Add cargo doc to CI and fix doc links (#582)

# Objective

Some doc links are currently broken. CI should catch this!

## Solution

Add `cargo doc` to CI and fix doc links. Also fixed some heading capitalization inconsistency.

.github/workflows/ci.yml

@@ -19,6 +19,17 @@ jobs:
             - name: Run cargo check
               run: cargo check
 
+    docs:
+        name: Check Documentation
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v4
+            - uses: dtolnay/rust-toolchain@stable
+            - name: Run cargo doc
+              run: cargo doc --workspace --no-deps --document-private-items --keep-going
+              env:
+                  RUSTDOCFLAGS: "-D warnings"
+
     test:
         name: Test Suite
         strategy:

README.md

@@ -201,7 +201,7 @@ For larger changes and additions, it's better to open an issue or ask me for inp
 before making a pull request.
 
 You can also ask for help or ask questions on the [Bevy Discord](https://discord.com/invite/gMUk5Ph)
-server's `Avian Physics` thread in `#crate-help`. My username on the Discord is `Jondolf` (`@jondolfdev`).
+server's Avian Physics topic in `#ecosystem-crates`. My username on the Discord is `Jondolf` (`@jondolfdev`).
 
 ## Acknowledgements
 

crates/avian2d/examples/interpolation.rs

@@ -28,16 +28,20 @@ use bevy::{
 fn main() {
     let mut app = App::new();
 
-    // Add the `PhysicsInterpolationPlugin` to enable interpolation and extrapolation functionality.
-    //
-    // By default, interpolation and extrapolation must be enabled for each entity manually.
-    // Use `PhysicsInterpolationPlugin::interpolate_all()` to enable interpolation for all rigid bodies.
+    // Interpolation and extrapolation functionality is enabled by the `PhysicsInterpolationPlugin`.
+    // It is included in the `PhysicsPlugins` by default.
     app.add_plugins((
         DefaultPlugins,
         PhysicsPlugins::default().with_length_unit(50.0),
-        PhysicsInterpolationPlugin::default(),
     ));
 
+    // By default, interpolation must be enabled for each entity manually
+    // by adding the `TransformInterpolation` component.
+    //
+    // It can also be enabled for all rigid bodies with `PhysicsInterpolationPlugin::interpolate_all()`:
+    //
+    // app.add_plugins(PhysicsPlugins::default().set(PhysicsInterpolationPlugin::interpolate_all()));
+
     // Set gravity.
     app.insert_resource(Gravity(Vector::NEG_Y * 900.0));
 

src/dynamics/solver/mod.rs

@@ -38,10 +38,10 @@ use self::{
 ///
 /// 1. [Generate and prepare constraints](collision::narrow_phase::NarrowPhaseSet::GenerateConstraints)
 /// 2. Substepping loop (runs the [`SubstepSchedule`] [`SubstepCount`] times)
-///     1. [Integrate velocities](IntegrationSet::Velocity)
+///     1. [Integrate velocities](super::integrator::IntegrationSet::Velocity)
 ///     2. [Warm start](SubstepSolverSet::WarmStart)
 ///     3. [Solve constraints with bias](SubstepSolverSet::SolveConstraints)
-///     4. [Integrate positions](IntegrationSet::Position)
+///     4. [Integrate positions](super::integrator::IntegrationSet::Position)
 ///     5. [Solve constraints without bias to relax velocities](SubstepSolverSet::Relax)
 ///     6. [Solve XPBD constraints (joints)](SubstepSolverSet::SolveXpbdConstraints)
 ///     7. [Solve user-defined constraints](SubstepSolverSet::SolveUserConstraints)

src/dynamics/solver/schedule.rs

@@ -103,6 +103,8 @@ pub enum SolverSet {
     ApplyTranslation,
     /// Copies contact impulses from [`ContactConstraints`] to the contacts in [`Collisions`].
     /// They will be used for [warm starting](SubstepSolverSet::WarmStart) the next frame or substep.
+    ///
+    /// [`ContactConstraints`]: super::ContactConstraints
     StoreContactImpulses,
 }
 

src/lib.rs

@@ -10,11 +10,11 @@
 //! You can also check out the [FAQ](#frequently-asked-questions), and if you encounter
 //! any further problems, consider saying hello on the [Bevy Discord](https://discord.gg/bevy)!
 //!
-//! ## Getting started
+//! ## Getting Started
 //!
 //! This short guide should help you get started with Avian.
 //!
-//! ### Add the dependency
+//! ### Add the Dependency
 //!
 //! First, add `avian2d` or `avian3d` to the dependencies in your `Cargo.toml`:
 //!  
@@ -42,7 +42,7 @@
 //! avian3d = { version = "0.1", default-features = false, features = ["3d", "f64", "parry-f64"] }
 //! ```
 //!
-//! ### Feature flags
+//! ### Feature Flags
 //!
 //! | Feature                | Description                                                                                                                              | Default feature         |
 //! | ---------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | ----------------------- |
@@ -67,7 +67,7 @@
 //!
 //! [SIMD]: https://en.wikipedia.org/wiki/Single_instruction,_multiple_data
 //!
-//! ### Add the plugins
+//! ### Add the Plugins
 //!
 //! Avian is designed to be very modular. It is built from several [plugins](PhysicsPlugins) that
 //! manage different parts of the engine. These plugins can be easily initialized and configured through
@@ -111,12 +111,12 @@
 //! You can find lots of [usage examples](https://github.com/Jondolf/avian#more-examples)
 //! in the project's [repository](https://github.com/Jondolf/avian).
 //!
-//! ## Table of contents
+//! ## Table of Contents
 //!
 //! Below is a structured overview of the documentation for the various
 //! features of the engine.
 //!
-//! ### Rigid body dynamics
+//! ### Rigid Body Dynamics
 //!
 //! - [Rigid body types](RigidBody#rigid-body-types)
 //! - [Creating rigid bodies](RigidBody#creation)
@@ -136,7 +136,7 @@
 //!
 //! See the [`dynamics`] module for more details about rigid body dynamics in Avian.
 //!
-//! ### Collision detection
+//! ### Collision Detection
 //!
 //! - [Colliders](Collider)
 //!     - [Creation](Collider#creation)
@@ -155,7 +155,7 @@
 //!
 //! See the [`collision`] module for more details about collision detection and colliders in Avian.
 //!
-//! ### Constraints and joints
+//! ### Constraints and Joints
 //!
 //! - [Joints](dynamics::solver::joints)
 //!     - [Fixed joint](FixedJoint)
@@ -167,7 +167,7 @@
 //!
 //! Joint motors and articulations are not supported yet, but they will be implemented in a future release.
 //!
-//! ### Spatial queries
+//! ### Spatial Queries
 //!
 //! - [Spatial query types](spatial_query)
 //!     - [Raycasting](spatial_query#raycasting) and [`RayCaster`]
@@ -191,7 +191,7 @@
 //!     - [`PhysicsSet`]
 //!     - [`PhysicsSchedule`] and [`PhysicsStepSet`]
 //!     - [`SubstepSchedule`]
-//!     - [`SolverSet`] and [`SubstepSolverSet`](dynamics::solver::SubstepSolverSet)
+//!     - [`SolverSet`] and [`SubstepSolverSet`](dynamics::solver::schedule::SubstepSolverSet)
 //!     - [`PostProcessCollisions`] schedule
 //!     - [`PrepareSet`](prepare::PrepareSet)
 //!     - Many more internal system sets
@@ -207,7 +207,7 @@
 //!     - [Custom XPBD constraints](dynamics::solver::xpbd#custom-constraints)
 //!     - [Custom joints](dynamics::solver::joints#custom-joints)
 //!
-//! ## Frequently asked questions
+//! ## Frequently Asked Questions
 //!
 //! - [How does Avian compare to Rapier and bevy_rapier?](#how-does-avian-compare-to-rapier-and-bevy_rapier)
 //! - [Why is nothing happening?](#why-is-nothing-happening)
@@ -396,7 +396,7 @@
 //! [open a new issue](https://github.com/Jondolf/avian/issues/new) if there already isn't one regarding your problem.
 //!
 //! You can also come and say hello on the [Bevy Discord server](https://discord.com/invite/gMUk5Ph).
-//! There you can find a avian thread on the crate-help channel where you can ask questions.
+//! There, you can find an Avian Physics topic on the `#ecosystem-crates` channel where you can ask questions.
 //!
 //! ## License
 //!
@@ -616,7 +616,7 @@ use prelude::*;
 ///
 /// First, create a new plugin. If you want to run your systems in the engine's schedules, get either the [`PhysicsSchedule`]
 /// or the [`SubstepSchedule`]. Then you can add your systems to that schedule and control system ordering with system sets like
-/// [`PhysicsStepSet`], [`SolverSet`], or [`SubstepSolverSet`](dynamics::solver::SubstepSolverSet).
+/// [`PhysicsStepSet`], [`SolverSet`], or [`SubstepSolverSet`](dynamics::solver::schedule::SubstepSolverSet).
 ///
 /// Here we will create a custom broad phase plugin that will replace the default [`BroadPhasePlugin`]:
 ///