Reduce typo count. (#225)

This changes one publicly visible field member as detailed in
the `CHANGELOG.md`.

CHANGELOG.md

@@ -12,6 +12,7 @@
 ### Modified
 
 - `TypedShape::Custom(u32)` is now `TypedShape::Custom(&dyn Shape)`.
+- `AabbSetsInterferencesCollector::tolerence` is now spelled correctly as `tolerance`.
 - `Real` is now exposed through a `use` statement,
   so that an indirection is removed in documentation:
   previous occurrences of `Real` now show `f32` or `f64`.
@@ -176,7 +177,7 @@ This version was yanked. See the release notes for 0.13.3 instead.
 ### Modified
 
 - About `rkyv` support: most POD structs (`Aabb`, `Ball`, `Cuboid`, etc.) are now archived as themselves instead of
-  being archived as different types (for example `Aabb` is archived as `Aabb` itself istead of `ArchivedAabb`).
+  being archived as different types (for example `Aabb` is archived as `Aabb` itself instead of `ArchivedAabb`).
 
 ### Added
 
@@ -456,4 +457,4 @@ This version was yanked. See the release notes for 0.13.3 instead.
 ### Fixed
 
 - Fix a bug causing making some ball/convex shape contact manifold computation
-  fail when they are penetrating deeply.
+  fail when they are penetrating deeply.

crates/parry2d/tests/geometry/ray_cast.rs

@@ -54,7 +54,7 @@ fn collinear_raycast_starting_above_segment() {
 }
 
 #[test]
-fn perpendicular_raycast_starting_behind_sement() {
+fn perpendicular_raycast_starting_behind_segment() {
     let segment = Segment::new(Point2::new(0.0f32, -10.0), Point2::new(0.0, 10.0));
     let ray = Ray::new(Point2::new(-1.0, 0.0), Vector2::new(1.0, 0.0));
     assert!(segment.intersects_local_ray(&ray, std::f32::MAX));

crates/parry3d/tests/geometry/trimesh_intersection.rs

@@ -34,7 +34,7 @@ fn trimesh_plane_edge_intersection() {
     assert!(matches!(result, IntersectResult::Intersect(_)));
 
     if let IntersectResult::Intersect(line) = result {
-        // Need to check points individually since order is not garunteed
+        // Need to check points individually since order is not guaranteed
         let vertices = line.vertices();
         assert_eq!(vertices.len(), 3);
         assert!(vertices.contains(&Point3::new(-1.5, -0.75, 0.5)));
@@ -52,7 +52,7 @@ fn trimesh_plane_vertex_intersection() {
     assert!(matches!(result, IntersectResult::Intersect(_)));
 
     if let IntersectResult::Intersect(line) = result {
-        // Need to check points individually since order is not garunteed
+        // Need to check points individually since order is not guaranteed
         let vertices = line.vertices();
         assert_eq!(vertices.len(), 3);
         assert!(vertices.contains(&Point3::new(-2.0, -1.0, 0.0)));
@@ -70,7 +70,7 @@ fn trimesh_plane_mixed_intersection() {
     assert!(matches!(result, IntersectResult::Intersect(_)));
 
     if let IntersectResult::Intersect(line) = result {
-        // Need to check points individually since order is not garunteed
+        // Need to check points individually since order is not guaranteed
         let vertices = line.vertices();
         assert_eq!(vertices.len(), 4);
         assert!(vertices.contains(&Point3::new(0.0, 2.0, 0.0)));
@@ -90,7 +90,7 @@ fn trimesh_plane_multi_intersection() {
     assert!(matches!(result, IntersectResult::Intersect(_)));
 
     if let IntersectResult::Intersect(line) = result {
-        // Need to check points individually since order is not garunteed
+        // Need to check points individually since order is not guaranteed
         let vertices = line.vertices();
         assert_eq!(vertices.len(), 6);
 

src/bounding_volume/aabb.rs

@@ -256,11 +256,12 @@ impl Aabb {
     /// new smaller Aabbs.
     ///
     /// # Return
-    /// This returns a pair where the first item are the new Aabbs and the the second item is
-    /// the sequance of cuts applied to `self` to obtain the new Aabbs. Each cut is performed
+    /// This returns a pair where the first item are the new Aabbs and the second item is
+    /// the sequence of cuts applied to `self` to obtain the new Aabbs. Each cut is performed
     /// along one axis identified by `-1, -2, -3` for `-X, -Y, -Z` and `1, 2, 3` for `+X, +Y, +Z`, and
     /// the plane’s bias.
-    /// The cuts are applied sequancially. For example, if `result.1[0]` contains `1`, then it means
+    ///
+    /// The cuts are applied sequentially. For example, if `result.1[0]` contains `1`, then it means
     /// that `result.0[0]` is equal to the piece of `self` lying in the negative half-space delimited
     /// by the plane with outward normal `+X`. Then, the other piece of `self` generated by this cut
     /// (i.e. the piece of `self` lying in the positive half-space delimited by the plane with outward
@@ -438,7 +439,7 @@ impl Aabb {
 
                 // NOTE: we construct the rotation matrix explicitly here instead
                 //       of using `Rotation2::new()` because we will use similar
-                //       formulaes on the interval methods.
+                //       formulas on the interval methods.
                 let (sin, cos) = angle.sin_cos();
                 let rotmat = na::Matrix2::new(cos, -sin, sin, cos);
 

src/partitioning/qbvh/build.rs

@@ -45,7 +45,7 @@ pub trait QbvhDataSplitter<LeafData> {
 /// along the split axis.
 pub struct CenterDataSplitter {
     /// If all the Aabb centers have the same coordinate values along the splitting axis
-    /// setting this to `true` will allow the spliter to split the Aabb set into two
+    /// setting this to `true` will allow the splitter to split the Aabb set into two
     /// subsets arbitrarily.
     pub enable_fallback_split: bool,
 }
@@ -135,7 +135,7 @@ where
         indices_workspace: &'idx mut Vec<usize>,
         mut proxies: BuilderProxies<LeafData>,
     ) -> [&'idx mut [usize]; 4] {
-        // 1. Snap the spliting point to one fo the Aabb min/max,
+        // 1. Snap the splitting point to one of the Aabb min/max,
         // such that at least one Aabb isn’t split along each dimension.
         let mut split_pt = Point::from(Vector::repeat(-Real::MAX));
         let mut split_pt_right = Point::from(Vector::repeat(Real::MAX));

src/partitioning/qbvh/traversal.rs

@@ -27,7 +27,7 @@ impl<LeafData: IndexedData> Qbvh<LeafData> {
     ///
     /// # Return
     ///
-    /// Returns `false` if the traversal exitted early, and `true` otherwise.
+    /// Returns `false` if the traversal exited early, and `true` otherwise.
     pub fn traverse_depth_first(&self, visitor: &mut impl SimdVisitor<LeafData, SimdAabb>) -> bool {
         self.traverse_depth_first_node(visitor, 0)
     }
@@ -36,7 +36,7 @@ impl<LeafData: IndexedData> Qbvh<LeafData> {
     ///
     /// # Return
     ///
-    /// Returns `false` if the traversal exitted early, and `true` otherwise.
+    /// Returns `false` if the traversal exited early, and `true` otherwise.
     pub fn traverse_depth_first_node(
         &self,
         visitor: &mut impl SimdVisitor<LeafData, SimdAabb>,
@@ -113,7 +113,7 @@ impl<LeafData: IndexedData> Qbvh<LeafData> {
     ///
     /// # Return
     ///
-    /// Returns `false` if the traversal exitted early, and `true` otherwise.
+    /// Returns `false` if the traversal exited early, and `true` otherwise.
     pub fn traverse_depth_first_with_context<Context: Clone>(
         &self,
         visitor: &mut impl SimdVisitorWithContext<LeafData, SimdAabb, Context>,

src/query/epa/epa3.rs

@@ -205,7 +205,7 @@ impl EPA {
             .map(|(p, _, _)| p)
     }
 
-    /// Projects the origin on a shape unsing the EPA algorithm.
+    /// Projects the origin on a shape using the EPA algorithm.
     ///
     /// The origin is assumed to be located inside of the shape.
     /// Returns `None` if the EPA fails to converge or if `g1` and `g2` are not penetrating.

src/query/gjk/gjk.rs

@@ -27,12 +27,12 @@ pub enum GJKResult {
     Proximity(Unit<Vector<Real>>),
     /// Result of the GJK algorithm when the origin is too far away from the polytope.
     ///
-    /// The returned vector is expressed in the local-space of the first geomety involved in the
+    /// The returned vector is expressed in the local-space of the first geometry involved in the
     /// GJK execution.
     NoIntersection(Unit<Vector<Real>>),
 }
 
-/// The absolute tolerence used by the GJK algorithm.
+/// The absolute tolerance used by the GJK algorithm.
 pub fn eps_tol() -> Real {
     let _eps = crate::math::DEFAULT_EPSILON;
     _eps * 10.0
@@ -342,7 +342,7 @@ where
             // some castes.
             // TODO: I feel like we should always return `Some` in
             // this case, even with floating-point numbers. Though it
-            // has not been sufficinetly tested with floats yet to be sure.
+            // has not been sufficiently tested with floats yet to be sure.
             if cfg!(feature = "improved_fixed_point_support") {
                 return Some((ltoi / ray_length, ldir));
             } else {

src/query/gjk/voronoi_simplex2.rs

@@ -82,16 +82,16 @@ impl VoronoiSimplex {
         self.prev_proj[i]
     }
 
-    /// The i-th point of the simplex before the last call to `projet_origin_and_reduce`.
+    /// The i-th point of the simplex before the last call to `project_origin_and_reduce`.
     pub fn prev_point(&self, i: usize) -> &CSOPoint {
         assert!(i <= self.prev_dim, "Index out of bounds.");
         &self.vertices[self.prev_vertices[i]]
     }
 
-    /// Projets the origin on the boundary of this simplex and reduces `self` the smallest subsimplex containing the origin.
+    /// Projects the origin on the boundary of this simplex and reduces `self` the smallest subsimplex containing the origin.
     ///
-    /// Retruns the result of the projection or Point::origin() if the origin lies inside of the simplex.
-    /// The state of the samplex before projection is saved, and can be retrieved using the methods prefixed
+    /// Returns the result of the projection or Point::origin() if the origin lies inside of the simplex.
+    /// The state of the simplex before projection is saved, and can be retrieved using the methods prefixed
     /// by `prev_`.
     pub fn project_origin_and_reduce(&mut self) -> Point<Real> {
         if self.dim == 0 {

src/query/gjk/voronoi_simplex3.rs

@@ -109,16 +109,16 @@ impl VoronoiSimplex {
         self.prev_proj[i]
     }
 
-    /// The i-th point of the simplex before the last call to `projet_origin_and_reduce`.
+    /// The i-th point of the simplex before the last call to `project_origin_and_reduce`.
     pub fn prev_point(&self, i: usize) -> &CSOPoint {
         assert!(i <= self.prev_dim, "Index out of bounds.");
         &self.vertices[self.prev_vertices[i]]
     }
 
-    /// Projets the origin on the boundary of this simplex and reduces `self` the smallest subsimplex containing the origin.
+    /// Projects the origin on the boundary of this simplex and reduces `self` the smallest subsimplex containing the origin.
     ///
-    /// Retruns the result of the projection or Point::origin() if the origin lies inside of the simplex.
-    /// The state of the samplex before projection is saved, and can be retrieved using the methods prefixed
+    /// Returns the result of the projection or `Point::origin()` if the origin lies inside of the simplex.
+    /// The state of the simplex before projection is saved, and can be retrieved using the methods prefixed
     /// by `prev_`.
     pub fn project_origin_and_reduce(&mut self) -> Point<Real> {
         if self.dim == 0 {

src/query/nonlinear_shape_cast/nonlinear_shape_cast_support_map_support_map.rs

@@ -264,7 +264,7 @@ where
     SM1: ?Sized + SupportMap,
     SM2: ?Sized + SupportMap,
 {
-    // Because we are doing non-linear CCD, we need an iterative methode here.
+    // Because we are doing non-linear CCD, we need an iterative method here.
     // First we need to check if the `time_of_impact = start_time` is legitimate, i.e.,
     // if tunnelling will happen if we don't clamp the motion.
     //

src/query/shape_cast/shape_cast.rs

@@ -94,7 +94,7 @@ impl ShapeCastHit {
 pub struct ShapeCastOptions {
     /// The maximum time-of-impacts that can be computed.
     ///
-    /// Any impact ocurring after this time will be ignored.
+    /// Any impact occurring after this time will be ignored.
     pub max_time_of_impact: Real,
     /// The shapes will be considered as impacting as soon as their distance is smaller or
     /// equal to this target distance. Must be positive or zero.

src/query/visitors/aabb_sets_interferences_collector.rs

@@ -11,7 +11,7 @@ pub struct AabbSetsInterferencesCollector<'a, T: 'a> {
     /// A tolerance applied to the interference tests.
     ///
     /// Aabb pairs closer than `tolerance` will be reported as intersecting.
-    pub tolerence: Real,
+    pub tolerance: Real,
     /// The data contained by the nodes with bounding volumes intersecting `self.bv`.
     pub collector: &'a mut Vec<(T, T)>,
 }
@@ -20,13 +20,13 @@ impl<'a, T> AabbSetsInterferencesCollector<'a, T> {
     /// Creates a new `AabbSetsInterferencesCollector`.
     #[inline]
     pub fn new(
-        tolerence: Real,
+        tolerance: Real,
         ls_m2: &'a Isometry<Real>,
         ls_m2_abs_rot: &'a Matrix<Real>,
         collector: &'a mut Vec<(T, T)>,
     ) -> AabbSetsInterferencesCollector<'a, T> {
         AabbSetsInterferencesCollector {
-            tolerence,
+            tolerance,
             ls_m2,
             ls_m2_abs_rot,
             collector,
@@ -45,7 +45,7 @@ impl<'a, T> AabbSetsInterferencesCollector<'a, T> {
 //     ) -> VisitStatus {
 //         let ls_right_bv = Aabb::from_half_extents(
 //             self.ls_m2 * right_bv.center(),
-//             self.ls_m2_abs_rot * right_bv.half_extents() + Vector::repeat(self.tolerence),
+//             self.ls_m2_abs_rot * right_bv.half_extents() + Vector::repeat(self.tolerance),
 //         );
 //
 //         if left_bv.intersects(&ls_right_bv) {

src/shape/convex_polygon.rs

@@ -50,7 +50,7 @@ impl ConvexPolygon {
         }
 
         // Second, find vertices that can be removed because
-        // of collinearity of adjascent faces.
+        // of collinearity of adjacent faces.
         for i2 in 1..points.len() {
             let i1 = i2 - 1;
             if normals[i1].dot(&*normals[i2]) > 1.0 - eps {
@@ -260,7 +260,7 @@ impl ConvexPolyhedron for ConvexPolygon {
         out: &mut ConvexPolygonalFeature,
     ) {
         out.clear();
-        // TODO: actualy find the support feature.
+        // TODO: actually find the support feature.
         self.support_face_toward(transform, dir, out)
     }
 

src/shape/convex_polyhedron.rs

@@ -101,13 +101,13 @@ pub struct ConvexPolyhedron {
     vertices: Vec<Vertex>,
     faces: Vec<Face>,
     edges: Vec<Edge>,
-    // Faces adjascent to a vertex.
+    // Faces adjacent to a vertex.
     faces_adj_to_vertex: Vec<u32>,
-    // Edges adjascent to a vertex.
+    // Edges adjacent to a vertex.
     edges_adj_to_vertex: Vec<u32>,
-    // Edges adjascent to a face.
+    // Edges adjacent to a face.
     edges_adj_to_face: Vec<u32>,
-    // Vertices adjascent to a face.
+    // Vertices adjacent to a face.
     vertices_adj_to_face: Vec<u32>,
 }
 
@@ -128,7 +128,7 @@ impl ConvexPolyhedron {
     ///
     /// # Return
     ///
-    /// Retruns `None` if he given solid is not manifold (contains t-junctions, not closed, etc.)
+    /// Returns `None` if the given solid is not manifold (contains t-junctions, not closed, etc.)
     pub fn from_convex_mesh(
         points: Vec<Point<Real>>,
         indices: &[[u32; DIM]],
@@ -337,9 +337,9 @@ impl ConvexPolyhedron {
         faces_adj_to_vertex.resize(total_num_adj_faces as usize, 0);
         edges_adj_to_vertex.resize(total_num_adj_faces as usize, 0);
 
-        // Reset the number of adjascent faces.
-        // It will be set againt to the right value as
-        // the adjascent face list is filled.
+        // Reset the number of adjacent faces.
+        // It will be set again to the right value as
+        // the adjacent face list is filled.
         for v in &mut vertices {
             v.num_adj_faces_or_edge = 0;
         }

src/shape/cylinder.rs

@@ -27,7 +27,7 @@ use rkyv::{bytecheck, CheckBytes};
 pub struct Cylinder {
     /// The half-height of the cylinder.
     pub half_height: Real,
-    /// The radius fo the cylinder.
+    /// The radius of the cylinder.
     pub radius: Real,
 }
 

src/shape/heightfield2.rs

@@ -147,7 +147,7 @@ impl HeightField {
         }
     }
 
-    /// Height of the heightfield a the given point after vertical projection on the heightfield surface.
+    /// Height of the heightfield at the given point after vertical projection on the heightfield surface.
     pub fn height_at_point(&self, pt: &Point2<Real>) -> Option<Real> {
         let cell = self.cell_at_point(pt)?;
         let seg = self.segment_at(cell)?;
@@ -162,7 +162,7 @@ impl HeightField {
 
     /// Iterator through all the segments of this heightfield.
     pub fn segments(&self) -> impl Iterator<Item = Segment> + '_ {
-        // TODO: this is not very efficient since this wil
+        // TODO: this is not very efficient since this will
         // recompute shared points twice.
         (0..self.num_cells()).filter_map(move |i| self.segment_at(i))
     }

src/shape/heightfield3.rs

@@ -824,7 +824,7 @@ impl<'a> HeightFieldRadialTriangles<'a> {
     ///
     /// Returns `None` no triangle closest than `max_dist` remain
     /// to be yielded. The `max_dist` can be modified at each iteration
-    /// as long as the the new value is smaller or equal to the previous value.
+    /// as long as the new value is smaller or equal to the previous value.
     pub fn next(&mut self, max_dist: Real) -> Option<Triangle> {
         let max_rad = if max_dist == Real::MAX {
             usize::MAX

src/shape/shape.rs

@@ -206,7 +206,7 @@ impl Debug for TypedShape<'_> {
 
 #[cfg(feature = "serde-serialize")]
 #[derive(Deserialize)]
-// NOTE: tha this enum MUST match the `TypedShape` enum.
+// NOTE: This enum MUST match the `TypedShape` enum.
 /// Enum representing the shape with its actual type
 pub(crate) enum DeserializableTypedShape {
     /// A ball shape.

src/shape/triangle.rs

@@ -47,7 +47,7 @@ pub enum TrianglePointLocation {
     /// The 1-st edge is the segment BC.
     /// The 2-nd edge is the segment AC.
     // XXX: it appears the conversion of edge indexing here does not match the
-    // convension of edge indexing for the `fn edge` method (from the ConvexPolyhedron impl).
+    // convention of edge indexing for the `fn edge` method (from the ConvexPolyhedron impl).
     OnEdge(u32, [Real; 2]),
     /// The point lies on the triangle interior.
     ///
@@ -101,9 +101,9 @@ impl TrianglePointLocation {
 /// Orientation of a triangle.
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
 pub enum TriangleOrientation {
-    /// Orientation with a clockwise orientaiton, i.e., with a positive signed area.
+    /// Orientation with a clockwise orientation, i.e., with a positive signed area.
     Clockwise,
-    /// Orientation with a clockwise orientaiton, i.e., with a negative signed area.
+    /// Orientation with a clockwise orientation, i.e., with a negative signed area.
     CounterClockwise,
     /// Degenerate triangle.
     Degenerate,

src/shape/trimesh.rs

@@ -577,7 +577,7 @@ impl TriMesh {
     /// - Be manifold (closed, no t-junctions, etc.)
     /// - Be oriented with outward normals.
     ///
-    /// If the the trimesh is correctly oriented, but is manifold everywhere except at its boundaries,
+    /// If the trimesh is correctly oriented, but is manifold everywhere except at its boundaries,
     /// then the computed pseudo-normals will provide correct point-containment test results except
     /// for points closest to the boundary of the mesh.
     ///