IntegrationParameters: deprectate dt() and inv_dt() methods

src/dynamics/integration_parameters.rs

@@ -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;

src/dynamics/solver/island_solver.rs

@@ -59,8 +59,7 @@ impl IslandSolver {
         }
 
         counters.solver.velocity_update_time.resume();
-        bodies
+        bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt));
-            .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 {

src/dynamics/solver/parallel_island_solver.rs

@@ -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;
                     }
                 }

src/pipeline/physics_pipeline.rs

@@ -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);

src_testbed/box2d_backend.rs

@@ -211,7 +211,7 @@ impl Box2dWorld {
 
         counters.step_started();
         self.world.step(
-            params.dt(),
+            params.dt,
             params.max_velocity_iterations as i32,
             params.max_position_iterations as i32,
         );

src_testbed/harness/mod.rs

@@ -238,7 +238,7 @@ impl Harness {
 
         self.events.poll_all();
 
-        self.state.time += self.physics.integration_parameters.dt();
+        self.state.time += self.physics.integration_parameters.dt;
         self.state.timestep_id += 1;
     }
 

src_testbed/nphysics_backend.rs

@@ -143,7 +143,7 @@ impl NPhysicsWorld {
             .max_velocity_iterations = params.max_velocity_iterations;
         self.mechanical_world
             .integration_parameters
-            .set_dt(params.dt());
+            .set_dt(params.dt);
 
         counters.step_started();
         self.mechanical_world.step(

src_testbed/physx_backend.rs

@@ -396,7 +396,7 @@ impl PhysxWorld {
 
     pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
         counters.step_started();
-        self.scene.step(params.dt(), true);
+        self.scene.step(params.dt, true);
         counters.step_completed();
     }