ci: cargo doc step (#671)

5 files changed, 117 insertions, 18 deletions

diff --git a/crates/rapier3d-urdf/src/lib.rs b/crates/rapier3d-urdf/src/lib.rs
index bad12ee..9aea453 100644
--- a/crates/rapier3d-urdf/src/lib.rs
+++ b/crates/rapier3d-urdf/src/lib.rs
@@ -43,6 +43,9 @@ use std::collections::HashMap;
 use std::path::Path;
 use xurdf::{Geometry, Inertial, Joint, Pose, Robot};
 
+#[cfg(doc)]
+use rapier3d::dynamics::Multibody;
+
 bitflags::bitflags! {
     /// Options applied to multibody joints created from the URDF joints.
     #[derive(Copy, Clone, Debug, PartialEq, Eq, Default)]
@@ -79,7 +82,7 @@ pub struct UrdfLoaderOptions {
     /// So if this option is set to `true`, it is recommended to also keep
     /// [`UrdfLoaderOptions::enable_joint_collisions`] set to `false`. If the model is then added
     /// to the physics sets using multibody joints, it is recommended to call
-    /// [`UrdfRobot::insert_with_multibody_joints`] with the [`UrdfMultibodyOptions::DISABLE_SELF_CONTACTS`]
+    /// [`UrdfRobot::insert_using_multibody_joints`] with the [`UrdfMultibodyOptions::DISABLE_SELF_CONTACTS`]
     /// flag enabled.
     pub create_colliders_from_visual_shapes: bool,
     /// If `true`, the mass properties (center-of-mass, mass, and angular inertia) read from the urdf
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 8114212..0f5e201 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -3,9 +3,15 @@ name = "rapier_testbed2d-f64"
 version = "0.21.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
-homepage = "http://rapier.org"
+homepage = "http://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
-categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
 keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
@@ -49,11 +55,30 @@ bevy_sprite = "0.13"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_asset", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_asset",
+    "bevy_winit",
+    "x11",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_asset", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_asset",
+    "bevy_winit",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index f4672e7..ad34e56 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -3,9 +3,15 @@ name = "rapier_testbed2d"
 version = "0.21.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
-homepage = "http://rapier.org"
+homepage = "http://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
-categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
 keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
@@ -49,11 +55,30 @@ bevy_sprite = "0.13"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_sprite", "bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_sprite",
+    "bevy_winit",
+    "x11",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_sprite", "bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_sprite",
+    "bevy_winit",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index 8bfafed..ad2033b 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -3,9 +3,15 @@ name = "rapier_testbed3d-f64"
 version = "0.21.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
-homepage = "http://rapier.org"
+homepage = "http://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
-categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
 keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
@@ -48,11 +54,28 @@ bevy_sprite = "0.13"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_winit",
+    "x11",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_winit",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 5623a90..56290a4 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -3,9 +3,15 @@ name = "rapier_testbed3d"
 version = "0.21.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
-homepage = "http://rapier.org"
+homepage = "http://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
-categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
 keywords = ["physics", "dynamics", "rigid", "real-time", "impulse_joints"]
 license = "Apache-2.0"
 edition = "2021"
@@ -33,7 +39,7 @@ rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
 bitflags = "2"
-glam = { version = "0.24", optional = true } # For Physx
+glam = { version = "0.24", optional = true }                       # For Physx
 num_cpus = { version = "1", optional = true }
 physx = { version = "0.19", features = ["glam"], optional = true }
 physx-sys = { version = "0.11", optional = true }
@@ -52,11 +58,28 @@ bevy_sprite = "0.13"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "x11", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_winit",
+    "x11",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "tonemapping_luts", "ktx2", "zstd", "bevy_render", "bevy_pbr", "bevy_gizmos"] }
+bevy = { version = "0.13", default-features = false, features = [
+    "bevy_winit",
+    "tonemapping_luts",
+    "ktx2",
+    "zstd",
+    "bevy_render",
+    "bevy_pbr",
+    "bevy_gizmos",
+] }
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]