Joint API and joint motors improvements

15 files changed, 97 insertions, 147 deletions

diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs
index b4d5102..4ccf594 100644
--- a/benchmarks3d/balls3.rs
+++ b/benchmarks3d/balls3.rs
@@ -36,11 +36,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let density = 0.477;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new(status)
-                    .translation(vector![x, y, z])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new(status).translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::ball(rad).density(density).build();
+                let collider = ColliderBuilder::ball(rad).density(density);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
diff --git a/benchmarks3d/boxes3.rs b/benchmarks3d/boxes3.rs
index 0250619..e816a63 100644
--- a/benchmarks3d/boxes3.rs
+++ b/benchmarks3d/boxes3.rs
@@ -16,11 +16,9 @@ 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])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -44,11 +42,9 @@ 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])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
+                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 5b05f23..ec00e2d 100644
--- a/benchmarks3d/capsules3.rs
+++ b/benchmarks3d/capsules3.rs
@@ -16,11 +16,9 @@ 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])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -45,11 +43,9 @@ 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])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::capsule_y(rad, rad).build();
+                let collider = ColliderBuilder::capsule_y(rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd3.rs
index d54ebc1..ed137a2 100644
--- a/benchmarks3d/ccd3.rs
+++ b/benchmarks3d/ccd3.rs
@@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height, 0.0])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -50,8 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let rigid_body = RigidBodyBuilder::new_dynamic()
                     .translation(vector![x, y, z])
                     .linvel(vector![0.0, -1000.0, 0.0])
-                    .ccd_enabled(true)
-                    .build();
+                    .ccd_enabled(true);
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
@@ -64,7 +61,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad),
                 };
 
-                colliders.insert_with_parent(collider.build(), handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
diff --git a/benchmarks3d/compound3.rs b/benchmarks3d/compound3.rs
index 872923c..04e8c78 100644
--- a/benchmarks3d/compound3.rs
+++ b/benchmarks3d/compound3.rs
@@ -16,11 +16,9 @@ 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])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -44,17 +42,19 @@ 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(vector![x, y, z])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 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(vector![rad * 10.0, rad * 10.0, 0.0])
-                    .build();
-                let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(vector![-rad * 10.0, rad * 10.0, 0.0])
-                    .build();
+                let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
+                let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad).translation(vector![
+                    rad * 10.0,
+                    rad * 10.0,
+                    0.0
+                ]);
+                let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad).translation(vector![
+                    -rad * 10.0,
+                    rad * 10.0,
+                    0.0
+                ]);
                 colliders.insert_with_parent(collider1, handle, &mut bodies);
                 colliders.insert_with_parent(collider2, handle, &mut bodies);
                 colliders.insert_with_parent(collider3, handle, &mut bodies);
diff --git a/benchmarks3d/convex_polyhedron3.rs b/benchmarks3d/convex_polyhedron3.rs
index cb834ea..5d9f363 100644
--- a/benchmarks3d/convex_polyhedron3.rs
+++ b/benchmarks3d/convex_polyhedron3.rs
@@ -18,11 +18,9 @@ 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])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -57,13 +55,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(vector![x, y, z])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
-                    .unwrap()
-                    .build();
+                let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
                 colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
diff --git a/benchmarks3d/heightfield3.rs b/benchmarks3d/heightfield3.rs
index b95f1ee..6bf6fc0 100644
--- a/benchmarks3d/heightfield3.rs
+++ b/benchmarks3d/heightfield3.rs
@@ -31,9 +31,9 @@ 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);
 
     /*
@@ -55,16 +55,14 @@ 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(vector![x, y, z])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
+                    let collider = ColliderBuilder::cuboid(rad, 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/benchmarks3d/joint_ball3.rs b/benchmarks3d/joint_ball3.rs
index 64128ba..4b509af 100644
--- a/benchmarks3d/joint_ball3.rs
+++ b/benchmarks3d/joint_ball3.rs
@@ -27,17 +27,16 @@ pub fn init_world(testbed: &mut Testbed) {
                 RigidBodyType::Dynamic
             };
 
-            let rigid_body = RigidBodyBuilder::new(status)
-                .translation(vector![fk * shift, 0.0, fi * shift])
-                .build();
+            let rigid_body =
+                RigidBodyBuilder::new(status).translation(vector![fk * shift, 0.0, 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 = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
+                let joint = SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
                 impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
@@ -45,7 +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 = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
+                let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
                 impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs
index b3f4039..5fdba9c 100644
--- a/benchmarks3d/joint_fixed3.rs
+++ b/benchmarks3d/joint_fixed3.rs
@@ -40,17 +40,20 @@ pub fn init_world(testbed: &mut Testbed) {
                             RigidBodyType::Dynamic
                         };
 
-                        let rigid_body = RigidBodyBuilder::new(status)
-                            .translation(vector![x + fk * shift, y, z + fi * shift])
-                            .build();
+                        let rigid_body = RigidBodyBuilder::new(status).translation(vector![
+                            x + fk * shift,
+                            y,
+                            z + 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_anchor2(point![0.0, 0.0, -shift]);
+                            let joint =
+                                FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
                             impulse_joints.insert(parent_handle, child_handle, joint);
                         }
 
@@ -58,7 +61,8 @@ 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_anchor2(point![-shift, 0.0, 0.0]);
+                            let joint =
+                                FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
                             impulse_joints.insert(parent_handle, child_handle, joint);
                         }
 
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;
diff --git a/benchmarks3d/joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs
index 8bdf0e9..aa1be50 100644
--- a/benchmarks3d/joint_revolute3.rs
+++ b/benchmarks3d/joint_revolute3.rs
@@ -20,11 +20,9 @@ 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, 0.0])
-                .build();
+            let ground = RigidBodyBuilder::new_static().translation(vector![x, y, 0.0]);
             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 {
@@ -40,13 +38,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let mut handles = [curr_parent; 4];
                 for k in 0..4 {
                     let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::new_dynamic()
-                        .position(positions[k])
-                        .build();
+                    let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
                     handles[k] = 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, handles[k], &mut bodies);
                 }
 
@@ -55,10 +49,10 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = Vector::z_axis();
 
                 let revs = [
-                    RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
-                    RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
-                    RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
-                    RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]),
+                    RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
+                    RevoluteJointBuilder::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
+                    RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
+                    RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]),
                 ];
 
                 impulse_joints.insert(curr_parent, handles[0], revs[0]);
diff --git a/benchmarks3d/keva3.rs b/benchmarks3d/keva3.rs
index ad9e1ae..30e5246 100644
--- a/benchmarks3d/keva3.rs
+++ b/benchmarks3d/keva3.rs
@@ -38,15 +38,13 @@ pub fn build_block(
                 };
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(vector![
-                        x + dim.x + shift.x,
-                        y + dim.y + shift.y,
-                        z + dim.z + shift.z
-                    ])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
+                    x + dim.x + shift.x,
+                    y + dim.y + shift.y,
+                    z + dim.z + shift.z
+                ]);
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
+                let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
                 colliders.insert_with_parent(collider, handle, bodies);
 
                 testbed.set_initial_body_color(handle, color0);
@@ -61,15 +59,13 @@ pub fn build_block(
     for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
         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(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
-                ])
-                .build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().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
+            ]);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
+            let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
             colliders.insert_with_parent(collider, handle, bodies);
             testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
@@ -92,11 +88,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height, 0.0])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
diff --git a/benchmarks3d/pyramid3.rs b/benchmarks3d/pyramid3.rs
index b378da4..572db45 100644
--- a/benchmarks3d/pyramid3.rs
+++ b/benchmarks3d/pyramid3.rs
@@ -22,13 +22,11 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(vector![x, y, z])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 let rigid_body_handle = bodies.insert(rigid_body);
 
                 let collider =
-                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
+                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
                 colliders.insert_with_parent(collider, rigid_body_handle, bodies);
             }
         }
@@ -50,11 +48,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height, 0.0])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
diff --git a/benchmarks3d/stacks3.rs b/benchmarks3d/stacks3.rs
index 7fc9097..ff67917 100644
--- a/benchmarks3d/stacks3.rs
+++ b/benchmarks3d/stacks3.rs
@@ -23,10 +23,9 @@ fn create_tower_circle(
                 * Translation::new(0.0, y, radius);
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().position(pos);
             let handle = bodies.insert(rigid_body);
-            let collider =
-                ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
+            let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
             colliders.insert_with_parent(collider, handle, bodies);
         }
     }
@@ -50,12 +49,9 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(vector![x, y, z])
-                .build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
             let handle = bodies.insert(rigid_body);
-            let collider =
-                ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
+            let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
             colliders.insert_with_parent(collider, handle, bodies);
         }
     }
@@ -83,12 +79,10 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(vector![x, y, z])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider =
-                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
+                    ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
                 colliders.insert_with_parent(collider, handle, bodies);
             }
         }
@@ -110,11 +104,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height, 0.0])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
diff --git a/benchmarks3d/trimesh3.rs b/benchmarks3d/trimesh3.rs
index 1039a09..e9d73ee 100644
--- a/benchmarks3d/trimesh3.rs
+++ b/benchmarks3d/trimesh3.rs
@@ -36,9 +36,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let heightfield = HeightField::new(heights, ground_size);
     let (vertices, indices) = heightfield.to_trimesh();
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::new_static();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::trimesh(vertices, indices).build();
+    let collider = ColliderBuilder::trimesh(vertices, indices);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -60,16 +60,14 @@ 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(vector![x, y, z])
-                    .build();
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
+                    let collider = ColliderBuilder::cuboid(rad, 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);
                 }
             }