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IntegrationParameters: deprectate dt() and inv_dt() methods

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This commit is contained in:
Emil Ernerfeldt
2021-01-22 13:38:59 +01:00
parent 581d13edbd
commit 315493ebfb
8 changed files with 10 additions and 9 deletions
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2
src/dynamics/integration_parameters.rs
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@@ -139,6 +139,7 @@ impl IntegrationParameters {
/// The current time-stepping length.
#[inline(always)]
#[deprecated = "You can just read the `IntegrationParams::dt` value directly"]
pub fn dt(&self) -> f32 {
self.dt
}
@@ -157,6 +158,7 @@ impl IntegrationParameters {
/// Sets the time-stepping length.
#[inline]
#[deprecated = "You can just set the `IntegrationParams::dt` value directly"]
pub fn set_dt(&mut self, dt: f32) {
assert!(dt >= 0.0, "The time-stepping length cannot be negative.");
self.dt = dt;

3
src/dynamics/solver/island_solver.rs
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@@ -59,8 +59,7 @@ impl IslandSolver {
}
counters.solver.velocity_update_time.resume();
bodies
.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt()));
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt));
counters.solver.velocity_update_time.pause();
if manifold_indices.len() != 0 || joint_indices.len() != 0 {

2
src/dynamics/solver/parallel_island_solver.rs
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@@ -234,7 +234,7 @@ impl ParallelIslandSolver {
let dvel = mj_lambdas[rb.active_set_offset];
rb.linvel += dvel.linear;
rb.angvel += rb.world_inv_inertia_sqrt.transform_vector(dvel.angular);
rb.integrate(params.dt());
rb.integrate(params.dt);
positions[rb.active_set_offset] = rb.position;
}
}

4
src/pipeline/physics_pipeline.rs
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@@ -160,7 +160,7 @@ impl PhysicsPipeline {
self.counters.stages.update_time.start();
bodies.foreach_active_dynamic_body_mut_internal(|_, b| {
b.update_world_mass_properties();
b.integrate_accelerations(integration_parameters.dt(), *gravity)
b.integrate_accelerations(integration_parameters.dt, *gravity)
});
self.counters.stages.update_time.pause();
@@ -239,7 +239,7 @@ impl PhysicsPipeline {
rb.linvel = na::zero();
rb.angvel = na::zero();
} else {
rb.update_predicted_position(integration_parameters.dt());
rb.update_predicted_position(integration_parameters.dt);
}
rb.update_colliders_positions(colliders);