Fix clippy and enable clippy on CI

src/dynamics/ccd/toi_entry.rs

@@ -169,13 +169,15 @@ impl TOIEntry {
 
 impl PartialOrd for TOIEntry {
     fn partial_cmp(&self, other: &Self) -> Option<std::cmp::Ordering> {
-        (-self.toi).partial_cmp(&(-other.toi))
+        Some(self.cmp(other))
     }
 }
 
 impl Ord for TOIEntry {
     fn cmp(&self, other: &Self) -> std::cmp::Ordering {
-        self.partial_cmp(other).unwrap()
+        (-self.toi)
+            .partial_cmp(&(-other.toi))
+            .unwrap_or(std::cmp::Ordering::Equal)
     }
 }