Merge pull request #521 from waywardmonkeys/expand-wrt

docs: Expand "wrt" to "with respect to".

src/pipeline/physics_hooks.rs

@@ -95,7 +95,8 @@ impl<'a> ContactModificationContext<'a> {
             CONTACT_CURRENTLY_FORBIDDEN => {
                 // Contacts are forbidden so we need to continue forbidding contacts
                 // until all the contacts are non-penetrating again. In that case, if
-                // the contacts are OK wrt. the contact normal, then we can mark them as allowed.
+                // the contacts are OK with respect to the contact normal, then we can
+                // mark them as allowed.
                 if contact_is_ok && self.solver_contacts.iter().all(|c| c.dist > 0.0) {
                     *self.user_data = CONTACT_CURRENTLY_ALLOWED;
                 } else {

src/pipeline/physics_pipeline.rs

@@ -630,8 +630,8 @@ impl PhysicsPipeline {
         }
 
         // Finally, make sure we update the world mass-properties of the rigid-bodies
-        // that moved. Otherwise, users may end up applying forces wrt. an outdated
-        // center of mass.
+        // that moved. Otherwise, users may end up applying forces with respect to an
+        // outdated center of mass.
         // TODO: avoid updating the world mass properties twice (here, and
         //       at the beginning of the next timestep) for bodies that were
         //       not modified by the user in the mean time.

src/pipeline/query_pipeline.rs

@@ -706,7 +706,7 @@ impl QueryPipeline {
     /// * `stop_at_penetration` - If the casted shape starts in a penetration state with any
     ///    collider, two results are possible. If `stop_at_penetration` is `true` then, the
     ///    result will have a `toi` equal to `start_time`. If `stop_at_penetration` is `false`
-    ///    then the nonlinear shape-casting will see if further motion wrt. the penetration normal
+    ///    then the nonlinear shape-casting will see if further motion with respect to the penetration normal
     ///    would result in tunnelling. If it does not (i.e. we have a separating velocity along
     ///    that normal) then the nonlinear shape-casting will attempt to find another impact,
     ///    at a time `> start_time` that could result in tunnelling.