featherstone 0.1.0

Robotics dynamics engine — O(n) forward/inverse dynamics for kinematic trees, contact solvers, and time integration
Documentation
name: CI

on:
  push:
    branches: [main]
  pull_request:

env:
  CARGO_TERM_COLOR: always

jobs:
  msrv:
    name: MSRV (1.70)
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@master
        with:
          toolchain: "1.70"
      - uses: Swatinem/rust-cache@v2
      - run: cargo check --all-features

  check:
    name: ${{ matrix.toolchain }} / ${{ matrix.task }}
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        toolchain: [stable, nightly]
        task: [check, test, clippy, doc]
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@master
        with:
          toolchain: ${{ matrix.toolchain }}
          components: clippy
      - uses: Swatinem/rust-cache@v2

      - name: cargo check
        if: matrix.task == 'check'
        run: cargo check --all-features

      - name: cargo test
        if: matrix.task == 'test'
        run: cargo test --all-features

      - name: cargo clippy
        if: matrix.task == 'clippy'
        run: >
          cargo clippy --all-features -- -D warnings

      - name: cargo doc
        if: matrix.task == 'doc'
        run: cargo doc --all-features --no-deps
        env:
          RUSTDOCFLAGS: -D warnings

  coverage:
    name: Code coverage
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
      - uses: Swatinem/rust-cache@v2
      - uses: taiki-e/install-action@cargo-llvm-cov
      - run: cargo llvm-cov --all-features --lcov --output-path lcov.info
      - uses: codecov/codecov-action@v4
        with:
          files: lcov.info
          fail_ci_if_error: false