Joint API and joint motors improvements

1 files changed, 21 insertions, 35 deletions

diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs
index 15176f3..9f93237 100644
--- a/examples3d/debug_prismatic3.rs
+++ b/examples3d/debug_prismatic3.rs
@@ -7,16 +7,12 @@ fn prismatic_repro(
     impulse_joints: &mut ImpulseJointSet,
     box_center: Point<f32>,
 ) {
-    let box_rb = bodies.insert(
-        RigidBodyBuilder::new_dynamic()
-            .translation(vector![box_center.x, box_center.y, box_center.z])
-            .build(),
-    );
-    colliders.insert_with_parent(
-        ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
-        box_rb,
-        bodies,
-    );
+    let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+        box_center.x,
+        box_center.y,
+        box_center.z
+    ]));
+    colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 0.25, 1.0), box_rb, bodies);
 
     let wheel_y = -1.0;
     let wheel_positions = vec![
@@ -28,36 +24,28 @@ fn prismatic_repro(
 
     for pos in wheel_positions {
         let wheel_pos_in_world = box_center + pos;
-        let wheel_rb = bodies.insert(
-            RigidBodyBuilder::new_dynamic()
-                .translation(vector![
-                    wheel_pos_in_world.x,
-                    wheel_pos_in_world.y,
-                    wheel_pos_in_world.z
-                ])
-                .build(),
-        );
-        colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
+        let wheel_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+            wheel_pos_in_world.x,
+            wheel_pos_in_world.y,
+            wheel_pos_in_world.z
+        ]));
+        colliders.insert_with_parent(ColliderBuilder::ball(0.5), wheel_rb, bodies);
 
         let (stiffness, damping) = (0.05, 0.2);
 
-        let prismatic = PrismaticJoint::new(Vector::y_axis())
+        let prismatic = PrismaticJointBuilder::new(Vector::y_axis())
             .local_anchor1(point![pos.x, pos.y, pos.z])
             .motor_position(0.0, stiffness, damping);
         impulse_joints.insert(box_rb, wheel_rb, prismatic);
     }
 
     // put a small box under one of the wheels
-    let gravel = bodies.insert(
-        RigidBodyBuilder::new_dynamic()
-            .translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
-            .build(),
-    );
-    colliders.insert_with_parent(
-        ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
-        gravel,
-        bodies,
-    );
+    let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+        box_center.x + 1.0,
+        box_center.y - 2.4,
+        -1.0
+    ]));
+    colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.1, 0.5), gravel, bodies);
 }
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -75,11 +63,9 @@ 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);
 
     prismatic_repro(