Fix some typos. (#620)

CHANGELOG.md

@@ -269,7 +269,7 @@ without affecting performance of the other parts of the simulation.
 - Joint motors no longer have a `VelocityBased` model. The new choices are `AccelerationBased` and `ForceBased`
   which are more stable.
 - Calling the `.build()` function from builders (`RigidBodyBuilder`, `ColliderBuilder`, etc.) is no longer necessary
-  whan adding them to sets. It is automatically called thanks to `Into<_>` implementations.
+  when adding them to sets. It is automatically called thanks to `Into<_>` implementations.
 - The `ComponentSet` abstractions (and related `_generic` methods like `PhysicsPipeline::step_generic`) have been
   removed. Custom storage for colliders and rigid-bodies are no longer possible: use the built-in `RigidBodySet` and
   `ColliderSet` instead.
@@ -309,7 +309,7 @@ reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/3
 
 - All the impulse-based joints have been replaced by a single generic 6-Dofs joint in 3D
   (or 3-Dofs joint in 2D) named `ImpulseJoint`. The `RevoluteJoint, PrismaticJoint, FixedJoint`,
-  and `SphericalJoint` (formely named `BallJoint`) structures still exist but are just convenient
+  and `SphericalJoint` (formerly named `BallJoint`) structures still exist but are just convenient
   ways to initialize the generic `ImpulseJoint`.
 - Our constraints solver has been modified. Before we used one velocity-based resolution followed
   by one position-based resolution. We are now using two velocity-based resolution: the first one

examples2d/trimesh2.rs

@@ -41,7 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
-     * Create the trimeshes from a tesselated SVG.
+     * Create the trimeshes from a tessellated SVG.
      */
     let mut fill_tess = FillTessellator::new();
     let opt = usvg::Options::default();
@@ -67,7 +67,7 @@ pub fn init_world(testbed: &mut Testbed) {
                         &FillOptions::tolerance(0.01),
                         &mut BuffersBuilder::new(&mut mesh, VertexCtor { prim_id: 0 }),
                     )
-                    .expect("Tesselation failed.");
+                    .expect("Tessellation failed.");
 
                 let angle = transform.get_rotate() as f32;
 

src/control/character_controller.rs

@@ -18,7 +18,7 @@ pub enum CharacterLength {
     /// for a shape with an height equal to 20.0 will result in a maximum step height
     /// of `0.1 * 20.0 = 2.0`.
     Relative(Real),
-    /// The length is specified as an aboslute value, independent from the character shape’s size.
+    /// The length is specified as an absolute value, independent from the character shape’s size.
     ///
     /// For example setting `CharacterAutostep::max_height` to `CharacterLength::Relative(0.1)`
     /// for a shape with an height equal to 20.0 will result in a maximum step height

src/counters/mod.rs

@@ -17,7 +17,7 @@ mod timer;
 /// Aggregation of all the performances counters tracked by rapier.
 #[derive(Clone, Copy)]
 pub struct Counters {
-    /// Whether thi counter is enabled or not.
+    /// Whether this counter is enabled or not.
     pub enabled: bool,
     /// Timer for a whole timestep.
     pub step_time: Timer,
@@ -69,7 +69,7 @@ impl Counters {
         }
     }
 
-    /// Notfy that the time-step has finished.
+    /// Notify that the time-step has finished.
     pub fn step_completed(&mut self) {
         if self.enabled {
             self.step_time.pause();
@@ -88,7 +88,7 @@ impl Counters {
         }
     }
 
-    /// Notfy that the custom operation has finished.
+    /// Notify that the custom operation has finished.
     pub fn custom_completed(&mut self) {
         if self.enabled {
             self.custom.pause();

src/counters/stages_counters.rs

@@ -21,7 +21,7 @@ pub struct StagesCounters {
 }
 
 impl StagesCounters {
-    /// Create a new counter intialized to zero.
+    /// Create a new counter initialized to zero.
     pub fn new() -> Self {
         StagesCounters {
             update_time: Timer::new(),

src/data/graph.rs

@@ -370,7 +370,7 @@ impl<N, E> Graph<N, E> {
         // indices.
         let edge = self.edges.swap_remove(e.index());
         let swap = match self.edges.get(e.index()) {
-            // no elment needed to be swapped.
+            // no element needed to be swapped.
             None => return Some(edge.weight),
             Some(ed) => ed.node,
         };

src/data/pubsub.rs

@@ -103,7 +103,7 @@ impl<T> PubSub<T> {
         subscription
     }
 
-    /// Read the i-th message not yet read by the given subsciber.
+    /// Read the i-th message not yet read by the given subscriber.
     pub fn read_ith(&self, sub: &Subscription<T>, i: usize) -> Option<&T> {
         let cursor = &self.cursors[sub.id as usize];
         self.messages.get(cursor.next(self.deleted_messages) + i)

src/dynamics/rigid_body.rs

@@ -443,7 +443,7 @@ impl RigidBody {
         self.ccd.ccd_enabled = enabled;
     }
 
-    /// Is CCD (continous collision-detection) enabled for this rigid-body?
+    /// Is CCD (continuous collision-detection) enabled for this rigid-body?
     pub fn is_ccd_enabled(&self) -> bool {
         self.ccd.ccd_enabled
     }

src/dynamics/rigid_body_components.rs

@@ -595,7 +595,7 @@ impl RigidBodyVelocity {
     }
 
     /// Integrate the velocities in `self` to compute obtain new positions when moving from the given
-    /// inital position `init_pos`.
+    /// initial position `init_pos`.
     #[must_use]
     pub fn integrate(
         &self,

src/dynamics/rigid_body_set.rs

@@ -209,7 +209,7 @@ impl RigidBodySet {
     /// Update colliders positions after rigid-bodies moved.
     ///
     /// When a rigid-body moves, the positions of the colliders attached to it need to be updated.
-    /// This update is generally automatically done at the beggining and the end of each simulation
+    /// This update is generally automatically done at the beginning and the end of each simulation
     /// step with `PhysicsPipeline::step`. If the positions need to be updated without running a
     /// simulation step (for example when using the `QueryPipeline` alone), this method can be called
     /// manually.  

src/dynamics/solver/solver_constraints_set.rs

@@ -96,7 +96,7 @@ impl<Constraints: ConstraintTypes> SolverConstraintsSet<Constraints> {
         }
     }
 
-    #[allow(dead_code)] // Useful for debuging.
+    #[allow(dead_code)] // Useful for debugging.
     pub fn print_counts(&self) {
         println!("Solver constraints:");
         println!(

src/geometry/broad_phase.rs

@@ -8,7 +8,7 @@ pub type BroadPhaseProxyIndex = u32;
 /// Trait implemented by broad-phase algorithms supported by Rapier.
 ///
 /// The task of a broad-phase algorithm is to detect potential collision pairs, usually based on
-/// bounding volumes. The pairs must be concervative: it is OK to create a collision pair if
+/// bounding volumes. The pairs must be conservative: it is OK to create a collision pair if
 /// two objects don’t actually touch, but it is incorrect to remove a pair between two objects
 /// that are still touching. In other words, it can have false-positive (though these induce
 /// some computational overhead on the narrow-phase), but cannot have false-negative.

src/geometry/collider.rs

@@ -302,7 +302,7 @@ impl Collider {
         }
     }
 
-    /// Sets the rotational part of this collider's rotaiton relative to its parent rigid-body.
+    /// Sets the rotational part of this collider's rotation relative to its parent rigid-body.
     pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector<Real>) {
         if let Some(parent) = self.parent.as_mut() {
             self.changes.insert(ColliderChanges::PARENT);

src/pipeline/query_pipeline.rs

@@ -100,7 +100,7 @@ impl QueryFilterFlags {
     }
 }
 
-/// A filter tha describes what collider should be included or excluded from a scene query.
+/// A filter that describes what collider should be included or excluded from a scene query.
 #[derive(Copy, Clone, Default)]
 pub struct QueryFilter<'a> {
     /// Flags indicating what particular type of colliders should be excluded from the scene query.

src/utils.rs

@@ -647,7 +647,7 @@ impl SimdAngularInertia<SimdReal> for SdpMatrix3<SimdReal> {
 }
 
 // This is an RAII structure that enables flushing denormal numbers
-// to zero, and automatically reseting previous flags once it is dropped.
+// to zero, and automatically resetting previous flags once it is dropped.
 #[derive(Clone, Debug, PartialEq, Eq)]
 pub(crate) struct FlushToZeroDenormalsAreZeroFlags {
     original_flags: u32,

src_testbed/testbed.rs

@@ -1,4 +1,4 @@
-#![allow(clippy::bad_bit_mask)] // otherwsie clippy complains because of TestbedStateFlags::NONE which is 0.
+#![allow(clippy::bad_bit_mask)] // otherwise clippy complains because of TestbedStateFlags::NONE which is 0.
 
 use std::env;
 use std::mem;