Merge branch 'master' into split_geom

# Conflicts:
#	examples2d/sensor2.rs
#	examples3d/sensor3.rs
#	src/dynamics/integration_parameters.rs
#	src/dynamics/solver/parallel_island_solver.rs
#	src/dynamics/solver/velocity_constraint.rs
#	src/dynamics/solver/velocity_ground_constraint.rs
#	src_testbed/nphysics_backend.rs
#	src_testbed/physx_backend.rs
#	src_testbed/testbed.rs

4 files changed, 6 insertions, 5 deletions

diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index 46d6b75..deed8c2 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -57,8 +57,7 @@ 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 {
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs
index 389b6e6..24435db 100644
--- a/src/dynamics/solver/parallel_island_solver.rs
+++ b/src/dynamics/solver/parallel_island_solver.rs
@@ -251,7 +251,7 @@ impl ParallelIslandSolver {
                         let dvel = mj_lambdas[rb.active_set_offset];
                         rb.linvel += dvel.linear;
                         rb.angvel += rb.effective_world_inv_inertia_sqrt.transform_vector(dvel.angular);
-                        rb.integrate(params.dt());
+                        rb.integrate(params.dt));
                         positions[rb.active_set_offset] = rb.position;
                     }
                 }
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index c2aa6f5..9d75830 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.data.body_pair.body1];
         let rb2 = &bodies[manifold.data.body_pair.body2];
         let mj_lambda1 = rb1.active_set_offset;
@@ -244,7 +245,7 @@ impl VelocityConstraint {
                         rhs += manifold_point.restitution * rhs
                     }
 
-                    rhs += manifold_point.dist.max(0.0) * params.inv_dt();
+                    rhs += manifold_point.dist.max(0.0) * inv_dt;
 
                     let impulse = manifold_point.data.impulse * warmstart_coeff;
 
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs
index 7ea4fbb..49bb465 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.data.body_pair.body1];
         let mut rb2 = &bodies[manifold.data.body_pair.body2];
         let flipped = !rb2.is_dynamic();
@@ -159,7 +160,7 @@ impl VelocityGroundConstraint {
                         rhs += manifold_point.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].data.impulse * warmstart_coeff;