Address a few TODOs

src/bounding_volume/bounding_sphere_convex.rs

@@ -14,8 +14,6 @@ impl ConvexPolyhedron {
     /// Computes the local-space bounding sphere of this convex polyhedron.
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(self.points());
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(self.points())
     }
 }

src/bounding_volume/bounding_sphere_convex_polygon.rs

@@ -14,8 +14,6 @@ impl ConvexPolygon {
     /// Computes the local-space bounding sphere of this convex polygon.
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(self.points());
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(self.points())
     }
 }

src/bounding_volume/bounding_sphere_segment.rs

@@ -15,8 +15,6 @@ impl Segment {
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
         let pts = [self.a, self.b];
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(&pts[..]);
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(&pts[..])
     }
 }

src/bounding_volume/bounding_sphere_triangle.rs

@@ -15,8 +15,6 @@ impl Triangle {
     #[inline]
     pub fn local_bounding_sphere(&self) -> BoundingSphere {
         let pts = [self.a, self.b, self.c];
-        let (center, radius) = bounding_volume::details::point_cloud_bounding_sphere(&pts[..]);
-
-        BoundingSphere::new(center, radius)
+        bounding_volume::details::point_cloud_bounding_sphere(&pts[..])
     }
 }

src/bounding_volume/bounding_sphere_utils.rs

@@ -2,13 +2,14 @@ use crate::math::{Point, Real};
 use crate::utils;
 use na::{self, ComplexField};
 
+use super::BoundingSphere;
+
 /// Computes the bounding sphere of a set of point, given its center.
-// TODO: return a bounding sphere?
 #[inline]
 pub fn point_cloud_bounding_sphere_with_center(
     pts: &[Point<Real>],
     center: Point<Real>,
-) -> (Point<Real>, Real) {
+) -> BoundingSphere {
     let mut sqradius = 0.0;
 
     for pt in pts.iter() {
@@ -18,13 +19,11 @@ pub fn point_cloud_bounding_sphere_with_center(
             sqradius = distance_squared
         }
     }
-
-    (center, ComplexField::sqrt(sqradius))
+    BoundingSphere::new(center, ComplexField::sqrt(sqradius))
 }
 
 /// Computes a bounding sphere of the specified set of point.
-// TODO: return a bounding sphere?
 #[inline]
-pub fn point_cloud_bounding_sphere(pts: &[Point<Real>]) -> (Point<Real>, Real) {
+pub fn point_cloud_bounding_sphere(pts: &[Point<Real>]) -> BoundingSphere {
     point_cloud_bounding_sphere_with_center(pts, utils::center(pts))
 }

src/lib.rs

@@ -11,7 +11,7 @@ the rust programming language.
 #![deny(unused_parens)]
 #![deny(non_upper_case_globals)]
 #![deny(unused_results)]
-#![warn(missing_docs)] // TODO: deny this
+#![deny(missing_docs)]
 #![warn(unused_imports)]
 #![allow(missing_copy_implementations)]
 #![allow(clippy::too_many_arguments)] // Maybe revisit this one later.
@@ -20,7 +20,7 @@ the rust programming language.
 #![allow(clippy::type_complexity)] // Complains about closures that are fairly simple.
 #![doc(html_root_url = "http://docs.rs/parry/0.1.1")]
 #![cfg_attr(not(feature = "std"), no_std)]
-#![cfg_attr(not(feature = "rkyv"), deny(unused_qualifications))] // TODO: deny that everytime
+#![deny(unused_qualifications)] // TODO: deny that everytime
 
 #[cfg(all(
     feature = "simd-is-enabled",

src/mass_properties/mass_properties_convex_polygon.rs

@@ -1,5 +1,3 @@
-#![allow(dead_code)] // TODO: remove this
-
 use crate::mass_properties::MassProperties;
 use crate::math::{Point, Real};
 use crate::shape::Triangle;

src/query/closest_points/closest_points_line_line.rs

@@ -71,7 +71,7 @@ pub fn closest_points_line_line_parameters_eps<const D: usize>(
     }
 }
 
-// TODO: can we re-used this for the segment/segment case?
+// TODO: can we re-use this for the segment/segment case?
 /// Closest points between two segments.
 #[inline]
 pub fn closest_points_line_line(

src/query/epa/epa3.rs

@@ -375,6 +375,8 @@ impl EPA {
                     let new_face_id = self.faces.len();
                     let new_face;
 
+                    // TODO: Thierry: We can probably remove that scope now, but I prefer to discuss it first.
+                    //                I assume NLL is for Non Lexical Lifetimes.
                     // TODO: NLL
                     {
                         let face_adj = &mut self.faces[edge.face_id];

src/query/ray/ray.rs

@@ -79,7 +79,7 @@ pub struct RayIntersection {
     /// Otherwise, the normal points outward.
     ///
     /// If the `time_of_impact` is exactly zero, the normal might not be reliable.
-    // TODO: use a Unit<Vector> instead.
+    // TODO: use a Unit<Vector> instead. // TODO: Thierry: should we use Unit for [`Ray::dir`] too ?
     pub normal: Vector<Real>,
 
     /// Feature at the intersection point.

src/transformation/vhacd/vhacd.rs

@@ -164,32 +164,6 @@ impl VHACD {
         }
     }
 
-    // TODO: this should be a method of VoxelSet.
-    fn compute_axes_aligned_clipping_planes(
-        vset: &VoxelSet,
-        downsampling: u32,
-        planes: &mut Vec<CutPlane>,
-    ) {
-        let min_v = vset.min_bb_voxels();
-        let max_v = vset.max_bb_voxels();
-
-        for dim in 0..DIM {
-            let i0 = min_v[dim];
-            let i1 = max_v[dim];
-
-            for i in (i0..=i1).step_by(downsampling as usize) {
-                let plane = CutPlane {
-                    abc: Vector::ith(dim, 1.0),
-                    axis: dim as u8,
-                    d: -(vset.origin[dim] + (i as Real + 0.5) * vset.scale),
-                    index: i,
-                };
-
-                planes.push(plane);
-            }
-        }
-    }
-
     fn refine_axes_aligned_clipping_planes(
         vset: &VoxelSet,
         best_plane: &CutPlane,
@@ -328,11 +302,7 @@ impl VHACD {
                 Self::compute_preferred_cutting_direction(&eigenvalues);
 
             let mut planes = Vec::new();
-            Self::compute_axes_aligned_clipping_planes(
-                &voxels,
-                params.plane_downsampling,
-                &mut planes,
-            );
+            voxels.compute_axes_aligned_clipping_planes(params.plane_downsampling, &mut planes);
 
             let (mut best_plane, mut min_concavity) = self.compute_best_clipping_plane(
                 &voxels,

src/transformation/voxelization/voxel_set.rs

@@ -617,6 +617,31 @@ impl VoxelSet {
 
         cov_mat.symmetric_eigenvalues()
     }
+
+    pub(crate) fn compute_axes_aligned_clipping_planes(
+        &self,
+        downsampling: u32,
+        planes: &mut Vec<CutPlane>,
+    ) {
+        let min_v = self.min_bb_voxels();
+        let max_v = self.max_bb_voxels();
+
+        for dim in 0..DIM {
+            let i0 = min_v[dim];
+            let i1 = max_v[dim];
+
+            for i in (i0..=i1).step_by(downsampling as usize) {
+                let plane = CutPlane {
+                    abc: Vector::ith(dim, 1.0),
+                    axis: dim as u8,
+                    d: -(self.origin[dim] + (i as Real + 0.5) * self.scale),
+                    index: i,
+                };
+
+                planes.push(plane);
+            }
+        }
+    }
 }
 
 #[cfg(feature = "dim2")]

src/utils/sdp_matrix.rs

@@ -3,15 +3,16 @@ use na::{Matrix2, Matrix3, Matrix3x2, SimdRealField, Vector2, Vector3};
 use std::ops::{Add, Mul};
 
 #[cfg(feature = "rkyv")]
-use rkyv::{bytecheck, CheckBytes};
+#[cfg(feature = "rkyv")]
+use rkyv::{bytecheck, Archive, CheckBytes};
 
 /// A 2x2 symmetric-definite-positive matrix.
 #[derive(Copy, Clone, Debug, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
-    archive(as = "Self", bound(archive = "N: rkyv::Archive<Archived = N>"))
+    archive(as = "Self", bound(archive = "N: Archive<Archived = N>"))
 )]
 pub struct SdpMatrix2<N> {
     /// The component at the first row and first column of this matrix.
@@ -122,7 +123,7 @@ impl Mul<Real> for SdpMatrix2<Real> {
 #[cfg_attr(
     feature = "rkyv",
     derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
-    archive(as = "Self", bound(archive = "N: rkyv::Archive<Archived = N>"))
+    archive(as = "Self", bound(archive = "N: Archive<Archived = N>"))
 )]
 pub struct SdpMatrix3<N> {
     /// The component at the first row and first column of this matrix.