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))]