Fix various typos.

PiperOrigin-RevId: 500951615
Change-Id: I3c61ef4328d77457d12091bbf75514872b53c2d0

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]);

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(

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]);
 

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;