diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index fff20c5..032e4d6 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -16,8 +16,8 @@ mod convex_polygons2;
 mod damping2;
 mod debug_box_ball2;
 mod drum2;
-mod joint_motor_position2;
 mod heightfield2;
+mod joint_motor_position2;
 mod joints2;
 mod locked_rotations2;
 mod one_way_platforms2;
diff --git a/examples2d/joint_motor_position2.rs b/examples2d/joint_motor_position2.rs
index 5a79874..a701bd0 100644
--- a/examples2d/joint_motor_position2.rs
+++ b/examples2d/joint_motor_position2.rs
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * A rectangle on a motor
      */
     for num in 0..9 {
-        let x_pos = -6.0 + 1.5 * num as f32; 
+        let x_pos = -6.0 + 1.5 * num as f32;
         let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x_pos, 2.0]);
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(0.1, 0.5);
@@ -34,13 +34,20 @@ pub fn init_world(testbed: &mut Testbed) {
         let joint = RevoluteJointBuilder::new()
             .local_anchor2(point![x_pos, 1.5])
             .local_anchor1(point![0.0, -0.5])
-            .motor_position(std::f32::consts::PI/4.0*num as f32, 100.0, 15.0);
-        impulse_joints.insert(handle,ground_handle, joint, true);
+            .motor_position(std::f32::consts::PI / 4.0 * num as f32, 100.0, 15.0);
+        impulse_joints.insert(handle, ground_handle, joint, true);
     }
 
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_params(bodies, colliders, impulse_joints, multibody_joints,vector![0.0,0.0],());
+    testbed.set_world_with_params(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        vector![0.0, 0.0],
+        (),
+    );
     testbed.look_at(point![0.0, 0.0], 40.0);
 }
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")]
             {