Remove IntegrationParameters::inv_dt and make dt pub

2 files changed, 4 insertions, 2 deletions

diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index 948081d..f9e38ac 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -144,6 +144,7 @@ impl VelocityConstraint {
         out_constraints: &mut Vec<AnyVelocityConstraint>,
         push: bool,
     ) {
+        let inv_dt = params.inv_dt();
         let rb1 = &bodies[manifold.body_pair.body1];
         let rb2 = &bodies[manifold.body_pair.body2];
         let mj_lambda1 = rb1.active_set_offset;
@@ -244,7 +245,7 @@ impl VelocityConstraint {
                         rhs += manifold.restitution * rhs
                     }
 
-                    rhs += manifold_point.dist.max(0.0) * params.inv_dt();
+                    rhs += manifold_point.dist.max(0.0) * inv_dt;
 
                     let impulse = manifold_points[k].impulse * warmstart_coeff;
 
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs
index d8ef8be..23b41c1 100644
--- a/src/dynamics/solver/velocity_ground_constraint.rs
+++ b/src/dynamics/solver/velocity_ground_constraint.rs
@@ -63,6 +63,7 @@ impl VelocityGroundConstraint {
         out_constraints: &mut Vec<AnyVelocityConstraint>,
         push: bool,
     ) {
+        let inv_dt = params.inv_dt();
         let mut rb1 = &bodies[manifold.body_pair.body1];
         let mut rb2 = &bodies[manifold.body_pair.body2];
         let flipped = !rb2.is_dynamic();
@@ -176,7 +177,7 @@ impl VelocityGroundConstraint {
                         rhs += manifold.restitution * rhs
                     }
 
-                    rhs += manifold_point.dist.max(0.0) * params.inv_dt();
+                    rhs += manifold_point.dist.max(0.0) * inv_dt;
 
                     let impulse = manifold_points[k].impulse * warmstart_coeff;