Rename rigid-body `static` to `fixed`

87 files changed, 284 insertions, 271 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a46d922..1c9d8fe 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,10 @@
 - `RigidsBody::apply_force`, `::apply_torque`, `::apply_force_at_point` have been renamed to `::add_force`,
   `::add_torque`, and `::add_force_at_point` to better reflect the fact that they are not cleared at the end
   of the timestep.
+- Rename `RigidBodyType::Static` to `RigidBodyType::Fixed` to avoid confusion with the `static` keyword.
+- All method referring to `static` rigid-bodies now use `fixed` instead of `static`.
+- Rename `RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based` to
+  `RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based`.
 
 ## v0.12.0-alpha.0 (2 Jan. 2022)
 ### Fixed
diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs
index a560d65..eb0b390 100644
--- a/benchmarks2d/balls2.rs
+++ b/benchmarks2d/balls2.rs
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shifty + centery;
 
             let status = if j == 0 {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs
index 0da76a9..2960e70 100644
--- a/benchmarks2d/boxes2.rs
+++ b/benchmarks2d/boxes2.rs
@@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
@@ -50,7 +50,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs
index 86e1004..e4c2efa 100644
--- a/benchmarks2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size * 4.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size * 4.0]);
     let handle = bodies.insert(rigid_body);
@@ -52,7 +52,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::capsule_y(rad * 1.5, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs
index c340143..eaa609c 100644
--- a/benchmarks2d/convex_polygons2.rs
+++ b/benchmarks2d/convex_polygons2.rs
@@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 30.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
@@ -55,7 +55,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs
index 60fc45f..7984d08 100644
--- a/benchmarks2d/heightfield2.rs
+++ b/benchmarks2d/heightfield2.rs
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -46,7 +46,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
diff --git a/benchmarks2d/joint_ball2.rs b/benchmarks2d/joint_ball2.rs
index 9d819fc..9fd61ff 100644
--- a/benchmarks2d/joint_ball2.rs
+++ b/benchmarks2d/joint_ball2.rs
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let fi = i as f32;
 
             let status = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs
index f492bd5..36ff62e 100644
--- a/benchmarks2d/joint_fixed2.rs
+++ b/benchmarks2d/joint_fixed2.rs
@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     let fi = i as f32;
 
                     let status = if k == 0 {
-                        RigidBodyType::Static
+                        RigidBodyType::Fixed
                     } else {
                         RigidBodyType::Dynamic
                     };
diff --git a/benchmarks2d/joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs
index 65e7fe1..d4d328b 100644
--- a/benchmarks2d/joint_prismatic2.rs
+++ b/benchmarks2d/joint_prismatic2.rs
@@ -24,7 +24,7 @@ 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(vector![x, y]);
+            let ground = RigidBodyBuilder::fixed().translation(vector![x, y]);
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, curr_parent, &mut bodies);
@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
             for i in 0..num {
                 let y = y - (i + 1) as f32 * shift;
                 let density = 1.0;
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
                 let curr_child = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad).density(density);
                 colliders.insert_with_parent(collider, curr_child, &mut bodies);
diff --git a/benchmarks2d/pyramid2.rs b/benchmarks2d/pyramid2.rs
index 7453344..617da83 100644
--- a/benchmarks2d/pyramid2.rs
+++ b/benchmarks2d/pyramid2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.0;
     let ground_thickness = 1.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs
index 4ccf594..7d76dcf 100644
--- a/benchmarks3d/balls3.rs
+++ b/benchmarks3d/balls3.rs
@@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 let status = if j == 0 {
-                    RigidBodyType::Static
+                    RigidBodyType::Fixed
                 } else {
                     RigidBodyType::Dynamic
                 };
diff --git a/benchmarks3d/boxes3.rs b/benchmarks3d/boxes3.rs
index e816a63..0981395 100644
--- a/benchmarks3d/boxes3.rs
+++ b/benchmarks3d/boxes3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -42,7 +42,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/capsules3.rs b/benchmarks3d/capsules3.rs
index ec00e2d..041715e 100644
--- a/benchmarks3d/capsules3.rs
+++ b/benchmarks3d/capsules3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd