diff options
Diffstat (limited to 'src/dynamics/solver')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 3 | ||||
| -rw-r--r-- | src/dynamics/solver/parallel_island_solver.rs | 2 |
2 files changed, 2 insertions, 3 deletions
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; } } |