Joint API and joint motors improvements

108 files changed, 2606 insertions, 1810 deletions

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 0bc892b..de94b50 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -98,6 +98,103 @@
                 "--pause"
             ],
             "group": "build"
+        },
+        {
+            "label": "bench 3d (no-simd - release) ",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "bench 3d (simd - release) ",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "simd-stable,other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "bench 3d (simd - parallel - release) ",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "simd-stable,other-backends,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "bench 2d (no-simd - release) ",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "bench 2d (simd - release) ",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "bench 2d (simd - parallel - release) ",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
         }
     ]
+]
 }
\ No newline at end of file
diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs
index 168acaf..a560d65 100644
--- a/benchmarks2d/balls2.rs
+++ b/benchmarks2d/balls2.rs
@@ -48,11 +48,9 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new(status)
-                .translation(vector![x, y])
-                .build();
+            let rigid_body = RigidBodyBuilder::new(status).translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).build();
+            let collider = ColliderBuilder::ball(rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs
index c3d7445..0da76a9 100644
--- a/benchmarks2d/boxes2.rs
+++ b/benchmarks2d/boxes2.rs
@@ -15,25 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::new_static();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![ground_size, ground_size * 2.0])
-        .build();
+        .translation(vector![ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![-ground_size, ground_size * 2.0])
-        .build();
+        .translation(vector![-ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -52,11 +50,9 @@ 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])
-                .build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(rad, rad).build();
+            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 3bfa6ab..86e1004 100644
--- a/benchmarks2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -15,25 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::new_static();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![ground_size, ground_size * 4.0])
-        .build();
+        .translation(vector![ground_size, ground_size * 4.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);