Fix clippy and enable clippy on CI

examples3d/all_examples3.rs

@@ -86,8 +86,8 @@ fn demo_name_from_url() -> Option<String> {
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
     let demo = demo_name_from_command_line()
-        .or_else(|| demo_name_from_url())
-        .unwrap_or(String::new())
+        .or_else(demo_name_from_url)
+        .unwrap_or_default()
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
@@ -157,7 +157,7 @@ pub fn main() {
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
-    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+    builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {
         (true, true) | (false, false) => a.0.cmp(b.0),
         (true, false) => Ordering::Greater,
         (false, true) => Ordering::Less,

examples3d/ccd3.rs

@@ -27,9 +27,9 @@ fn create_wall(
             colliders.insert_with_parent(collider, handle, bodies);
             k += 1;
             if k % 2 == 0 {
-                testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]);
+                testbed.set_initial_body_color(handle, [1., 131. / 255., 244.0 / 255.]);
             } else {
-                testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]);
+                testbed.set_initial_body_color(handle, [131. / 255., 1., 244.0 / 255.]);
             }
         }
     }

examples3d/joints3.rs

@@ -482,7 +482,7 @@ fn create_actuated_revolute_joints(
             } else if i == num - 1 {
                 let stiffness = 200.0;
                 let damping = 100.0;
-                joint = joint.motor_position(3.14 / 2.0, stiffness, damping);
+                joint = joint.motor_position(std::f32::consts::FRAC_PI_2, stiffness, damping);
             }
 
             if i == 1 {
@@ -541,7 +541,7 @@ fn create_actuated_spherical_joints(
         colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
-            let mut joint = joint_template.clone();
+            let mut joint = joint_template;
 
             if i == 1 {
                 joint = joint
@@ -554,7 +554,12 @@ fn create_actuated_spherical_joints(
                 joint = joint
                     .motor_position(JointAxis::AngX, 0.0, stiffness, damping)
                     .motor_position(JointAxis::AngY, 1.0, stiffness, damping)
-                    .motor_position(JointAxis::AngZ, 3.14 / 2.0, stiffness, damping);
+                    .motor_position(
+                        JointAxis::AngZ,
+                        std::f32::consts::FRAC_PI_2,
+                        stiffness,
+                        damping,
+                    );
             }
 
             if use_articulations {

examples3d/keva3.rs

@@ -7,9 +7,7 @@ pub fn build_block(
     colliders: &mut ColliderSet,
     half_extents: Vector<f32>,
     shift: Vector<f32>,
-    mut numx: usize,
-    numy: usize,
-    mut numz: usize,
+    (mut numx, numy, mut numz): (usize, usize, usize),
 ) {
     let dimensions = [half_extents.xyz(), half_extents.zyx()];
     let block_width = 2.0 * half_extents.z * numx as f32;
@@ -56,8 +54,8 @@ pub fn build_block(
     // Close the top.
     let dim = half_extents.zxy();
 
-    for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
-        for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
+    for i in 0..(block_width / (dim.x * 2.0)) as usize {
+        for j in 0..(block_width / (dim.z * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                 i as f32 * dim.x * 2.0 + dim.x + shift.x,
@@ -114,9 +112,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut colliders,
             half_extents,
             vector![-block_width / 2.0, block_height, -block_width / 2.0],
-            numx,
-            numy,
-            numz,
+            (numx, numy, numz),
         );
         block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
         num_blocks_built += numx * numy * numz;

examples3d/rope_joints3.rs

@@ -67,7 +67,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(0.15, 0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
 
-    testbed.set_initial_body_color(character_handle, [255. / 255., 131. / 255., 244.0 / 255.]);
+    testbed.set_initial_body_color(character_handle, [1., 131. / 255., 244.0 / 255.]);
 
     /*
      * Tethered Ball

examples3d/vehicle_controller3.rs

@@ -32,9 +32,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0);
     colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);
 
-    let mut tuning = WheelTuning::default();
-    tuning.suspension_stiffness = 100.0;
-    tuning.suspension_damping = 10.0;
+    let tuning = WheelTuning {
+        suspension_stiffness: 100.0,
+        suspension_damping: 10.0,
+        ..WheelTuning::default()
+    };
     let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
     let wheel_positions = [
         point![hw * 1.5, -hh, hw],