feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units

4 files changed, 8 insertions, 8 deletions

diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint.rs b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
index c31d2aa..2392493 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
@@ -310,8 +310,8 @@ impl OneBodyConstraintBuilder {
             {
                 let rhs_wo_bias = info.normal_rhs_wo_bias + dist.max(0.0) * inv_dt;
                 let rhs_bias = erp_inv_dt
-                    * (dist + params.allowed_linear_error)
-                        .clamp(-params.max_penetration_correction, 0.0);
+                    * (dist + params.allowed_linear_error())
+                        .clamp(-params.max_penetration_correction(), 0.0);
                 let new_rhs = rhs_wo_bias + rhs_bias;
                 is_fast_contact = is_fast_contact || (-new_rhs * params.dt > ccd_thickness * 0.5);
 
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
index 77dfc42..5710bc4 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
@@ -265,9 +265,9 @@ impl SimdOneBodyConstraintBuilder {
         let cfm_factor = SimdReal::splat(params.cfm_factor());
         let dt = SimdReal::splat(params.dt);
         let inv_dt = SimdReal::splat(params.inv_dt());
-        let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
+        let allowed_lin_err = SimdReal::splat(params.allowed_linear_error());
         let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
-        let max_penetration_correction = SimdReal::splat(params.max_penetration_correction);
+        let max_penetration_correction = SimdReal::splat(params.max_penetration_correction());
         let warmstart_coeff = SimdReal::splat(params.warmstart_coefficient);
 
         let rb2 = gather![|ii| &bodies[constraint.solver_vel2[ii]]];
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint.rs b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
index f0d95d9..39f4931 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
@@ -410,8 +410,8 @@ impl TwoBodyConstraintBuilder {
             {
                 let rhs_wo_bias = info.normal_rhs_wo_bias + dist.max(0.0) * inv_dt;
                 let rhs_bias = erp_inv_dt
-                    * (dist + params.allowed_linear_error)
-                        .clamp(-params.max_penetration_correction, 0.0);
+                    * (dist + params.allowed_linear_error())
+                        .clamp(-params.max_penetration_correction(), 0.0);
                 let new_rhs = rhs_wo_bias + rhs_bias;
                 is_fast_contact = is_fast_contact || (-new_rhs * params.dt > ccd_thickness * 0.5);
 
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
index a6c387d..0b1b419 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
@@ -255,9 +255,9 @@ impl TwoBodyConstraintBuilderSimd {
         let cfm_factor = SimdReal::splat(params.cfm_factor());
         let dt = SimdReal::splat(params.dt);
         let inv_dt = SimdReal::splat(params.inv_dt());
-        let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
+        let allowed_lin_err = SimdReal::splat(params.allowed_linear_error());
         let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
-        let max_penetration_correction = SimdReal::splat(params.max_penetration_correction);
+        let max_penetration_correction = SimdReal::splat(params.max_penetration_correction());
         let warmstart_coeff = SimdReal::splat(params.warmstart_coefficient);
 
         let rb1 = gather![|ii| &bodies[constraint.solver_vel1[ii]]];