IntegrationParameters: deprectate dt() and inv_dt() methods

4 files changed, 6 insertions, 5 deletions

diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index eac8676..56b5801 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/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;
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index 7ce142a..b548c6b 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -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 {
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs
index 3b7ab9f..1393067 100644
--- a/src/dynamics/solver/parallel_island_solver.rs
+++ b/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;
                     }
                 }
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index dc4b69f..e970125 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/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);