overlap or if the first range is empty.
         #[inline]
         pub fn $columns_range_pair<Range1: SliceRange<C>, Range2: SliceRange<C>>($me: $Me, r1: Range1, r2: Range2)
-            -> ($MatrixSlice<T, R, Range1::Size, S::RStride, S::CStride>,
+            -> ($MatrixSlice<'_, T, R, Range1::Size, S::RStride, S::CStride>,
-                $MatrixSlice<T, R, Range2::Size, S::RStride, S::CStride>) {
+                $MatrixSlice<'_, T, R, Range2::Size, S::RStride, S::CStride>) {
 
             let (nrows, ncols) = $me.data.shape();
             let strides        = $me.data.strides();
@@ -931,7 +931,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
         &self,
         rows: RowRange,
         cols: ColRange,
-    ) -> MatrixSlice<T, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
+    ) -> MatrixSlice<'_, T, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
     where
         RowRange: SliceRange<R>,
         ColRange: SliceRange<C>,
@@ -949,7 +949,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     pub fn rows_range<RowRange: SliceRange<R>>(
         &self,
         rows: RowRange,
-    ) -> MatrixSlice<T, RowRange::Size, C, S::RStride, S::CStride> {
+    ) -> MatrixSlice<'_, T, RowRange::Size, C, S::RStride, S::CStride> {
         self.slice_range(rows, ..)
     }
 
@@ -959,7 +959,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     pub fn columns_range<ColRange: SliceRange<C>>(
         &self,
         cols: ColRange,
-    ) -> MatrixSlice<T, R, ColRange::Size, S::RStride, S::CStride> {
+    ) -> MatrixSlice<'_, T, R, ColRange::Size, S::RStride, S::CStride> {
         self.slice_range(.., cols)
     }
 }
@@ -973,7 +973,7 @@ impl<T, R: Dim, C: Dim, S: StorageMut<T, R, C>> Matrix<T, R, C, S> {
         &mut self,
         rows: RowRange,
         cols: ColRange,
-    ) -> MatrixSliceMut<T, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
+    ) -> MatrixSliceMut<'_, T, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
     where
         RowRange: SliceRange<R>,
         ColRange: SliceRange<C>,
@@ -990,7 +990,7 @@ impl<T, R: Dim, C: Dim, S: StorageMut<T, R, C>> Matrix<T, R, C, S> {
     pub fn rows_range_mut<RowRange: SliceRange<R>>(
         &mut self,
         rows: RowRange,
-    ) -> MatrixSliceMut<T, RowRange::Size, C, S::RStride, S::CStride> {
+    ) -> MatrixSliceMut<'_, T, RowRange::Size, C, S::RStride, S::CStride> {
         self.slice_range_mut(rows, ..)
     }
 
@@ -999,7 +999,7 @@ impl<T, R: Dim, C: Dim, S: StorageMut<T, R, C>> Matrix<T, R, C, S> {
     pub fn columns_range_mut<ColRange: SliceRange<C>>(
         &mut self,
         cols: ColRange,
-    ) -> MatrixSliceMut<T, R, ColRange::Size, S::RStride, S::CStride> {
+    ) -> MatrixSliceMut<'_, T, R, ColRange::Size, S::RStride, S::CStride> {
         self.slice_range_mut(.., cols)
     }
 }

src/base/norm.rs

@@ -40,10 +40,13 @@ pub trait Norm<T: SimdComplexField> {
 }
 
 /// Euclidean norm.
+#[derive(Copy, Clone, Debug)]
 pub struct EuclideanNorm;
 /// Lp norm.
+#[derive(Copy, Clone, Debug)]
 pub struct LpNorm(pub i32);
 /// L-infinite norm aka. Chebytchev norm aka. uniform norm aka. suppremum norm.
+#[derive(Copy, Clone, Debug)]
 pub struct UniformNorm;
 
 impl<T: SimdComplexField> Norm<T> for EuclideanNorm {

src/base/ops.rs

@@ -706,8 +706,8 @@ where
         rhs: &Matrix<T, R2, C2, SB>,
         out: &mut Matrix<MaybeUninit<T>, R3, C3, SC>,
         dot: impl Fn(
-            &VectorSlice<T, R1, SA::RStride, SA::CStride>,
+            &VectorSlice<'_, T, R1, SA::RStride, SA::CStride>,
-            &VectorSlice<T, R2, SB::RStride, SB::CStride>,
+            &VectorSlice<'_, T, R2, SB::RStride, SB::CStride>,
         ) -> T,
     ) where
         SB: Storage<T, R2, C2>,

src/base/statistics.rs

@@ -14,7 +14,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     #[must_use]
     pub fn compress_rows(
         &self,
-        f: impl Fn(VectorSlice<T, R, S::RStride, S::CStride>) -> T,
+        f: impl Fn(VectorSlice<'_, T, R, S::RStride, S::CStride>) -> T,
     ) -> RowOVector<T, C>
     where
         DefaultAllocator: Allocator<T, U1, C>,
@@ -40,7 +40,7 @@ impl<T, R: Dim, C: Dim, S: Storage<T, R, C>> Matrix<T, R, C, S> {
     #[must_use]
     pub fn compress_rows_tr(
         &self,
-        f: impl Fn(VectorSlice<T, R, S::RStride, S::CStride>) -> T,
+        f: impl Fn(VectorSlice<'_, T, R, S::RStride, S::CStride>) -> T,
     ) -> OVector<T, C>
     where
         DefaultAllocator: Allocator<T, C>,

src/base/unit.rs

@@ -238,7 +238,7 @@ impl<T> Unit<T> {
     }
 
     /// Retrieves the underlying value.
-    /// Deprecated: use [Unit::into_inner] instead.
+    /// Deprecated: use [`Unit::into_inner`] instead.
     #[deprecated(note = "use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> T {

src/base/vec_storage.rs

@@ -78,7 +78,7 @@ where
 }
 
 #[deprecated(note = "renamed to `VecStorage`")]
-/// Renamed to [VecStorage].
+/// Renamed to [`VecStorage`].
 pub type MatrixVec<T, R, C> = VecStorage<T, R, C>;
 
 impl<T, R: Dim, C: Dim> VecStorage<T, R, C> {

src/geometry/dual_quaternion.rs

@@ -16,7 +16,7 @@ use simba::scalar::RealField;
 ///
 /// # Indexing
 ///
-/// DualQuaternions are stored as \[..real, ..dual\].
+/// `DualQuaternions` are stored as \[..real, ..dual\].
 /// Both of the quaternion components are laid out in `i, j, k, w` order.
 ///
 /// ```
@@ -36,7 +36,7 @@ use simba::scalar::RealField;
 /// NOTE:
 ///  As of December 2020, dual quaternion support is a work in progress.
 ///  If a feature that you need is missing, feel free to open an issue or a PR.
-///  See https://github.com/dimforge/nalgebra/issues/487
+///  See <https://github.com/dimforge/nalgebra/issues/487>
 #[repr(C)]
 #[derive(Debug, Copy, Clone)]
 pub struct DualQuaternion<T> {
@@ -250,6 +250,22 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Zeroable for DualQuaternion<T>
+where
+    T: Scalar + bytemuck::Zeroable,
+    Quaternion<T>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Pod for DualQuaternion<T>
+where
+    T: Scalar + bytemuck::Pod,
+    Quaternion<T>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: Serialize> Serialize for DualQuaternion<T> {
     fn serialize<S>(&self, serializer: S) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error>
@@ -897,7 +913,7 @@ impl<T: RealField> Default for UnitDualQuaternion<T> {
 }
 
 impl<T: RealField + fmt::Display> fmt::Display for UnitDualQuaternion<T> {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         if let Some(axis) = self.rotation().axis() {
             let axis = axis.into_inner();
             write!(

src/geometry/isometry.rs

@@ -634,7 +634,7 @@ impl<T: Scalar + fmt::Display, R, const D: usize> fmt::Display for Isometry<T, R
 where
     R: fmt::Display,
 {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 
         writeln!(f, "Isometry {{")?;

src/geometry/isometry_construction.rs

@@ -308,7 +308,7 @@ macro_rules! look_at_isometry_construction_impl(
                 $RotId::face_towards(&(target - eye), up))
         }
 
-        /// Deprecated: Use [Isometry::face_towards] instead.
+        /// Deprecated: Use [`Isometry::face_towards`] instead.
         #[deprecated(note="renamed to `face_towards`")]
         pub fn new_observer_frame(eye:    &Point3<T>,
                                   target: &Point3<T>,

src/geometry/mod.rs

@@ -73,6 +73,7 @@ mod transform_ops;
 mod transform_simba;
 
 mod reflection;
+mod reflection_alias;
 
 mod orthographic;
 mod perspective;
@@ -104,6 +105,7 @@ pub use self::transform::*;
 pub use self::transform_alias::*;
 
 pub use self::reflection::*;
+pub use self::reflection_alias::*;
 
 pub use self::orthographic::Orthographic3;
 pub use self::perspective::Perspective3;

src/geometry/orthographic.rs

@@ -47,6 +47,22 @@ impl<T: PartialEq> PartialEq for Orthographic3<T> {
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Zeroable for Orthographic3<T>
+where
+    T: RealField + bytemuck::Zeroable,
+    Matrix4<T>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Pod for Orthographic3<T>
+where
+    T: RealField + bytemuck::Pod,
+    Matrix4<T>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: Serialize> Serialize for Orthographic3<T> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
@@ -81,7 +97,7 @@ impl<T> Orthographic3<T> {
     /// # use nalgebra::{Orthographic3, Point3};
     /// let proj = Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0);
     /// // Check this projection actually transforms the view cuboid into the double-unit cube.
-    /// // See https://www.nalgebra.org/projections/#orthographic-projection for more details.
+    /// // See https://www.nalgebra.org/docs/user_guide/projections#orthographic-projection for more details.
     /// let p1 = Point3::new(1.0, 2.0, -0.1);
     /// let p2 = Point3::new(1.0, 2.0, -1000.0);
     /// let p3 = Point3::new(1.0, 20.0, -0.1);
@@ -128,28 +144,6 @@ impl<T> Orthographic3<T> {
         res
     }
 
-    /// Wraps the given matrix to interpret it as a 3D orthographic matrix.
-    ///
-    /// It is not checked whether or not the given matrix actually represents an orthographic
-    /// projection.
-    ///
-    /// # Example
-    /// ```
-    /// # use nalgebra::{Orthographic3, Point3, Matrix4};
-    /// let mat = Matrix4::new(
-    ///     2.0 / 9.0, 0.0,        0.0,         -11.0 / 9.0,
-    ///     0.0,       2.0 / 18.0, 0.0,         -22.0 / 18.0,
-    ///     0.0,       0.0,       -2.0 / 999.9, -1000.1 / 999.9,
-    ///     0.0,       0.0,        0.0,         1.0
-    /// );
-    /// let proj = Orthographic3::from_matrix_unchecked(mat);
-    /// assert_eq!(proj, Orthographic3::new(1.0, 10.0, 2.0, 20.0, 0.1, 1000.0));
-    /// ```
-    #[inline]
-    pub fn from_matrix_unchecked(matrix: Matrix4<T>) -> Self {
-        Self { matrix }
-    }
-
     /// Creates a new orthographic projection matrix from an aspect ratio and the vertical field of view.
     #[inline]
     pub fn from_fov(aspect: T, vfov: T, znear: T, zfar: T) -> Self
@@ -311,7 +305,7 @@ impl<T> Orthographic3<T> {
     }
 
     /// Retrieves the underlying homogeneous matrix.
-    /// Deprecated: Use [Orthographic3::into_inner] instead.
+    /// Deprecated: Use [`Orthographic3::into_inner`] instead.
     #[deprecated(note = "use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> Matrix4<T> {

src/geometry/perspective.rs

@@ -19,6 +19,7 @@ use crate::base::{Matrix4, Vector, Vector3};
 use crate::geometry::{Point3, Projective3};
 
 /// A 3D perspective projection stored as a homogeneous 4x4 matrix.
+#[repr(C)]
 pub struct Perspective3<T> {
     matrix: Matrix4<T>,
 }
@@ -45,6 +46,22 @@ impl<T: RealField> PartialEq for Perspective3<T> {
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Zeroable for Perspective3<T>
+where
+    T: RealField + bytemuck::Zeroable,
+    Matrix4<T>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Pod for Perspective3<T>
+where
+    T: RealField + bytemuck::Pod,
+    Matrix4<T>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: RealField + Serialize> Serialize for Perspective3<T> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
@@ -67,6 +84,17 @@ impl<'a, T: RealField + Deserialize<'a>> Deserialize<'a> for Perspective3<T> {
     }
 }
 
+impl<T> Perspective3<T> {
+    /// Wraps the given matrix to interpret it as a 3D perspective matrix.
+    ///
+    /// It is not checked whether or not the given matrix actually represents a perspective
+    /// projection.
+    #[inline]
+    pub const fn from_matrix_unchecked(matrix: Matrix4<T>) -> Self {
+        Self { matrix }
+    }
+}
+
 impl<T: RealField> Perspective3<T> {
     /// Creates a new perspective matrix from the aspect ratio, y field of view, and near/far planes.
     pub fn new(aspect: T, fovy: T, znear: T, zfar: T) -> Self {
@@ -92,15 +120,6 @@ impl<T: RealField> Perspective3<T> {
         res
     }
 
-    /// Wraps the given matrix to interpret it as a 3D perspective matrix.
-    ///
-    /// It is not checked whether or not the given matrix actually represents a perspective
-    /// projection.
-    #[inline]
-    pub fn from_matrix_unchecked(matrix: Matrix4<T>) -> Self {
-        Self { matrix }
-    }
-
     /// Retrieves the inverse of the underlying homogeneous matrix.
     #[inline]
     #[must_use]
@@ -157,7 +176,7 @@ impl<T: RealField> Perspective3<T> {
     }
 
     /// Retrieves the underlying homogeneous matrix.
-    /// Deprecated: Use [Perspective3::into_inner] instead.
+    /// Deprecated: Use [`Perspective3::into_inner`] instead.
     #[deprecated(note = "use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> Matrix4<T> {

src/geometry/point.rs

@@ -25,7 +25,7 @@ use crate::Scalar;
 
 /// A point in an euclidean space.
 ///
-/// The difference between a point and a vector is only semantic. See [the user guide](https://www.nalgebra.org/points_and_transformations/)
+/// The difference between a point and a vector is only semantic. See [the user guide](https://www.nalgebra.org/docs/user_guide/points_and_transformations)
 /// for details on the distinction. The most notable difference that vectors ignore translations.
 /// In particular, an [`Isometry2`](crate::Isometry2) or [`Isometry3`](crate::Isometry3) will
 /// transform points by applying a rotation and a translation on them. However, these isometries
@@ -501,7 +501,7 @@ impl<T: fmt::Display, D: DimName> fmt::Display for OPoint<T, D>
 where
     DefaultAllocator: Allocator<T, D>,
 {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(f, "{{")?;
 
         let mut it = self.coords.iter();

src/geometry/quaternion.rs

@@ -241,7 +241,7 @@ where
     /// ```
     #[inline]
     #[must_use]
-    pub fn vector(&self) -> MatrixSlice<T, U3, U1, RStride<T, U4, U1>, CStride<T, U4, U1>> {
+    pub fn vector(&self) -> MatrixSlice<'_, T, U3, U1, RStride<T, U4, U1>, CStride<T, U4, U1>> {
         self.coords.fixed_rows::<3>(0)
     }
 
@@ -633,7 +633,7 @@ where
     #[inline]
     pub fn vector_mut(
         &mut self,
-    ) -> MatrixSliceMut<T, U3, U1, RStride<T, U4, U1>, CStride<T, U4, U1>> {
+    ) -> MatrixSliceMut<'_, T, U3, U1, RStride<T, U4, U1>, CStride<T, U4, U1>> {
         self.coords.fixed_rows_mut::<3>(0)
     }
 
@@ -1692,7 +1692,7 @@ impl<T: RealField> Default for UnitQuaternion<T> {
 }
 
 impl<T: RealField + fmt::Display> fmt::Display for UnitQuaternion<T> {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         if let Some(axis) = self.axis() {
             let axis = axis.into_inner();
             write!(

src/geometry/quaternion_construction.rs

@@ -591,7 +591,7 @@ where
         Self::from_rotation_matrix(&Rotation3::face_towards(dir, up))
     }
 
-    /// Deprecated: Use [UnitQuaternion::face_towards] instead.
+    /// Deprecated: Use [`UnitQuaternion::face_towards`] instead.
     #[deprecated(note = "renamed to `face_towards`")]
     pub fn new_observer_frames<SB, SC>(dir: &Vector<T, U3, SB>, up: &Vector<T, U3, SC>) -> Self
     where
@@ -785,7 +785,7 @@ where
         Self::new_eps(axisangle, eps)
     }
 
-    /// Create the mean unit quaternion from a data structure implementing IntoIterator
+    /// Create the mean unit quaternion from a data structure implementing `IntoIterator`
     /// returning unit quaternions.
     ///
     /// The method will panic if the iterator does not return any quaternions.
@@ -894,9 +894,9 @@ where
 #[cfg(test)]
 #[cfg(feature = "rand")]
 mod tests {
-    extern crate rand_xorshift;
     use super::*;
     use rand::SeedableRng;
+    use rand_xorshift;
 
     #[test]
     fn random_unit_quats_are_unit() {

src/geometry/reflection.rs

@@ -24,7 +24,7 @@ impl<T: ComplexField, S: Storage<T, Const<D>>, const D: usize> Reflection<T, Con
 }
 
 impl<T: ComplexField, D: Dim, S: Storage<T, D>> Reflection<T, D, S> {
-    /// Creates a new reflection wrt the plane orthogonal to the given axis and bias.
+    /// Creates a new reflection wrt. the plane orthogonal to the given axis and bias.
     ///
     /// The bias is the position of the plane on the axis. In particular, a bias equal to zero
     /// represents a plane that passes through the origin.
@@ -35,12 +35,21 @@ impl<T: ComplexField, D: Dim, S: Storage<T, D>> Reflection<T, D, S> {
         }
     }
 
-    /// The reflexion axis.
+    /// The reflection axis.
     #[must_use]
     pub fn axis(&self) -> &Vector<T, D, S> {
         &self.axis
     }
 
+    /// The reflection bias.
+    ///
+    /// The bias is the position of the plane on the axis. In particular, a bias equal to zero
+    /// represents a plane that passes through the origin.
+    #[must_use]
+    pub fn bias(&self) -> T {
+        self.bias
+    }
+
     // TODO: naming convention: reflect_to, reflect_assign ?
     /// Applies the reflection to the columns of `rhs`.
     pub fn reflect<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<T, R2, C2, S2>)

src/geometry/reflection_alias.rs

@@ -0,0 +1,21 @@
+use crate::base::ArrayStorage;
+use crate::geometry::Reflection;
+use crate::Const;
+
+/// A 1-dimensional reflection.
+pub type Reflection1<T> = Reflection<T, Const<1>, ArrayStorage<T, 1, 1>>;
+
+/// A 2-dimensional reflection.
+pub type Reflection2<T> = Reflection<T, Const<2>, ArrayStorage<T, 2, 1>>;
+
+/// A 3-dimensional reflection.
+pub type Reflection3<T> = Reflection<T, Const<3>, ArrayStorage<T, 3, 1>>;
+
+/// A 4-dimensional reflection.
+pub type Reflection4<T> = Reflection<T, Const<4>, ArrayStorage<T, 4, 1>>;
+
+/// A 5-dimensional reflection.
+pub type Reflection5<T> = Reflection<T, Const<5>, ArrayStorage<T, 5, 1>>;
+
+/// A 6-dimensional reflection.
+pub type Reflection6<T> = Reflection<T, Const<6>, ArrayStorage<T, 6, 1>>;

src/geometry/rotation.rs

@@ -81,6 +81,22 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Zeroable for Rotation<T, D>
+where
+    T: Scalar + bytemuck::Zeroable,
+    SMatrix<T, D, D>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Pod for Rotation<T, D>
+where
+    T: Scalar + bytemuck::Pod,
+    SMatrix<T, D, D>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "abomonation-serialize")]
 impl<T, const D: usize> Abomonation for Rotation<T, D>
 where
@@ -130,7 +146,7 @@ where
 impl<T, const D: usize> Rotation<T, D> {
     /// Creates a new rotation from the given square matrix.
     ///
-    /// The matrix squareness is checked but not its orthonormality.
+    /// The matrix orthonormality is not checked.
     ///
     /// # Example
     /// ```
@@ -151,12 +167,7 @@ impl<T, const D: usize> Rotation<T, D> {
     /// assert_eq!(*rot.matrix(), mat);
     /// ```
     #[inline]
-    pub fn from_matrix_unchecked(matrix: SMatrix<T, D, D>) -> Self {
+    pub const fn from_matrix_unchecked(matrix: SMatrix<T, D, D>) -> Self {
-        assert!(
-            matrix.is_square(),
-            "Unable to create a rotation from a non-square matrix."
-        );
-
         Self { matrix }
     }
 }
@@ -230,7 +241,7 @@ impl<T, const D: usize> Rotation<T, D> {
     }
 
     /// Unwraps the underlying matrix.
-    /// Deprecated: Use [Rotation::into_inner] instead.
+    /// Deprecated: Use [`Rotation::into_inner`] instead.
     #[deprecated(note = "use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> SMatrix<T, D, D> {
@@ -562,7 +573,7 @@ impl<T, const D: usize> fmt::Display for Rotation<T, D>
 where
     T: RealField + fmt::Display,
 {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 
         writeln!(f, "Rotation matrix {{")?;

src/geometry/rotation_specialization.rs

@@ -483,7 +483,7 @@ where
         ))
     }
 
-    /// Deprecated: Use [Rotation3::face_towards] instead.
+    /// Deprecated: Use [`Rotation3::face_towards`] instead.
     #[deprecated(note = "renamed to `face_towards`")]
     pub fn new_observer_frames<SB, SC>(dir: &Vector<T, U3, SB>, up: &Vector<T, U3, SC>) -> Self
     where

src/geometry/similarity.rs

@@ -428,7 +428,7 @@ where
     T: RealField + fmt::Display,
     R: AbstractRotation<T, D> + fmt::Display,
 {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 
         writeln!(f, "Similarity {{")?;

src/geometry/similarity_construction.rs

@@ -306,7 +306,7 @@ macro_rules! similarity_construction_impl(
                 Self::from_isometry(Isometry::<_, $Rot<T>, 3>::face_towards(eye, target, up), scaling)
             }
 
-            /// Deprecated: Use [SimilarityMatrix3::face_towards] instead.
+            /// Deprecated: Use [`SimilarityMatrix3::face_towards`] instead.
             #[deprecated(note="renamed to `face_towards`")]
             pub fn new_observer_frames(eye:    &Point3<T>,
                                        target: &Point3<T>,

src/geometry/transform.rs

@@ -300,7 +300,7 @@ where
     }
 
     /// Retrieves the underlying matrix.
-    /// Deprecated: Use [Transform::into_inner] instead.
+    /// Deprecated: Use [`Transform::into_inner`] instead.
     #[deprecated(note = "use `.into_inner()` instead")]
     #[inline]
     pub fn unwrap(self) -> OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {

src/geometry/transform_ops.rs

@@ -13,7 +13,7 @@ use crate::storage::InnerOwned;
 
 use crate::geometry::{
     Isometry, Point, Rotation, Similarity, SubTCategoryOf, SuperTCategoryOf, TAffine, TCategory,
-    TCategoryMul, TGeneral, TProjective, Transform, Translation, UnitQuaternion,
+    TCategoryMul, TGeneral, TProjective, Transform, Translation, UnitComplex, UnitQuaternion,
 };
 
 /*
@@ -31,7 +31,7 @@ use crate::geometry::{
  * Transform × Similarity
  * Transform × Transform
  * Transform × UnitQuaternion
- * TODO: Transform × UnitComplex
+ * Transform × UnitComplex
  * Transform × Translation
  * Transform × Vector
  * Transform × Point
@@ -41,7 +41,7 @@ use crate::geometry::{
  * Similarity     × Transform
  * Translation    × Transform
  * UnitQuaternion × Transform
- * TODO: UnitComplex × Transform
+ * UnitComplex    × Transform
  *
  * TODO: Transform ÷ Isometry
  * Transform ÷ Rotation
@@ -66,7 +66,7 @@ use crate::geometry::{
  * Transform ×= Isometry
  * Transform ×= Rotation
  * Transform ×= UnitQuaternion
- * TODO: Transform ×= UnitComplex
+ * Transform ×= UnitComplex
  * Transform ×= Translation
  *
  * Transform ÷= Transform
@@ -74,7 +74,7 @@ use crate::geometry::{
  * TODO: Transform ÷= Isometry
  * Transform ÷= Rotation
  * Transform ÷= UnitQuaternion
- * TODO: Transform ÷= UnitComplex
+ * Transform ÷= UnitComplex
  *
  */
 
@@ -226,6 +226,20 @@ md_impl_all!(
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 );
 
+// Transform × UnitComplex
+md_impl_all!(
+    Mul, mul where T: RealField;
+    (U3, U3), (U2, U1)
+    const;
+    for C;
+    where C: TCategoryMul<TAffine>;
+    self: Transform<T, C, 2>, rhs: UnitComplex<T>, Output = Transform<T, C::Representative, 2>;
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
+    [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
+    [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
+);
+
 // UnitQuaternion × Transform
 md_impl_all!(
     Mul, mul where T: RealField;
@@ -240,6 +254,20 @@ md_impl_all!(
     [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 );
 
+// UnitComplex × Transform
+md_impl_all!(
+    Mul, mul where T: RealField;
+    (U2, U1), (U3, U3)
+    const;
+    for C;
+    where C: TCategoryMul<TAffine>;
+    self: UnitComplex<T>, rhs: Transform<T, C, 2>, Output = Transform<T, C::Representative, 2>;
+    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
+    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
+    [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
+    [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
+);
+
 // Transform × Isometry
 md_impl_all!(
     Mul, mul where T: RealField;
@@ -581,6 +609,18 @@ md_assign_impl_all!(
     [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
 );
 
+// Transform ×= UnitComplex
+md_assign_impl_all!(
+    MulAssign, mul_assign where T: RealField;
+    (U3, U3), (U2, U1)
+    const;
+    for C;
+    where C: TCategory;
+    self: Transform<T, C, 2>, rhs: UnitComplex<T>;
+    [val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
+    [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
+);
+
 // Transform ÷= Transform
 md_assign_impl_all!(
     DivAssign, div_assign where T: RealField;
@@ -653,3 +693,15 @@ md_assign_impl_all!(
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
+
+// Transform ÷= UnitComplex
+md_assign_impl_all!(
+    DivAssign, div_assign where T: RealField;
+    (U3, U3), (U2, U1)
+    const;
+    for C;
+    where C: TCategory;
+    self: Transform<T, C, 2>, rhs: UnitComplex<T>;
+    [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
+    [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
+);

src/geometry/translation.rs

@@ -50,6 +50,22 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Zeroable for Translation<T, D>
+where
+    T: Scalar + bytemuck::Zeroable,
+    SVector<T, D>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Pod for Translation<T, D>
+where
+    T: Scalar + bytemuck::Pod,
+    SVector<T, D>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "abomonation-serialize")]
 impl<T, const D: usize> Abomonation for Translation<T, D>
 where
@@ -331,7 +347,7 @@ where
  *
  */
 impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Translation<T, D> {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 
         writeln!(f, "Translation {{")?;

src/geometry/unit_complex.rs

@@ -412,7 +412,7 @@ where
 }
 
 impl<T: RealField + fmt::Display> fmt::Display for UnitComplex<T> {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(f, "UnitComplex angle: {}", self.angle())
     }
 }

src/lib.rs

@@ -1,4 +1,3 @@
-#![allow(clippy::type_complexity)]
 /*!
 # nalgebra
 
@@ -72,16 +71,18 @@ an optimized set of tools for computer graphics and physics. Those features incl
 * Insertion and removal of rows of columns of a matrix.
 */
 
-// #![feature(plugin)]
+#![allow(unused_variables, unused_mut)]
-//
+#![deny(
-// #![plugin(clippy)]
+    nonstandard_style,
-
+    unused_parens,
-#![deny(non_camel_case_types)]
+    unused_qualifications,
-#![deny(unused_parens)]
+    unused_results,
-#![deny(non_upper_case_globals)]
+    missing_docs,
-#![deny(unused_qualifications)]
+    rust_2018_idioms,
-#![deny(unused_results)]
+    rust_2018_compatibility,
-#![deny(missing_docs)]
+    future_incompatible,
+    missing_copy_implementations
+)]
 #![doc(
     html_favicon_url = "https://nalgebra.org/img/favicon.ico",
     html_root_url = "https://docs.rs/nalgebra/0.25.0"
@@ -245,7 +246,7 @@ pub fn min<T: Ord>(a: T, b: T) -> T {
 
 /// The absolute value of `a`.
 ///
-/// Deprecated: Use [Matrix::abs] or [RealField::abs] instead.
+/// Deprecated: Use [`Matrix::abs`] or [`RealField::abs`] instead.
 #[deprecated(note = "use the inherent method `Matrix::abs` or `RealField::abs` instead")]
 #[inline]
 pub fn abs<T: Signed>(a: &T) -> T {
@@ -384,7 +385,7 @@ pub fn partial_sort2<'a, T: PartialOrd>(a: &'a T, b: &'a T) -> Option<(&'a T, &'
 /// # See also:
 ///
 /// * [distance](fn.distance.html)
-/// * [distance_squared](fn.distance_squared.html)
+/// * [`distance_squared`](fn.distance_squared.html)
 #[inline]
 pub fn center<T: SimdComplexField, const D: usize>(
     p1: &Point<T, D>,
@@ -398,7 +399,7 @@ pub fn center<T: SimdComplexField, const D: usize>(
 /// # See also:
 ///
 /// * [center](fn.center.html)
-/// * [distance_squared](fn.distance_squared.html)
+/// * [`distance_squared`](fn.distance_squared.html)
 #[inline]
 pub fn distance<T: SimdComplexField, const D: usize>(
     p1: &Point<T, D>,
@@ -430,11 +431,11 @@ pub fn distance_squared<T: SimdComplexField, const D: usize>(
 ///
 /// # See also:
 ///
-/// * [convert_ref](fn.convert_ref.html)
+/// * [`convert_ref`](fn.convert_ref.html)
-/// * [convert_ref_unchecked](fn.convert_ref_unchecked.html)
+/// * [`convert_ref_unchecked`](fn.convert_ref_unchecked.html)
-/// * [is_convertible](../nalgebra/fn.is_convertible.html)
+/// * [`is_convertible`](../nalgebra/fn.is_convertible.html)
-/// * [try_convert](fn.try_convert.html)
+/// * [`try_convert`](fn.try_convert.html)
-/// * [try_convert_ref](fn.try_convert_ref.html)
+/// * [`try_convert_ref`](fn.try_convert_ref.html)
 #[inline]
 pub fn convert<From, To: SupersetOf<From>>(t: From) -> To {
     To::from_subset(&t)
@@ -447,10 +448,10 @@ pub fn convert<From, To: SupersetOf<From>>(t: From) -> To {
 /// # See also:
 ///
 /// * [convert](fn.convert.html)
-/// * [convert_ref](fn.convert_ref.html)
+/// * [`convert_ref`](fn.convert_ref.html)
-/// * [convert_ref_unchecked](fn.convert_ref_unchecked.html)
+/// * [`convert_ref_unchecked`](fn.convert_ref_unchecked.html)
-/// * [is_convertible](../nalgebra/fn.is_convertible.html)
+/// * [`is_convertible`](../nalgebra/fn.is_convertible.html)
-/// * [try_convert_ref](fn.try_convert_ref.html)
+/// * [`try_convert_ref`](fn.try_convert_ref.html)
 #[inline]
 pub fn try_convert<From: SupersetOf<To>, To>(t: From) -> Option<To> {
     t.to_subset()
@@ -462,10 +463,10 @@ pub fn try_convert<From: SupersetOf<To>, To>(t: From) -> Option<To> {
 /// # See also:
 ///
 /// * [convert](fn.convert.html)
-/// * [convert_ref](fn.convert_ref.html)
+/// * [`convert_ref`](fn.convert_ref.html)
-/// * [convert_ref_unchecked](fn.convert_ref_unchecked.html)
+/// * [`convert_ref_unchecked`](fn.convert_ref_unchecked.html)
-/// * [try_convert](fn.try_convert.html)
+/// * [`try_convert`](fn.try_convert.html)
-/// * [try_convert_ref](fn.try_convert_ref.html)
+/// * [`try_convert_ref`](fn.try_convert_ref.html)
 #[inline]
 pub fn is_convertible<From: SupersetOf<To>, To>(t: &From) -> bool {
     t.is_in_subset()
@@ -477,11 +478,11 @@ pub fn is_convertible<From: SupersetOf<To>, To>(t: &From) -> bool {
 /// # See also:
 ///
 /// * [convert](fn.convert.html)
-/// * [convert_ref](fn.convert_ref.html)
+/// * [`convert_ref`](fn.convert_ref.html)
-/// * [convert_ref_unchecked](fn.convert_ref_unchecked.html)
+/// * [`convert_ref_unchecked`](fn.convert_ref_unchecked.html)
-/// * [is_convertible](../nalgebra/fn.is_convertible.html)
+/// * [`is_convertible`](../nalgebra/fn.is_convertible.html)
-/// * [try_convert](fn.try_convert.html)
+/// * [`try_convert`](fn.try_convert.html)
-/// * [try_convert_ref](fn.try_convert_ref.html)
+/// * [`try_convert_ref`](fn.try_convert_ref.html)
 #[inline]
 pub fn convert_unchecked<From: SupersetOf<To>, To>(t: From) -> To {
     t.to_subset_unchecked()
@@ -492,10 +493,10 @@ pub fn convert_unchecked<From: SupersetOf<To>, To>(t: From) -> To {
 /// # See also:
 ///
 /// * [convert](fn.convert.html)
-/// * [convert_ref_unchecked](fn.convert_ref_unchecked.html)
+/// * [`convert_ref_unchecked`](fn.convert_ref_unchecked.html)
-/// * [is_convertible](../nalgebra/fn.is_convertible.html)
+/// * [`is_convertible`](../nalgebra/fn.is_convertible.html)
-/// * [try_convert](fn.try_convert.html)
+/// * [`try_convert`](fn.try_convert.html)
-/// * [try_convert_ref](fn.try_convert_ref.html)
+/// * [`try_convert_ref`](fn.try_convert_ref.html)
 #[inline]
 pub fn convert_ref<From, To: SupersetOf<From>>(t: &From) -> To {
     To::from_subset(t)
@@ -506,10 +507,10 @@ pub fn convert_ref<From, To: SupersetOf<From>>(t: &From) -> To {
 /// # See also:
 ///
 /// * [convert](fn.convert.html)
-/// * [convert_ref](fn.convert_ref.html)
+/// * [`convert_ref`](fn.convert_ref.html)
-/// * [convert_ref_unchecked](fn.convert_ref_unchecked.html)
+/// * [`convert_ref_unchecked`](fn.convert_ref_unchecked.html)
-/// * [is_convertible](../nalgebra/fn.is_convertible.html)
+/// * [`is_convertible`](../nalgebra/fn.is_convertible.html)
-/// * [try_convert](fn.try_convert.html)
+/// * [`try_convert`](fn.try_convert.html)
 #[inline]
 pub fn try_convert_ref<From: SupersetOf<To>, To>(t: &From) -> Option<To> {
     t.to_subset()
@@ -521,10 +522,10 @@ pub fn try_convert_ref<From: SupersetOf<To>, To>(t: &From) -> Option<To> {
 /// # See also:
 ///
 /// * [convert](fn.convert.html)
-/// * [convert_ref](fn.convert_ref.html)
+/// * [`convert_ref`](fn.convert_ref.html)
-/// * [is_convertible](../nalgebra/fn.is_convertible.html)
+/// * [`is_convertible`](../nalgebra/fn.is_convertible.html)
-/// * [try_convert](fn.try_convert.html)
+/// * [`try_convert`](fn.try_convert.html)
-/// * [try_convert_ref](fn.try_convert_ref.html)
+/// * [`try_convert_ref`](fn.try_convert_ref.html)
 #[inline]
 pub fn convert_ref_unchecked<From: SupersetOf<To>, To>(t: &From) -> To {
     t.to_subset_unchecked()

src/linalg/balancing.rs

@@ -11,7 +11,7 @@ use crate::base::{Const, DefaultAllocator, OMatrix, OVector};
 /// 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
+/// See <https://arxiv.org/pdf/1401.5766.pdf>
 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>,

src/linalg/col_piv_qr.rs

@@ -77,7 +77,7 @@ where
         + Allocator<T, DimMinimum<R, C>>
         + Allocator<(usize, usize), DimMinimum<R, C>>,
 {
-    /// Computes the ColPivQR decomposition using householder reflections.
+    /// Computes the `ColPivQR` decomposition using householder reflections.
     pub fn new(mut matrix: OMatrix<T, R, C>) -> Self {
         let (nrows, ncols) = matrix.data.shape();
         let min_nrows_ncols = nrows.min(ncols);

src/linalg/schur.rs

@@ -23,7 +23,7 @@ use crate::linalg::Hessenberg;
 
 /// Schur decomposition of a square matrix.
 ///
-/// If this is a real matrix, this will be a RealField Schur decomposition.
+/// If this is a real matrix, this will be a `RealField` Schur decomposition.
 #[cfg_attr(feature = "serde-serialize-no-std", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize-no-std",

src/linalg/solve.rs

@@ -376,8 +376,8 @@ impl<T: ComplexField, D: Dim, S: Storage<T, D, D>> SquareMatrix<T, D, S> {
         b: &mut Vector<T, R2, S2>,
         conjugate: impl Fn(T) -> T,
         dot: impl Fn(
-            &DVectorSlice<T, S::RStride, S::CStride>,
+            &DVectorSlice<'_, T, S::RStride, S::CStride>,
-            &DVectorSlice<T, S2::RStride, S2::CStride>,
+            &DVectorSlice<'_, T, S2::RStride, S2::CStride>,
         ) -> T,
     ) -> bool
     where
@@ -411,8 +411,8 @@ impl<T: ComplexField, D: Dim, S: Storage<T, D, D>> SquareMatrix<T, D, S> {
         b: &mut Vector<T, R2, S2>,
         conjugate: impl Fn(T) -> T,
         dot: impl Fn(
-            &DVectorSlice<T, S::RStride, S::CStride>,
+            &DVectorSlice<'_, T, S::RStride, S::CStride>,
-            &DVectorSlice<T, S2::RStride, S2::CStride>,
+            &DVectorSlice<'_, T, S2::RStride, S2::CStride>,
         ) -> T,
     ) -> bool
     where
@@ -734,8 +734,8 @@ impl<T: SimdComplexField, D: Dim, S: Storage<T, D, D>> SquareMatrix<T, D, S> {
         b: &mut Vector<T, R2, S2>,
         conjugate: impl Fn(T) -> T,
         dot: impl Fn(
-            &DVectorSlice<T, S::RStride, S::CStride>,
+            &DVectorSlice<'_, T, S::RStride, S::CStride>,
-            &DVectorSlice<T, S2::RStride, S2::CStride>,
+            &DVectorSlice<'_, T, S2::RStride, S2::CStride>,
         ) -> T,
     ) where
         S2: StorageMut<T, R2, U1>,
@@ -760,8 +760,8 @@ impl<T: SimdComplexField, D: Dim, S: Storage<T, D, D>> SquareMatrix<T, D, S> {
         b: &mut Vector<T, R2, S2>,
         conjugate: impl Fn(T) -> T,
         dot: impl Fn(
-            &DVectorSlice<T, S::RStride, S::CStride>,
+            &DVectorSlice<'_, T, S::RStride, S::CStride>,
-            &DVectorSlice<T, S2::RStride, S2::CStride>,
+            &DVectorSlice<'_, T, S2::RStride, S2::CStride>,
         ) -> T,
     ) where
         S2: StorageMut<T, R2, U1>,

src/proptest/mod.rs

@@ -2,12 +2,12 @@
 //!
 //! **This module is only available when the `proptest-support` feature is enabled in `nalgebra`**.
 //!
-//! `proptest` is a library for *property-based testing*. While similar to QuickCheck,
+//! `proptest` is a library for *property-based testing*. While similar to `QuickCheck`,
 //! which may be more familiar to some users, it has a more sophisticated design that
 //! provides users with automatic invariant-preserving shrinking. This means that when using
 //! `proptest`, you rarely need to write your own shrinkers - which is usually very difficult -
 //! and can instead get this "for free". Moreover, `proptest` does not rely on a canonical
-//! `Arbitrary` trait implementation like QuickCheck, though it does also provide this. For
+//! `Arbitrary` trait implementation like `QuickCheck`, though it does also provide this. For
 //! more information, check out the [proptest docs](https://docs.rs/proptest/0.10.1/proptest/)
 //! and the [proptest book](https://altsysrq.github.io/proptest-book/intro.html).
 //!
@@ -314,7 +314,7 @@ where
 /// with length in the provided range.
 ///
 /// This is a convenience function for calling
-/// [matrix(value_strategy, length, U1)](fn.matrix.html) and should
+/// [`matrix(value_strategy, length, U1)`](fn.matrix.html) and should
 /// be used when you only want to generate column vectors, as it's simpler and makes the intent
 /// clear.
 pub fn vector<D, ScalarStrategy>(

src/sparse/cs_matrix.rs

@@ -46,7 +46,7 @@ impl<'a, T: Clone> Iterator for ColumnEntries<'a, T> {
 pub trait CsStorageIter<'a, T, R, C = U1> {
     /// Iterator through all the rows of a specific columns.
     ///
-    /// The elements are given as a tuple (row_index, value).
+    /// The elements are given as a tuple (`row_index`, value).
     type ColumnEntries: Iterator<Item = (usize, T)>;
     /// Iterator through the row indices of a specific column.
     type ColumnRowIndices: Iterator<Item = usize>;
@@ -63,7 +63,7 @@ pub trait CsStorageIterMut<'a, T: 'a, R, C = U1> {
     type ValuesMut: Iterator<Item = &'a mut T>;
     /// Mutable iterator through all the rows of a specific columns.
     ///
-    /// The elements are given as a tuple (row_index, value).
+    /// The elements are given as a tuple (`row_index`, value).
     type ColumnEntriesMut: Iterator<Item = (usize, &'a mut T)>;
 
     /// A mutable iterator through the values buffer of the sparse matrix.

src/third_party/alga/alga_isometry.rs

@@ -120,7 +120,7 @@ where
     #[inline]
     fn decompose(&self) -> (Self::Translation, R, Id, R) {
         (
-            self.translation.clone(),
+            self.translation,
             self.rotation.clone(),
             Id::new(),
             <R as AbstractRotation<T, D>>::identity(),
@@ -145,7 +145,7 @@ where
 
     #[inline]
     fn prepend_rotation(&self, r: &Self::Rotation) -> Self {
-        Isometry::from_parts(self.translation.clone(), self.rotation.prepend_rotation(r))
+        Isometry::from_parts(self.translation, self.rotation.prepend_rotation(r))
     }
 
     #[inline]
@@ -175,7 +175,7 @@ where
 
     #[inline]
     fn translation(&self) -> Translation<T, D> {
-        self.translation.clone()
+        self.translation
     }
 
     #[inline]

src/third_party/alga/alga_rotation.rs

@@ -105,17 +105,17 @@ impl<T: RealField + simba::scalar::RealField, const D: usize> AffineTransformati
 
     #[inline]
     fn decompose(&self) -> (Id, Self, Id, Self) {
-        (Id::new(), self.clone(), Id::new(), Self::identity())
+        (Id::new(), *self, Id::new(), Self::identity())
     }
 
     #[inline]
     fn append_translation(&self, _: &Self::Translation) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]
     fn prepend_translation(&self, _: &Self::Translation) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]
@@ -130,12 +130,12 @@ impl<T: RealField + simba::scalar::RealField, const D: usize> AffineTransformati
 
     #[inline]
     fn append_scaling(&self, _: &Self::NonUniformScaling) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]
     fn prepend_scaling(&self, _: &Self::NonUniformScaling) -> Self {
-        self.clone()
+        *self
     }
 }
 
@@ -151,7 +151,7 @@ impl<T: RealField + simba::scalar::RealField, const D: usize> Similarity<Point<T
 
     #[inline]
     fn rotation(&self) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]

src/third_party/alga/alga_similarity.rs

@@ -117,7 +117,7 @@ where
     #[inline]
     fn decompose(&self) -> (Translation<T, D>, R, T, R) {
         (
-            self.isometry.translation.clone(),
+            self.isometry.translation,
             self.isometry.rotation.clone(),
             self.scaling(),
             <R as AbstractRotation<T, D>>::identity(),

src/third_party/alga/alga_translation.rs

@@ -106,7 +106,7 @@ impl<T: RealField + simba::scalar::RealField, const D: usize> AffineTransformati
 
     #[inline]
     fn decompose(&self) -> (Self, Id, Id, Id) {
-        (self.clone(), Id::new(), Id::new(), Id::new())
+        (*self, Id::new(), Id::new(), Id::new())
     }
 
     #[inline]
@@ -121,22 +121,22 @@ impl<T: RealField + simba::scalar::RealField, const D: usize> AffineTransformati
 
     #[inline]
     fn append_rotation(&self, _: &Self::Rotation) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]
     fn prepend_rotation(&self, _: &Self::Rotation) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]
     fn append_scaling(&self, _: &Self::NonUniformScaling) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]
     fn prepend_scaling(&self, _: &Self::NonUniformScaling) -> Self {
-        self.clone()
+        *self
     }
 }
 
@@ -147,7 +147,7 @@ impl<T: RealField + simba::scalar::RealField, const D: usize> Similarity<Point<T
 
     #[inline]
     fn translation(&self) -> Self {
-        self.clone()
+        *self
     }
 
     #[inline]