From 5b942329d2efad91496e543e47dfa2520a2cf54b Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Tue, 10 Jan 2023 03:58:43 -0800 Subject: [PATCH] Fix various typos. PiperOrigin-RevId: 500951615 Change-Id: I3c61ef4328d77457d12091bbf75514872b53c2d0 --- include/mujoco/mujoco.h | 8 ++++---- introspect/functions.py | 8 ++++---- src/engine/engine_ray.h | 8 ++++---- src/engine/engine_util_misc.c | 2 +- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h index 09d5f607..a6ef36b7 100644 --- a/include/mujoco/mujoco.h +++ b/include/mujoco/mujoco.h @@ -482,19 +482,19 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], cons const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude, int geomid[1]); -// Interect ray with hfield, return nearest distance or -1 if no intersection. +// Intersect ray with hfield, return nearest distance or -1 if no intersection. MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid, const mjtNum pnt[3], const mjtNum vec[3]); -// Interect ray with mesh, return nearest distance or -1 if no intersection. +// Intersect ray with mesh, return nearest distance or -1 if no intersection. MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid, const mjtNum pnt[3], const mjtNum vec[3]); -// Interect ray with pure geom, return nearest distance or -1 if no intersection. +// Intersect ray with pure geom, return nearest distance or -1 if no intersection. MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3], const mjtNum pnt[3], const mjtNum vec[3], int geomtype); -// Interect ray with skin, return nearest distance or -1 if no intersection, +// Intersect ray with skin, return nearest distance or -1 if no intersection, // and also output nearest vertex id. MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert, const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]); diff --git a/introspect/functions.py b/introspect/functions.py index a01efd2d..b6c75e97 100644 --- a/introspect/functions.py +++ b/introspect/functions.py @@ -2837,7 +2837,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Interect ray with hfield, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long + doc='Intersect ray with hfield, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long )), ('mj_rayMesh', FunctionDecl( @@ -2875,7 +2875,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Interect ray with mesh, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long + doc='Intersect ray with mesh, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long )), ('mju_rayGeom', FunctionDecl( @@ -2922,7 +2922,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ type=ValueType(name='int'), ), ), - doc='Interect ray with pure geom, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long + doc='Intersect ray with pure geom, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long )), ('mju_raySkin', FunctionDecl( @@ -2971,7 +2971,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([ ), ), ), - doc='Interect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long + doc='Intersect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long )), ('mjv_defaultCamera', FunctionDecl( diff --git a/src/engine/engine_ray.h b/src/engine/engine_ray.h index 4d5ae8dc..f3fec9fc 100644 --- a/src/engine/engine_ray.h +++ b/src/engine/engine_ray.h @@ -30,19 +30,19 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude, int geomid[1]); -// interect ray with hfield +// intersect ray with hfield MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid, const mjtNum* pnt, const mjtNum* vec); -// interect ray with mesh +// intersect ray with mesh MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid, const mjtNum* pnt, const mjtNum* vec); -// interect ray with pure geom, no meshes or hfields +// intersect ray with pure geom, no meshes or hfields MJAPI mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, const mjtNum* pnt, const mjtNum* vec, int geomtype); -// interect ray with skin, return nearest vertex id +// intersect ray with skin, return nearest vertex id MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert, const mjtNum* pnt, const mjtNum* vec, int vertid[1]); diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c index bda70282..72597ddb 100644 --- a/src/engine/engine_util_misc.c +++ b/src/engine/engine_util_misc.c @@ -29,7 +29,7 @@ //------------------------------ tendon wrapping --------------------------------------------------- -// check for intersection of two 2D line segmetns +// check for intersection of two 2D line segments static mjtByte is_intersect(const mjtNum* p1, const mjtNum* p2, const mjtNum* p3, const mjtNum* p4) { mjtNum a, b;