Refactor and clean-up C++ API docs

[zfergus]

No description provided.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 96.42%. Comparing base (bc56ffb) to head (dfc683e).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
src/ipc/collisions/normal/plane_vertex.hpp	0.00%	1 Missing ⚠️

❌ Your patch status has failed because the patch coverage (0.00%) is below the target coverage (75.00%). You can increase the patch coverage or adjust the target coverage.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #175   +/-   ##
=======================================
  Coverage   96.41%   96.42%           
=======================================
  Files         102      102           
  Lines        7765     7766    +1     
=======================================
+ Hits         7487     7488    +1     
  Misses        278      278           

Flag	Coverage Δ
unittests	96.42% <0.00%> (+<0.01%)	⬆️

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