diff --git a/src/base/norm.rs b/src/base/norm.rs
index bc5acce5..150ca341 100644
--- a/src/base/norm.rs
+++ b/src/base/norm.rs
@@ -256,7 +256,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     /// Sets the magnitude of this vector.
     #[inline]
     pub fn set_magnitude(&mut self, magnitude: N::SimdRealField)
-    where S: StorageMut<N, R, C> {
+    where
+        S: StorageMut<N, R, C>,
+    {
         let n = self.norm();
         self.scale_mut(magnitude / n)
     }
@@ -265,7 +267,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     #[inline]
     #[must_use = "Did you mean to use normalize_mut()?"]
     pub fn normalize(&self) -> MatrixMN<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> {
+    where
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         self.unscale(self.norm())
     }
 
@@ -275,6 +279,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
         self.apply_norm(&LpNorm(p))
     }
 
+    /// Attempts to normalize `self`.
+    ///
+    /// The components of this matrix can be SIMD types.
     #[inline]
     #[must_use = "Did you mean to use simd_try_normalize_mut()?"]
     pub fn simd_try_normalize(&self, min_norm: N::SimdRealField) -> SimdOption<MatrixMN<N, R, C>>
@@ -296,7 +303,9 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Otherwise this is equivalent to: `*self = self.normalize() * magnitude.
     #[inline]
     pub fn try_set_magnitude(&mut self, magnitude: N::RealField, min_magnitude: N::RealField)
-    where S: StorageMut<N, R, C> {
+    where
+        S: StorageMut<N, R, C>,
+    {
         let n = self.norm();
 
         if n >= min_magnitude {
@@ -305,10 +314,14 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 
     /// Returns a normalized version of this matrix unless its norm as smaller or equal to `eps`.
+    ///
+    /// The components of this matrix cannot be SIMD types (see `simd_try_normalize`) instead.
     #[inline]
     #[must_use = "Did you mean to use try_normalize_mut()?"]
     pub fn try_normalize(&self, min_norm: N::RealField) -> Option<MatrixMN<N, R, C>>
-    where DefaultAllocator: Allocator<N, R, C> {
+    where
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         let n = self.norm();
 
         if n <= min_norm {
@@ -321,6 +334,8 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
 
 impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Normalizes this matrix in-place and returns its norm.
+    ///
+    /// The components of the matrix cannot be SIMD types (see `simd_try_normalize_mut` instead).
     #[inline]
     pub fn normalize_mut(&mut self) -> N::SimdRealField {
         let n = self.norm();
@@ -329,6 +344,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C
         n
     }
 
+    /// Normalizes this matrix in-place and return its norm.
+    ///
+    /// The components of the matrix can be SIMD types.
     #[inline]
     #[must_use = "Did you mean to use simd_try_normalize_mut()?"]
     pub fn simd_try_normalize_mut(
@@ -364,7 +382,8 @@ impl<N: ComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S>
 }
 
 impl<N: SimdComplexField, R: Dim, C: Dim> Normed for MatrixMN<N, R, C>
-where DefaultAllocator: Allocator<N, R, C>
+where
+    DefaultAllocator: Allocator<N, R, C>,
 {
     type Norm = N::SimdRealField;
 
@@ -390,7 +409,8 @@ where DefaultAllocator: Allocator<N, R, C>
 }
 
 impl<N: Scalar + ClosedNeg, R: Dim, C: Dim> Neg for Unit<MatrixMN<N, R, C>>
-where DefaultAllocator: Allocator<N, R, C>
+where
+    DefaultAllocator: Allocator<N, R, C>,
 {
     type Output = Unit<MatrixMN<N, R, C>>;
 
@@ -405,7 +425,8 @@ where DefaultAllocator: Allocator<N, R, C>
 //   − use `x()` instead of `::canonical_basis_element`
 //   − use `::new(x, y, z)` instead of `::from_slice`
 impl<N: ComplexField, D: DimName> VectorN<N, D>
-where DefaultAllocator: Allocator<N, D>
+where
+    DefaultAllocator: Allocator<N, D>,
 {
     /// The i-the canonical basis element.
     #[inline]
@@ -458,7 +479,9 @@ where DefaultAllocator: Allocator<N, D>
     // FIXME: return an iterator instead when `-> impl Iterator` will be supported by Rust.
     #[inline]
     pub fn orthonormal_subspace_basis<F>(vs: &[Self], mut f: F)
-    where F: FnMut(&Self) -> bool {
+    where
+        F: FnMut(&Self) -> bool,
+    {
         // FIXME: is this necessary?
         assert!(
             vs.len() <= D::dim(),
diff --git a/src/base/unit.rs b/src/base/unit.rs
index acff561a..f0334679 100644
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@@ -25,7 +25,9 @@ pub struct Unit<T> {
 #[cfg(feature = "serde-serialize")]
 impl<T: Serialize> Serialize for Unit<T> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-    where S: Serializer {
+    where
+        S: Serializer,
+    {
         self.value.serialize(serializer)
     }
 }
@@ -33,7 +35,9 @@ impl<T: Serialize> Serialize for Unit<T> {
 #[cfg(feature = "serde-serialize")]
 impl<'de, T: Deserialize<'de>> Deserialize<'de> for Unit<T> {
     fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
-    where D: Deserializer<'de> {
+    where
+        D: Deserializer<'de>,
+    {
         T::deserialize(deserializer).map(|x| Unit { value: x })
     }
 }
@@ -53,11 +57,17 @@ impl<T: Abomonation> Abomonation for Unit<T> {
     }
 }
 
+/// Trait implemented by entities scan be be normalized and put in an `Unit` struct.
 pub trait Normed {
+    /// The type of the norm.
     type Norm: SimdRealField;
+    /// Computes the norm.
     fn norm(&self) -> Self::Norm;
+    /// Computes the squared norm.
     fn norm_squared(&self) -> Self::Norm;
+    /// Multiply `self` by n.
     fn scale_mut(&mut self, n: Self::Norm);
+    /// Divides `self` by n.
     fn unscale_mut(&mut self, n: Self::Norm);
 }
 
@@ -73,7 +83,9 @@ impl<T: Normed> Unit<T> {
     /// Returns `None` if the norm was smaller or equal to `min_norm`.
     #[inline]
     pub fn try_new(value: T, min_norm: T::Norm) -> Option<Self>
-    where T::Norm: RealField {
+    where
+        T::Norm: RealField,
+    {
         Self::try_new_and_get(value, min_norm).map(|res| res.0)
     }
 
@@ -90,7 +102,9 @@ impl<T: Normed> Unit<T> {
     /// Returns `None` if the norm was smaller or equal to `min_norm`.
     #[inline]
     pub fn try_new_and_get(mut value: T, min_norm: T::Norm) -> Option<(Self, T::Norm)>
-    where T::Norm: RealField {
+    where
+        T::Norm: RealField,
+    {
         let sq_norm = value.norm_squared();
 
         if sq_norm > min_norm * min_norm {
diff --git a/src/geometry/abstract_rotation.rs b/src/geometry/abstract_rotation.rs
index 6cadb44e..ff057a09 100644
--- a/src/geometry/abstract_rotation.rs
+++ b/src/geometry/abstract_rotation.rs
@@ -4,18 +4,30 @@ use crate::{DefaultAllocator, DimName, Point, Scalar, SimdRealField, VectorN, U2
 
 use simba::scalar::ClosedMul;
 
+/// Trait implemented by rotations that can be used inside of an `Isometry` or `Similarity`.
 pub trait AbstractRotation<N: Scalar, D: DimName>: PartialEq + ClosedMul + Clone {
+    /// The rotation identity.
     fn identity() -> Self;
+    /// The rotation inverse.
     fn inverse(&self) -> Self;
+    /// Change `self` to its inverse.
     fn inverse_mut(&mut self);
+    /// Apply the rotation to the given vector.
     fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
-    where DefaultAllocator: Allocator<N, D>;
+    where
+        DefaultAllocator: Allocator<N, D>;
+    /// Apply the rotation to the given point.
     fn transform_point(&self, p: &Point<N, D>) -> Point<N, D>
-    where DefaultAllocator: Allocator<N, D>;
+    where
+        DefaultAllocator: Allocator<N, D>;
+    /// Apply the inverse rotation to the given vector.
     fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
-    where DefaultAllocator: Allocator<N, D>;
+    where
+        DefaultAllocator: Allocator<N, D>;
+    /// Apply the inverse rotation to the given point.
     fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
-    where DefaultAllocator: Allocator<N, D>;
+    where
+        DefaultAllocator: Allocator<N, D>;
 }
 
 impl<N: SimdRealField, D: DimName> AbstractRotation<N, D> for Rotation<N, D>
@@ -40,31 +52,40 @@ where
 
     #[inline]
     fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+    where
+        DefaultAllocator: Allocator<N, D>,
+    {
         self * v
     }
 
     #[inline]
     fn transform_point(&self, p: &Point<N, D>) -> Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+    where
+        DefaultAllocator: Allocator<N, D>,
+    {
         self * p
     }
 
     #[inline]
     fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+    where
+        DefaultAllocator: Allocator<N, D>,
+    {
         self.inverse_transform_vector(v)
     }
 
     #[inline]
     fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+    where
+        DefaultAllocator: Allocator<N, D>,
+    {
         self.inverse_transform_point(p)
     }
 }
 
 impl<N: SimdRealField> AbstractRotation<N, U3> for UnitQuaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn identity() -> Self {
@@ -103,7 +124,8 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> AbstractRotation<N, U2> for UnitComplex<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     #[inline]
     fn identity() -> Self {
diff --git a/src/geometry/quaternion.rs b/src/geometry/quaternion.rs
index 1a593883..45a03c78 100755
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@@ -35,7 +35,8 @@ pub struct Quaternion<N: Scalar + SimdValue> {
 
 #[cfg(feature = "abomonation-serialize")]
 impl<N: SimdRealField> Abomonation for Quaternion<N>
-where Vector4<N>: Abomonation
+where
+    Vector4<N>: Abomonation,
 {
     unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
         self.coords.entomb(writer)
@@ -53,7 +54,8 @@ where Vector4<N>: Abomonation
 impl<N: SimdRealField + Eq> Eq for Quaternion<N> where N::Element: SimdRealField {}
 
 impl<N: SimdRealField> PartialEq for Quaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     fn eq(&self, rhs: &Self) -> bool {
         self.coords == rhs.coords ||
@@ -79,20 +81,26 @@ impl<N: Scalar + SimdValue> Clone for Quaternion<N> {
 
 #[cfg(feature = "serde-serialize")]
 impl<N: SimdRealField> Serialize for Quaternion<N>
-where Owned<N, U4>: Serialize
+where
+    Owned<N, U4>: Serialize,
 {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-    where S: Serializer {
+    where
+        S: Serializer,
+    {
         self.coords.serialize(serializer)
     }
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N: SimdRealField> Deserialize<'a> for Quaternion<N>
-where Owned<N, U4>: Deserialize<'a>
+where
+    Owned<N, U4>: Deserialize<'a>,
 {
     fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
-    where Des: Deserializer<'a> {
+    where
+        Des: Deserializer<'a>,
+    {
         let coords = Vector4::<N>::deserialize(deserializer)?;
 
         Ok(Self::from(coords))
@@ -100,7 +108,8 @@ where Owned<N, U4>: Deserialize<'a>
 }
 
 impl<N: SimdRealField> Quaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     /// Moves this unit quaternion into one that owns its data.
     #[inline]
@@ -289,10 +298,13 @@ where N::Element: SimdRealField
 }
 
 impl<N: SimdRealField> Quaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     /// Inverts this quaternion if it is not zero.
     ///
+    /// This method also does not works with SIMD components (see `simd_try_inverse` instead).
+    ///
     /// # Example
     /// ```
     /// # #[macro_use] extern crate approx;
@@ -312,7 +324,9 @@ where N::Element: SimdRealField
     #[inline]
     #[must_use = "Did you mean to use try_inverse_mut()?"]
     pub fn try_inverse(&self) -> Option<Self>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         let mut res = self.clone();
 
         if res.try_inverse_mut() {
@@ -322,6 +336,9 @@ where N::Element: SimdRealField
         }
     }
 
+    /// Attempt to inverse this quaternion.
+    ///
+    /// This method also works with SIMD components.
     #[inline]
     #[must_use = "Did you mean to use try_inverse_mut()?"]
     pub fn simd_try_inverse(&self) -> SimdOption<Self> {
@@ -383,7 +400,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn project(&self, other: &Self) -> Option<Self>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.inner(other).right_div(other)
     }
 
@@ -403,7 +422,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn reject(&self, other: &Self) -> Option<Self>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.outer(other).right_div(other)
     }
 
@@ -423,7 +444,9 @@ where N::Element: SimdRealField
     /// assert_eq!(axis, Some(Vector3::x_axis()));
     /// ```
     pub fn polar_decomposition(&self) -> (N, N, Option<Unit<Vector3<N>>>)
-    where N: RealField {
+    where
+        N: RealField,
+    {
         if let Some((q, n)) = Unit::try_new_and_get(*self, N::zero()) {
             if let Some(axis) = Unit::try_new(self.vector().clone_owned(), N::zero()) {
                 let angle = q.angle() / crate::convert(2.0f64);
@@ -640,7 +663,9 @@ where N::Element: SimdRealField
     /// Calculates B<sup>-1</sup> * A where A = self, B = other.
     #[inline]
     pub fn left_div(&self, other: &Self) -> Option<Self>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         other.try_inverse().map(|inv| inv * self)
     }
 
@@ -660,7 +685,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn right_div(&self, other: &Self) -> Option<Self>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         other.try_inverse().map(|inv| self * inv)
     }
 
@@ -753,7 +780,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn tan(&self) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.sin().right_div(&self.cos()).unwrap()
     }
 
@@ -769,7 +798,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn atan(&self) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         let u = Self::from_imag(self.imag().normalize());
         let num = u + self;
         let den = u - self;
@@ -857,7 +888,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn tanh(&self) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.sinh().right_div(&self.cosh()).unwrap()
     }
 
@@ -907,8 +940,7 @@ impl<N: RealField + RelativeEq<Epsilon = N>> RelativeEq for Quaternion<N> {
         other: &Self,
         epsilon: Self::Epsilon,
         max_relative: Self::Epsilon,
-    ) -> bool
-    {
+    ) -> bool {
         self.as_vector().relative_eq(other.as_vector(), epsilon, max_relative) ||
         // Account for the double-covering of S², i.e. q = -q
         self.as_vector().iter().zip(other.as_vector().iter()).all(|(a, b)| a.relative_eq(&-*b, epsilon, max_relative))
@@ -967,7 +999,8 @@ impl<N: SimdRealField> Normed for Quaternion<N> {
 }
 
 impl<N: SimdRealField> UnitQuaternion<N>
-where N::Element: SimdRealField
+where
+    N::Element: SimdRealField,
 {
     /// The rotation angle in [0; pi] of this unit quaternion.
     ///
@@ -1120,7 +1153,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn slerp(&self, other: &Self, t: N) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.try_slerp(other, t, N::default_epsilon())
             .expect("Quaternion slerp: ambiguous configuration.")
     }
@@ -1137,7 +1172,9 @@ where N::Element: SimdRealField
     /// must be to return `None`.
     #[inline]
     pub fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         let coords = if self.coords.dot(&other.coords) < N::zero() {
             Unit::new_unchecked(self.coords).try_slerp(
                 &Unit::new_unchecked(-other.coords),
@@ -1194,7 +1231,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn axis(&self) -> Option<Unit<Vector3<N>>>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         let v = if self.quaternion().scalar() >= N::zero() {
             self.as_ref().vector().clone_owned()
         } else {
@@ -1216,7 +1255,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn scaled_axis(&self) -> Vector3<N>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         if let Some(axis) = self.axis() {
             axis.into_inner() * self.angle()
         } else {
@@ -1242,7 +1283,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn axis_angle(&self) -> Option<(Unit<Vector3<N>>, N)>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.axis().map(|axis| (axis, self.angle()))
     }
 
@@ -1270,7 +1313,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn ln(&self) -> Quaternion<N>
-    where N: RealField {
+    where
+        N: RealField,
+    {
         if let Some(v) = self.axis() {
             Quaternion::from_imag(v.into_inner() * self.angle())
         } else {
@@ -1296,7 +1341,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn powf(&self, n: N) -> Self
-    where N: RealField {
+    where
+        N: RealField,
+    {
         if let Some(v) = self.axis() {
             Self::from_axis_angle(&v, self.angle() * n)
         } else {
@@ -1357,7 +1404,9 @@ where N::Element: SimdRealField
     #[inline]
     #[deprecated(note = "This is renamed to use `.euler_angles()`.")]
     pub fn to_euler_angles(&self) -> (N, N, N)
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.euler_angles()
     }
 
@@ -1377,7 +1426,9 @@ where N::Element: SimdRealField
     /// ```
     #[inline]
     pub fn euler_angles(&self) -> (N, N, N)
-    where N: RealField {
+    where
+        N: RealField,
+    {
         self.to_rotation_matrix().euler_angles()
     }
 
@@ -1533,8 +1584,7 @@ impl<N: RealField + RelativeEq<Epsilon = N>> RelativeEq for UnitQuaternion<N> {
         other: &Self,
         epsilon: Self::Epsilon,
         max_relative: Self::Epsilon,
-    ) -> bool
-    {
+    ) -> bool {
         self.as_ref()
             .relative_eq(other.as_ref(), epsilon, max_relative)
     }
diff --git a/src/lib.rs b/src/lib.rs
index d0a20c36..9db176bf 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -79,7 +79,7 @@ an optimized set of tools for computer graphics and physics. Those features incl
 #![deny(non_upper_case_globals)]
 #![deny(unused_qualifications)]
 #![deny(unused_results)]
-#![allow(missing_docs)] // XXX: deny that
+#![deny(missing_docs)]
 #![doc(
     html_favicon_url = "https://nalgebra.org/img/favicon.ico",
     html_root_url = "https://nalgebra.org/rustdoc"
@@ -190,7 +190,9 @@ pub fn zero<T: Zero>() -> T {
 /// The range must not be empty.
 #[inline]
 pub fn wrap<T>(mut val: T, min: T, max: T) -> T
-where T: Copy + PartialOrd + ClosedAdd + ClosedSub {
+where
+    T: Copy + PartialOrd + ClosedAdd + ClosedSub,
+{
     assert!(min < max, "Invalid wrapping bounds.");
     let width = max - min;
 
@@ -390,7 +392,9 @@ pub fn partial_sort2<'a, T: PartialOrd>(a: &'a T, b: &'a T) -> Option<(&'a T, &'
 /// * [distance_squared](fn.distance_squared.html)
 #[inline]
 pub fn center<N: SimdComplexField, D: DimName>(p1: &Point<N, D>, p2: &Point<N, D>) -> Point<N, D>
-where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     ((&p1.coords + &p2.coords) * convert::<_, N>(0.5)).into()
 }