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Fix spelling of below and orthogonalization. (#700)
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@waywardmonkeys
waywardmonkeys authored Jul 26, 2024
1 parent b734786 commit 35ac662
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Showing 2 changed files with 17 additions and 17 deletions.
2 changes: 1 addition & 1 deletion src/dynamics/solver/island_solver.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ impl IslandSolver {

/*
*
* Bellow this point, the `params` is using the "small step" settings.
* Below this point, the `params` is using the "small step" settings.
*
*/
// INIT
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32 changes: 16 additions & 16 deletions src/dynamics/solver/joint_constraint/joint_constraint_builder.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -508,7 +508,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac,
ang_jac1,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs,
Expand Down Expand Up @@ -622,7 +622,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac,
ang_jac1,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias,
Expand Down Expand Up @@ -669,7 +669,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac,
ang_jac1,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -728,7 +728,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac: na::zero(),
ang_jac1,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -778,7 +778,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac: na::zero(),
ang_jac1,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias,
Expand Down Expand Up @@ -823,7 +823,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac: na::zero(),
ang_jac1,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -923,7 +923,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds,
lin_jac,
ang_jac2,
inv_lhs: zero, // Will be set during ortogonalization.
inv_lhs: zero, // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -990,7 +990,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds,
lin_jac,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs,
Expand Down Expand Up @@ -1045,7 +1045,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
lin_jac,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias,
Expand Down Expand Up @@ -1118,7 +1118,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
lin_jac,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias,
Expand Down Expand Up @@ -1159,7 +1159,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
lin_jac,
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -1206,7 +1206,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
lin_jac: na::zero(),
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias,
Expand Down Expand Up @@ -1262,7 +1262,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds,
lin_jac: na::zero(),
ang_jac2,
inv_lhs: zero, // Will be set during ortogonalization.
inv_lhs: zero, // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -1304,7 +1304,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
lin_jac: na::zero(),
ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization.
inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -1413,7 +1413,7 @@ impl JointTwoBodyConstraintHelper<Real> {
lin_jac: na::zero(),
ang_jac1,
ang_jac2,
inv_lhs: 0.0, // Will be set during ortogonalization.
inv_lhs: 0.0, // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: 0.0,
rhs: rhs_wo_bias + rhs_bias,
Expand Down Expand Up @@ -1470,7 +1470,7 @@ impl JointTwoBodyConstraintHelper<Real> {
impulse_bounds,
lin_jac: na::zero(),
ang_jac2,
inv_lhs: 0.0, // Will be set during ortogonalization.
inv_lhs: 0.0, // Will be set during orthogonalization.
cfm_coeff,
cfm_gain: 0.0,
rhs: rhs_wo_bias + rhs_bias,
Expand Down

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