Well, it also handles lifetimes, which is certainly a huge improvement in terms of safety, though it comes at, shall we say, syntactic cost: pub fn to_rigid_

Well, it also handles lifetimes, which is certainly a huge improvement in terms of safety, though it comes at, shall we say, syntactic cost: pub fn to_rigid_body_or_fail<'r>(&'r self) -> &'r RigidBody<N, LV, AV, M, II> {