ci: cargo doc step (#671)

src/dynamics/integration_parameters.rs

@@ -2,6 +2,9 @@ use crate::math::Real;
 use na::RealField;
 use std::num::NonZeroUsize;
 
+#[cfg(doc)]
+use super::RigidBodyActivation;
+
 // TODO: enabling the block solver in 3d introduces a lot of jitters in
 //       the 3D domino demo. So for now we dont enable it in 3D.
 pub(crate) static BLOCK_SOLVER_ENABLED: bool = cfg!(feature = "dim2");
@@ -66,7 +69,7 @@ pub struct IntegrationParameters {
     /// This value is used internally to estimate some length-based tolerance. In particular, the
     /// values [`IntegrationParameters::allowed_linear_error`],
     /// [`IntegrationParameters::max_corrective_velocity`],
-    /// [`IntegrationParameters::prediction_distance`], [`RigidBodyActivation::linear_threshold`]
+    /// [`IntegrationParameters::prediction_distance`], [`RigidBodyActivation::normalized_linear_threshold`]
     /// are scaled by this value implicitly.
     ///
     /// This value can be understood as the number of units-per-meter in your physical world compared

src/dynamics/joint/multibody_joint/multibody.rs

@@ -13,6 +13,9 @@ use na::{
     StorageMut, LU,
 };
 
+#[cfg(doc)]
+use crate::prelude::{GenericJoint, RigidBody};
+
 #[repr(C)]
 #[derive(Copy, Clone, Debug, Default)]
 struct Force {
@@ -861,8 +864,7 @@ impl Multibody {
     /// Apply displacements, in generalized coordinates, to this multibody.
     ///
     /// Note this does **not** updates the link poses, only their generalized coordinates.
-    /// To update the link poses and associated rigid-bodies, call [`Self::forward_kinematics`]
-    /// or [`Self::finalize`].
+    /// To update the link poses and associated rigid-bodies, call [`Self::forward_kinematics`].
     pub fn apply_displacements(&mut self, disp: &[Real]) {
         for link in self.links.iter_mut() {
             link.joint.apply_displacement(&disp[link.assembly_id..])

src/dynamics/rigid_body.rs

@@ -10,6 +10,9 @@ use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
 use crate::utils::SimdCross;
 use num::Zero;
 
+#[cfg(doc)]
+use super::IntegrationParameters;
+
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// A rigid body.
 ///

src/dynamics/rigid_body_components.rs

@@ -10,6 +10,9 @@ use crate::parry::partitioning::IndexedData;
 use crate::utils::{SimdAngularInertia, SimdCross, SimdDot};
 use num::Zero;
 
+#[cfg(doc)]
+use super::IntegrationParameters;
+
 /// The unique handle of a rigid body added to a `RigidBodySet`.
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash, Default)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]

src/geometry/collider.rs

@@ -622,8 +622,9 @@ impl ColliderBuilder {
 
     /// Initialize a new collider builder with a capsule defined from its endpoints.
     ///
-    /// See also [`ColliderBuilder::capsule_x`], [`ColliderBuilder::capsule_y`], and
-    /// [`ColliderBuilder::capsule_z`], for a simpler way to build capsules with common
+    /// See also [`ColliderBuilder::capsule_x`], [`ColliderBuilder::capsule_y`],
+    /// (and `ColliderBuilder::capsule_z` in 3D only)
+    /// for a simpler way to build capsules with common
     /// orientations.
     pub fn capsule_from_endpoints(a: Point<Real>, b: Point<Real>, radius: Real) -> Self {
         Self::new(SharedShape::capsule(a, b, radius))

src/geometry/contact_pair.rs

@@ -7,6 +7,9 @@ use parry::query::ContactManifoldsWorkspace;
 
 use super::CollisionEvent;
 
+#[cfg(doc)]
+use super::Collider;
+
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     #[derive(Copy, Clone, PartialEq, Eq, Debug)]

src/geometry/narrow_phase.rs

@@ -108,7 +108,7 @@ impl NarrowPhase {
 
     /// All the contacts involving the given collider.
     ///
-    /// It is strongly recommended to use the [`NarrowPhase::contacts_with`] method instead. This
+    /// It is strongly recommended to use the [`NarrowPhase::contact_pairs_with`] method instead. This
     /// method can be used if the generation number of the collider handle isn't known.
     pub fn contact_pairs_with_unknown_gen(
         &self,
@@ -141,7 +141,7 @@ impl NarrowPhase {
 
     /// All the intersection pairs involving the given collider.
     ///
-    /// It is strongly recommended to use the [`NarrowPhase::intersections_with`]  method instead.
+    /// It is strongly recommended to use the [`NarrowPhase::intersection_pairs_with`]  method instead.
     /// This method can be used if the generation number of the collider handle isn't known.
     pub fn intersection_pairs_with_unknown_gen(
         &self,

src/pipeline/query_pipeline/generators.rs

@@ -7,8 +7,9 @@ use crate::prelude::{Aabb, ColliderHandle, ColliderSet, RigidBodySet};
 
 #[cfg(doc)]
 use crate::{
-    dynamics::{IntegrationParameters, RigidBodyPosition},
+    dynamics::{IntegrationParameters, RigidBody, RigidBodyPosition},
     pipeline::QueryPipeline,
+    prelude::Collider,
 };
 
 /// Generates collider AABBs based on the union of their current AABB and the AABB predicted
@@ -26,7 +27,7 @@ pub struct SweptAabbWithPredictedPosition<'a> {
     pub colliders: &'a ColliderSet,
     /// The delta time to compute predicted position.
     ///
-    /// You probably want to set it to [`IntegrationParameter::dt`].
+    /// You probably want to set it to [`IntegrationParameters::dt`].
     pub dt: Real,
 }
 impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithPredictedPosition<'a> {