3 files changed, 9 insertions, 13 deletions
diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index 59cccc3..a09e0ac 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -86,12 +86,10 @@ type Callbacks =
 #[allow(dead_code)]
 impl Harness {
     pub fn new_empty() -> Self {
-        let contact_channel = crossbeam::channel::unbounded();
-        let proximity_channel = crossbeam::channel::unbounded();
-        let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0);
+        let event_channel = crossbeam::channel::unbounded();
+        let event_handler = ChannelEventCollector::new(event_channel.0);
         let events = PhysicsEvents {
-            contact_events: contact_channel.1,
-            intersection_events: proximity_channel.1,
+            events: event_channel.1,
         };
         let physics = PhysicsState::new();
         let state = RunState::new();
diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index c3f21ef..c8168d9 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -3,7 +3,7 @@ use rapier::dynamics::{
     CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
     RigidBodySet,
 };
-use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
+use rapier::geometry::{BroadPhase, ColliderSet, CollisionEvent, NarrowPhase};
 use rapier::math::{Real, Vector};
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
@@ -107,13 +107,11 @@ impl PhysicsState {
 }
 
 pub struct PhysicsEvents {
-    pub contact_events: Receiver<ContactEvent>,
-    pub intersection_events: Receiver<IntersectionEvent>,
+    pub events: Receiver<CollisionEvent>,
 }
 
 impl PhysicsEvents {
     pub fn poll_all(&self) {
-        while let Ok(_) = self.contact_events.try_recv() {}
-        while let Ok(_) = self.intersection_events.try_recv() {}
+        while let Ok(_) = self.events.try_recv() {}
     }
 }
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 2d42a68..31326bc 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -213,7 +213,7 @@ impl PhysxWorld {
 
                     rapier2dynamic.insert(rapier_handle, actor);
                 } else {
-                    let actor = physics.create_fixed(pos, ()).unwrap();
+                    let actor = physics.create_static(pos, ()).unwrap();
                     rapier2static.insert(rapier_handle, actor);
                 }
             }
@@ -382,7 +382,7 @@ impl PhysxWorld {
             );
 
             for (_, actor) in rapier2static {
-                scene.add_fixed_actor(actor);
+                scene.add_static_actor(actor);
             }
 
             for (_, actor) in rapier2dynamic {
@@ -712,7 +712,7 @@ type PxPhysicsFoundation = PhysicsFoundation<DefaultAllocator, PxShape>;
 type PxMaterial = physx::material::PxMaterial<()>;
 type PxShape = physx::shape::PxShape<(), PxMaterial>;
 type PxArticulationLink = physx::articulation_link::PxArticulationLink<RigidBodyHandle, PxShape>;
-type PxRigidStatic = physx::rigid_fixed::PxRigidStatic<(), PxShape>;
+type PxRigidStatic = physx::rigid_static::PxRigidStatic<(), PxShape>;
 type PxRigidDynamic = physx::rigid_dynamic::PxRigidDynamic<RigidBodyHandle, PxShape>;
 type PxArticulation = physx::articulation::PxArticulation<(), PxArticulationLink>;
 type PxArticulationReducedCoordinate =