From 315493ebfb06af9924fdabb8f26da4d1a9b095bc Mon Sep 17 00:00:00 2001 From: Emil Ernerfeldt Date: Fri, 22 Jan 2021 13:38:59 +0100 Subject: IntegrationParameters: deprectate dt() and inv_dt() methods --- src/dynamics/integration_parameters.rs | 2 ++ src/dynamics/solver/island_solver.rs | 3 +-- src/dynamics/solver/parallel_island_solver.rs | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) (limited to 'src/dynamics') 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; } } -- cgit