1 files changed, 24 insertions, 26 deletions

diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs
index 07cf381..f41ef49 100644
--- a/examples3d/debug_prismatic3.rs
+++ b/examples3d/debug_prismatic3.rs
@@ -1,20 +1,18 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn prismatic_repro(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    box_center: Point3<f32>,
+    box_center: Point<f32>,
 ) {
     let box_rb = bodies.insert(
         RigidBodyBuilder::new_dynamic()
-            .translation(box_center.x, box_center.y, box_center.z)
+            .translation(vector![box_center.x, box_center.y, box_center.z])
             .build(),
     );
-    colliders.insert(
+    colliders.insert_with_parent(
         ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
         box_rb,
         bodies,
@@ -22,32 +20,32 @@ fn prismatic_repro(
 
     let wheel_y = -1.0;
     let wheel_positions = vec![
-        Vector3::new(1.0, wheel_y, -1.0),
-        Vector3::new(-1.0, wheel_y, -1.0),
-        Vector3::new(1.0, wheel_y, 1.0),
-        Vector3::new(-1.0, wheel_y, 1.0),
+        vector![1.0, wheel_y, -1.0],
+        vector![-1.0, wheel_y, -1.0],
+        vector![1.0, wheel_y, 1.0],
+        vector![-1.0, wheel_y, 1.0],
     ];
 
     for pos in wheel_positions {
         let wheel_pos_in_world = box_center + pos;
         let wheel_rb = bodies.insert(
             RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     wheel_pos_in_world.x,
                     wheel_pos_in_world.y,
-                    wheel_pos_in_world.z,
-                )
+                    wheel_pos_in_world.z
+                ])
                 .build(),
         );
-        colliders.insert(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
+        colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
 
         let mut prismatic = rapier3d::dynamics::PrismaticJoint::new(
-            Point3::new(pos.x, pos.y, pos.z),
-            Vector3::y_axis(),
-            Vector3::default(),
-            Point3::new(0.0, 0.0, 0.0),
-            Vector3::y_axis(),
-            Vector3::default(),
+            point![pos.x, pos.y, pos.z],
+            Vector::y_axis(),
+            Vector::zeros(),
+            Point::origin(),
+            Vector::y_axis(),
+            Vector::default(),
         );
         prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased);
         let (stiffness, damping) = (0.05, 0.2);
@@ -59,10 +57,10 @@ fn prismatic_repro(
     // put a small box under one of the wheels
     let gravel = bodies.insert(
         RigidBodyBuilder::new_dynamic()
-            .translation(box_center.x + 1.0, box_center.y - 2.4, -1.0)
+            .translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
             .build(),
     );
-    colliders.insert(
+    colliders.insert_with_parent(
         ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
         gravel,
         bodies,
@@ -84,22 +82,22 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     prismatic_repro(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(0.0, 5.0, 0.0),
+        point![0.0, 5.0, 0.0],
     );
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }