docs: Fix minor typos and tweaks (#696)

---------

Co-authored-by: Thierry Berger <contact@thierryberger.com>

src/dynamics/ccd/ccd_solver.rs

@@ -398,7 +398,7 @@ impl CCDSolver {
 
             let start_time = toi.toi;
 
-            // NOTE: the 1 and 2 indices (e.g., `ch1`, `ch2`) bellow are unrelated to the
+            // NOTE: the 1 and 2 indices (e.g., `ch1`, `ch2`) below are unrelated to the
             //       ones we used above.
             for ch1 in &colliders_to_check {
                 let co1 = &colliders[*ch1];

src/dynamics/rigid_body_components.rs

@@ -1000,12 +1000,12 @@ impl RigidBodyDominance {
 #[derive(Copy, Clone, Debug, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct RigidBodyActivation {
-    /// The threshold linear velocity bellow which the body can fall asleep.
+    /// The threshold linear velocity below which the body can fall asleep.
     ///
     /// The value is "normalized", i.e., the actual threshold applied by the physics engine
     /// is equal to this value multiplied by [`IntegrationParameters::length_unit`].
     pub normalized_linear_threshold: Real,
-    /// The angular linear velocity bellow which the body can fall asleep.
+    /// The angular linear velocity below which the body can fall asleep.
     pub angular_threshold: Real,
     /// The amount of time the rigid-body must remain below the thresholds to be put to sleep.
     pub time_until_sleep: Real,
@@ -1022,17 +1022,17 @@ impl Default for RigidBodyActivation {
 }
 
 impl RigidBodyActivation {
-    /// The default linear velocity bellow which a body can be put to sleep.
+    /// The default linear velocity below which a body can be put to sleep.
     pub fn default_normalized_linear_threshold() -> Real {
         0.4
     }
 
-    /// The default angular velocity bellow which a body can be put to sleep.
+    /// The default angular velocity below which a body can be put to sleep.
     pub fn default_angular_threshold() -> Real {
         0.5
     }
 
-    /// The amount of time the rigid-body must remain bellow it’s linear and angular velocity
+    /// The amount of time the rigid-body must remain below it’s linear and angular velocity
     /// threshold before falling to sleep.
     pub fn default_time_until_sleep() -> Real {
         2.0

src/geometry/broad_phase_multi_sap/sap_utils.rs

@@ -40,15 +40,15 @@ pub(crate) fn region_width(depth: i8) -> Real {
     (REGION_WIDTH_BASE * REGION_WIDTH_POWER_BASIS.powi(depth as i32)).min(MAX_AABB_EXTENT)
 }
 
-/// Computes the depth of the layer the given Aabb should be part of.
+/// Computes the depth of the layer the given [`Aabb`] should be part of.
 ///
-/// The idea here is that an Aabb should be part of a layer which has
+/// The idea here is that an [`Aabb`] should be part of a layer which has
-/// regions large enough so that one Aabb doesn't crosses too many
+/// regions large enough so that one [`Aabb`] doesn't crosses too many
 /// regions. But the regions must also not be too large, otherwise
 /// we are loosing the benefits of Multi-SAP.
 ///
-/// If the code bellow, we select a layer such that each region can
+/// If the code below, we select a layer such that each region can
-/// contain at least a chain of 10 contiguous objects with that Aabb.
+/// contain at least a chain of 10 contiguous objects with that [`Aabb`].
 pub(crate) fn layer_containing_aabb(aabb: &Aabb) -> i8 {
     // Max number of elements of this size we would like one region to be able to contain.
     const NUM_ELEMENTS_PER_DIMENSION: Real = 10.0;

src/pipeline/debug_render_pipeline/debug_render_backend.rs

@@ -46,7 +46,7 @@ pub trait DebugRenderBackend {
         color: [f32; 4],
     );
 
-    /// Draws a set of line.
+    /// Draws a set of lines.
     fn draw_polyline(
         &mut self,
         object: DebugRenderObject,
@@ -63,7 +63,7 @@ pub trait DebugRenderBackend {
         }
     }
 
-    /// Draws a chain of line.
+    /// Draws a chain of lines.
     fn draw_line_strip(
         &mut self,
         object: DebugRenderObject,

src/pipeline/debug_render_pipeline/debug_render_style.rs

@@ -8,10 +8,10 @@ pub type DebugColor = [f32; 4];
 /// Style used for computing colors when rendering the scene.
 #[derive(Copy, Clone, Debug, PartialEq)]
 pub struct DebugRenderStyle {
-    /// The number of subdivision used to approximate the curved
+    /// The number of subdivisions used to approximate the curved
     /// parts of a shape with smooth faces.
     pub subdivisions: u32,
-    /// The number of subdivision used to approimate the curved
+    /// The number of subdivisions used to approximate the curved
     /// borders of round shapes.
     pub border_subdivisions: u32,
     /// The color of colliders attached to dynamic rigid-bodies.
@@ -42,13 +42,13 @@ pub struct DebugRenderStyle {
     pub disabled_color_multiplier: [f32; 4],
     /// The length of the local coordinate axes rendered for a rigid-body.
     pub rigid_body_axes_length: Real,
-    /// The collor for the segments joining the two contact points.
+    /// The color for the segments joining the two contact points.
     pub contact_depth_color: DebugColor,
     /// The color of the contact normals.
     pub contact_normal_color: DebugColor,
     /// The length of the contact normals.
     pub contact_normal_length: Real,
-    /// The color of the colliders Aabbs.
+    /// The color of the colliders' [`Aabb`]s.
     pub collider_aabb_color: DebugColor,
 }
 

src/pipeline/physics_pipeline.rs

@@ -523,7 +523,7 @@ impl PhysicsPipeline {
             // integration of external forces.
             //
             // If there is only one or zero CCD substep, there is no need
-            // to split the timetsep interval. So we can just skip this part.
+            // to split the timestep interval. So we can just skip this part.
             if ccd_is_enabled && remaining_substeps > 1 {
                 // NOTE: Take forces into account when updating the bodies CCD activation flags
                 //       these forces have not been integrated to the body's velocity yet.
@@ -725,7 +725,7 @@ mod test {
 
         // Check that removing the body right after inserting it works.
         // We add two dynamic bodies, one kinematic body and one fixed body before removing
-        // them. This include a non-regression test where deleting a kimenatic body crashes.
+        // them. This include a non-regression test where deleting a kinematic body crashes.
         let rb = RigidBodyBuilder::dynamic().build();
         let h1 = bodies.insert(rb.clone());
         let h2 = bodies.insert(rb.clone());

src/pipeline/query_pipeline/mod.rs

@@ -357,7 +357,7 @@ impl QueryPipeline {
         self.qbvh.clear_and_rebuild(mode, self.dilation_factor);
     }
 
-    /// Find the closest intersection between a ray and a set of collider.
+    /// Find the closest intersection between a ray and a set of colliders.
     ///
     /// # Parameters
     /// * `colliders` - The set of colliders taking part in this pipeline.
@@ -384,7 +384,7 @@ impl QueryPipeline {
         self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
     }
 
-    /// Find the closest intersection between a ray and a set of collider.
+    /// Find the closest intersection between a ray and a set of colliders.
     ///
     /// # Parameters
     /// * `colliders` - The set of colliders taking part in this pipeline.
@@ -415,7 +415,7 @@ impl QueryPipeline {
         self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
     }
 
-    /// Find the all intersections between a ray and a set of collider and passes them to a callback.
+    /// Find the all intersections between a ray and a set of colliders and passes them to a callback.
     ///
     /// # Parameters
     /// * `colliders` - The set of colliders taking part in this pipeline.
@@ -577,7 +577,7 @@ impl QueryPipeline {
             .map(|h| (h.1 .1 .0, h.1 .0, h.1 .1 .1))
     }
 
-    /// Finds all handles of all the colliders with an Aabb intersecting the given Aabb.
+    /// Finds all handles of all the colliders with an [`Aabb`] intersecting the given [`Aabb`].
     pub fn colliders_with_aabb_intersecting_aabb(
         &self,
         aabb: &Aabb,