nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Run cargo fmt

Browse Source
This commit is contained in:
Sébastien Crozet
2021-08-07 21:40:32 +02:00
committed by Sébastien Crozet
parent eb8f6d360d
commit 16af01da42
2 changed files with 25 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
View File

@@ -121,12 +121,11 @@ impl BallPositionConstraint {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle(); let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle()); let axis_angle =
Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0 // TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle if let Some((axis, angle)) = axis_angle {
{
if angle >= self.limits_angle { if angle >= self.limits_angle {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis = axis[0]; let axis = axis[0];
@@ -242,14 +241,14 @@ impl BallPositionGroundConstraint {
let axis2 = position2 * self.limits_local_axis2; let axis2 = position2 * self.limits_local_axis2;
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &self.limits_axis1).axis_angle(); let axis_angle =
Rotation::rotation_between_axis(&axis2, &self.limits_axis1).axis_angle();
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &self.limits_axis1).and_then(|r| r.axis_angle()); let axis_angle = Rotation::rotation_between_axis(&axis2, &self.limits_axis1)
.and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0 // TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle if let Some((axis, angle)) = axis_angle {
{
if angle >= self.limits_angle { if angle >= self.limits_angle {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis = axis[0]; let axis = axis[0];

14
src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs
View File

@@ -185,12 +185,11 @@ impl BallVelocityConstraint {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle(); let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle()); let axis_angle =
Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0 // TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle if let Some((axis, angle)) = axis_angle {
{
if angle >= joint.limits_angle { if angle >= joint.limits_angle {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis = axis[0]; let axis = axis[0];
@@ -528,12 +527,11 @@ impl BallVelocityGroundConstraint {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle(); let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle()); let axis_angle =
Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0 // TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle if let Some((axis, angle)) = axis_angle {
{
if angle >= joint.limits_angle { if angle >= joint.limits_angle {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let axis = axis[0]; let axis = axis[0];