1.1 --- a/org/body.org	Sat Feb 18 10:28:14 2012 -0700
     1.2 +++ b/org/body.org	Sat Feb 18 10:59:41 2012 -0700
     1.3 @@ -1,7 +1,7 @@
     1.4  #+title: Building a Body
     1.5  #+author: Robert McIntyre
     1.6  #+email: rlm@mit.edu 
     1.7 -#+description: Simulating a body (movement, touch, propioception) in jMonkeyEngine3.
     1.8 +#+description: Simulating a body (movement, touch, proprioception) in jMonkeyEngine3.
     1.9  #+SETUPFILE: ../../aurellem/org/setup.org
    1.10  #+INCLUDE: ../../aurellem/org/level-0.org
    1.11  
    1.12 @@ -22,7 +22,7 @@
    1.13  to model humans and create realistic animations. It is hard to use for
    1.14  my purposes because it is difficult to update the creature's Physics
    1.15  Collision Mesh in tandem with its Geometric Mesh under the influence
    1.16 -of the armature. Withouth this the creature will not be able to grab
    1.17 +of the armature. Without this the creature will not be able to grab
    1.18  things in its environment, and it won't be able to tell where its
    1.19  physical body is by using its eyes. Also, armatures do not specify
    1.20  any rotational limits for a joint, making it hard to model elbows,
    1.21 @@ -43,12 +43,12 @@
    1.22  presence of its body. Each individual section is simulated by a
    1.23  separate rigid body that corresponds exactly with its visual
    1.24  representation and does not change. Sections are connected by
    1.25 -invisible joints that are well supported in jMonkyeEngine. Bullet, the
    1.26 +invisible joints that are well supported in jMonkeyEngine. Bullet, the
    1.27  physics backend for jMonkeyEngine, can efficiently simulate hundreds
    1.28  of rigid bodies connected by joints. Sections do not have to stay as
    1.29  one piece forever; they can be dynamically replaced with multiple
    1.30  sections to simulate splitting in two. This could be used to simulate
    1.31 -retractable claws or EVE's hands, which are able to coalece into one
    1.32 +retractable claws or EVE's hands, which are able to coalesce into one
    1.33  object in the movie.
    1.34  
    1.35  * Solidifying the Body
    1.36 @@ -107,7 +107,7 @@
    1.37  </video>
    1.38  </center>
    1.39  <p>The hand model directly loaded from blender. It has no physical
    1.40 -  presense in the simulation. </p>
    1.41 +  presence in the simulation. </p>
    1.42  </div>
    1.43  #+end_html
    1.44  
    1.45 @@ -218,7 +218,7 @@
    1.46  [[../images/hand-screenshot1.png]]
    1.47  
    1.48  The empty node in the upper right, highlighted in yellow, is the
    1.49 -parent node of all the emptys which represent joints. The following
    1.50 +parent node of all the empties which represent joints. The following
    1.51  functions must do three things to translate these into real joints:
    1.52  
    1.53   - Find the children of the "joints" node.
    1.54 @@ -241,7 +241,7 @@
    1.55  
    1.56  ** Joint Targets and Orientation
    1.57  
    1.58 -This technique for finding a joint's targets is very similiar to
    1.59 +This technique for finding a joint's targets is very similar to
    1.60  =cortex.sense/closest-node=.  A small cube, centered around the
    1.61  empty-node, grows exponentially until it intersects two /physical/
    1.62  objects. The objects are ordered according to the joint's rotation,
    1.63 @@ -283,7 +283,7 @@
    1.64  
    1.65  This section of code iterates through all the different ways of
    1.66  specifying joints using blender meta-data and converts each one to the
    1.67 -appropriate jMonkyeEngine joint.
    1.68 +appropriate jMonkeyEngine joint.
    1.69  
    1.70  #+name: joints-4
    1.71  #+begin_src clojure
    1.72 @@ -307,7 +307,7 @@
    1.73       pivot-b))
    1.74  
    1.75    ;; but instead we must do this:
    1.76 -  (println-repl "substuting 6DOF joint for POINT2POINT joint!")
    1.77 +  (println-repl "substituting 6DOF joint for POINT2POINT joint!")
    1.78    (doto
    1.79        (SixDofJoint.
    1.80         control-a
    1.81 @@ -475,14 +475,14 @@
    1.82  
    1.83  * Wrap-Up!
    1.84  
    1.85 -It is convienent to combine =physical!= and =joints!= into one
    1.86 +It is convenient to combine =physical!= and =joints!= into one
    1.87  function that completely creates the creature's physical body.
    1.88  
    1.89  #+name: joints-6
    1.90  #+begin_src clojure
    1.91  (defn body!
    1.92    "Endow the creature with a physical body connected with joints.  The
    1.93 -   particulars of the joints and the masses of each pody part are
    1.94 +   particulars of the joints and the masses of each body part are
    1.95     determined in blender."
    1.96    [#^Node creature]
    1.97    (physical! creature)
    1.98 @@ -544,7 +544,7 @@
    1.99  (ns cortex.body
   1.100    "Assemble a physical creature using the definitions found in a
   1.101     specially prepared blender file. Creates rigid bodies and joints so
   1.102 -   that a creature can have a physical presense in the simulation."
   1.103 +   that a creature can have a physical presence in the simulation."
   1.104    {:author "Robert McIntyre"}
   1.105    (:use (cortex world util sense))
   1.106    (:use clojure.contrib.def)