Joint API and joint motors improvements

9 files changed, 52 insertions, 76 deletions

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);
 
     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);
 
     /*
@@ -54,11 +52,9 @@ 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])
-                .build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
+            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 6678460..c340143 100644
--- a/benchmarks2d/convex_polygons2.rs
+++ b/benchmarks2d/convex_polygons2.rs
@@ -17,25 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 30.0;
 
-    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);
 
     /*
@@ -57,9 +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])
-                .build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
@@ -69,7 +65,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 points.push(pt * scale);
             }
 
-            let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
+            let collider = ColliderBuilder::convex_hull(&points).unwrap();
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs
index 04c56da..60fc45f 100644
--- a/benchmarks2d/heightfield2.rs
+++ b/benchmarks2d/heightfield2.rs
@@ -25,9 +25,9 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::new_static();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::heightfield(heights, ground_size).build();
+    let collider = ColliderBuilder::heightfield(heights, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -46,16 +46,14 @@ 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])
-                .build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
-                let collider = ColliderBuilder::cuboid(rad, rad).build();
+                let collider = ColliderBuilder::cuboid(rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
             } else {
-                let collider = ColliderBuilder::ball(rad).build();
+                let collider = ColliderBuilder::ball(rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
diff --git a/benchmarks2d/joint_ball2.rs b/benchmarks2d/joint_ball2.rs
index e856556..9d819fc 100644
--- a/benchmarks2d/joint_ball2.rs
+++ b/benchmarks2d/joint_ball2.rs
@@ -32,17 +32,16 @@ pub fn init_world(testbed: &mut Testbed) {
                 RigidBodyType::Dynamic
             };
 
-            let rigid_body = RigidBodyBuilder::new(status)
-                .translation(vector![fk * shift, -fi * shift])
-                .build();
+            let rigid_body =
+                RigidBodyBuilder::new(status).translation(vector![fk * shift, -fi * shift]);
             let child_handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).build();
+            let collider = ColliderBuilder::ball(rad);
             colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = RevoluteJoint::new().local_anchor2(point![0.0, shift]);
+                let joint = RevoluteJointBuilder::new().local_anchor2(point![0.0, shift]);
                 impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
@@ -50,7 +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 = RevoluteJoint::new().local_anchor2(point![-shift, 0.0]);
+                let joint = RevoluteJointBuilder::new().local_anchor2(point![-shift, 0.0]);
                 impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs
index 690b8cb..f492bd5 100644
--- a/benchmarks2d/joint_fixed2.rs
+++ b/benchmarks2d/joint_fixed2.rs
@@ -38,17 +38,16 @@ pub fn init_world(testbed: &mut Testbed) {
                     };
 
                     let rigid_body = RigidBodyBuilder::new(status)
-                        .translation(vector![x + fk * shift, y - fi * shift])
-                        .build();
+                        .translation(vector![x + fk * shift, y - fi * shift]);
                     let child_handle = bodies.insert(rigid_body);
-                    let collider = ColliderBuilder::ball(rad).build();
+                    let collider = ColliderBuilder::ball(rad);
                     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().local_frame2(Isometry::translation(0.0, shift));
+                        let joint = FixedJointBuilder::new()
+                            .local_frame2(Isometry::translation(0.0, shift));
                         impulse_joints.insert(parent_handle, child_handle, joint);
                     }
 
@@ -56,8 +55,8 @@ 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 =
-                            FixedJoint::new().local_frame2(Isometry::translation(-shift, 0.0));
+                        let joint = FixedJointBuilder::new()
+                            .local_frame2(Isometry::translation(-shift, 0.0));
                         impulse_joints.insert(parent_handle, child_handle, joint);
                     }
 
diff --git a/benchmarks2d/joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs
index 20d423e..65e7fe1 100644
--- a/benchmarks2d/joint_prismatic2.rs
+++ b/benchmarks2d/joint_prismatic2.rs
@@ -24,21 +24,17 @@ 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])
-                .build();
+            let ground = RigidBodyBuilder::new_static().translation(vector![x, y]);
             let mut curr_parent = bodies.insert(ground);
-            let collider = ColliderBuilder::cuboid(rad, rad).build();
+            let collider = ColliderBuilder::cuboid(rad, rad);
             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(vector![x, y])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
                 let curr_child = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
+                let collider = ColliderBuilder::cuboid(rad, rad).density(density);
                 colliders.insert_with_parent(collider, curr_child, &mut bodies);
 
                 let axis = if i % 2 == 0 {
@@ -47,9 +43,9 @@ pub fn init_world(testbed: &mut Testbed) {
                     UnitVector::new_normalize(vector![-1.0, 1.0])
                 };
 
-                let prism = PrismaticJoint::new(axis)
+                let prism = PrismaticJointBuilder::new(axis)
                     .local_anchor2(point![0.0, shift])
-                    .limit_axis([-1.5, 1.5]);
+                    .limits([-1.5, 1.5]);
                 impulse_joints.insert(curr_parent, curr_child, prism);
 
                 curr_parent = curr_child;
diff --git a/benchmarks2d/pyramid2.rs b/benchmarks2d/pyramid2.rs
index 61636b9..7453344 100644
--- a/benchmarks2d/pyramid2.rs
+++ b/benchmarks2d/pyramid2.rs
@@ -16,9 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.0;
     let ground_thickness = 1.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::new_static();
     let ground_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
@@ -39,11 +39,9 @@ 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])
-                .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);
         }
     }