1 files changed, 26 insertions, 26 deletions

diff --git a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
index 24001cd..7e8fc97 100644
--- a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
@@ -1,30 +1,30 @@
 use crate::dynamics::{FixedJoint, IntegrationParameters, RigidBody};
-use crate::math::{AngularInertia, Isometry, Point, Rotation};
+use crate::math::{AngularInertia, Isometry, Point, Real, Rotation};
 use crate::utils::WAngularInertia;
 
 #[derive(Debug)]
 pub(crate) struct FixedPositionConstraint {
     position1: usize,
     position2: usize,
-    local_anchor1: Isometry<f32>,
-    local_anchor2: Isometry<f32>,
-    local_com1: Point<f32>,
-    local_com2: Point<f32>,
-    im1: f32,
-    im2: f32,
-    ii1: AngularInertia<f32>,
-    ii2: AngularInertia<f32>,
-
-    lin_inv_lhs: f32,
-    ang_inv_lhs: AngularInertia<f32>,
+    local_anchor1: Isometry<Real>,
+    local_anchor2: Isometry<Real>,
+    local_com1: Point<Real>,
+    local_com2: Point<Real>,
+    im1: Real,
+    im2: Real,
+    ii1: AngularInertia<Real>,
+    ii2: AngularInertia<Real>,
+
+    lin_inv_lhs: Real,
+    ang_inv_lhs: AngularInertia<Real>,
 }
 
 impl FixedPositionConstraint {
     pub fn from_params(rb1: &RigidBody, rb2: &RigidBody, cparams: &FixedJoint) -> Self {
-        let ii1 = rb1.world_inv_inertia_sqrt.squared();
-        let ii2 = rb2.world_inv_inertia_sqrt.squared();
-        let im1 = rb1.mass_properties.inv_mass;
-        let im2 = rb2.mass_properties.inv_mass;
+        let ii1 = rb1.effective_world_inv_inertia_sqrt.squared();
+        let ii2 = rb2.effective_world_inv_inertia_sqrt.squared();
+        let im1 = rb1.effective_inv_mass;
+        let im2 = rb2.effective_inv_mass;
         let lin_inv_lhs = 1.0 / (im1 + im2);
         let ang_inv_lhs = (ii1 + ii2).inverse();
 
@@ -44,7 +44,7 @@ impl FixedPositionConstraint {
         }
     }
 
-    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
+    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
         let mut position1 = positions[self.position1 as usize];
         let mut position2 = positions[self.position2 as usize];
 
@@ -81,12 +81,12 @@ impl FixedPositionConstraint {
 #[derive(Debug)]
 pub(crate) struct FixedPositionGroundConstraint {
     position2: usize,
-    anchor1: Isometry<f32>,
-    local_anchor2: Isometry<f32>,
-    local_com2: Point<f32>,
-    im2: f32,
-    ii2: AngularInertia<f32>,
-    impulse: f32,
+    anchor1: Isometry<Real>,
+    local_anchor2: Isometry<Real>,
+    local_com2: Point<Real>,
+    im2: Real,
+    ii2: AngularInertia<Real>,
+    impulse: Real,
 }
 
 impl FixedPositionGroundConstraint {
@@ -111,14 +111,14 @@ impl FixedPositionGroundConstraint {
             anchor1,
             local_anchor2,
             position2: rb2.active_set_offset,
-            im2: rb2.mass_properties.inv_mass,
-            ii2: rb2.world_inv_inertia_sqrt.squared(),
+            im2: rb2.effective_inv_mass,
+            ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
             local_com2: rb2.mass_properties.local_com,
             impulse: 0.0,
         }
     }
 
-    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
+    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
         let mut position2 = positions[self.position2 as usize];
 
         // Angular correction.