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

Author: robtfm

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`.