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

93 files changed, 1525 insertions, 1256 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2d3dcf9..f7c1d3d 100644
--- a/CHANGELOG.md
+++ b/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+- The field `ContactPair::pair` (which contained two collider handles) has been replaced by two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.
diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs
index 8fa9775..ec55f24 100644
--- a/benchmarks2d/balls2.rs
+++ b/benchmarks2d/balls2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 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);
 }
diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs
index e524386..2e4c5e4 100644
--- a/benchmarks2d/boxes2.rs
+++ b/benchmarks2d/boxes2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 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);
 }
diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs
index 89ddfde..e75afe4 100644
--- a/benchmarks2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 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);
 }
diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs
index 99f5a14..6c9792e 100644
--- a/benchmarks2d/convex_polygons2.rs
+++ b/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::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 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);
 }
diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs
index 1a30849..a07eb6e 100644
--- a/