1 files changed, 33 insertions, 25 deletions

diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs
index 7542cd6..48129a0 100644
--- a/examples2d/platform2.rs
+++ b/examples2d/platform2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the boxes
@@ -40,47 +38,57 @@ 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(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
     /*
-     * Setup a kinematic rigid body.
+     * Setup a position-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic()
-        .translation(-10.0 * rad, 1.5 + 0.8)
+    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
+        .translation(vector![-10.0 * rad, 1.5 + 0.8])
         .build();
-    let platform_handle = bodies.insert(platform_body);
+    let velocity_based_platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
-    colliders.insert(collider, platform_handle, &mut bodies);
+    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();
+    let position_based_platform_handle = bodies.insert(platform_body);
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
+    colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
 
     /*
      * Setup a callback to control the platform.
      */
     testbed.add_callback(move |_, physics, _, run_state| {
-        let platform = physics.bodies.get_mut(platform_handle).unwrap();
-        let mut next_pos = *platform.position();
-
-        let dt = 0.016;
-        next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
-        next_pos.translation.vector.x += run_state.time.sin() * 5.0 * dt;
+        let velocity = vector![run_state.time.sin() * 5.0, (run_state.time * 5.0).sin()];
 
-        if next_pos.translation.vector.x >= rad * 10.0 {
-            next_pos.translation.vector.x -= dt;
-        }
-        if next_pos.translation.vector.x <= -rad * 10.0 {
-            next_pos.translation.vector.x += dt;
+        // Update the velocity-based kinematic body by setting its velocity.
+        if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
+            platform.set_linvel(velocity, true);
         }
 
-        platform.set_next_kinematic_position(next_pos);
+        // Update the position-based kinematic body by setting its next position.
+        if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
+            let mut next_tra = *platform.translation();
+            next_tra += velocity * physics.integration_parameters.dt;
+            platform.set_next_kinematic_translation(next_tra);
+        }
     });
 
     /*
      * Run the simulation.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 40.0);
+    testbed.look_at(point![0.0, 1.0], 40.0);
 }