Remove the IntegrationParameters field we don't use.

1 files changed, 3 insertions, 56 deletions

diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index 615bfee..e4373c0 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -26,9 +26,9 @@ pub struct IntegrationParameters {
     //    /// Note that using only one thread with `multithreading_enabled` set to `true` will result on a slower
     //    /// simulation than setting `multithreading_enabled` to `false`.
     //    pub multithreading_enabled: bool,
-    /// If `true`, the world's `step` method will stop right after resolving exactly one CCD event (default: `false`).
-    /// This allows the user to take action during a timestep, in-between two CCD events.
-    pub return_after_ccd_substep: bool,
+    // /// If `true`, the world's `step` method will stop right after resolving exactly one CCD event (default: `false`).
+    // /// This allows the user to take action during a timestep, in-between two CCD events.
+    // pub return_after_ccd_substep: bool,
     /// The Error Reduction Parameter in `[0, 1]` is the proportion of
     /// the positional error to be corrected at each time step (default: `0.2`).
     pub erp: Real,
@@ -64,49 +64,14 @@ pub struct IntegrationParameters {
     pub max_linear_correction: Real,
     /// Maximum angular correction during one step of the non-linear position solver (default: `0.2`).
     pub max_angular_correction: Real,
-    /// Maximum nonlinear SOR-prox scaling parameter when the constraint
-    /// correction direction is close to the kernel of the involved multibody's
-    /// jacobian (default: `0.2`).
-    pub max_stabilization_multiplier: Real,
     /// Maximum number of iterations performed by the velocity constraints solver (default: `4`).
     pub max_velocity_iterations: usize,
     /// Maximum number of iterations performed by the position-based constraints solver (default: `1`).
     pub max_position_iterations: usize,
     /// Minimum number of dynamic bodies in each active island (default: `128`).
     pub min_island_size: usize,
-    /// Maximum number of iterations performed by the position-based constraints solver for CCD steps (default: `10`).
-    ///
-    /// This should be sufficiently high so all penetration get resolved. For example, if CCD cause your
-    /// objects to stutter, that may be because the number of CCD position iterations is too low, causing
-    /// them to remain stuck in a penetration configuration for a few frames.
-    ///
-    /// The higher this number, the higher its computational cost.
-    pub max_ccd_position_iterations: usize,
     /// Maximum number of substeps performed by the  solver (default: `1`).
     pub max_ccd_substeps: usize,
-    /// Controls the number of Proximity::Intersecting events generated by a trigger during CCD resolution (default: `false`).
-    ///
-    /// If false, triggers will only generate one Proximity::Intersecting event during a step, even
-    /// if another colliders repeatedly enters and leaves the triggers during multiple CCD substeps.
-    ///
-    /// If true, triggers will generate as many Proximity::Intersecting and Proximity::Disjoint/Proximity::WithinMargin
-    /// events as the number of times a collider repeatedly enters and leaves the triggers during multiple CCD substeps.
-    /// This is more computationally intensive.
-    pub multiple_ccd_substep_sensor_events_enabled: bool,
-    /// Whether penetration are taken into account in CCD resolution (default: `false`).
-    ///
-    /// If this is set to `false` two penetrating colliders will not be considered to have any time of impact
-    /// while they are penetrating. This may end up allowing some tunelling, but will avoid stuttering effect
-    /// when the constraints solver fails to completely separate two colliders after a CCD contact.
-    ///
-    /// If this is set to `true`, two penetrating colliders will be considered to have a time of impact
-    /// equal to 0 until the constraints solver manages to separate them. This will prevent tunnelling
-    /// almost completely, but may introduce stuttering effects when the constraints solver fails to completely
-    /// separate two colliders after a CCD contact.
-    // FIXME: this is a very binary way of handling penetration.
-    // We should provide a more flexible solution by letting the user choose some
-    // minimal amount of movement applied to an object that get stuck.
-    pub ccd_on_penetration_enabled: bool,
 }
 
 impl IntegrationParameters {
@@ -114,28 +79,20 @@ impl IntegrationParameters {
     #[deprecated = "Use `IntegrationParameters { dt: 60.0, ..Default::default() }` instead"]
     pub fn new(
         dt: Real,
-        //        multithreading_enabled: bool,
         erp: Real,
         joint_erp: Real,
         warmstart_coeff: Real,
-        _restitution_velocity_threshold: Real,
         allowed_linear_error: Real,
         allowed_angular_error: Real,
         max_linear_correction: Real,
         max_angular_correction: Real,
         prediction_distance: Real,
-        max_stabilization_multiplier: Real,
         max_velocity_iterations: usize,
         max_position_iterations: usize,
-        max_ccd_position_iterations: usize,
         max_ccd_substeps: usize,
-        return_after_ccd_substep: bool,
-        multiple_ccd_substep_sensor_events_enabled: bool,
-        ccd_on_penetration_enabled: bool,
     ) -> Self {
         IntegrationParameters {
             dt,
-            //            multithreading_enabled,
             erp,
             joint_erp,
             warmstart_coeff,
@@ -144,14 +101,9 @@ impl IntegrationParameters {
             max_linear_correction,
             max_angular_correction,
             prediction_distance,
-            max_stabilization_multiplier,
             max_velocity_iterations,
             max_position_iterations,
-            max_ccd_position_iterations,
             max_ccd_substeps,
-            return_after_ccd_substep,
-            multiple_ccd_substep_sensor_events_enabled,
-            ccd_on_penetration_enabled,
             ..Default::default()
         }
     }
@@ -208,7 +160,6 @@ impl Default for IntegrationParameters {
             dt: 1.0 / 60.0,
             min_ccd_dt: 1.0 / 60.0 / 100.0,
             //        multithreading_enabled:             true,
-            return_after_ccd_substep: false,
             erp: 0.2,
             joint_erp: 0.2,
             velocity_solve_fraction: 1.0,
@@ -220,7 +171,6 @@ impl Default for IntegrationParameters {
             allowed_angular_error: 0.001,
             max_linear_correction: 0.2,
             max_angular_correction: 0.2,
-            max_stabilization_multiplier: 0.2,
             max_velocity_iterations: 4,
             max_position_iterations: 1,
             // FIXME: what is the optimal value for min_island_size?
@@ -229,10 +179,7 @@ impl Default for IntegrationParameters {
             // However we don't want it to be too small and end up with
             // tons of islands, reducing SIMD parallelism opportunities.
             min_island_size: 128,
-            max_ccd_position_iterations: 10,
             max_ccd_substeps: 1,
-            multiple_ccd_substep_sensor_events_enabled: false,
-            ccd_on_penetration_enabled: false,
         }
     }
 }