Merge branch 'dimforge:master' into fix-voxel-dim-calc

src/partitioning/qbvh/update.rs

@@ -377,7 +377,7 @@ impl<LeafData: IndexedData> Qbvh<LeafData> {
         workspace.to_sort.extend(0..workspace.orig_ids.len());
         let root_id = NodeIndex::new(0, 0);
 
-        let mut indices = std::mem::replace(&mut workspace.to_sort, vec![]);
+        let mut indices = std::mem::take(&mut workspace.to_sort);
         let (id, aabb) = self.do_recurse_rebalance(&mut indices, workspace, root_id, margin);
         workspace.to_sort = indices;
 

src/query/contact_manifolds/contact_manifold.rs

@@ -141,7 +141,7 @@ impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, Co
         #[cfg(feature = "dim2")]
         let points = self.points.clone();
         #[cfg(feature = "dim3")]
-        let points = std::mem::replace(&mut self.points, Vec::new());
+        let points = std::mem::take(&mut self.points);
         self.points.clear();
 
         ContactManifold {

src/query/contact_manifolds/contact_manifolds_composite_shape_composite_shape.rs

@@ -98,7 +98,7 @@ pub fn contact_manifolds_composite_shape_composite_shape<'a, ManifoldData, Conta
 
     // Traverse qbvh1 first.
     let ls_aabb2_1 = ls_aabb2.transform_by(&pos12).loosened(prediction);
-    let mut old_manifolds = std::mem::replace(manifolds, Vec::new());
+    let mut old_manifolds = std::mem::take(manifolds);
 
     let mut leaf_fn1 = |leaf1: &u32| {
         composite1.map_part_at(*leaf1, &mut |part_pos1, part_shape1| {

src/query/contact_manifolds/contact_manifolds_composite_shape_shape.rs

@@ -84,7 +84,7 @@ pub fn contact_manifolds_composite_shape_shape<ManifoldData, ContactData>(
 
     // Traverse qbvh1 first.
     let ls_aabb2_1 = shape2.compute_aabb(&pos12).loosened(prediction);
-    let mut old_manifolds = std::mem::replace(manifolds, Vec::new());
+    let mut old_manifolds = std::mem::take(manifolds);
 
     let mut leaf1_fn = |leaf1: &u32| {
         composite1.map_part_at(*leaf1, &mut |part_pos1, part_shape1| {

src/query/contact_manifolds/contact_manifolds_halfspace_pfm.rs

@@ -58,7 +58,7 @@ pub fn contact_manifold_halfspace_pfm<'a, ManifoldData, ContactData, S2>(
 
     // We do this clone to perform contact tracking and transfer impulses.
     // FIXME: find a more efficient way of doing this.
-    let old_manifold_points = std::mem::replace(&mut manifold.points, Default::default());
+    let old_manifold_points = std::mem::take(&mut manifold.points);
 
     for i in 0..feature2.num_vertices {
         let vtx2 = feature2.vertices[i];

src/query/contact_manifolds/contact_manifolds_heightfield_composite_shape.rs

@@ -91,7 +91,7 @@ pub fn contact_manifolds_heightfield_composite_shape<ManifoldData, ContactData>(
     let qbvh2 = composite2.qbvh();
     let mut stack2 = Vec::new();
     let ls_aabb2_1 = qbvh2.root_aabb().transform_by(pos12).loosened(prediction);
-    let mut old_manifolds = std::mem::replace(manifolds, Vec::new());
+    let mut old_manifolds = std::mem::take(manifolds);
 
     heightfield1.map_elements_in_local_aabb(&ls_aabb2_1, &mut |leaf1, part1| {
         #[cfg(feature = "dim2")]

src/query/contact_manifolds/contact_manifolds_heightfield_shape.rs

@@ -125,7 +125,7 @@ pub fn contact_manifolds_heightfield_shape<ManifoldData, ContactData>(
      */
     // TODO: somehow precompute the Aabb and reuse it?
     let ls_aabb2 = shape2.compute_aabb(pos12).loosened(prediction);
-    let mut old_manifolds = std::mem::replace(manifolds, Vec::new());
+    let mut old_manifolds = std::mem::take(manifolds);
 
     heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1| {
         #[cfg(feature = "dim2")]

src/query/epa/epa2.rs

@@ -346,7 +346,7 @@ impl EPA {
 
         let best_face = &self.faces[best_face_id.id];
         let cpts = best_face.closest_points(&self.vertices);
-        return Some((cpts.0, cpts.1, best_face.normal));
+        Some((cpts.0, cpts.1, best_face.normal))
     }
 }
 

src/query/epa/epa3.rs

@@ -418,7 +418,7 @@ impl EPA {
 
         let best_face = &self.faces[best_face_id.id];
         let points = best_face.closest_points(&self.vertices);
-        return Some((points.0, points.1, best_face.normal));
+        Some((points.0, points.1, best_face.normal))
     }
 
     fn compute_silhouette(&mut self, point: usize, id: usize, opp_pt_id: usize) {

src/query/gjk/voronoi_simplex2.rs

@@ -55,7 +55,7 @@ impl VoronoiSimplex {
 
         self.dim += 1;
         self.vertices[self.dim] = pt;
-        return true;
+        true
     }
 
     /// Retrieves the barycentric coordinate associated to the `i`-th by the last call to `project_origin_and_reduce`.

src/query/gjk/voronoi_simplex3.rs

@@ -82,7 +82,7 @@ impl VoronoiSimplex {
 
         self.dim += 1;
         self.vertices[self.dim] = pt;
-        return true;
+        true
     }
 
     /// Retrieves the barycentric coordinate associated to the `i`-th by the last call to `project_origin_and_reduce`.

src/query/point/point_cylinder.rs

@@ -45,11 +45,11 @@ impl PointQuery for Cylinder {
             if pt.y > self.half_height {
                 if planar_dist_from_basis_center <= self.radius {
                     let projection_on_top = Point::new(pt.coords.x, self.half_height, pt.coords.z);
-                    return PointProjection::new(false, projection_on_top);
+                    PointProjection::new(false, projection_on_top)
                 } else {
                     let projection_on_top_circle =
                         Point::new(proj2d[0], self.half_height, proj2d[1]);
-                    return PointProjection::new(false, projection_on_top_circle);
+                    PointProjection::new(false, projection_on_top_circle)
                 }
             } else if pt.y < -self.half_height {
                 // Project on the bottom plane or the bottom circle.

src/query/point/point_tetrahedron.rs

@@ -294,7 +294,7 @@ impl PointQueryWithLocation for Tetrahedron {
                     return Some((proj, TetrahedronPointLocation::OnFace(i as u32, bcoords)));
                 }
             }
-            return None;
+            None
         }
 
         // Face abc.
@@ -343,6 +343,6 @@ impl PointQueryWithLocation for Tetrahedron {
         }
 
         let proj = PointProjection::new(true, *pt);
-        return (proj, TetrahedronPointLocation::OnSolid);
+        (proj, TetrahedronPointLocation::OnSolid)
     }
 }

src/query/point/point_triangle.rs

@@ -139,7 +139,7 @@ impl PointQueryWithLocation for Triangle {
                     return ProjectionInfo::OnBC;
                 }
 
-                return ProjectionInfo::OnFace(0, va, vb, vc);
+                ProjectionInfo::OnFace(0, va, vb, vc)
             }
             #[cfg(feature = "dim3")]
             {
@@ -173,7 +173,7 @@ impl PointQueryWithLocation for Triangle {
 
                 let clockwise = if n.dot(ap) >= 0.0 { 0 } else { 1 };
 
-                return ProjectionInfo::OnFace(clockwise, va, vb, vc);
+                ProjectionInfo::OnFace(clockwise, va, vb, vc)
             }
         }
 

src/shape/polyline.rs

@@ -171,7 +171,7 @@ impl Polyline {
 
         if indices.len() == 0 {
             // Polyline is empty, return empty Vec
-            return Vec::new();
+            Vec::new()
         } else {
             let mut components = Vec::new();
 

src/shape/triangle.rs

@@ -511,11 +511,7 @@ impl Triangle {
         let c = vp.dot(&nb) * signed_clim.signum();
         let clim = signed_clim.abs();
 
-        return c >= 0.0
-            && c <= clim
-            && b >= 0.0
-            && b <= blim
-            && c * blim + b * clim <= blim * clim;
+        c >= 0.0 && c <= clim && b >= 0.0 && b <= blim && c * blim + b * clim <= blim * clim
     }
 
     /// The normal of the given feature of this shape.

src/shape/trimesh.rs

@@ -575,8 +575,8 @@ impl TriMesh {
                 .map(|idx| [idx[0] + base_id, idx[1] + base_id, idx[2] + base_id]),
         );
 
-        let vertices = std::mem::replace(&mut self.vertices, Vec::new());
-        let indices = std::mem::replace(&mut self.indices, Vec::new());
+        let vertices = std::mem::take(&mut self.vertices);
+        let indices = std::mem::take(&mut self.indices);
         *self = TriMesh::with_flags(vertices, indices, self.flags);
     }
 

src/transformation/convex_hull3/convex_hull.rs

@@ -250,7 +250,7 @@ fn fix_silhouette_topology(
         }
 
         let mut removing = None;
-        let old_facets_and_idx = std::mem::replace(out_facets_and_idx, Vec::new());
+        let old_facets_and_idx = std::mem::take(out_facets_and_idx);
 
         for i in 0..old_facets_and_idx.len() {
             let facet_id = (loop_start + i) % old_facets_and_idx.len();

src/utils/point_in_poly2d.rs

@@ -22,6 +22,6 @@ pub fn point_in_poly2d(pt: &Point2<Real>, poly: &[Point2<Real>]) -> bool {
             }
         }
 
-        return true;
+        true
     }
 }

src/utils/segments_intersection.rs

@@ -141,7 +141,7 @@ fn parallel_intersection(
         });
     }
 
-    return None;
+    None
 }
 
 // Checks that `c` is in-between `a` and `b`.