Fix spelling of `below` and `orthogonalization`. (#700)

2 files changed, 17 insertions, 17 deletions

diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index 718542b..f9c84a5 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -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
diff --git a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs
index c6d5fa0..9948d3f 100644
--- a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs
+++ b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,
@@ -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,