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Fixed formatting of modified files.

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This commit is contained in:
pellico
2022-11-28 16:47:15 +01:00
committed by Sébastien Crozet
parent 6432909110
commit 9f3b5c8642
4 changed files with 20 additions and 10 deletions
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2
examples2d/all_examples2.rs
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@@ -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;

13
examples2d/joint_motor_position2.rs
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@@ -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);
}

6
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
View File

@@ -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")]
{

7
src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
View File

@@ -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")]
{