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

15 files changed, 176 insertions, 192 deletions

diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs
index 492aeac..3f0bf36 100644
--- a/benchmarks3d/balls3.rs
+++ b/benchmarks3d/balls3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -37,10 +35,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let density = 0.477;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new(status).translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new(status)
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::ball(rad).density(density).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -49,5 +49,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/boxes3.rs b/benchmarks3d/boxes3.rs
index 86213af..9c7ed81 100644
--- a/benchmarks3d/boxes3.rs
+++ b/benchmarks3d/boxes3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -45,10 +43,12 @@ 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(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, 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(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/capsules3.rs b/benchmarks3d/capsules3.rs
index edd6d57..8565503 100644
--- a/benchmarks3d/capsules3.rs
+++ b/benchmarks3d/capsules3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,10 +44,12 @@ 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(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -60,5 +60,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd3.rs
index a496648..987aba6 100644
--- a/benchmarks3d/ccd3.rs
+++ b/benchmarks3d/ccd3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -49,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(x, y, z)
-                    .linvel(0.0, -1000.0, 0.0)
+                    .translation(vector![x, y, z])
+                    .linvel(vector![0.0, -1000.0, 0.0])
                     .ccd_enabled(true)
                     .build();
                 let handle = bodies.insert(rigid_body);
@@ -65,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad),
                 };
 
-                colliders.insert(collider.build(), handle, &mut bodies);
+                colliders.insert_with_parent(collider.build(), handle, &mut bodies);
             }
         }
 
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/compound3.rs b/benchmarks3d/compound3.rs
index 3f82ca0..a914ce9 100644
--- a/benchmarks3d/compound3.rs
+++ b/benchmarks3d/compound3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -45,18 +43,20 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift * 2.0 - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
                 let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(rad * 10.0, rad * 10.0, 0.0)
+                    .translation(vector![rad * 10.0, rad * 10.0, 0.0])
                     .build();
                 let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(-rad * 10.0, rad * 10.0, 0.0)
+                    .translation(vector![-rad * 10.0, rad * 10.0, 0.0])
                     .build();
-                colliders.insert(collider1, handle, &mut bodies);
-                colliders.insert(collider2, handle, &mut bodies);
-                colliders.insert(collider3, handle, &mut bodies);
+                colliders.insert_with_parent(collider1, handle, &mut bodies);
+                colliders.insert_with_parent(collider2, handle, &mut bodies);
+                colliders.insert_with_parent(collider3, handle, &mut bodies);
             }
         }
 
@@ -67,5 +67,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/convex_polyhedron3.rs b/benchmarks3d/convex_polyhedron3.rs
index 0e14782..7065cd5 100644
--- a/benchmarks3d/convex_polyhedron3.rs
+++ b/benchmarks3d/convex_polyhedron3.rs
@@ -1,8 +1,6 @@
-use na::Point3;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,11 +18,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -53,17 +51,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 let mut points = Vec::new();
                 for _ in 0..10 {
-                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    let pt: Point<f32> = distribution.sample(&mut rng);
                     points.push(pt * scale);
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
                     .unwrap()
                     .build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/heightfield3.rs b/benchmarks3d/heightfield3.rs
index 062e7c5..3ddc0ec 100644
--- a/benchmarks3d/heightfield3.rs
+++ b/benchmarks3d/heightfield3.rs
@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use na::ComplexField;
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(200.0, 1.0, 200.0);
+    let ground_size = vector![200.0, 1.0, 200.0];
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -55,15 +54,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 } else {
                     let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -73,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/joint_ball3.rs b/benchmarks3d/joint_ball3.rs
index e7b3e3d..5e3eb10 100644
--- a/benchmarks3d/joint_ball3.rs
+++ b/benchmarks3d/joint_ball3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -29,16 +27,16 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, fi * shift)
+                .translation(vector![fk * shift, 0.0, fi * shift])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, &mut bodies);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
+                let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -46,7 +44,7 @@ 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 = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -58,8 +56,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(-110.0, -46.0, 170.0),
-        Point3::new(54.0, -38.0, 29.0),
-    );
+    testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
 }
diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs
index 0475258..5647dde 100644
--- a/benchmarks3d/joint_fixed3.rs
+++ b/benchmarks3d/joint_fixed3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3};
-use rapier3d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -42,18 +40,18 @@ pub fn init_world(testbed: &mut Testbed) {
                         };
 
                         let rigid_body = RigidBodyBuilder::new(status)
-                            .translation(x + fk * shift, y, z + fi * shift)
+                            .translation(vector![x + fk * shift, y, z + fi * shift])
                             .build();
                         let child_handle = bodies.insert(rigid_body);
                         let collider = ColliderBuilder::ball(rad).build();
-                        colliders.insert(collider, child_handle, &mut bodies);
+                        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(
-                                Isometry3::identity(),
-                                Isometry3::translation(0.0, 0.0, -shift),
+                                Isometry::identity(),
+                                Isometry::translation(0.0, 0.0, -shift),
                             );
                             joints.insert(&mut bodies, parent_handle, child_handle, joint);
                         }
@@ -63,8 +61,8 @@ pub fn init_world(testbed: &mut Testbed) {
                             let parent_index = body_handles.len() - num;
                             let parent_handle = body_handles[parent_index];
                             let joint = FixedJoint::new(
-                                Isometry3::identity(),
-                                Isometry3::translation(-shift, 0.0, 0.0),
+                                Isometry::identity(),
+                                Isometry::translation(-shift, 0.0, 0.0),
                             );
                             joints.insert(&mut bodies, parent_handle, child_handle, joint);
                         }
@@ -80,8 +78,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(-38.0, 14.0, 108.0),
-        Point3::new(46.0, 12.0, 23.0),
-    );
+    testbed.look_at(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
 }
diff --git a/benchmarks3d/joint_prismatic3.rs b/benchmarks3d/joint_prismatic3.rs
index afc18fb..b310b14 100644
--- a/benchmarks3d/joint_prismatic3.rs
+++ b/benchmarks3d/joint_prismatic3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Unit, Vector3};
-use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -24,33 +22,37 @@ 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(x, y, z).build();
+                let ground = RigidBodyBuilder::new_static()
+                    .translation(vector![x, y, z])
+                    .build();
                 let mut curr_parent = bodies.insert(ground);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, curr_parent, &mut bodies);
+                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(x, y, z).build();
+                    let rigid_body = RigidBodyBuilder::new_dynamic()
+                        .translation(vector![x, y, z])
+                        .build();
                     let curr_child = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::cuboid(rad, rad, rad)
                         .density(density)
                         .build();
-                    colliders.insert(collider, curr_child, &mut bodies);
+                    colliders.insert_with_parent(collider, curr_child, &mut bodies);
 
                     let axis = if i % 2 == 0 {
-                        Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+                        UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
                     } else {
-                        Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+                        UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
                     };
 
-                    let z = Vector3::z();
+                    let z = Vector::z();
                     let mut prism = PrismaticJoint::new(
-                        Point3::origin(),
+                        Point::origin(),
                         axis,
                         z,
-                        Point3::new(0.0, 0.0, -shift),
+                        point![0.0, 0.0, -shift],
                         axis,
                         z,
                     );
@@ -69,8 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(262.0, 63.0, 124.0),
-        Point3::new(101.0, 4.0, -3.0),
-    );
+    testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
 }
diff --git a/benchmarks3d/joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs
index 0c647a6..7c0f6cb 100644
--- a/benchmarks3d/joint_revolute3.rs
+++ b/benchmarks3d/joint_revolute3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RevoluteJoint, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -22,20 +20,20 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = j as f32 * shift * 4.0;
 
             let ground = RigidBodyBuilder::new_static()
-                .translation(x, y, 0.0)
+                .translation(vector![x, y, 0.0])
                 .build();
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, curr_parent, &mut bodies);
+            colliders.insert_with_parent(collider, curr_parent, &mut bodies);
 
             for i in 0..num {
                 // Create four bodies.
                 let z = i as f32 * shift * 2.0 + shift;
                 let positions = [
-                    Isometry3::translation(x, y, z),
-                    Isometry3::translation(x + shift, y, z),
-                    Isometry3::translation(x + shift, y, z + shift),
-                    Isometry3::translation(x, y, z + shift),
+                    Isometry::translation(x, y, z),
+                    Isometry::translation(x + shift, y, z),
+                    Isometry::translation(x + shift, y, z + shift),
+                    Isometry::translation(x, y, z + shift),
                 ];
 
                 let mut handles = [curr_parent; 4];
@@ -48,19 +46,19 @@ pub fn init_world(testbed: &mut Testbed) {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad)
                         .density(density)
                         .build();
-                    colliders.insert(collider, handles[k], &mut bodies);
+                    colliders.insert_with_parent(collider, handles[k], &mut bodies);
                 }
 
                 // Setup four joints.
-                let o = Point3::origin();
-                let x = Vector3::x_axis();
-                let z = Vector3::z_axis();
+                let o = Point::origin();
+                let x = Vector::x_axis();
+                let z = Vector::z_axis();
 
                 let revs = [
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-                    RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-                    RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
+                    RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+                    RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
+                    RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+                    RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
                 ];
 
                 joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
@@ -77,8 +75,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(478.0, 83.0, 228.0),
-        Point3::new(134.0, 83.0, -116.0),
-    );
+    testbed.look_at(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
 }
diff --git a/benchmarks3d/keva3.rs b/benchmarks3d/keva3.rs
index 9e6807a..38a0432 100644
--- a/benchmarks3d/keva3.rs
+++ b/benchmarks3d/keva3.rs
@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn build_block(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    half_extents: Vector3<f32>,
-    shift: Vector3<f32>,
+    half_extents: Vector<f32>,
+    shift: Vector<f32>,
     mut numx: usize,
     numy: usize,
     mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
     let block_width = 2.0 * half_extents.z * numx as f32;
     let block_height = 2.0 * half_extents.y * numy as f32;
     let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
-    let mut color0 = Point3::new(0.7, 0.5, 0.9);
-    let mut color1 = Point3::new(0.6, 1.0, 0.6);
+    let mut color0 = [0.7, 0.5, 0.9];
+    let mut color1 = [0.6, 1.0, 0.6];
 
     for i in 0..numy {
         std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(
+                    .translation(vector![
                         x + dim.x + shift.x,
                         y + dim.y + shift.y,
-                        z + dim.z + shift.z,
-                    )
+                        z + dim.z + shift.z
+                    ])
                     .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
 
                 testbed.set_initial_body_color(handle, color0);
                 std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
         for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     i as f32 * dim.x * 2.0 + dim.x + shift.x,
                     dim.y + shift.y + block_height,
-                    j as f32 * dim.z * 2.0 + dim.z + shift.z,
-                )
+                    j as f32 * dim.z * 2.0 + dim.z + shift.z
+                ])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
             testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
         }
@@ -94,16 +92,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
-    let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
+    let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
     let mut block_height = 0.0;
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut bodies,
             &mut colliders,
             half_extents,
-            Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
+            vector![-block_width / 2.0, block_height, -block_width / 2.0],
             numx,
             numy,
             numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/pyramid3.rs b/benchmarks3d/pyramid3.rs
index 3b31eac..655ecb7 100644
--- a/benchmarks3d/pyramid3.rs
+++ b/benchmarks3d/pyramid3.rs
@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn create_pyramid(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.5;
     for i in 0usize..stack_height {
@@ -24,12 +22,14 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let rigid_body_handle = bodies.insert(rigid_body);
 
                 let collider =
                     ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_exte