Cargo fmt

2 files changed, 9 insertions, 7 deletions

diff --git a/src/dynamics/joint/mod.rs b/src/dynamics/joint/mod.rs
index 11b5c0f..bb35927 100644
--- a/src/dynamics/joint/mod.rs
+++ b/src/dynamics/joint/mod.rs
@@ -1,6 +1,6 @@
 pub use self::fixed_joint::*;
-pub use self::impulse_joint::*;
 pub use self::generic_joint::*;
+pub use self::impulse_joint::*;
 pub use self::motor_model::MotorModel;
 pub use self::multibody_joint::*;
 pub use self::prismatic_joint::*;
@@ -10,8 +10,8 @@ pub use self::revolute_joint::*;
 pub use self::spherical_joint::*;
 
 mod fixed_joint;
-mod impulse_joint;
 mod generic_joint;
+mod impulse_joint;
 mod motor_model;
 mod multibody_joint;
 mod prismatic_joint;
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs
index f227e7f..61b3fcb 100644
--- a/src/dynamics/solver/parallel_island_solver.rs
+++ b/src/dynamics/solver/parallel_island_solver.rs
@@ -186,7 +186,7 @@ impl ParallelIslandSolver {
         let num_threads = rayon::current_num_threads();
         let num_task_per_island = num_threads; // (num_threads / num_islands).max(1); // TODO: not sure this is the best value. Also, perhaps it is better to interleave tasks of each island?
         self.thread = ThreadContext::new(8); // TODO: could we compute some kind of optimal value here?
-    
+
         // Interactions grouping.
         self.parallel_groups.group_interactions(
             island_id,
@@ -229,7 +229,9 @@ impl ParallelIslandSolver {
         if self.parallel_contact_constraints.generic_jacobians.len() < contact_j_id {
             self.parallel_contact_constraints.generic_jacobians = DVector::zeros(contact_j_id);
         } else {
-            self.parallel_contact_constraints.generic_jacobians.fill(0.0);
+            self.parallel_contact_constraints
+                .generic_jacobians
+                .fill(0.0);
         }
 
         if self.parallel_joint_constraints.generic_jacobians.len() < joint_j_id {
@@ -315,7 +317,7 @@ impl ParallelIslandSolver {
                                 let multibody = multibodies
                                     .get_multibody_mut_internal(link.multibody)
                                     .unwrap();
-                
+
                                 if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic {
                                     let mut mj_lambdas = velocity_solver
                                         .generic_mj_lambdas
@@ -325,9 +327,9 @@ impl ParallelIslandSolver {
                             } else {
                                 let (ids, mprops, forces): (&RigidBodyIds, &RigidBodyMassProps, &RigidBodyForces) =
                                     bodies.index_bundle(handle.0);
-                
+
                                 let dvel = &mut velocity_solver.mj_lambdas[ids.active_set_offset];
-                
+
                                 // NOTE: `dvel.angular` is actually storing angular velocity delta multiplied
                                 //       by the square root of the inertia tensor:
                                 dvel.angular += mprops.effective_world_inv_inertia_sqrt * forces.torque * params.dt;