feat(website): update the user-guide

CHANGELOG.md

@@ -6,6 +6,8 @@
   `Multibody::clear_dof_couplings` to remove DoF couplings.
 - `rapier3d-urdf`: `UrdfLink::urdf_link_index` and `UrdfJoint::urdf_joint_index` (and related) map the
   loaded links and joints to their URDF counterparts, even when empty links are squeezed.
+- `rapier3d-mjcf`: `MjcfContactHooks::is_excluded` and `MjcfContactHooks::pair_override` to query the
+  contact rules of a model.
 
 ### Fixed
 

README.md

@@ -46,9 +46,22 @@ The easiest way to get started with Rapier is to:
 
 1. Read the [user-guides](https://www.rapier.rs/docs/).
 2. Play with the examples: `cargo run --release --bin all_examples2` and `cargo run --release --bin all_examples3`.
-   Their source code are available on the `examples2d/` and `examples3d/` directory.
+   The examples of every language and integration are listed [below](#examples).
 3. Don't hesitate to ask for help on [Discord](https://discord.gg/vt9DJSW), or by opening an issue on GitHub.
 
+## Examples
+
+| Variant | Examples | User-guide snippets |
+| --- | --- | --- |
+| Rust | [`examples2d/`](examples2d/), [`examples3d/`](examples3d/), [`examples3d-f64/`](examples3d-f64/) | [2D](website/docs-examples/2d/rust/examples/), [3D](website/docs-examples/3d/rust/examples/) |
+| C | [`c/examples/`](c/examples/), testbed scenes in [`c/testbed/examples2d/`](c/testbed/examples2d/) and [`c/testbed/examples3d/`](c/testbed/examples3d/) | [2D](website/docs-examples/2d/c/examples/), [3D](website/docs-examples/3d/c/examples/) |
+| JavaScript | testbed demos in [`typescript/testbed2d/src/demos/`](typescript/testbed2d/src/demos/) and [`typescript/testbed3d/src/demos/`](typescript/testbed3d/src/demos/) | [2D](website/docs-examples/2d/javascript/src/snippets/), [3D](website/docs-examples/3d/javascript/src/snippets/) |
+| Python | [`python/examples/`](python/examples/), testbed scenes in [`python/rapier-testbed/rapier_testbed/examples3/`](python/rapier-testbed/rapier_testbed/examples3/) | [3D](website/docs-examples/3d/python/) |
+| Bevy plugin | [`bevy_rapier2d/examples/`](https://github.com/dimforge/bevy_rapier/tree/master/bevy_rapier2d/examples) and [`bevy_rapier3d/examples/`](https://github.com/dimforge/bevy_rapier/tree/master/bevy_rapier3d/examples) in the [bevy_rapier](https://github.com/dimforge/bevy_rapier) repository | [2D](website/docs-examples/2d/bevy/examples/), [3D](website/docs-examples/3d/bevy/examples/) |
+
+The user-guide snippets are the code shown in the [user guide](https://rapier.rs/docs/): they are compiled (and, for
+C and Python, run) to make sure the guide stays up to date.
+
 ## Performance
 
 SIMD-batched constraint solving and contact processing are always on: the
@@ -74,11 +87,10 @@ and Unity/Unreal integration guidance. The bindings cover 2D/3D and f32/f64, inc
 
 ## Python bindings
 
-Python bindings are under development. They ship as four PyPI packages —
-`rapier2d`, `rapier3d`, `rapier2d-f64`, `rapier3d-f64` — one per
-(dimension, scalar) flavor. See [`python/README.md`](python/README.md) for how
-to build the bindings, the docs, and the testbed from a checkout, and
-[`python/docs/`](python/docs/) for the API documentation.
+The Python bindings ship as a single package, `rapier3d`, wrapping the 3D engine with 32-bit floats (there
+are no 2D or f64 Python bindings yet). See [`python/README.md`](python/README.md) for how to build the bindings,
+the docs, and the testbed from a checkout, [`python/docs/`](python/docs/) for the API documentation, and the
+[user guide](https://rapier.rs/docs/) for its Python version.
 
 ## AI coding disclaimer and policy
 

c/README.md

@@ -50,6 +50,12 @@ Install each dimension/precision configuration to a separate prefix. When shippi
 a shared-library build, include the library and configure its runtime search path
 (on Windows, place the DLL beside your executable).
 
+Without CMake, define `RAPIER_DIM2`/`RAPIER_DIM3`, `RAPIER_F32`/`RAPIER_F64`, and
+`RAPIER_FEM`, `RAPIER_ROBOTICS`, `RAPIER_PARALLEL` for the enabled library features
+yourself. Call `r3CheckAbi` (or `r2CheckAbi`) at startup, as in the
+[C example](examples/falling_ball.c): it fails when these defines change a structure
+layout of the linked library.
+
 ## Run the testbed
 
 ```sh

c/doxygen/reference.dox

@@ -13,7 +13,8 @@ RAII ownership; they do not change the C ABI.
 @section selection Build selection
 Define exactly one of `RAPIER_DIM2` / `RAPIER_DIM3` and one of
 `RAPIER_F32` / `RAPIER_F64` before including the headers. The defaults are 3D/f32.
-Flags must match the linked library; CheckAbi checks version and core layouts.
+Flags must match the linked library, including `RAPIER_FEM` and `RAPIER_ROBOTICS`.
+CheckAbi, given ABI_FEATURES, checks the version, core layouts, and these feature defines.
 PodLayout exposes additional structure sizes for foreign-language bindings.
 Use uint32_t for ABI booleans, not C/C++ bool; inputs must be 0 or 1.
 

c/examples/RapierNative.cs

@@ -46,7 +46,7 @@ public sealed class World : SafeHandleZeroOrMinusOneIsInvalid
         public World() : base(true) { }
         protected override bool ReleaseHandle() { return r3FreeWorld(handle) == 0; }
     }
-    [DllImport(Library, CallingConvention=CallingConvention.Cdecl, ExactSpelling=true)] static extern uint r3CheckAbi(uint version,uint dimension,UIntPtr realSize,UIntPtr vectorSize,UIntPtr poseSize);
+    [DllImport(Library, CallingConvention=CallingConvention.Cdecl, ExactSpelling=true)] static extern uint r3CheckAbi(uint version,uint dimension,UIntPtr realSize,UIntPtr vectorSize,UIntPtr poseSize,uint features);
     [DllImport(Library, CallingConvention=CallingConvention.Cdecl, ExactSpelling=true)] static extern IntPtr r3LastError();
     [DllImport(Library, CallingConvention=CallingConvention.Cdecl, ExactSpelling=true)] static extern uint r3LastStatus();
     [DllImport(Library, CallingConvention=CallingConvention.Cdecl, ExactSpelling=true)] static extern World r3NewWorld();
@@ -64,7 +64,7 @@ static void Check(uint status)
     // The native library must be installed for the process architecture before invoking this method.
     public static Vector SimulateOneSecond()
     {
-        Check(r3CheckAbi(1,3,(UIntPtr)4,(UIntPtr)Marshal.SizeOf<Vector>(),(UIntPtr)Marshal.SizeOf<Pose>()));
+        Check(r3CheckAbi(1,3,(UIntPtr)4,(UIntPtr)Marshal.SizeOf<Vector>(),(UIntPtr)Marshal.SizeOf<Pose>(),0));
         PodLayout layout = r3PodLayout();
         if (layout.rigidBodyDesc != (UIntPtr)Marshal.SizeOf<RigidBodyDesc>())
             throw new InvalidOperationException("RigidBodyDesc layout does not match the native library.");

c/examples/falling_ball.c

@@ -14,7 +14,7 @@
 int main(void) {
     CHECK(RAPIER_FN(CheckAbi)(RAPIER_CONST(ABI_VERSION), RAPIER_CONST(DIMENSION),
                               sizeof(RAPIER_TYPE(Real)), sizeof(RAPIER_TYPE(Vector)),
-                              sizeof(RAPIER_TYPE(Pose))));
+                              sizeof(RAPIER_TYPE(Pose)), RAPIER_CONST(ABI_FEATURES)));
 
     RAPIER_TYPE(World) *world = RAPIER_FN(NewWorld)();
     CHECK(RAPIER_FN(LastStatus)());