diff --git a/clovers-cli/Cargo.toml b/clovers-cli/Cargo.toml
index 0719b853..5145c748 100644
--- a/clovers-cli/Cargo.toml
+++ b/clovers-cli/Cargo.toml
@@ -24,25 +24,25 @@ clovers = { path = "../clovers", features = [
 
 # External
 blue-noise-sampler = "0.1.0"
-clap = { version = "4.5.16", features = ["std", "derive"] }
+clap = { version = "4.5.21", features = ["std", "derive"] }
 human_format = "1.1.0"
 humantime = "2.1.0"
-image = { version = "0.25.2", features = ["png"], default-features = false }
-img-parts = "0.3.0"
-indicatif = { version = "0.17.8", features = [
+image = { version = "0.25.5", features = ["png"], default-features = false }
+img-parts = "0.3.1"
+indicatif = { version = "0.17.9", features = [
   "rayon",
 ], default-features = false }
-nalgebra = { version = "0.33.0" }
+nalgebra = { version = "0.33.2" }
 palette = { version = "0.7.6", features = ["serializing"] }
 paste = { version = "1.0.15" }
 rand = { version = "0.8.5", features = ["small_rng"], default-features = false }
 rayon = "1.10.0"
-serde = { version = "1.0.209", features = ["derive"], default-features = false }
+serde = { version = "1.0.215", features = ["derive"], default-features = false }
 serde_json = { version = "1.0", features = ["alloc"], default-features = false }
 time = { version = "0.3.36", default-features = false }
 tracing = "0.1.40"
 tracing-subscriber = { version = "0.3.18", features = ["time"] }
 
 [dev-dependencies]
-divan = "0.1.14"
+divan = "0.1.16"
 proptest = "1"
diff --git a/clovers/Cargo.toml b/clovers/Cargo.toml
index 9b06ccf0..8daabecc 100644
--- a/clovers/Cargo.toml
+++ b/clovers/Cargo.toml
@@ -21,19 +21,19 @@ traces = ["tracing"]
 [dependencies]
 enum_dispatch = "0.3.13"
 gltf = { version = "1.4.1", optional = true }
-nalgebra = { version = "0.33.0" }
+nalgebra = { version = "0.33.2" }
 palette = { version = "0.7.6", features = ["serializing"] }
 ply-rs = { version = "0.1.3", optional = true }
 rand = { version = "0.8.5", features = ["small_rng"], default-features = false }
 rand_distr = { version = "0.4.3", features = ["std_math"] }
-serde = { version = "1.0.209", features = [
+serde = { version = "1.0.215", features = [
   "derive",
 ], default-features = false, optional = true }
-stl_io = { version = "0.7.0", optional = true }
+stl_io = { version = "0.8.3", optional = true }
 tracing = { version = "0.1.40", optional = true }
 
 [dev-dependencies]
-divan = "0.1.14"
+divan = "0.1.16"
 proptest = "1"
 
 [[bench]]
diff --git a/clovers/src/aabb.rs b/clovers/src/aabb.rs
index de249efa..a91871f0 100644
--- a/clovers/src/aabb.rs
+++ b/clovers/src/aabb.rs
@@ -122,12 +122,7 @@ impl AABB {
     // TODO: this api is kind of annoying
     #[must_use]
     pub fn axis(&self, n: usize) -> &Interval {
-        match n {
-            0 => &self.x,
-            1 => &self.y,
-            2 => &self.z,
-            _ => panic!("AABB::axis called with invalid parameter: {n:?}"),
-        }
+        [&self.x, &self.y, &self.z][n]
     }
 
     /// Distance of a `Ray` to the bounding box.
diff --git a/clovers/src/bvh/build/longest_axis_midpoint.rs b/clovers/src/bvh/build/longest_axis_midpoint.rs
index b3def0c8..f912a559 100644
--- a/clovers/src/bvh/build/longest_axis_midpoint.rs
+++ b/clovers/src/bvh/build/longest_axis_midpoint.rs
@@ -17,11 +17,7 @@ pub fn build(mut hitables: Vec<Hitable>) -> BVHNode {
     // What is the axis with the largest span?
     // TODO: horribly inefficient, improve!
     let bounding: AABB = vec_bounding_box(&hitables).expect("No bounding box for objects");
-    let spans = [
-        bounding.axis(0).size(),
-        bounding.axis(1).size(),
-        bounding.axis(2).size(),
-    ];
+    let spans = [bounding.x.size(), bounding.y.size(), bounding.z.size()];
     let largest = Float::max(Float::max(spans[0], spans[1]), spans[2]);
     #[allow(clippy::float_cmp)] // TODO: better code for picking the largest axis...
     let axis: usize = spans.iter().position(|&x| x == largest).unwrap();
diff --git a/clovers/src/hitable.rs b/clovers/src/hitable.rs
index 3e4b36d0..e876d578 100644
--- a/clovers/src/hitable.rs
+++ b/clovers/src/hitable.rs
@@ -138,9 +138,12 @@ pub struct HitableList<'scene> {
 
 impl<'scene> HitableList<'scene> {
     /// Creates a new [`HitableList`].
+    ///
+    /// # Panics
+    /// This method may panic if no finite bounding box can be created for the given `hitables`.
     #[must_use]
     pub fn new(hitables: Vec<Hitable<'scene>>) -> Self {
-        let aabb = vec_bounding_box(&hitables).unwrap();
+        let aabb = vec_bounding_box(&hitables).expect("No bounding box for hitables");
         Self { hitables, aabb }
     }
 
diff --git a/clovers/src/lib.rs b/clovers/src/lib.rs
index 6c6936e6..c0a6e222 100644
--- a/clovers/src/lib.rs
+++ b/clovers/src/lib.rs
@@ -60,8 +60,6 @@
 #![deny(missing_debug_implementations)]
 #![deny(missing_docs)]
 // TODO: temporarily allowing some in order to get a majority of clippy::pedantic enabled
-#![allow(clippy::many_single_char_names)] // Lots of places with coordinates etc
-#![allow(clippy::missing_panics_doc)] // TODO: remove panics where feasible later
 #![allow(clippy::module_name_repetitions)]
 // no_std required for gpu accelerated rendering
 #![cfg_attr(not(feature = "std"), no_std)]
diff --git a/clovers/src/materials/cone_light.rs b/clovers/src/materials/cone_light.rs
index e92a4c8f..0e7e8a7d 100644
--- a/clovers/src/materials/cone_light.rs
+++ b/clovers/src/materials/cone_light.rs
@@ -65,8 +65,8 @@ impl MaterialTrait for ConeLight {
             emit
         } else {
             // Make sure that the front face of the lamp is tinted, even outside the main lighting angle
-            let (r, g, b) = emit.into_components();
-            let scaling_factor = r.max(g).max(b);
+            let (red, green, blue) = emit.into_components();
+            let scaling_factor = red.max(green).max(blue);
             if scaling_factor > 1.0 {
                 emit / scaling_factor
             } else {
diff --git a/clovers/src/objects/gltf.rs b/clovers/src/objects/gltf.rs
index 69f65c35..59a099e0 100644
--- a/clovers/src/objects/gltf.rs
+++ b/clovers/src/objects/gltf.rs
@@ -67,9 +67,12 @@ pub struct GLTF<'scene> {
 impl<'scene> GLTF<'scene> {
     #[must_use]
     /// Create a new STL object with the given initialization parameters.
+    ///
+    /// # Panics
+    /// This method may panic if no finite bounding box can be created for the given `hitables`.
     pub fn new(gltf_init: GLTFInit) -> Self {
         let hitables: Vec<Hitable> = gltf_init.into();
-        let aabb = vec_bounding_box(&hitables).unwrap();
+        let aabb = vec_bounding_box(&hitables).expect("No bounding box for hitables");
 
         GLTF { hitables, aabb }
     }
@@ -200,6 +203,7 @@ pub struct GLTFTriangle<'scene> {
 
 impl<'scene> GLTFTriangle<'scene> {
     #[must_use]
+    #[allow(clippy::many_single_char_names)]
     /// Initialize a new GLTF object
     pub fn new(triangle: [Vec3; 3], material: &'scene GLTFMaterial<'scene>) -> Self {
         // TODO: mostly adapted from Triangle, verify correctness!
diff --git a/clovers/src/objects/ply.rs b/clovers/src/objects/ply.rs
index 124a7c14..fd28a0b3 100644
--- a/clovers/src/objects/ply.rs
+++ b/clovers/src/objects/ply.rs
@@ -49,6 +49,9 @@ pub struct PLYInit {
 
 #[must_use]
 /// Initializes a PLY
+///
+/// # Panics
+/// This method may panic if a shared material is referenced in the object description, but cannot be found in the materials list.
 pub fn initialize_ply<'scene>(
     ply_init: PLYInit,
     materials: &'scene [SharedMaterial],
@@ -105,7 +108,7 @@ pub fn initialize_ply<'scene>(
         hitables.push(Hitable::Triangle(triangle));
     }
     // TODO: remove unwrap
-    let aabb = vec_bounding_box(&hitables).unwrap();
+    let aabb = vec_bounding_box(&hitables).expect("No bounding box for hitables");
 
     PLY {
         hitables,
diff --git a/clovers/src/objects/quad.rs b/clovers/src/objects/quad.rs
index 8e86183d..8c22d8b7 100644
--- a/clovers/src/objects/quad.rs
+++ b/clovers/src/objects/quad.rs
@@ -57,6 +57,7 @@ pub struct Quad<'scene> {
 impl<'scene> Quad<'scene> {
     /// Creates a new quad
     #[must_use]
+    #[allow(clippy::many_single_char_names)]
     pub fn new(q: Position, u: Vec3, v: Vec3, material: &'scene Material) -> Quad<'scene> {
         let n: Vec3 = u.cross(&v);
         let normal = Unit::new_normalize(n);
diff --git a/clovers/src/objects/stl.rs b/clovers/src/objects/stl.rs
index 6e02c8fe..dbaba6e3 100644
--- a/clovers/src/objects/stl.rs
+++ b/clovers/src/objects/stl.rs
@@ -46,6 +46,9 @@ pub struct STLInit {
 
 #[must_use]
 /// Initializes an STL
+///
+/// # Panics
+/// This method may panic if the referenced .stl file cannot be opened or if it cannot be parsed.
 pub fn initialize_stl<'scene>(
     stl_init: STLInit,
     materials: &'scene [SharedMaterial],
diff --git a/clovers/src/objects/translate.rs b/clovers/src/objects/translate.rs
index 97da4fff..7092cd2c 100644
--- a/clovers/src/objects/translate.rs
+++ b/clovers/src/objects/translate.rs
@@ -34,6 +34,9 @@ pub struct Translate<'scene> {
 
 impl<'scene> Translate<'scene> {
     /// Creates a new `Translate` object. It wraps the given [Object] and has adjusted `hit()` and `bounding_box()` methods based on the `offset` given.
+    ///
+    /// # Panics
+    /// This method may panic if the given object does not have a valid `AABB`.
     #[must_use]
     pub fn new(object: Box<Hitable<'scene>>, offset: Vec3) -> Self {
         // TODO: time
diff --git a/clovers/src/objects/triangle.rs b/clovers/src/objects/triangle.rs
index 34ec14be..bbb5028a 100644
--- a/clovers/src/objects/triangle.rs
+++ b/clovers/src/objects/triangle.rs
@@ -57,6 +57,7 @@ pub struct Triangle<'scene> {
 impl<'scene> Triangle<'scene> {
     /// Creates a new triangle from a coordinate point and two side vectors relative to the point
     #[must_use]
+    #[allow(clippy::many_single_char_names)]
     pub fn new(q: Position, u: Vec3, v: Vec3, material: &'scene Material) -> Triangle<'scene> {
         let n: Vec3 = u.cross(&v);
         let normal: Direction = Unit::new_normalize(n);
@@ -101,6 +102,7 @@ impl<'scene> Triangle<'scene> {
 
     /// Creates a new triangle from three Cartesian space coordinates
     #[must_use]
+    #[allow(clippy::many_single_char_names)]
     pub fn from_coordinates(
         a: Vec3,
         b: Vec3,
diff --git a/clovers/src/wavelength.rs b/clovers/src/wavelength.rs
index 75cb1f56..dcbdcee1 100644
--- a/clovers/src/wavelength.rs
+++ b/clovers/src/wavelength.rs
@@ -31,6 +31,9 @@ pub fn random_wavelength(rng: &mut SmallRng) -> Wavelength {
 
 // TODO: clippy fixes possible?
 /// Given a sample seed from a sampler, return the approximate wavelenght.
+///
+/// # Panics
+/// This method may panic if the runtime asserts are triggered. This would indicate a bug in the implementation.
 #[must_use]
 #[allow(clippy::cast_possible_truncation)]
 #[allow(clippy::cast_sign_loss)]
diff --git a/deny.toml b/deny.toml
index 1b83df70..62aaff03 100644
--- a/deny.toml
+++ b/deny.toml
@@ -9,6 +9,11 @@
 # The values provided in this template are the default values that will be used
 # when any section or field is not specified in your own configuration
 
+# Root options
+
+# The graph table configures how the dependency graph is constructed and thus
+# which crates the checks are performed against
+[graph]
 # If 1 or more target triples (and optionally, target_features) are specified,
 # only the specified targets will be checked when running `cargo deny check`.
 # This means, if a particular package is only ever used as a target specific
@@ -20,46 +25,56 @@
 targets = [
     # The triple can be any string, but only the target triples built in to
     # rustc (as of 1.40) can be checked against actual config expressions
-    #{ triple = "x86_64-unknown-linux-musl" },
+    #"x86_64-unknown-linux-musl",
     # You can also specify which target_features you promise are enabled for a
     # particular target. target_features are currently not validated against
     # the actual valid features supported by the target architecture.
     #{ triple = "wasm32-unknown-unknown", features = ["atomics"] },
 ]
+# When creating the dependency graph used as the source of truth when checks are
+# executed, this field can be used to prune crates from the graph, removing them
+# from the view of cargo-deny. This is an extremely heavy hammer, as if a crate
+# is pruned from the graph, all of its dependencies will also be pruned unless
+# they are connected to another crate in the graph that hasn't been pruned,
+# so it should be used with care. The identifiers are [Package ID Specifications]
+# (https://doc.rust-lang.org/cargo/reference/pkgid-spec.html)
+#exclude = []
+# If true, metadata will be collected with `--all-features`. Note that this can't
+# be toggled off if true, if you want to conditionally enable `--all-features` it
+# is recommended to pass `--all-features` on the cmd line instead
+all-features = false
+# If true, metadata will be collected with `--no-default-features`. The same
+# caveat with `all-features` applies
+no-default-features = false
+# If set, these feature will be enabled when collecting metadata. If `--features`
+# is specified on the cmd line they will take precedence over this option.
+#features = []
+
+# The output table provides options for how/if diagnostics are outputted
+[output]
+# When outputting inclusion graphs in diagnostics that include features, this
+# option can be used to specify the depth at which feature edges will be added.
+# This option is included since the graphs can be quite large and the addition
+# of features from the crate(s) to all of the graph roots can be far too verbose.
+# This option can be overridden via `--feature-depth` on the cmd line
+feature-depth = 1
 
 # This section is considered when running `cargo deny check advisories`
 # More documentation for the advisories section can be found here:
 # https://embarkstudios.github.io/cargo-deny/checks/advisories/cfg.html
 [advisories]
-# The path where the advisory database is cloned/fetched into
-db-path = "~/.cargo/advisory-db"
+# The path where the advisory databases are cloned/fetched into
+#db-path = "$CARGO_HOME/advisory-dbs"
 # The url(s) of the advisory databases to use
-db-urls = ["https://github.com/rustsec/advisory-db"]
-# The lint level for security vulnerabilities
-vulnerability = "deny"
-# The lint level for unmaintained crates
-unmaintained = "warn"
-# The lint level for crates that have been yanked from their source registry
-yanked = "warn"
-# The lint level for crates with security notices. Note that as of
-# 2019-12-17 there are no security notice advisories in
-# https://github.com/rustsec/advisory-db
-notice = "warn"
+#db-urls = ["https://github.com/rustsec/advisory-db"]
 # A list of advisory IDs to ignore. Note that ignored advisories will still
 # output a note when they are encountered.
 ignore = [
     #"RUSTSEC-0000-0000",
+    #{ id = "RUSTSEC-0000-0000", reason = "you can specify a reason the advisory is ignored" },
+    #"a-crate-that-is-yanked@0.1.1", # you can also ignore yanked crate versions if you wish
+    #{ crate = "a-crate-that-is-yanked@0.1.1", reason = "you can specify why you are ignoring the yanked crate" },
 ]
-# Threshold for security vulnerabilities, any vulnerability with a CVSS score
-# lower than the range specified will be ignored. Note that ignored advisories
-# will still output a note when they are encountered.
-# * None - CVSS Score 0.0
-# * Low - CVSS Score 0.1 - 3.9
-# * Medium - CVSS Score 4.0 - 6.9
-# * High - CVSS Score 7.0 - 8.9
-# * Critical - CVSS Score 9.0 - 10.0
-#severity-threshold =
-
 # If this is true, then cargo deny will use the git executable to fetch advisory database.
 # If this is false, then it uses a built-in git library.
 # Setting this to true can be helpful if you have special authentication requirements that cargo-deny does not support.
@@ -70,41 +85,14 @@ ignore = [
 # More documentation for the licenses section can be found here:
 # https://embarkstudios.github.io/cargo-deny/checks/licenses/cfg.html
 [licenses]
-# The lint level for crates which do not have a detectable license
-unlicensed = "deny"
 # List of explicitly allowed licenses
 # See https://spdx.org/licenses/ for list of possible licenses
 # [possible values: any SPDX 3.11 short identifier (+ optional exception)].
 allow = [
-    "Apache-2.0",
-    "BSD-2-Clause",
-    "BSD-3-Clause",
-    "CC0-1.0",
-    "ISC",
     "MIT",
-    "Unicode-DFS-2016",
-    "Zlib",
-]
-# List of explicitly disallowed licenses
-# See https://spdx.org/licenses/ for list of possible licenses
-# [possible values: any SPDX 3.11 short identifier (+ optional exception)].
-deny = [
-    #"Nokia",
+    "Apache-2.0",
+    #"Apache-2.0 WITH LLVM-exception",
 ]
-# Lint level for licenses considered copyleft
-copyleft = "deny"
-# Blanket approval or denial for OSI-approved or FSF Free/Libre licenses
-# * both - The license will be approved if it is both OSI-approved *AND* FSF
-# * either - The license will be approved if it is either OSI-approved *OR* FSF
-# * osi-only - The license will be approved if is OSI-approved *AND NOT* FSF
-# * fsf-only - The license will be approved if is FSF *AND NOT* OSI-approved
-# * neither - This predicate is ignored and the default lint level is used
-allow-osi-fsf-free = "neither"
-# Lint level used when no other predicates are matched
-# 1. License isn't in the allow or deny lists
-# 2. License isn't copyleft
-# 3. License isn't OSI/FSF, or allow-osi-fsf-free = "neither"
-default = "deny"
 # The confidence threshold for detecting a license from license text.
 # The higher the value, the more closely the license text must be to the
 # canonical license text of a valid SPDX license file.
@@ -115,17 +103,16 @@ confidence-threshold = 0.8
 exceptions = [
     # Each entry is the crate and version constraint, and its specific allow
     # list
-    #{ allow = ["Zlib"], name = "adler32", version = "*" },
+    #{ allow = ["Zlib"], crate = "adler32" },
+    { allow = ["Unicode-3.0"], crate = "unicode-ident" },
 ]
 
 # Some crates don't have (easily) machine readable licensing information,
 # adding a clarification entry for it allows you to manually specify the
 # licensing information
 #[[licenses.clarify]]
-# The name of the crate the clarification applies to
-#name = "ring"
-# The optional version constraint for the crate
-#version = "*"
+# The package spec the clarification applies to
+#crate = "ring"
 # The SPDX expression for the license requirements of the crate
 #expression = "MIT AND ISC AND OpenSSL"
 # One or more files in the crate's source used as the "source of truth" for
@@ -134,8 +121,8 @@ exceptions = [
 # and the crate will be checked normally, which may produce warnings or errors
 # depending on the rest of your configuration
 #license-files = [
-    # Each entry is a crate relative path, and the (opaque) hash of its contents
-    #{ path = "LICENSE", hash = 0xbd0eed23 }
+# Each entry is a crate relative path, and the (opaque) hash of its contents
+#{ path = "LICENSE", hash = 0xbd0eed23 }
 #]
 
 [licenses.private]
@@ -165,30 +152,63 @@ wildcards = "allow"
 # * simplest-path - The path to the version with the fewest edges is highlighted
 # * all - Both lowest-version and simplest-path are used
 highlight = "all"
+# The default lint level for `default` features for crates that are members of
+# the workspace that is being checked. This can be overridden by allowing/denying
+# `default` on a crate-by-crate basis if desired.
+workspace-default-features = "allow"
+# The default lint level for `default` features for external crates that are not
+# members of the workspace. This can be overridden by allowing/denying `default`
+# on a crate-by-crate basis if desired.
+external-default-features = "allow"
 # List of crates that are allowed. Use with care!
 allow = [
-    #{ name = "ansi_term", version = "=0.11.0" },
+    #"ansi_term@0.11.0",
+    #{ crate = "ansi_term@0.11.0", reason = "you can specify a reason it is allowed" },
 ]
 # List of crates to deny
 deny = [
-    # Each entry the name of a crate and a version range. If version is
-    # not specified, all versions will be matched.
-    #{ name = "ansi_term", version = "=0.11.0" },
-    #
+    #"ansi_term@0.11.0",
+    #{ crate = "ansi_term@0.11.0", reason = "you can specify a reason it is banned" },
     # Wrapper crates can optionally be specified to allow the crate when it
     # is a direct dependency of the otherwise banned crate
-    #{ name = "ansi_term", version = "=0.11.0", wrappers = [] },
+    #{ crate = "ansi_term@0.11.0", wrappers = ["this-crate-directly-depends-on-ansi_term"] },
 ]
+
+# List of features to allow/deny
+# Each entry the name of a crate and a version range. If version is
+# not specified, all versions will be matched.
+#[[bans.features]]
+#crate = "reqwest"
+# Features to not allow
+#deny = ["json"]
+# Features to allow
+#allow = [
+#    "rustls",
+#    "__rustls",
+#    "__tls",
+#    "hyper-rustls",
+#    "rustls",
+#    "rustls-pemfile",
+#    "rustls-tls-webpki-roots",
+#    "tokio-rustls",
+#    "webpki-roots",
+#]
+# If true, the allowed features must exactly match the enabled feature set. If
+# this is set there is no point setting `deny`
+#exact = true
+
 # Certain crates/versions that will be skipped when doing duplicate detection.
 skip = [
-    #{ name = "ansi_term", version = "=0.11.0" },
+    #"ansi_term@0.11.0",
+    #{ crate = "ansi_term@0.11.0", reason = "you can specify a reason why it can't be updated/removed" },
 ]
 # Similarly to `skip` allows you to skip certain crates during duplicate
 # detection. Unlike skip, it also includes the entire tree of transitive
 # dependencies starting at the specified crate, up to a certain depth, which is
-# by default infinite
+# by default infinite.
 skip-tree = [
-    #{ name = "ansi_term", version = "=0.11.0", depth = 20 },
+    #"ansi_term@0.11.0", # will be skipped along with _all_ of its direct and transitive dependencies
+    #{ crate = "ansi_term@0.11.0", depth = 20 },
 ]
 
 # This section is considered when running `cargo deny check sources`.
@@ -208,9 +228,9 @@ allow-registry = ["https://github.com/rust-lang/crates.io-index"]
 allow-git = []
 
 [sources.allow-org]
-# 1 or more github.com organizations to allow git sources for
-github = ["EmbarkStudios", "hmeyer"]
-# 1 or more gitlab.com organizations to allow git sources for
-# gitlab = [""]
-# 1 or more bitbucket.org organizations to allow git sources for
-# bitbucket = [""]
+# github.com organizations to allow git sources for
+github = []
+# gitlab.com organizations to allow git sources for
+gitlab = []
+# bitbucket.org organizations to allow git sources for
+bitbucket = []