Rename rigid-body `static` to `fixed`

32 files changed, 93 insertions, 100 deletions

diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs
index c1ade84..635b0e0 100644
--- a/examples3d/ccd3.rs
+++ b/examples3d/ccd3.rs
@@ -21,7 +21,7 @@ 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]);
+            let rigid_body = RigidBodyBuilder::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);
             colliders.insert_with_parent(collider, handle, bodies);
@@ -50,7 +50,7 @@ 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]);
+    let rigid_body = RigidBodyBuilder::fixed().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);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -93,7 +93,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .density(10.0)
         .sensor(true)
         .active_events(ActiveEvents::INTERSECTION_EVENTS);
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .linvel(vector![1000.0, 0.0, 0.0])
         .translation(vector![-20.0, shift_y + 2.0, 0.0])
         .ccd_enabled(true);
@@ -102,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Second rigid-body with CCD enabled.
     let collider = ColliderBuilder::ball(1.0).density(10.0);
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .linvel(vector![1000.0, 0.0, 0.0])
         .translation(vector![-20.0, shift_y + 2.0, shift_z])
         .ccd_enabled(true);
diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs
index c1bc144..480ac3e 100644
--- a/examples3d/collision_groups3.rs
+++ b/examples3d/collision_groups3.rs
@@ -16,7 +16,7 @@ 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, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -73,7 +73,7 @@ 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, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs
index 5ecccb9..8c2deb0 100644
--- a/examples3d/compound3.rs
+++ b/examples3d/compound3.rs
@@ -16,7 +16,7 @@ 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]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ 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]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 // First option: attach several colliders to a single rigid-body.
diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs
index 33c1611..0863430 100644
--- a/examples3d/convex_decomposition3.rs
+++ b/examples3d/convex_decomposition3.rs
@@ -24,7 +24,7 @@ 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]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -86,7 +86,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let y = (igeom / width) as f32 * shift + 4.0;
                 let z = k as f32 * shift;
 
-                let body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(body);
 
                 for shape in &shapes {
diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs
index b4c391e..980720a 100644
--- a/examples3d/convex_polyhedron3.rs
+++ b/examples3d/convex_polyhedron3.rs
@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 40.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/damping3.rs b/examples3d/damping3.rs
index d189482..992afbe 100644
--- a/examples3d/damping3.rs
+++ b/examples3d/damping3.rs
@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
 
         // Build the rigid body.
-        let rb = RigidBodyBuilder::new_dynamic()
+        let rb = RigidBodyBuilder::dynamic()
             .translation(vector![x, y, 0.0])
             .linvel(vector![x * 10.0, y * 10.0, 0.0])
             .angvel(Vector::z() * 100.0)
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index e6d8ac6..25bb23a 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 3.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4);
     let mut ground_collider_handle =
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 0.2, 0.0]);
+    let rb = RigidBodyBuilder::dynamic().translation(vector![0.0, 0.2, 0.0]);
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0);
     colliders.insert_with_parent(collider, ball_handle, &mut bodies);
diff --git a/examples3d/debug_articulations3.rs b/examples3d/debug_articulations3.rs
index 0dbc66a..e844630 100644
--- a/examples3d/debug_articulations3.rs
+++ b/examples3d/debug_articulations3.rs
@@ -20,7 +20,7 @@ fn create_ball_articulations(
 
             let status = if i == 0 {
                 // && (k % 4 == 0 || k == num - 1) {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
@@ -74,7 +74,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .rotation(vector![0.1, 0.0, 0.1]);
     colliders.insert(collider);
 
-    let rigid_body = RigidBodyBuilder::new_dynamic();
+    let rigid_body = RigidBodyBuilder::dynamic();
     let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
         .translation(vector![0.0, -3.0, 0.0])
         .rotation(vector![0.1, 0.0, 0.1]);
diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs
index d221a05..680e24e 100644
--- a/examples3d/debug_big_colliders3.rs
+++ b/examples3d/debug_big_colliders3.rs
@@ -13,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
     let collider = ColliderBuilder::new(halfspace);
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let curr_height = 0.1f32.min(curr_width);
         curr_y += curr_height * 4.0;
 
-        let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, curr_y, 0.0]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, curr_y, 0.0]);
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width);
         colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs
index 908985b..1bd1504 100644
--- a/examples3d/debug_boxes3.rs
+++ b/examples3d/debug_boxes3.rs
@@ -17,8 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     for _ in 0..6 {
-        let rigid_body =
-            RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+        let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
         colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -26,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Build the dynamic box rigid body.
     for _ in 0..2 {
-        let rigid_body = RigidBodyBuilder::new_dynamic()
+        let rigid_body = RigidBodyBuilder::dynamic()
             .translation(vector![1.1, 0.0, 0.0])
             // .rotation(vector![0.8, 0.2, 0.1])
             .can_sleep(false);
diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
index b62fb12..1805aed 100644
--- a/examples3d/debug_cylinder3.rs
+++ b/examples3d/debug_cylinder3.rs
@@ -19,7 +19,7 @@ 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]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let z = -centerz + offset;
 
     // Build the rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cylinder(rad, rad);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index 9404a61..fa1054c 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic()
+    let rb = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 0.2, 0.0])
         .linvel(vector![10.0, 0.0, 0.0]);
     let ball_handle = bodies.insert(rb);
diff --git a/examples3d/debug_friction3.rs b/examples3d/debug_friction3.rs
index b48364d..9078bc4 100644
--- a/examples3d/debug_friction3.rs
+++ b/examples3d/debug_friction3.rs
@@ -16,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).friction(1.5);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Build a dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 1.1, 0.0])
         .rotation(Vector::y() * 0.3);
     let handle = bodies.insert(rigid_body);
diff --git a/examples3d/debug_infinite_fall3.rs b/examples3d/debug_infinite_fall3.rs
index 7d03734..a62c92f 100644
--- a/examples3d/debug_infinite_fall3.rs
+++ b/examples3d/debug_infinite_fall3.rs
@@ -16,21 +16,21 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 2.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 4.0, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 4.0, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rad = 1.0;
     // Build the dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 7.0 * rad, 0.0])
         .can_sleep(false);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 2.0 * rad, 0.0])
         .can_sleep(false);
     let handle = bodies.insert(rigid_body);
diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs
index 9f93237..815f4e5 100644
--- a/examples3d/debug_prismatic3.rs
+++ b/examples3d/debug_prismatic3.rs
@@ -7,7 +7,7 @@ fn prismatic_repro(
     impulse_joints: &mut ImpulseJointSet,
     box_center: Point<f32>,
 ) {
-    let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+    let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
         box_center.x,
         box_center.y,
         box_center.z
@@ -24,7 +24,7 @@ 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![
+        let wheel_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
             wheel_pos_in_world.x,
             wheel_pos_in_world.y,
             wheel_pos_in_world.z
@@ -40,7 +40,7 @@ fn prismatic_repro(
     }
 
     // put a small box under one of the wheels
-    let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+    let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
         box_center.x + 1.0,
         box_center.y - 2.4,
         -1.0
@@ -63,7 +63,7 @@ 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]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index b40384c..9936e37 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic()
+    let rb = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 0.2, 0.0])
         .linvel(vector![10.0, 0.0, 0.0]);
     let ball_handle = bodies.insert(rb);
diff --git a/examples3d/debug_shape_modification3.rs b/examples3d/debug_shape_modification3.rs
index 5557131..0fc3cc5 100644
--- a/examples3d/debug_shape_modification3.rs
+++ b/examples3d/debug_shape_modification3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().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)
         .friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic()
+    let rb = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 0.2, 0.0])
         .linvel(vector![10.0, 0.0, 0.0]);
     let ball_handle = bodies.insert(rb);
@@ -87,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
diff --git a/examples3d/debug_triangle3.rs b/examples3d/debug_triangle3.rs
index e84331a..b5ff530 100644
--- a/examples3d/debug_triangle3.rs
+++ b/examples3d/debug_triangle3.rs
@@ -17,13 +17,13 @@ pub fn init_world(testbed: &mut Testbed) {
         point![0.0, 0.0, 10.0],
     ];
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![1.1, 0.01, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false);
diff --git a/examples3d/debug_trimesh3.rs b/examples3d/debug_trimesh3.rs
index f7fa651..c588545 100644
--- a/examples3d/debug_trimesh3.rs
+++ b/examples3d/debug_trimesh3.rs
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     ];
 
     // Dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 35.0, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vtx, idx);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/domino3.rs b/examples3d/domino3.rs
index f57e2c5..2276c1c 100644
--- a/examples3d/domino3.rs
+++ b/examples3d/domino3.rs
@@ -16,7 +16,7 @@ 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]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
                     * tilt
                     * rot;
-            let rigid_body = RigidBodyBuilder::new_dynamic().position(position);
+            let rigid_body = RigidBodyBuilder::dynamic().position(position);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index bb7199f..3927cac 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -17,14 +17,14 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 2.1; // 16.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, run_state| {
-        let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0, 0.0]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0, 0.0]);
         let handle = physics.bodies.insert(rigid_body);
         let collider = match run_state.timestep_id % 3 {
             0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
diff --git a/examples3d/harness_capsules3.rs b/examples3d/harness_capsules3.rs
index 30849d3..d422c11 100644
--- a/examples3d/harness_capsules3.rs
+++ b/examples3d/harness_capsules3.rs
@@ -16,7 +16,7 @@ pub fn init_world(harness: &mut Harness) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ pub fn init_world(harness: &mut Harness) {
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index e144442..360ba3a 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,7 +55,7 @@ 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]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 6 {
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index 73783d8..b5dc984 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -9,9 +9,9 @@ fn create_coupled_joints(
     origin: Point<f32>,
     use_articulations: bool,
 ) {
-    let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
+    let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
     let body1 = bodies.insert(
-        RigidBodyBuilder::new_dynamic()
+        RigidBodyBuilder::dynamic()
             .translation(origin.coords)
             .linvel(vector![5.0, 5.0, 5.0]),
     );
@@ -42,15 +42,14 @@ fn create_prismatic_joints(
     let rad = 0.4;
     let shift = 2.0;
 
-    let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
+    let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, origin.z]);
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad);
     colliders.insert_with_parent(collider, curr_pa