Add prelude + use vectors for setting linvel/translation in builders

CHANGELOG.md

@@ -1,8 +1,31 @@
 ## v0.9.0
+The user-guide has been fully rewritten and is now exhaustive! Check it out on [rapier.rs](https://rapier.rs/)
+
+### Added
+- A prelude has been added in order to simplify the most common imports. For example: `use rapier3d::prelude::*`
 
 ### Modified
 - Renamed `BodyStatus` to `RigidBodyType`.
 
+FIXME:
+- `RigidBodyBuilder::translation` now takes a vector instead of individual components.
+- `RigidBodyBuilder::linvel` now takes a vector instead of individual components.
+- `Colliderbuilder::translation` now takes a vector instead of individual components.
+- The way `PhysicsHooks` are enabled changed. Now, a physics hooks is executed if any of the two
+  colliders involved in the contact/intersection pair contains the related `PhysicsHooksFlag`.
+  These flags are configured on each collider with `ColliderBuilder::active_hooks`. As a result,
+  there is no `PhysicsHooks::active_hooks` method any more.
+- Before, sensor colliders had a default density  set to 0.0 whereas non-sensor colliders had a
+  default density of 1.0. This has been unified by setting the default density to 1.0 for both
+  sensor and non-sensor colliders.
+- Colliders are no longer required to be attached to a rigid-body. Therefore, `ColliderSet::insert`
+  only takes the collider as argument now. In order to attach the collider to a rigid-body,
+  (i.e., the old behavior of `ColliderSet::insert`), use `ColliderSet::insert_with_parent`.
+- The field `ContactPair::pair` (which contained two collider handles) has been replaced by two
+  fields: `ContactPair::collider1` and `ContactPair::collider2`.
+- The fields `FixedJoint::local_anchor1` and `FixedJoint::local_anchor2` have been renamed to
+  `FixedJoint::local_frame1` and `FixedJoint::local_frame2`.
+  
 ## v0.8.0
 ### Modified
 - Switch to nalgebra 0.26.

benchmarks2d/balls2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -22,7 +20,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let co = ColliderDesc::new(ground_shape)
         .translation(-Vector2::y())
         .build(BodyPartHandle(ground_handle, 0));
-    colliders.insert(co);
+    colliders.insert_with_parent(co);
     */
 
     /*
@@ -48,10 +46,12 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new(status)
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+    testbed.look_at(point![0.0, 2.5], 5.0);
 }

benchmarks2d/boxes2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 2.0)
+        .translation(vector![ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 2.0)
+        .translation(vector![-ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -53,10 +51,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 2.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -64,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }

benchmarks2d/capsules2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 4.0)
+        .translation(vector![ground_size, ground_size * 4.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 4.0)
+        .translation(vector![-ground_size, ground_size * 4.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -55,10 +53,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shifty + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -66,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }

benchmarks2d/convex_polygons2.rs

@@ -1,8 +1,6 @@
-use na::Point2;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::prelude::*;
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 2.0)
+        .translation(vector![ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 2.0)
+        .translation(vector![-ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the convex polygons
@@ -58,18 +56,20 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = i as f32 * shift - centerx;
             let y = j as f32 * shift * 2.0 + centery + 2.0;
 
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
 
             for _ in 0..10 {
-                let pt: Point2<f32> = distribution.sample(&mut rng);
+                let pt: Point<f32> = distribution.sample(&mut rng);
                 points.push(pt * scale);
             }
 
             let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }

benchmarks2d/heightfield2.rs

@@ -1,6 +1,5 @@
-use na::{DVector, Point2, Vector2};
+use na::DVector;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::prelude::*;
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector2::new(50.0, 1.0);
+    let ground_size = Vector::new(50.0, 1.0);
     let nsubdivs = 2000;
 
     let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
                 let collider = ColliderBuilder::cuboid(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             } else {
                 let collider = ColliderBuilder::ball(rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }

benchmarks2d/joint_ball2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -34,16 +32,16 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, -fi * shift)
+                .translation(vector![fk * shift, -fi * shift])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, &mut bodies);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
+                let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -51,7 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if k > 0 {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -63,5 +61,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
+    testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 5.0);
 }

benchmarks2d/joint_fixed2.rs

@@ -1,6 +1,4 @@
-use na::{Isometry2, Point2};
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -39,18 +37,18 @@ pub fn init_world(testbed: &mut Testbed) {
                     };
 
                     let rigid_body = RigidBodyBuilder::new(status)
-                        .translation(x + fk * shift, y - fi * shift)
+                        .translation(vector![x + fk * shift, y - fi * shift])
                         .build();
                     let child_handle = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, child_handle, &mut bodies);
+                    colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
                     // Vertical joint.
                     if i > 0 {
                         let parent_handle = *body_handles.last().unwrap();
                         let joint = FixedJoint::new(
-                            Isometry2::identity(),
+                            Isometry::identity(),
-                            Isometry2::translation(0.0, shift),
+                            Isometry::translation(0.0, shift),
                         );
                         joints.insert(&mut bodies, parent_handle, child_handle, joint);
                     }
@@ -60,8 +58,8 @@ pub fn init_world(testbed: &mut Testbed) {
                         let parent_index = body_handles.len() - num;
                         let parent_handle = body_handles[parent_index];
                         let joint = FixedJoint::new(
-                            Isometry2::identity(),
+                            Isometry::identity(),
-                            Isometry2::translation(-shift, 0.0),
+                            Isometry::translation(-shift, 0.0),
                         );
                         joints.insert(&mut bodies, parent_handle, child_handle, joint);
                     }
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(50.0, 50.0), 5.0);
+    testbed.look_at(point![50.0, 50.0], 5.0);
 }

benchmarks2d/joint_prismatic2.rs

@@ -1,6 +1,4 @@
-use na::{Point2, Unit, Vector2};
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -25,27 +23,31 @@ pub fn init_world(testbed: &mut Testbed) {
         for j in 0..50 {
             let x = j as f32 * shift * 4.0;
 
-            let ground = RigidBodyBuilder::new_static().translation(x, y).build();
+            let ground = RigidBodyBuilder::new_static()
+                .translation(vector![x, y])
+                .build();
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, curr_parent, &mut bodies);
+            colliders.insert_with_parent(collider, curr_parent, &mut bodies);
 
             for i in 0..num {
                 let y = y - (i + 1) as f32 * shift;
                 let density = 1.0;
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y])
+                    .build();
                 let curr_child = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
-                colliders.insert(collider, curr_child, &mut bodies);
+                colliders.insert_with_parent(collider, curr_child, &mut bodies);
 
                 let axis = if i % 2 == 0 {
-                    Unit::new_normalize(Vector2::new(1.0, 1.0))
+                    UnitVector::new_normalize(vector![1.0, 1.0])
                 } else {
-                    Unit::new_normalize(Vector2::new(-1.0, 1.0))
+                    UnitVector::new_normalize(vector![-1.0, 1.0])
                 };
 
                 let mut prism =
-                    PrismaticJoint::new(Point2::origin(), axis, Point2::new(0.0, shift), axis);
+                    PrismaticJoint::new(Point::origin(), axis, point![0.0, shift], axis);
                 prism.limits_enabled = true;
                 prism.limits[0] = -1.5;
                 prism.limits[1] = 1.5;
@@ -60,5 +62,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(80.0, 80.0), 15.0);
+    testbed.look_at(point![80.0, 80.0], 15.0);
 }

benchmarks2d/pyramid2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+    testbed.look_at(point![0.0, 2.5], 5.0);
 }

benchmarks3d/balls3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -37,10 +35,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let density = 0.477;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new(status).translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new(status)
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::ball(rad).density(density).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -49,5 +49,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/boxes3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -45,10 +43,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/capsules3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,10 +44,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -60,5 +60,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/ccd3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -49,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(x, y, z)
+                    .translation(vector![x, y, z])
-                    .linvel(0.0, -1000.0, 0.0)
+                    .linvel(vector![0.0, -1000.0, 0.0])
                     .ccd_enabled(true)
                     .build();
                 let handle = bodies.insert(rigid_body);
@@ -65,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad),
                 };
 
-                colliders.insert(collider.build(), handle, &mut bodies);
+                colliders.insert_with_parent(collider.build(), handle, &mut bodies);
             }
         }
 
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/compound3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -45,18 +43,20 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift * 2.0 - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
                 let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(rad * 10.0, rad * 10.0, 0.0)
+                    .translation(vector![rad * 10.0, rad * 10.0, 0.0])
                     .build();
                 let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(-rad * 10.0, rad * 10.0, 0.0)
+                    .translation(vector![-rad * 10.0, rad * 10.0, 0.0])
                     .build();
-                colliders.insert(collider1, handle, &mut bodies);
+                colliders.insert_with_parent(collider1, handle, &mut bodies);
-                colliders.insert(collider2, handle, &mut bodies);
+                colliders.insert_with_parent(collider2, handle, &mut bodies);
-                colliders.insert(collider3, handle, &mut bodies);
+                colliders.insert_with_parent(collider3, handle, &mut bodies);
             }
         }
 
@@ -67,5 +67,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/convex_polyhedron3.rs

@@ -1,8 +1,6 @@
-use na::Point3;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::prelude::*;
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,11 +18,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -53,17 +51,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 let mut points = Vec::new();
                 for _ in 0..10 {
-                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    let pt: Point<f32> = distribution.sample(&mut rng);
                     points.push(pt * scale);
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
                     .unwrap()
                     .build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/heightfield3.rs

@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Point3, Vector3};
+use na::ComplexField;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::prelude::*;
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(200.0, 1.0, 200.0);
+    let ground_size = vector![200.0, 1.0, 200.0];
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -55,15 +54,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 } else {
                     let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -73,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/joint_ball3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -29,16 +27,16 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, fi * shift)
+                .translation(vector![fk * shift, 0.0, fi * shift])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, &mut bodies);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
+                let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -46,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if k > 0 {
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -58,8 +56,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
+    testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
-        Point3::new(-110.0, -46.0, 170.0),
-        Point3::new(54.0, -38.0, 29.0),
-    );
 }

benchmarks3d/joint_fixed3.rs

@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -42,18 +40,18 @@ pub fn init_world(testbed: &mut Testbed) {
                         };
 
                         let rigid_body = RigidBodyBuilder::new(status)
-                            .translation(x + fk * shift, y, z + fi * shift)
+                            .translation(vector![x + fk * shift, y, z + fi * shift])
                             .build();
                         let child_handle = bodies.insert(rigid_body);
                         let collider = ColliderBuilder::ball(rad).build();
-                        colliders.insert(collider, child_handle, &mut bodies);
+                        colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
                         // Vertical joint.
                         if i > 0 {
                             let parent_handle = *body_handles.last().unwrap();
                             let joint = FixedJoint::new(
-                                Isometry3::identity(),
+                                Isometry::identity(),
-                                Isometry3::translation(0.0, 0.0, -shift),
+                                Isometry::translation(0.0, 0.0, -shift),
                             );
                             joints.insert(&mut bodies, parent_handle, child_handle, joint);
                         }
@@ -63,8 +61,8 @@ pub fn init_world(testbed: &mut Testbed) {
                             let parent_index = body_handles.len() - num;
                             let parent_handle = body_handles[parent_index];
                             let joint = FixedJoint::new(
-                                Isometry3::identity(),
+                                Isometry::identity(),
-                                Isometry3::translation(-shift, 0.0, 0.0),
+                                Isometry::translation(-shift, 0.0, 0.0),
                             );
                             joints.insert(&mut bodies, parent_handle, child_handle, joint);
                         }
@@ -80,8 +78,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
+    testbed.look_at(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
-        Point3::new(-38.0, 14.0, 108.0),
-        Point3::new(46.0, 12.0, 23.0),
-    );
 }

benchmarks3d/joint_prismatic3.rs

@@ -1,6 +1,4 @@
-use na::{Point3, Unit, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -24,33 +22,37 @@ pub fn init_world(testbed: &mut Testbed) {
             for j in 0..50 {
                 let x = j as f32 * shift * 4.0;
 
-                let ground = RigidBodyBuilder::new_static().translation(x, y, z).build();
+                let ground = RigidBodyBuilder::new_static()
+                    .translation(vector![x, y, z])
+                    .build();
                 let mut curr_parent = bodies.insert(ground);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, curr_parent, &mut bodies);
+                colliders.insert_with_parent(collider, curr_parent, &mut bodies);
 
                 for i in 0..num {
                     let z = z + (i + 1) as f32 * shift;
                     let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                    let rigid_body = RigidBodyBuilder::new_dynamic()
+                        .translation(vector![x, y, z])
+                        .build();
                     let curr_child = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::cuboid(rad, rad, rad)
                         .density(density)
                         .build();
-                    colliders.insert(collider, curr_child, &mut bodies);
+                    colliders.insert_with_parent(collider, curr_child, &mut bodies);
 
                     let axis = if i % 2 == 0 {
-                        Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+                        UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
                     } else {
-                        Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+                        UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
                     };
 
-                    let z = Vector3::z();
+                    let z = Vector::z();
                     let mut prism = PrismaticJoint::new(
-                        Point3::origin(),
+                        Point::origin(),
                         axis,
                         z,
-                        Point3::new(0.0, 0.0, -shift),
+                        point![0.0, 0.0, -shift],
                         axis,
                         z,
                     );
@@ -69,8 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
+    testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
-        Point3::new(262.0, 63.0, 124.0),
-        Point3::new(101.0, 4.0, -3.0),
-    );
 }

benchmarks3d/joint_revolute3.rs

@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RevoluteJoint, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -22,20 +20,20 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = j as f32 * shift * 4.0;
 
             let ground = RigidBodyBuilder::new_static()
-                .translation(x, y, 0.0)
+                .translation(vector![x, y, 0.0])
                 .build();
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, curr_parent, &mut bodies);
+            colliders.insert_with_parent(collider, curr_parent, &mut bodies);
 
             for i in 0..num {
                 // Create four bodies.
                 let z = i as f32 * shift * 2.0 + shift;
                 let positions = [
-                    Isometry3::translation(x, y, z),
+                    Isometry::translation(x, y, z),
-                    Isometry3::translation(x + shift, y, z),
+                    Isometry::translation(x + shift, y, z),
-                    Isometry3::translation(x + shift, y, z + shift),
+                    Isometry::translation(x + shift, y, z + shift),
-                    Isometry3::translation(x, y, z + shift),
+                    Isometry::translation(x, y, z + shift),
                 ];
 
                 let mut handles = [curr_parent; 4];
@@ -48,19 +46,19 @@ pub fn init_world(testbed: &mut Testbed) {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad)
                         .density(density)
                         .build();
-                    colliders.insert(collider, handles[k], &mut bodies);
+                    colliders.insert_with_parent(collider, handles[k], &mut bodies);
                 }
 
                 // Setup four joints.
-                let o = Point3::origin();
+                let o = Point::origin();
-                let x = Vector3::x_axis();
+                let x = Vector::x_axis();
-                let z = Vector3::z_axis();
+                let z = Vector::z_axis();
 
                 let revs = [
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
+                    RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
-                    RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
+                    RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
+                    RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
-                    RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
+                    RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
                 ];
 
                 joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
@@ -77,8 +75,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
+    testbed.look_at(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
-        Point3::new(478.0, 83.0, 228.0),
-        Point3::new(134.0, 83.0, -116.0),
-    );
 }

benchmarks3d/keva3.rs

@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn build_block(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
-    shift: Vector3<f32>,
+    shift: Vector<f32>,
     mut numx: usize,
     numy: usize,
     mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
     let block_width = 2.0 * half_extents.z * numx as f32;
     let block_height = 2.0 * half_extents.y * numy as f32;
     let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
-    let mut color0 = Point3::new(0.7, 0.5, 0.9);
+    let mut color0 = [0.7, 0.5, 0.9];
-    let mut color1 = Point3::new(0.6, 1.0, 0.6);
+    let mut color1 = [0.6, 1.0, 0.6];
 
     for i in 0..numy {
         std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(
+                    .translation(vector![
                         x + dim.x + shift.x,
                         y + dim.y + shift.y,
-                        z + dim.z + shift.z,
+                        z + dim.z + shift.z
-                    )
+                    ])
                     .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
 
                 testbed.set_initial_body_color(handle, color0);
                 std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
         for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     i as f32 * dim.x * 2.0 + dim.x + shift.x,
                     dim.y + shift.y + block_height,
-                    j as f32 * dim.z * 2.0 + dim.z + shift.z,
+                    j as f32 * dim.z * 2.0 + dim.z + shift.z
-                )
+                ])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
             testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
         }
@@ -94,16 +92,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
-    let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
+    let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
     let mut block_height = 0.0;
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut bodies,
             &mut colliders,
             half_extents,
-            Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
+            vector![-block_width / 2.0, block_height, -block_width / 2.0],
             numx,
             numy,
             numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/pyramid3.rs

@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 fn create_pyramid(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.5;
     for i in 0usize..stack_height {
@@ -24,12 +22,14 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let rigid_body_handle = bodies.insert(rigid_body);
 
                 let collider =
                     ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-                colliders.insert(collider, rigid_body_handle, bodies);
+                colliders.insert_with_parent(collider, rigid_body_handle, bodies);
             }
         }
     }
@@ -50,22 +50,22 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the cubes
      */
     let cube_size = 1.0;
-    let hext = Vector3::repeat(cube_size);
+    let hext = Vector::repeat(cube_size);
     let bottomy = cube_size;
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(0.0, bottomy, 0.0),
+        vector![0.0, bottomy, 0.0],
         24,
         hext,
     );
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/stacks3.rs

@@ -1,15 +1,13 @@
-use na::{Point3, Translation3, UnitQuaternion, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 fn create_tower_circle(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
     nsubdivs: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
     let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
@@ -20,16 +18,16 @@ fn create_tower_circle(
             let fj = j as f32;
             let fi = i as f32;
             let y = fi * shift.y;
-            let pos = Translation3::from(offset)
+            let pos = Translation::from(offset)
-                * UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step)
+                * Rotation::new(Vector::y() * (fi / 2.0 + fj) * ang_step)
-                * Translation3::new(0.0, y, radius);
+                * Translation::new(0.0, y, radius);
 
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
         }
     }
 }
@@ -37,9 +35,9 @@ fn create_tower_circle(
 fn create_wall(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
     for i in 0usize..stack_height {
@@ -52,11 +50,13 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y, z])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
         }
     }
 }
@@ -64,9 +64,9 @@ fn create_wall(
 fn create_pyramid(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
 
@@ -83,11 +83,13 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider =
                     ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
             }
         }
     }
@@ -108,71 +110,71 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
     let cube_size = 1.0;
-    let hext = Vector3::repeat(cube_size);
+    let hext = Vector::repeat(cube_size);
     let bottomy = cube_size * 50.0;
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-110.0, bottomy, 0.0),
+        vector![-110.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-80.0, bottomy, 0.0),
+        vector![-80.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-50.0, bottomy, 0.0),
+        vector![-50.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-20.0, bottomy, 0.0),
+        vector![-20.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-2.0, bottomy, 0.0),
+        vector![-2.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(4.0, bottomy, 0.0),
+        vector![4.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(10.0, bottomy, 0.0),
+        vector![10.0, bottomy, 0.0],
         12,
         hext,
     );
     create_tower_circle(
         &mut bodies,
         &mut colliders,
-        Vector3::new(25.0, bottomy, 0.0),
+        vector![25.0, bottomy, 0.0],
         8,
         24,
         hext,
@@ -182,5 +184,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

benchmarks3d/trimesh3.rs

@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Point3, Vector3};
+use na::ComplexField;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::prelude::*;
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(200.0, 1.0, 200.0);
+    let ground_size = vector![200.0, 1.0, 200.0];
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -39,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vertices, indices).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -60,15 +59,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 } else {
                     let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -78,5 +79,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples2d/add_remove2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -12,13 +10,13 @@ pub fn init_world(testbed: &mut Testbed) {
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, _| {
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(0.0, 10.0)
+            .translation(vector![0.0, 10.0])
             .build();
         let handle = physics.bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad).build();
         physics
             .colliders
-            .insert(collider, handle, &mut physics.bodies);
+            .insert_with_parent(collider, handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -48,5 +46,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 20.0);
+    testbed.look_at(point![0.0, 0.0], 20.0);
 }

examples2d/ccd2.rs

@@ -1,6 +1,4 @@
-use na::{Isometry2, Point2, Point3};
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(-3.0, 0.0)
+        .translation(vector![-3.0, 0.0])
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(6.0, 0.0)
+        .translation(vector![6.0, 0.0])
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(2.5, 0.0)
+        .translation(vector![2.5, 0.0])
         .sensor(true)
         .build();
-    let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies);
+    let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the shapes
@@ -45,9 +43,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let radx = 0.4;
     let rady = 0.05;
 
-    let delta1 = Isometry2::translation(0.0, radx - rady);
+    let delta1 = Isometry::translation(0.0, radx - rady);
-    let delta2 = Isometry2::translation(-radx + rady, 0.0);
+    let delta2 = Isometry::translation(-radx + rady, 0.0);
-    let delta3 = Isometry2::translation(radx - rady, 0.0);
+    let delta3 = Isometry::translation(radx - rady, 0.0);
 
     let mut compound_parts = Vec::new();
     let vertical = SharedShape::cuboid(rady, radx);
@@ -70,8 +68,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(x, y)
+                .translation(vector![x, y])
-                .linvel(100.0, -10.0)
+                .linvel(vector![100.0, -10.0])
                 .ccd_enabled(true)
                 .build();
             let handle = bodies.insert(rigid_body);
@@ -80,12 +78,12 @@ pub fn init_world(testbed: &mut Testbed) {
             //     let collider = ColliderBuilder::new(part.1.clone())
             //         .position_wrt_parent(part.0)
             //         .build();
-            //     colliders.insert(collider, handle, &mut bodies);
+            //     colliders.insert_with_parent(collider, handle, &mut bodies);
             // }
 
             let collider = ColliderBuilder::new(compound_shape.clone()).build();
             // let collider = ColliderBuilder::cuboid(radx, rady).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -93,13 +91,23 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle1 = physics
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+                .colliders
+                .get(prox.collider1)
+                .unwrap()
+                .parent()
+                .unwrap();
+            let parent_handle2 = physics
+                .colliders
+                .get(prox.collider2)
+                .unwrap()
+                .parent()
+                .unwrap();
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
                     graphics.set_body_color(parent_handle1, color);
@@ -115,5 +123,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 20.0);
+    testbed.look_at(point![0.0, 2.5], 20.0);
 }

examples2d/collision_groups2.rs

@@ -1,6 +1,4 @@
-use na::{Point2, Point3};
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, floor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
     /*
      * Setup groups
@@ -34,23 +32,24 @@ pub fn init_world(testbed: &mut Testbed) {
      * A green floor that will collide with the GREEN group only.
      */
     let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
-        .translation(0.0, 1.0)
+        .translation(vector![0.0, 1.0])
         .collision_groups(GREEN_GROUP)
         .build();
-    let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+    let green_collider_handle =
+        colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+    testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
 
     /*
      * A blue floor that will collide with the BLUE group only.
      */
     let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
-        .translation(0.0, 2.0)
+        .translation(vector![0.0, 2.0])
         .collision_groups(BLUE_GROUP)
         .build();
-    let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+    let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+    testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
 
     /*
      * Create the cubes
@@ -69,17 +68,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
             // Alternate between the green and blue groups.
             let (group, color) = if i % 2 == 0 {
-                (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+                (GREEN_GROUP, [0.0, 1.0, 0.0])
             } else {
-                (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+                (BLUE_GROUP, [0.0, 0.0, 1.0])
             };
 
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad)
                 .collision_groups(group)
                 .build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
 
             testbed.set_initial_body_color(handle, color);
         }
@@ -89,5 +90,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 100.0);
+    testbed.look_at(point![0.0, 1.0], 100.0);
 }

examples2d/convex_polygons2.rs

@@ -1,8 +1,6 @@
-use na::Point2;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::prelude::*;
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 2.0)
+        .translation(vector![ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 2.0)
+        .translation(vector![-ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the convex polygons
@@ -58,18 +56,20 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = i as f32 * shift - centerx;
             let y = j as f32 * shift * 2.0 + centery + 2.0;
 
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
 
             for _ in 0..10 {
-                let pt: Point2<f32> = distribution.sample(&mut rng);
+                let pt: Point<f32> = distribution.sample(&mut rng);
                 points.push(pt * scale);
             }
 
             let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }

examples2d/damping2.rs

@@ -1,6 +1,4 @@
-use na::{Point2, Vector2};
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -24,8 +22,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the rigid body.
         let rb = RigidBodyBuilder::new_dynamic()
-            .translation(x, y)
+            .translation(vector![x, y])
-            .linvel(x * 10.0, y * 10.0)
+            .linvel(vector![x * 10.0, y * 10.0])
             .angvel(100.0)
             .linear_damping((i + 1) as f32 * subdiv * 10.0)
             .angular_damping((num - i) as f32 * subdiv * 10.0)
@@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the collider.
         let co = ColliderBuilder::cuboid(rad, rad).build();
-        colliders.insert(co, rb_handle, &mut bodies);
+        colliders.insert_with_parent(co, rb_handle, &mut bodies);
     }
 
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_params(bodies, colliders, joints, Vector2::zeros(), ());
+    testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
-    testbed.look_at(Point2::new(3.0, 2.0), 50.0);
+    testbed.look_at(point![3.0, 2.0], 50.0);
 }

examples2d/debug_box_ball2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -16,25 +14,25 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rad = 1.0;
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -rad)
+        .translation(vector![0.0, -rad])
         .rotation(std::f32::consts::PI / 4.0)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(rad, rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0 * rad)
+        .translation(vector![0.0, 3.0 * rad])
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 50.0);
+    testbed.look_at(point![0.0, 0.0], 50.0);
 }

examples2d/heightfield2.rs

@@ -1,6 +1,5 @@
-use na::{DVector, Point2, Vector2};
+use na::DVector;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::prelude::*;
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector2::new(50.0, 1.0);
+    let ground_size = Vector::new(50.0, 1.0);
     let nsubdivs = 2000;
 
     let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
                 let collider = ColliderBuilder::cuboid(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             } else {
                 let collider = ColliderBuilder::ball(rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 10.0);
+    testbed.look_at(point![0.0, 0.0], 10.0);
 }

examples2d/joints2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -15,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Create the balls
      */
     // Build the rigid body.
-    // NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
+    // NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
     // in order to be able to compare rapier with Box2D,
     // we set it to 0.4.
     let rad = 0.4;
@@ -37,16 +35,16 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, -fi * shift)
+                .translation(vector![fk * shift, -fi * shift])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, &mut bodies);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
+                let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -54,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if k > 0 {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -66,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
+    testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 20.0);
 }

examples2d/locked_rotations2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 // This shows a bug when a cylinder is in contact with a very large
@@ -21,38 +19,38 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A rectangle that only rotate.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0)
+        .translation(vector![0.0, 3.0])
         .lock_translations()
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(2.0, 0.6).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A tilted capsule that cannot rotate.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 5.0)
+        .translation(vector![0.0, 5.0])
         .rotation(1.0)
         .lock_rotations()
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 40.0);
+    testbed.look_at(point![0.0, 0.0], 40.0);
 }

examples2d/one_way_platforms2.rs

@@ -1,7 +1,4 @@
-use na::{Point2, Vector2};
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet};
-use rapier2d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags};
 use rapier_testbed2d::Testbed;
 
 struct OneWayPlatformHook {
@@ -10,10 +7,6 @@ struct OneWayPlatformHook {
 }
 
 impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
-    fn active_hooks(&self) -> PhysicsHooksFlags {
-        PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS
-    }
-
     fn modify_solver_contacts(
         &self,
         context: &mut ContactModificationContext<RigidBodySet, ColliderSet>,
@@ -30,20 +23,20 @@ impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
         // - If context.collider_handle2 == self.platform1 then the allowed normal is -y.
         // - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
         // - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
-        let mut allowed_local_n1 = Vector2::zeros();
+        let mut allowed_local_n1 = Vector::zeros();
 
         if context.collider1 == self.platform1 {
-            allowed_local_n1 = Vector2::y();
+            allowed_local_n1 = Vector::y();
         } else if context.collider2 == self.platform1 {
             // Flip the allowed direction.
-            allowed_local_n1 = -Vector2::y();
+            allowed_local_n1 = -Vector::y();
         }
 
         if context.collider1 == self.platform2 {
-            allowed_local_n1 = -Vector2::y();
+            allowed_local_n1 = -Vector::y();
         } else if context.collider2 == self.platform2 {
             // Flip the allowed direction.
-            allowed_local_n1 = Vector2::y();
+            allowed_local_n1 = Vector::y();
         }
 
         // Call the helper function that simulates one-way platforms.
@@ -78,15 +71,15 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
-        .translation(30.0, 2.0)
+        .translation(vector![30.0, 2.0])
-        .modify_solver_contacts(true)
+        .active_hooks(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform1 = colliders.insert(collider, handle, &mut bodies);
+    let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
-        .translation(-30.0, -2.0)
+        .translation(vector![-30.0, -2.0])
-        .modify_solver_contacts(true)
+        .active_hooks(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform2 = colliders.insert(collider, handle, &mut bodies);
+    let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Setup the one-way platform hook.
@@ -105,12 +98,12 @@ pub fn init_world(testbed: &mut Testbed) {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.5, 2.0).build();
             let body = RigidBodyBuilder::new_dynamic()
-                .translation(20.0, 10.0)
+                .translation(vector![20.0, 10.0])
                 .build();
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
-                .insert(collider, handle, &mut physics.bodies);
+                .insert_with_parent(collider, handle, &mut physics.bodies);
 
             if let Some(graphics) = graphics {
                 graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -134,8 +127,8 @@ pub fn init_world(testbed: &mut Testbed) {
         bodies,
         colliders,
         joints,
-        Vector2::new(0.0, -9.81),
+        vector![0.0, -9.81],
         physics_hooks,
     );
-    testbed.look_at(Point2::new(0.0, 0.0), 20.0);
+    testbed.look_at(point![0.0, 0.0], 20.0);
 }

examples2d/platform2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the boxes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -51,11 +51,11 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a kinematic rigid body.
      */
     let platform_body = RigidBodyBuilder::new_kinematic()
-        .translation(-10.0 * rad, 1.5 + 0.8)
+        .translation(vector![-10.0 * rad, 1.5 + 0.8])
         .build();
     let platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
-    colliders.insert(collider, platform_handle, &mut bodies);
+    colliders.insert_with_parent(collider, platform_handle, &mut bodies);
 
     /*
      * Setup a callback to control the platform.
@@ -82,5 +82,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Run the simulation.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 40.0);
+    testbed.look_at(point![0.0, 1.0], 40.0);
 }

examples2d/polyline2.rs

@@ -1,6 +1,5 @@
-use na::{ComplexField, Point2};
+use na::ComplexField;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::prelude::*;
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,18 +18,18 @@ pub fn init_world(testbed: &mut Testbed) {
     let step_size = ground_size / (nsubdivs as f32);
     let mut points = Vec::new();
 
-    points.push(Point2::new(-ground_size / 2.0, 40.0));
+    points.push(point![-ground_size / 2.0, 40.0]);
     for i in 1..nsubdivs - 1 {
         let x = -ground_size / 2.0 + i as f32 * step_size;
         let y = ComplexField::cos(i as f32 * step_size) * 2.0;
-        points.push(Point2::new(x, y));
+        points.push(point![x, y]);
     }
-    points.push(Point2::new(ground_size / 2.0, 40.0));
+    points.push(point![ground_size / 2.0, 40.0]);
 
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::polyline(points, None).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -48,15 +47,17 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
                 let collider = ColliderBuilder::cuboid(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             } else {
                 let collider = ColliderBuilder::ball(rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -65,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 10.0);
+    testbed.look_at(point![0.0, 0.0], 10.0);
 }

examples2d/pyramid2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 20.0);
+    testbed.look_at(point![0.0, 2.5], 20.0);
 }

examples2d/restitution2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 1.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height)
         .restitution(1.0)
         .build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let num = 10;
     let rad = 0.5;
@@ -33,13 +31,13 @@ pub fn init_world(testbed: &mut Testbed) {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(x * 2.0, 10.0 * (j as f32 + 1.0))
+                .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad)
                 .restitution((i as f32) / (num as f32))
                 .build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -47,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 25.0);
+    testbed.look_at(point![0.0, 1.0], 25.0);
 }

examples2d/sensor2.rs

@@ -1,6 +1,4 @@
-use na::{Point2, Point3};
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create some boxes.
@@ -38,12 +36,14 @@ pub fn init_world(testbed: &mut Testbed) {
         let y = 3.0;
 
         // Build the rigid body.
-        let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+        let rigid_body = RigidBodyBuilder::new_dynamic()
+            .translation(vector![x, y])
+            .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
 
-        testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
+        testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
     }
 
     /*
@@ -52,33 +52,37 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Rigid body so that the sensor can move.
     let sensor = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 10.0)
+        .translation(vector![0.0, 10.0])
         .build();
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
     // other colliders can touch.
     let collider = ColliderBuilder::cuboid(rad, rad).build();
-    colliders.insert(collider, sensor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
 
     // We create a collider desc without density because we don't
     // want it to contribute to the rigid body mass.
-    let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
+    let sensor_collider = ColliderBuilder::ball(rad * 5.0)
-    colliders.insert(sensor_collider, sensor_handle, &mut bodies);
+        .density(0.0)
+        .sensor(true)
+        .build();
+    colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
 
-    testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
+    testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle1 = physics.colliders[prox.collider1].parent().unwrap();
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+            let parent_handle2 = physics.colliders[prox.collider2].parent().unwrap();
+
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
                     graphics.set_body_color(parent_handle1, color);
@@ -94,5 +98,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 100.0);
+    testbed.look_at(point![0.0, 1.0], 100.0);
 }

examples2d/trimesh2.rs

@@ -1,6 +1,4 @@
-use na::Point2;
+use rapier2d::prelude::*;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed2d::Testbed;
 
 use lyon::math::Point;
@@ -25,23 +23,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size)
+        .translation(vector![ground_size, ground_size])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size)
+        .translation(vector![-ground_size, ground_size])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the trimeshes from a tesselated SVG.
@@ -83,18 +81,18 @@ pub fn init_world(testbed: &mut Testbed) {
                 let vertices: Vec<_> = mesh
                     .vertices
                     .iter()
-                    .map(|v| Point2::new(v.position[0] * sx, v.position[1] * -sy))
+                    .map(|v| point![v.position[0] * sx, v.position[1] * -sy])
                     .collect();
 
                 for k in 0..5 {
                     let collider =
                         ColliderBuilder::trimesh(vertices.clone(), indices.clone()).build();
                     let rigid_body = RigidBodyBuilder::new_dynamic()
-                        .translation(ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0)
+                        .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
                         .rotation(angle)
                         .build();
                     let handle = bodies.insert(rigid_body);
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
 
                 ith += 1;
@@ -106,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 20.0), 17.0);
+    testbed.look_at(point![0.0, 20.0], 17.0);
 }
 
 const RAPIER_SVG_STR: &'static str = r#"

examples3d/ccd3.rs

@@ -1,15 +1,13 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 fn create_wall(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
     let mut k = 0;
@@ -23,22 +21,18 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y, z])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
             k += 1;
             if k % 2 == 0 {
-                testbed.set_initial_body_color(
+                testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]);
-                    handle,
-                    Point3::new(255. / 255., 131. / 255., 244.0 / 255.),
-                );
             } else {
-                testbed.set_initial_body_color(
+                testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]);
-                    handle,
-                    Point3::new(131. / 255., 255. / 255., 244.0 / 255.),
-                );
             }
         }
     }
@@ -59,11 +53,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the pyramids.
@@ -79,18 +73,18 @@ pub fn init_world(testbed: &mut Testbed) {
             testbed,
             &mut bodies,
             &mut colliders,
-            Vector3::new(x, shift_y, 0.0),
+            vector![x, shift_y, 0.0],
             num_z,
-            Vector3::new(0.5, 0.5, 1.0),
+            vector![0.5, 0.5, 1.0],
         );
 
         create_wall(
             testbed,
             &mut bodies,
             &mut colliders,
-            Vector3::new(x, shift_y, shift_z),
+            vector![x, shift_y, shift_z],
             num_z,
-            Vector3::new(0.5, 0.5, 1.0),
+            vector![0.5, 0.5, 1.0],
         );
     }
 
@@ -104,35 +98,45 @@ pub fn init_world(testbed: &mut Testbed) {
         .sensor(true)
         .build();
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .linvel(1000.0, 0.0, 0.0)
+        .linvel(vector![1000.0, 0.0, 0.0])
-        .translation(-20.0, shift_y + 2.0, 0.0)
+        .translation(vector![-20.0, shift_y + 2.0, 0.0])
         .ccd_enabled(true)
         .build();
     let sensor_handle = bodies.insert(rigid_body);
-    colliders.insert(collider, sensor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
 
     // Second rigid-body with CCD enabled.
     let collider = ColliderBuilder::ball(1.0).density(10.0).build();
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .linvel(1000.0, 0.0, 0.0)
+        .linvel(vector![1000.0, 0.0, 0.0])
-        .translation(-20.0, shift_y + 2.0, shift_z)
+        .translation(vector![-20.0, shift_y + 2.0, shift_z])
         .ccd_enabled(true)
         .build();
     let handle = bodies.insert(rigid_body);
-    colliders.insert(collider.clone(), handle, &mut bodies);
+    colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
-    testbed.set_initial_body_color(handle, Point3::new(0.2, 0.2, 1.0));
+    testbed.set_initial_body_color(handle, [0.2, 0.2, 1.0]);
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle1 = physics
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+                .colliders
+                .get(prox.collider1)
+                .unwrap()
+                .parent()
+                .unwrap();
+            let parent_handle2 = physics
+                .colliders
+                .get(prox.collider2)
+                .unwrap()
+                .parent()
+                .unwrap();
 
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
@@ -149,5 +153,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/collision_groups3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, floor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
     /*
      * Setup groups
@@ -34,23 +32,24 @@ pub fn init_world(testbed: &mut Testbed) {
      * A green floor that will collide with the GREEN group only.
      */
     let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
-        .translation(0.0, 1.0, 0.0)
+        .translation(vector![0.0, 1.0, 0.0])
         .collision_groups(GREEN_GROUP)
         .build();
-    let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+    let green_collider_handle =
+        colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+    testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
 
     /*
      * A blue floor that will collide with the BLUE group only.
      */
     let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
-        .translation(0.0, 2.0, 0.0)
+        .translation(vector![0.0, 2.0, 0.0])
         .collision_groups(BLUE_GROUP)
         .build();
-    let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+    let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+    testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
 
     /*
      * Create the cubes
@@ -72,17 +71,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 // Alternate between the green and blue groups.
                 let (group, color) = if k % 2 == 0 {
-                    (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+                    (GREEN_GROUP, [0.0, 1.0, 0.0])
                 } else {
-                    (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+                    (BLUE_GROUP, [0.0, 0.0, 1.0])
                 };
 
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad)
                     .collision_groups(group)
                     .build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
 
                 testbed.set_initial_body_color(handle, color);
             }
@@ -93,5 +94,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
 }

examples3d/compound3.rs

@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,40 +44,42 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift * 2.0 - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 // First option: attach several colliders to a single rigid-body.
                 if j < numy / 2 {
                     let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
                     let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                        .translation(rad * 10.0, rad * 10.0, 0.0)
+                        .translation(vector![rad * 10.0, rad * 10.0, 0.0])
                         .build();
                     let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                        .translation(-rad * 10.0, rad * 10.0, 0.0)
+                        .translation(vector![-rad * 10.0, rad * 10.0, 0.0])
                         .build();
-                    colliders.insert(collider1, handle, &mut bodies);
+                    colliders.insert_with_parent(collider1, handle, &mut bodies);
-                    colliders.insert(collider2, handle, &mut bodies);
+                    colliders.insert_with_parent(collider2, handle, &mut bodies);
-                    colliders.insert(collider3, handle, &mut bodies);
+                    colliders.insert_with_parent(collider3, handle, &mut bodies);
                 } else {
                     // Second option: create a compound shape and attach it to a single collider.
                     let shapes = vec![
                         (
-                            Isometry3::identity(),
+                            Isometry::identity(),
                             SharedShape::cuboid(rad * 10.0, rad, rad),
                         ),
                         (
-                            Isometry3::translation(rad * 10.0, rad * 10.0, 0.0),
+                            Isometry::translation(rad * 10.0, rad * 10.0, 0.0),
                             SharedShape::cuboid(rad, rad * 10.0, rad),
                         ),
                         (
-                            Isometry3::translation(-rad * 10.0, rad * 10.0, 0.0),
+                            Isometry::translation(-rad * 10.0, rad * 10.0, 0.0),
                             SharedShape::cuboid(rad, rad * 10.0, rad),
                         ),
                     ];
 
                     let collider = ColliderBuilder::compound(shapes).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -91,5 +91,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/convex_decomposition3.rs

@@ -1,8 +1,6 @@
-use na::Point3;
 use obj::raw::object::Polygon;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier3d::parry::bounding_volume;
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 use std::fs::File;
 use std::io::BufReader;
@@ -26,11 +24,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the convex decompositions.
@@ -52,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let mut vertices: Vec<_> = model
                 .positions
                 .iter()
-                .map(|v| Point3::new(v.0, v.1, v.2))
+                .map(|v| point![v.0, v.1, v.2])
                 .collect();
             use std::iter::FromIterator;
             let indices: Vec<_> = model
@@ -90,12 +88,14 @@ pub fn init_world(testbed: &mut Testbed) {
                 let y = (igeom / width) as f32 * shift + 4.0;
                 let z = k as f32 * shift;
 
-                let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(body);
 
                 for shape in &shapes {
                     let collider = ColliderBuilder::new(shape.clone()).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -105,7 +105,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
 
 fn models() -> Vec<String> {

examples3d/convex_polyhedron3.rs

@@ -1,8 +1,6 @@
-use na::Point3;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::prelude::*;
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,11 +18,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the polyhedra
@@ -50,17 +48,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 let mut points = Vec::new();
                 for _ in 0..10 {
-                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    let pt: Point<f32> = distribution.sample(&mut rng);
                     points.push(pt * scale);
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
                     .unwrap()
                     .build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -69,5 +69,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
+    testbed.look_at(point![30.0, 30.0, 30.0], Point::origin());
 }

examples3d/damping3.rs

@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -24,9 +22,9 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the rigid body.
         let rb = RigidBodyBuilder::new_dynamic()
-            .translation(x, y, 0.0)
+            .translation(vector![x, y, 0.0])
-            .linvel(x * 10.0, y * 10.0, 0.0)
+            .linvel(vector![x * 10.0, y * 10.0, 0.0])
-            .angvel(Vector3::z() * 100.0)
+            .angvel(Vector::z() * 100.0)
             .linear_damping((i + 1) as f32 * subdiv * 10.0)
             .angular_damping((num - i) as f32 * subdiv * 10.0)
             .build();
@@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the collider.
         let co = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(co, rb_handle, &mut bodies);
+        colliders.insert_with_parent(co, rb_handle, &mut bodies);
     }
 
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_params(bodies, colliders, joints, Vector3::zeros(), ());
+    testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
-    testbed.look_at(Point3::new(2.0, 2.5, 20.0), Point3::new(2.0, 2.5, 0.0));
+    testbed.look_at(point![2.0, 2.5, 20.0], point![2.0, 2.5, 0.0]);
 }

examples3d/debug_add_remove_collider3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,22 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build();
-    let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+    let mut ground_collider_handle =
+        colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    colliders.insert(collider, ball_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
     testbed.add_callback(move |_, physics, _, _| {
         // Remove then re-add the ground collider.
@@ -46,14 +45,15 @@ pub fn init_world(testbed: &mut Testbed) {
                 true,
             )
             .unwrap();
-        ground_collider_handle = physics
+        ground_collider_handle =
+            physics
                 .colliders
-            .insert(coll, ground_handle, &mut physics.bodies);
+                .insert_with_parent(coll, ground_handle, &mut physics.bodies);
     });
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_big_colliders3.rs

@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -16,9 +14,9 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
-    let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis()));
+    let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
     let collider = ColliderBuilder::new(halfspace).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let mut curr_y = 0.0;
     let mut curr_width = 10_000.0;
@@ -28,11 +26,11 @@ pub fn init_world(testbed: &mut Testbed) {
         curr_y += curr_height * 4.0;
 
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(0.0, curr_y, 0.0)
+            .translation(vector![0.0, curr_y, 0.0])
             .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
 
         curr_width /= 5.0;
     }
@@ -41,5 +39,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_boxes3.rs

@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,28 +17,28 @@ pub fn init_world(testbed: &mut Testbed) {
 
     for _ in 0..6 {
         let rigid_body = RigidBodyBuilder::new_static()
-            .translation(0.0, -ground_height, 0.0)
+            .translation(vector![0.0, -ground_height, 0.0])
             .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
     }
 
     // Build the dynamic box rigid body.
     for _ in 0..6 {
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(1.1, 0.0, 0.0)
+            .translation(vector![1.1, 0.0, 0.0])
-            .rotation(Vector3::new(0.8, 0.2, 0.1))
+            .rotation(vector![0.8, 0.2, 0.1])
             .can_sleep(false)
             .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
     }
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_cylinder3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 // This shows a bug when a cylinder is in contact with a very large
@@ -21,11 +19,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -47,14 +45,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let z = -centerz + offset;
 
     // Build the rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(vector![x, y, z])
+        .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cylinder(rad, rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/debug_dynamic_collider_add3.rs

@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
-        .linvel(10.0, 0.0, 0.0)
+        .linvel(vector![10.0, 0.0, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    colliders.insert(collider, ball_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
-    let mut linvel = Vector3::zeros();
+    let mut linvel = Vector::zeros();
-    let mut angvel = Vector3::zeros();
+    let mut angvel = Vector::zeros();
-    let mut pos = Isometry3::identity();
+    let mut pos = Isometry::identity();
     let mut step = 0;
     let mut extra_colliders = Vec::new();
     let snapped_frame = 51;
@@ -55,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let new_ball_collider_handle =
             physics
                 .colliders
-                .insert(collider, ball_handle, &mut physics.bodies);
+                .insert_with_parent(collider, ball_handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_collider(new_ball_collider_handle, &physics.colliders);
@@ -93,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Remove then re-add the ground collider.
         // let ground = physics.bodies.get_mut(ground_handle).unwrap();
-        // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
+        // ground.set_position(Isometry::translation(0.0, step as f32 * 0.001, 0.0), false);
         // let coll = physics
         //     .colliders
         //     .remove(ground_collider_handle, &mut physics.bodies, true)
@@ -104,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let new_ground_collider_handle =
             physics
                 .colliders
-                .insert(coll, ground_handle, &mut physics.bodies);
+                .insert_with_parent(coll, ground_handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_collider(new_ground_collider_handle, &physics.colliders);
@@ -117,5 +115,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_friction3.rs

@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -22,24 +20,24 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
         .friction(1.5)
         .build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Build a dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 1.1, 0.0)
+        .translation(vector![0.0, 1.1, 0.0])
-        .rotation(Vector3::y() * 0.3)
+        .rotation(Vector::y() * 0.3)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = &mut bodies[handle];
-    let force = rigid_body.position() * Vector3::z() * 50.0;
+    let force = rigid_body.position() * Vector::z() * 50.0;
     rigid_body.set_linvel(force, true);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/debug_infinite_fall3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,33 +16,33 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, 4.0, 0.0)
+        .translation(vector![0.0, 4.0, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rad = 1.0;
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 7.0 * rad, 0.0)
+        .translation(vector![0.0, 7.0 * rad, 0.0])
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 2.0 * rad, 0.0)
+        .translation(vector![0.0, 2.0 * rad, 0.0])
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
-    testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, -10.0, 100.0], Point::origin());
     testbed.set_world(bodies, colliders, joints);
 }

examples3d/debug_prismatic3.rs

@@ -1,20 +1,18 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 fn prismatic_repro(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    box_center: Point3<f32>,
+    box_center: Point<f32>,
 ) {
     let box_rb = bodies.insert(
         RigidBodyBuilder::new_dynamic()
-            .translation(box_center.x, box_center.y, box_center.z)
+            .translation(vector![box_center.x, box_center.y, box_center.z])
             .build(),
     );
-    colliders.insert(
+    colliders.insert_with_parent(
         ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
         box_rb,
         bodies,
@@ -22,32 +20,32 @@ fn prismatic_repro(
 
     let wheel_y = -1.0;
     let wheel_positions = vec![
-        Vector3::new(1.0, wheel_y, -1.0),
+        vector![1.0, wheel_y, -1.0],
-        Vector3::new(-1.0, wheel_y, -1.0),
+        vector![-1.0, wheel_y, -1.0],
-        Vector3::new(1.0, wheel_y, 1.0),
+        vector![1.0, wheel_y, 1.0],
-        Vector3::new(-1.0, wheel_y, 1.0),
+        vector![-1.0, wheel_y, 1.0],
     ];
 
     for pos in wheel_positions {
         let wheel_pos_in_world = box_center + pos;
         let wheel_rb = bodies.insert(
             RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     wheel_pos_in_world.x,
                     wheel_pos_in_world.y,
-                    wheel_pos_in_world.z,
+                    wheel_pos_in_world.z
-                )
+                ])
                 .build(),
         );
-        colliders.insert(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
+        colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
 
         let mut prismatic = rapier3d::dynamics::PrismaticJoint::new(
-            Point3::new(pos.x, pos.y, pos.z),
+            point![pos.x, pos.y, pos.z],
-            Vector3::y_axis(),
+            Vector::y_axis(),
-            Vector3::default(),
+            Vector::zeros(),
-            Point3::new(0.0, 0.0, 0.0),
+            Point::origin(),
-            Vector3::y_axis(),
+            Vector::y_axis(),
-            Vector3::default(),
+            Vector::default(),
         );
         prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased);
         let (stiffness, damping) = (0.05, 0.2);
@@ -59,10 +57,10 @@ fn prismatic_repro(
     // put a small box under one of the wheels
     let gravel = bodies.insert(
         RigidBodyBuilder::new_dynamic()
-            .translation(box_center.x + 1.0, box_center.y - 2.4, -1.0)
+            .translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
             .build(),
     );
-    colliders.insert(
+    colliders.insert_with_parent(
         ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
         gravel,
         bodies,
@@ -84,22 +82,22 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     prismatic_repro(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(0.0, 5.0, 0.0),
+        point![0.0, 5.0, 0.0],
     );
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_rollback3.rs

@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
-        .linvel(10.0, 0.0, 0.0)
+        .linvel(vector![10.0, 0.0, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    colliders.insert(collider, ball_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
-    let mut linvel = Vector3::zeros();
+    let mut linvel = Vector::zeros();
-    let mut angvel = Vector3::zeros();
+    let mut angvel = Vector::zeros();
-    let mut pos = Isometry3::identity();
+    let mut pos = Isometry::identity();
     let mut step = 0;
     let snapped_frame = 51;
 
@@ -68,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_shape_modification3.rs

@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
-        .linvel(10.0, 0.0, 0.0)
+        .linvel(vector![10.0, 0.0, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    let ball_coll_handle = colliders.insert(collider, ball_handle, &mut bodies);
+    let ball_coll_handle = colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
-    let mut linvel = Vector3::zeros();
+    let mut linvel = Vector::zeros();
-    let mut angvel = Vector3::zeros();
+    let mut angvel = Vector::zeros();
-    let mut pos = Isometry3::identity();
+    let mut pos = Isometry::identity();
     let mut step = 0;
     let snapped_frame = 51;
 
@@ -90,7 +88,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
@@ -103,7 +103,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad).build(),
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -114,5 +114,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_triangle3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -13,31 +11,31 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Triangle ground.
     let vtx = [
-        Point3::new(-10.0, 0.0, -10.0),
+        point![-10.0, 0.0, -10.0],
-        Point3::new(10.0, 0.0, -10.0),
+        point![10.0, 0.0, -10.0],
-        Point3::new(0.0, 0.0, 10.0),
+        point![0.0, 0.0, 10.0],
     ];
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, 0.0, 0.0)
+        .translation(vector![0.0, 0.0, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(1.1, 0.01, 0.0)
+        .translation(vector![1.1, 0.01, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/debug_trimesh3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,14 +12,14 @@ pub fn init_world(testbed: &mut Testbed) {
     // Triangle ground.
     let width = 0.5;
     let vtx = vec![
-        Point3::new(-width, 0.0, -width),
+        point![-width, 0.0, -width],
-        Point3::new(width, 0.0, -width),
+        point![width, 0.0, -width],
-        Point3::new(width, 0.0, width),
+        point![width, 0.0, width],
-        Point3::new(-width, 0.0, width),
+        point![-width, 0.0, width],
-        Point3::new(-width, -width, -width),
+        point![-width, -width, -width],
-        Point3::new(width, -width, -width),
+        point![width, -width, -width],
-        Point3::new(width, -width, width),
+        point![width, -width, width],
-        Point3::new(-width, -width, width),
+        point![-width, -width, width],
     ];
     let idx = vec![
         [0, 2, 1],
@@ -40,25 +38,25 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 35.0, 0.0)
+        .translation(vector![0.0, 35.0, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, 0.0, 0.0)
+        .translation(vector![0.0, 0.0, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vtx, idx).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
-    testbed.set_initial_body_color(handle, Point3::new(0.3, 0.3, 0.3));
+    testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }

examples3d/domino3.rs

@@ -1,6 +1,4 @@
-use na::{Point3, Translation3, UnitQuaternion, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -31,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let width = 1.0;
     let thickness = 0.1;
 
-    let colors = [Point3::new(0.7, 0.5, 0.9), Point3::new(0.6, 1.0, 0.6)];
+    let colors = [[0.7, 0.5, 0.9], [0.6, 1.0, 0.6]];
 
     let mut curr_angle = 0.0;
     let mut curr_rad = 10.0;
@@ -50,16 +48,16 @@ pub fn init_world(testbed: &mut Testbed) {
         let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
 
         if skip == 0 {
-            let rot = UnitQuaternion::new(Vector3::y() * curr_angle);
+            let rot = Rotation::new(Vector::y() * curr_angle);
-            let tilt = UnitQuaternion::new(rot * Vector3::z() * tilt);
+            let tilt = Rotation::new(rot * Vector::z() * tilt);
             let position =
-                Translation3::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
+                Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
                     * tilt
                     * rot;
             let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
             testbed.set_initial_body_color(handle, colors[i % 2]);
         } else {
             skip -= 1;
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/fountain3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 const MAX_NUMBER_OF_BODIES: usize = 400;
@@ -18,16 +16,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 2.1; // 16.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, run_state| {
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(0.0, 10.0, 0.0)
+            .translation(vector![0.0, 10.0, 0.0])
             .build();
         let handle = physics.bodies.insert(rigid_body);
         let collider = match run_state.timestep_id % 3 {
@@ -38,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
         physics
             .colliders
-            .insert(collider, handle, &mut physics.bodies);
+            .insert_with_parent(collider, handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -83,5 +81,5 @@ pub fn init_world(testbed: &mut Testbed) {
     //     .physics_state_mut()
     //     .integration_parameters
     //     .velocity_based_erp = 0.2;
-    testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
+    testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
 }

examples3d/harness_capsules3.rs

@@ -1,7 +1,4 @@
-extern crate nalgebra as na;
+use rapier3d::prelude::*;
-
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::harness::Harness;
 
 pub fn init_world(harness: &mut Harness) {
@@ -19,11 +16,11 @@ pub fn init_world(harness: &mut Harness) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -47,10 +44,12 @@ pub fn init_world(harness: &mut Harness) {
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 

examples3d/heightfield3.rs

@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3};
+use na::ComplexField;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::prelude::*;
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(100.0, 1.0, 100.0);
+    let ground_size = Vector::new(100.0, 1.0, 100.0);
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -55,7 +54,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 6 {
@@ -69,15 +70,15 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => {
                         let shapes = vec![
                             (
-                                Isometry3::identity(),
+                                Isometry::identity(),
                                 SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(rad, 0.0, 0.0),
+                                Isometry::translation(rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(-rad, 0.0, 0.0),
+                                Isometry::translation(-rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                         ];
@@ -86,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     }
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -95,5 +96,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/joints3.rs

@@ -1,49 +1,44 @@
-use na::{Isometry3, Point3, Unit, UnitQuaternion, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{
-    BallJoint, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
-    RigidBodyHandle, RigidBodySet, RigidBodyType,
-};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 fn create_prismatic_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, origin.z)
+        .translation(vector![origin.x, origin.y, origin.z])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         let z = origin.z + (i + 1) as f32 * shift;
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(origin.x, origin.y, z)
+            .translation(vector![origin.x, origin.y, z])
             .build();
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(collider, curr_child, bodies);
+        colliders.insert_with_parent(collider, curr_child, bodies);
 
         let axis = if i % 2 == 0 {
-            Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
         } else {
-            Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
         };
 
-        let z = Vector3::z();
+        let z = Vector::z();
         let mut prism = PrismaticJoint::new(
-            Point3::new(0.0, 0.0, 0.0),
+            point![0.0, 0.0, 0.0],
             axis,
             z,
-            Point3::new(0.0, 0.0, -shift),
+            point![0.0, 0.0, -shift],
             axis,
             z,
         );
@@ -61,40 +56,40 @@ fn create_actuated_prismatic_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, origin.z)
+        .translation(vector![origin.x, origin.y, origin.z])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         let z = origin.z + (i + 1) as f32 * shift;
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(origin.x, origin.y, z)
+            .translation(vector![origin.x, origin.y, z])
             .build();
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(collider, curr_child, bodies);
+        colliders.insert_with_parent(collider, curr_child, bodies);
 
         let axis = if i % 2 == 0 {
-            Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
         } else {
-            Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
         };
 
-        let z = Vector3::z();
+        let z = Vector::z();
         let mut prism = PrismaticJoint::new(
-            Point3::new(0.0, 0.0, 0.0),
+            point![0.0, 0.0, 0.0],
             axis,
             z,
-            Point3::new(0.0, 0.0, -shift),
+            point![0.0, 0.0, -shift],
             axis,
             z,
         );
@@ -128,27 +123,27 @@ fn create_revolute_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, 0.0)
+        .translation(vector![origin.x, origin.y, 0.0])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         // Create four bodies.
         let z = origin.z + i as f32 * shift * 2.0 + shift;
         let positions = [
-            Isometry3::translation(origin.x, origin.y, z),
+            Isometry::translation(origin.x, origin.y, z),
-            Isometry3::translation(origin.x + shift, origin.y, z),
+            Isometry::translation(origin.x + shift, origin.y, z),
-            Isometry3::translation(origin.x + shift, origin.y, z + shift),
+            Isometry::translation(origin.x + shift, origin.y, z + shift),
-            Isometry3::translation(origin.x, origin.y, z + shift),
+            Isometry::translation(origin.x, origin.y, z + shift),
         ];
 
         let mut handles = [curr_parent; 4];
@@ -158,19 +153,19 @@ fn create_revolute_joints(
                 .build();
             handles[k] = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, handles[k], bodies);
+            colliders.insert_with_parent(collider, handles[k], bodies);
         }
 
         // Setup four joints.
-        let o = Point3::origin();
+        let o = Point::origin();
-        let x = Vector3::x_axis();
+        let x = Vector::x_axis();
-        let z = Vector3::z_axis();
+        let z = Vector::z_axis();
 
         let revs = [
-            RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
+            RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
-            RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
+            RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
-            RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
+            RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
-            RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
+            RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
         ];
 
         joints.insert(bodies, curr_parent, handles[0], revs[0]);
@@ -186,7 +181,7 @@ fn create_fixed_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
@@ -209,18 +204,22 @@ fn create_fixed_joints(
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
+                .translation(vector![
+                    origin.x + fk * shift,
+                    origin.y,
+                    origin.z + fi * shift
+                ])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, bodies);
+            colliders.insert_with_parent(collider, child_handle, bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
                 let joint = FixedJoint::new(
-                    Isometry3::identity(),
+                    Isometry::identity(),
-                    Isometry3::translation(0.0, 0.0, -shift),
+                    Isometry::translation(0.0, 0.0, -shift),
                 );
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
@@ -230,8 +229,8 @@ fn create_fixed_joints(
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
                 let joint = FixedJoint::new(
-                    Isometry3::identity(),
+                    Isometry::identity(),
-                    Isometry3::translation(-shift, 0.0, 0.0),
+                    Isometry::translation(-shift, 0.0, 0.0),
                 );
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
@@ -264,16 +263,16 @@ fn create_ball_joints(
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, fi * shift * 2.0)
+                .translation(vector![fk * shift, 0.0, fi * shift * 2.0])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
-            colliders.insert(collider, child_handle, bodies);
+            colliders.insert_with_parent(collider, child_handle, bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift * 2.0));
+                let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]);
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
 
@@ -281,7 +280,7 @@ fn create_ball_joints(
             if k > 0 {
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
 
@@ -294,7 +293,7 @@ fn create_actuated_revolute_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
@@ -302,10 +301,10 @@ fn create_actuated_revolute_joints(
 
     // We will reuse this base configuration for all the joints here.
     let joint_template = RevoluteJoint::new(
-        Point3::origin(),
+        Point::origin(),
-        Vector3::z_axis(),
+        Vector::z_axis(),
-        Point3::new(0.0, 0.0, -shift),
+        point![0.0, 0.0, -shift],
-        Vector3::z_axis(),
+        Vector::z_axis(),
     );
 
     let mut parent_handle = RigidBodyHandle::invalid();
@@ -325,13 +324,13 @@ fn create_actuated_revolute_joints(
         let shifty = (i >= 1) as u32 as f32 * -2.0;
 
         let rigid_body = RigidBodyBuilder::new(status)
-            .translation(origin.x, origin.y + shifty, origin.z + fi * shift)
+            .translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
             // .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
             .build();
 
         let child_handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
-        colliders.insert(collider, child_handle, bodies);
+        colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
             let mut joint = joint_template.clone();
@@ -360,14 +359,14 @@ fn create_actuated_ball_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     // We will reuse this base configuration for all the joints here.
-    let joint_template = BallJoint::new(Point3::new(0.0, 0.0, shift), Point3::origin());
+    let joint_template = BallJoint::new(point![0.0, 0.0, shift], Point::origin());
 
     let mut parent_handle = RigidBodyHandle::invalid();
 
@@ -384,24 +383,24 @@ fn create_actuated_ball_joints(
         };
 
         let rigid_body = RigidBodyBuilder::new(status)
-            .translation(origin.x, origin.y, origin.z + fi * shift)
+            .translation(vector![origin.x, origin.y, origin.z + fi * shift])
             // .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
             .build();
 
         let child_handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
-        colliders.insert(collider, child_handle, bodies);
+        colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
             let mut joint = joint_template.clone();
 
             if i == 1 {
-                joint.configure_motor_velocity(Vector3::new(0.0, 0.5, -2.0), 0.1);
+                joint.configure_motor_velocity(vector![0.0, 0.5, -2.0], 0.1);
             } else if i == num - 1 {
                 let stiffness = 0.2;
                 let damping = 1.0;
                 joint.configure_motor_position(
-                    UnitQuaternion::new(Vector3::new(0.0, 1.0, 3.14 / 2.0)),
+                    Rotation::new(vector![0.0, 1.0, 3.14 / 2.0]),
                     stiffness,
                     damping,
                 );
@@ -426,42 +425,42 @@ pub fn init_world(testbed: &mut Testbed) {
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 5.0, 0.0),
+        point![20.0, 5.0, 0.0],
         4,
     );
     create_actuated_prismatic_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(25.0, 5.0, 0.0),
+        point![25.0, 5.0, 0.0],
         4,
     );
     create_revolute_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 0.0, 0.0),
+        point![20.0, 0.0, 0.0],
         3,
     );
     create_fixed_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(0.0, 10.0, 0.0),
+        point![0.0, 10.0, 0.0],
         10,
     );
     create_actuated_revolute_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 10.0, 0.0),
+        point![20.0, 10.0, 0.0],
         6,
     );
     create_actuated_ball_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(13.0, 10.0, 0.0),
+        point![13.0, 10.0, 0.0],
         3,
     );
     create_ball_joints(&mut bodies, &mut colliders, &mut joints, 15);
@@ -470,5 +469,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(15.0, 5.0, 42.0), Point3::new(13.0, 1.0, 1.0));
+    testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
 }

examples3d/keva3.rs

@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn build_block(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
-    shift: Vector3<f32>,
+    shift: Vector<f32>,
     mut numx: usize,
     numy: usize,
     mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
     let block_width = 2.0 * half_extents.z * numx as f32;
     let block_height = 2.0 * half_extents.y * numy as f32;
     let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
-    let mut color0 = Point3::new(0.7, 0.5, 0.9);
+    let mut color0 = [0.7, 0.5, 0.9];
-    let mut color1 = Point3::new(0.6, 1.0, 0.6);
+    let mut color1 = [0.6, 1.0, 0.6];
 
     for i in 0..numy {
         std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(
+                    .translation(vector![
                         x + dim.x + shift.x,
                         y + dim.y + shift.y,
-                        z + dim.z + shift.z,
+                        z + dim.z + shift.z
-                    )
+                    ])
                     .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
 
                 testbed.set_initial_body_color(handle, color0);
                 std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
         for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     i as f32 * dim.x * 2.0 + dim.x + shift.x,
                     dim.y + shift.y + block_height,
-                    j as f32 * dim.z * 2.0 + dim.z + shift.z,
+                    j as f32 * dim.z * 2.0 + dim.z + shift.z
-                )
+                ])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
             testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
         }
@@ -94,16 +92,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
-    let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
+    let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
     let mut block_height = 0.0;
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut bodies,
             &mut colliders,
             half_extents,
-            Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
+            vector![-block_width / 2.0, block_height, -block_width / 2.0],
             numx,
             numy,
             numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/locked_rotations3.rs

@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 // This shows a bug when a cylinder is in contact with a very large
@@ -21,41 +19,41 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A rectangle that only rotates along the `x` axis.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0, 0.0)
+        .translation(vector![0.0, 3.0, 0.0])
         .lock_translations()
         .restrict_rotations(true, false, false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A tilted capsule that cannot rotate.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 5.0, 0.0)
+        .translation(vector![0.0, 5.0, 0.0])
-        .rotation(Vector3::x() * 1.0)
+        .rotation(Vector::x() * 1.0)
         .lock_rotations()
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::capsule_x(0.6, 0.4).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0));
+    testbed.look_at(point![10.0, 3.0, 0.0], point![0.0, 3.0, 0.0]);
 }

examples3d/one_way_platforms3.rs

@@ -1,7 +1,4 @@
-use na::{Point3, Vector3};
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet};
-use rapier3d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags};
 use rapier_testbed3d::Testbed;
 
 struct OneWayPlatformHook {
@@ -10,10 +7,6 @@ struct OneWayPlatformHook {
 }
 
 impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
-    fn active_hooks(&self) -> PhysicsHooksFlags {
-        PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS
-    }
-
     fn modify_solver_contacts(
         &self,
         context: &mut ContactModificationContext<RigidBodySet, ColliderSet>,
@@ -30,20 +23,20 @@ impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
         // - If context.collider2 == self.platform1 then the allowed normal is -y.
         // - If context.collider1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
         // - If context.collider2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
-        let mut allowed_local_n1 = Vector3::zeros();
+        let mut allowed_local_n1 = Vector::zeros();
 
         if context.collider1 == self.platform1 {
-            allowed_local_n1 = Vector3::y();
+            allowed_local_n1 = Vector::y();
         } else if context.collider2 == self.platform1 {
             // Flip the allowed direction.
-            allowed_local_n1 = -Vector3::y();
+            allowed_local_n1 = -Vector::y();
         }
 
         if context.collider1 == self.platform2 {
-            allowed_local_n1 = -Vector3::y();
+            allowed_local_n1 = -Vector::y();
         } else if context.collider2 == self.platform2 {
             // Flip the allowed direction.
-            allowed_local_n1 = Vector3::y();
+            allowed_local_n1 = Vector::y();
         }
 
         // Call the helper function that simulates one-way platforms.
@@ -78,15 +71,15 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0)
-        .translation(0.0, 2.0, 30.0)
+        .translation(vector![0.0, 2.0, 30.0])
-        .modify_solver_contacts(true)
+        .active_hooks(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform1 = colliders.insert(collider, handle, &mut bodies);
+    let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0)
-        .translation(0.0, -2.0, -30.0)
+        .translation(vector![0.0, -2.0, -30.0])
-        .modify_solver_contacts(true)
+        .active_hooks(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform2 = colliders.insert(collider, handle, &mut bodies);
+    let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Setup the one-way platform hook.
@@ -105,12 +98,12 @@ pub fn init_world(testbed: &mut Testbed) {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5).build();
             let body = RigidBodyBuilder::new_dynamic()
-                .translation(0.0, 6.0, 20.0)
+                .translation(vector![0.0, 6.0, 20.0])
                 .build();
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
-                .insert(collider, handle, &mut physics.bodies);
+                .insert_with_parent(collider, handle, &mut physics.bodies);
 
             if let Some(graphics) = graphics {
                 graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -134,8 +127,8 @@ pub fn init_world(testbed: &mut Testbed) {
         bodies,
         colliders,
         joints,
-        Vector3::new(0.0, -9.81, 0.0),
+        vector![0.0, -9.81, 0.0],
         physics_hooks,
     );
-    testbed.look_at(Point3::new(-100.0, 0.0, 0.0), Point3::origin());
+    testbed.look_at(point![-100.0, 0.0, 0.0], Point::origin());
 }

examples3d/platform3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the boxes
@@ -43,10 +41,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -55,11 +55,11 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a kinematic rigid body.
      */
     let platform_body = RigidBodyBuilder::new_kinematic()
-        .translation(0.0, 1.5 + 0.8, -10.0 * rad)
+        .translation(vector![0.0, 1.5 + 0.8, -10.0 * rad])
         .build();
     let platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
-    colliders.insert(collider, platform_handle, &mut bodies);
+    colliders.insert_with_parent(collider, platform_handle, &mut bodies);
 
     /*
      * Setup a callback to control the platform.
@@ -93,5 +93,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Run the simulation.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(-10.0, 5.0, -10.0), Point3::origin());
+    testbed.look_at(point![-10.0, 5.0, -10.0], Point::origin());
 }

examples3d/primitives3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the primitives
@@ -47,7 +45,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad).build(),
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -71,5 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

examples3d/restitution3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 1.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 2.0)
         .restitution(1.0)
         .build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let num = 10;
     let rad = 0.5;
@@ -33,13 +31,13 @@ pub fn init_world(testbed: &mut Testbed) {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(x * 2.0, 10.0 * (j as f32 + 1.0), 0.0)
+                .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0), 0.0])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad)
                 .restitution((i as f32) / (num as f32))
                 .build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -47,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(0.0, 3.0, 30.0), Point3::new(0.0, 3.0, 0.0));
+    testbed.look_at(point![0.0, 3.0, 30.0], point![0.0, 3.0, 0.0]);
 }

examples3d/sensor3.rs

@@ -1,6 +1,4 @@
-use na::Point3;
+use rapier3d::prelude::*;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create some boxes.
@@ -41,12 +39,14 @@ pub fn init_world(testbed: &mut Testbed) {
             let z = k as f32 * shift - centerz;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y, z])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
 
-            testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
+            testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
         }
     }
 
@@ -56,33 +56,36 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Rigid body so that the sensor can move.
     let sensor = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 5.0, 0.0)
+        .translation(vector![0.0, 5.0, 0.0])
         .build();
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
     // other colliders can touch.
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, sensor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
 
     // We create a collider desc without density because we don't
     // want it to contribute to the rigid body mass.
-    let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
+    let sensor_collider = ColliderBuilder::ball(rad * 5.0)
-    colliders.insert(sensor_collider, sensor_handle, &mut bodies);
+        .density(0.0)
+        .sensor(true)
+        .build();
+    colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
 
-    testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
+    testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle1 = physics.colliders[prox.collider1].parent().unwrap();
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+            let parent_handle2 = physics.colliders[prox.collider2].parent().unwrap();
 
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
@@ -99,5 +102,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(-6.0, 4.0, -6.0), Point3::new(0.0, 1.0, 0.0));
+    testbed.look_at(point![-6.0, 4.0, -6.0], point![0.0, 1.0, 0.0]);
 }

examples3d/trimesh3.rs

@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3};
+use na::ComplexField;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::prelude::*;
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(100.0, 1.0, 100.0);
+    let ground_size = vector![100.0, 1.0, 100.0];
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -39,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vertices, indices).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -60,7 +59,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 6 {
@@ -74,15 +75,15 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => {
                         let shapes = vec![
                             (
-                                Isometry3::identity(),
+                                Isometry::identity(),
                                 SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(rad, 0.0, 0.0),
+                                Isometry::translation(rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(-rad, 0.0, 0.0),
+                                Isometry::translation(-rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                         ];
@@ -91,7 +92,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     }
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -100,5 +101,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }

src/data/coarena.rs

@@ -13,6 +13,14 @@ impl<T> Coarena<T> {
         Self { data: Vec::new() }
     }
 
+    /// Gets a specific element from the coarena without specifying its generation number.
+    ///
+    /// It is strongly encouraged to use `Coarena::get` instead of this method because this method
+    /// can suffer from the ABA problem.
+    pub fn get_unknown_gen(&self, index: u32) -> Option<&T> {
+        self.data.get(index as usize).map(|(_, t)| t)
+    }
+
     /// Gets a specific element from the coarena, if it exists.
     pub fn get(&self, index: Index) -> Option<&T> {
         let (i, g) = index.into_raw_parts();

src/dynamics/integration_parameters.rs

@@ -10,7 +10,7 @@ pub struct IntegrationParameters {
     ///
     /// When CCD with multiple substeps is enabled, the timestep is subdivided
     /// into smaller pieces. This timestep subdivision won't generate timestep
-    /// lengths smaller than `min_dt`.
+    /// lengths smaller than `min_ccd_dt`.
     ///
     /// Setting this to a large value will reduce the opportunity to performing
     /// CCD substepping, resulting in potentially more time dropped by the
@@ -18,17 +18,6 @@ pub struct IntegrationParameters {
     /// to numerical instabilities.
     pub min_ccd_dt: Real,
 
-    //    /// If `true` and if rapier is compiled with the `parallel` feature, this will enable rayon-based multithreading (default: `true`).
-    //    ///
-    //    /// This parameter is ignored if rapier is not compiled with is `parallel` feature.
-    //    /// Refer to rayon's documentation regarding how to configure the number of threads with either
-    //    /// `rayon::ThreadPoolBuilder::new().num_threads(4).build_global().unwrap()` or `ThreadPool::install`.
-    //    /// 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,
     /// 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,

src/dynamics/joint/fixed_joint.rs

@@ -8,10 +8,10 @@ use crate::math::{Isometry, Real, SpacialVector};
 pub struct FixedJoint {
     /// The frame of reference for the first body affected by this joint, expressed in the local frame
     /// of the first body.
-    pub local_anchor1: Isometry<Real>,
+    pub local_frame1: Isometry<Real>,
     /// The frame of reference for the second body affected by this joint, expressed in the local frame
     /// of the first body.
-    pub local_anchor2: Isometry<Real>,
+    pub local_frame2: Isometry<Real>,
     /// The impulse applied to the first body affected by this joint.
     ///
     /// The impulse applied to the second body affected by this joint is given by `-impulse`.
@@ -23,10 +23,10 @@ pub struct FixedJoint {
 
 impl FixedJoint {
     /// Creates a new fixed joint from the frames of reference of both bodies.
-    pub fn new(local_anchor1: Isometry<Real>, local_anchor2: Isometry<Real>) -> Self {
+    pub fn new(local_frame1: Isometry<Real>, local_frame2: Isometry<Real>) -> Self {
         Self {
-            local_anchor1,
+            local_frame1,
-            local_anchor2,
+            local_frame2,
             impulse: SpacialVector::zeros(),
         }
     }

src/dynamics/rigid_body.rs

@@ -124,6 +124,72 @@ impl RigidBody {
         self.rb_dominance.effective_group(&self.rb_type)
     }
 
+    #[inline]
+    /// Locks or unlocks all the rotations of this rigid-body.
+    pub fn lock_rotations(&mut self, locked: bool, wake_up: bool) {
+        if self.is_dynamic() {
+            if wake_up {
+                self.wake_up(true);
+            }
+
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::ROTATION_LOCKED_X, locked);
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y, locked);
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z, locked);
+            self.update_world_mass_properties();
+        }
+    }
+
+    #[inline]
+    /// Locks or unlocks rotations of this rigid-body along each cartesian axes.
+    pub fn restrict_rotations(
+        &mut self,
+        allow_rotations_x: bool,
+        allow_rotations_y: bool,
+        allow_rotations_z: bool,
+        wake_up: bool,
+    ) {
+        if self.is_dynamic() {
+            if wake_up {
+                self.wake_up(true);
+            }
+
+            self.rb_mprops.flags.set(
+                RigidBodyMassPropsFlags::ROTATION_LOCKED_X,
+                allow_rotations_x,
+            );
+            self.rb_mprops.flags.set(
+                RigidBodyMassPropsFlags::ROTATION_LOCKED_Y,
+                allow_rotations_y,
+            );
+            self.rb_mprops.flags.set(
+                RigidBodyMassPropsFlags::ROTATION_LOCKED_Z,
+                allow_rotations_z,
+            );
+            self.update_world_mass_properties();
+        }
+    }
+
+    #[inline]
+    /// Locks or unlocks all the rotations of this rigid-body.
+    pub fn lock_translations(&mut self, locked: bool, wake_up: bool) {
+        if self.is_dynamic() {
+            if wake_up {
+                self.wake_up(true);
+            }
+
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::TRANSLATION_LOCKED, locked);
+            self.update_world_mass_properties();
+        }
+    }
+
     /// Are the translations of this rigid-body locked?
     pub fn is_translation_locked(&self) -> bool {
         self.rb_mprops
@@ -251,6 +317,16 @@ impl RigidBody {
         self.rb_forces.gravity_scale = scale;
     }
 
+    /// The dominance group of this rigid-body.
+    pub fn dominance_group(&self) -> i8 {
+        self.rb_dominance.0
+    }
+
+    /// The dominance group of this rigid-body.
+    pub fn set_dominance_group(&mut self, dominance: i8) {
+        self.rb_dominance.0 = dominance
+    }
+
     /// Adds a collider to this rigid-body.
     // TODO ECS: we keep this public for now just to simply our experiments on bevy_rapier.
     pub fn add_collider(
@@ -279,9 +355,10 @@ impl RigidBody {
         if let Some(i) = self.rb_colliders.0.iter().position(|e| *e == handle) {
             self.changes.set(RigidBodyChanges::COLLIDERS, true);
             self.rb_colliders.0.swap_remove(i);
+
             let mass_properties = coll
                 .mass_properties()
-                .transform_by(coll.position_wrt_parent());
+                .transform_by(coll.position_wrt_parent().unwrap());
             self.rb_mprops.mass_properties -= mass_properties;
             self.update_world_mass_properties();
         }
@@ -384,6 +461,45 @@ impl RigidBody {
         &self.rb_pos.position
     }
 
+    /// The translational part of this rigid-body's position.
+    #[inline]
+    pub fn translation(&self) -> Vector<Real> {
+        self.rb_pos.position.translation.vector
+    }
+
+    /// Sets the translational part of this rigid-body's position.
+    #[inline]
+    pub fn set_translation(&mut self, translation: Vector<Real>, wake_up: bool) {
+        self.changes.insert(RigidBodyChanges::POSITION);
+        self.rb_pos.position.translation.vector = translation;
+        self.rb_pos.next_position.translation.vector = translation;
+
+        // TODO: Do we really need to check that the body isn't dynamic?
+        if wake_up && self.is_dynamic() {
+            self.wake_up(true)
+        }
+    }
+
+    /// The translational part of this rigid-body's position.
+    #[inline]
+    pub fn rotation(&self) -> Rotation<Real> {
+        self.rb_pos.position.rotation
+    }
+
+    /// Sets the rotational part of this rigid-body's position.
+    #[inline]
+    pub fn set_rotation(&mut self, rotation: AngVector<Real>, wake_up: bool) {
+        self.changes.insert(RigidBodyChanges::POSITION);
+        let rotation = Rotation::new(rotation);
+        self.rb_pos.position.rotation = rotation;
+        self.rb_pos.next_position.rotation = rotation;
+
+        // TODO: Do we really need to check that the body isn't dynamic?
+        if wake_up && self.is_dynamic() {
+            self.wake_up(true)
+        }
+    }
+
     /// Sets the position and `next_kinematic_position` of this rigid body.
     ///
     /// This will teleport the rigid-body to the specified position/orientation,
@@ -404,6 +520,20 @@ impl RigidBody {
         }
     }
 
+    /// If this rigid body is kinematic, sets its future translation after the next timestep integration.
+    pub fn set_next_kinematic_rotation(&mut self, rotation: AngVector<Real>) {
+        if self.is_kinematic() {
+            self.rb_pos.next_position.rotation = Rotation::new(rotation);
+        }
+    }
+
+    /// If this rigid body is kinematic, sets its future orientation after the next timestep integration.
+    pub fn set_next_kinematic_translation(&mut self, rotation: Rotation<Real>) {
+        if self.is_kinematic() {
+            self.rb_pos.next_position.rotation = rotation;
+        }
+    }
+
     /// If this rigid body is kinematic, sets its future position after the next timestep integration.
     pub fn set_next_kinematic_position(&mut self, pos: Isometry<Real>) {
         if self.is_kinematic() {
@@ -411,6 +541,17 @@ impl RigidBody {
         }
     }
 
+    /// Predicts the next position of this rigid-body, by integrating its velocity and forces
+    /// by a time of `dt`.
+    pub fn predict_position_using_velocity_and_forces(&self, dt: Real) -> Isometry<Real> {
+        self.rb_pos.integrate_forces_and_velocities(
+            dt,
+            &self.rb_forces,
+            &self.rb_vels,
+            &self.rb_mprops,
+        )
+    }
+
     pub(crate) fn update_world_mass_properties(&mut self) {
         self.rb_mprops
             .update_world_mass_properties(&self.rb_pos.position);
@@ -618,8 +759,8 @@ impl RigidBodyBuilder {
     }
 
     /// Sets the scale applied to the gravity force affecting the rigid-body to be created.
-    pub fn gravity_scale(mut self, x: Real) -> Self {
+    pub fn gravity_scale(mut self, scale_factor: Real) -> Self {
-        self.gravity_scale = x;
+        self.gravity_scale = scale_factor;
         self
     }
 
@@ -630,19 +771,8 @@ impl RigidBodyBuilder {
     }
 
     /// Sets the initial translation of the rigid-body to be created.
-    #[cfg(feature = "dim2")]
+    pub fn translation(mut self, translation: Vector<Real>) -> Self {
-    pub fn translation(mut self, x: Real, y: Real) -> Self {
+        self.position.translation.vector = translation;
-        self.position.translation.x = x;
-        self.position.translation.y = y;
-        self
-    }
-
-    /// Sets the initial translation of the rigid-body to be created.
-    #[cfg(feature = "dim3")]
-    pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
-        self.position.translation.x = x;
-        self.position.translation.y = y;
-        self.position.translation.z = z;
         self
     }
 
@@ -811,16 +941,8 @@ impl RigidBodyBuilder {
     }
 
     /// Sets the initial linear velocity of the rigid-body to be created.
-    #[cfg(feature = "dim2")]
+    pub fn linvel(mut self, linvel: Vector<Real>) -> Self {
-    pub fn linvel(mut self, x: Real, y: Real) -> Self {
+        self.linvel = linvel;
-        self.linvel = Vector::new(x, y);
-        self
-    }
-
-    /// Sets the initial linear velocity of the rigid-body to be created.
-    #[cfg(feature = "dim3")]
-    pub fn linvel(mut self, x: Real, y: Real, z: Real) -> Self {
-        self.linvel = Vector::new(x, y, z);
         self
     }
 

src/dynamics/solver/joint_constraint/fixed_position_constraint.rs

@@ -8,8 +8,8 @@ use crate::utils::WAngularInertia;
 pub(crate) struct FixedPositionConstraint {
     position1: usize,
     position2: usize,
-    local_anchor1: Isometry<Real>,
+    local_frame1: Isometry<Real>,
-    local_anchor2: Isometry<Real>,
+    local_frame2: Isometry<Real>,
     local_com1: Point<Real>,
     local_com2: Point<Real>,
     im1: Real,
@@ -38,8 +38,8 @@ impl FixedPositionConstraint {
         let ang_inv_lhs = (ii1 + ii2).inverse();
 
         Self {
-            local_anchor1: cparams.local_anchor1,
+            local_frame1: cparams.local_frame1,
-            local_anchor2: cparams.local_anchor2,
+            local_frame2: cparams.local_frame2,
             position1: ids1.active_set_offset,
             position2: ids2.active_set_offset,
             im1,
@@ -58,8 +58,8 @@ impl FixedPositionConstraint {
         let mut position2 = positions[self.position2 as usize];
 
         // Angular correction.
-        let anchor1 = position1 * self.local_anchor1;
+        let anchor1 = position1 * self.local_frame1;
-        let anchor2 = position2 * self.local_anchor2;
+        let anchor2 = position2 * self.local_frame2;
         let ang_err = anchor2.rotation * anchor1.rotation.inverse();
         #[cfg(feature = "dim3")]
         let ang_impulse = self
@@ -75,8 +75,8 @@ impl FixedPositionConstraint {
             Rotation::new(self.ii2.transform_vector(-ang_impulse)) * position2.rotation;
 
         // Linear correction.
-        let anchor1 = position1 * Point::from(self.local_anchor1.translation.vector);
+        let anchor1 = position1 * Point::from(self.local_frame1.translation.vector);
-        let anchor2 = position2 * Point::from(self.local_anchor2.translation.vector);
+        let anchor2 = position2 * Point::from(self.local_frame2.translation.vector);
         let err = anchor2 - anchor1;
         let impulse = err * (self.lin_inv_lhs * params.joint_erp);
         position1.translation.vector += self.im1 * impulse;
@@ -91,7 +91,7 @@ impl FixedPositionConstraint {
 pub(crate) struct FixedPositionGroundConstraint {
     position2: usize,
     anchor1: Isometry<Real>,
-    local_anchor2: Isometry<Real>,
+    local_frame2: Isometry<Real>,
     local_com2: Point<Real>,
     im2: Real,
     ii2: AngularInertia<Real>,
@@ -109,19 +109,19 @@ impl FixedPositionGroundConstraint {
         let (mprops2, ids2) = rb2;
 
         let anchor1;
-        let local_anchor2;
+        let local_frame2;
 
         if flipped {
-            anchor1 = poss1.next_position * cparams.local_anchor2;
+            anchor1 = poss1.next_position * cparams.local_frame2;
-            local_anchor2 = cparams.local_anchor1;
+            local_frame2 = cparams.local_frame1;
         } else {
-            anchor1 = poss1.next_position * cparams.local_anchor1;
+            anchor1 = poss1.next_position * cparams.local_frame1;
-            local_anchor2 = cparams.local_anchor2;
+            local_frame2 = cparams.local_frame2;
         };
 
         Self {
             anchor1,
-            local_anchor2,
+            local_frame2,
             position2: ids2.active_set_offset,
             im2: mprops2.effective_inv_mass,
             ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
@@ -134,13 +134,13 @@ impl FixedPositionGroundConstraint {
         let mut position2 = positions[self.position2 as usize];
 
         // Angular correction.
-        let anchor2 = position2 * self.local_anchor2;
+        let anchor2 = position2 * self.local_frame2;
         let ang_err = anchor2.rotation * self.anchor1.rotation.inverse();
         position2.rotation = ang_err.powf(-params.joint_erp) * position2.rotation;
 
         // Linear correction.
         let anchor1 = Point::from(self.anchor1.translation.vector);
-        let anchor2 = position2 * Point::from(self.local_anchor2.translation.vector);
+        let anchor2 = position2 * Point::from(self.local_frame2.translation.vector);
         let err = anchor2 - anchor1;
         // NOTE: no need to divide by im2 just to multiply right after.
         let impulse = err * params.joint_erp;

src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs

@@ -63,8 +63,8 @@ impl FixedVelocityConstraint {
         let (poss1, vels1, mprops1, ids1) = rb1;
         let (poss2, vels2, mprops2, ids2) = rb2;
 
-        let anchor1 = poss1.position * cparams.local_anchor1;
+        let anchor1 = poss1.position * cparams.local_frame1;
-        let anchor2 = poss2.position * cparams.local_anchor2;
+        let anchor2 = poss2.position * cparams.local_frame2;
         let im1 = mprops1.effective_inv_mass;
         let im2 = mprops2.effective_inv_mass;
         let ii1 = mprops1.effective_world_inv_inertia_sqrt.squared();
@@ -280,13 +280,13 @@ impl FixedVelocityGroundConstraint {
 
         let (anchor1, anchor2) = if flipped {
             (
-                poss1.position * cparams.local_anchor2,
+                poss1.position * cparams.local_frame2,
-                poss2.position * cparams.local_anchor1,
+                poss2.position * cparams.local_frame1,
             )
         } else {
             (
-                poss1.position * cparams.local_anchor1,
+                poss1.position * cparams.local_frame1,
-                poss2.position * cparams.local_anchor2,
+                poss2.position * cparams.local_frame2,
             )
         };
 

src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs

@@ -91,12 +91,12 @@ impl WFixedVelocityConstraint {
         ]);
         let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
 
-        let local_anchor1 = Isometry::from(gather![|ii| cparams[ii].local_anchor1]);
+        let local_frame1 = Isometry::from(gather![|ii| cparams[ii].local_frame1]);
-        let local_anchor2 = Isometry::from(gather![|ii| cparams[ii].local_anchor2]);
+        let local_frame2 = Isometry::from(gather![|ii| cparams[ii].local_frame2]);
         let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
 
-        let anchor1 = position1 * local_anchor1;
+        let anchor1 = position1 * local_frame1;
-        let anchor2 = position2 * local_anchor2;
+        let anchor2 = position2 * local_frame2;
         let ii1 = ii1_sqrt.squared();
         let ii2 = ii2_sqrt.squared();
         let r1 = anchor1.translation.vector - world_com1.coords;
@@ -363,20 +363,20 @@ impl WFixedVelocityGroundConstraint {
         ]);
         let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
 
-        let local_anchor1 = Isometry::from(gather![|ii| if flipped[ii] {
+        let local_frame1 = Isometry::from(gather![|ii| if flipped[ii] {
-            cparams[ii].local_anchor2
+            cparams[ii].local_frame2
         } else {
-            cparams[ii].local_anchor1
+            cparams[ii].local_frame1
         }]);
-        let local_anchor2 = Isometry::from(gather![|ii| if flipped[ii] {
+        let local_frame2 = Isometry::from(gather![|ii| if flipped[ii] {
-            cparams[ii].local_anchor1
+            cparams[ii].local_frame1
         } else {
-            cparams[ii].local_anchor2
+            cparams[ii].local_frame2
         }]);
         let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
 
-        let anchor1 = position1 * local_anchor1;
+        let anchor1 = position1 * local_frame1;
-        let anchor2 = position2 * local_anchor2;
+        let anchor2 = position2 * local_frame2;
         let ii2 = ii2_sqrt.squared();
         let r1 = anchor1.translation.vector - world_com1.coords;
         let r2 = anchor2.translation.vector - world_com2.coords;

src/geometry/collider.rs

@@ -2,10 +2,11 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
 use crate::geometry::{
     ColliderBroadPhaseData, ColliderChanges, ColliderGroups, ColliderMassProperties,
     ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
-    InteractionGroups, SharedShape, SolverFlags,
+    InteractionGroups, SharedShape,
 };
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use crate::parry::transformation::vhacd::VHACDParameters;
+use crate::pipeline::PhysicsHooksFlags;
 use na::Unit;
 use parry::bounding_volume::AABB;
 use parry::shape::Shape;
@@ -20,7 +21,7 @@ pub struct Collider {
     pub(crate) co_shape: ColliderShape,
     pub(crate) co_mprops: ColliderMassProperties,
     pub(crate) co_changes: ColliderChanges,
-    pub(crate) co_parent: ColliderParent,
+    pub(crate) co_parent: Option<ColliderParent>,
     pub(crate) co_pos: ColliderPosition,
     pub(crate) co_material: ColliderMaterial,
     pub(crate) co_groups: ColliderGroups,
@@ -31,14 +32,14 @@ pub struct Collider {
 
 impl Collider {
     pub(crate) fn reset_internal_references(&mut self) {
-        self.co_parent.handle = RigidBodyHandle::invalid();
+        self.co_parent = None;
         self.co_bf_data.proxy_index = crate::INVALID_U32;
         self.co_changes = ColliderChanges::all();
     }
 
     /// The rigid body this collider is attached to.
-    pub fn parent(&self) -> RigidBodyHandle {
+    pub fn parent(&self) -> Option<RigidBodyHandle> {
-        self.co_parent.handle
+        self.co_parent.map(|parent| parent.handle)
     }
 
     /// Is this collider a sensor?
@@ -46,6 +47,26 @@ impl Collider {
         self.co_type.is_sensor()
     }
 
+    /// The physics hooks enabled for this collider.
+    pub fn active_hooks(&self) -> PhysicsHooksFlags {
+        self.co_material.active_hooks
+    }
+
+    /// Sets the physics hooks enabled for this collider.
+    pub fn set_active_hooks(&mut self, active_hooks: PhysicsHooksFlags) {
+        self.co_material.active_hooks = active_hooks;
+    }
+
+    /// The friction coefficient of this collider.
+    pub fn friction(&self) -> Real {
+        self.co_material.friction
+    }
+
+    /// Sets the friction coefficient of this collider.
+    pub fn set_friction(&mut self, coefficient: Real) {
+        self.co_material.friction = coefficient
+    }
+
     /// The combine rule used by this collider to combine its friction
     /// coefficient with the friction coefficient of the other collider it
     /// is in contact with.
@@ -60,6 +81,16 @@ impl Collider {
         self.co_material.friction_combine_rule = rule;
     }
 
+    /// The restitution coefficient of this collider.
+    pub fn restitution(&self) -> Real {
+        self.co_material.restitution
+    }
+
+    /// Sets the restitution coefficient of this collider.
+    pub fn set_restitution(&mut self, coefficient: Real) {
+        self.co_material.restitution = coefficient
+    }
+
     /// The combine rule used by this collider to combine its restitution
     /// coefficient with the restitution coefficient of the other collider it
     /// is in contact with.
@@ -86,15 +117,22 @@ impl Collider {
         }
     }
 
-    #[doc(hidden)]
+    /// Sets the translational part of this collider's position.
-    pub fn set_position_debug(&mut self, position: Isometry<Real>) {
+    pub fn set_translation(&mut self, translation: Vector<Real>) {
-        self.co_pos.0 = position;
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0.translation.vector = translation;
     }
 
-    /// The position of this collider expressed in the local-space of the rigid-body it is attached to.
+    /// Sets the rotational part of this collider's position.
-    #[deprecated(note = "use `.position_wrt_parent()` instead.")]
+    pub fn set_rotation(&mut self, rotation: AngVector<Real>) {
-    pub fn delta(&self) -> &Isometry<Real> {
+        self.co_changes.insert(ColliderChanges::POSITION);
-        &self.co_parent.pos_wrt_parent
+        self.co_pos.0.rotation = Rotation::new(rotation);
+    }
+
+    /// Sets the position of this collider.
+    pub fn set_position(&mut self, position: Isometry<Real>) {
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0 = position;
     }
 
     /// The world-space position of this collider.
@@ -102,15 +140,31 @@ impl Collider {
         &self.co_pos
     }
 
+    /// The translational part of this rigid-body's position.
+    pub fn translation(&self) -> &Vector<Real> {
+        &self.co_pos.0.translation.vector
+    }
+
+    /// The rotational part of this rigid-body's position.
+    pub fn rotation(&self) -> &Rotation<Real> {
+        &self.co_pos.0.rotation
+    }
+
     /// The position of this collider wrt the body it is attached to.
-    pub fn position_wrt_parent(&self) -> &Isometry<Real> {
+    pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> {
-        &self.co_parent.pos_wrt_parent
+        self.co_parent.as_ref().map(|p| &p.pos_wrt_parent)
     }
 
     /// Sets the position of this collider wrt. its parent rigid-body.
-    pub fn set_position_wrt_parent(&mut self, position: Isometry<Real>) {
+    ///
+    /// Panics if the collider is not attached to a rigid-body.
+    pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) {
         self.co_changes.insert(ColliderChanges::PARENT);
-        self.co_parent.pos_wrt_parent = position;
+        let co_parent = self
+            .co_parent
+            .as_mut()
+            .expect("This collider has no parent.");
+        co_parent.pos_wrt_parent = pos_wrt_parent;
     }
 
     /// The collision groups used by this collider.
@@ -213,13 +267,12 @@ pub struct ColliderBuilder {
     pub restitution: Real,
     /// The rule used to combine two restitution coefficients.
     pub restitution_combine_rule: CoefficientCombineRule,
-    /// The position of this collider relative to the local frame of the rigid-body it is attached to.
+    /// The position of this collider.
-    pub pos_wrt_parent: Isometry<Real>,
+    pub position: Isometry<Real>,
     /// Is this collider a sensor?
     pub is_sensor: bool,
-    /// Do we have to always call the contact modifier
+    /// Physics hooks enabled for this collider.
-    /// on this collider?
+    pub active_hooks: PhysicsHooksFlags,
-    pub modify_solver_contacts: bool,
     /// The user-data of the collider being built.
     pub user_data: u128,
     /// The collision groups for the collider being built.
@@ -237,14 +290,14 @@ impl ColliderBuilder {
             mass_properties: None,
             friction: Self::default_friction(),
             restitution: 0.0,
-            pos_wrt_parent: Isometry::identity(),
+            position: Isometry::identity(),
             is_sensor: false,
             user_data: 0,
             collision_groups: InteractionGroups::all(),
             solver_groups: InteractionGroups::all(),
             friction_combine_rule: CoefficientCombineRule::Average,
             restitution_combine_rule: CoefficientCombineRule::Average,
-            modify_solver_contacts: false,
+            active_hooks: PhysicsHooksFlags::empty(),
         }
     }
 
@@ -489,6 +542,11 @@ impl ColliderBuilder {
         0.5
     }
 
+    /// The default density used by the collider builder.
+    pub fn default_density() -> Real {
+        1.0
+    }
+
     /// Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.
     pub fn user_data(mut self, data: u128) -> Self {
         self.user_data = data;
@@ -522,10 +580,9 @@ impl ColliderBuilder {
         self
     }
 
-    /// If set to `true` then the physics hooks will always run to modify
+    /// The set of physics hooks enabled for this collider.
-    /// contacts involving this collider.
+    pub fn active_hooks(mut self, active_hooks: PhysicsHooksFlags) -> Self {
-    pub fn modify_solver_contacts(mut self, modify_solver_contacts: bool) -> Self {
+        self.active_hooks = active_hooks;
-        self.modify_solver_contacts = modify_solver_contacts;
         self
     }
 
@@ -571,51 +628,45 @@ impl ColliderBuilder {
         self
     }
 
-    /// Sets the initial translation of the collider to be created,
+    /// Sets the initial translation of the collider to be created.
-    /// relative to the rigid-body it is attached to.
+    ///
-    #[cfg(feature = "dim2")]
+    /// If the collider will be attached to a rigid-body, this sets the translation relative to the
-    pub fn translation(mut self, x: Real, y: Real) -> Self {
+    /// rigid-body it will be attached to.
-        self.pos_wrt_parent.translation.x = x;
+    pub fn translation(mut self, translation: Vector<Real>) -> Self {
-        self.pos_wrt_parent.translation.y = y;
+        self.position.translation.vector = translation;
         self
     }
 
-    /// Sets the initial translation of the collider to be created,
+    /// Sets the initial orientation of the collider to be created.
-    /// relative to the rigid-body it is attached to.
+    ///
-    #[cfg(feature = "dim3")]
+    /// If the collider will be attached to a rigid-body, this sets the orientation relative to the
-    pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
+    /// rigid-body it will be attached to.
-        self.pos_wrt_parent.translation.x = x;
-        self.pos_wrt_parent.translation.y = y;
-        self.pos_wrt_parent.translation.z = z;
-        self
-    }
-
-    /// Sets the initial orientation of the collider to be created,
-    /// relative to the rigid-body it is attached to.
     pub fn rotation(mut self, angle: AngVector<Real>) -> Self {
-        self.pos_wrt_parent.rotation = Rotation::new(angle);
+        self.position.rotation = Rotation::new(angle);
         self
     }
 
-    /// Sets the initial position (translation and orientation) of the collider to be created,
+    /// Sets the initial position (translation and orientation) of the collider to be created.
-    /// relative to the rigid-body it is attached to.
+    ///
-    pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
+    /// If the collider will be attached to a rigid-body, this sets the position relative
-        self.pos_wrt_parent = pos;
+    /// to the rigid-body it will be attached to.
-        self
-    }
-
-    /// Sets the initial position (translation and orientation) of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    #[deprecated(note = "Use `.position_wrt_parent` instead.")]
     pub fn position(mut self, pos: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = pos;
+        self.position = pos;
+        self
+    }
+
+    /// Sets the initial position (translation and orientation) of the collider to be created,
+    /// relative to the rigid-body it is attached to.
+    #[deprecated(note = "Use `.position` instead.")]
+    pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
+        self.position = pos;
         self
     }
 
     /// Set the position of this collider in the local-space of the rigid-body it is attached to.
-    #[deprecated(note = "Use `.position_wrt_parent` instead.")]
+    #[deprecated(note = "Use `.position` instead.")]
     pub fn delta(mut self, delta: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = delta;
+        self.position = delta;
         self
     }
 
@@ -623,15 +674,11 @@ impl ColliderBuilder {
     pub fn build(&self) -> Collider {
         let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_groups, co_material, co_mprops) =
             self.components();
-        let co_parent = ColliderParent {
-            pos_wrt_parent: co_pos.0,
-            handle: RigidBodyHandle::invalid(),
-        };
         Collider {
             co_shape,
             co_mprops,
             co_material,
-            co_parent,
+            co_parent: None,
             co_changes,
             co_pos,
             co_bf_data,
@@ -657,17 +704,11 @@ impl ColliderBuilder {
         let mass_info = if let Some(mp) = self.mass_properties {
             ColliderMassProperties::MassProperties(Box::new(mp))
         } else {
-            let default_density = if self.is_sensor { 0.0 } else { 1.0 };
+            let default_density = Self::default_density();
             let density = self.density.unwrap_or(default_density);
             ColliderMassProperties::Density(density)
         };
 
-        let mut solver_flags = SolverFlags::default();
-        solver_flags.set(
-            SolverFlags::MODIFY_SOLVER_CONTACTS,
-            self.modify_solver_contacts,
-        );
-
         let co_shape = self.shape.clone();
         let co_mprops = mass_info;
         let co_material = ColliderMaterial {
@@ -675,10 +716,10 @@ impl ColliderBuilder {
             restitution: self.restitution,
             friction_combine_rule: self.friction_combine_rule,
             restitution_combine_rule: self.restitution_combine_rule,
-            solver_flags,
+            active_hooks: self.active_hooks,
         };
         let co_changes = ColliderChanges::all();
-        let co_pos = ColliderPosition(self.pos_wrt_parent);
+        let co_pos = ColliderPosition(self.position);
         let co_bf_data = ColliderBroadPhaseData::default();
         let co_groups = ColliderGroups {
             collision_groups: self.collision_groups,

src/geometry/collider_components.rs

@@ -1,7 +1,8 @@
 use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
-use crate::geometry::{InteractionGroups, SAPProxyIndex, Shape, SharedShape, SolverFlags};
+use crate::geometry::{InteractionGroups, SAPProxyIndex, Shape, SharedShape};
 use crate::math::{Isometry, Real};
 use crate::parry::partitioning::IndexedData;
+use crate::pipeline::PhysicsHooksFlags;
 use std::ops::Deref;
 
 /// The unique identifier of a collider added to a collider set.
@@ -241,9 +242,8 @@ pub struct ColliderMaterial {
     pub friction_combine_rule: CoefficientCombineRule,
     /// The rule applied to combine the restitution coefficients of two colliders.
     pub restitution_combine_rule: CoefficientCombineRule,
-    /// The solver flags attached to this collider in order to customize the way the
+    /// The physics hooks enabled for contact pairs and intersection pairs involving this collider.
-    /// constraints solver will work with contacts involving this collider.
+    pub active_hooks: PhysicsHooksFlags,
-    pub solver_flags: SolverFlags,
 }
 
 impl ColliderMaterial {
@@ -264,7 +264,7 @@ impl Default for ColliderMaterial {
             restitution: 0.0,
             friction_combine_rule: CoefficientCombineRule::default(),
             restitution_combine_rule: CoefficientCombineRule::default(),
-            solver_flags: SolverFlags::default(),
+            active_hooks: PhysicsHooksFlags::empty(),
         }
     }
 }

src/geometry/collider_set.rs

@@ -61,12 +61,19 @@ impl_field_component_set!(ColliderType, co_type);
 impl_field_component_set!(ColliderShape, co_shape);
 impl_field_component_set!(ColliderMassProperties, co_mprops);
 impl_field_component_set!(ColliderChanges, co_changes);
-impl_field_component_set!(ColliderParent, co_parent);
 impl_field_component_set!(ColliderPosition, co_pos);
 impl_field_component_set!(ColliderMaterial, co_material);
 impl_field_component_set!(ColliderGroups, co_groups);
 impl_field_component_set!(ColliderBroadPhaseData, co_bf_data);
 
+impl ComponentSetOption<ColliderParent> for ColliderSet {
+    #[inline(always)]
+    fn get(&self, handle: crate::data::Index) -> Option<&ColliderParent> {
+        self.get(ColliderHandle(handle))
+            .and_then(|b| b.co_parent.as_ref())
+    }
+}
+
 impl ColliderSet {
     /// Create a new empty set of colliders.
     pub fn new() -> Self {
@@ -122,7 +129,17 @@ impl ColliderSet {
     }
 
     /// Inserts a new collider to this set and retrieve its handle.
-    pub fn insert(
+    pub fn insert(&mut self, mut coll: Collider) -> ColliderHandle {
+        // Make sure the internal links are reset, they may not be
+        // if this rigid-body was obtained by cloning another one.
+        coll.reset_internal_references();
+        let handle = ColliderHandle(self.colliders.insert(coll));
+        self.modified_colliders.push(handle);
+        handle
+    }
+
+    /// Inserts a new collider to this set, attach it to the given rigid-body, and retrieve its handle.
+    pub fn insert_with_parent(
         &mut self,
         mut coll: Collider,
         parent_handle: RigidBodyHandle,
@@ -131,7 +148,10 @@ impl ColliderSet {
         // Make sure the internal links are reset, they may not be
         // if this rigid-body was obtained by cloning another one.
         coll.reset_internal_references();
-        coll.co_parent.handle = parent_handle;
+        coll.co_parent = Some(ColliderParent {
+            handle: parent_handle,
+            pos_wrt_parent: coll.co_pos.0,
+        });
 
         // NOTE: we use `get_mut` instead of `get_mut_internal` so that the
         // modification flag is updated properly.
@@ -144,7 +164,7 @@ impl ColliderSet {
         let coll = self.colliders.get_mut(handle.0).unwrap();
         parent.add_collider(
             handle,
-            &mut coll.co_parent,
+            coll.co_parent.as_mut().unwrap(),
             &mut coll.co_pos,
             &coll.co_shape,
             &coll.co_mprops,
@@ -170,13 +190,15 @@ impl ColliderSet {
          */
         // NOTE: we use `get_mut_internal_with_modification_tracking` instead of `get_mut_internal` so that the
         // modification flag is updated properly.
+        if let Some(co_parent) = &collider.co_parent {
             if let Some(parent) =
-            bodies.get_mut_internal_with_modification_tracking(collider.co_parent.handle)
+                bodies.get_mut_internal_with_modification_tracking(co_parent.handle)
             {
                 parent.remove_collider_internal(handle, &collider);
 
                 if wake_up {
-                islands.wake_up(bodies, collider.co_parent.handle, true);
+                    islands.wake_up(bodies, co_parent.handle, true);
+                }
             }
         }
 

src/geometry/contact_pair.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::RigidBodyHandle;
-use crate::geometry::{ColliderPair, Contact, ContactManifold};
+use crate::geometry::{ColliderHandle, Contact, ContactManifold};
 use crate::math::{Point, Real, Vector};
 use parry::query::ContactManifoldsWorkspace;
 
@@ -10,9 +10,6 @@ bitflags::bitflags! {
         /// The constraint solver will take this contact manifold into
         /// account for force computation.
         const COMPUTE_IMPULSES = 0b001;
-        /// The user-defined physics hooks will be used to
-        /// modify the solver contacts of this contact manifold.
-        const MODIFY_SOLVER_CONTACTS = 0b010;
     }
 }
 
@@ -56,8 +53,10 @@ impl Default for ContactData {
 #[derive(Clone)]
 /// The description of all the contacts between a pair of colliders.
 pub struct ContactPair {
-    /// The pair of colliders involved.
+    /// The first collider involved in the contact pair.
-    pub pair: ColliderPair,
+    pub collider1: ColliderHandle,
+    /// The second collider involved in the contact pair.
+    pub collider2: ColliderHandle,
     /// The set of contact manifolds between the two colliders.
     ///
     /// All contact manifold contain themselves contact points between the colliders.
@@ -68,9 +67,10 @@ pub struct ContactPair {
 }
 
 impl ContactPair {
-    pub(crate) fn new(pair: ColliderPair) -> Self {
+    pub(crate) fn new(collider1: ColliderHandle, collider2: ColliderHandle) -> Self {
         Self {
-            pair,
+            collider1,
+            collider2,
             has_any_active_contact: false,
             manifolds: Vec::new(),
             workspace: None,

src/geometry/interaction_groups.rs

@@ -1,56 +1,66 @@
-#[repr(transparent)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 /// Pairwise filtering using bit masks.
 ///
-/// This filtering method is based on two 16-bit values:
+/// This filtering method is based on two 32-bit values:
-/// - The interaction groups (the 16 left-most bits of `self.0`).
+/// - The interaction groups memberships.
-/// - The interaction mask (the 16 right-most bits of `self.0`).
+/// - The interaction groups filter.
 ///
 /// An interaction is allowed between two filters `a` and `b` when two conditions
 /// are met simultaneously:
-/// - The interaction groups of `a` has at least one bit set to `1` in common with the interaction mask of `b`.
+/// - The groups membership of `a` has at least one bit set to `1` in common with the groups filter of `b`.
-/// - The interaction groups of `b` has at least one bit set to `1` in common with the interaction mask of `a`.
+/// - The groups membership of `b` has at least one bit set to `1` in common with the groups filter of `a`.
 ///
 /// In other words, interactions are allowed between two filter iff. the following condition is met:
 /// ```ignore
-/// ((self.0 >> 16) & rhs.0) != 0 && ((rhs.0 >> 16) & self.0) != 0
+/// (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
 /// ```
-pub struct InteractionGroups(pub u32);
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
+#[repr(C)]
+pub struct InteractionGroups {
+    /// Groups memberships.
+    pub memberships: u32,
+    /// Groups filter.
+    pub filter: u32,
+}
 
 impl InteractionGroups {
     /// Initializes with the given interaction groups and interaction mask.
-    pub const fn new(groups: u16, masks: u16) -> Self {
+    pub const fn new(memberships: u32, filter: u32) -> Self {
-        Self::none().with_groups(groups).with_mask(masks)
+        Self {
+            memberships,
+            filter,
+        }
     }
 
     /// Allow interaction with everything.
     pub const fn all() -> Self {
-        Self(u32::MAX)
+        Self::new(u32::MAX, u32::MAX)
     }
 
     /// Prevent all interactions.
     pub const fn none() -> Self {
-        Self(0)
+        Self::new(0, 0)
     }
 
     /// Sets the group this filter is part of.
-    pub const fn with_groups(self, groups: u16) -> Self {
+    pub const fn with_memberships(mut self, memberships: u32) -> Self {
-        Self((self.0 & 0x0000ffff) | ((groups as u32) << 16))
+        self.memberships = memberships;
+        self
     }
 
     /// Sets the interaction mask of this filter.
-    pub const fn with_mask(self, mask: u16) -> Self {
+    pub const fn with_filter(mut self, filter: u32) -> Self {
-        Self((self.0 & 0xffff0000) | (mask as u32))
+        self.filter = filter;
+        self
     }
 
-    /// Check if interactions should be allowed based on the interaction groups and mask.
+    /// Check if interactions should be allowed based on the interaction memberships and filter.
     ///
-    /// An interaction is allowed iff. the groups of `self` contain at least one bit set to 1 in common
+    /// An interaction is allowed iff. the memberships of `self` contain at least one bit set to 1 in common
-    /// with the mask of `rhs`, and vice-versa.
+    /// with the filter of `rhs`, and vice-versa.
     #[inline]
     pub const fn test(self, rhs: Self) -> bool {
-        ((self.0 >> 16) & rhs.0) != 0 && ((rhs.0 >> 16) & self.0) != 0
+        (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
     }
 }
 

src/geometry/narrow_phase.rs

@@ -97,6 +97,18 @@ impl NarrowPhase {
         &self.intersection_graph
     }
 
+    /// All the contacts involving the given collider.
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::contacts_with`] method instead. This
+    /// method can be used if the generation number of the collider handle isn't known.
+    pub fn contacts_with_unknown_gen(
+        &self,
+        collider: u32,
+    ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
+        let id = self.graph_indices.get_unknown_gen(collider)?;
+        Some(self.contact_graph.interactions_with(id.contact_graph_index))
+    }
+
     /// All the contacts involving the given collider.
     pub fn contacts_with(
         &self,
@@ -106,6 +118,22 @@ impl NarrowPhase {
         Some(self.contact_graph.interactions_with(id.contact_graph_index))
     }
 
+    /// All the intersections involving the given collider.
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::intersections_with`]  method instead.
+    /// This method can be used if the generation number of the collider handle isn't known.
+    pub fn intersections_with_unknown_gen(
+        &self,
+        collider: u32,
+    ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
+        let id = self.graph_indices.get_unknown_gen(collider)?;
+        Some(
+            self.intersection_graph
+                .interactions_with(id.intersection_graph_index)
+                .map(|e| (e.0, e.1, *e.2)),
+        )
+    }
+
     /// All the intersections involving the given collider.
     pub fn intersections_with(
         &self,
@@ -119,6 +147,22 @@ impl NarrowPhase {
         )
     }
 
+    /// The contact pair involving two specific colliders.
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::contact_pair`] method instead. This
+    /// method can be used if the generation number of the collider handle isn't known.
+    ///
+    /// If this returns `None`, there is no contact between the two colliders.
+    /// If this returns `Some`, then there may be a contact between the two colliders. Check the
+    /// result [`ContactPair::has_any_active_collider`] method to see if there is an actual contact.
+    pub fn contact_pair_unknown_gen(&self, collider1: u32, collider2: u32) -> Option<&ContactPair> {
+        let id1 = self.graph_indices.get_unknown_gen(collider1)?;
+        let id2 = self.graph_indices.get_unknown_gen(collider2)?;
+        self.contact_graph
+            .interaction_pair(id1.contact_graph_index, id2.contact_graph_index)
+            .map(|c| c.2)
+    }
+
     /// The contact pair involving two specific colliders.
     ///
     /// If this returns `None`, there is no contact between the two colliders.
@@ -136,6 +180,21 @@ impl NarrowPhase {
             .map(|c| c.2)
     }
 
+    /// The intersection pair involving two specific colliders.
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::intersection_pair`] method instead. This
+    /// method can be used if the generation number of the collider handle isn't known.
+    ///
+    /// If this returns `None` or `Some(false)`, then there is no intersection between the two colliders.
+    /// If this returns `Some(true)`, then there may be an intersection between the two colliders.
+    pub fn intersection_pair_unknown_gen(&self, collider1: u32, collider2: u32) -> Option<bool> {
+        let id1 = self.graph_indices.get_unknown_gen(collider1)?;
+        let id2 = self.graph_indices.get_unknown_gen(collider2)?;
+        self.intersection_graph
+            .interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
+            .map(|c| *c.2)
+    }
+
     /// The intersection pair involving two specific colliders.
     ///
     /// If this returns `None` or `Some(false)`, then there is no intersection between the two colliders.
@@ -527,7 +586,7 @@ impl NarrowPhase {
                     .find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
                     .is_none()
                 {
-                    let interaction = ContactPair::new(*pair);
+                    let interaction = ContactPair::new(pair.collider1, pair.collider2);
                     let _ = self.contact_graph.add_edge(
                         gid1.contact_graph_index,
                         gid2.contact_graph_index,
@@ -585,7 +644,8 @@ impl NarrowPhase {
             + ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderGroups>
             + ComponentSet<ColliderShape>
-            + ComponentSet<ColliderPosition>,
+            + ComponentSet<ColliderPosition>
+            + ComponentSet<ColliderMaterial>,
     {
         if modified_colliders.is_empty() {
             return;
@@ -593,7 +653,6 @@ impl NarrowPhase {
 
         let nodes = &self.intersection_graph.graph.nodes;
         let query_dispatcher = &*self.query_dispatcher;
-        let active_hooks = hooks.active_hooks();
 
         // TODO: don't iterate on all the edges.
         par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
@@ -601,19 +660,21 @@ impl NarrowPhase {
             let handle2 = nodes[edge.target().index()].weight;
 
             let co_parent1: Option<&ColliderParent> = colliders.get(handle1.0);
-            let (co_changes1, co_groups1, co_shape1, co_pos1): (
+            let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1): (
                 &ColliderChanges,
                 &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
+                &ColliderMaterial,
             ) = colliders.index_bundle(handle1.0);
 
             let co_parent2: Option<&ColliderParent> = colliders.get(handle2.0);
-            let (co_changes2, co_groups2, co_shape2, co_pos2): (
+            let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2): (
                 &ColliderChanges,
                 &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
+                &ColliderMaterial,
             ) = colliders.index_bundle(handle2.0);
 
             if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
@@ -656,6 +717,8 @@ impl NarrowPhase {
                 return;
             }
 
+            let active_hooks = co_material1.active_hooks | co_material2.active_hooks;
+
             if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR)
                 && !status1.is_dynamic()
                 && !status2.is_dynamic()
@@ -721,29 +784,28 @@ impl NarrowPhase {
         }
 
         let query_dispatcher = &*self.query_dispatcher;
-        let active_hooks = hooks.active_hooks();
 
         // TODO: don't iterate on all the edges.
         par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
             let pair = &mut edge.weight;
 
-            let co_parent1: Option<&ColliderParent> = colliders.get(pair.pair.collider1.0);
+            let co_parent1: Option<&ColliderParent> = colliders.get(pair.collider1.0);
             let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1): (
                 &ColliderChanges,
                 &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
                 &ColliderMaterial,
-            ) = colliders.index_bundle(pair.pair.collider1.0);
+            ) = colliders.index_bundle(pair.collider1.0);
 
-            let co_parent2: Option<&ColliderParent> = colliders.get(pair.pair.collider2.0);
+            let co_parent2: Option<&ColliderParent> = colliders.get(pair.collider2.0);
             let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2): (
                 &ColliderChanges,
                 &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
                 &ColliderMaterial,
-            ) = colliders.index_bundle(pair.pair.collider2.0);
+            ) = colliders.index_bundle(pair.collider2.0);
 
             if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
             {
@@ -785,6 +847,7 @@ impl NarrowPhase {
                 return;
             }
 
+            let active_hooks = co_material1.active_hooks | co_material2.active_hooks;
             if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
                 && !status1.is_dynamic()
                 && !status2.is_dynamic()
@@ -800,8 +863,8 @@ impl NarrowPhase {
                     colliders,
                     rigid_body1: co_parent1.map(|p| p.handle),
                     rigid_body2: co_parent2.map(|p| p.handle),
-                    collider1: pair.pair.collider1,
+                    collider1: pair.collider1,
-                    collider2: pair.pair.collider2,
+                    collider2: pair.collider2,
                 };
 
                 if let Some(solver_flags) = hooks.filter_contact_pair(&context) {
@@ -811,7 +874,7 @@ impl NarrowPhase {
                     return;
                 }
             } else {
-                co_material1.solver_flags | co_material2.solver_flags
+                SolverFlags::default()
             };
 
             if !co_groups1.solver_groups.test(co_groups2.solver_groups) {
@@ -896,12 +959,7 @@ impl NarrowPhase {
                 }
 
                 // Apply the user-defined contact modification.
-                if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
+                if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS) {
-                    && manifold
-                        .data
-                        .solver_flags
-                        .contains(SolverFlags::MODIFY_SOLVER_CONTACTS)
-                {
                     let mut modifiable_solver_contacts =
                         std::mem::replace(&mut manifold.data.solver_contacts, Vec::new());
                     let mut modifiable_user_data = manifold.data.user_data;
@@ -912,8 +970,8 @@ impl NarrowPhase {
                         colliders,
                         rigid_body1: co_parent1.map(|p| p.handle),
                         rigid_body2: co_parent2.map(|p| p.handle),
-                        collider1: pair.pair.collider1,
+                        collider1: pair.collider1,
-                        collider2: pair.pair.collider2,
+                        collider2: pair.collider2,
                         manifold,
                         solver_contacts: &mut modifiable_solver_contacts,
                         normal: &mut modifiable_normal,
@@ -931,13 +989,13 @@ impl NarrowPhase {
             if has_any_active_contact != pair.has_any_active_contact {
                 if has_any_active_contact {
                     events.handle_contact_event(ContactEvent::Started(
-                        pair.pair.collider1,
+                        pair.collider1,
-                        pair.pair.collider2,
+                        pair.collider2,
                     ));
                 } else {
                     events.handle_contact_event(ContactEvent::Stopped(
-                        pair.pair.collider1,
+                        pair.collider1,
-                        pair.pair.collider2,
+                        pair.collider2,
                     ));
                 }
 

src/lib.rs

@@ -149,3 +149,12 @@ pub mod math {
     #[cfg(feature = "dim3")]
     pub const MAX_MANIFOLD_POINTS: usize = 4;
 }
+
+/// Prelude containing the common types defined by Rapier.
+pub mod prelude {
+    pub use crate::dynamics::*;
+    pub use crate::geometry::*;
+    pub use crate::math::*;
+    pub use crate::pipeline::*;
+    pub use na::{point, vector, DMatrix, DVector};
+}

src/pipeline/physics_hooks.rs

@@ -133,15 +133,30 @@ impl Default for PhysicsHooksFlags {
     }
 }
 
-/// User-defined functions called by the physics engines during one timestep in order to customize its behavior.
+#[cfg(target_arch = "wasm32")]
-pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
+pub trait PhysicsHooks<Bodies, Colliders> {
-    /// The sets of hooks that must be taken into account.
     fn active_hooks(&self) -> PhysicsHooksFlags;
+    fn filter_contact_pair(
+        &self,
+        _context: &PairFilterContext<Bodies, Colliders>,
+    ) -> Option<SolverFlags> {
+        None
+    }
+    fn filter_intersection_pair(&self, _context: &PairFilterContext<Bodies, Colliders>) -> bool {
+        false
+    }
+    fn modify_solver_contacts(&self, _context: &mut ContactModificationContext<Bodies, Colliders>) {
+    }
+}
 
+/// User-defined functions called by the physics engines during one timestep in order to customize its behavior.
+#[cfg(not(target_arch = "wasm32"))]
+pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
     /// Applies the contact pair filter.
     ///
-    /// Note that this method will only be called if `self.active_hooks()`
+    /// Note that this method will only be called if at least one of the colliders
-    /// contains the `PhysicsHooksFlags::FILTER_CONTACT_PAIR` flags.
+    /// involved in the contact contains the `PhysicsHooksFlags::FILTER_CONTACT_PAIR` flags
+    /// in its physics hooks flags.
     ///
     /// User-defined filter for potential contact pairs detected by the broad-phase.
     /// This can be used to apply custom logic in order to decide whether two colliders
@@ -165,13 +180,14 @@ pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
         &self,
         _context: &PairFilterContext<Bodies, Colliders>,
     ) -> Option<SolverFlags> {
-        None
+        Some(SolverFlags::COMPUTE_IMPULSES)
     }
 
     /// Applies the intersection pair filter.
     ///
-    /// Note that this method will only be called if `self.active_hooks()`
+    /// Note that this method will only be called if at least one of the colliders
-    /// contains the `PhysicsHooksFlags::FILTER_INTERSECTION_PAIR` flags.
+    /// involved in the contact contains the `PhysicsHooksFlags::FILTER_INTERSECTION_PAIR` flags
+    /// in its physics hooks flags.
     ///
     /// User-defined filter for potential intersection pairs detected by the broad-phase.
     ///
@@ -188,13 +204,14 @@ pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
     /// If this return `true` then the narrow-phase will compute intersection
     /// information for this pair.
     fn filter_intersection_pair(&self, _context: &PairFilterContext<Bodies, Colliders>) -> bool {
-        false
+        true
     }
 
     /// Modifies the set of contacts seen by the constraints solver.
     ///
-    /// Note that this method will only be called if `self.active_hooks()`
+    /// Note that this method will only be called if at least one of the colliders
-    /// contains the `PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS` flags.
+    /// involved in the contact contains the `PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS` flags
+    /// in its physics hooks flags.
     ///
     /// By default, the content of `solver_contacts` is computed from `manifold.points`.
     /// This method will be called on each contact manifold which have the flag `SolverFlags::modify_solver_contacts` set.
@@ -220,16 +237,12 @@ pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
 }
 
 impl<Bodies, Colliders> PhysicsHooks<Bodies, Colliders> for () {
-    fn active_hooks(&self) -> PhysicsHooksFlags {
-        PhysicsHooksFlags::empty()
-    }
-
     fn filter_contact_pair(&self, _: &PairFilterContext<Bodies, Colliders>) -> Option<SolverFlags> {
-        None
+        Some(SolverFlags::default())
     }
 
     fn filter_intersection_pair(&self, _: &PairFilterContext<Bodies, Colliders>) -> bool {
-        false
+        true
     }
 
     fn modify_solver_contacts(&self, _: &mut ContactModificationContext<Bodies, Colliders>) {}

src_testbed/box2d_backend.rs

@@ -87,11 +87,13 @@ impl Box2dWorld {
 
     fn insert_colliders(&mut self, colliders: &ColliderSet) {
         for (_, collider) in colliders.iter() {
-            let b2_body_handle = self.rapier2box2d[&collider.parent()];
+            if let Some(parent) = collider.parent() {
+                let b2_body_handle = self.rapier2box2d[&parent];
                 let mut b2_body = self.world.body_mut(b2_body_handle);
                 Self::create_fixture(&collider, &mut *b2_body);
             }
         }
+    }
 
     fn insert_joints(&mut self, joints: &JointSet) {
         for joint in joints.iter() {
@@ -122,8 +124,8 @@ impl Box2dWorld {
                         body_a,
                         body_b,
                         collide_connected: true,
-                        local_anchor_a: na_vec_to_b2_vec(params.local_anchor1.translation.vector),
+                        local_anchor_a: na_vec_to_b2_vec(params.local_frame1.translation.vector),
-                        local_anchor_b: na_vec_to_b2_vec(params.local_anchor2.translation.vector),
+                        local_anchor_b: na_vec_to_b2_vec(params.local_frame2.translation.vector),
                         reference_angle: 0.0,
                         frequency: 0.0,
                         damping_ratio: 0.0,
@@ -155,7 +157,14 @@ impl Box2dWorld {
     }
 
     fn create_fixture(collider: &Collider, body: &mut b2::MetaBody<NoUserData>) {
-        let center = na_vec_to_b2_vec(collider.position_wrt_parent().translation.vector);
+        let center = na_vec_to_b2_vec(
+            collider
+                .position_wrt_parent()
+                .copied()
+                .unwrap_or(na::one())
+                .translation
+                .vector,
+        );
         let mut fixture_def = b2::FixtureDef::new();
 
         fixture_def.restitution = collider.material().restitution;
@@ -230,7 +239,9 @@ impl Box2dWorld {
 
                 for coll_handle in body.colliders() {
                     let collider = &mut colliders[*coll_handle];
-                    collider.set_position_debug(pos * collider.position_wrt_parent());
+                    collider.set_position(
+                        pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
+                    );
                 }
             }
         }

src_testbed/graphics.rs

@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use na::Point3;
+use na::{point, Point3};
 
 use crate::math::Isometry;
 use crate::objects::node::EntityWithGraphics;
@@ -34,7 +34,7 @@ impl GraphicsManager {
             b2sn: HashMap::new(),
             b2color: HashMap::new(),
             c2color: HashMap::new(),
-            ground_color: Point3::new(0.5, 0.5, 0.5),
+            ground_color: point![0.5, 0.5, 0.5],
             b2wireframe: HashMap::new(),
             prefab_meshes: HashMap::new(),
         }
@@ -57,9 +57,10 @@ impl GraphicsManager {
     pub fn remove_collider_nodes(
         &mut self,
         commands: &mut Commands,
-        body: RigidBodyHandle,
+        body: Option<RigidBodyHandle>,
         collider: ColliderHandle,
     ) {
+        let body = body.unwrap_or(RigidBodyHandle::invalid());
         if let Some(sns) = self.b2sn.get_mut(&body) {
             for sn in sns.iter_mut() {
                 if sn.collider == collider {
@@ -83,23 +84,23 @@ impl GraphicsManager {
         &mut self,
         materials: &mut Assets<StandardMaterial>,
         b: RigidBodyHandle,
-        color: Point3<f32>,
+        color: [f32; 3],
     ) {
-        self.b2color.insert(b, color);
+        self.b2color.insert(b, color.into());
 
         if let Some(ns) = self.b2sn.get_mut(&b) {
             for n in ns.iter_mut() {
-                n.set_color(materials, color)
+                n.set_color(materials, color.into())
             }
         }
     }
 
-    pub fn set_initial_body_color(&mut self, b: RigidBodyHandle, color: Point3<f32>) {
+    pub fn set_initial_body_color(&mut self, b: RigidBodyHandle, color: [f32; 3]) {
-        self.b2color.insert(b, color);
+        self.b2color.insert(b, color.into());
     }
 
-    pub fn set_initial_collider_color(&mut self, c: ColliderHandle, color: Point3<f32>) {
+    pub fn set_initial_collider_color(&mut self, c: ColliderHandle, color: [f32; 3]) {
-        self.c2color.insert(c, color);
+        self.c2color.insert(c, color.into());
     }
 
     pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
@@ -118,18 +119,18 @@ impl GraphicsManager {
         }
     }
 
-    pub fn toggle_wireframe_mode(&mut self, colliders: &ColliderSet, _enabled: bool) {
+    pub fn toggle_wireframe_mode(&mut self, _colliders: &ColliderSet, _enabled: bool) {
-        for n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
+        for _n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
-            let _force_wireframe = if let Some(collider) = colliders.get(n.collider) {
+            // let _force_wireframe = if let Some(collider) = colliders.get(n.collider) {
-                collider.is_sensor()
+            //     collider.is_sensor()
-                    || self
+            //         || self
-                        .b2wireframe
+            //             .b2wireframe
-                        .get(&collider.parent())
+            //             .get(&collider.parent())
-                        .cloned()
+            //             .cloned()
-                        .unwrap_or(false)
+            //             .unwrap_or(false)
-            } else {
+            // } else {
-                false
+            //     false
-            };
+            // };
 
             // if let Some(node) = n.scene_node_mut() {
             //     if force_wireframe || enabled {
@@ -171,7 +172,7 @@ impl GraphicsManager {
             }
         }
 
-        self.set_body_color(materials, handle, color);
+        self.set_body_color(materials, handle, color.into());
 
         color
     }
@@ -257,10 +258,10 @@ impl GraphicsManager {
         colliders: &ColliderSet,
     ) {
         let collider = &colliders[handle];
-        let color = *self.b2color.get(&collider.parent()).unwrap();
+        let collider_parent = collider.parent().unwrap_or(RigidBodyHandle::invalid());
+        let color = *self.b2color.get(&collider_parent).unwrap();
         let color = self.c2color.get(&handle).copied().unwrap_or(color);
-        let mut nodes =
+        let mut nodes = std::mem::replace(self.b2sn.get_mut(&collider_parent).unwrap(), Vec::new());
-            std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new());
         self.do_add_shape(
             commands,
             meshes,
@@ -273,7 +274,7 @@ impl GraphicsManager {
             color,
             &mut nodes,
         );
-        self.b2sn.insert(collider.parent(), nodes);
+        self.b2sn.insert(collider_parent, nodes);
     }
 
     fn do_add_shape(
@@ -338,9 +339,9 @@ impl GraphicsManager {
                 //
                 //     if bo.is_dynamic() {
                 //         if bo.is_ccd_active() {
-                //             n.set_color(Point3::new(1.0, 0.0, 0.0));
+                //             n.set_color(point![1.0, 0.0, 0.0]);
                 //         } else {
-                //             n.set_color(Point3::new(0.0, 1.0, 0.0));
+                //             n.set_color(point![0.0, 1.0, 0.0]);
                 //         }
                 //     }
                 // }
@@ -365,9 +366,9 @@ impl GraphicsManager {
     //                 let y = rotmat.column(1) * 0.25f32;
     //                 let z = rotmat.column(2) * 0.25f32;
 
-    //                 window.draw_line(center, &(*center + x), &Point3::new(1.0, 0.0, 0.0));
+    //                 window.draw_line(center, &(*center + x), &point![1.0, 0.0, 0.0]);
-    //                 window.draw_line(center, &(*center + y), &Point3::new(0.0, 1.0, 0.0));
+    //                 window.draw_line(center, &(*center + y), &point![0.0, 1.0, 0.0]);
-    //                 window.draw_line(center, &(*center + z), &Point3::new(0.0, 0.0, 1.0));
+    //                 window.draw_line(center, &(*center + z), &point![0.0, 0.0, 1.0]);
     //             // }
     //         }
     //     }

src_testbed/nphysics_backend.rs

@@ -55,8 +55,9 @@ impl NPhysicsWorld {
         }
 
         for (_, collider) in colliders.iter() {
-            let parent = &bodies[collider.parent()];
+            if let Some(parent_handle) = collider.parent() {
-            let nphysics_rb_handle = rapier2nphysics[&collider.parent()];
+                let parent = &bodies[parent_handle];
+                let nphysics_rb_handle = rapier2nphysics[&parent_handle];
                 if let Some(collider) =
                     nphysics_collider_from_rapier_collider(&collider, parent.is_dynamic())
                 {
@@ -66,6 +67,7 @@ impl NPhysicsWorld {
                     eprintln!("Creating shape unknown to the nphysics backend.")
                 }
             }
+        }
 
         for joint in joints.iter() {
             let b1 = BodyPartHandle(rapier2nphysics[&joint.1.body1], 0);
@@ -76,10 +78,10 @@ impl NPhysicsWorld {
                     let c = FixedConstraint::new(
                         b1,
                         b2,
-                        params.local_anchor1.translation.vector.into(),
+                        params.local_frame1.translation.vector.into(),
-                        params.local_anchor1.rotation,
+                        params.local_frame1.rotation,
-                        params.local_anchor2.translation.vector.into(),
+                        params.local_frame2.translation.vector.into(),
-                        params.local_anchor2.rotation,
+                        params.local_frame2.rotation,
                     );
                     nphysics_joints.insert(c);
                 }
@@ -172,7 +174,9 @@ impl NPhysicsWorld {
 
             for coll_handle in rb.colliders() {
                 let collider = &mut colliders[*coll_handle];
-                collider.set_position_debug(pos * collider.position_wrt_parent());
+                collider.set_position(
+                    pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
+                );
             }
         }
     }
@@ -183,7 +187,7 @@ fn nphysics_collider_from_rapier_collider(
     is_dynamic: bool,
 ) -> Option<ColliderDesc<f32>> {
     let mut margin = ColliderDesc::<f32>::default_margin();
-    let mut pos = *collider.position_wrt_parent();
+    let mut pos = collider.position_wrt_parent().copied().unwrap_or(na::one());
     let shape = collider.shape();
 
     let shape = if let Some(cuboid) = shape.as_cuboid() {
@@ -209,7 +213,7 @@ fn nphysics_collider_from_rapier_collider(
                 trimesh
                     .indices()
                     .iter()
-                    .map(|idx| na::Point3::new(idx[0] as usize, idx[1] as usize, idx[2] as usize))
+                    .map(|idx| na::point![idx[0] as usize, idx[1] as usize, idx[2] as usize])
                     .collect(),
                 None,
             ))

src_testbed/objects/node.rs

@@ -2,7 +2,7 @@ use bevy::prelude::*;
 use bevy::render::mesh::{Indices, VertexAttributeValues};
 
 //use crate::objects::plane::Plane;
-use na::{Point3, Vector3};
+use na::{point, Point3, Vector3};
 use std::collections::HashMap;
 
 use bevy::render::pipeline::PrimitiveTopology;
@@ -106,7 +106,7 @@ impl EntityWithGraphics {
     pub fn select(&mut self, materials: &mut Assets<StandardMaterial>) {
         // NOTE: we don't just call `self.set_color` because that would
         //       overwrite self.base_color too.
-        self.color = Point3::new(1.0, 0.0, 0.0);
+        self.color = point![1.0, 0.0, 0.0];
         if let Some(material) = materials.get_mut(&self.material) {
             material.base_color = Color::rgb(self.color.x, self.color.y, self.color.z);
         }
@@ -210,10 +210,10 @@ impl EntityWithGraphics {
         // Halfspace
         //
         let vertices = vec![
-            Point3::new(-1000.0, 0.0, -1000.0),
+            point![-1000.0, 0.0, -1000.0],
-            Point3::new(1000.0, 0.0, -1000.0),
+            point![1000.0, 0.0, -1000.0],
-            Point3::new(1000.0, 0.0, 1000.0),
+            point![1000.0, 0.0, 1000.0],
-            Point3::new(-1000.0, 0.0, 1000.0),
+            point![-1000.0, 0.0, 1000.0],
         ];
         let indices = vec![[0, 1, 2], [0, 2, 3]];
         let mesh = bevy_mesh((vertices, indices));
@@ -365,7 +365,7 @@ fn generate_collider_mesh(co_shape: &dyn Shape) -> Option<Mesh> {
             let vertices = trimesh
                 .vertices()
                 .iter()
-                .map(|p| Point3::new(p.x, p.y, 0.0))
+                .map(|p| point![p.x, p.y, 0.0])
                 .collect();
             bevy_mesh((vertices, trimesh.indices().to_vec()))
         }

src_testbed/physx_backend.rs

@@ -220,25 +220,30 @@ impl PhysxWorld {
                 if let Some((mut px_shape, px_material, collider_pos)) =
                     physx_collider_from_rapier_collider(&mut *physics, &mut cooking, &collider)
                 {
-                    let parent_body = &bodies[collider.parent()];
+                    if let Some(parent_handle) = collider.parent() {
+                        let parent_body = &bodies[parent_handle];
 
                         if !parent_body.is_dynamic() {
-                        let actor = rapier2static.get_mut(&collider.parent()).unwrap();
+                            let actor = rapier2static.get_mut(&parent_handle).unwrap();
                             actor.attach_shape(&mut px_shape);
                         } else {
-                        let actor = rapier2dynamic.get_mut(&collider.parent()).unwrap();
+                            let actor = rapier2dynamic.get_mut(&parent_handle).unwrap();
                             actor.attach_shape(&mut px_shape);
                         }
 
                         unsafe {
                             let pose = collider_pos.into_physx();
-                        physx_sys::PxShape_setLocalPose_mut(px_shape.as_mut_ptr(), &pose.into());
+                            physx_sys::PxShape_setLocalPose_mut(
+                                px_shape.as_mut_ptr(),
+                                &pose.into(),
+                            );
                         }
 
                         shapes.push(px_shape);
                         materials.push(px_material);
                     }
                 }
+            }
 
             // Update mass properties and CCD flags.
             for (rapier_handle, actor) in rapier2dynamic.iter_mut() {
@@ -454,8 +459,8 @@ impl PhysxWorld {
                         }
                     }
                     JointParams::FixedJoint(params) => {
-                        let frame1 = params.local_anchor1.into_physx().into();
+                        let frame1 = params.local_frame1.into_physx().into();
-                        let frame2 = params.local_anchor2.into_physx().into();
+                        let frame2 = params.local_frame2.into_physx().into();
 
                         physx_sys::phys_PxFixedJointCreate(
                             physics.as_mut_ptr(),
@@ -500,7 +505,9 @@ impl PhysxWorld {
 
             for coll_handle in rb.colliders() {
                 let collider = &mut colliders[*coll_handle];
-                collider.set_position_debug(pos * collider.position_wrt_parent());
+                collider.set_position(
+                    pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
+                );
             }
         }
     }
@@ -511,7 +518,7 @@ fn physx_collider_from_rapier_collider(
     cooking: &PxCooking,
     collider: &Collider,
 ) -> Option<(Owner<PxShape>, Owner<PxMaterial>, Isometry3<f32>)> {
-    let mut local_pose = *collider.position_wrt_parent();
+    let mut local_pose = collider.position_wrt_parent().copied().unwrap_or(na::one());
     let shape = collider.shape();
     let shape_flags = if collider.is_sensor() {
         ShapeFlag::TriggerShape.into()

src_testbed/testbed.rs

@@ -429,7 +429,7 @@ impl TestbedApp {
 }
 
 impl<'a, 'b, 'c, 'd> TestbedGraphics<'a, 'b, 'c, 'd> {
-    pub fn set_body_color(&mut self, body: RigidBodyHandle, color: Point3<f32>) {
+    pub fn set_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
         self.manager
             .set_body_color(&mut self.materials, body, color);
     }
@@ -588,13 +588,13 @@ impl<'a, 'b, 'c, 'd> Testbed<'a, 'b, 'c, 'd> {
         }
     }
 
-    pub fn set_initial_body_color(&mut self, body: RigidBodyHandle, color: Point3<f32>) {
+    pub fn set_initial_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
         if let Some(graphics) = &mut self.graphics {
             graphics.manager.set_initial_body_color(body, color);
         }
     }
 
-    pub fn set_initial_collider_color(&mut self, collider: ColliderHandle, color: Point3<f32>) {
+    pub fn set_initial_collider_color(&mut self, collider: ColliderHandle, color: [f32; 3]) {
         if let Some(graphics) = &mut self.graphics {
             graphics.manager.set_initial_collider_color(collider, color);
         }
@@ -752,14 +752,14 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
     //             let n = manifold.data.normal;
     //
     //             use crate::engine::GraphicsWindow;
-    //             window.draw_graphics_line(&p, &(p + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
+    //             window.draw_graphics_line(&p, &(p + n * 0.4), &point![0.5, 1.0, 0.5]);
     //         }
     //         */
     //         for pt in manifold.contacts() {
     //             let color = if pt.dist > 0.0 {
-    //                 Point3::new(0.0, 0.0, 1.0)
+    //                 point![0.0, 0.0, 1.0]
     //             } else {
-    //                 Point3::new(1.0, 0.0, 0.0)
+    //                 point![1.0, 0.0, 0.0]
     //             };
     //             let pos1 = colliders[pair.pair.collider1].position();
     //             let pos2 = colliders[pair.pair.collider2].position();
@@ -771,7 +771,7 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
     //                 * manifold.subshape_pos1.unwrap_or(Isometry::identity())
     //                 * manifold.local_n1;
     //
-    //             // window.draw_graphics_line(&start, &(start + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
+    //             // window.draw_graphics_line(&start, &(start + n * 0.4), &point![0.5, 1.0, 0.5]);
     //             // window.draw_graphics_line(&start, &end, &color);
     //         }
     //     }
@@ -1228,12 +1228,15 @@ fn highlight_hovered_body(
 
         if let Some((handle, _)) = hit {
             let collider = &physics.colliders[handle];
-            if physics.bodies[collider.parent()].is_dynamic() {
+
-                testbed_state.highlighted_body = Some(collider.parent());
+            if let Some(parent_handle) = collider.parent() {
-                for node in graphics_manager.body_nodes_mut(collider.parent()).unwrap() {
+                if physics.bodies[parent_handle].is_dynamic() {
+                    testbed_state.highlighted_body = Some(parent_handle);
+                    for node in graphics_manager.body_nodes_mut(parent_handle).unwrap() {
                         node.select(materials)
                     }
                 }
             }
         }
+    }
 }