General cleanup

Author: RunnersNum40

examples/revolute_position.rs

@@ -59,10 +59,10 @@ fn setup(
 
     commands.spawn(directional_light);
 
-    let camera = (Camera3dBundle {
+    let camera = Camera3dBundle {
         transform: Transform::from_xyz(0.0, 0.2, 0.3).looking_at(Vec3::ZERO, Vec3::Y),
         ..Default::default()
-    },);
+    };
 
     commands.spawn(camera);
 
@@ -77,7 +77,7 @@ fn setup(
     let entity1 = {
         commands
             .spawn((
-                RigidBody::Kinematic,
+                RigidBody::Dynamic,
                 PbrBundle {
                     mesh: meshes.add(Mesh::from(Cuboid::new(0.1, 0.05, 0.1))),
                     material: materials.add(Color::srgb(0.6, 0.5, 0.5)),

examples/revolute_velocity.rs

@@ -59,10 +59,10 @@ fn setup(
 
     commands.spawn(directional_light);
 
-    let camera = (Camera3dBundle {
+    let camera = Camera3dBundle {
         transform: Transform::from_xyz(0.0, 0.2, 0.3).looking_at(Vec3::ZERO, Vec3::Y),
         ..Default::default()
-    },);
+    };
 
     commands.spawn(camera);
 
@@ -77,7 +77,7 @@ fn setup(
     let entity1 = {
         commands
             .spawn((
-                RigidBody::Kinematic,
+                RigidBody::Dynamic,
                 PbrBundle {
                     mesh: meshes.add(Mesh::from(Cuboid::new(0.1, 0.05, 0.1))),
                     material: materials.add(Color::srgb(0.6, 0.5, 0.5)),

src/motor.rs

@@ -63,7 +63,7 @@ impl Default for RevoluteMotorBundle {
     fn default() -> Self {
         Self {
             motor: RevoluteMotor,
-            stiffness: MotorProportionalGain(0.0000001),
+            stiffness: MotorProportionalGain(1e-7),
             damping: MotorDerivativeGain(0.0),
             integral_gain: MotorIntegralGain(0.0),
             max_torque: MotorMaxTorque(None),
@@ -75,21 +75,21 @@ impl Default for RevoluteMotorBundle {
 }
 
 pub struct MotorPlugin {
-    pub remove_dampening: bool,
+    pub remove_dampning: bool,
     pub substep_count: Option<u32>,
 }
 
 impl Plugin for MotorPlugin {
     fn build(&self, app: &mut App) {
         app.add_systems(FixedUpdate, multi_target_warning)
-            .add_systems(FixedUpdate, non_normalized_axis_warning)
+            .add_systems(FixedUpdate, warn_if_axis_not_normalized)
             .add_systems(FixedUpdate, enforce_velocity_constraints)
             .add_systems(FixedUpdate, update_motor_rotation_state)
             .add_systems(FixedUpdate, update_motor_angular_velocity_state)
             .add_systems(FixedUpdate, apply_velocity_based_torque)
             .add_systems(FixedUpdate, apply_rotation_based_torque);
 
-        if self.remove_dampening {
+        if self.remove_dampning {
             app.add_systems(FixedUpdate, disable_damping);
         }
 
@@ -102,13 +102,13 @@ impl Plugin for MotorPlugin {
 impl Default for MotorPlugin {
     fn default() -> Self {
         Self {
-            remove_dampening: true,
+            remove_dampning: true,
             substep_count: Some(1000),
         }
     }
 }
 
-fn non_normalized_axis_warning(query: Query<&RevoluteJoint, Added<RevoluteMotor>>) {
+fn warn_if_axis_not_normalized(query: Query<&RevoluteJoint, Added<RevoluteMotor>>) {
     for joint in query.iter() {
         if joint.aligned_axis.length() != 1.0 {
             error!("Aligned axis must be normalized for motor to work")