docs: Expand "wrt" to "with respect to".

This makes things more clear as this abbreviation isn't known
to everyone.

While the trailing period is common in French, it isn't in English
(one might use "w.r.t.").

Fixes #498.

6 files changed, 10 insertions, 9 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index fda868f..918c0dc 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -256,8 +256,8 @@ Check it out on [rapier.rs](https://www.rapier.rs/docs/user_guides/javascript/ge
 
 ## v0.10.1
 ### Added
-- Add `Collider::set_translation_wrt_parent` to change the translation of a collider wrt. its parent rigid-body.
-- Add `Collider::set_rotation_wrt_parent` to change the translation of a collider wrt. its parent rigid-body.
+- Add `Collider::set_translation_wrt_parent` to change the translation of a collider with respect to its parent rigid-body.
+- Add `Collider::set_rotation_wrt_parent` to change the translation of a collider with respect to its parent rigid-body.
 
 
 ## v0.10.0
diff --git a/src/data/graph.rs b/src/data/graph.rs
index dd2c760..6a3ba15 100644
--- a/src/data/graph.rs
+++ b/src/data/graph.rs
@@ -1,5 +1,5 @@
 // This is basically a stripped down version of petgraph's UnGraph.
-// - It is not generic wrt. the index type (we always use u32).
+// - It is not generic with respect to the index type (we always use u32).
 // - It preserves associated edge iteration order after Serialization/Deserialization.
 // - It is always undirected.
 //! A stripped-down version of petgraph's UnGraph.
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 7556eb8..bcd4c56 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -214,7 +214,7 @@ impl Collider {
         &self.pos.0.rotation
     }
 
-    /// The position of this collider wrt the body it is attached to.
+    /// The position of this collider with respect to the body it is attached to.
     pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> {
         self.parent.as_ref().map(|p| &p.pos_wrt_parent)
     }
@@ -235,7 +235,7 @@ impl Collider {
         }
     }
 
-    /// Sets the position of this collider wrt. its parent rigid-body.
+    /// Sets the position of this collider with respect to its parent rigid-body.
     ///
     /// Does nothing if the collider is not attached to a rigid-body.
     pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) {
diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs
index 4024237..a391808 100644
--- a/src/pipeline/physics_hooks.rs
+++ b/src/pipeline/physics_hooks.rs
@@ -95,7 +95,8 @@ impl<'a> ContactModificationContext<'a> {
             CONTACT_CURRENTLY_FORBIDDEN => {
                 // Contacts are forbidden so we need to continue forbidding contacts
                 // until all the contacts are non-penetrating again. In that case, if
-                // the contacts are OK wrt. the contact normal, then we can mark them as allowed.
+                // the contacts are OK with respect to the contact normal, then we can
+                // mark them as allowed.
                 if contact_is_ok && self.solver_contacts.iter().all(|c| c.dist > 0.0) {
                     *self.user_data = CONTACT_CURRENTLY_ALLOWED;
                 } else {
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 3a83e4c..7423296 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -630,8 +630,8 @@ impl PhysicsPipeline {
         }
 
         // Finally, make sure we update the world mass-properties of the rigid-bodies
-        // that moved. Otherwise, users may end up applying forces wrt. an outdated
-        // center of mass.
+        // that moved. Otherwise, users may end up applying forces with respect to an
+        // outdated center of mass.
         // TODO: avoid updating the world mass properties twice (here, and
         //       at the beginning of the next timestep) for bodies that were
         //       not modified by the user in the mean time.
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
index 46d6389..622a452 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline.rs
@@ -706,7 +706,7 @@ impl QueryPipeline {
     /// * `stop_at_penetration` - If the casted shape starts in a penetration state with any
     ///    collider, two results are possible. If `stop_at_penetration` is `true` then, the
     ///    result will have a `toi` equal to `start_time`. If `stop_at_penetration` is `false`
-    ///    then the nonlinear shape-casting will see if further motion wrt. the penetration normal
+    ///    then the nonlinear shape-casting will see if further motion with respect to the penetration normal
     ///    would result in tunnelling. If it does not (i.e. we have a separating velocity along
     ///    that normal) then the nonlinear shape-casting will attempt to find another impact,
     ///    at a time `> start_time` that could result in tunnelling.