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ci: cargo doc step (#671)

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This commit is contained in:
Thierry Berger
2024-07-12 16:29:22 +02:00
committed by GitHub
parent 87ada34008
commit 01dd200152
14 changed files with 189 additions and 66 deletions
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86
.github/workflows/rapier-ci-build.yml vendored
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@@ -2,9 +2,9 @@ name: Rapier CI build
on:
push:
branches: [ master ]
branches: [master]
pull_request:
branches: [ master ]
branches: [master]
env:
CARGO_TERM_COLOR: always
@@ -13,48 +13,56 @@ jobs:
check-fmt:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
- name: Check formatting
run: cargo fmt -- --check
- uses: actions/checkout@v4
- name: Check formatting
run: cargo fmt -- --check
doc:
runs-on: ubuntu-latest
env:
RUSTDOCFLAGS: -D warnings
steps:
- uses: actions/checkout@v4
- name: Cargo doc
run: cargo doc -p rapier3d -p rapier2d -p rapier3d-stl -p rapier3d-urdf
build-native:
runs-on: ubuntu-latest
env:
RUSTFLAGS: -D warnings
steps:
- uses: actions/checkout@v4
- run: sudo apt-get install -y cmake libxcb-composite0-dev
- name: Clippy
run: cargo clippy
- name: Clippy rapier2d
run: cargo clippy -p rapier-examples-2d --features parallel,simd-stable
- name: Clippy rapier3d
run: cargo clippy -p rapier-examples-3d --features parallel,simd-stable
- name: Build rapier2d
run: cargo build --verbose -p rapier2d;
- name: Build rapier3d
run: cargo build --verbose -p rapier3d;
- name: Build rapier2d SIMD
run: cd crates/rapier2d; cargo build --verbose --features simd-stable;
- name: Build rapier3d SIMD
run: cd crates/rapier3d; cargo build --verbose --features simd-stable;
- name: Build rapier2d SIMD Parallel
run: cd crates/rapier2d; cargo build --verbose --features simd-stable --features parallel;
- name: Build rapier3d SIMD Parallel
run: cd crates/rapier3d; cargo build --verbose --features simd-stable --features parallel;
- name: Run tests
run: cargo test
- name: Check rapier_testbed2d
run: cargo check --verbose -p rapier_testbed2d;
- name: Check rapier_testbed3d
run: cargo check --verbose -p rapier_testbed3d;
- name: Check rapier_testbed2d --features parallel
run: cd crates/rapier_testbed2d; cargo check --verbose --features parallel;
- name: Check rapier_testbed3d --features parallel
run: cd crates/rapier_testbed3d; cargo check --verbose --features parallel;
- name: Check rapier-examples-2d
run: cargo check -j 1 --verbose -p rapier-examples-2d;
- name: Check rapier-examples-3d
run: cargo check -j 1 --verbose -p rapier-examples-3d;
- uses: actions/checkout@v4
- run: sudo apt-get install -y cmake libxcb-composite0-dev
- name: Clippy
run: cargo clippy
- name: Clippy rapier2d
run: cargo clippy -p rapier-examples-2d --features parallel,simd-stable
- name: Clippy rapier3d
run: cargo clippy -p rapier-examples-3d --features parallel,simd-stable
- name: Build rapier2d
run: cargo build --verbose -p rapier2d;
- name: Build rapier3d
run: cargo build --verbose -p rapier3d;
- name: Build rapier2d SIMD
run: cd crates/rapier2d; cargo build --verbose --features simd-stable;
- name: Build rapier3d SIMD
run: cd crates/rapier3d; cargo build --verbose --features simd-stable;
- name: Build rapier2d SIMD Parallel
run: cd crates/rapier2d; cargo build --verbose --features simd-stable --features parallel;
- name: Build rapier3d SIMD Parallel
run: cd crates/rapier3d; cargo build --verbose --features simd-stable --features parallel;
- name: Run tests
run: cargo test
- name: Check rapier_testbed2d
run: cargo check --verbose -p rapier_testbed2d;
- name: Check rapier_testbed3d
run: cargo check --verbose -p rapier_testbed3d;
- name: Check rapier_testbed2d --features parallel
run: cd crates/rapier_testbed2d; cargo check --verbose --features parallel;
- name: Check rapier_testbed3d --features parallel
run: cd crates/rapier_testbed3d; cargo check --verbose --features parallel;
- name: Check rapier-examples-2d
run: cargo check -j 1 --verbose -p rapier-examples-2d;
- name: Check rapier-examples-3d
run: cargo check -j 1 --verbose -p rapier-examples-3d;
build-wasm:
runs-on: ubuntu-latest
env:

5
crates/rapier3d-urdf/src/lib.rs
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@@ -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

33
crates/rapier_testbed2d-f64/Cargo.toml
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@@ -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]

33
crates/rapier_testbed2d/Cargo.toml
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@@ -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]

31
crates/rapier_testbed3d-f64/Cargo.toml
View File

@@ -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]

33
crates/rapier_testbed3d/Cargo.toml
View File

@@ -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]

5
src/dynamics/integration_parameters.rs
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@@ -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

6
src/dynamics/joint/multibody_joint/multibody.rs
View File

@@ -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..])

3
src/dynamics/rigid_body.rs
View File

@@ -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.
///

3
src/dynamics/rigid_body_components.rs
View File

@@ -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))]

5
src/geometry/collider.rs
View File

@@ -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))

3
src/geometry/contact_pair.rs
View File

@@ -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)]

4
src/geometry/narrow_phase.rs
View File

@@ -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,

5
src/pipeline/query_pipeline/generators.rs
View File

@@ -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> {