Joint API and joint motors improvements

1 files changed, 6 insertions, 12 deletions

diff --git a/benchmarks3d/joint_prismatic3.rs b/benchmarks3d/joint_prismatic3.rs
index 80839d7..faa5f93 100644
--- a/benchmarks3d/joint_prismatic3.rs
+++ b/benchmarks3d/joint_prismatic3.rs
@@ -23,23 +23,17 @@ 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, z])
-                    .build();
+                let ground = RigidBodyBuilder::new_static().translation(vector![x, y, z]);
                 let mut curr_parent = bodies.insert(ground);
-                let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
+                let collider = ColliderBuilder::cuboid(rad, rad, rad);
                 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(vector![x, y, z])
-                        .build();
+                    let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                     let curr_child = bodies.insert(rigid_body);
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad)
-                        .density(density)
-                        .build();
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
                     colliders.insert_with_parent(collider, curr_child, &mut bodies);
 
                     let axis = if i % 2 == 0 {
@@ -48,9 +42,9 @@ pub fn init_world(testbed: &mut Testbed) {
                         UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
                     };
 
-                    let prism = PrismaticJoint::new(axis)
+                    let prism = PrismaticJointBuilder::new(axis)
                         .local_anchor2(point![0.0, 0.0, -shift])
-                        .limit_axis([-2.0, 0.0]);
+                        .limits([-2.0, 0.0]);
                     impulse_joints.insert(curr_parent, curr_child, prism);
 
                     curr_parent = curr_child;