chore: add more comments

41 files changed, 897 insertions, 202 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9a60209..eb6a330 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,9 +2,9 @@
 
 This release introduces two new crates:
 
-- `rapier-urdf` for loading URDF files into rapier3d. This will load the rigid-bodies,
+- `rapier3d-urdf` for loading URDF files into rapier3d. This will load the rigid-bodies,
   colliders, and joints.
-- `rapier-stl` for loading an STL file as a collision shape.
+- `rapier3d-stl` for loading an STL file as a collision shape.
 
 ### Added
 
diff --git a/Cargo.toml b/Cargo.toml
index f176685..971dff9 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [workspace]
 members = ["crates/rapier2d", "crates/rapier2d-f64", "crates/rapier_testbed2d", "crates/rapier_testbed2d-f64", "examples2d", "benchmarks2d",
-    "crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d", "crates/rapier-urdf", "crates/rapier-stl"]
+    "crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d", "crates/rapier3d-urdf", "crates/rapier3d-stl"]
 resolver = "2"
 
 [patch.crates-io]
diff --git a/README.md b/README.md
index 1174a1c..017cf56 100644
--- a/README.md
+++ b/README.md
@@ -40,12 +40,6 @@ are `rapier2d`, `rapier3d`, `rapier2d-f64`, and `rapier3d-f64`. They are written
 programming language, by the [Dimforge](https://dimforge.com) organization. It is forever free
 and open-source!
 
-## Roadmap
-
-We update our roadmap at the beginning of each year. Our 2021 roadmap can be seen
-[there](https://www.dimforge.com/blog/2021/01/01/physics-simulation-with-rapier-2021-roadmap/#rapier-roadmap-for-2021).
-We regularly give updates about our progress on [our blog](https://www.dimforge.com/blog).
-
 ## Getting started
 
 The easiest way to get started with Rapier is to:
diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
index bbab4d9..0d64704 100644
--- a/benchmarks2d/Cargo.toml
+++ b/benchmarks2d/Cargo.toml
@@ -1,19 +1,19 @@
 [package]
-name    = "rapier-benchmarks-2d"
+name = "rapier-benchmarks-2d"
 version = "0.1.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 edition = "2021"
 
 [features]
-parallel = [ "rapier2d/parallel", "rapier_testbed2d/parallel" ]
-simd-stable = [ "rapier2d/simd-stable" ]
-simd-nightly = [ "rapier2d/simd-nightly" ]
-other-backends = [ "rapier_testbed2d/other-backends" ]
-enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
+parallel = ["rapier2d/parallel", "rapier_testbed2d/parallel"]
+simd-stable = ["rapier2d/simd-stable"]
+simd-nightly = ["rapier2d/simd-nightly"]
+other-backends = ["rapier_testbed2d/other-backends"]
+enhanced-determinism = ["rapier2d/enhanced-determinism"]
 
 [dependencies]
-rand       = "0.8"
-Inflector  = "0.11"
+rand = "0.8"
+Inflector = "0.11"
 
 [dependencies.rapier_testbed2d]
 path = "../crates/rapier_testbed2d"
diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml
index 76d1911..f264543 100644
--- a/benchmarks3d/Cargo.toml
+++ b/benchmarks3d/Cargo.toml
@@ -1,19 +1,19 @@
 [package]
-name    = "rapier-benchmarks-3d"
+name = "rapier-benchmarks-3d"
 version = "0.1.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 edition = "2021"
 
 [features]
-parallel = [ "rapier3d/parallel", "rapier_testbed3d/parallel" ]
-simd-stable = [ "rapier3d/simd-stable" ]
-simd-nightly = [ "rapier3d/simd-nightly" ]
-other-backends = [ "rapier_testbed3d/other-backends" ]
-enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
+parallel = ["rapier3d/parallel", "rapier_testbed3d/parallel"]
+simd-stable = ["rapier3d/simd-stable"]
+simd-nightly = ["rapier3d/simd-nightly"]
+other-backends = ["rapier_testbed3d/other-backends"]
+enhanced-determinism = ["rapier3d/enhanced-determinism"]
 
 [dependencies]
-rand       = "0.8"
-Inflector  = "0.11"
+rand = "0.8"
+Inflector = "0.11"
 
 [dependencies.rapier_testbed3d]
 path = "../crates/rapier_testbed3d"
diff --git a/crates/rapier-stl/Cargo.toml b/crates/rapier-stl/Cargo.toml
deleted file mode 100644
index f533170..0000000
--- a/crates/rapier-stl/Cargo.toml
+++ /dev/null
@@ -1,10 +0,0 @@
-[package]
-name = "rapier-stl"
-version = "0.1.0"
-edition = "2021"
-
-[dependencies]
-thiserror = "1.0.61"
-stl_io = "0.7"
-
-rapier3d = { versions = "0.19", path = "../rapier3d" }
diff --git a/crates/rapier-stl/src/lib.rs b/crates/rapier-stl/src/lib.rs
deleted file mode 100644
index 87fafec..0000000
--- a/crates/rapier-stl/src/lib.rs
+++ /dev/null
@@ -1,72 +0,0 @@
-use rapier3d::geometry::{
-    Collider, ColliderBuilder, Cuboid, MeshConverter, MeshConverterError, SharedShape, TriMesh,
-};
-use rapier3d::math::{Isometry, Point, Real, Vector};
-use rapier3d::parry::bounding_volume;
-use std::fs::File;
-use std::io::{BufReader, Read, Seek};
-use std::path::Path;
-use stl_io::IndexedMesh;
-
-#[derive(thiserror::Error, Debug)]
-pub enum StlLoaderError {
-    #[error(transparent)]
-    MeshConverter(#[from] MeshConverterError),
-    #[error(transparent)]
-    Io(#[from] std::io::Error),
-}
-
-/// The result of loading a shape from an stl mesh.
-pub struct StlShape {
-    /// The shape loaded from the file and converted by the [`MeshConverter`].
-    pub shape: SharedShape,
-    /// The shape’s pose.
-    pub pose: Isometry<Real>,
-    /// The raw mesh read from the stl file.
-    pub raw_mesh: IndexedMesh,
-}
-
-pub fn load_from_path(
-    file_path: impl AsRef<Path>,
-    converter: MeshConverter,
-    scale: Vector<Real>,
-) -> Result<StlShape, StlLoaderError> {
-    let mut reader = BufReader::new(File::open(file_path)?);
-    load_from_reader(&mut reader, converter, scale)
-}
-
-pub fn load_from_reader<R: Read + Seek>(
-    read: &mut R,
-    converter: MeshConverter,
-    scale: Vector<Real>,
-) -> Result<StlShape, StlLoaderError> {
-    let stl_mesh = stl_io::read_stl(read)?;
-    Ok(load_from_raw_mesh(stl_mesh, converter, scale)?)
-}
-
-pub fn load_from_raw_mesh(
-    raw_mesh: IndexedMesh,
-    converter: MeshConverter,
-    scale: Vector<Real>,
-) -> Result<StlShape, MeshConverterError> {
-    let mut vertices: Vec<_> = raw_mesh
-        .vertices
-        .iter()
-        .map(|xyz| Point::new(xyz[0] as Real, xyz[1] as Real, xyz[2] as Real))
-        .collect();
-    vertices
-        .iter_mut()
-        .for_each(|pt| pt.coords.component_mul_assign(&scale));
-    let indices: Vec<_> = raw_mesh
-        .faces
-        .iter()
-        .map(|f| f.vertices.map(|i| i as u32))
-        .collect();
-    let (shape, pose) = converter.convert(vertices, indices)?;
-
-    Ok(StlShape {
-        shape,
-        pose,
-        raw_mesh,
-    })
-}
diff --git a/crates/rapier-urdf/Cargo.toml b/crates/rapier-urdf/Cargo.toml
deleted file mode 100644
index 6837950..0000000
--- a/crates/rapier-urdf/Cargo.toml
+++ /dev/null
@@ -1,17 +0,0 @@
-[package]
-name = "rapier-urdf"
-version = "0.1.0"
-edition = "2021"
-
-[features]
-stl = ["rapier-stl"]
-
-[dependencies]
-log = "0.4"
-anyhow = "1"
-bitflags = "2"
-# NOTE: we are not using the (more recent) urdf-rs crate because of https://github.com/openrr/urdf-rs/issues/94
-xurdf = "0.2"
-
-rapier3d = { versions = "0.19", path = "../rapier3d" }
-rapier-stl = { version = "0.1.0", path = "../rapier-stl", optional = true }
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index 79046bb..059f52d 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -1,7 +1,7 @@
 [package]
 name = "rapier2d-f64"
 version = "0.19.0"
-authors = ["Sébastien Crozet <developer@crozet.re>"]
+authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
 homepage = "https://rapier.rs"
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index f0474c8..d270c9d 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -1,7 +1,7 @@
 [package]
 name = "rapier2d"
 version = "0.19.0"
-authors = ["Sébastien Crozet <developer@crozet.re>"]
+authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
 homepage = "https://rapier.rs"
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index 95f0d66..98a87a9 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -1,7 +1,7 @@
 [package]
 name = "rapier3d-f64"
 version = "0.19.0"
-authors = ["Sébastien Crozet <developer@crozet.re>"]
+authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
 homepage = "https://rapier.rs"
diff --git a/crates/rapier3d-stl/CHANGELOG.md b/crates/rapier3d-stl/CHANGELOG.md
new file mode 100644
index 0000000..bb3ffa3
--- /dev/null
+++ b/crates/rapier3d-stl/CHANGELOG.md
@@ -0,0 +1,9 @@
+## Unreleased
+
+This is the initial release of the `rapier3d-stl` crate.
+
+### Added
+
+- Add `load_from_path` for creating a shape from a stl file.
+- Add `load_from_reader` for creating a shape from an object implementing `Read`.
+- Add `load_from_raw_mesh` for creating a shape from an already loaded `IndexedMesh`.
diff --git a/crates/rapier3d-stl/Cargo.toml b/crates/rapier3d-stl/Cargo.toml
new file mode 100644
index 0000000..dc5bd0e
--- /dev/null
+++ b/crates/rapier3d-stl/Cargo.toml
@@ -0,0 +1,19 @@
+[package]
+name = "rapier3d-stl"
+version = "0.1.0"
+authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
+description = "STL file loader for the 3D rapier physics engine."
+documentation = "https://docs.rs/rapier3d-stl"
+homepage = "https://rapier.rs"
+repository = "https://github.com/dimforge/rapier"
+readme = "README.md"
+categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
+license = "Apache-2.0"
+edition = "2021"
+
+[dependencies]
+thiserror = "1.0.61"
+stl_io = "0.7"
+
+rapier3d = { version = "0.19", path = "../rapier3d" }
diff --git a/crates/rapier3d-stl/LICENSE b/crates/rapier3d-stl/LICENSE
new file mode 100644
index 0000000..97f4383
--- /dev/null
+++ b/crates/rapier3d-stl/LICENSE
@@ -0,0 +1,201 @@
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+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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+      any Contribution intentionally submitted for inclusion in the Work
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diff --git a/crates/rapier3d-stl/README.md b/crates/rapier3d-stl/README.md
new file mode 100644
index 0000000..98d61a0
--- /dev/null
+++ b/crates/rapier3d-stl/README.md
@@ -0,0 +1,18 @@
+## STL loader for the Rapier physics engine
+
+Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-stl`
+crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
+library) from an STL file.
+
+## Resources and discussions
+
+- [Dimforge](https://dimforge.com): See all the open-source projects we are working on! Follow our announcements
+  on our [blog](https://www.dimforge.com/blog).
+- [User guide](https://www.rapier.rs/docs/): Learn to use Rapier in your project by reading the official User Guides.
+- [Discord](https://discord.gg/vt9DJSW): Come chat with us, get help, suggest features, on Discord!
+- [NPM packages](https://www.npmjs.com/search?q=%40dimforge): Check out our NPM packages for Rapier, if you need to
+  use it with JavaScript/Typescript.
+
+Please make sure to familiarize yourself with our [Code of Conduct](CODE_OF_CONDUCT.md)
+and our [Contribution Guidelines](CONTRIBUTING.md) before contributing or participating in
+discussions with the community.
diff --git a/crates/rapier3d-stl/src/lib.rs b/crates/rapier3d-stl/src/lib.rs
new file mode 100644
index 0000000..0273bc0
--- /dev/null
+++ b/crates/rapier3d-stl/src/lib.rs
@@ -0,0 +1,110 @@
+//! ## STL loader for the Rapier physics engine
+//!
+//! Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-stl`
+//! crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
+//! library) from an STL file.
+
+#![warn(missing_docs)]
+
+use rapier3d::geometry::{MeshConverter, MeshConverterError, SharedShape};
+use rapier3d::math::{Isometry, Point, Real, Vector};
+use std::fs::File;
+use std::io::{BufReader, Read, Seek};
+use std::path::Path;
+use stl_io::IndexedMesh;
+
+/// Error while loading an STL file.
+#[derive(thiserror::Error, Debug)]
+pub enum StlLoaderError {
+    /// An error triggered by rapier’s [`MeshConverter`].
+    #[error(transparent)]
+    MeshConverter(#[from] MeshConverterError),
+    /// A generic IO error.
+    #[error(transparent)]
+    Io(#[from] std::io::Error),
+}
+
+/// The result of loading a shape from an stl mesh.
+pub struct StlShape {
+    /// The shape loaded from the file and converted by the [`MeshConverter`].
+    pub shape: SharedShape,
+    /// The shape’s pose.
+    pub pose: Isometry<Real>,
+    /// The raw mesh read from the stl file without any modification.
+    pub raw_mesh: IndexedMesh,
+}
+
+/// Loads an STL file as a shape from a file.
+///
+/// # Parameters
+/// - `file_path`: the STL file’s path.
+/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
+///                you specify if the computed [`StlShape::shape`] is a triangle mesh, its convex hull,
+///                bounding box, etc.
+/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
+///            affect at the geometric level the [`StlShape::shape`]. Note that raw mesh value stored
+///            in [`StlShape::raw_mesh`] remains unscaled.
+pub fn load_from_path(
+    file_path: impl AsRef<Path>,
+    converter: MeshConverter,
+    scale: Vector<Real>,
+) -> Result<StlShape, StlLoaderError> {
+    let mut reader = BufReader::new(File::open(file_path)?);
+    load_from_reader(&mut reader, converter, scale)
+}
+
+/// Loads an STL file as a shape from an arbitrary reader.
+///
+/// # Parameters
+/// - `reader`: the reader.
+/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
+///                you specify if the computed [`StlShape::shape`] is a triangle mesh, its convex hull,
+///                bounding box, etc.
+/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
+///            affect at the geometric level the [`StlShape::shape`]. Note that raw mesh value stored
+///            in [`StlShape::raw_mesh`] remains unscaled.
+pub fn load_from_reader<R: Read + Seek>(
+    read: &mut