Rename rigid-body `static` to `fixed`

10 files changed, 86 insertions, 70 deletions

diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
index b3a1608..d15b28c 100644
--- a/src/dynamics/ccd/ccd_solver.rs
+++ b/src/dynamics/ccd/ccd_solver.rs
@@ -412,7 +412,7 @@ impl CCDSolver {
             return PredictedImpacts::ImpactsAfterEndTime(min_overstep);
         }
 
-        // NOTE: all static bodies (and kinematic bodies?) should be considered as "frozen", this
+        // NOTE: all fixed bodies (and kinematic bodies?) should be considered as "frozen", this
         // may avoid some resweeps.
         let mut pseudo_intersections_to_check = vec![];
 
diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs
index 7cf16d6..06f3820 100644
--- a/src/dynamics/island_manager.rs
+++ b/src/dynamics/island_manager.rs
@@ -259,7 +259,7 @@ impl IslandManager {
 
             if rb_ids.active_set_timestamp == self.active_set_timestamp || !rb_status.is_dynamic() {
                 // We already visited this body and its neighbors.
-                // Also, we don't propagate awake state through static bodies.
+                // Also, we don't propagate awake state through fixed bodies.
                 continue;
             }
 
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 1bfdf48..695b256 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -112,7 +112,7 @@ impl RigidBody {
             self.changes.insert(RigidBodyChanges::TYPE);
             self.rb_type = status;
 
-            if status == RigidBodyType::Static {
+            if status == RigidBodyType::Fixed {
                 self.rb_vels = RigidBodyVelocity::zero();
             }
         }
@@ -372,11 +372,11 @@ impl RigidBody {
         self.rb_type.is_kinematic()
     }
 
-    /// Is this rigid body static?
+    /// Is this rigid body fixed?
     ///
-    /// A static body cannot move and is not affected by forces.
-    pub fn is_static(&self) -> bool {
-        self.rb_type == RigidBodyType::Static
+    /// A fixed body cannot move and is not affected by forces.
+    pub fn is_fixed(&self) -> bool {
+        self.rb_type == RigidBodyType::Fixed
     }
 
     /// The mass of this rigid body.
@@ -487,7 +487,7 @@ impl RigidBody {
     /// Is this rigid body sleeping?
     pub fn is_sleeping(&self) -> bool {
         // TODO: should we:
-        // - return false for static bodies.
+        // - return false for fixed bodies.
         // - return true for non-sleeping dynamic bodies.
         // - return true only for kinematic bodies with non-zero velocity?
         self.rb_activation.sleeping
@@ -531,7 +531,7 @@ impl RigidBody {
                 RigidBodyType::KinematicVelocityBased => {
                     self.rb_vels.linvel = linvel;
                 }
-                RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
+                RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
             }
         }
     }
@@ -553,7 +553,7 @@ impl RigidBody {
                 RigidBodyType::KinematicVelocityBased => {
                     self.rb_vels.angvel = angvel;
                 }
-                RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
+                RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
             }
         }
     }
@@ -575,7 +575,7 @@ impl RigidBody {
                 RigidBodyType::KinematicVelocityBased => {
                     self.rb_vels.angvel = angvel;
                 }
-                RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
+                RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
             }
         }
     }
@@ -905,7 +905,7 @@ pub struct RigidBodyBuilder {
 }
 
 impl RigidBodyBuilder {
-    /// Initialize a new builder for a rigid body which is either static, dynamic, or kinematic.
+    /// Initialize a new builder for a rigid body which is either fixed, dynamic, or kinematic.
     pub fn new(rb_type: RigidBodyType) -> Self {
         Self {
             position: Isometry::identity(),
@@ -925,23 +925,39 @@ impl RigidBodyBuilder {
         }
     }
 
-    /// Initializes the builder of a new static rigid body.
+    /// Initializes the builder of a new fixed rigid body.
+    #[deprecated(note = "use `RigidBodyBuilder::fixed()` instead")]
     pub fn new_static() -> Self {
-        Self::new(RigidBodyType::Static)
+        Self::fixed()
     }
-
-    /// Initializes the builder of a new kinematic rigid body.
+    /// Initializes the builder of a new velocity-based kinematic rigid body.
+    #[deprecated(note = "use `RigidBodyBuilder::kinematic_velocity_based()` instead")]
     pub fn new_kinematic_velocity_based() -> Self {
+        Self::kinematic_velocity_based()
+    }
+    /// Initializes the builder of a new position-based kinematic rigid body.
+    #[deprecated(note = "use `RigidBodyBuilder::kinematic_position_based()` instead")]
+    pub fn new_kinematic_position_based() -> Self {
+        Self::kinematic_position_based()
+    }
+
+    /// Initializes the builder of a new fixed rigid body.
+    pub fn fixed() -> Self {
+        Self::new(RigidBodyType::Fixed)
+    }
+
+    /// Initializes the builder of a new velocity-based kinematic rigid body.
+    pub fn kinematic_velocity_based() -> Self {
         Self::new(RigidBodyType::KinematicVelocityBased)
     }
 
-    /// Initializes the builder of a new kinematic rigid body.
-    pub fn new_kinematic_position_based() -> Self {
+    /// Initializes the builder of a new position-based kinematic rigid body.
+    pub fn kinematic_position_based() -> Self {
         Self::new(RigidBodyType::KinematicPositionBased)
     }
 
     /// Initializes the builder of a new dynamic rigid body.
-    pub fn new_dynamic() -> Self {
+    pub fn dynamic() -> Self {
         Self::new(RigidBodyType::Dynamic)
     }
 
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index 52072ea..cac0600 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -57,8 +57,8 @@ pub type BodyStatus = RigidBodyType;
 pub enum RigidBodyType {
     /// A `RigidBodyType::Dynamic` body can be affected by all external forces.
     Dynamic = 0,
-    /// A `RigidBodyType::Static` body cannot be affected by external forces.
-    Static = 1,
+    /// A `RigidBodyType::Fixed` body cannot be affected by external forces.
+    Fixed = 1,
     /// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
     /// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
     ///
@@ -73,14 +73,14 @@ pub enum RigidBodyType {
     /// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
     /// modified by the user and is independent from any contact or joint it is involved in.
     KinematicVelocityBased = 3,
-    // Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
+    // Semikinematic, // A kinematic that performs automatic CCD with the fixed environment to avoid traversing it?
     // Disabled,
 }
 
 impl RigidBodyType {
-    /// Is this rigid-body static (i.e. cannot move)?
-    pub fn is_static(self) -> bool {
-        self == RigidBodyType::Static
+    /// Is this rigid-body fixed (i.e. cannot move)?
+    pub fn is_fixed(self) -> bool {
+        self == RigidBodyType::Fixed
     }
 
     /// Is this rigid-body dynamic (i.e. can move and be affected by forces)?
diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs
index 451f930..d806251 100644
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -93,20 +93,20 @@ impl ParallelInteractionGroups {
             .zip(self.interaction_colors.iter_mut())
         {
             let mut body_pair = interactions[*interaction_id].body_pair();
-            let is_static1 = body_pair
+            let is_fixed1 = body_pair
                 .0
-                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
+                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
                 .unwrap_or(true);
-            let is_static2 = body_pair
+            let is_fixed2 = body_pair
                 .1
-                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
+                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
                 .unwrap_or(true);
 
             let representative = |handle: RigidBodyHandle| {
                 if let Some(link) = multibodies.rigid_body_link(handle).copied() {
                     let multibody = multibodies.get_multibody(link.multibody).unwrap();
                     multibody
-                        .link(1) // Use the link 1 to cover the case where the multibody root is static.
+                        .link(1) // Use the link 1 to cover the case where the multibody root is fixed.
                         .or(multibody.link(0)) // TODO: Never happens?
                         .map(|l| l.rigid_body)
                         .unwrap()
@@ -120,7 +120,7 @@ impl ParallelInteractionGroups {
                 body_pair.1.map(representative),
             );
 
-            match (is_static1, is_static2) {
+            match (is_fixed1, is_fixed2) {
                 (false, false) => {
                     let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
                     let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
@@ -268,10 +268,10 @@ impl InteractionGroups {
             let (status2, ids2): (&RigidBodyType, &RigidBodyIds) =
                 bodies.index_bundle(interaction.body2.0);
 
-            let is_static1 = !status1.is_dynamic();
-            let is_static2 = !status2.is_dynamic();
+            let is_fixed1 = !status1.is_dynamic();
+            let is_fixed2 = !status2.is_dynamic();
 
-            if is_static1 && is_static2 {
+            if is_fixed1 && is_fixed2 {
                 continue;
             }
 
@@ -334,13 +334,13 @@ impl InteractionGroups {
                 }
             }
 
-            // NOTE: static bodies don't transmit forces. Therefore they don't
+            // NOTE: fixed bodies don't transmit forces. Therefore they don't
             // imply any interaction conflicts.
-            if !is_static1 {
+            if !is_fixed1 {
                 self.body_masks[i1] |= target_mask_bit;
             }
 
-            if !is_static2 {
+            if !is_fixed2 {
                 self.body_masks[i2] |= target_mask_bit;
             }
         }
@@ -431,21 +431,21 @@ impl InteractionGroups {
                     let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0);
                     (*data.0, data.1.active_set_offset)
                 } else {
-                    (RigidBodyType::Static, 0)
+                    (RigidBodyType::Fixed, 0)
                 };
                 let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
                 {
                     let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0);
                     (*data.0, data.1.active_set_offset)
                 } else {
-                    (RigidBodyType::Static, 0)
+                    (RigidBodyType::Fixed, 0)
                 };
 
-                let is_static1 = !status1.is_dynamic();
-                let is_static2 = !status2.is_dynamic();
+                let is_fixed1 = !status1.is_dynamic();
+                let is_fixed2 = !status2.is_dynamic();
 
-                // TODO: don't generate interactions between static bodies in the first place.
-                if is_static1 && is_static2 {
+                // TODO: don't generate interactions between fixed bodies in the first place.
+                if is_fixed1 && is_fixed2 {
                     continue;
                 }
 
@@ -489,13 +489,13 @@ impl InteractionGroups {
                     occupied_mask = occupied_mask | target_mask_bit;
                 }
 
-                // NOTE: static bodies don't transmit forces. Therefore they don't
+                // NOTE: fixed bodies don't transmit forces. Therefore they don't
                 // imply any interaction conflicts.
-                if !is_static1 {
+                if !is_fixed1 {
                     self.body_masks[i1] |= target_mask_bit;
                 }
 
-                if !is_static2 {
+                if !is_fixed2 {
                     self.body_masks[i2] |= target_mask_bit;
                 }
             }
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index d2b0076..0149adf 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -634,7 +634,7 @@ mod test {
         let mut multibody_joints = MultibodyJointSet::new();
         let mut islands = IslandManager::new();
 
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
         let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
@@ -652,7 +652,7 @@ mod test {
         broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
 
         // Create another body.
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
         let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
diff --git a/src/geometry/collider_components.rs b/src/geometry/collider_components.rs
index fe2961f..5f27823 100644
--- a/src/geometry/collider_components.rs
+++ b/src/geometry/collider_components.rs
@@ -285,18 +285,18 @@ bitflags::bitflags! {
         /// and another collider attached to a kinematic body.
         const DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100;
         /// Enable collision-detection between a collider attached to a dynamic body
-        /// and another collider attached to a static body (or not attached to any body).
+        /// and another collider attached to a fixed body (or not attached to any body).
         const DYNAMIC_STATIC  = 0b0000_0000_0000_0010;
         /// Enable collision-detection between a collider attached to a kinematic body
         /// and another collider attached to a kinematic body.
         const KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000;
 
         /// Enable collision-detection between a collider attached to a kinematic body
-        /// and another collider attached to a static body (or not attached to any body).
+        /// and another collider attached to a fixed body (or not attached to any body).
         const KINEMATIC_STATIC = 0b0010_0010_0000_0000;
 
-        /// Enable collision-detection between a collider attached to a static body (or
-        /// not attached to any body) and another collider attached to a static body (or
+        /// Enable collision-detection between a collider attached to a fixed body (or
+        /// not attached to any body) and another collider attached to a fixed body (or
         /// not attached to any body).
         const STATIC_STATIC = 0b0000_0000_0010_0000;
     }
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 400c635..cf78b81 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -392,7 +392,7 @@ impl NarrowPhase {
                     // For each modified colliders, we need to wake-up the bodies it is in contact with
                     // so that the narrow-phase properly takes into account the change in, e.g.,
                     // collision groups. Waking up the modified collider's parent isn't enough because
-                    // it could be a static or kinematic body which don't propagate the wake-up state.
+                    // it could be a fixed or kinematic body which don't propagate the wake-up state.
 
                     let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
                     let (co_changes, co_type): (&ColliderChanges, &ColliderType) =
@@ -740,8 +740,8 @@ impl NarrowPhase {
                 }
 
                 // TODO: avoid lookup into bodies.
-                let mut rb_type1 = RigidBodyType::Static;
-                let mut rb_type2 = RigidBodyType::Static;
+                let mut rb_type1 = RigidBodyType::Fixed;
+                let mut rb_type2 = RigidBodyType::Fixed;
 
                 if let Some(co_parent1) = co_parent1 {
                     rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -865,8 +865,8 @@ impl NarrowPhase {
                 }
 
                 // TODO: avoid lookup into bodies.
-                let mut rb_type1 = RigidBodyType::Static;
-                let mut rb_type2 = RigidBodyType::Static;
+                let mut rb_type1 = RigidBodyType::Fixed;
+                let mut rb_type2 = RigidBodyType::Fixed;
 
                 if let Some(co_parent1) = co_parent1 {
                     rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -1076,7 +1076,7 @@ impl NarrowPhase {
                                 bodies.index_bundle(handle1.0);
                             (data.0.active_island_id, *data.1, data.2.sleeping)
                         } else {
-                            (0, RigidBodyType::Static, true)
+                            (0, RigidBodyType::Fixed, true)
                         };
 
                     let (active_island_id2, rb_type2, sleeping2) =
@@ -1085,7 +1085,7 @@ impl NarrowPhase {
                                 bodies.index_bundle(handle2.0);
                             (data.0.active_island_id, *data.1, data.2.sleeping)
                         } else {
-                            (0, RigidBodyType::Static, true)
+                            (0, RigidBodyType::Fixed, true)
                         };
 
                     if (rb_type1.is_dynamic() || rb_type2.is_dynamic())
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index ba172c4..3f74b48 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -688,7 +688,7 @@ mod test {
     use crate::prelude::MultibodyJointSet;
 
     #[test]
-    fn kinematic_and_static_contact_crash() {
+    fn kinematic_and_fixed_contact_crash() {
         let mut colliders = ColliderSet::new();
         let mut impulse_joints = ImpulseJointSet::new();
         let mut multibody_joints = MultibodyJointSet::new();
@@ -698,13 +698,13 @@ mod test {
         let mut bodies = RigidBodySet::new();
         let mut islands = IslandManager::new();
 
-        let rb = RigidBodyBuilder::new_static().build();
+        let rb = RigidBodyBuilder::fixed().build();
         let h1 = bodies.insert(rb.clone());
         let co = ColliderBuilder::ball(10.0).build();
         colliders.insert_with_parent(co.clone(), h1, &mut bodies);
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
+        let rb = RigidBodyBuilder::kinematic_position_based().build();
         let h2 = bodies.insert(rb.clone());
         colliders.insert_with_parent(co, h2, &mut bodies);
 
@@ -737,18 +737,18 @@ mod test {
         let mut bodies = RigidBodySet::new();
 
         // Check that removing the body right after inserting it works.
-        // We add two dynamic bodies, one kinematic body and one static body before removing
+        // We add two dynamic bodies, one kinematic body and one fixed body before removing
         // them. This include a non-regression test where deleting a kimenatic body crashes.
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let h1 = bodies.insert(rb.clone());
         let h2 = bodies.insert(rb.clone());
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
+        let rb = RigidBodyBuilder::kinematic_position_based().build();
         let h3 = bodies.insert(rb.clone());
 
-        // The same but with a static body.
-        let rb = RigidBodyBuilder::new_static().build();
+        // The same but with a fixed body.
+        let rb = RigidBodyBuilder::fixed().build();
         let h4 = bodies.insert(rb.clone());
 
         let to_delete = [h1, h2, h3, h4];
@@ -787,7 +787,7 @@ mod test {
         let mut islands = IslandManager::new();
 
         let mut bodies = RigidBodySet::new();
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let h1 = bodies.insert(rb.clone());
         let h2 = bodies.insert(rb.clone());
         let h3 = bodies.insert(rb.clone());
@@ -846,7 +846,7 @@ mod test {
         let physics_hooks = ();
         let event_handler = ();
 
-        let body = RigidBodyBuilder::new_dynamic().build();
+        let body = RigidBodyBuilder::dynamic().build();
         let b_handle = bodies.insert(body);
         let collider = ColliderBuilder::ball(1.0).build();
         let c_handle = colliders.insert_with_parent(collider, b_handle, &mut bodies);
diff --git a/src/pipeline/user_changes.rs b/src/pipeline/user_changes.rs
index b9c57bd..bd69bb2 100644
--- a/src/pipeline/user_changes.rs
+++ b/src/pipeline/user_changes.rs
@@ -117,7 +117,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
                                 islands.active_kinematic_set.push(*handle);
                             }
                         }
-                        RigidBodyType::Static => {}
+                        RigidBodyType::Fixed => {}
                     }
                 }