Fix apidoc generation (#734)

* Fix apidoc generation

* Add apidoc to gitignore.

docs/.gitignore

@@ -1,4 +1,4 @@
-
+apidoc
 _build
 _static
 _templates

docs/Makefile

@@ -5,7 +5,10 @@
 # from the environment for the first two.
 SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
+SPHINXAPIDOC  = sphinx-apidoc
 SOURCEDIR     = .
+MODULEDIR     = ../igibson
+APIDOCDIR     = apidoc
 BUILDDIR      = _build
 
 # Put it first so that "make" without argument is like "make help".
@@ -17,4 +20,5 @@ help:
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
+	@$(SPHINXAPIDOC) "$(MODULEDIR)" -o "$(APIDOCDIR)"
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/index.rst

@@ -22,7 +22,6 @@ Welcome to iGibson's documentation!
    dataset.md
    assets.md
    simulators.md
-   physics_engine.md
    extended_states.md
    renderer.md
    viewer.md

docs/make.bat

@@ -9,6 +9,9 @@ if "%SPHINXBUILD%" == "" (
 )
 set SOURCEDIR=.
 set BUILDDIR=_build
+set SPHINXAPIDOC=sphinx-apidoc
+set MODULEDIR=../igibson
+set APIDOCDIR=apidoc
 
 if "%1" == "" goto help
 
@@ -25,6 +28,7 @@ if errorlevel 9009 (
 	exit /b 1
 )
 
+%SPHINXAPIDOC% %MODULEDIR% -o %APIDOCDIR%
 %SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
 goto end
 

docs/overview.md

@@ -15,7 +15,7 @@ We developed our own renderer that supports customizable camera configuration, p
 We use the open-sourced [PyBullet](http://www.pybullet.org/) as our underlying physics engine. 
 It can simulate rigid body collision and joint actuation for robots and articulated objects in an accurate and efficient manner. 
 Since we are using MeshRenderer for rendering and PyBullet for physics simulation, we need to keep them synchronized at all time. 
-Our code have already handled this for you. More info can be found here: [Renderer](renderer.md) and [PhysicsEngine](physics_engine.md).
+Our code have already handled this for you. More info can be found here: [Renderer](renderer.md).
 
 Furthermore, we have **Scene**, **Object**, **Robot**, and **Simulator**. 
 **Scene** loads 3D scene meshes from `igibson.g_dataset_path, igibson.ig_dataset_path` and loads/holds the list of objects associated with an interactive scene.