From 9f3b5c86421e957e94f14e23b7e9912ada88d7e2 Mon Sep 17 00:00:00 2001
From: pellico <pellico@users.noreply.github.com>
Date: Mon, 28 Nov 2022 16:47:15 +0100
Subject: Fixed formatting of modified files.

---
 .../joint_constraint/joint_generic_velocity_constraint_builder.rs  | 6 ++++--
 .../solver/joint_constraint/joint_velocity_constraint_builder.rs   | 7 ++++---
 2 files changed, 8 insertions(+), 5 deletions(-)

(limited to 'src/dynamics')

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")]
             {
-- 
cgit