that's not how you spell that

Author: RossNordby

BepuPhysics/Collidables/ConvexHullHelper.cs

@@ -285,7 +285,7 @@ static void ReduceFace(ref QuickList<int> faceVertexIndices, in Vector3 faceNorm
                 }
                 return;
             }
-            Helpers.BuildOrthnormalBasis(faceNormal, out var basisX, out var basisY);
+            Helpers.BuildOrthonormalBasis(faceNormal, out var basisX, out var basisY);
             Vector2 centroid = default;
             for (int i = 0; i < faceVertexIndices.Count; ++i)
             {

BepuPhysics/CollisionDetection/CollisionTasks/BoxConvexHullTester.cs

@@ -123,7 +123,7 @@ public unsafe void Test(ref BoxWide a, ref ConvexHullWide b, ref Vector<float> s
                 Vector3Wide.ReadSlot(ref hull.Points[previousIndex.BundleIndex], previousIndex.InnerIndex, out var hullFaceOrigin);
                 var previousVertex = hullFaceOrigin;
                 var candidateCount = 0;
-                Helpers.BuildOrthnormalBasis(slotFaceNormal, out var hullFaceX, out var hullFaceY);
+                Helpers.BuildOrthonormalBasis(slotFaceNormal, out var hullFaceX, out var hullFaceY);
                 Vector4 maximumVertexContainmentDots = Vector4.Zero;
                 for (int i = 0; i < faceVertexIndices.Length; ++i)
                 {

BepuPhysics/CollisionDetection/CollisionTasks/ConvexHullPairTester.cs

@@ -77,7 +77,7 @@ public unsafe void Test(ref ConvexHullWide a, ref ConvexHullWide b, ref Vector<f
                 Matrix3x3.Transform(slotFaceNormalAInA, slotBLocalOrientationA, out var slotFaceNormalA);
                 Vector3Wide.ReadSlot(ref localOffsetA, slotIndex, out var slotLocalOffsetA);
                 ConvexHullTestHelper.PickRepresentativeFace(ref bSlot, slotIndex, ref localNormal, closestOnB, slotOffsetIndices, ref boundingPlaneEpsilon, out var slotFaceNormalB, out var slotLocalNormal, out var bestFaceIndexB);
-                Helpers.BuildOrthnormalBasis(slotFaceNormalB, out var bFaceX, out var bFaceY);
+                Helpers.BuildOrthonormalBasis(slotFaceNormalB, out var bFaceX, out var bFaceY);
 
                 //Test each face edge plane against the capsule edge.
                 //Note that we do not use the faceNormal x edgeOffset edge plane, but rather edgeOffset x localNormal.

BepuPhysics/CollisionDetection/CollisionTasks/TriangleConvexHullTester.cs

@@ -186,7 +186,7 @@ public unsafe void Test(ref TriangleWide a, ref ConvexHullWide b, ref Vector<flo
                 Vector3Wide.ReadSlot(ref hull.Points[previousIndex.BundleIndex], previousIndex.InnerIndex, out var hullFaceOrigin);
                 var previousVertex = hullFaceOrigin;
                 var candidateCount = 0;
-                Helpers.BuildOrthnormalBasis(slotFaceNormal, out var hullFaceX, out var hullFaceY);
+                Helpers.BuildOrthonormalBasis(slotFaceNormal, out var hullFaceX, out var hullFaceY);
                 Vector4 maximumVertexContainmentDots = Vector4.Zero;
                 for (int i = 0; i < faceVertexIndices.Length; ++i)
                 {

BepuPhysics/Constraints/AngularHinge.cs

@@ -129,7 +129,7 @@ public void Prestep(Bodies bodies, ref TwoBodyReferences bodyReferences, int cou
             bodies.GatherOrientation(ref bodyReferences, count, out var orientationA, out var orientationB);
 
             //Note that we build the tangents in local space first to avoid inconsistencies.
-            Helpers.BuildOrthnormalBasis(prestep.LocalHingeAxisA, out var localAX, out var localAY);
+            Helpers.BuildOrthonormalBasis(prestep.LocalHingeAxisA, out var localAX, out var localAY);
             Matrix3x3Wide.CreateFromQuaternion(orientationA, out var orientationMatrixA);
             Matrix3x3Wide.TransformWithoutOverlap(prestep.LocalHingeAxisA, orientationMatrixA, out var hingeAxisA);
             Matrix2x3Wide jacobianA;

BepuPhysics/Constraints/Contact/ContactConvexTypes.cs

@@ -256,7 +256,7 @@ for (int i = 0; i < contactCount; ++i)
 <#}#>
             projection.PremultipliedFrictionCoefficient = <#if (contactCount > 1) {#>(1f / <#=contactCount#>f) * <#}#>prestep.MaterialProperties.FrictionCoefficient;
             projection.Normal = prestep.Normal;
-            Helpers.BuildOrthnormalBasis(prestep.Normal, out var x, out var z);
+            Helpers.BuildOrthonormalBasis(prestep.Normal, out var x, out var z);
 <#var offsetName = contactCount == 1 ? "prestep.Contact0.OffsetA" : "offsetToManifoldCenterA";#>
             TangentFriction<#=suffix#>.Prestep(ref x, ref z, ref <#=offsetName#>, <#if (bodyCount == 2) {#>ref offsetToManifoldCenterB, <#}#>ref projection.InertiaA, <#if (bodyCount == 2) {#>ref projection.InertiaB, <#}#>out projection.Tangent);
             SpringSettingsWide.ComputeSpringiness(prestep.MaterialProperties.SpringSettings, dt, out var positionErrorToVelocity, out var effectiveMassCFMScale, out projection.SoftnessImpulseScale);
@@ -283,7 +283,7 @@ for (int i = 0; i < contactCount; ++i)
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public void WarmStart(ref BodyVelocities wsvA, <#if(bodyCount == 2) {#>ref BodyVelocities wsvB, <#}#>ref Contact<#=contactCount#><#=suffix#>Projection projection, ref Contact<#=contactCount#>AccumulatedImpulses accumulatedImpulses)
         {
-            Helpers.BuildOrthnormalBasis(projection.Normal, out var x, out var z);
+            Helpers.BuildOrthonormalBasis(projection.Normal, out var x, out var z);
             TangentFriction<#=suffix#>.WarmStart(ref x, ref z, ref projection.Tangent, ref projection.InertiaA, <#if (bodyCount == 2) {#>ref projection.InertiaB, <#}#>ref accumulatedImpulses.Tangent, ref wsvA<#if (bodyCount == 2) {#>, ref wsvB<#}#>);
 <#for (int i = 0; i < contactCount; ++i) {#>
             PenetrationLimit<#=suffix#>.WarmStart(projection.Penetration<#=i#>, projection.InertiaA, <#if (bodyCount == 2) {#>projection.InertiaB, <#}#>projection.Normal, accumulatedImpulses.Penetration<#=i#>, ref wsvA<#if (bodyCount == 2) {#>, ref wsvB<#}#>);
@@ -294,7 +294,7 @@ for (int i = 0; i < contactCount; ++i)
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public void Solve(ref BodyVelocities wsvA, <#if(bodyCount == 2) {#>ref BodyVelocities wsvB, <#}#>ref Contact<#=contactCount#><#=suffix#>Projection projection, ref Contact<#=contactCount#>AccumulatedImpulses accumulatedImpulses)
         {
-            Helpers.BuildOrthnormalBasis(projection.Normal, out var x, out var z);
+            Helpers.BuildOrthonormalBasis(projection.Normal, out var x, out var z);
             var maximumTangentImpulse = projection.PremultipliedFrictionCoefficient *
                 (<#for (int i = 0; i < contactCount; ++i) {#>accumulatedImpulses.Penetration<#=i#><#if(i < contactCount - 1){#> + <#}}#>);
             TangentFriction<#=suffix#>.Solve(ref x, ref z, ref projection.Tangent, ref projection.InertiaA, <#if (bodyCount == 2) {#>ref projection.InertiaB, <#}#>ref maximumTangentImpulse, ref accumulatedImpulses.Tangent, ref wsvA<#if (bodyCount == 2) {#>, ref wsvB<#}#>);

BepuPhysics/Constraints/Contact/ContactConvexTypes.tt

@@ -236,7 +236,7 @@ public void Prestep(Bodies bodies, ref Vector<int> bodyReferences, int count,
                 ref var prestepContact = ref Unsafe.Add(ref prestepContactStart, i);
                 ref var projectionContact = ref Unsafe.Add(ref projectionContactStart, i);
                 projectionContact.Normal = prestepContact.Normal;
-                Helpers.BuildOrthnormalBasis(prestepContact.Normal, out var x, out var z);
+                Helpers.BuildOrthonormalBasis(prestepContact.Normal, out var x, out var z);
                 TangentFrictionOneBody.Prestep(ref x, ref z, ref prestepContact.Offset, ref projectionCommon.InertiaA, out projectionContact.Tangent);
                 PenetrationLimitOneBody.Prestep(projectionCommon.InertiaA,
                     prestepContact.Offset, prestepContact.Normal, prestepContact.Depth,
@@ -257,7 +257,7 @@ public unsafe void WarmStart(ref BodyVelocities wsvA, ref TProjection projection
             {
                 ref var contact = ref Unsafe.Add(ref contactStart, i);
                 ref var contactImpulse = ref Unsafe.Add(ref accumulatedImpulsesStart, i);
-                Helpers.BuildOrthnormalBasis(contact.Normal, out var x, out var z);
+                Helpers.BuildOrthonormalBasis(contact.Normal, out var x, out var z);
                 TangentFrictionOneBody.WarmStart(ref x, ref z, ref contact.Tangent, ref common.InertiaA, ref contactImpulse.Tangent, ref wsvA);
                 PenetrationLimitOneBody.WarmStart(contact.Penetration, common.InertiaA, contact.Normal, contactImpulse.Penetration, ref wsvA);
             }
@@ -275,7 +275,7 @@ public void Solve(ref BodyVelocities wsvA, ref TProjection projection, ref TAccu
             {
                 ref var contact = ref Unsafe.Add(ref contactStart, i);
                 ref var contactImpulse = ref Unsafe.Add(ref accumulatedImpulsesStart, i);
-                Helpers.BuildOrthnormalBasis(contact.Normal, out var x, out var z);
+                Helpers.BuildOrthonormalBasis(contact.Normal, out var x, out var z);
                 var maximumTangentImpulse = common.FrictionCoefficient * contactImpulse.Penetration;
                 TangentFrictionOneBody.Solve(ref x, ref z, ref contact.Tangent, ref common.InertiaA, ref maximumTangentImpulse, ref contactImpulse.Tangent, ref wsvA);
                 PenetrationLimitOneBody.Solve(contact.Penetration, common.InertiaA, contact.Normal, common.SoftnessImpulseScale,
@@ -323,7 +323,7 @@ public void Prestep(Bodies bodies, ref TwoBodyReferences bodyReferences, int cou
                 ref var prestepContact = ref Unsafe.Add(ref prestepContactStart, i);
                 ref var projectionContact = ref Unsafe.Add(ref projectionContactStart, i);
                 projectionContact.Normal = prestepContact.Normal;
-                Helpers.BuildOrthnormalBasis(prestepContact.Normal, out var x, out var z);
+                Helpers.BuildOrthonormalBasis(prestepContact.Normal, out var x, out var z);
                 Vector3Wide.Subtract(prestepContact.Offset, prestepOffsetB, out var contactOffsetB);
                 TangentFriction.Prestep(ref x, ref z, ref prestepContact.Offset, ref contactOffsetB, ref projectionCommon.InertiaA, ref projectionCommon.InertiaB, out projectionContact.Tangent);
                 PenetrationLimit.Prestep(projectionCommon.InertiaA, projectionCommon.InertiaB,
@@ -345,7 +345,7 @@ public unsafe void WarmStart(ref BodyVelocities wsvA, ref BodyVelocities wsvB, r
             {
                 ref var contact = ref Unsafe.Add(ref contactStart, i);
                 ref var contactImpulse = ref Unsafe.Add(ref accumulatedImpulsesStart, i);
-                Helpers.BuildOrthnormalBasis(contact.Normal, out var x, out var z);
+                Helpers.BuildOrthonormalBasis(contact.Normal, out var x, out var z);
                 TangentFriction.WarmStart(ref x, ref z, ref contact.Tangent, ref common.InertiaA, ref common.InertiaB, ref contactImpulse.Tangent, ref wsvA, ref wsvB);
                 PenetrationLimit.WarmStart(contact.Penetration, common.InertiaA, common.InertiaB, contact.Normal, contactImpulse.Penetration, ref wsvA, ref wsvB);
             }
@@ -363,7 +363,7 @@ public void Solve(ref BodyVelocities wsvA, ref BodyVelocities wsvB, ref TProject
             {
                 ref var contact = ref Unsafe.Add(ref contactStart, i);
                 ref var contactImpulse = ref Unsafe.Add(ref accumulatedImpulsesStart, i);
-                Helpers.BuildOrthnormalBasis(contact.Normal, out var x, out var z);
+                Helpers.BuildOrthonormalBasis(contact.Normal, out var x, out var z);
                 var maximumTangentImpulse = common.FrictionCoefficient * contactImpulse.Penetration;
                 TangentFriction.Solve(ref x, ref z, ref contact.Tangent, ref common.InertiaA, ref common.InertiaB, ref maximumTangentImpulse, ref contactImpulse.Tangent, ref wsvA, ref wsvB);
                 PenetrationLimit.Solve(contact.Penetration, common.InertiaA, common.InertiaB, contact.Normal, common.SoftnessImpulseScale, ref contactImpulse.Penetration, ref wsvA, ref wsvB);

BepuPhysics/Constraints/Contact/ContactNonconvexCommon.cs

@@ -120,7 +120,7 @@ public void Prestep(Bodies bodies, ref TwoBodyReferences bodyReferences, int cou
             Matrix3x3Wide.TransformWithoutOverlap(prestep.LocalHingeAxisA, orientationMatrixA, out var hingeAxisA);
             Matrix3x3Wide.TransformWithoutOverlap(prestep.LocalOffsetB, orientationMatrixB, out projection.OffsetB);
             Matrix3x3Wide.TransformWithoutOverlap(prestep.LocalHingeAxisB, orientationMatrixB, out var hingeAxisB);
-            Helpers.BuildOrthnormalBasis(prestep.LocalHingeAxisA, out var localAX, out var localAY);
+            Helpers.BuildOrthonormalBasis(prestep.LocalHingeAxisA, out var localAX, out var localAY);
             Matrix3x3Wide.TransformWithoutOverlap(localAX, orientationMatrixA, out projection.HingeJacobian.X);
             Matrix3x3Wide.TransformWithoutOverlap(localAY, orientationMatrixA, out projection.HingeJacobian.Y);
 

BepuPhysics/Constraints/Hinge.cs

@@ -152,7 +152,7 @@ public void Prestep(Bodies bodies, ref TwoBodyReferences bodyReferences, int cou
             Vector3Wide.Add(lineStartToClosestPointOnLine, anchorA, out projection.OffsetA);
 
             //Note again that the basis is created in local space to avoid rapidly changing jacobians.
-            Helpers.BuildOrthnormalBasis(prestep.LocalDirection, out var localTangentX, out var localTangentY);
+            Helpers.BuildOrthonormalBasis(prestep.LocalDirection, out var localTangentX, out var localTangentY);
             Matrix3x3Wide.TransformWithoutOverlap(localTangentX, orientationMatrixA, out projection.LinearJacobian.X);
             Matrix3x3Wide.TransformWithoutOverlap(localTangentY, orientationMatrixA, out projection.LinearJacobian.Y);
             GetAngularJacobians(projection.LinearJacobian, projection.OffsetA, projection.OffsetB, out var angularJacobianA, out var angularJacobianB);

BepuPhysics/Constraints/PointOnLineServo.cs

@@ -18,7 +18,7 @@ public static void Swap<T>(ref T a, ref T b)
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void BuildOrthnormalBasis(in Vector3Wide normal, out Vector3Wide t1, out Vector3Wide t2)
+        public static void BuildOrthonormalBasis(in Vector3Wide normal, out Vector3Wide t1, out Vector3Wide t2)
         {
             //This could probably be improved.
             var sign = Vector.ConditionalSelect(Vector.LessThan(normal.Z, Vector<float>.Zero), -Vector<float>.One, Vector<float>.One);
@@ -47,7 +47,7 @@ public static void FindPerpendicular(in Vector3Wide normal, out Vector3Wide perp
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void BuildOrthnormalBasis(in Vector3 normal, out Vector3 t1, out Vector3 t2)
+        public static void BuildOrthonormalBasis(in Vector3 normal, out Vector3 t1, out Vector3 t2)
         {
             var sign = normal.Z < 0 ? -1f : 1f;
 

BepuPhysics/Helpers.cs

@@ -10,7 +10,7 @@ namespace DemoRenderer.Constraints
     public static class ContactLines
     {
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void BuildOrthnormalBasis(in Vector3 normal, out Vector3 t1, out Vector3 t2)
+        public static void BuildOrthonormalBasis(in Vector3 normal, out Vector3 t1, out Vector3 t2)
         {
             //No frisvad or friends here- just want a simple and consistent basis with only one singularity.
             //Could be faster if needed.
@@ -32,7 +32,7 @@ public static void Add(in RigidPose poseA, ref Vector3Wide offsetAWide, ref Vect
             Vector3Wide.ReadFirst(normalWide, out var normal);
             var depth = depthWide[0];
             var contactPosition = offsetA + poseA.Position;
-            BuildOrthnormalBasis(normal, out var t1, out var t2);
+            BuildOrthonormalBasis(normal, out var t1, out var t2);
             var packedColor = Helpers.PackColor(tint * (depth >= 0 ? new Vector3(0,1,0) : new Vector3(0.15f, 0.25f, 0.15f)));
             t1 *= 0.5f;
             t2 *= 0.5f;

DemoRenderer/Constraints/ContactLineExtractor.cs

@@ -34,7 +34,7 @@ public unsafe void ExtractLines(ref LinearAxisServoPrestepData prestepBundle, in
             var packedBasisColor = Helpers.PackColor(new Vector3(0.2f, 0.6f, 1f) * tint);
             var backgroundColor = new Vector3(0f, 0f, 1f) * tint;
             lines.AllocateUnsafely() = new LineInstance(poseA.Position, anchorA, packedColor, 0);
-            ContactLines.BuildOrthnormalBasis(localPlaneNormal, out var localTX, out var localTY);
+            ContactLines.BuildOrthonormalBasis(localPlaneNormal, out var localTX, out var localTY);
             Matrix3x3.Transform(localTX, orientationA, out var tX);
             Matrix3x3.Transform(localTY, orientationA, out var tY);
             lines.AllocateUnsafely() = new LineInstance(anchorA - tX, anchorA + tX, packedBasisColor, 0);

DemoRenderer/Constraints/LinearAxisServoLineExtractor.cs

@@ -245,7 +245,7 @@ public override void Render(Renderer renderer, Camera camera, Input input, TextB
                     Matrix3x3 basisPose;
                     //We want to visualize both friction and penetration impulses, so a cylinder is a good choice- radius and length.
                     //The length will be oriented along the contact normal, while the radius will expand along the tangent directions.
-                    BepuPhysics.Helpers.BuildOrthnormalBasis(contact.Normal, out basisPose.X, out basisPose.Z);
+                    BepuPhysics.Helpers.BuildOrthonormalBasis(contact.Normal, out basisPose.X, out basisPose.Z);
                     basisPose.Y = contact.Normal;
                     var baseLength = 0.2f;
                     var baseRadius = 0.1f;

Demos/Demos/SolverContactEnumerationDemo.cs

@@ -156,7 +156,7 @@ unsafe void DrawSweep<TShape>(TShape shape, ref RigidPose pose, in BodyVelocity
         unsafe void DrawImpact(Renderer renderer, ref Vector3 hitLocation, ref Vector3 hitNormal)
         {
             //The normal itself will tend to be obscured by the shapes, so instead draw two lines representing the plane.
-            DemoRenderer.Constraints.ContactLines.BuildOrthnormalBasis(hitNormal, out var tangent1, out var tangent2);
+            DemoRenderer.Constraints.ContactLines.BuildOrthonormalBasis(hitNormal, out var tangent1, out var tangent2);
             renderer.Lines.Allocate() = new DemoRenderer.Constraints.LineInstance(hitLocation - tangent1, hitLocation + tangent1, new Vector3(0, 1, 0), new Vector3());
             renderer.Lines.Allocate() = new DemoRenderer.Constraints.LineInstance(hitLocation - tangent2, hitLocation + tangent2, new Vector3(0, 1, 0), new Vector3());
         }

Demos/Demos/SweepDemo.cs

@@ -455,7 +455,7 @@
 //                renderer.Lines.Allocate() = new LineInstance(basePosition, basePosition + step.SearchTarget, new Vector3(1, 0, 0), default);
 //            else
 //            {
-//                ContactLines.BuildOrthnormalBasis(step.BestNormal, out var x, out var y);
+//                ContactLines.BuildOrthonormalBasis(step.BestNormal, out var x, out var y);
 
 //                renderer.Lines.Allocate() = new LineInstance(basePosition, basePosition + step.BestNormal, new Vector3(1, 0, 0), default);
 //                renderer.Lines.Allocate() = new LineInstance(basePosition + step.BestNormal * step.BestDepth, basePosition + x * 0.1f + step.BestNormal * step.BestDepth, new Vector3(1, 1, 0), default);