[all] Run codespell on the code base + config file

.codespellrc

@@ -0,0 +1,3 @@
+[codespell]
+skip = CHANGELOG.md
+ignore-words-list = Sensable,SensAble,Datas,offsetT,dOut,*/extlibs/*,doubleClick,findOut,inForce,optionA

CMakeLists.txt

@@ -440,7 +440,7 @@ if(SOFA_BUILD_RELEASE_PACKAGE)
         set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "${EXTRA_INSTALL_COMMAND}")
         set(CPACK_NSIS_MENU_LINKS
             "https://www.sofa-framework.org/documentation/" "SOFA User Documentation"
-            "https://www.sofa-framework.org/api/" "SOFA Developper API"
+            "https://www.sofa-framework.org/api/" "SOFA Developer API"
             "https://github.com/sofa-framework/sofa/discussions" "SOFA Support")
     endif()
     #######################

CONTRIBUTING.md

@@ -108,7 +108,7 @@ For more information on forks and pull request, check out [this GitHub guide](ht
 
 ### SOFA Developer Certificate Of Origin (DCO)
 
-SOFA is using the [mechanism of the linux project](https://www.kernel.org/doc/html/latest/process/submitting-patches.html#sign-your-work-the-developer-s-certificate-of-origin) to track and secure all issues related to copyrights: the Developper Certificate of Origin (DCO). If you are contributing code or documentation to the SOFA project, and using the git signed-off-by mechanism, you are agreeing to this certificate.  This DCO essentially means that:
+SOFA is using the [mechanism of the linux project](https://www.kernel.org/doc/html/latest/process/submitting-patches.html#sign-your-work-the-developer-s-certificate-of-origin) to track and secure all issues related to copyrights: the Developer Certificate of Origin (DCO). If you are contributing code or documentation to the SOFA project, and using the git signed-off-by mechanism, you are agreeing to this certificate.  This DCO essentially means that:
 
 - you offer the changes under the same license agreement as the project, and
 - you have the right to do that,

GUIDELINES.md

@@ -5,7 +5,7 @@
 ### Base rules
 The base rules are in Google C++ Style Guide: https://google.github.io/styleguide/cppguide.html   
 All rules below **replace** the corresponding base rules.  
-For any subject not mentionned below, please refer to the base.
+For any subject not mentioned below, please refer to the base.
 
 ### Commit message
 A correct commit message must therefore be structured as:  

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp

@@ -220,7 +220,7 @@ ConstraintAnimationLoop::ConstraintAnimationLoop() :
     , d_doCollisionsFirst(initData(&d_doCollisionsFirst, false, "doCollisionsFirst","Compute the collisions first (to support penality-based contacts)"))
     , d_doubleBuffer( initData(&d_doubleBuffer, false, "doubleBuffer","Double the buffer dedicated to the constraint problem to make it accessible to another thread"))
     , d_scaleTolerance( initData(&d_scaleTolerance, true, "scaleTolerance","Scale the error tolerance with the number of constraints"))
-    , d_allVerified( initData(&d_allVerified, false, "allVerified","All contraints must be verified (each constraint's error < tolerance)"))
+    , d_allVerified( initData(&d_allVerified, false, "allVerified","All constraints must be verified (each constraint's error < tolerance)"))
     , d_sor( initData(&d_sor, 1.0_sreal, "sor","Successive Over Relaxation parameter (0-2)"))
     , d_schemeCorrection( initData(&d_schemeCorrection, false, "schemeCorrection","Apply new scheme where compliance is progressively corrected"))
     , d_realTimeCompensation( initData(&d_realTimeCompensation, false, "realTimeCompensation","If the total computational time T < dt, sleep(dt-T)"))

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h

@@ -114,7 +114,7 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API ConstraintAnimationLoop : public sofa::si
     Data<bool> d_doCollisionsFirst; ///< Compute the collisions first (to support penality-based contacts)
     Data<bool> d_doubleBuffer; ///< Double the buffer dedicated to the constraint problem to make it accessible to another thread
     Data<bool> d_scaleTolerance; ///< Scale the error tolerance with the number of constraints
-    Data<bool> d_allVerified; ///< All contraints must be verified (each constraint's error < tolerance)
+    Data<bool> d_allVerified; ///< All constraints must be verified (each constraint's error < tolerance)
     Data<SReal> d_sor; ///< Successive Over Relaxation parameter (0-2)
     Data<bool> d_schemeCorrection; ///< Apply new scheme where compliance is progressively corrected
     Data<bool> d_realTimeCompensation; ///< If the total computational time T < dt, sleep(dt-T)

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPM.h

@@ -38,7 +38,7 @@ namespace sofa::component::collision::detection::algorithm
 
         /**
           *x and y value are used to identify this pair, the order is not important but the order of elem1_ and elem2_ is because
-          *when using intersect funcion we run inter->intersect(elem1,elem2,output), so the intersect method must handle the order you give.
+          *when using intersect function we run inter->intersect(elem1,elem2,output), so the intersect method must handle the order you give.
           */
         CollidingPair(const core::CollisionElementIterator & elem1_,const core::CollisionElementIterator & elem2_,core::collision::ElementIntersector * /*inter*/) :
             elem1(elem1_),elem2(elem2_)

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp

@@ -58,7 +58,7 @@ const int CollisionPipeline::defaultDepthValue = 6;
 
 CollisionPipeline::CollisionPipeline()
     : d_doPrintInfoMessage(initData(&d_doPrintInfoMessage, false, "verbose",
-                                    "Display extra informations at each computation step. (default=false)"))
+                                    "Display extra information at each computation step. (default=false)"))
     , d_doDebugDraw(initData(&d_doDebugDraw, false, "draw",
                              "Draw the detected collisions. (default=false)"))
 

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp

@@ -250,10 +250,10 @@ void DirectSAPNarrowPhase::narrowCollisionDetectionFromSortedEndPoints()
     SCOPED_TIMER_VARNAME(scopeTimer, "Direct SAP intersection");
     int nbInvestigatedPairs{ 0 };
 
-    std::list<int> activeBoxes;//active boxes are the one that we encoutered only their min (end point), so if there are two boxes b0 and b1,
+    std::list<int> activeBoxes;//active boxes are the one that we encountered only their min (end point), so if there are two boxes b0 and b1,
     //if we encounter b1_min as b0_min < b1_min, on the current axis, the two boxes intersect :  b0_min--------------------b0_max
     //                                                                                                      b1_min---------------------b1_max
-    //once we encouter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
+    //once we encounter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
     //so the rule is : -every time we encounter a box min end point, we check if it is overlapping with other active_boxes and add the owner (a box) of this end point to
     //                  the active boxes.
     //                 -every time we encounter a max end point of a box, we are sure that we encountered min end point of a box because _end_points is sorted,

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.h

@@ -38,7 +38,7 @@ namespace sofa::component::collision::detection::algorithm
 
 /**
  * This class is an implementation of sweep and prune in its "direct" version, i.e. at each step
- * it sorts all the primitives along an axis (not checking the moving ones) and computes overlaping pairs without
+ * it sorts all the primitives along an axis (not checking the moving ones) and computes overlapping pairs without
  * saving it. But the memory used to save these primitives is created just once, the first time we add CollisionModels.
  */
 class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API DirectSAPNarrowPhase : public core::collision::NarrowPhaseDetection
@@ -53,7 +53,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API DirectSAPNarrowPhase : pu
     /** \brief Returns the axis number which have the greatest variance for the primitive end points.
      *
      * This axis is used when updating and sorting end points. The greatest variance means
-     * that this axis have the most chance to eliminate a maximum of not overlaping SAPBox pairs
+     * that this axis have the most chance to eliminate a maximum of not overlapping SAPBox pairs
      * because along this axis, SAPBoxes are the sparsest.
      */
     int greatestVarianceAxis() const;

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.cpp

@@ -371,10 +371,10 @@ void IncrSAP::boxPrune(){
 
     SCOPED_TIMER("Box Prune SAP intersection");
 
-    std::deque<int> active_boxes; // active boxes are the one that we encoutered only their min (end point), so if there are two boxes b0 and b1,
+    std::deque<int> active_boxes; // active boxes are the one that we encountered only their min (end point), so if there are two boxes b0 and b1,
                                   // if we encounter b1_min as b0_min < b1_min, on the current axis, the two boxes intersect :  b0_min--------------------b0_max
                                   //                                                                                                      b1_min---------------------b1_max
-                                  // once we encouter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
+                                  // once we encounter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
                                   // so the rule is : - every time we encounter a box min end point, we check if it is overlapping with other active_boxes and add the owner (a box) of this end point to
                                   //                  the active boxes.
                                   //                  - every time we encounter a max end point of a box, we are sure that we encountered min end point of a box because _end_points is sorted,

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h

@@ -178,7 +178,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API IncrSAP :
     void updateEndPoints();
 
     /**
-     * Sets the end points ID, i.e. each end point in the list after this mehod have its position (ID) updated.
+     * Sets the end points ID, i.e. each end point in the list after this method have its position (ID) updated.
      */
     void setEndPointsID();
 
@@ -263,7 +263,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API IncrSAP :
 
     void addCollisionModel (core::CollisionModel *cm) override;
 
-    // Unuseful methods because all is done in addCollisionModel
+    // Useless methods because all is done in addCollisionModel
     void addCollisionPair (const std::pair<core::CollisionModel*, core::CollisionModel*>& ) override {}
     void addCollisionPairs (const type::vector<std::pair<core::CollisionModel*, core::CollisionModel*> >&) override {}
 

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceDetection.h

@@ -31,7 +31,7 @@ namespace sofa::component::collision::detection::algorithm
 /**
  *  \brief It is a Ray Trace based collision detection algorithm
  *
- *   For each point in one object, we trace a ray following the oposite of the point's normal
+ *   For each point in one object, we trace a ray following the opposite of the point's normal
  *   up to find a triangle in the other object. Both triangles are tested to evaluate if they are in
  *   colliding state. It must be used with a TriangleOctreeModel,as an octree is used to traverse the object.
  */

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.cpp

@@ -52,7 +52,7 @@ void RayTraceNarrowPhase::findPairsVolume (CubeCollisionModel * cm1, CubeCollisi
         return;
 
 
-    /*construct the octree of both models, when it still doesn't exisits */
+    /*construct the octree of both models, when it still doesn't exists */
     if (!tm1->octreeRoot)
     {
 

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/RayTraceNarrowPhase.h

@@ -35,7 +35,7 @@ namespace sofa::component::collision::detection::algorithm
 /**
  *  \brief It is a Ray Trace based collision detection algorithm
  *
- *   For each point in one object, we trace a ray following the oposite of the point's normal
+ *   For each point in one object, we trace a ray following the opposite of the point's normal
  *   up to find a triangle in the other object. Both triangles are tested to evaluate if they are in
  *   colliding state. It must be used with a TriangleOctreeModel,as an octree is used to traverse the object.
  */

Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp

@@ -269,7 +269,7 @@ TEST_F(TestCollisionPipeline, checkCollisionPipelineWithMonkeyValueForDepth_Open
             // Check the returned value.
             if(this->checkCollisionPipelineWithMonkeyValueForDepth(depthValue) != depthValue)
             {
-                ADD_FAILURE() << "User provided depth parameter value '" << depthValue << "' has been un-expectedly overriden." ;
+                ADD_FAILURE() << "User provided depth parameter value '" << depthValue << "' has been un-expectedly overridden." ;
             }
         }
         else

Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp

@@ -27,7 +27,7 @@ namespace sofa::component::collision::detection::intersection
 using namespace sofa::component::collision::geometry;
 
 BaseProximityIntersection::BaseProximityIntersection()
-    : d_alarmDistance(initData(&d_alarmDistance, 1.0_sreal, "alarmDistance", "Distance above which the intersection computations ignores the promixity pair. This distance can also be used in some broad phase algorithms to reduce the search area"))
+    : d_alarmDistance(initData(&d_alarmDistance, 1.0_sreal, "alarmDistance", "Distance above which the intersection computations ignores the proximity pair. This distance can also be used in some broad phase algorithms to reduce the search area"))
     , d_contactDistance(initData(&d_contactDistance, 0.5_sreal, "contactDistance", "Distance below which a contact is created"))
 {
     d_alarmDistance.setRequired(true);

Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h

@@ -47,7 +47,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API BaseProximityIntersect
     sofa::core::objectmodel::RenamedData<SReal> contactDistance;
 
 
-    Data<SReal> d_alarmDistance; ///< Distance above which the intersection computations ignores the promixity pair. This distance can also be used in some broad phase algorithms to reduce the search area
+    Data<SReal> d_alarmDistance; ///< Distance above which the intersection computations ignores the proximity pair. This distance can also be used in some broad phase algorithms to reduce the search area
     Data<SReal> d_contactDistance; ///< Distance below which a contact is created
 protected:
     BaseProximityIntersection();

Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.inl

@@ -123,7 +123,7 @@ int MeshDiscreteIntersection::computeIntersection(collision::geometry::TSphere<T
     }
 
     //However, if the plane has intersected the sphere, then it is
-    //neccesary to check if the proyected point "projPoint" is inside
+    //necessary to check if the proyected point "projPoint" is inside
     //the triangle.
 #define SAMESIDE(ap1,ap2,ap3,ap4) (((cross((ap4-ap3),(ap1-ap3))) * (cross((ap4-ap3),(ap2-ap3)))) >= 0)
     if ( (SAMESIDE(projPoint,p0,p1,p2) && SAMESIDE(projPoint,p1,p0,p2) && SAMESIDE(projPoint,p2,p0,p1)))

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h

@@ -57,9 +57,9 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API CubeCollisionModel : public core::Co
     {
         sofa::type::Vec3 minBBox, maxBBox;
         std::pair<Cube,Cube> subcells;
-        std::pair<core::CollisionElementIterator,core::CollisionElementIterator> children; ///< Note that children is only meaningfull if subcells in empty
+        std::pair<core::CollisionElementIterator,core::CollisionElementIterator> children; ///< Note that children is only meaningful if subcells in empty
 
-        // additional datas for implementing Volino's method for efficient cloth self collision 
+        // additional data for implementing Volino's method for efficient cloth self collision 
         sofa::type::Vec3 coneAxis;
         SReal coneAngle;
     };

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl

@@ -228,7 +228,7 @@ void TriangleCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
     if (!isMoving() && !cubeModel->empty() && !m_needsUpdate)
         return; // No need to recompute BBox if immobile nor if mesh didn't change.
 
-    // set to false to avoid excesive loop
+    // set to false to avoid excessive loop
     m_needsUpdate=false;
 
     type::Vec3 minElem, maxElem;

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp

@@ -172,7 +172,7 @@ void CollisionResponse::createNewContacts(const core::collision::ContactManager:
 
                 if (contact == nullptr)
                 {
-                    //contact couln't be created: write an error and collision detection output is no longer considered
+                    //contact couldn't be created: write an error and collision detection output is no longer considered
                     contactCreationError(errorStream, model1, model2, responseUsed);
                     contactMap.erase(contactIt);
                 }

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.h

@@ -127,7 +127,7 @@ class PenalityContactForceField : public core::behavior::PairInteractionForceFie
 
     const type::vector< Contact >& getContact() const { return contacts.getValue();}
 
-    // -- tool grabing utility
+    // -- tool grabbing utility
     void grabPoint( const core::behavior::MechanicalState<defaulttype::Vec3Types> *tool,
             const type::vector< sofa::Index > &index,
             type::vector< std::pair< core::objectmodel::BaseObject*, type::Vec3f> > &result,

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.inl

@@ -119,7 +119,7 @@ void PenalityContactForceField<DataTypes>::addDForce(const sofa::core::Mechanica
         {
             Coord du = dx2[c.m2]-dx1[c.m1];
             Real dpen = - du*c.norm;
-            //if (c.pen < 0) dpen += c.pen; // start penality at distance 0
+            //if (c.pen < 0) dpen += c.pen; // start penalty at distance 0
             Real dfN = c.ks * dpen * (Real)kFactor;
             Deriv dforce = -c.norm*dfN;
             df1[c.m1]+=dforce;

Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h

@@ -64,7 +64,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -89,7 +89,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
     tri->addObject(triCollisionModel);
 
 
-    //editting the OBBModel
+    //editing the OBBModel
     triCollisionModel->init();
 
     return triCollisionModel;

Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h

@@ -87,7 +87,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObjectRigid3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -130,7 +130,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
 
     dpositions.endEdit();
 
-    //Editting the velocity of the OBB
+    //Editing the velocity of the OBB
     Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
@@ -144,7 +144,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
     sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>::SPtr sphereCollisionModel = New<sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>>();
     sphere->addObject(sphereCollisionModel);
 
-    //editting the RigidSphereModel
+    //editing the RigidSphereModel
     sphereCollisionModel->init();
     sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>::VecReal& vecRad = *(sphereCollisionModel->d_radius.beginEdit());
 

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl

@@ -614,7 +614,7 @@ void LinearSolverConstraintCorrection<DataTypes>::addConstraintDisplacement(SRea
 
     const auto positionIntegrationFactor = l_ODESolver->getPositionIntegrationFactor();
 
-    // TODO => optimisation => for each bloc store J[bloc,dof]
+    // TODO => optimisation => for each block store J[block,dof]
     for (int i = begin; i <= end; i++)
     {
         MatrixDerivRowConstIterator rowIt = constraints.readLine(i);
@@ -674,7 +674,7 @@ void LinearSolverConstraintCorrection<DataTypes>::setConstraintDForce(SReal* df,
         }
     }
 
-    // course on indices of the dofs involved invoved in the bloc //
+    // course on indices of the dofs involved invoved in the block //
     auto it_dof(Vec_I_list_dof[last_force].cbegin()), it_end(Vec_I_list_dof[last_force].cend());
     for(; it_dof!=it_end; ++it_dof)
     {