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-rw-r--r--src/dynamics/solver/island_solver.rs2
-rw-r--r--src/dynamics/solver/joint_constraint/joint_constraint_builder.rs32
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,
generated by cgit (git 2.34.1) at 2026-03-03 14:52:30 +0000