Rename SolverFlags::COMPUTE_FORCES to SolverFlags::COMPUTE_IMPULSES.

This is closer to what the solver actually does.

src/geometry/contact.rs

@@ -15,7 +15,7 @@ bitflags::bitflags! {
     pub struct SolverFlags: u32 {
         /// The constraint solver will take this contact manifold into
         /// account for force computation.
-        const COMPUTE_FORCES = 0b01;
+        const COMPUTE_IMPULSES = 0b01;
     }
 }
 

src/geometry/narrow_phase.rs

@@ -405,7 +405,7 @@ impl NarrowPhase {
                 }
             } else {
                 if co1.solver_groups.test(co2.solver_groups) {
-                    SolverFlags::COMPUTE_FORCES
+                    SolverFlags::COMPUTE_IMPULSES
                 } else {
                     SolverFlags::empty()
                 }
@@ -454,7 +454,9 @@ impl NarrowPhase {
             for manifold in &mut inter.weight.manifolds {
                 let rb1 = &bodies[manifold.body_pair.body1];
                 let rb2 = &bodies[manifold.body_pair.body2];
-                if manifold.solver_flags.contains(SolverFlags::COMPUTE_FORCES)
+                if manifold
+                    .solver_flags
+                    .contains(SolverFlags::COMPUTE_IMPULSES)
                     && manifold.num_active_contacts() != 0
                     && (rb1.is_dynamic() || rb2.is_dynamic())
                     && (!rb1.is_dynamic() || !rb1.is_sleeping())

src/geometry/user_callbacks.rs

@@ -33,7 +33,7 @@ pub trait ContactPairFilter: Send + Sync {
     /// not compute any contact manifolds for it.
     /// If this returns `Some`, then the narrow-phase will compute contact manifolds for
     /// this pair of colliders, and configure them with the returned solver flags. For
-    /// example, if this returns `Some(SolverFlags::COMPUTE_FORCES)` then the contacts
+    /// example, if this returns `Some(SolverFlags::COMPUTE_IMPULSES)` then the contacts
     /// will be taken into account by the constraints solver. If this returns
     /// `Some(SolverFlags::empty())` then the constraints solver will ignore these
     /// contacts.