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Fix spelling of below and orthogonalization. (#700)

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This commit is contained in:
Bruce Mitchener
2024-07-26 19:17:33 +07:00
committed by GitHub
parent b7347860f7
commit 35ac662371
2 changed files with 17 additions and 17 deletions
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2
src/dynamics/solver/island_solver.rs
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@@ -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 // INIT

32
src/dynamics/solver/joint_constraint/joint_constraint_builder.rs
View File

@@ -508,7 +508,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac, lin_jac,
ang_jac1, ang_jac1,
ang_jac2, ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization. inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs, rhs,
@@ -622,7 +622,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac, lin_jac,
ang_jac1, ang_jac1,
ang_jac2, 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_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain, cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias, rhs: rhs_wo_bias,
@@ -669,7 +669,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac, lin_jac,
ang_jac1, ang_jac1,
ang_jac2, ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization. inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias, rhs: rhs_wo_bias + rhs_bias,
@@ -728,7 +728,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac1, ang_jac1,
ang_jac2, ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization. inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias, rhs: rhs_wo_bias + rhs_bias,
@@ -778,7 +778,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac1, ang_jac1,
ang_jac2, 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_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain, cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias, rhs: rhs_wo_bias,
@@ -823,7 +823,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac1, ang_jac1,
ang_jac2, ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization. inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias, rhs: rhs_wo_bias + rhs_bias,
@@ -923,7 +923,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds, impulse_bounds,
lin_jac, lin_jac,
ang_jac2, ang_jac2,
inv_lhs: zero, // Will be set during ortogonalization. inv_lhs: zero, // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias, rhs: rhs_wo_bias + rhs_bias,
@@ -990,7 +990,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds, impulse_bounds,
lin_jac, lin_jac,
ang_jac2, ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization. inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs, rhs,
@@ -1045,7 +1045,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
lin_jac, lin_jac,
ang_jac2, 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_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain, cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias, rhs: rhs_wo_bias,
@@ -1118,7 +1118,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse], impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
lin_jac, lin_jac,
ang_jac2, 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_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain, cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias, rhs: rhs_wo_bias,
@@ -1159,7 +1159,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)], impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
lin_jac, lin_jac,
ang_jac2, ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization. inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias, 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], impulse_bounds: [-motor_params.max_impulse, motor_params.max_impulse],
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac2, 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_coeff: motor_params.cfm_coeff,
cfm_gain: motor_params.cfm_gain, cfm_gain: motor_params.cfm_gain,
rhs: rhs_wo_bias, rhs: rhs_wo_bias,
@@ -1262,7 +1262,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> {
impulse_bounds, impulse_bounds,
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac2, ang_jac2,
inv_lhs: zero, // Will be set during ortogonalization. inv_lhs: zero, // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias, 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)], impulse_bounds: [-N::splat(Real::MAX), N::splat(Real::MAX)],
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac2, ang_jac2,
inv_lhs: N::zero(), // Will be set during ortogonalization. inv_lhs: N::zero(), // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: N::zero(), cfm_gain: N::zero(),
rhs: rhs_wo_bias + rhs_bias, rhs: rhs_wo_bias + rhs_bias,
@@ -1413,7 +1413,7 @@ impl JointTwoBodyConstraintHelper<Real> {
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac1, ang_jac1,
ang_jac2, ang_jac2,
inv_lhs: 0.0, // Will be set during ortogonalization. inv_lhs: 0.0, // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: 0.0, cfm_gain: 0.0,
rhs: rhs_wo_bias + rhs_bias, rhs: rhs_wo_bias + rhs_bias,
@@ -1470,7 +1470,7 @@ impl JointTwoBodyConstraintHelper<Real> {
impulse_bounds, impulse_bounds,
lin_jac: na::zero(), lin_jac: na::zero(),
ang_jac2, ang_jac2,
inv_lhs: 0.0, // Will be set during ortogonalization. inv_lhs: 0.0, // Will be set during orthogonalization.
cfm_coeff, cfm_coeff,
cfm_gain: 0.0, cfm_gain: 0.0,
rhs: rhs_wo_bias + rhs_bias, rhs: rhs_wo_bias + rhs_bias,