From 754a48b7ff6d8c58b1ee08651e60112900b60455 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Tue, 25 Aug 2020 22:10:25 +0200
Subject: First public release of Rapier.

---
 .github/FUNDING.yml                                |   12 +
 .gitignore                                         |    8 +
 Cargo.toml                                         |   12 +
 LICENSE                                            |  201 +++
 README.md                                          |   30 +
 build/rapier2d/Cargo.toml                          |   53 +
 build/rapier3d/Cargo.toml                          |   53 +
 build/rapier_testbed2d/Cargo.toml                  |   45 +
 build/rapier_testbed3d/Cargo.toml                  |   47 +
 examples2d/Cargo.toml                              |   27 +
 examples2d/all_examples2.rs                        |   90 ++
 examples2d/balls2.rs                               |   68 +
 examples2d/boxes2.rs                               |   73 +
 examples2d/capsules2.rs                            |   76 +
 examples2d/debug_box_ball2.rs                      |   44 +
 examples2d/heightfield2.rs                         |   72 +
 examples2d/joints2.rs                              |   75 +
 examples2d/kinematic2.rs                           |   93 ++
 examples2d/pyramid2.rs                             |   60 +
 examples2d/sensor2.rs                              |  101 ++
 examples2d/stress_joint_ball2.rs                   |   72 +
 examples2d/stress_joint_fixed2.rs                  |   85 +
 examples2d/stress_joint_prismatic2.rs              |   69 +
 examples3d/Cargo.toml                              |   27 +
 examples3d/all_examples3.rs                        |  110 ++
 examples3d/balls3.rs                               |   29 +
 examples3d/boxes3.rs                               |   68 +
 examples3d/capsules3.rs                            |   69 +
 examples3d/debug_boxes3.rs                         |   47 +
 examples3d/debug_triangle3.rs                      |   48 +
 examples3d/domino3.rs                              |   87 ++
 examples3d/heightfield3.rs                         |   78 +
 examples3d/joints3.rs                              |  272 ++++
 examples3d/kinematic3.rs                           |   97 ++
 examples3d/pyramid3.rs                             |   85 +
 examples3d/sensor3.rs                              |  105 ++
 examples3d/stacks3.rs                              |  195 +++
 examples3d/stress_joint_ball3.rs                   |   70 +
 examples3d/stress_joint_fixed3.rs                  |   92 ++
 examples3d/stress_joint_prismatic3.rs              |   81 +
 examples3d/stress_joint_revolute3.rs               |   89 ++
 examples3d/stress_keva3.rs                         |  148 ++
 examples3d/trimesh3.rs                             |   88 ++
 src/counters/ccd_counters.rs                       |   49 +
 src/counters/collision_detection_counters.rs       |   32 +
 src/counters/mod.rs                                |  225 +++
 src/counters/solver_counters.rs                    |   67 +
 src/counters/stages_counters.rs                    |   48 +
 src/counters/timer.rs                              |   53 +
 src/data/arena.rs                                  | 1159 ++++++++++++++
 src/data/graph.rs                                  |  830 ++++++++++
 src/data/mod.rs                                    |    4 +
 src/dynamics/integration_parameters.rs             |  207 +++
 src/dynamics/joint/ball_joint.rs                   |   34 +
 src/dynamics/joint/fixed_joint.rs                  |   33 +
 src/dynamics/joint/joint.rs                        |  112 ++
 src/dynamics/joint/joint_set.rs                    |  218 +++
 src/dynamics/joint/mod.rs                          |   16 +
 src/dynamics/joint/prismatic_joint.rs              |  193 +++
 src/dynamics/joint/revolute_joint.rs               |   46 +
 src/dynamics/mass_properties.rs                    |  206 +++
 src/dynamics/mass_properties_ball.rs               |   30 +
 src/dynamics/mass_properties_capsule.rs            |   60 +
 src/dynamics/mass_properties_cuboid.rs             |   33 +
 src/dynamics/mass_properties_polygon.rs            |  144 ++
 src/dynamics/mod.rs                                |   30 +
 src/dynamics/rigid_body.rs                         |  441 ++++++
 src/dynamics/rigid_body_set.rs                     |  518 ++++++
 src/dynamics/solver/categorization.rs              |   70 +
 src/dynamics/solver/delta_vel.rs                   |   18 +
 src/dynamics/solver/interaction_groups.rs          |  434 +++++
 src/dynamics/solver/island_solver.rs               |   73 +
 .../joint_constraint/ball_position_constraint.rs   |  165 ++
 .../ball_position_constraint_wide.rs               |  199 +++
 .../joint_constraint/ball_velocity_constraint.rs   |  238 +++
 .../ball_velocity_constraint_wide.rs               |  329 ++++
 .../joint_constraint/fixed_position_constraint.rs  |  139 ++
 .../joint_constraint/fixed_velocity_constraint.rs  |  370 +++++
 .../fixed_velocity_constraint_wide.rs              |  472 ++++++
 .../solver/joint_constraint/joint_constraint.rs    |  340 ++++
 .../joint_constraint/joint_position_constraint.rs  |  169 ++
 src/dynamics/solver/joint_constraint/mod.rs        |   65 +
 .../prismatic_position_constraint.rs               |  170 ++
 .../prismatic_velocity_constraint.rs               |  558 +++++++
 .../prismatic_velocity_constraint_wide.rs          |  687 ++++++++
 .../revolute_position_constraint.rs                |  142 ++
 .../revolute_velocity_constraint.rs                |  294 ++++
 .../revolute_velocity_constraint_wide.rs           |  397 +++++
 src/dynamics/solver/mod.rs                         |   56 +
 src/dynamics/solver/parallel_island_solver.rs      |  259 +++
 src/dynamics/solver/parallel_position_solver.rs    |  582 +++++++
 src/dynamics/solver/parallel_velocity_solver.rs    |  485 ++++++
 src/dynamics/solver/position_constraint.rs         |  246 +++
 src/dynamics/solver/position_constraint_wide.rs    |  217 +++
 src/dynamics/solver/position_ground_constraint.rs  |  189 +++
 .../solver/position_ground_constraint_wide.rs      |  199 +++
 src/dynamics/solver/position_solver.rs             |  451 ++++++
 src/dynamics/solver/velocity_constraint.rs         |  401 +++++
 src/dynamics/solver/velocity_constraint_wide.rs    |  344 ++++
 src/dynamics/solver/velocity_ground_constraint.rs  |  300 ++++
 .../solver/velocity_ground_constraint_wide.rs      |  300 ++++
 src/dynamics/solver/velocity_solver.rs             |  405 +++++
 src/geometry/ball.rs                               |   16 +
 src/geometry/broad_phase.rs                        |  255 +++
 src/geometry/broad_phase_multi_sap.rs              |  645 ++++++++
 src/geometry/capsule.rs                            |  168 ++
 src/geometry/collider.rs                           |  373 +++++
 src/geometry/collider_set.rs                       |  139 ++
 src/geometry/contact.rs                            |  485 ++++++
 .../ball_ball_contact_generator.rs                 |   98 ++
 .../ball_convex_contact_generator.rs               |   85 +
 .../ball_polygon_contact_generator.rs              |    0
 .../capsule_capsule_contact_generator.rs           |  200 +++
 .../contact_generator/contact_dispatcher.rs        |  127 ++
 .../contact_generator/contact_generator.rs         |  222 +++
 .../cuboid_capsule_contact_generator.rs            |  188 +++
 .../cuboid_cuboid_contact_generator.rs             |  155 ++
 .../cuboid_polygon_contact_generator.rs            |    0
 .../cuboid_triangle_contact_generator.rs           |  171 ++
 .../heightfield_shape_contact_generator.rs         |  189 +++
 src/geometry/contact_generator/mod.rs              |   71 +
 .../polygon_polygon_contact_generator.rs           |  298 ++++
 .../trimesh_shape_contact_generator.rs             |  194 +++
 .../voxels_shape_contact_generator.rs              |    0
 src/geometry/cuboid.rs                             |  234 +++
 src/geometry/cuboid_feature2d.rs                   |  128 ++
 src/geometry/cuboid_feature3d.rs                   |  516 ++++++
 src/geometry/interaction_graph.rs                  |  259 +++
 src/geometry/mod.rs                                |   80 +
 src/geometry/narrow_phase.rs                       |  483 ++++++
 src/geometry/polygon.rs                            |   76 +
 src/geometry/polygon_intersection.rs               |  263 ++++
 src/geometry/polyhedron_feature3d.rs               |  284 ++++
 src/geometry/proximity.rs                          |   31 +
 .../ball_ball_proximity_detector.rs                |   68 +
 .../ball_convex_proximity_detector.rs              |   53 +
 .../ball_polygon_proximity_detector.rs             |    0
 .../cuboid_cuboid_proximity_detector.rs            |   79 +
 .../cuboid_polygon_proximity_detector.rs           |    0
 .../cuboid_triangle_proximity_detector.rs          |   88 ++
 src/geometry/proximity_detector/mod.rs             |   30 +
 .../polygon_polygon_proximity_detector.rs          |   54 +
 .../proximity_detector/proximity_detector.rs       |  212 +++
 .../proximity_detector/proximity_dispatcher.rs     |  136 ++
 .../trimesh_shape_proximity_detector.rs            |  133 ++
 .../voxels_shape_proximity_detector.rs             |    0
 src/geometry/sat.rs                                |  294 ++++
 src/geometry/triangle.rs                           |    9 +
 src/geometry/trimesh.rs                            |  122 ++
 src/geometry/waabb.rs                              |  116 ++
 src/geometry/z_order.rs                            |   70 +
 src/lib.rs                                         |  255 +++
 src/pipeline/collision_pipeline.rs                 |  111 ++
 src/pipeline/event_handler.rs                      |   51 +
 src/pipeline/mod.rs                                |    9 +
 src/pipeline/physics_pipeline.rs                   |  332 ++++
 src/utils.rs                                       | 1333 ++++++++++++++++
 src_testbed/Inconsolata.otf                        |  Bin 0 -> 58464 bytes
 src_testbed/box2d_backend.rs                       |  237 +++
 src_testbed/engine.rs                              |  694 ++++++++
 src_testbed/lib.rs                                 |   52 +
 src_testbed/nphysics_backend.rs                    |  212 +++
 src_testbed/objects/ball.rs                        |   73 +
 src_testbed/objects/box_node.rs                    |   73 +
 src_testbed/objects/capsule.rs                     |   74 +
 src_testbed/objects/convex.rs                      |   77 +
 src_testbed/objects/heightfield.rs                 |  120 ++
 src_testbed/objects/mesh.rs                        |  108 ++
 src_testbed/objects/mod.rs                         |   10 +
 src_testbed/objects/node.rs                        |  164 ++
 src_testbed/objects/plane.rs                       |  132 ++
 src_testbed/objects/polyline.rs                    |   79 +
 src_testbed/physx_backend.rs                       |  604 +++++++
 src_testbed/testbed.rs                             | 1652 ++++++++++++++++++++
 src_testbed/ui.rs                                  |  568 +++++++
 175 files changed, 32819 insertions(+)
 create mode 100644 .github/FUNDING.yml
 create mode 100644 .gitignore
 create mode 100644 Cargo.toml
 create mode 100644 LICENSE
 create mode 100644 README.md
 create mode 100644 build/rapier2d/Cargo.toml
 create mode 100644 build/rapier3d/Cargo.toml
 create mode 100644 build/rapier_testbed2d/Cargo.toml
 create mode 100644 build/rapier_testbed3d/Cargo.toml
 create mode 100644 examples2d/Cargo.toml
 create mode 100644 examples2d/all_examples2.rs
 create mode 100644 examples2d/balls2.rs
 create mode 100644 examples2d/boxes2.rs
 create mode 100644 examples2d/capsules2.rs
 create mode 100644 examples2d/debug_box_ball2.rs
 create mode 100644 examples2d/heightfield2.rs
 create mode 100644 examples2d/joints2.rs
 create mode 100644 examples2d/kinematic2.rs
 create mode 100644 examples2d/pyramid2.rs
 create mode 100644 examples2d/sensor2.rs
 create mode 100644 examples2d/stress_joint_ball2.rs
 create mode 100644 examples2d/stress_joint_fixed2.rs
 create mode 100644 examples2d/stress_joint_prismatic2.rs
 create mode 100644 examples3d/Cargo.toml
 create mode 100644 examples3d/all_examples3.rs
 create mode 100644 examples3d/balls3.rs
 create mode 100644 examples3d/boxes3.rs
 create mode 100644 examples3d/capsules3.rs
 create mode 100644 examples3d/debug_boxes3.rs
 create mode 100644 examples3d/debug_triangle3.rs
 create mode 100644 examples3d/domino3.rs
 create mode 100644 examples3d/heightfield3.rs
 create mode 100644 examples3d/joints3.rs
 create mode 100644 examples3d/kinematic3.rs
 create mode 100644 examples3d/pyramid3.rs
 create mode 100644 examples3d/sensor3.rs
 create mode 100644 examples3d/stacks3.rs
 create mode 100644 examples3d/stress_joint_ball3.rs
 create mode 100644 examples3d/stress_joint_fixed3.rs
 create mode 100644 examples3d/stress_joint_prismatic3.rs
 create mode 100644 examples3d/stress_joint_revolute3.rs
 create mode 100644 examples3d/stress_keva3.rs
 create mode 100644 examples3d/trimesh3.rs
 create mode 100644 src/counters/ccd_counters.rs
 create mode 100644 src/counters/collision_detection_counters.rs
 create mode 100644 src/counters/mod.rs
 create mode 100644 src/counters/solver_counters.rs
 create mode 100644 src/counters/stages_counters.rs
 create mode 100644 src/counters/timer.rs
 create mode 100644 src/data/arena.rs
 create mode 100644 src/data/graph.rs
 create mode 100644 src/data/mod.rs
 create mode 100644 src/dynamics/integration_parameters.rs
 create mode 100644 src/dynamics/joint/ball_joint.rs
 create mode 100644 src/dynamics/joint/fixed_joint.rs
 create mode 100644 src/dynamics/joint/joint.rs
 create mode 100644 src/dynamics/joint/joint_set.rs
 create mode 100644 src/dynamics/joint/mod.rs
 create mode 100644 src/dynamics/joint/prismatic_joint.rs
 create mode 100644 src/dynamics/joint/revolute_joint.rs
 create mode 100644 src/dynamics/mass_properties.rs
 create mode 100644 src/dynamics/mass_properties_ball.rs
 create mode 100644 src/dynamics/mass_properties_capsule.rs
 create mode 100644 src/dynamics/mass_properties_cuboid.rs
 create mode 100644 src/dynamics/mass_properties_polygon.rs
 create mode 100644 src/dynamics/mod.rs
 create mode 100644 src/dynamics/rigid_body.rs
 create mode 100644 src/dynamics/rigid_body_set.rs
 create mode 100644 src/dynamics/solver/categorization.rs
 create mode 100644 src/dynamics/solver/delta_vel.rs
 create mode 100644 src/dynamics/solver/interaction_groups.rs
 create mode 100644 src/dynamics/solver/island_solver.rs
 create mode 100644 src/dynamics/solver/joint_constraint/ball_position_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
 create mode 100644 src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/ball_velocity_constraint_wide.rs
 create mode 100644 src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
 create mode 100644 src/dynamics/solver/joint_constraint/joint_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/joint_position_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/mod.rs
 create mode 100644 src/dynamics/solver/joint_constraint/prismatic_position_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/prismatic_velocity_constraint_wide.rs
 create mode 100644 src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
 create mode 100644 src/dynamics/solver/joint_constraint/revolute_velocity_constraint_wide.rs
 create mode 100644 src/dynamics/solver/mod.rs
 create mode 100644 src/dynamics/solver/parallel_island_solver.rs
 create mode 100644 src/dynamics/solver/parallel_position_solver.rs
 create mode 100644 src/dynamics/solver/parallel_velocity_solver.rs
 create mode 100644 src/dynamics/solver/position_constraint.rs
 create mode 100644 src/dynamics/solver/position_constraint_wide.rs
 create mode 100644 src/dynamics/solver/position_ground_constraint.rs
 create mode 100644 src/dynamics/solver/position_ground_constraint_wide.rs
 create mode 100644 src/dynamics/solver/position_solver.rs
 create mode 100644 src/dynamics/solver/velocity_constraint.rs
 create mode 100644 src/dynamics/solver/velocity_constraint_wide.rs
 create mode 100644 src/dynamics/solver/velocity_ground_constraint.rs
 create mode 100644 src/dynamics/solver/velocity_ground_constraint_wide.rs
 create mode 100644 src/dynamics/solver/velocity_solver.rs
 create mode 100644 src/geometry/ball.rs
 create mode 100644 src/geometry/broad_phase.rs
 create mode 100644 src/geometry/broad_phase_multi_sap.rs
 create mode 100644 src/geometry/capsule.rs
 create mode 100644 src/geometry/collider.rs
 create mode 100644 src/geometry/collider_set.rs
 create mode 100644 src/geometry/contact.rs
 create mode 100644 src/geometry/contact_generator/ball_ball_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/ball_convex_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/ball_polygon_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/capsule_capsule_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/contact_dispatcher.rs
 create mode 100644 src/geometry/contact_generator/contact_generator.rs
 create mode 100644 src/geometry/contact_generator/cuboid_capsule_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/cuboid_polygon_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/cuboid_triangle_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/heightfield_shape_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/mod.rs
 create mode 100644 src/geometry/contact_generator/polygon_polygon_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/trimesh_shape_contact_generator.rs
 create mode 100644 src/geometry/contact_generator/voxels_shape_contact_generator.rs
 create mode 100644 src/geometry/cuboid.rs
 create mode 100644 src/geometry/cuboid_feature2d.rs
 create mode 100644 src/geometry/cuboid_feature3d.rs
 create mode 100644 src/geometry/interaction_graph.rs
 create mode 100644 src/geometry/mod.rs
 create mode 100644 src/geometry/narrow_phase.rs
 create mode 100644 src/geometry/polygon.rs
 create mode 100644 src/geometry/polygon_intersection.rs
 create mode 100644 src/geometry/polyhedron_feature3d.rs
 create mode 100644 src/geometry/proximity.rs
 create mode 100644 src/geometry/proximity_detector/ball_ball_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/ball_convex_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/ball_polygon_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/mod.rs
 create mode 100644 src/geometry/proximity_detector/polygon_polygon_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/proximity_dispatcher.rs
 create mode 100644 src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
 create mode 100644 src/geometry/proximity_detector/voxels_shape_proximity_detector.rs
 create mode 100644 src/geometry/sat.rs
 create mode 100644 src/geometry/triangle.rs
 create mode 100644 src/geometry/trimesh.rs
 create mode 100644 src/geometry/waabb.rs
 create mode 100644 src/geometry/z_order.rs
 create mode 100644 src/lib.rs
 create mode 100644 src/pipeline/collision_pipeline.rs
 create mode 100644 src/pipeline/event_handler.rs
 create mode 100644 src/pipeline/mod.rs
 create mode 100644 src/pipeline/physics_pipeline.rs
 create mode 100644 src/utils.rs
 create mode 100644 src_testbed/Inconsolata.otf
 create mode 100644 src_testbed/box2d_backend.rs
 create mode 100644 src_testbed/engine.rs
 create mode 100644 src_testbed/lib.rs
 create mode 100644 src_testbed/nphysics_backend.rs
 create mode 100644 src_testbed/objects/ball.rs
 create mode 100644 src_testbed/objects/box_node.rs
 create mode 100644 src_testbed/objects/capsule.rs
 create mode 100644 src_testbed/objects/convex.rs
 create mode 100644 src_testbed/objects/heightfield.rs
 create mode 100644 src_testbed/objects/mesh.rs
 create mode 100644 src_testbed/objects/mod.rs
 create mode 100644 src_testbed/objects/node.rs
 create mode 100644 src_testbed/objects/plane.rs
 create mode 100644 src_testbed/objects/polyline.rs
 create mode 100644 src_testbed/physx_backend.rs
 create mode 100644 src_testbed/testbed.rs
 create mode 100644 src_testbed/ui.rs

diff --git a/.github/FUNDING.yml b/.github/FUNDING.yml
new file mode 100644
index 0000000..5ee5fec
--- /dev/null
+++ b/.github/FUNDING.yml
@@ -0,0 +1,12 @@
+# These are supported funding model platforms
+
+github: [ "dimforge" ] # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
+patreon: # Replace with a single Patreon username
+open_collective: # Replace with a single Open Collective username
+ko_fi: # Replace with a single Ko-fi username
+tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
+community_bridge: # Replace with a single Community Bridge project-name e.g., cloud-foundry
+liberapay: # Replace with a single Liberapay username
+issuehunt: # Replace with a single IssueHunt username
+otechie: # Replace with a single Otechie username
+custom: # Replace with up to 4 custom sponsorship URLs e.g., ['link1', 'link2']
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..d8c2e33
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,8 @@
+**/*.rs.bk
+Cargo.lock
+node_modules
+target
+.idea
+.DS_Store
+package-lock.json
+**/*.csv
\ No newline at end of file
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..cf89018
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,12 @@
+[workspace]
+members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", "examples2d/wasm",
+            "build/rapier3d", "build/rapier_testbed3d", "examples3d", "examples3d/wasm",]
+
+[patch.crates-io]
+#wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" }
+
+[profile.release]
+debug = false
+codegen-units = 1
+#opt-level = 1
+#lto = true
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..97f4383
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
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+      "Legal Entity" shall mean the union of the acting entity and all
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+      "You" (or "Your") shall mean an individual or Legal Entity
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+      "Work" shall mean the work of authorship, whether in Source or
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+      the conditions stated in this License.
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
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+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
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+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
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+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
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+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright 2020 Sébastien Crozet
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..9ce06b0
--- /dev/null
+++ b/README.md
@@ -0,0 +1,30 @@
+<p align="center">
+  <img src="https://www.rapier.rs/img/rapier_logo_color_textpath.svg" alt="crates.io">
+</p>
+<p align="center">
+    <a href="https://discord.gg/vt9DJSW">
+        <img src="https://img.shields.io/discord/507548572338880513.svg?logo=discord&colorB=7289DA">
+    </a>
+    <a href="https://travis-ci.org/dimforge/rapier">
+        <img src="https://travis-ci.org/dimforge/rapier.svg?branch=master" alt="Build status">
+    </a>
+    <a href="https://crates.io/crates/rapier">
+         <img src="https://meritbadge.herokuapp.com/rapier?style=flat-square" alt="crates.io">
+    </a>
+    <a href="https://opensource.org/licenses/Apache-2.0">
+        <img src="https://img.shields.io/badge/License-Apache%202.0-blue.svg">
+    </a>
+</p>
+<p align = "center">
+    <strong>
+        <a href="https://rapier.rs">Website</a> | <a href="https://rapier.rs/docs/">Documentation</a>
+</p>
+
+-----
+
+<p align = "center">
+<b>2D and 3D physics engines</b>
+<i>for the Rust programming language.</i>
+</p>
+
+-----
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
new file mode 100644
index 0000000..8afa443
--- /dev/null
+++ b/build/rapier2d/Cargo.toml
@@ -0,0 +1,53 @@
+# Name idea: bident for 2D and trident for 3D
+[package]
+name    = "rapier2d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+description = "2-dimensional physics engine in Rust."
+documentation = "http://rapier.rs/rustdoc/rapier2d/index.html"
+homepage = "http://rapier.rs"
+repository = "https://github.com/rustsim/rapier"
+readme = "README.md"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2018"
+
+[features]
+default = [ "dim2" ]
+dim2    = [ ]
+parallel = [ "rayon" ]
+simd-stable = [ "simba/wide", "simd-is-enabled" ]
+simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
+# Do not enable this feature directly. It is automatically
+# enabled with the "simd-stable" or "simd-nightly" feature.
+simd-is-enabled = [ ]
+wasm-bindgen = [ "instant/wasm-bindgen" ]
+serde-serialize = [ "nalgebra/serde-serialize", "ncollide2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ]
+enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+
+[lib]
+name = "rapier2d"
+path = "../../src/lib.rs"
+required-features = [ "dim2" ]
+
+
+[dependencies]
+vec_map = "0.8"
+instant = { version = "0.1", features = [ "now" ]}
+num-traits = "0.2"
+nalgebra = "0.22"
+ncollide2d = "0.24"
+simba = "0.2"
+approx = "0.3"
+rayon = { version = "1", optional = true }
+crossbeam = "0.7"
+generational-arena = "0.2"
+arrayvec = "0.5"
+bit-vec = "0.6"
+rustc-hash = "1"
+serde = { version = "1", features = [ "derive" ], optional = true }
+indexmap = { version = "1", features = [ "serde-1" ], optional = true }
+
+[dev-dependencies]
+bincode = "1"
+serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
new file mode 100644
index 0000000..00eb77d
--- /dev/null
+++ b/build/rapier3d/Cargo.toml
@@ -0,0 +1,53 @@
+# Name idea: bident for 2D and trident for 3D
+[package]
+name    = "rapier3d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+description = "3-dimensional physics engine in Rust."
+documentation = "http://rapier.rs/rustdoc/rapier2d/index.html"
+homepage = "http://rapier.rs"
+repository = "https://github.com/rustsim/rapier"
+readme = "README.md"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2018"
+
+[features]
+default = [ "dim3" ]
+dim3    = [ ]
+parallel = [ "rayon" ]
+simd-stable = [ "simba/wide", "simd-is-enabled" ]
+simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
+# Do not enable this feature directly. It is automatically
+# enabled with the "simd-stable" or "simd-nightly" feature.
+simd-is-enabled = [ ]
+wasm-bindgen = [ "instant/wasm-bindgen" ]
+serde-serialize = [ "nalgebra/serde-serialize", "ncollide3d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ]
+enhanced-determinism = [ "simba/libm_force", "indexmap" ]
+
+[lib]
+name = "rapier3d"
+path = "../../src/lib.rs"
+required-features = [ "dim3" ]
+
+
+[dependencies]
+vec_map = "0.8"
+instant = { version = "0.1", features = [ "now" ]}
+num-traits = "0.2"
+nalgebra = "0.22"
+ncollide3d = "0.24"
+simba = "0.2"
+approx = "0.3"
+rayon = { version = "1", optional = true }
+crossbeam = "0.7"
+generational-arena = "0.2"
+arrayvec = "0.5"
+bit-vec = "0.6"
+rustc-hash = "1"
+serde = { version = "1", features = [ "derive" ], optional = true }
+indexmap = { version = "1", features = [ "serde-1" ], optional = true }
+
+[dev-dependencies]
+bincode = "1"
+serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
new file mode 100644
index 0000000..b4e82a2
--- /dev/null
+++ b/build/rapier_testbed2d/Cargo.toml
@@ -0,0 +1,45 @@
+[package]
+name    = "rapier_testbed2d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+description = "Testbed for the 2-dimensional physics engine in Rust."
+homepage = "http://rapier.org"
+repository = "https://github.com/rustsim/rapier"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2018"
+
+
+[lib]
+name = "rapier_testbed2d"
+path = "../../src_testbed/lib.rs"
+required-features = [ "dim2" ]
+
+[features]
+default = [ "dim2" ]
+dim2 = [ ]
+parallel = [ "rapier2d/parallel", "num_cpus" ]
+other-backends = [ "wrapped2d", "nphysics2d" ]
+
+
+[dependencies]
+nalgebra   = "0.22"
+kiss3d     = { version = "0.25", features = [ "conrod" ] }
+rand       = "0.7"
+rand_pcg   = "0.2"
+instant    = { version = "0.1", features = [ "web-sys", "now" ]}
+bitflags   = "1"
+num_cpus   = { version = "1", optional = true }
+wrapped2d  = { version = "0.4", optional = true }
+ncollide2d = "0.24"
+nphysics2d = { version = "0.17", optional = true }
+crossbeam = "0.7"
+bincode = "1"
+flexbuffers = "0.1"
+md5 = "0.7"
+
+
+[dependencies.rapier2d]
+path = "../rapier2d"
+version = "0.1"
+features = [ "serde-serialize" ]
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
new file mode 100644
index 0000000..31cdbb9
--- /dev/null
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -0,0 +1,47 @@
+[package]
+name    = "rapier_testbed3d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+description = "Testbed for the 3-dimensional physics engine in Rust."
+homepage = "http://rapier.org"
+repository = "https://github.com/rustsim/rapier"
+keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+license = "Apache-2.0"
+edition = "2018"
+
+
+[lib]
+name = "rapier_testbed3d"
+path = "../../src_testbed/lib.rs"
+required-features = [ "dim3" ]
+
+[features]
+default = [ "dim3" ]
+dim3 = [ ]
+parallel = [ "rapier3d/parallel", "num_cpus" ]
+other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
+
+[dependencies]
+nalgebra   = "0.22"
+kiss3d     = { version = "0.25", features = [ "conrod" ] }
+rand       = "0.7"
+rand_pcg   = "0.2"
+instant    = { version = "0.1", features = [ "web-sys", "now" ]}
+bitflags   = "1"
+glam       = { version = "0.8", optional = true }
+num_cpus   = { version = "1", optional = true }
+ncollide3d = "0.24"
+nphysics3d = { version = "0.17", optional = true }
+physx      = { version = "0.6", optional = true }
+physx-sys = { version = "0.4", optional = true }
+crossbeam = "0.7"
+bincode = "1"
+flexbuffers = "0.1"
+serde_cbor = "0.11"
+md5 = "0.7"
+serde = { version = "1", features = [ "derive" ] }
+
+[dependencies.rapier3d]
+path = "../rapier3d"
+version = "0.1"
+features = [ "serde-serialize" ]
diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml
new file mode 100644
index 0000000..7e97948
--- /dev/null
+++ b/examples2d/Cargo.toml
@@ -0,0 +1,27 @@
+[package]
+name    = "nphysics-examples-2d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+edition = "2018"
+
+[features]
+parallel = [ "rapier2d/parallel", "rapier_testbed2d/parallel" ]
+simd-stable = [ "rapier2d/simd-stable" ]
+simd-nightly = [ "rapier2d/simd-nightly" ]
+other-backends = [ "rapier_testbed2d/other-backends" ]
+enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
+
+[dependencies]
+rand       = "0.7"
+Inflector  = "0.11"
+nalgebra = "0.22"
+
+[dependencies.rapier_testbed2d]
+path = "../build/rapier_testbed2d"
+
+[dependencies.rapier2d]
+path = "../build/rapier2d"
+
+[[bin]]
+name = "all_examples2"
+path = "./all_examples2.rs"
\ No newline at end of file
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
new file mode 100644
index 0000000..7b8bf09
--- /dev/null
+++ b/examples2d/all_examples2.rs
@@ -0,0 +1,90 @@
+#![allow(dead_code)]
+
+extern crate nalgebra as na;
+
+#[cfg(target_arch = "wasm32")]
+use wasm_bindgen::prelude::*;
+
+use inflector::Inflector;
+
+use rapier_testbed2d::Testbed;
+use std::cmp::Ordering;
+
+mod balls2;
+mod boxes2;
+mod capsules2;
+mod debug_box_ball2;
+mod heightfield2;
+mod joints2;
+mod kinematic2;
+mod pyramid2;
+mod sensor2;
+mod stress_joint_ball2;
+mod stress_joint_fixed2;
+mod stress_joint_prismatic2;
+
+fn demo_name_from_command_line() -> Option<String> {
+    let mut args = std::env::args();
+
+    while let Some(arg) = args.next() {
+        if &arg[..] == "--example" {
+            return args.next();
+        }
+    }
+
+    None
+}
+
+#[cfg(any(target_arch = "wasm32", target_arch = "asmjs"))]
+fn demo_name_from_url() -> Option<String> {
+    None
+    //    let window = stdweb::web::window();
+    //    let hash = window.location()?.search().ok()?;
+    //    Some(hash[1..].to_string())
+}
+
+#[cfg(not(any(target_arch = "wasm32", target_arch = "asmjs")))]
+fn demo_name_from_url() -> Option<String> {
+    None
+}
+
+#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
+pub fn main() {
+    let demo = demo_name_from_command_line()
+        .or_else(|| demo_name_from_url())
+        .unwrap_or(String::new())
+        .to_camel_case();
+
+    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
+        ("Balls", balls2::init_world),
+        ("Boxes", boxes2::init_world),
+        ("Capsules", capsules2::init_world),
+        ("Heightfield", heightfield2::init_world),
+        ("Joints", joints2::init_world),
+        ("Kinematic", kinematic2::init_world),
+        ("Pyramid", pyramid2::init_world),
+        ("Sensor", sensor2::init_world),
+        ("(Debug) box ball", debug_box_ball2::init_world),
+        ("(Stress test) joint ball", stress_joint_ball2::init_world),
+        ("(Stress test) joint fixed", stress_joint_fixed2::init_world),
+        (
+            "(Stress test) joint prismatic",
+            stress_joint_prismatic2::init_world,
+        ),
+    ];
+
+    // Lexicographic sort, with stress tests moved at the end of the list.
+    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+        (true, true) | (false, false) => a.0.cmp(b.0),
+        (true, false) => Ordering::Greater,
+        (false, true) => Ordering::Less,
+    });
+
+    let i = builders
+        .iter()
+        .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
+        .unwrap_or(0);
+    let testbed = Testbed::from_builders(i, builders);
+
+    testbed.run()
+}
diff --git a/examples2d/balls2.rs b/examples2d/balls2.rs
new file mode 100644
index 0000000..4c85d86
--- /dev/null
+++ b/examples2d/balls2.rs
@@ -0,0 +1,68 @@
+use na::Point2;
+use rapier2d::dynamics::{BodyStatus, JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+    /*
+     * Ground
+     */
+    let _ground_size = 25.0;
+
+    /*
+    let ground_shape = ShapeHandle::new(Cuboid::new(Vector2::new(ground_size, 1.0)));
+
+    let ground_handle = bodies.insert(Ground::new());
+    let co = ColliderDesc::new(ground_shape)
+        .translation(-Vector2::y())
+        .build(BodyPartHandle(ground_handle, 0));
+    colliders.insert(co);
+    */
+
+    /*
+     * Create the balls
+     */
+    let num = 50;
+    let rad = 1.0;
+
+    let shiftx = rad * 2.5;
+    let shifty = rad * 2.0;
+    let centerx = shiftx * (num as f32) / 2.0;
+    let centery = shifty / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shiftx - centerx;
+            let y = j as f32 * shifty + centery;
+
+            let status = if j == 0 {
+                BodyStatus::Static
+            } else {
+                BodyStatus::Dynamic
+            };
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/boxes2.rs b/examples2d/boxes2.rs
new file mode 100644
index 0000000..8b09def
--- /dev/null
+++ b/examples2d/boxes2.rs
@@ -0,0 +1,73 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 25.0;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(ground_size, ground_size * 2.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(-ground_size, ground_size * 2.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 26;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery + 2.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/capsules2.rs b/examples2d/capsules2.rs
new file mode 100644
index 0000000..041edf5
--- /dev/null
+++ b/examples2d/capsules2.rs
@@ -0,0 +1,76 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 25.0;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(ground_size, ground_size * 4.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(-ground_size, ground_size * 4.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 26;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let shifty = rad * 5.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shifty + centery + 3.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::capsule_y(rad * 1.5, rad)
+                .density(1.0)
+                .build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/debug_box_ball2.rs b/examples2d/debug_box_ball2.rs
new file mode 100644
index 0000000..2cc5e45
--- /dev/null
+++ b/examples2d/debug_box_ball2.rs
@@ -0,0 +1,44 @@
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let rad = 1.0;
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -rad)
+        .rotation(std::f32::consts::PI / 4.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(rad, rad).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    // Build the dynamic box rigid body.
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 3.0 * rad)
+        .can_sleep(false)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(rad).density(1.0).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    //    testbed.look_at(Point2::new(10.0, 10.0, 10.0), Point2::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs
new file mode 100644
index 0000000..b03afe3
--- /dev/null
+++ b/examples2d/heightfield2.rs
@@ -0,0 +1,72 @@
+use na::{DVector, Point2, Vector2};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = Vector2::new(50.0, 1.0);
+    let nsubdivs = 2000;
+
+    let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
+        if i == 0 || i == nsubdivs {
+            80.0
+        } else {
+            (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
+        }
+    });
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::heightfield(heights, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 26;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery + 3.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+
+            if j % 2 == 0 {
+                let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+                colliders.insert(collider, handle, &mut bodies);
+            } else {
+                let collider = ColliderBuilder::ball(rad).density(1.0).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs
new file mode 100644
index 0000000..c3df921
--- /dev/null
+++ b/examples2d/joints2.rs
@@ -0,0 +1,75 @@
+use na::Point2;
+use rapier2d::dynamics::{BallJoint, BodyStatus, JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut joints = JointSet::new();
+
+    /*
+     * Create the balls
+     */
+    // Build the rigid body.
+    // NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
+    // in order to be able to compare rapier with Box2D,
+    // we set it to 0.4.
+    let rad = 0.4;
+    let numi = 100; // Num vertical nodes.
+    let numk = 100; // Num horizontal nodes.
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for k in 0..numk {
+        for i in 0..numi {
+            let fk = k as f32;
+            let fi = i as f32;
+
+            let status = if i == 0 && (k % 4 == 0 || k == numk - 1) {
+                BodyStatus::Static
+            } else {
+                BodyStatus::Dynamic
+            };
+
+            let rigid_body = RigidBodyBuilder::new(status)
+                .translation(fk * shift, -fi * shift)
+                .build();
+            let child_handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            colliders.insert(collider, child_handle, &mut bodies);
+
+            // Vertical joint.
+            if i > 0 {
+                let parent_handle = *body_handles.last().unwrap();
+                let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
+                joints.insert(&mut bodies, parent_handle, child_handle, joint);
+            }
+
+            // Horizontal joint.
+            if k > 0 {
+                let parent_index = body_handles.len() - numi;
+                let parent_handle = body_handles[parent_index];
+                let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
+                joints.insert(&mut bodies, parent_handle, child_handle, joint);
+            }
+
+            body_handles.push(child_handle);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/kinematic2.rs b/examples2d/kinematic2.rs
new file mode 100644
index 0000000..d979cd0
--- /dev/null
+++ b/examples2d/kinematic2.rs
@@ -0,0 +1,93 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground.
+     */
+    let ground_size = 10.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(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);
+
+    /*
+     * Create the boxes
+     */
+    let num = 6;
+    let rad = 0.2;
+
+    let shift = rad * 2.0;
+    let centerx = shift * num as f32 / 2.0;
+    let centery = shift / 2.0 + 3.04;
+
+    for i in 0usize..num {
+        for j in 0usize..num * 50 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Setup a kinematic rigid body.
+     */
+    let platform_body = RigidBodyBuilder::new_kinematic()
+        .translation(-10.0 * rad, 1.5 + 0.8)
+        .build();
+    let platform_handle = bodies.insert(platform_body);
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad)
+        .density(1.0)
+        .build();
+    colliders.insert(collider, platform_handle, &mut bodies);
+
+    /*
+     * Setup a callback to control the platform.
+     */
+    testbed.add_callback(move |bodies, _, _, _, time| {
+        let mut platform = bodies.get_mut(platform_handle).unwrap();
+        let mut next_pos = platform.position;
+
+        let dt = 0.016;
+        next_pos.translation.vector.y += (time * 5.0).sin() * dt;
+        next_pos.translation.vector.x += time.sin() * 5.0 * dt;
+
+        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;
+        }
+
+        platform.set_next_kinematic_position(next_pos);
+    });
+
+    /*
+     * Run the simulation.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 1.0), 40.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/pyramid2.rs b/examples2d/pyramid2.rs
new file mode 100644
index 0000000..4d6fe07
--- /dev/null
+++ b/examples2d/pyramid2.rs
@@ -0,0 +1,60 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 100;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0 + ground_thickness + rad * 1.5;
+
+    for i in 0usize..num {
+        for j in i..num {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift - centerx;
+            let y = fi * shift + centery;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs
new file mode 100644
index 0000000..75634a8
--- /dev/null
+++ b/examples2d/sensor2.rs
@@ -0,0 +1,101 @@
+use na::{Point2, Point3};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet, Proximity};
+use rapier_testbed2d::Testbed;
+
+pub fn