doc: Improve formatting and linking of Aabb.

Author: waywardmonkeys

src/bounding_volume/aabb.rs

@@ -31,9 +31,9 @@ pub struct Aabb {
 }
 
 impl Aabb {
-    /// The vertex indices of each edge of this Aabb.
+    /// The vertex indices of each edge of this `Aabb`.
     ///
-    /// This gives, for each edge of this Aabb, the indices of its
+    /// This gives, for each edge of this `Aabb`, the indices of its
     /// vertices when taken from the `self.vertices()` array.
     /// Here is how the faces are numbered, assuming
     /// a right-handed coordinate system:
@@ -61,9 +61,9 @@ impl Aabb {
         (3, 7),
     ];
 
-    /// The vertex indices of each face of this Aabb.
+    /// The vertex indices of each face of this `Aabb`.
     ///
-    /// This gives, for each face of this Aabb, the indices of its
+    /// This gives, for each face of this `Aabb`, the indices of its
     /// vertices when taken from the `self.vertices()` array.
     /// Here is how the faces are numbered, assuming
     /// a right-handed coordinate system:
@@ -96,9 +96,9 @@ impl Aabb {
         Aabb { mins, maxs }
     }
 
-    /// Creates an invalid Aabb with `mins` components set to `Real::max_values` and `maxs`components set to `-Real::max_values`.
+    /// Creates an invalid `Aabb` with `mins` components set to `Real::max_values` and `maxs`components set to `-Real::max_values`.
     ///
-    /// This is often used as the initial values of some Aabb merging algorithms.
+    /// This is often used as the initial values of some `Aabb` merging algorithms.
     #[inline]
     pub fn new_invalid() -> Self {
         Self::new(
@@ -107,34 +107,34 @@ impl Aabb {
         )
     }
 
-    /// Creates a new Aabb from its center and its half-extents.
+    /// Creates a new `Aabb` from its center and its half-extents.
     #[inline]
     pub fn from_half_extents(center: Point<Real>, half_extents: Vector<Real>) -> Self {
         Self::new(center - half_extents, center + half_extents)
     }
 
-    /// Creates a new Aabb from a set of points.
+    /// Creates a new `Aabb` from a set of points.
     pub fn from_points<'a, I>(pts: I) -> Self
     where
         I: IntoIterator<Item = &'a Point<Real>>,
     {
         super::aabb_utils::local_point_cloud_aabb(pts)
     }
 
-    /// The center of this Aabb.
+    /// The center of this `Aabb`.
     #[inline]
     pub fn center(&self) -> Point<Real> {
         na::center(&self.mins, &self.maxs)
     }
 
-    /// The half extents of this Aabb.
+    /// The half extents of this `Aabb`.
     #[inline]
     pub fn half_extents(&self) -> Vector<Real> {
         let half: Real = na::convert::<f64, Real>(0.5);
         (self.maxs - self.mins) * half
     }
 
-    /// The volume of this Aabb.
+    /// The volume of this `Aabb`.
     #[inline]
     pub fn volume(&self) -> Real {
         let extents = self.extents();
@@ -144,19 +144,19 @@ impl Aabb {
         return extents.x * extents.y * extents.z;
     }
 
-    /// The extents of this Aabb.
+    /// The extents of this `Aabb`.
     #[inline]
     pub fn extents(&self) -> Vector<Real> {
         self.maxs - self.mins
     }
 
-    /// Enlarges this Aabb so it also contains the point `pt`.
+    /// Enlarges this `Aabb` so it also contains the point `pt`.
     pub fn take_point(&mut self, pt: Point<Real>) {
         self.mins = self.mins.coords.inf(&pt.coords).into();
         self.maxs = self.maxs.coords.sup(&pt.coords).into();
     }
 
-    /// Computes the Aabb bounding `self` transformed by `m`.
+    /// Computes the `Aabb` bounding `self` transformed by `m`.
     #[inline]
     pub fn transform_by(&self, m: &Isometry<Real>) -> Self {
         let ls_center = self.center();
@@ -176,7 +176,7 @@ impl Aabb {
         }
     }
 
-    /// The smallest bounding sphere containing this Aabb.
+    /// The smallest bounding sphere containing this `Aabb`.
     #[inline]
     pub fn bounding_sphere(&self) -> BoundingSphere {
         let center = self.center();
@@ -195,7 +195,7 @@ impl Aabb {
         true
     }
 
-    /// Computes the intersection of this Aabb and another one.
+    /// Computes the intersection of this `Aabb` and another one.
     pub fn intersection(&self, other: &Aabb) -> Option<Aabb> {
         let result = Aabb {
             mins: Point::from(self.mins.coords.sup(&other.mins.coords)),
@@ -211,17 +211,17 @@ impl Aabb {
         Some(result)
     }
 
-    /// Returns the difference between this Aabb and `rhs`.
+    /// Returns the difference between this `Aabb` and `rhs`.
     ///
-    /// Removing another Aabb from `self` will result in zero, one, or up to 4 (in 2D) or 8 (in 3D)
+    /// Removing another `Aabb` from `self` will result in zero, one, or up to 4 (in 2D) or 8 (in 3D)
     /// new smaller Aabbs.
     pub fn difference(&self, rhs: &Aabb) -> ArrayVec<Self, TWO_DIM> {
         self.difference_with_cut_sequence(rhs).0
     }
 
-    /// Returns the difference between this Aabb and `rhs`.
+    /// Returns the difference between this `Aabb` and `rhs`.
     ///
-    /// Removing another Aabb from `self` will result in zero, one, or up to 4 (in 2D) or 8 (in 3D)
+    /// Removing another `Aabb` from `self` will result in zero, one, or up to 4 (in 2D) or 8 (in 3D)
     /// new smaller Aabbs.
     ///
     /// # Return
@@ -276,7 +276,7 @@ impl Aabb {
         (result, cut_sequence)
     }
 
-    /// Computes the vertices of this Aabb.
+    /// Computes the vertices of this `Aabb`.
     #[inline]
     #[cfg(feature = "dim2")]
     pub fn vertices(&self) -> [Point<Real>; 4] {
@@ -288,7 +288,7 @@ impl Aabb {
         ]
     }
 
-    /// Computes the vertices of this Aabb.
+    /// Computes the vertices of this `Aabb`.
     #[inline]
     #[cfg(feature = "dim3")]
     pub fn vertices(&self) -> [Point<Real>; 8] {
@@ -304,7 +304,7 @@ impl Aabb {
         ]
     }
 
-    /// Splits this Aabb at its center, into four parts (as in a quad-tree).
+    /// Splits this `Aabb` at its center, into four parts (as in a quad-tree).
     #[inline]
     #[cfg(feature = "dim2")]
     pub fn split_at_center(&self) -> [Aabb; 4] {
@@ -324,7 +324,7 @@ impl Aabb {
         ]
     }
 
-    /// Splits this Aabb at its center, into eight parts (as in an octree).
+    /// Splits this `Aabb` at its center, into eight parts (as in an octree).
     #[inline]
     #[cfg(feature = "dim3")]
     pub fn split_at_center(&self) -> [Aabb; 8] {
@@ -366,7 +366,7 @@ impl Aabb {
         ]
     }
 
-    /// Projects every point of Aabb on an arbitrary axis.
+    /// Projects every point of `Aabb` on an arbitrary axis.
     pub fn project_on_axis(&self, axis: &UnitVector<Real>) -> (Real, Real) {
         let cuboid = Cuboid::new(self.half_extents());
         let shift = cuboid

src/bounding_volume/aabb_ball.rs

@@ -20,13 +20,13 @@ pub fn local_ball_aabb(radius: Real) -> Aabb {
 }
 
 impl Ball {
-    /// Computes the world-space Aabb of this ball transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this ball transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         ball_aabb(&Point::<Real>::from(pos.translation.vector), self.radius)
     }
 
-    /// Computes the local-space Aabb of this ball.
+    /// Computes the local-space [`Aabb`] of this ball.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         local_ball_aabb(self.radius)

src/bounding_volume/aabb_convex_polygon.rs

@@ -3,13 +3,13 @@ use crate::math::{Isometry, Real};
 use crate::shape::ConvexPolygon;
 
 impl ConvexPolygon {
-    /// Computes the world-space Aabb of this convex polygon, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this convex polygon, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         super::details::point_cloud_aabb(pos, self.points())
     }
 
-    /// Computes the local-space Aabb of this convex polygon.
+    /// Computes the local-space [`Aabb`] of this convex polygon.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         super::details::local_point_cloud_aabb(self.points())

src/bounding_volume/aabb_convex_polyhedron.rs

@@ -3,13 +3,13 @@ use crate::math::{Isometry, Real};
 use crate::shape::ConvexPolyhedron;
 
 impl ConvexPolyhedron {
-    /// Computes the world-space Aabb of this convex polyhedron, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this convex polyhedron, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         super::details::point_cloud_aabb(pos, self.points())
     }
 
-    /// Computes the local-space Aabb of this convex polyhedron.
+    /// Computes the local-space [`Aabb`] of this convex polyhedron.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         super::details::local_point_cloud_aabb(self.points())

src/bounding_volume/aabb_cuboid.rs

@@ -4,7 +4,7 @@ use crate::shape::Cuboid;
 use crate::utils::IsometryOps;
 
 impl Cuboid {
-    /// Computes the world-space Aabb of this cuboid, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this cuboid, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         let center = Point::from(pos.translation.vector);
@@ -13,7 +13,7 @@ impl Cuboid {
         Aabb::from_half_extents(center, ws_half_extents)
     }
 
-    /// Computes the local-space Aabb of this cuboid.
+    /// Computes the local-space [`Aabb`] of this cuboid.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         let half_extents = Point::from(self.half_extents);

src/bounding_volume/aabb_halfspace.rs

@@ -5,13 +5,13 @@ use crate::shape::HalfSpace;
 use na;
 
 impl HalfSpace {
-    /// Computes the world-space Aabb of this half-space.
+    /// Computes the world-space [`Aabb`] of this half-space.
     #[inline]
     pub fn aabb(&self, _pos: &Isometry<Real>) -> Aabb {
         self.local_aabb()
     }
 
-    /// Computes the local-space Aabb of this half-space.
+    /// Computes the local-space [`Aabb`] of this half-space.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         // We divide by 2.0  so that we can still make some operations with it (like loosening)

src/bounding_volume/aabb_heightfield.rs

@@ -3,13 +3,13 @@ use crate::math::{Isometry, Real};
 use crate::shape::{GenericHeightField, HeightFieldStorage};
 
 impl<Storage: HeightFieldStorage> GenericHeightField<Storage> {
-    /// Computes the world-space Aabb of this heightfield, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this heightfield, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         self.root_aabb().transform_by(pos)
     }
 
-    /// Computes the local-space Aabb of this heightfield.
+    /// Computes the local-space [`Aabb`] of this heightfield.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         self.root_aabb().clone()

src/bounding_volume/aabb_support_map.rs

@@ -7,13 +7,13 @@ use crate::shape::{Cone, Cylinder};
 
 #[cfg(feature = "dim3")]
 impl Cone {
-    /// Computes the world-space Aabb of this cone, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this cone, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         bounding_volume::details::support_map_aabb(pos, self)
     }
 
-    /// Computes the local-space Aabb of this cone.
+    /// Computes the local-space [`Aabb`] of this cone.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         bounding_volume::details::local_support_map_aabb(self)
@@ -22,27 +22,27 @@ impl Cone {
 
 #[cfg(feature = "dim3")]
 impl Cylinder {
-    /// Computes the world-space Aabb of this cylinder, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this cylinder, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         bounding_volume::details::support_map_aabb(pos, self)
     }
 
-    /// Computes the local-space Aabb of this cylinder.
+    /// Computes the local-space [`Aabb`] of this cylinder.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         bounding_volume::details::local_support_map_aabb(self)
     }
 }
 
 impl Segment {
-    /// Computes the world-space Aabb of this segment, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this segment, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         self.transformed(pos).local_aabb()
     }
 
-    /// Computes the local-space Aabb of this segment.
+    /// Computes the local-space [`Aabb`] of this segment.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         bounding_volume::details::local_support_map_aabb(self)

src/bounding_volume/aabb_triangle.rs

@@ -5,13 +5,13 @@ use crate::{
 };
 
 impl Triangle {
-    /// Computes the world-space Aabb of this triangle, transformed by `pos`.
+    /// Computes the world-space [`Aabb`] of this triangle, transformed by `pos`.
     #[inline]
     pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb {
         self.transformed(pos).local_aabb()
     }
 
-    /// Computes the local-space Aabb of this triangle.
+    /// Computes the local-space [`Aabb`] of this triangle.
     #[inline]
     pub fn local_aabb(&self) -> Aabb {
         let a = self.a.coords;

src/bounding_volume/aabb_utils.rs

@@ -5,7 +5,7 @@ use crate::math::{Isometry, Point, Real, Vector, DIM};
 use crate::shape::SupportMap;
 use na;
 
-/// Computes the Aabb of an support mapped shape.
+/// Computes the [`Aabb`] of an [support mapped shape](SupportMap).
 #[cfg(feature = "dim3")]
 pub fn support_map_aabb<G>(m: &Isometry<Real>, i: &G) -> Aabb
 where
@@ -30,7 +30,7 @@ where
     Aabb::new(Point::from(min), Point::from(max))
 }
 
-/// Computes the Aabb of an support mapped shape.
+/// Computes the [`Aabb`] of an [support mapped shape](SupportMap).
 pub fn local_support_map_aabb<G>(i: &G) -> Aabb
 where
     G: SupportMap,
@@ -54,7 +54,7 @@ where
     Aabb::new(Point::from(min), Point::from(max))
 }
 
-/// Computes the Aabb of a set of points transformed by `m`.
+/// Computes the [`Aabb`] of a set of points transformed by `m`.
 pub fn point_cloud_aabb<'a, I>(m: &Isometry<Real>, pts: I) -> Aabb
 where
     I: IntoIterator<Item = &'a Point<Real>>,
@@ -77,7 +77,7 @@ where
     Aabb::new(min, max)
 }
 
-/// Computes the Aabb of a set of points.
+/// Computes the [`Aabb`] of a set of points.
 pub fn local_point_cloud_aabb<'a, I>(pts: I) -> Aabb
 where
     I: IntoIterator<Item = &'a Point<Real>>,