cargo doc ci

.github/workflows/parry-ci-build.yml

@@ -2,9 +2,9 @@ name: parry CI build
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 env:
   CARGO_TERM_COLOR: always
@@ -22,6 +22,18 @@ jobs:
       - uses: actions/checkout@v4
       - name: Clippy
         run: cargo clippy
+  doc:
+    runs-on: ubuntu-latest
+    env:
+      RUSTDOCFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          prefix-key: ${{ env.RUST_CACHE_KEY }}
+      - name: Cargo doc
+        run: cargo doc
   build-native:
     runs-on: ubuntu-latest
     env:

src/lib.rs

@@ -231,18 +231,18 @@ mod simd {
     use simba::simd::AutoBoolx4;
     /// The number of lanes of a SIMD number.
     pub const SIMD_WIDTH: usize = 4;
-    /// SIMD_WIDTH - 1
+    /// [`SIMD_WIDTH`] - 1
     pub const SIMD_LAST_INDEX: usize = 3;
 
-    /// A SIMD float with SIMD_WIDTH lanes.
+    /// A SIMD float with [`SIMD_WIDTH`] lanes.
     #[cfg(feature = "f32")]
     pub type SimdReal = simba::simd::AutoF32x4;
 
-    /// A SIMD float with SIMD_WIDTH lanes.
+    /// A SIMD float with [`SIMD_WIDTH`] lanes.
     #[cfg(feature = "f64")]
     pub type SimdReal = simba::simd::AutoF64x4;
 
-    /// A SIMD bool with SIMD_WIDTH lanes.
+    /// A SIMD bool with [`SIMD_WIDTH`] lanes.
     pub type SimdBool = AutoBoolx4;
 }
 
@@ -260,6 +260,6 @@ mod simd {
 
     /// The number of lanes of a SIMD number.
     pub const SIMD_WIDTH: usize = 4;
-    /// SIMD_WIDTH - 1
+    /// [`SIMD_WIDTH`] - 1
     pub const SIMD_LAST_INDEX: usize = 3;
 }

src/query/shape_cast/shape_cast.rs

@@ -20,7 +20,7 @@ pub enum ShapeCastStatus {
     /// it is often fine to interpret this case as a success.
     Failed,
     /// The two shape already overlap, or are separated by a distance smaller than
-    /// [`ShapeCastOptions::target_dist`] at the time 0.
+    /// [`ShapeCastOptions::target_distance`] at the time 0.
     ///
     /// The witness points and normals provided by the `ShapeCastHit` will have unreliable values unless
     /// [`ShapeCastOptions::compute_impact_geometry_on_penetration`] was set to `true` when calling

src/shape/heightfield3.rs

@@ -335,8 +335,8 @@ impl HeightField {
 
     /// The two triangles at the cell (i, j) of this heightfield.
     ///
-    /// Returns `None` fore triangles that have been removed because of their user-defined status
-    /// flags (described by the `HeightFieldCellStatus` bitfield).
+    /// Returns [`None`] fore triangles that have been removed because of their user-defined status
+    /// flags (described by the [`HeightFieldCellStatus`] bitfield).
     pub fn triangles_at(&self, i: usize, j: usize) -> (Option<Triangle>, Option<Triangle>) {
         if i >= self.heights.nrows() - 1 || j >= self.heights.ncols() - 1 {
             return (None, None);
@@ -409,10 +409,10 @@ impl HeightField {
 
     /// Computes the pseudo-normals of the triangle identified by the given id.
     ///
-    /// Returns `None` if the heightfield’s [`HeightfieldFlags::FIX_INTERNAL_EDGES`] isn’t set, or
+    /// Returns [`None`] if the heightfield’s [`HeightFieldFlags::FIX_INTERNAL_EDGES`] isn’t set, or
     /// if the triangle doesn’t exist due to it being removed by its status flag
-    /// (`HeightFieldCellStatus::LEFT_TRIANGLE_REMOVED` or
-    /// `HeightFieldCellStatus::RIGHT_TRIANGLE_REMOVED`).
+    /// ([`HeightFieldCellStatus::LEFT_TRIANGLE_REMOVED`] or
+    /// [`HeightFieldCellStatus::RIGHT_TRIANGLE_REMOVED`]).
     pub fn triangle_normal_constraints(&self, id: u32) -> Option<TrianglePseudoNormals> {
         if self.flags.contains(HeightFieldFlags::FIX_INTERNAL_EDGES) {
             let (i, j, left) = self.split_triangle_id(id);

src/shape/support_map.rs

@@ -28,7 +28,7 @@ pub trait SupportMap {
         transform * self.local_support_point(&local_dir)
     }
 
-    /// Same as `self.support_point` except that `dir` is normalized.
+    /// Same as [`SupportMap::support_point`] except that `dir` is normalized.
     fn support_point_toward(
         &self,
         transform: &Isometry<Real>,

src/shape/trimesh.rs

@@ -146,7 +146,7 @@ pub struct TopoHalfEdge {
     pub next: u32,
     /// This half-edge twin on the adjacent triangle.
     ///
-    /// This is `u32::MAX` if there is no twin.
+    /// This is [`u32::MAX`] if there is no twin.
     pub twin: u32,
     /// The first vertex of this edge.
     pub vertex: u32,
@@ -433,7 +433,7 @@ impl TriMesh {
         *self = TriMesh::with_flags(vertices, indices, self.flags);
     }
 
-    /// Create a `TriMesh` from a set of points assumed to describe a counter-clockwise non-convex polygon.
+    /// Create a [`TriMesh`] from a set of points assumed to describe a counter-clockwise non-convex polygon.
     ///
     /// This operation may fail if the input polygon is invalid, e.g. it is non-simple or has zero surface area.
     #[cfg(feature = "dim2")]
@@ -912,7 +912,7 @@ impl TriMesh {
 
     /// Returns the pseudo-normals of one of this mesh’s triangles, if it was computed.
     ///
-    /// This returns `None` if the pseudo-normals of this triangle were not computed.
+    /// This returns [`None`] if the pseudo-normals of this triangle were not computed.
     /// To have its pseudo-normals computed, be sure to set the [`TriMeshFlags`] so that
     /// they contain the [`TriMeshFlags::FIX_INTERNAL_EDGES`] flag.
     #[cfg(feature = "dim3")]