Update comments

Author: zfergus

src/ipc/collisions/normal/normal_collisions.hpp

@@ -136,10 +136,15 @@ class NormalCollisions {
     to_string(const CollisionMesh& mesh, const Eigen::MatrixXd& vertices) const;
 
 public:
+    /// @brief Vertex-vertex normal collisions.
     std::vector<VertexVertexNormalCollision> vv_collisions;
+    /// @brief Edge-vertex normal collisions.
     std::vector<EdgeVertexNormalCollision> ev_collisions;
+    /// @brief Edge-edge normal collisions.
     std::vector<EdgeEdgeNormalCollision> ee_collisions;
+    /// @brief Face-vertex normal collisions.
     std::vector<FaceVertexNormalCollision> fv_collisions;
+    /// @brief Plane-vertex normal collisions.
     std::vector<PlaneVertexNormalCollision> pv_collisions;
 
 protected:

src/ipc/collisions/tangential/tangential_collisions.hpp

@@ -76,9 +76,13 @@ class TangentialCollisions {
     }
 
 public:
+    /// @brief Vertex-vertex tangential collisions.
     std::vector<VertexVertexTangentialCollision> vv_collisions;
+    /// @brief Edge-vertex tangential collisions.
     std::vector<EdgeVertexTangentialCollision> ev_collisions;
+    /// @brief Edge-edge tangential collisions.
     std::vector<EdgeEdgeTangentialCollision> ee_collisions;
+    /// @brief Face-vertex tangential collisions.
     std::vector<FaceVertexTangentialCollision> fv_collisions;
 };
 

src/ipc/implicits/plane.cpp

@@ -38,11 +38,10 @@ void construct_point_plane_collisions(
             const auto& plane_origin = plane_origins.row(pi);
             const auto& plane_normal = plane_normals.row(pi);
 
-            double distance_squared = point_plane_distance(
+            double distance_sqr = point_plane_distance(
                 points.row(vi), plane_origin, plane_normal);
 
-            if (distance_squared - dmin_squared
-                < 2 * dmin * dhat + dhat_squared) {
+            if (distance_sqr - dmin_squared < 2 * dmin * dhat + dhat_squared) {
                 pv_collisions.emplace_back(plane_origin, plane_normal, vi);
                 pv_collisions.back().dmin = dmin;
             }

src/ipc/implicits/plane.hpp

@@ -33,7 +33,7 @@ void construct_point_plane_collisions(
         default_can_point_plane_collide);
 
 // ============================================================================
-// NormalCollision detection
+// Collision detection
 
 /// @brief Determine if the step is collision free.
 ///