format after change

Author: Ughuuu

examples2d/joints2.rs

@@ -44,15 +44,21 @@ pub fn init_world(testbed: &mut Testbed) {
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = RevoluteJointBuilder::new().local_anchor2(point![0.0, shift]).natural_frequency(5.0 * (i+1) as f32).damping_ratio(0.1 * (i+1) as f32);
+                let joint = RevoluteJointBuilder::new()
+                    .local_anchor2(point![0.0, shift])
+                    .natural_frequency(5.0 * (i + 1) as f32)
+                    .damping_ratio(0.1 * (i + 1) as f32);
                 impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 
             // Horizontal joint.
             if k > 0 {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
-                let joint = RevoluteJointBuilder::new().local_anchor2(point![-shift, 0.0]).natural_frequency(5.0 * (i+1) as f32).damping_ratio(0.1 * (i+1) as f32);
+                let joint = RevoluteJointBuilder::new()
+                    .local_anchor2(point![-shift, 0.0])
+                    .natural_frequency(5.0 * (i + 1) as f32)
+                    .damping_ratio(0.1 * (i + 1) as f32);
                 impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
 

examples2d/pin_slot_joint2.rs

@@ -1,5 +1,5 @@
-use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     /*

src/dynamics/integration_parameters.rs

@@ -199,7 +199,6 @@ impl IntegrationParameters {
     pub fn contact_erp(&self) -> Real {
         self.dt * self.contact_erp_inv_dt()
     }
-    
 
     /// The CFM factor to be used in the constraint resolution.
     ///
@@ -249,7 +248,6 @@ impl IntegrationParameters {
     ///
     /// This parameter is computed automatically from [`Self::joint_natural_frequency`],
     /// [`Self::joint_damping_ratio`] and the substep length.
-    
 
     /// The joint's spring angular frequency for constraint regularization, using per-joint parameter.
     pub fn joint_angular_frequency_with_override(&self, natural_frequency: Real) -> Real {
@@ -278,7 +276,8 @@ impl IntegrationParameters {
             return 0.0;
         }
         let inv_erp_minus_one = 1.0 / joint_erp - 1.0;
-        inv_erp_minus_one * inv_erp_minus_one / ((1.0 + inv_erp_minus_one) * 4.0 * damping_ratio * damping_ratio)
+        inv_erp_minus_one * inv_erp_minus_one
+            / ((1.0 + inv_erp_minus_one) * 4.0 * damping_ratio * damping_ratio)
     }
 
     /// Amount of penetration the engine won't attempt to correct (default: `0.001` multiplied by

src/dynamics/joint/multibody_joint/unit_multibody_joint.rs

@@ -25,11 +25,11 @@ pub fn unit_joint_limit_constraint(
     let ndofs = multibody.ndofs();
     let min_enabled = curr_pos < limits[0];
     let max_enabled = limits[1] < curr_pos;
-    
+
     // Compute per-joint ERP and CFM
     let erp_inv_dt = params.joint_erp_inv_dt_with_override(natural_frequency, damping_ratio);
     let cfm_coeff = params.joint_cfm_coeff_with_override(natural_frequency, damping_ratio);
-    
+
     let rhs_bias = ((curr_pos - limits[1]).max(0.0) - (limits[0] - curr_pos).max(0.0)) * erp_inv_dt;
     let rhs_wo_bias = 0.0;
 

src/dynamics/solver/joint_constraint/joint_constraint_builder.rs

@@ -287,8 +287,16 @@ impl<N: SimdRealCopy> JointConstraintHelper<N> {
         cfm_coeff: N,
     ) -> JointConstraint<N, LANES> {
         let zero = N::zero();
-        let mut constraint =
-            self.lock_linear(params, joint_id, body1, body2, limited_axis, writeback_id, erp_inv_dt, cfm_coeff);
+        let mut constraint = self.lock_linear(
+            params,
+            joint_id,
+            body1,
+            body2,
+            limited_axis,
+            writeback_id,
+            erp_inv_dt,
+            cfm_coeff,
+        );
 
         let dist = self.lin_err.dot(&constraint.lin_jac);
         let min_enabled = dist.simd_le(limits[0]);
@@ -393,8 +401,16 @@ impl<N: SimdRealCopy> JointConstraintHelper<N> {
         let inv_dt = N::splat(params.inv_dt());
         // Motors don't use joint erp/cfm; they use motor-specific parameters.
         // Pass dummy values since lock_linear will override them anyway.
-        let mut constraint =
-            self.lock_linear(params, joint_id, body1, body2, motor_axis, writeback_id, N::zero(), N::zero());
+        let mut constraint = self.lock_linear(
+            params,
+            joint_id,
+            body1,
+            body2,
+            motor_axis,
+            writeback_id,
+            N::zero(),
+            N::zero(),
+        );
 
         let mut rhs_wo_bias = N::zero();
         if motor_params.erp_inv_dt != N::zero() {

src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs

@@ -9,10 +9,10 @@ use crate::utils::{SimdDot, SimdRealCopy};
 use crate::dynamics::solver::solver_body::SolverBodies;
 #[cfg(feature = "simd-is-enabled")]
 use crate::math::{SIMD_WIDTH, SimdReal};
-#[cfg(feature = "simd-is-enabled")]
-use na::SimdValue;
 #[cfg(feature = "dim2")]
 use crate::num::Zero;
+#[cfg(feature = "simd-is-enabled")]
+use na::SimdValue;
 
 #[derive(Copy, Clone, PartialEq, Debug)]
 pub struct MotorParameters<N: SimdRealCopy> {
@@ -250,8 +250,16 @@ impl JointConstraint<Real, 1> {
         }
         for i in 0..DIM {
             if locked_axes & (1 << i) != 0 {
-                out[len] =
-                    builder.lock_linear(params, [joint_id], body1, body2, i, WritebackId::Dof(i), erp_inv_dt, cfm_coeff);
+                out[len] = builder.lock_linear(
+                    params,
+                    [joint_id],
+                    body1,
+                    body2,
+                    i,
+                    WritebackId::Dof(i),
+                    erp_inv_dt,
+                    cfm_coeff,
+                );
                 len += 1;
             }
         }
@@ -369,11 +377,14 @@ impl JointConstraint<SimdReal, SIMD_WIDTH> {
         let ang_freq = natural_frequency * SimdReal::splat(std::f64::consts::TAU as Real);
         let dt = SimdReal::splat(params.dt);
         let erp_inv_dt = ang_freq / (dt * ang_freq + SimdReal::splat(2.0) * damping_ratio);
-        
+
         let joint_erp = dt * erp_inv_dt;
         let inv_erp_minus_one = SimdReal::splat(1.0) / joint_erp - SimdReal::splat(1.0);
         let cfm_coeff = inv_erp_minus_one * inv_erp_minus_one
-            / ((SimdReal::splat(1.0) + inv_erp_minus_one) * SimdReal::splat(4.0) * damping_ratio * damping_ratio);
+            / ((SimdReal::splat(1.0) + inv_erp_minus_one)
+                * SimdReal::splat(4.0)
+                * damping_ratio
+                * damping_ratio);
 
         let builder = JointConstraintHelper::new(
             frame1,
@@ -386,8 +397,16 @@ impl JointConstraint<SimdReal, SIMD_WIDTH> {
         let mut len = 0;
         for i in 0..DIM {
             if locked_axes & (1 << i) != 0 {
-                out[len] =
-                    builder.lock_linear(params, joint_id, body1, body2, i, WritebackId::Dof(i), erp_inv_dt, cfm_coeff);
+                out[len] = builder.lock_linear(
+                    params,
+                    joint_id,
+                    body1,
+                    body2,
+                    i,
+                    WritebackId::Dof(i),
+                    erp_inv_dt,
+                    cfm_coeff,
+                );
                 len += 1;
             }
         }