Joint API and joint motors improvements

17 files changed, 98 insertions, 161 deletions

diff --git a/examples2d/add_remove2.rs b/examples2d/add_remove2.rs
index 0919da9..dfc96d9 100644
--- a/examples2d/add_remove2.rs
+++ b/examples2d/add_remove2.rs
@@ -14,11 +14,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let platform_handles = positions
         .into_iter()
         .map(|pos| {
-            let rigid_body = RigidBodyBuilder::new_kinematic_position_based()
-                .translation(pos)
-                .build();
+            let rigid_body = RigidBodyBuilder::new_kinematic_position_based().translation(pos);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
+            let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
             handle
         })
@@ -35,11 +33,9 @@ pub fn init_world(testbed: &mut Testbed) {
         if state.timestep_id % 10 == 0 {
             let x = rand::random::<f32>() * 10.0 - 5.0;
             let y = rand::random::<f32>() * 10.0 + 10.0;
-            let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(vector![x, y])
-                .build();
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
             let handle = physics.bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(rad, rad).build();
+            let collider = ColliderBuilder::cuboid(rad, rad);
             physics
                 .colliders
                 .insert_with_parent(collider, handle, &mut physics.bodies);
diff --git a/examples2d/ccd2.rs b/examples2d/ccd2.rs
index 808c2e5..0e64713 100644
--- a/examples2d/ccd2.rs
+++ b/examples2d/ccd2.rs
@@ -16,27 +16,24 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 25.0;
     let ground_thickness = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true).build();
+    let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true);
     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);
 
-    let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(vector![-3.0, 0.0])
-        .build();
+    let collider =
+        ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![-3.0, 0.0]);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
-    let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(vector![6.0, 0.0])
-        .build();
+    let collider =
+        ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![6.0, 0.0]);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
         .translation(vector![2.5, 0.0])
         .sensor(true)
-        .active_events(ActiveEvents::INTERSECTION_EVENTS)
-        .build();
+        .active_events(ActiveEvents::INTERSECTION_EVENTS);
     let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
@@ -72,19 +69,18 @@ pub fn init_world(testbed: &mut Testbed) {
             let rigid_body = RigidBodyBuilder::new_dynamic()
                 .translation(vector![x, y])
                 .linvel(vector![100.0, -10.0])
-                .ccd_enabled(true)
-                .build();
+                .ccd_enabled(true);
             let handle = bodies.insert(rigid_body);
 
             // for part in &compound_parts {
             //     let collider = ColliderBuilder::new(part.1.clone())
             //         .position_wrt_parent(part.0)
-            //         .build();
+            //         ;
             //     colliders.insert_with_parent(collider, handle, &mut bodies);
             // }
 
-            let collider = ColliderBuilder::new(compound_shape.clone()).build();
-            // let collider = ColliderBuilder::cuboid(radx, rady).build();
+            let collider = ColliderBuilder::new(compound_shape.clone());
+            // let collider = ColliderBuilder::cuboid(radx, rady);
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
@@ -114,6 +110,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
                     graphics.set_body_color(parent_handle1, color);
                 }
+
                 if parent_handle2 != ground_handle && prox.collider2 != sensor_handle {
                     graphics.set_body_color(parent_handle2, color);
                 }
diff --git a/examples2d/collision_groups2.rs b/examples2d/collision_groups2.rs
index 110c32a..9c9cd30 100644
--- a/examples2d/collision_groups2.rs
+++ b/examples2d/collision_groups2.rs
@@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
     let floor_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
     /*
@@ -34,8 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
         .translation(vector![0.0, 1.0])
-        .collision_groups(GREEN_GROUP)
-        .build();
+        .collision_groups(GREEN_GROUP);
     let green_collider_handle =
         colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
 
@@ -46,8 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
         .translation(vector![0.0, 2.0])
-        .collision_groups(BLUE_GROUP)
-        .build();
+        .collision_groups(BLUE_GROUP);
     let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
 
     testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
@@ -74,13 +70,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 (BLUE_GROUP, [0.0, 0.0, 1.0])
             };
 
-            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 collider = ColliderBuilder::cuboid(rad, rad)
-                .collision_groups(group)
-                .build();
+            let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group);
             colliders.insert_with_parent(collider, handle, &mut bodies);
 
             testbed.set_initial_body_color(handle, color);
diff --git a/examples2d/convex_polygons2.rs b/examples2d/convex_polygons2.rs
index 060e0c5..b3139c4 100644
--- a/examples2d/convex_polygons2.rs
+++ b/examples2d/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/examples2d/damping2.rs b/examples2d/damping2.rs
index 481fee2..689190c 100644
--- a/examples2d/damping2.rs
+++ b/examples2d/damping2.rs
@@ -27,12 +27,11 @@ pub fn init_world(testbed: &mut Testbed) {
             .linvel(vector![x * 10.0, y * 10.0])
             .angvel(100.0)
             .linear_damping((i + 1) as f32 * subdiv * 10.0)
-            .angular_damping((num - i) as f32 * subdiv * 10.0)
-            .build();
+            .angular_damping((num - i) as f32 * subdiv * 10.0);
         let rb_handle = bodies.insert(rb);
 
         // Build the collider.
-        let co = ColliderBuilder::cuboid(rad, rad).build();
+        let co = ColliderBuilder::cuboid(rad, rad);
         colliders.insert_with_parent(co, rb_handle, &mut bodies);
     }
 
diff --git a/examples2d/debug_box_ball2.rs b/examples2d/debug_box_ball2.rs
index 8f15b7a..e071c61 100644
--- a/examples2d/debug_box_ball2.rs
+++ b/examples2d/debug_box_ball2.rs
@@ -16,19 +16,17 @@ pub fn init_world(testbed: &mut Testbed) {
     let rad = 1.0;
     let rigid_body = RigidBodyBuilder::new_static()
         .translation(vector![0.0, -rad])
-        .rotation(std::f32::consts::PI / 4.0)
-        .build();
+        .rotation(std::f32::consts::PI / 4.0);
     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);
 
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
         .translation(vector![0.0, 3.0 * rad])
-        .can_sleep(false)
-        .build();
+        .can_sleep(false);
     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/examples2d/drum2.rs b/examples2d/drum2.rs
index 9bc8a37..57c891f 100644
--- a/examples2d/drum2.rs
+++ b/examples2d/drum2.rs
@@ -26,11 +26,9 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * 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);
         }
     }
@@ -38,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a velocity-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based().build();
+    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based();
     let velocity_based_platform_handle = bodies.insert(platform_body);
 
     let sides = [
@@ -55,11 +53,11 @@ pub fn init_world(testbed: &mut Testbed) {
     ];
 
     for (hx, hy, pos) in sides {
-        let collider = ColliderBuilder::cuboid(hx, hy).translation(pos).build();
+        let collider = ColliderBuilder::cuboid(hx, hy).translation(pos);
         colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
     }
     for (r, pos) in balls {
-        let collider = ColliderBuilder::ball(r).translation(pos).build();
+        let collider = ColliderBuilder::ball(r).translation(pos);
         colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
     }
 
diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs
index 09c604d..65ad76c 100644
--- a/examples2d/heightfield2.rs
+++ b/examples2d/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/examples2d/joints2.rs b/examples2d/joints2.rs
index 91d86cd..7a7119e 100644
--- a/examples2d/joints2.rs
+++ b/examples2d/joints2.rs
@@ -35,17 +35,16 @@ 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);
             }
 
@@ -53,7 +52,7 @@ 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/examples2d/locked_rotations2.rs b/examples2d/locked_rotations2.rs
index 32c528f..c9d74be 100644
--- a/examples2d/locked_rotations2.rs
+++ b/examples2d/locked_rotations2.rs
@@ -19,11 +19,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -31,10 +29,9 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
         .translation(vector![0.0, 3.0])
-        .lock_translations()
-        .build();
+        .lock_translations();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(2.0, 0.6).build();
+    let collider = ColliderBuilder::cuboid(2.0, 0.6);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -43,10 +40,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_dynamic()
         .translation(vector![0.0, 5.0])
         .rotation(1.0)
-        .lock_rotations()
-        .build();
+        .lock_rotations();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
+    let collider = ColliderBuilder::capsule_y(0.6, 0.4);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
diff --git a/examples2d/one_way_platforms2.rs b/examples2d/one_way_platforms2.rs
index 2bed57d..dae3f39 100644
--- a/examples2d/one_way_platforms2.rs
+++ b/examples2d/one_way_platforms2.rs
@@ -68,18 +68,16 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::new_static();
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
         .translation(vector![30.0, 2.0])
-        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
-        .build();
+        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS);
     let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
         .translation(vector![-30.0, -2.0])
-        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
-        .build();
+        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS);
     let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -97,10 +95,8 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.add_callback(move |graphics, physics, _, run_state| {
         if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
             // Spawn a new cube.
-            let collider = ColliderBuilder::cuboid(1.5, 2.0).build();
-            let body = RigidBodyBuilder::new_dynamic()
-                .translation(vector![20.0, 10.0])
-                .build();
+            let collider = ColliderBuilder::cuboid(1.5, 2.0);
+            let body = RigidBodyBuilder::new_dynamic().translation(vector![20.0, 10.0]);
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs
index a737e34..325e7ce 100644
--- a/examples2d/platform2.rs
+++ b/examples2d/platform2.rs
@@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 10.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -39,11 +37,9 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * 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);
         }
     }
@@ -52,20 +48,18 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a position-based kinematic rigid body.
      */
     let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
-        .translation(vector![-10.0 * rad, 1.5 + 0.8])
-        .build();
+        .translation(vector![-10.0 * rad, 1.5 + 0.8]);
     let velocity_based_platform_handle = bodies.insert(platform_body);
-    let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
     colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
 
     /*
      * Setup a velocity-based kinematic rigid body.
      */
     let platform_body = RigidBodyBuilder::new_kinematic_position_based()
-        .translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8])
-        .build();
+        .translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8]);
     let position_based_platform_handle = bodies.insert(platform_body);
-    let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
     colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
 
     /*
diff --git a/examples2d/polyline2.rs b/examples2d/polyline2.rs
index 2cde60c..35253e0 100644
--- a/examples2d/polyline2.rs
+++ b/examples2d/polyline2.rs
@@ -27,9 +27,9 @@ pub fn init_world(testbed: &mut Testbed) {
     }
     points.push(point![ground_size / 2.0, 40.0]);
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::new_static();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::polyline(points, None).build();
+    let collider = ColliderBuilder::polyline(points, None);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -48,16 +48,14 @@ 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/examples2d/pyramid2.rs b/examples2d/pyramid2.rs
index 04a7953..1f1440c 100644
--- a/examples2d/pyramid2.rs
+++ b/examples2d/pyramid2.rs
@@ -16,9 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 10.0;
     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);
         }
     }
diff --git a/examples2d/restitution2.rs b/examples2d/restitution2.rs
index 2650ec2..428c6c4 100644
--- a/examples2d/restitution2.rs
+++ b/examples2d/restitution2.rs
@@ -16,13 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.;
     let ground_height = 1.0;
 
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(vector![0.0, -ground_height])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height)
-        .restitution(1.0)
-        .build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height).restitution(1.0);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let num = 10;
@@ -32,12 +28,9 @@ pub fn init_world(testbed: &mut Testbed) {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)])
-                .build();
+                .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad)
-                .restitution((i as f32) / (num as f32))
-                .build();
+            let collider = ColliderBuilder::ball(rad).restitution((i as f32) / (num as f32));
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs
index 9ef5a6b..edd8933 100644
--- a/examples2d/sensor2.rs
+++ b/examples2d/sensor2.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])
-        .build();
+    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
     let ground_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
@@ -37,11 +35,9 @@ pub fn init_world(testbed: &mut Testbed) {
         let y = 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::cuboid(rad, rad).build();
+        let collider = ColliderBuilder::cuboid(rad, rad);
         colliders.insert_with_parent(collider, handle, &mut bodies);
 
         testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
@@ -52,14 +48,12 @@ pub fn init_world(testbed: &mut Testbed) {
      */
 
     // Rigid body so that the sensor can move.
-    let sensor = RigidBodyBuilder::new_dynamic()
-        .translation(vector![0.0, 10.0])
-        .build();
+    let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0]);
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
     // other colliders can touch.
-    let collider = ColliderBuilder::cuboid(rad, rad).build();
+    let collider = ColliderBuilder::cuboid(rad, rad);
     colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
 
     // We create a collider desc without density because we don't
@@ -67,8 +61,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let sensor_collider = ColliderBuilder::ball(rad * 5.0)
         .density(0.0)
         .sensor(true)
-        .active_events(ActiveEvents::INTERSECTION_EVENTS)
-        .build();
+        .active_events(ActiveEvents::INTERSECTION_EVENTS);
     colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
 
     testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs
index 1474b77..debecf9 100644
--- a/examples2d/trimesh2.rs
+++ b/examples2d/trimesh2.rs
@@ -21,25 +21,23 @@ 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])
-        .build();
+        .translation(vector![ground_size, ground_size]);
     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])
-        .build();
+        .translation(vector![-ground_size, ground_size]);
     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);
 
     /*
@@ -86,12 +84,10 @@ pub fn init_world(testbed: &mut Testbed) {
                     .collect();
 
                 for k in 0..5 {
-                    let collider =
-                        ColliderBuilder::trimesh(vertices.clone(), indices.clone()).build();
+                    let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone());
                     let rigid_body = RigidBodyBuilder::new_dynamic()
                         .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
-                        .rotation(angle)
-                        .build();
+                        .rotation(angle);
                     let handle = bodies.insert(rigid_body);
                     collider