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| author | pellico <pellico@users.noreply.github.com> | 2022-11-28 16:47:15 +0100 |
|---|---|---|
| committer | Sébastien Crozet <sebcrozet@dimforge.com> | 2023-12-10 12:43:13 +0100 |
| commit | 9f3b5c86421e957e94f14e23b7e9912ada88d7e2 (patch) | |
| tree | 25bd9f687ac028241e48e6a59af353c5c51cf480 /src/dynamics | |
| parent | 6432909110c4b96e59d4ee2ebdae1d79abe8d4b3 (diff) | |
| download | rapier-9f3b5c86421e957e94f14e23b7e9912ada88d7e2.tar.gz rapier-9f3b5c86421e957e94f14e23b7e9912ada88d7e2.tar.bz2 rapier-9f3b5c86421e957e94f14e23b7e9912ada88d7e2.zip | |
Fixed formatting of modified files.
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs | 6 | ||||
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs | 7 |
2 files changed, 8 insertions, 5 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs index 4156680..50a37e2 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs @@ -418,7 +418,8 @@ impl JointVelocityConstraintBuilder<Real> { { let s_ang_dist = self.ang_err.angle(); let s_target_ang = motor_params.target_pos; - rhs_wo_bias += ((s_ang_dist - s_target_ang) % (2.0*PI))/(2.0*PI) * motor_params.erp_inv_dt; + rhs_wo_bias += ((s_ang_dist - s_target_ang) % (2.0 * PI)) / (2.0 * PI) + * motor_params.erp_inv_dt; } #[cfg(feature = "dim3")] { @@ -802,7 +803,8 @@ impl JointVelocityConstraintBuilder<Real> { { let s_ang_dist = self.ang_err.angle(); let s_target_ang = motor_params.target_pos; - rhs += ((s_ang_dist - s_target_ang) % (2.0*PI))/(2.0*PI) * motor_params.erp_inv_dt; + rhs += ((s_ang_dist - s_target_ang) % (2.0 * PI)) / (2.0 * PI) + * motor_params.erp_inv_dt; } #[cfg(feature = "dim3")] { diff --git a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs index e6cb872..2fae33a 100644 --- a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs @@ -357,7 +357,8 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> { { let s_ang_dist = self.ang_err.angle(); let s_target_ang = motor_params.target_pos; - rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi())/N::simd_two_pi() * motor_params.erp_inv_dt; + rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi()) / N::simd_two_pi() + * motor_params.erp_inv_dt; } #[cfg(feature = "dim3")] { @@ -365,7 +366,6 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> { let s_target_ang = motor_params.target_pos.simd_sin(); rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; } - } let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel); @@ -805,7 +805,8 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> { { let s_ang_dist = self.ang_err.angle(); let s_target_ang = motor_params.target_pos; - rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi())/N::simd_two_pi() * motor_params.erp_inv_dt; + rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi()) / N::simd_two_pi() + * motor_params.erp_inv_dt; } #[cfg(feature = "dim3")] { |