feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0 (#909)

* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy

* chore: update changelog

* Fix warnings and tests

* Release v0.32.0

examples2d/Cargo.toml

@@ -15,12 +15,15 @@ enhanced-determinism = ["rapier2d/enhanced-determinism"]
 [dependencies]
 rand = "0.9"
 lyon = "0.17"
-usvg = "0.14"
 dot_vox = "5"
+kiss3d = { version = "0.40.0", features = ["egui", "parry", "serde"] }
+
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+usvg = "0.14"
 
 [dependencies.rapier_testbed2d]
 path = "../crates/rapier_testbed2d"
-features = ["profiler_ui"]
+#features = ["profiler_ui"]
 
 [dependencies.rapier2d]
 path = "../crates/rapier2d"

examples2d/add_remove2.rs

@@ -1,5 +1,5 @@
 use rapier_testbed2d::Testbed;
-use rapier2d::{na::UnitComplex, prelude::*};
+use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
     let mut bodies = RigidBodySet::new();
@@ -9,7 +9,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rad = 0.5;
 
-    let positions = [vector![5.0, -1.0], vector![-5.0, -1.0]];
+    let positions = [Vector::new(5.0, -1.0), Vector::new(-5.0, -1.0)];
 
     let platform_handles = positions
         .into_iter()
@@ -27,13 +27,13 @@ pub fn init_world(testbed: &mut Testbed) {
         let rot = -state.time;
         for rb_handle in &platform_handles {
             let rb = physics.bodies.get_mut(*rb_handle).unwrap();
-            rb.set_next_kinematic_rotation(UnitComplex::new(rot));
+            rb.set_next_kinematic_rotation(Rotation::new(rot));
         }
 
         if state.timestep_id % 10 == 0 {
             let x = rand::random::<f32>() * 10.0 - 5.0;
             let y = rand::random::<f32>() * 10.0 + 10.0;
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = physics.bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             physics
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let to_remove: Vec<_> = physics
             .bodies
             .iter()
-            .filter(|(_, b)| b.position().translation.vector.y < -10.0)
+            .filter(|(_, b)| b.position().translation.y < -10.0)
             .map(|e| e.0)
             .collect();
         for handle in to_remove {
@@ -71,5 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 20.0);
+    testbed.look_at(Vec2::ZERO, 20.0);
 }

examples2d/all_examples2.rs

@@ -1,11 +1,7 @@
 #![allow(dead_code)]
 #![allow(clippy::type_complexity)]
 
-#[cfg(target_arch = "wasm32")]
-use wasm_bindgen::prelude::*;
-
-use rapier_testbed2d::{Testbed, TestbedApp};
-use std::cmp::Ordering;
+use rapier_testbed2d::{Example, TestbedApp};
 
 mod add_remove2;
 mod ccd2;
@@ -44,66 +40,94 @@ mod s2d_high_mass_ratio_3;
 mod s2d_joint_grid;
 mod s2d_pyramid;
 mod sensor2;
+mod stress_tests;
+#[cfg(not(target_arch = "wasm32"))]
 mod trimesh2;
 mod voxels2;
 
 mod utils;
 
-#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
-pub fn main() {
-    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
-        ("Add remove", add_remove2::init_world),
-        ("CCD", ccd2::init_world),
-        ("Character controller", character_controller2::init_world),
-        ("Collision groups", collision_groups2::init_world),
-        ("Convex polygons", convex_polygons2::init_world),
-        ("Damping", damping2::init_world),
-        ("Drum", drum2::init_world),
-        ("Heightfield", heightfield2::init_world),
-        ("Inverse kinematics", inverse_kinematics2::init_world),
-        ("Inv pyramid", inv_pyramid2::init_world),
-        ("Joints", joints2::init_world),
-        ("Locked rotations", locked_rotations2::init_world),
-        ("One-way platforms", one_way_platforms2::init_world),
-        ("Platform", platform2::init_world),
-        ("Polyline", polyline2::init_world),
-        ("Pin Slot Joint", pin_slot_joint2::init_world),
-        ("Pyramid", pyramid2::init_world),
-        ("Restitution", restitution2::init_world),
-        ("Rope Joints", rope_joints2::init_world),
-        ("Sensor", sensor2::init_world),
-        ("Trimesh", trimesh2::init_world),
-        ("Voxels", voxels2::init_world),
-        ("Joint motor position", joint_motor_position2::init_world),
-        ("(Debug) box ball", debug_box_ball2::init_world),
-        ("(Debug) compression", debug_compression2::init_world),
-        ("(Debug) intersection", debug_intersection2::init_world),
-        ("(Debug) total overlap", debug_total_overlap2::init_world),
-        (
-            "(Debug) vertical column",
-            debug_vertical_column2::init_world,
-        ),
-        ("(s2d) high mass ratio 1", s2d_high_mass_ratio_1::init_world),
-        ("(s2d) high mass ratio 2", s2d_high_mass_ratio_2::init_world),
-        ("(s2d) high mass ratio 3", s2d_high_mass_ratio_3::init_world),
-        ("(s2d) confined", s2d_confined::init_world),
-        ("(s2d) pyramid", s2d_pyramid::init_world),
-        ("(s2d) card house", s2d_card_house::init_world),
-        ("(s2d) arch", s2d_arch::init_world),
-        ("(s2d) bridge", s2d_bridge::init_world),
-        ("(s2d) ball and chain", s2d_ball_and_chain::init_world),
-        ("(s2d) joint grid", s2d_joint_grid::init_world),
-        ("(s2d) far pyramid", s2d_far_pyramid::init_world),
-    ];
+#[kiss3d::main]
+pub async fn main() {
+    const COLLISIONS: &str = "Collisions";
+    const DYNAMICS: &str = "Dynamics";
+    const COMPLEX: &str = "Complex Shapes";
+    const JOINTS: &str = "Joints";
+    const CONTROLS: &str = "Controls";
+    const DEBUG: &str = "Debug";
+    const S2D: &str = "Inspired by Solver 2D";
 
-    // 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 mut builders: Vec<Example> = vec![
+        // ── Demos ──────────────────────────────────────────────────────────
+        Example::new(COLLISIONS, "Add remove", add_remove2::init_world),
+        Example::new(COLLISIONS, "Drum", drum2::init_world),
+        Example::new(COLLISIONS, "Inv pyramid", inv_pyramid2::init_world),
+        Example::new(COLLISIONS, "Platform", platform2::init_world),
+        Example::new(COLLISIONS, "Pyramid", pyramid2::init_world),
+        Example::new(COLLISIONS, "Sensor", sensor2::init_world),
+        Example::new(COLLISIONS, "Convex polygons", convex_polygons2::init_world),
+        Example::new(COLLISIONS, "Heightfield", heightfield2::init_world),
+        Example::new(COLLISIONS, "Polyline", polyline2::init_world),
+        #[cfg(not(target_arch = "wasm32"))]
+        Example::new(COLLISIONS, "Trimesh", trimesh2::init_world),
+        Example::new(COLLISIONS, "Voxels", voxels2::init_world),
+        Example::new(
+            COLLISIONS,
+            "Collision groups",
+            collision_groups2::init_world,
+        ),
+        Example::new(
+            COLLISIONS,
+            "One-way platforms",
+            one_way_platforms2::init_world,
+        ),
+        // ── Dynamics ──────────────────────────────────────────────────────────
+        Example::new(DYNAMICS, "Locked rotations", locked_rotations2::init_world),
+        Example::new(DYNAMICS, "Restitution", restitution2::init_world),
+        Example::new(DYNAMICS, "Damping", damping2::init_world),
+        Example::new(DYNAMICS, "CCD", ccd2::init_world),
+        // ── Joints ─────────────────────────────────────────────────────────
+        Example::new(JOINTS, "Joints", joints2::init_world),
+        Example::new(JOINTS, "Rope Joints", rope_joints2::init_world),
+        Example::new(JOINTS, "Pin Slot Joint", pin_slot_joint2::init_world),
+        Example::new(
+            JOINTS,
+            "Joint motor position",
+            joint_motor_position2::init_world,
+        ),
+        Example::new(
+            JOINTS,
+            "Inverse kinematics",
+            inverse_kinematics2::init_world,
+        ),
+        // ── Characters ─────────────────────────────────────────────────────
+        Example::new(
+            CONTROLS,
+            "Character controller",
+            character_controller2::init_world,
+        ),
+        // ── Debug ──────────────────────────────────────────────────────────
+        Example::new(DEBUG, "Box ball", debug_box_ball2::init_world),
+        Example::new(DEBUG, "Compression", debug_compression2::init_world),
+        Example::new(DEBUG, "Intersection", debug_intersection2::init_world),
+        Example::new(DEBUG, "Total overlap", debug_total_overlap2::init_world),
+        Example::new(DEBUG, "Vertical column", debug_vertical_column2::init_world),
+        // ── Demos inspired by Solver2D ───────────────────────────────────────────────────
+        Example::new(S2D, "High mass ratio 1", s2d_high_mass_ratio_1::init_world),
+        Example::new(S2D, "High mass ratio 2", s2d_high_mass_ratio_2::init_world),
+        Example::new(S2D, "High mass ratio 3", s2d_high_mass_ratio_3::init_world),
+        Example::new(S2D, "Confined", s2d_confined::init_world),
+        Example::new(S2D, "Pyramid", s2d_pyramid::init_world),
+        Example::new(S2D, "Card house", s2d_card_house::init_world),
+        Example::new(S2D, "Arch", s2d_arch::init_world),
+        Example::new(S2D, "Bridge", s2d_bridge::init_world),
+        Example::new(S2D, "Ball and chain", s2d_ball_and_chain::init_world),
+        Example::new(S2D, "Joint grid", s2d_joint_grid::init_world),
+        Example::new(S2D, "Far pyramid", s2d_far_pyramid::init_world),
+    ];
+    let mut benches = stress_tests::builders();
+    builders.append(&mut benches);
 
     let testbed = TestbedApp::from_builders(builders);
-
-    testbed.run()
+    testbed.run().await
 }

examples2d/ccd2.rs

@@ -1,3 +1,4 @@
+use kiss3d::color::Color;
 use rapier_testbed2d::Testbed;
 use rapier2d::prelude::*;
 
@@ -23,15 +24,15 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider =
-        ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![-3.0, 0.0]);
+        ColliderBuilder::cuboid(ground_thickness, ground_size).translation(Vector::new(-3.0, 0.0));
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider =
-        ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![6.0, 0.0]);
+        ColliderBuilder::cuboid(ground_thickness, ground_size).translation(Vector::new(6.0, 0.0));
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(vector![2.5, 0.0])
+        .translation(Vector::new(2.5, 0.0))
         .sensor(true)
         .active_events(ActiveEvents::COLLISION_EVENTS);
     let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -42,9 +43,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let radx = 0.4;
     let rady = 0.05;
 
-    let delta1 = Isometry::translation(0.0, radx - rady);
-    let delta2 = Isometry::translation(-radx + rady, 0.0);
-    let delta3 = Isometry::translation(radx - rady, 0.0);
+    let delta1 = Pose::from_translation(Vector::new(0.0, radx - rady));
+    let delta2 = Pose::from_translation(Vector::new(-radx + rady, 0.0));
+    let delta3 = Pose::from_translation(Vector::new(radx - rady, 0.0));
 
     let mut compound_parts = Vec::new();
     let vertical = SharedShape::cuboid(rady, radx);
@@ -67,8 +68,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::dynamic()
-                .translation(vector![x, y])
-                .linvel(vector![100.0, -10.0])
+                .translation(Vector::new(x, y))
+                .linvel(Vector::new(100.0, -10.0))
                 .ccd_enabled(true);
             let handle = bodies.insert(rigid_body);
 
@@ -89,9 +90,9 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.collision_events.try_recv() {
             let color = if prox.started() {
-                [1.0, 1.0, 0.0]
+                Color::new(1.0, 1.0, 0.0, 1.0)
             } else {
-                [0.5, 0.5, 1.0]
+                Color::new(0.5, 0.5, 1.0, 1.0)
             };
 
             let parent_handle1 = physics
@@ -108,11 +109,11 @@ pub fn init_world(testbed: &mut Testbed) {
                 .unwrap();
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && prox.collider1() != sensor_handle {
-                    graphics.set_body_color(parent_handle1, color);
+                    graphics.set_body_color(parent_handle1, color, false);
                 }
 
                 if parent_handle2 != ground_handle && prox.collider2() != sensor_handle {
-                    graphics.set_body_color(parent_handle2, color);
+                    graphics.set_body_color(parent_handle2, color, false);
                 }
             }
         }
@@ -122,5 +123,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/character_controller2.rs

@@ -1,5 +1,6 @@
 use crate::utils::character;
 use crate::utils::character::CharacterControlMode;
+use kiss3d::color::Color;
 use rapier_testbed2d::Testbed;
 use rapier2d::control::{KinematicCharacterController, PidController};
 use rapier2d::prelude::*;
@@ -20,7 +21,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -29,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Character we will control manually.
      */
     let rigid_body = RigidBodyBuilder::kinematic_position_based()
-        .translation(vector![-3.0, 5.0])
+        .translation(Vector::new(-3.0, 5.0))
         // The two config below makes the character
         // nicer to control with the PID control enabled.
         .gravity_scale(10.0)
@@ -37,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let character_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
-    testbed.set_initial_body_color(character_handle, [0.8, 0.1, 0.1]);
+    testbed.set_initial_body_color(character_handle, Color::new(0.8, 0.1, 0.1, 1.0));
 
     /*
      * Create the cubes
@@ -54,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = i as f32 * shift - centerx;
             let y = j as f32 * shift + centery;
 
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -71,7 +72,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let y = i as f32 * stair_height * 1.5 + 3.0;
 
         let collider = ColliderBuilder::cuboid(stair_width / 2.0, stair_height / 2.0)
-            .translation(vector![x, y]);
+            .translation(Vector::new(x, y));
         colliders.insert(collider);
     }
 
@@ -81,32 +82,32 @@ pub fn init_world(testbed: &mut Testbed) {
     let slope_angle = 0.2;
     let slope_size = 2.0;
     let collider = ColliderBuilder::cuboid(slope_size, ground_height)
-        .translation(vector![ground_size + slope_size, -ground_height + 0.4])
+        .translation(Vector::new(ground_size + slope_size, -ground_height + 0.4))
         .rotation(slope_angle);
     colliders.insert(collider);
 
     /*
-     * Create a slope we can’t climb.
+     * Create a slope we can't climb.
      */
     let impossible_slope_angle = 0.9;
     let impossible_slope_size = 2.0;
     let collider = ColliderBuilder::cuboid(slope_size, ground_height)
-        .translation(vector![
+        .translation(Vector::new(
             ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
-            -ground_height + 2.3
-        ])
+            -ground_height + 2.3,
+        ))
         .rotation(impossible_slope_angle);
     colliders.insert(collider);
 
     /*
-     * Create a wall we can’t climb.
+     * Create a wall we can't climb.
      */
     let wall_angle = PI / 2.;
     let wall_size = 2.0;
-    let wall_pos = vector![
+    let wall_pos = Vector::new(
         ground_size + slope_size * 2.0 + impossible_slope_size + 0.35,
-        -ground_height + 2.5 * 2.3
-    ];
+        -ground_height + 2.5 * 2.3,
+    );
     let collider = ColliderBuilder::cuboid(wall_size, ground_height)
         .translation(wall_pos)
         .rotation(wall_angle);
@@ -118,7 +119,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create a moving platform.
      */
-    let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 0.0]);
+    let body = RigidBodyBuilder::kinematic_velocity_based().translation(Vector::new(-8.0, 0.0));
     // .rotation(-0.3);
     let platform_handle = bodies.insert(body);
     let collider = ColliderBuilder::cuboid(2.0, ground_height);
@@ -130,20 +131,20 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = Vector::new(10.0, 1.0);
     let nsubdivs = 20;
 
-    let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
-        (i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos() * 1.5
-    });
+    let heights = (0..nsubdivs + 1)
+        .map(|i| (i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos() * 1.5)
+        .collect();
 
     let collider =
-        ColliderBuilder::heightfield(heights, ground_size).translation(vector![-8.0, 5.0]);
+        ColliderBuilder::heightfield(heights, ground_size).translation(Vector::new(-8.0, 5.0));
     colliders.insert(collider);
 
     /*
      * A tilting dynamic body with a limited joint.
      */
-    let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0]);
+    let ground = RigidBodyBuilder::fixed().translation(Vector::new(0.0, 5.0));
     let ground_handle = bodies.insert(ground);
-    let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0]);
+    let body = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 5.0));
     let handle = bodies.insert(body);
     let collider = ColliderBuilder::cuboid(1.0, 0.1);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -154,16 +155,16 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a callback to move the platform.
      */
     testbed.add_callback(move |_, physics, _, run_state| {
-        let linvel = vector![
+        let linvel = Vector::new(
             (run_state.time * 2.0).sin() * 2.0,
-            (run_state.time * 5.0).sin() * 1.5
-        ];
+            (run_state.time * 5.0).sin() * 1.5,
+        );
         // let angvel = run_state.time.sin() * 0.5;
 
         // Update the velocity-based kinematic body by setting its velocity.
         if let Some(platform) = physics.bodies.get_mut(platform_handle) {
             platform.set_linvel(linvel, true);
-            // NOTE: interaction with rotating platforms isn’t handled very well yet.
+            // NOTE: interaction with rotating platforms isn't handled very well yet.
             // platform.set_angvel(angvel, true);
         }
     });
@@ -197,5 +198,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 100.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 100.0);
 }

examples2d/collision_groups2.rs

@@ -1,3 +1,4 @@
+use kiss3d::color::{BLUE, GREEN};
 use rapier_testbed2d::Testbed;
 use rapier2d::prelude::*;
 
@@ -16,7 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -33,22 +34,22 @@ pub fn init_world(testbed: &mut Testbed) {
      * A green floor that will collide with the GREEN group only.
      */
     let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
-        .translation(vector![0.0, 1.0])
+        .translation(Vector::new(0.0, 1.0))
         .collision_groups(GREEN_GROUP);
     let green_collider_handle =
         colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
+    testbed.set_initial_collider_color(green_collider_handle, GREEN);
 
     /*
      * A blue floor that will collide with the BLUE group only.
      */
     let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
-        .translation(vector![0.0, 2.0])
+        .translation(Vector::new(0.0, 2.0))
         .collision_groups(BLUE_GROUP);
     let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
+    testbed.set_initial_collider_color(blue_collider_handle, BLUE);
 
     /*
      * Create the cubes
@@ -67,12 +68,12 @@ pub fn init_world(testbed: &mut Testbed) {
 
             // Alternate between the green and blue groups.
             let (group, color) = if i % 2 == 0 {
-                (GREEN_GROUP, [0.0, 1.0, 0.0])
+                (GREEN_GROUP, GREEN)
             } else {
-                (BLUE_GROUP, [0.0, 0.0, 1.0])
+                (BLUE_GROUP, BLUE)
             };
 
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -85,5 +86,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 100.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 100.0);
 }

examples2d/convex_polygons2.rs

@@ -24,14 +24,14 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![ground_size, ground_size * 2.0]);
+        .translation(Vector::new(ground_size, ground_size * 2.0));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![-ground_size, ground_size * 2.0]);
+        .translation(Vector::new(-ground_size, ground_size * 2.0));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,14 +55,14 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = i as f32 * shift - centerx;
             let y = j as f32 * shift * 2.0 + centery + 2.0;
 
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
 
             for _ in 0..10 {
-                let pt: Point<f32> = distribution.sample(&mut rng);
-                points.push(pt * scale);
+                let pt: SimdPoint<f32> = distribution.sample(&mut rng);
+                points.push(Vector::new(pt.x, pt.y) * scale);
             }
 
             let collider = ColliderBuilder::convex_hull(&points).unwrap();
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 50.0], 10.0);
+    testbed.look_at(Vec2::new(0.0, 50.0), 10.0);
 }

examples2d/damping2.rs

@@ -23,8 +23,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the rigid body.
         let rb = RigidBodyBuilder::dynamic()
-            .translation(vector![x, y])
-            .linvel(vector![x * 10.0, y * 10.0])
+            .translation(Vector::new(x, y))
+            .linvel(Vector::new(x * 10.0, y * 10.0))
             .angvel(100.0)
             .linear_damping((i + 1) as f32 * subdiv * 10.0)
             .angular_damping((num - i) as f32 * subdiv * 10.0);
@@ -43,8 +43,8 @@ pub fn init_world(testbed: &mut Testbed) {
         colliders,
         impulse_joints,
         multibody_joints,
-        Vector::zeros(),
+        Vector::ZERO,
         (),
     );
-    testbed.look_at(point![3.0, 2.0], 50.0);
+    testbed.look_at(Vec2::new(3.0, 2.0), 50.0);
 }

examples2d/debug_box_ball2.rs

@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rad = 1.0;
     let rigid_body = RigidBodyBuilder::fixed()
-        .translation(vector![0.0, -rad])
+        .translation(Vector::new(0.0, -rad))
         .rotation(std::f32::consts::PI / 4.0);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(rad, rad);
@@ -23,7 +23,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::dynamic()
-        .translation(vector![0.0, 3.0 * rad])
+        .translation(Vector::new(0.0, 3.0 * rad))
         .can_sleep(false);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad);
@@ -33,5 +33,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 50.0);
+    testbed.look_at(Vec2::ZERO, 50.0);
 }

examples2d/debug_compression2.rs

@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ys = [-30.0 - thickness, 30.0 + thickness];
 
     for y in ys {
-        let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, y]);
+        let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, y));
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(width, thickness);
         colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut handles = [RigidBodyHandle::invalid(); 2];
 
     for i in 0..2 {
-        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![xs[i], 0.0]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(xs[i], 0.0));
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(thickness, half_height);
         colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,14 +44,14 @@ pub fn init_world(testbed: &mut Testbed) {
         for j in 0..num {
             let x = i as f32 * rad * 2.0 - num as f32 * rad;
             let y = j as f32 * rad * 2.0 - num as f32 * rad + rad;
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
-    let mut force = vector![0.0, 0.0];
+    let mut force = Vector::new(0.0, 0.0);
 
     testbed.add_callback(move |_, physics, _, _| {
         let left_plank = &mut physics.bodies[handles[0]];
@@ -71,5 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 50.0);
+    testbed.look_at(Vec2::ZERO, 50.0);
 }

examples2d/debug_intersection2.rs

@@ -1,3 +1,4 @@
+use kiss3d::color::{Color, GREY, RED};
 use rapier_testbed2d::Testbed;
 use rapier2d::prelude::*;
 
@@ -16,19 +17,20 @@ pub fn init_world(testbed: &mut Testbed) {
     let count = 100;
     for x in 0..count {
         for y in 0..count {
-            let rigid_body = RigidBodyBuilder::fixed().translation(vector![
+            let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(
                 (x as f32 - count as f32 / 2.0) * rad * 3.0,
-                (y as f32 - count as f32 / 2.0) * rad * 3.0
-            ]);
+                (y as f32 - count as f32 / 2.0) * rad * 3.0,
+            ));
             let handle = bodies.insert(rigid_body);
             colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
             testbed.set_initial_body_color(
                 handle,
-                [
+                Color::new(
                     x as f32 / count as f32,
                     (count - y) as f32 / count as f32,
                     0.5,
-                ],
+                    1.0,
+                ),
             );
         }
     }
@@ -37,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 50.0);
+    testbed.look_at(Vec2::ZERO, 50.0);
 
     testbed.add_callback(move |mut graphics, physics, _, run| {
         let slow_time = run.timestep_id as f32 / 3.0;
@@ -50,18 +52,18 @@ pub fn init_world(testbed: &mut Testbed) {
         );
 
         for intersection in query_pipeline.intersect_shape(
-            Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
+            Pose::from_translation(Vector::new(slow_time.cos() * 10.0, slow_time.sin() * 10.0)),
             &Ball::new(rad / 2.0),
         ) {
             if let Some(graphics) = graphics.as_deref_mut() {
                 for (handle, _) in physics.bodies.iter() {
-                    graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
+                    graphics.set_body_color(handle, GREY, false);
                 }
 
                 let collider = physics.colliders.get(intersection.0).unwrap();
                 let body_handle = collider.parent().unwrap();
 
-                graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);
+                graphics.set_body_color(body_handle, RED, false);
             }
         }
     });

examples2d/debug_total_overlap2.rs

@@ -24,5 +24,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 50.0);
+    testbed.look_at(Vec2::ZERO, 50.0);
 }

examples2d/debug_vertical_column2.rs

@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let y = i as f32 * rad * 2.0 + ground_thickness + rad;
 
         // Build the rigid body.
-        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, y]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, y));
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad).friction(0.3);
         colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,5 +43,5 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     // testbed.harness_mut().physics.gravity.y = -981.0;
-    testbed.look_at(point![0.0, 2.5], 5.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 5.0);
 }

examples2d/drum2.rs

@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift - centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -40,16 +40,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let velocity_based_platform_handle = bodies.insert(platform_body);
 
     let sides = [
-        (10.0, 0.25, vector![0.0, 10.0]),
-        (10.0, 0.25, vector![0.0, -10.0]),
-        (0.25, 10.0, vector![10.0, 0.0]),
-        (0.25, 10.0, vector![-10.0, 0.0]),
+        (10.0, 0.25, Vector::new(0.0, 10.0)),
+        (10.0, 0.25, Vector::new(0.0, -10.0)),
+        (0.25, 10.0, Vector::new(10.0, 0.0)),
+        (0.25, 10.0, Vector::new(-10.0, 0.0)),
     ];
     let balls = [
-        (1.25, vector![6.0, 6.0]),
-        (1.25, vector![-6.0, 6.0]),
-        (1.25, vector![6.0, -6.0]),
-        (1.25, vector![-6.0, -6.0]),
+        (1.25, Vector::new(6.0, 6.0)),
+        (1.25, Vector::new(-6.0, 6.0)),
+        (1.25, Vector::new(6.0, -6.0)),
+        (1.25, Vector::new(-6.0, -6.0)),
     ];
 
     for (hx, hy, pos) in sides {
@@ -75,5 +75,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Run the simulation.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 40.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 40.0);
 }

examples2d/heightfield2.rs

@@ -1,5 +1,4 @@
 use rapier_testbed2d::Testbed;
-use rapier2d::na::DVector;
 use rapier2d::prelude::*;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,13 +16,15 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = Vector::new(50.0, 1.0);
     let nsubdivs = 2000;
 
-    let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
-        if i == 0 || i == nsubdivs {
-            8.0
-        } else {
-            (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
-        }
-    });
+    let heights = (0..nsubdivs + 1)
+        .map(|i| {
+            if i == 0 || i == nsubdivs {
+                8.0
+            } else {
+                (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
+            }
+        })
+        .collect();
 
     let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
@@ -46,7 +47,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 10.0);
+    testbed.look_at(Vec2::ZERO, 10.0);
 }

examples2d/inv_pyramid2.rs

@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
     for _ in 0usize..num {
         // Build the rigid body.
         let rigid_body =
-            RigidBodyBuilder::dynamic().translation(vector![0.0, y + ground_thickness]);
+            RigidBodyBuilder::dynamic().translation(Vector::new(0.0, y + ground_thickness));
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad);
         colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,5 +43,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/inverse_kinematics2.rs

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 1.0;
     let ground_height = 0.01;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -41,8 +41,8 @@ pub fn init_world(testbed: &mut Testbed) {
         colliders.insert_with_parent(collider, new_body, &mut bodies);
 
         let link_ab = RevoluteJointBuilder::new()
-            .local_anchor1(point![0.0, size / 2.0 * (i != 0) as usize as f32])
-            .local_anchor2(point![0.0, -size / 2.0])
+            .local_anchor1(Vector::new(0.0, size / 2.0 * (i != 0) as usize as f32))
+            .local_anchor2(Vector::new(0.0, -size / 2.0))
             .build()
             .data;
 
@@ -70,7 +70,7 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             // We will have the endpoint track the mouse position.
-            let target_point = mouse_point.coords;
+            let target_point = Vector::new(mouse_point.x, mouse_point.y);
 
             let options = InverseKinematicsOption {
                 constrained_axes: JointAxesMask::LIN_AXES,
@@ -81,7 +81,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 &physics.bodies,
                 link_id,
                 &options,
-                &Isometry::from(target_point),
+                &Pose::from_translation(target_point),
                 |_| true,
                 &mut displacements,
             );
@@ -93,5 +93,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 300.0);
+    testbed.look_at(Vec2::ZERO, 300.0);
 }

examples2d/joint_motor_position2.rs

@@ -22,15 +22,15 @@ pub fn init_world(testbed: &mut Testbed) {
     for num in 0..9 {
         let x_pos = -6.0 + 1.5 * num as f32;
         let rigid_body = RigidBodyBuilder::dynamic()
-            .translation(vector![x_pos, 2.0])
+            .translation(Vector::new(x_pos, 2.0))
             .can_sleep(false);
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(0.1, 0.5);
         colliders.insert_with_parent(collider, handle, &mut bodies);
 
         let joint = RevoluteJointBuilder::new()
-            .local_anchor1(point![x_pos, 1.5])
-            .local_anchor2(point![0.0, -0.5])
+            .local_anchor1(Vector::new(x_pos, 1.5))
+            .local_anchor2(Vector::new(0.0, -0.5))
             .motor_position(
                 -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
                 1000.0,
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     for num in 0..8 {
         let x_pos = -6.0 + 1.5 * num as f32;
         let rigid_body = RigidBodyBuilder::dynamic()
-            .translation(vector![x_pos, 4.5])
+            .translation(Vector::new(x_pos, 4.5))
             .rotation(std::f32::consts::PI)
             .can_sleep(false);
         let handle = bodies.insert(rigid_body);
@@ -53,8 +53,8 @@ pub fn init_world(testbed: &mut Testbed) {
         colliders.insert_with_parent(collider, handle, &mut bodies);
 
         let joint = RevoluteJointBuilder::new()
-            .local_anchor1(point![x_pos, 5.0])
-            .local_anchor2(point![0.0, -0.5])
+            .local_anchor1(Vector::new(x_pos, 5.0))
+            .local_anchor2(Vector::new(0.0, -0.5))
             .motor_velocity(1.5, 30.0)
             .motor_max_force(100.0)
             .limits([
@@ -72,8 +72,8 @@ pub fn init_world(testbed: &mut Testbed) {
         colliders,
         impulse_joints,
         multibody_joints,
-        vector![0.0, 0.0],
+        Vector::new(0.0, 0.0),
         (),
     );
-    testbed.look_at(point![0.0, 0.0], 40.0);
+    testbed.look_at(Vec2::ZERO, 40.0);
 }

examples2d/joints2.rs

@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body =
-                RigidBodyBuilder::new(status).translation(vector![fk * shift, -fi * shift]);
+                RigidBodyBuilder::new(status).translation(Vector::new(fk * shift, -fi * shift));
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad);
             colliders.insert_with_parent(collider, child_handle, &mut bodies);
@@ -61,7 +61,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
                 let joint = RevoluteJointBuilder::new()
-                    .local_anchor2(point![0.0, shift])
+                    .local_anchor2(Vector::new(0.0, shift))
                     .softness(softness);
                 impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
@@ -71,7 +71,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
                 let joint = RevoluteJointBuilder::new()
-                    .local_anchor2(point![-shift, 0.0])
+                    .local_anchor2(Vector::new(-shift, 0.0))
                     .softness(softness);
                 impulse_joints.insert(parent_handle, child_handle, joint, true);
             }
@@ -84,5 +84,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 20.0);
+    testbed.look_at(Vec2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
 }

examples2d/locked_rotations2.rs

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * A rectangle that only rotate.
      */
     let rigid_body = RigidBodyBuilder::dynamic()
-        .translation(vector![0.0, 3.0])
+        .translation(Vector::new(0.0, 3.0))
         .lock_translations();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(2.0, 0.6);
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * A tilted capsule that cannot rotate.
      */
     let rigid_body = RigidBodyBuilder::dynamic()
-        .translation(vector![0.0, 5.0])
+        .translation(Vector::new(0.0, 5.0))
         .rotation(1.0)
         .lock_rotations();
     let handle = bodies.insert(rigid_body);
@@ -49,5 +49,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 40.0);
+    testbed.look_at(Vec2::ZERO, 40.0);
 }

examples2d/one_way_platforms2.rs

@@ -20,24 +20,24 @@ impl PhysicsHooks for OneWayPlatformHook {
         // - If context.collider_handle2 == self.platform1 then the allowed normal is -y.
         // - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
         // - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
-        let mut allowed_local_n1 = Vector::zeros();
+        let mut allowed_local_n1 = Vector::ZERO;
 
         if context.collider1 == self.platform1 {
-            allowed_local_n1 = Vector::y();
+            allowed_local_n1 = Vector::Y;
         } else if context.collider2 == self.platform1 {
             // Flip the allowed direction.
-            allowed_local_n1 = -Vector::y();
+            allowed_local_n1 = -Vector::Y;
         }
 
         if context.collider1 == self.platform2 {
-            allowed_local_n1 = -Vector::y();
+            allowed_local_n1 = -Vector::Y;
         } else if context.collider2 == self.platform2 {
             // Flip the allowed direction.
-            allowed_local_n1 = Vector::y();
+            allowed_local_n1 = Vector::Y;
         }
 
         // Call the helper function that simulates one-way platforms.
-        context.update_as_oneway_platform(&allowed_local_n1, 0.1);
+        context.update_as_oneway_platform(allowed_local_n1, 0.1);
 
         // Set the surface velocity of the accepted contacts.
         let tangent_velocity =
@@ -69,11 +69,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
-        .translation(vector![30.0, 2.0])
+        .translation(Vector::new(30.0, 2.0))
         .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS);
     let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
-        .translation(vector![-30.0, -2.0])
+        .translation(Vector::new(-30.0, -2.0))
         .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS);
     let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
 
@@ -93,7 +93,7 @@ pub fn init_world(testbed: &mut Testbed) {
         if run_state.timestep_id % 200 == 0 && physics.bodies.len() <= 7 {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.5, 2.0);
-            let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]);
+            let body = RigidBodyBuilder::dynamic().translation(Vector::new(20.0, 10.0));
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
@@ -122,8 +122,8 @@ pub fn init_world(testbed: &mut Testbed) {
         colliders,
         impulse_joints,
         multibody_joints,
-        vector![0.0, -9.81],
+        Vector::new(0.0, -9.81),
         physics_hooks,
     );
-    testbed.look_at(point![0.0, 0.0], 20.0);
+    testbed.look_at(Vec2::ZERO, 20.0);
 }

examples2d/pin_slot_joint2.rs

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 3.0;
     let ground_height = 0.1;
 
-    let rigid_body_floor = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body_floor = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let floor_handle = bodies.insert(rigid_body_floor);
     let floor_collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(floor_collider, floor_handle, &mut bodies);
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Character we will control manually.
      */
     let rigid_body_character =
-        RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
+        RigidBodyBuilder::kinematic_position_based().translation(Vector::new(0.0, 0.3));
     let character_handle = bodies.insert(rigid_body_character);
     let character_collider = ColliderBuilder::cuboid(0.15, 0.3);
     colliders.insert_with_parent(character_collider, character_handle, &mut bodies);
@@ -39,16 +39,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let rad = 0.4;
 
     let rigid_body_cube =
-        RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
+        RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(Vector::new(1.0, 1.0));
     let cube_handle = bodies.insert(rigid_body_cube);
     let cube_collider = ColliderBuilder::cuboid(rad, rad);
     colliders.insert_with_parent(cube_collider, cube_handle, &mut bodies);
 
     /*
-     * Rotation axis indicator ball.
+     * SimdRotation axis indicator ball.
      */
     let rigid_body_ball =
-        RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
+        RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(Vector::new(1.0, 1.0));
     let ball_handle = bodies.insert(rigid_body_ball);
     let ball_collider = ColliderBuilder::ball(0.1);
     colliders.insert_with_parent(ball_collider, ball_handle, &mut bodies);
@@ -57,25 +57,18 @@ pub fn init_world(testbed: &mut Testbed) {
      * Fixed joint between rotation axis indicator and cube.
      */
     let fixed_joint = FixedJointBuilder::new()
-        .local_anchor1(point![0.0, 0.0])
-        .local_anchor2(point![0.0, -0.4])
+        .local_anchor1(Vector::new(0.0, 0.0))
+        .local_anchor2(Vector::new(0.0, -0.4))
         .build();
     impulse_joints.insert(cube_handle, ball_handle, fixed_joint, true);
 
     /*
      * Pin slot joint between cube and ground.
      */
-    let axis: nalgebra::Unit<
-        nalgebra::Matrix<
-            f32,
-            nalgebra::Const<2>,
-            nalgebra::Const<1>,
-            nalgebra::ArrayStorage<f32, 2, 1>,
-        >,
-    > = UnitVector::new_normalize(vector![1.0, 1.0]);
+    let axis = Vector::new(1.0, 1.0).normalize();
     let pin_slot_joint = PinSlotJointBuilder::new(axis)
-        .local_anchor1(point![2.0, 2.0])
-        .local_anchor2(point![0.0, 0.4])
+        .local_anchor1(Vector::new(2.0, 2.0))
+        .local_anchor2(Vector::new(0.0, 0.4))
         .limits([-1.0, f32::INFINITY]) // Set the limits for the pin slot joint
         .build();
     impulse_joints.insert(character_handle, cube_handle, pin_slot_joint, true);
@@ -104,5 +97,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 100.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 100.0);
 }

examples2d/platform2.rs

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 10.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -47,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a position-based kinematic rigid body.
      */
-    let platform_body =
-        RigidBodyBuilder::kinematic_velocity_based().translation(vector![-10.0 * rad, 1.5 + 0.8]);
+    let platform_body = RigidBodyBuilder::kinematic_velocity_based()
+        .translation(Vector::new(-10.0 * rad, 1.5 + 0.8));
     let velocity_based_platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
     colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
@@ -57,7 +57,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a velocity-based kinematic rigid body.
      */
     let platform_body = RigidBodyBuilder::kinematic_position_based()
-        .translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8]);
+        .translation(Vector::new(-10.0 * rad, 2.0 + 1.5 + 0.8));
     let position_based_platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
     colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Setup a callback to control the platform.
      */
     testbed.add_callback(move |_, physics, _, run_state| {
-        let velocity = vector![run_state.time.sin() * 5.0, (run_state.time * 5.0).sin()];
+        let velocity = Vector::new(run_state.time.sin() * 5.0, (run_state.time * 5.0).sin());
 
         // Update the velocity-based kinematic body by setting its velocity.
         if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
@@ -75,7 +75,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // 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();
+            let mut next_tra = platform.translation();
             next_tra += velocity * physics.integration_parameters.dt;
             platform.set_next_kinematic_translation(next_tra);
         }
@@ -85,5 +85,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Run the simulation.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 40.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 40.0);
 }

examples2d/polyline2.rs

@@ -19,13 +19,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let step_size = ground_size / (nsubdivs as f32);
     let mut points = Vec::new();
 
-    points.push(point![-ground_size / 2.0, 40.0]);
+    points.push(Vector::new(-ground_size / 2.0, 40.0));
     for i in 1..nsubdivs - 1 {
         let x = -ground_size / 2.0 + i as f32 * step_size;
         let y = ComplexField::cos(i as f32 * step_size) * 2.0;
-        points.push(point![x, y]);
+        points.push(Vector::new(x, y));
     }
-    points.push(point![ground_size / 2.0, 40.0]);
+    points.push(Vector::new(ground_size / 2.0, 40.0));
 
     let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
@@ -65,5 +65,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 0.0], 10.0);
+    testbed.look_at(Vec2::ZERO, 10.0);
 }

examples2d/pyramid2.rs

@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -50,5 +50,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/restitution2.rs

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.;
     let ground_height = 1.0;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).restitution(1.0);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,8 +27,8 @@ pub fn init_world(testbed: &mut Testbed) {
     for j in 0..2 {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
-            let rigid_body =
-                RigidBodyBuilder::dynamic().translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
+            let rigid_body = RigidBodyBuilder::dynamic()
+                .translation(Vector::new(x * 2.0, 10.0 * (j as f32 + 1.0)));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).restitution((i as f32) / (num as f32));
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -39,5 +39,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 25.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 25.0);
 }

examples2d/rope_joints2.rs

@@ -19,19 +19,19 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 0.75;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
-    let rigid_body =
-        RigidBodyBuilder::fixed().translation(vector![-ground_size - ground_height, ground_size]);
+    let rigid_body = RigidBodyBuilder::fixed()
+        .translation(Vector::new(-ground_size - ground_height, ground_size));
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_height, ground_size);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
-    let rigid_body =
-        RigidBodyBuilder::fixed().translation(vector![ground_size + ground_height, ground_size]);
+    let rigid_body = RigidBodyBuilder::fixed()
+        .translation(Vector::new(ground_size + ground_height, ground_size));
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_height, ground_size);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -39,7 +39,8 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Character we will control manually.
      */
-    let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
+    let rigid_body =
+        RigidBodyBuilder::kinematic_position_based().translation(Vector::new(0.0, 0.3));
     let character_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.15, 0.3);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
@@ -49,12 +50,13 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rad = 0.04;
 
-    let rigid_body = RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
+    let rigid_body =
+        RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(Vector::new(1.0, 1.0));
     let child_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad);
     colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
-    let joint = RopeJointBuilder::new(2.0).local_anchor2(point![0.0, 0.0]);
+    let joint = RopeJointBuilder::new(2.0).local_anchor2(Vector::new(0.0, 0.0));
     impulse_joints.insert(character_handle, child_handle, joint, true);
 
     /*
@@ -81,5 +83,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 100.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 100.0);
 }

examples2d/s2d_arch.rs

@@ -12,28 +12,28 @@ pub fn init_world(testbed: &mut Testbed) {
 
     #[allow(clippy::excessive_precision)]
     let mut ps1 = [
-        Point::new(16.0, 0.0),
-        Point::new(14.93803712795643, 5.133601056842984),
-        Point::new(13.79871746027416, 10.24928069555078),
-        Point::new(12.56252963284711, 15.34107019122473),
-        Point::new(11.20040987372525, 20.39856541571217),
-        Point::new(9.66521217819836, 25.40369899225096),
-        Point::new(7.87179930638133, 30.3179337000085),
-        Point::new(5.635199558196225, 35.03820717801641),
-        Point::new(2.405937953536585, 39.09554102558315),
+        Vector::new(16.0, 0.0),
+        Vector::new(14.93803712795643, 5.133601056842984),
+        Vector::new(13.79871746027416, 10.24928069555078),
+        Vector::new(12.56252963284711, 15.34107019122473),
+        Vector::new(11.20040987372525, 20.39856541571217),
+        Vector::new(9.66521217819836, 25.40369899225096),
+        Vector::new(7.87179930638133, 30.3179337000085),
+        Vector::new(5.635199558196225, 35.03820717801641),
+        Vector::new(2.405937953536585, 39.09554102558315),
     ];
 
     #[allow(clippy::excessive_precision)]
     let mut ps2 = [
-        Point::new(24.0, 0.0),
-        Point::new(22.33619528222415, 6.02299846205841),
-        Point::new(20.54936888969905, 12.00964361211476),
-        Point::new(18.60854610798073, 17.9470321677465),
-        Point::new(16.46769273811807, 23.81367936585418),
-        Point::new(14.05325025774858, 29.57079353071012),
-        Point::new(11.23551045834022, 35.13775818285372),
-        Point::new(7.752568160730571, 40.30450679009583),
-        Point::new(3.016931552701656, 44.28891593799322),
+        Vector::new(24.0, 0.0),
+        Vector::new(22.33619528222415, 6.02299846205841),
+        Vector::new(20.54936888969905, 12.00964361211476),
+        Vector::new(18.60854610798073, 17.9470321677465),
+        Vector::new(16.46769273811807, 23.81367936585418),
+        Vector::new(14.05325025774858, 29.57079353071012),
+        Vector::new(11.23551045834022, 35.13775818285372),
+        Vector::new(7.752568160730571, 40.30450679009583),
+        Vector::new(3.016931552701656, 44.28891593799322),
     ];
 
     let scale = 0.25;
@@ -47,7 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let collider = ColliderBuilder::segment(point![-100.0, 0.0], point![100.0, 0.0]).friction(0.6);
+    let collider =
+        ColliderBuilder::segment(Vector::new(-100.0, 0.0), Vector::new(100.0, 0.0)).friction(0.6);
     colliders.insert(collider);
 
     /*
@@ -65,10 +66,10 @@ pub fn init_world(testbed: &mut Testbed) {
 
     for i in 0..8 {
         let ps = [
-            point![-ps2[i].x, ps2[i].y],
-            point![-ps1[i].x, ps1[i].y],
-            point![-ps1[i + 1].x, ps1[i + 1].y],
-            point![-ps2[i + 1].x, ps2[i + 1].y],
+            Vector::new(-ps2[i].x, ps2[i].y),
+            Vector::new(-ps1[i].x, ps1[i].y),
+            Vector::new(-ps1[i + 1].x, ps1[i + 1].y),
+            Vector::new(-ps2[i + 1].x, ps2[i + 1].y),
         ];
         let rigid_body = RigidBodyBuilder::dynamic();
         let ground_handle = bodies.insert(rigid_body);
@@ -82,8 +83,8 @@ pub fn init_world(testbed: &mut Testbed) {
         let ps = [
             ps1[8],
             ps2[8],
-            point![-ps1[8].x, ps1[8].y],
-            point![-ps2[8].x, ps2[8].y],
+            Vector::new(-ps1[8].x, ps1[8].y),
+            Vector::new(-ps2[8].x, ps2[8].y),
         ];
         let rigid_body = RigidBodyBuilder::dynamic();
         let ground_handle = bodies.insert(rigid_body);
@@ -94,8 +95,8 @@ pub fn init_world(testbed: &mut Testbed) {
     }
 
     for i in 0..4 {
-        let rigid_body =
-            RigidBodyBuilder::dynamic().translation(vector![0.0, 0.5 + ps2[8].y + 1.0 * i as f32]);
+        let rigid_body = RigidBodyBuilder::dynamic()
+            .translation(Vector::new(0.0, 0.5 + ps2[8].y + 1.0 * i as f32));
         let ground_handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(2.0, 0.5).friction(friction);
         colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -105,5 +106,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_ball_and_chain.rs

@@ -31,14 +31,14 @@ pub fn init_world(testbed: &mut Testbed) {
         let rigid_body = RigidBodyBuilder::dynamic()
             .linear_damping(0.1)
             .angular_damping(0.1)
-            .translation(vector![(1.0 + 2.0 * i as f32) * hx, count as f32 * hx]);
+            .translation(Vector::new((1.0 + 2.0 * i as f32) * hx, count as f32 * hx));
         let handle = bodies.insert(rigid_body);
         colliders.insert_with_parent(capsule.clone(), handle, &mut bodies);
 
-        let pivot = point![(2.0 * i as f32) * hx, count as f32 * hx];
+        let pivot = Vector::new((2.0 * i as f32) * hx, count as f32 * hx);
         let joint = RevoluteJointBuilder::new()
-            .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
-            .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
+            .local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
+            .local_anchor2(bodies[handle].position().inverse_transform_point(pivot))
             .contacts_enabled(false);
         impulse_joints.insert(prev, handle, joint, true);
         prev = handle;
@@ -48,20 +48,20 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::dynamic()
         .linear_damping(0.1)
         .angular_damping(0.1)
-        .translation(vector![
+        .translation(Vector::new(
             (1.0 + 2.0 * count as f32) * hx + radius - hx,
-            count as f32 * hx
-        ]);
+            count as f32 * hx,
+        ));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(radius)
         .friction(friction)
         .density(density);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let pivot = point![(2.0 * count as f32) * hx, count as f32 * hx];
+    let pivot = Vector::new((2.0 * count as f32) * hx, count as f32 * hx);
     let joint = RevoluteJointBuilder::new()
-        .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
-        .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
+        .local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
+        .local_anchor2(bodies[handle].position().inverse_transform_point(pivot))
         .contacts_enabled(false);
     impulse_joints.insert(prev, handle, joint, true);
 
@@ -69,5 +69,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_bridge.rs

@@ -27,24 +27,24 @@ pub fn init_world(testbed: &mut Testbed) {
         let rigid_body = RigidBodyBuilder::dynamic()
             .linear_damping(0.1)
             .angular_damping(0.1)
-            .translation(vector![x_base + 0.5 + 1.0 * i as f32, 20.0]);
+            .translation(Vector::new(x_base + 0.5 + 1.0 * i as f32, 20.0));
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(0.5, 0.125).density(density);
         colliders.insert_with_parent(collider, handle, &mut bodies);
 
-        let pivot = point![x_base + 1.0 * i as f32, 20.0];
+        let pivot = Vector::new(x_base + 1.0 * i as f32, 20.0);
         let joint = RevoluteJointBuilder::new()
-            .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
-            .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
+            .local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
+            .local_anchor2(bodies[handle].position().inverse_transform_point(pivot))
             .contacts_enabled(false);
         impulse_joints.insert(prev, handle, joint, true);
         prev = handle;
     }
 
-    let pivot = point![x_base + 1.0 * count as f32, 20.0];
+    let pivot = Vector::new(x_base + 1.0 * count as f32, 20.0);
     let joint = RevoluteJointBuilder::new()
-        .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
-        .local_anchor2(bodies[ground].position().inverse_transform_point(&pivot))
+        .local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
+        .local_anchor2(bodies[ground].position().inverse_transform_point(pivot))
         .contacts_enabled(false);
     impulse_joints.insert(prev, ground, joint, true);
 
@@ -52,5 +52,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_card_house.rs

@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -2.0));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -42,14 +42,17 @@ pub fn init_world(testbed: &mut Testbed) {
         for i in 0..nb {
             if i != nb - 1 {
                 let rigid_body = RigidBodyBuilder::dynamic()
-                    .translation(vector![z + 0.25 * scale, y + card_height - 0.015 * scale])
+                    .translation(Vector::new(
+                        z + 0.25 * scale,
+                        y + card_height - 0.015 * scale,
+                    ))
                     .rotation(angle2);
                 let ground_handle = bodies.insert(rigid_body);
                 colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
             }
 
             let rigid_body = RigidBodyBuilder::dynamic()
-                .translation(vector![z, y])
+                .translation(Vector::new(z, y))
                 .rotation(angle1);
             let ground_handle = bodies.insert(rigid_body);
             colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
@@ -57,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
             z += 0.175 * scale;
 
             let rigid_body = RigidBodyBuilder::dynamic()
-                .translation(vector![z, y])
+                .translation(Vector::new(z, y))
                 .rotation(angle0);
             let ground_handle = bodies.insert(rigid_body);
             colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
@@ -74,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_confined.rs

@@ -18,21 +18,33 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let collider =
-        ColliderBuilder::capsule_from_endpoints(point![-10.5, 0.0], point![10.5, 0.0], radius)
-            .friction(friction);
+    let collider = ColliderBuilder::capsule_from_endpoints(
+        Vector::new(-10.5, 0.0),
+        Vector::new(10.5, 0.0),
+        radius,
+    )
+    .friction(friction);
     colliders.insert(collider);
-    let collider =
-        ColliderBuilder::capsule_from_endpoints(point![-10.5, 0.0], point![-10.5, 20.5], radius)
-            .friction(friction);
+    let collider = ColliderBuilder::capsule_from_endpoints(
+        Vector::new(-10.5, 0.0),
+        Vector::new(-10.5, 20.5),
+        radius,
+    )
+    .friction(friction);
     colliders.insert(collider);
-    let collider =
-        ColliderBuilder::capsule_from_endpoints(point![10.5, 0.0], point![10.5, 20.5], radius)
-            .friction(friction);
+    let collider = ColliderBuilder::capsule_from_endpoints(
+        Vector::new(10.5, 0.0),
+        Vector::new(10.5, 20.5),
+        radius,
+    )
+    .friction(friction);
     colliders.insert(collider);
-    let collider =
-        ColliderBuilder::capsule_from_endpoints(point![-10.5, 20.5], point![10.5, 20.5], radius)
-            .friction(friction);
+    let collider = ColliderBuilder::capsule_from_endpoints(
+        Vector::new(-10.5, 20.5),
+        Vector::new(10.5, 20.5),
+        radius,
+    )
+    .friction(friction);
     colliders.insert(collider);
 
     /*
@@ -48,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = -8.75 + column as f32 * 18.0 / (grid_count as f32);
             let y = 1.5 + row as f32 * 18.0 / (grid_count as f32);
             let body = RigidBodyBuilder::dynamic()
-                .translation(vector![x, y])
+                .translation(Vector::new(x, y))
                 .gravity_scale(0.0);
             let body_handle = bodies.insert(body);
             let ball = ColliderBuilder::ball(radius).friction(friction);
@@ -65,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_far_pyramid.rs

@@ -10,13 +10,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
-    let origin = vector![100_000.0, -80_000.0];
+    let origin = Vector::new(100_000.0, -80_000.0);
     let friction = 0.6;
 
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -1.0] + origin);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -1.0) + origin);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(100.0, 1.0).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
         for j in i..base_count {
             let x = (i as f32 + 1.0) * shift + 2.0 * (j as f32 - i as f32) * shift
                 - h * base_count as f32;
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y] + origin);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y) + origin);
             let ground_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(h, h).friction(friction);
             colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -46,5 +46,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5] + origin, 20.0);
+    testbed.look_at(Vec2::new(origin.x + 0.0, origin.y + 2.5), 20.0);
 }

examples2d/s2d_high_mass_ratio_1.rs

@@ -21,8 +21,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::fixed();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::segment(
-        point![-0.5 * 2.0 * ground_width, 0.0],
-        point![0.5 * 2.0 * ground_width, 0.0],
+        Vector::new(-0.5 * 2.0 * ground_width, 0.0),
+        Vector::new(0.5 * 2.0 * ground_width, 0.0),
     )
     .friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) {
             for i in 0..count {
                 let coeff = i as f32 - 0.5 * count as f32;
                 let yy = if count == 1 { y + 2.0 } else { y };
-                let position = vector![2.0 * coeff * extent + offset, yy];
+                let position = Vector::new(2.0 * coeff * extent + offset, yy);
                 let rigid_body = RigidBodyBuilder::dynamic().translation(position);
                 let parent = bodies.insert(rigid_body);
 
@@ -62,5 +62,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_high_mass_ratio_2.rs

@@ -21,8 +21,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::fixed();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::segment(
-        point![-0.5 * 2.0 * ground_width, 0.0],
-        point![0.5 * 2.0 * ground_width, 0.0],
+        Vector::new(-0.5 * 2.0 * ground_width, 0.0),
+        Vector::new(0.5 * 2.0 * ground_width, 0.0),
     )
     .friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -30,17 +30,20 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the cubes
      */
-    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![-9.0 * extent, 0.5 * extent]);
+    let rigid_body =
+        RigidBodyBuilder::dynamic().translation(Vector::new(-9.0 * extent, 0.5 * extent));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![9.0 * extent, 0.5 * extent]);
+    let rigid_body =
+        RigidBodyBuilder::dynamic().translation(Vector::new(9.0 * extent, 0.5 * extent));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, (10.0 + 16.0) * extent]);
+    let rigid_body =
+        RigidBodyBuilder::dynamic().translation(Vector::new(0.0, (10.0 + 16.0) * extent));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(10.0 * extent, 10.0 * extent).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -49,5 +52,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_high_mass_ratio_3.rs

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -2.0));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -24,17 +24,20 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the cubes
      */
-    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![-9.0 * extent, 0.5 * extent]);
+    let rigid_body =
+        RigidBodyBuilder::dynamic().translation(Vector::new(-9.0 * extent, 0.5 * extent));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![9.0 * extent, 0.5 * extent]);
+    let rigid_body =
+        RigidBodyBuilder::dynamic().translation(Vector::new(9.0 * extent, 0.5 * extent));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, (10.0 + 16.0) * extent]);
+    let rigid_body =
+        RigidBodyBuilder::dynamic().translation(Vector::new(0.0, (10.0 + 16.0) * extent));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(10.0 * extent, 10.0 * extent).friction(friction);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -43,5 +46,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_joint_grid.rs

@@ -29,23 +29,23 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(body_type)
-                .translation(vector![k as f32 * shift, -(i as f32) * shift]);
+                .translation(Vector::new(k as f32 * shift, -(i as f32) * shift));
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
 
             if i > 0 {
                 let joint = RevoluteJointBuilder::new()
-                    .local_anchor1(point![0.0, -0.5 * shift])
-                    .local_anchor2(point![0.0, 0.5 * shift])
+                    .local_anchor1(Vector::new(0.0, -0.5 * shift))
+                    .local_anchor2(Vector::new(0.0, 0.5 * shift))
                     .contacts_enabled(false);
                 impulse_joints.insert(handles[index - 1], handle, joint, true);
             }
 
             if k > 0 {
                 let joint = RevoluteJointBuilder::new()
-                    .local_anchor1(point![0.5 * shift, 0.0])
-                    .local_anchor2(point![-0.5 * shift, 0.0])
+                    .local_anchor1(Vector::new(0.5 * shift, 0.0))
+                    .local_anchor2(Vector::new(-0.5 * shift, 0.0))
                     .contacts_enabled(false);
                 impulse_joints.insert(handles[index - numi], handle, joint, true);
             }
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/s2d_pyramid.rs

@@ -13,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -1.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -1.0));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(100.0, 1.0).friction(0.6);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -34,7 +34,7 @@ pub fn init_world(testbed: &mut Testbed) {
         for j in i..base_count {
             let x = (i as f32 + 1.0) * shift + 2.0 * (j as f32 - i as f32) * shift
                 - h * base_count as f32;
-            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
             let ground_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(h, h).friction(0.6);
             colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -45,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 2.5], 20.0);
+    testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
 }

examples2d/sensor2.rs

@@ -1,3 +1,4 @@
+use kiss3d::color::Color;
 use rapier_testbed2d::Testbed;
 use rapier2d::prelude::*;
 
@@ -16,7 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -35,12 +36,12 @@ pub fn init_world(testbed: &mut Testbed) {
         let y = 3.0;
 
         // Build the rigid body.
-        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad);
         colliders.insert_with_parent(collider, handle, &mut bodies);
 
-        testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
+        testbed.set_initial_body_color(handle, Color::new(0.5, 0.5, 1.0, 1.0));
     }
 
     /*
@@ -48,7 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
 
     // Rigid body so that the sensor can move.
-    let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0]);
+    let sensor = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 10.0));
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
@@ -64,15 +65,15 @@ pub fn init_world(testbed: &mut Testbed) {
         .active_events(ActiveEvents::COLLISION_EVENTS);
     colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
 
-    testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
+    testbed.set_initial_body_color(sensor_handle, Color::new(0.5, 1.0, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.collision_events.try_recv() {
             let color = if prox.started() {
-                [1.0, 1.0, 0.0]
+                Color::new(1.0, 1.0, 0.0, 1.0)
             } else {
-                [0.5, 0.5, 1.0]
+                Color::new(0.5, 0.5, 1.0, 1.0)
             };
 
             let parent_handle1 = physics.colliders[prox.collider1()].parent().unwrap();
@@ -80,10 +81,10 @@ pub fn init_world(testbed: &mut Testbed) {
 
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
-                    graphics.set_body_color(parent_handle1, color);
+                    graphics.set_body_color(parent_handle1, color, false);
                 }
                 if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
-                    graphics.set_body_color(parent_handle2, color);
+                    graphics.set_body_color(parent_handle2, color, false);
                 }
             }
         }
@@ -93,5 +94,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 1.0], 100.0);
+    testbed.look_at(Vec2::new(0.0, 1.0), 100.0);
 }

examples2d/stress_tests/balls2.rs

@@ -0,0 +1,63 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::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_with_parent(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 {
+                RigidBodyType::Fixed
+            } else {
+                RigidBodyType::Dynamic
+            };
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new(status).translation(Vec2::new(x, y));
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 2.5), 5.0);
+}

examples2d/stress_tests/boxes2.rs

@@ -0,0 +1,65 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 25.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(ground_size, ground_size * 2.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(-ground_size, ground_size * 2.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
+    colliders.insert_with_parent(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::dynamic().translation(Vec2::new(x, y));
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 50.0), 10.0);
+}

examples2d/stress_tests/capsules2.rs

@@ -0,0 +1,67 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 25.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(ground_size, ground_size * 4.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(-ground_size, ground_size * 4.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 26;
+    let numy = num * 5;
+    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..numy {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shifty + centery + 3.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vec2::new(x, y));
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::capsule_y(rad * 1.5, rad);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 50.0), 10.0);
+}

examples2d/stress_tests/convex_polygons2.rs

@@ -0,0 +1,78 @@
+use rand::distr::{Distribution, StandardUniform};
+use rand::{SeedableRng, rngs::StdRng};
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 30.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(ground_size, ground_size * 2.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(Vec2::new(-ground_size, ground_size * 2.0));
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Create the convex polygons
+     */
+    let num = 26;
+    let scale = 2.0;
+    let border_rad = 0.0;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+
+    let mut rng = StdRng::seed_from_u64(0);
+    let distribution = StandardUniform;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift * 2.0 + centery + 2.0;
+
+            let rigid_body = RigidBodyBuilder::dynamic().translation(Vec2::new(x, y));
+            let handle = bodies.insert(rigid_body);
+
+            let mut points = Vec::new();
+
+            for _ in 0..10 {
+                let pt: [f32; 2] = distribution.sample(&mut rng);
+                points.push(Vec2::from(pt) * scale);
+            }
+
+            let collider = ColliderBuilder::convex_hull(&points).unwrap();
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 50.0), 10.0);
+}

examples2d/stress_tests/heightfield2.rs

@@ -0,0 +1,68 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = Vec2::new(50.0, 1.0);
+    let nsubdivs = 2000;
+
+    let heights = (0..nsubdivs + 1)
+        .map(|i| {
+            if i == 0 || i == nsubdivs {
+                80.0
+            } else {
+                (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
+            }
+        })
+        .collect();
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::heightfield(heights, ground_size);
+    colliders.insert_with_parent(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::dynamic().translation(Vec2::new(x, y));
+            let handle = bodies.insert(rigid_body);
+
+            if j % 2 == 0 {
+                let collider = ColliderBuilder::cuboid(rad, rad);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            } else {
+                let collider = ColliderBuilder::ball(rad);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 50.0), 10.0);
+}

examples2d/stress_tests/joint_ball2.rs

@@ -0,0 +1,65 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    // Build the rigid body.
+    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 k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
+                RigidBodyType::Fixed
+            } else {
+                RigidBodyType::Dynamic
+            };
+
+            let rigid_body =
+                RigidBodyBuilder::new(status).translation(Vec2::new(fk * shift, -fi * shift));
+            let child_handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
+
+            // Vertical joint.
+            if i > 0 {
+                let parent_handle = *body_handles.last().unwrap();
+                let joint = RevoluteJointBuilder::new().local_anchor2(Vec2::new(0.0, shift));
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
+            }
+
+            // Horizontal joint.
+            if k > 0 {
+                let parent_index = body_handles.len() - numi;
+                let parent_handle = body_handles[parent_index];
+                let joint = RevoluteJointBuilder::new().local_anchor2(Vec2::new(-shift, 0.0));
+                impulse_joints.insert(parent_handle, child_handle, joint, true);
+            }
+
+            body_handles.push(child_handle);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
+}

examples2d/stress_tests/joint_fixed2.rs

@@ -0,0 +1,74 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    // Build the rigid body.
+    let rad = 0.4;
+    let num = 30; // Num vertical nodes.
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for xx in 0..4 {
+        let x = xx as f32 * shift * (num as f32 + 2.0);
+
+        for yy in 0..4 {
+            let y = yy as f32 * shift * (num as f32 + 4.0);
+
+            for k in 0..num {
+                for i in 0..num {
+                    let fk = k as f32;
+                    let fi = i as f32;
+
+                    let status = if k == 0 {
+                        RigidBodyType::Fixed
+                    } else {
+                        RigidBodyType::Dynamic
+                    };
+
+                    let rigid_body = RigidBodyBuilder::new(status)
+                        .translation(Vec2::new(x + fk * shift, y - fi * shift));
+                    let child_handle = bodies.insert(rigid_body);
+                    let collider = ColliderBuilder::ball(rad);
+                    colliders.insert_with_parent(collider, child_handle, &mut bodies);
+
+                    // Vertical joint.
+                    if i > 0 {
+                        let parent_handle = *body_handles.last().unwrap();
+                        let joint =
+                            FixedJointBuilder::new().local_frame2(Pose2::translation(0.0, shift));
+                        impulse_joints.insert(parent_handle, child_handle, joint, true);
+                    }
+
+                    // Horizontal joint.
+                    if k > 0 {
+                        let parent_index = body_handles.len() - num;
+                        let parent_handle = body_handles[parent_index];
+                        let joint =
+                            FixedJointBuilder::new().local_frame2(Pose2::translation(-shift, 0.0));
+                        impulse_joints.insert(parent_handle, child_handle, joint, true);
+                    }
+
+                    body_handles.push(child_handle);
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(50.0, 50.0), 5.0);
+}

examples2d/stress_tests/joint_prismatic2.rs

@@ -0,0 +1,61 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    // Build the rigid body.
+    let rad = 0.4;
+    let num = 10;
+    let shift = 1.0;
+
+    for l in 0..25 {
+        let y = l as f32 * shift * (num as f32 + 2.0) * 2.0;
+
+        for j in 0..50 {
+            let x = j as f32 * shift * 4.0;
+
+            let ground = RigidBodyBuilder::fixed().translation(Vec2::new(x, y));
+            let mut curr_parent = bodies.insert(ground);
+            let collider = ColliderBuilder::cuboid(rad, rad);
+            colliders.insert_with_parent(collider, curr_parent, &mut bodies);
+
+            for i in 0..num {
+                let y = y - (i + 1) as f32 * shift;
+                let density = 1.0;
+                let rigid_body = RigidBodyBuilder::dynamic().translation(Vec2::new(x, y));
+                let curr_child = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad).density(density);
+                colliders.insert_with_parent(collider, curr_child, &mut bodies);
+
+                let axis = if i % 2 == 0 {
+                    Vec2::new(1.0, 1.0).normalize()
+                } else {
+                    Vec2::new(-1.0, 1.0).normalize()
+                };
+
+                let prism = PrismaticJointBuilder::new(axis)
+                    .local_anchor2(Vec2::new(0.0, shift))
+                    .limits([-1.5, 1.5]);
+                impulse_joints.insert(curr_parent, curr_child, prism, true);
+
+                curr_parent = curr_child;
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(80.0, 80.0), 15.0);
+}

examples2d/stress_tests/mod.rs

@@ -0,0 +1,37 @@
+use rapier_testbed2d::Example;
+
+mod balls2;
+mod boxes2;
+mod capsules2;
+mod convex_polygons2;
+mod heightfield2;
+mod joint_ball2;
+mod joint_fixed2;
+mod joint_prismatic2;
+mod pyramid2;
+mod vertical_stacks2;
+
+pub fn builders() -> Vec<Example> {
+    const STRESS: &str = "Stress Tests";
+
+    vec![
+        Example::new(STRESS, "Balls", balls2::init_world),
+        Example::new(STRESS, "Boxes", boxes2::init_world),
+        Example::new(STRESS, "Capsules", capsules2::init_world),
+        Example::new(STRESS, "Convex polygons", convex_polygons2::init_world),
+        Example::new(STRESS, "Heightfield", heightfield2::init_world),
+        Example::new(STRESS, "Pyramid", pyramid2::init_world),
+        Example::new(STRESS, "Verticals stacks", vertical_stacks2::init_world),
+        Example::new(STRESS, "(Stress test) joint ball", joint_ball2::init_world),
+        Example::new(
+            STRESS,
+            "(Stress test) joint fixed",
+            joint_fixed2::init_world,
+        ),
+        Example::new(
+            STRESS,
+            "(Stress test) joint prismatic",
+            joint_prismatic2::init_world,
+        ),
+    ]
+}

examples2d/stress_tests/pyramid2.rs

@@ -0,0 +1,54 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
+    colliders.insert_with_parent(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::dynamic().translation(Vec2::new(x, y));
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 2.5), 5.0);
+}

examples2d/stress_tests/vertical_stacks2.rs

@@ -0,0 +1,61 @@
+use rapier_testbed2d::Testbed;
+use rapier2d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let num = 80;
+    let rad = 0.5;
+
+    /*
+     * Ground
+     */
+    let ground_size = num as f32 * rad * 10.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+
+    let shiftx_centerx = [
+        (rad * 2.0 + 0.0002, -(num as f32) * rad * 2.0 * 1.5),
+        (rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5),
+    ];
+
+    for (shiftx, centerx) in shiftx_centerx {
+        let shifty = rad * 2.0;
+        let centery = shifty / 2.0 + ground_thickness;
+
+        for i in 0..num {
+            for j in 0usize..1 + i * 2 {
+                let fj = j as f32;
+                let fi = i as f32;
+                let x = (fj - fi) * shiftx + centerx;
+                let y = (num as f32 - fi - 1.0) * shifty + centery;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::dynamic().translation(Vec2::new(x, y));
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(Vec2::new(0.0, 2.5), 5.0);
+}

examples2d/trimesh2.rs

@@ -22,14 +22,14 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![ground_size, ground_size]);
+        .translation(Vector::new(ground_size, ground_size));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![-ground_size, ground_size]);
+        .translation(Vector::new(-ground_size, ground_size));
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 .unwrap()
                 .contact_skin(0.2);
             let rigid_body = RigidBodyBuilder::dynamic()
-                .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0]);
+                .translation(Vector::new(ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0));
             let handle = bodies.insert(rigid_body);
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
@@ -55,5 +55,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 20.0], 17.0);
+    testbed.look_at(Vec2::new(0.0, 20.0), 17.0);
 }

examples2d/utils/character.rs

@@ -1,7 +1,7 @@
-use rapier_testbed2d::ui::egui::Align2;
+use kiss3d::color::Color;
 use rapier_testbed2d::{
     KeyCode, PhysicsState, TestbedGraphics,
-    ui::egui::{ComboBox, Slider, Ui, Window},
+    egui::{Align2, ComboBox, Slider, Ui, Window},
 };
 use rapier2d::{
     control::{CharacterLength, KinematicCharacterController, PidController},
@@ -51,24 +51,24 @@ fn character_movement_from_inputs(
     gfx: &TestbedGraphics,
     mut speed: Real,
     artificial_gravity: bool,
-) -> Vector<Real> {
-    let mut desired_movement = Vector::zeros();
+) -> Vector {
+    let mut desired_movement = Vector::ZERO;
 
     for key in gfx.keys().get_pressed() {
         match *key {
-            KeyCode::ArrowRight => {
-                desired_movement += Vector::x();
+            KeyCode::Right => {
+                desired_movement += Vector::X;
             }
-            KeyCode::ArrowLeft => {
-                desired_movement -= Vector::x();
+            KeyCode::Left => {
+                desired_movement -= Vector::X;
             }
             KeyCode::Space => {
-                desired_movement += Vector::y() * 2.0;
+                desired_movement += Vector::Y * 2.0;
             }
-            KeyCode::ControlRight => {
-                desired_movement -= Vector::y();
+            KeyCode::RControl => {
+                desired_movement -= Vector::Y;
             }
-            KeyCode::ShiftRight => {
+            KeyCode::RShift => {
                 speed /= 10.0;
             }
             _ => {}
@@ -78,7 +78,7 @@ fn character_movement_from_inputs(
     desired_movement *= speed;
 
     if artificial_gravity {
-        desired_movement -= Vector::y() * speed;
+        desired_movement -= Vector::Y * speed;
     }
 
     desired_movement
@@ -97,11 +97,11 @@ fn update_pid_controller(
 
     // Adjust the controlled axis depending on the keys pressed by the user.
     // - If the user is jumping, enable control over Y.
-    // - If the user isn’t pressing any key, disable all linear controls to let
+    // - If the user isn't pressing any key, disable all linear controls to let
     //   gravity/collision do their thing freely.
     let mut axes = AxesMask::ANG_Z;
 
-    if desired_movement.norm() != 0.0 {
+    if desired_movement.length() != 0.0 {
         axes |= if desired_movement.y == 0.0 {
             AxesMask::LIN_X
         } else {
@@ -114,7 +114,7 @@ fn update_pid_controller(
     let corrective_vel = pid.rigid_body_correction(
         phx.integration_parameters.dt,
         character_body,
-        (character_body.translation() + desired_movement).into(),
+        Pose::from_translation(character_body.translation() + desired_movement),
         RigidBodyVelocity::zero(),
     );
     let new_vel = *character_body.vels() + corrective_vel;
@@ -150,14 +150,14 @@ fn update_kinematic_controller(
         &query_pipeline.as_ref(),
         &*character_shape,
         &character_collider_pose,
-        desired_movement.cast::<Real>(),
+        desired_movement,
         |c| collisions.push(c),
     );
 
     if mvt.grounded {
-        gfx.set_body_color(character_handle, [0.1, 0.8, 0.1]);
+        gfx.set_body_color(character_handle, Color::new(0.1, 0.8, 0.1, 1.0), false);
     } else {
-        gfx.set_body_color(character_handle, [0.8, 0.1, 0.1]);
+        gfx.set_body_color(character_handle, Color::new(0.8, 0.1, 0.1, 1.0), false);
     }
 
     controller.solve_character_collision_impulses(
@@ -170,7 +170,7 @@ fn update_kinematic_controller(
 
     let character_body = &mut phx.bodies[character_handle];
     let pose = character_body.position();
-    character_body.set_next_kinematic_translation(pose.translation.vector + mvt.translation);
+    character_body.set_next_kinematic_translation(pose.translation + mvt.translation);
 }
 
 fn character_control_ui(
@@ -181,7 +181,7 @@ fn character_control_ui(
 ) {
     Window::new("Character Control")
         .anchor(Align2::RIGHT_TOP, [-15.0, 15.0])
-        .show(gfx.ui_context_mut().ctx_mut(), |ui| {
+        .show(gfx.egui_context(), |ui| {
             ComboBox::from_label("control mode")
                 .selected_text(format!("{:?}", *control_mode))
                 .show_ui(ui, |ui| {
@@ -220,9 +220,9 @@ fn pid_control_ui(ui: &mut Ui, pid_controller: &mut PidController, speed: &mut R
     ui.add(Slider::new(&mut ang_ki, 0.0..=10.0).text("angular Ki"));
     ui.add(Slider::new(&mut ang_kd, 0.0..=1.0).text("angular Kd"));
 
-    pid_controller.pd.lin_kp.fill(lin_kp);
-    pid_controller.lin_ki.fill(lin_ki);
-    pid_controller.pd.lin_kd.fill(lin_kd);
+    pid_controller.pd.lin_kp = Vector::splat(lin_kp);
+    pid_controller.lin_ki = Vector::splat(lin_ki);
+    pid_controller.pd.lin_kd = Vector::splat(lin_kd);
     pid_controller.pd.ang_kp = ang_kp;
     pid_controller.ang_ki = ang_ki;
     pid_controller.pd.ang_kd = ang_kd;
@@ -240,12 +240,12 @@ fn kinematic_control_ui(
     #[allow(clippy::useless_conversion)]
     {
         ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=std::f32::consts::TAU.into()).text("max_slope_climb_angle"))
-            .on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
+            .on_hover_text("The maximum angle (radians) between the floor's normal and the `up` vector that the character is able to climb.");
         ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=std::f32::consts::FRAC_PI_2.into()).text("min_slope_slide_angle"))
-            .on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
+            .on_hover_text("The minimum angle (radians) between the floor's normal and the `up` vector before the character starts to slide down automatically.");
     }
     let mut is_snapped = character_controller.snap_to_ground.is_some();
-    if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
+    if ui.checkbox(&mut is_snapped, "snap_to_ground").changed() {
         match is_snapped {
             true => {
                 character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));

examples2d/utils/mod.rs

@@ -1,2 +1,4 @@
 pub mod character;
+
+#[cfg(not(target_arch = "wasm32"))]
 pub mod svg;

examples2d/utils/svg.rs

@@ -4,7 +4,6 @@ use lyon::math::Point;
 use lyon::path::PathEvent;
 use lyon::tessellation::geometry_builder::*;
 use lyon::tessellation::{self, FillOptions, FillTessellator};
-use rapier2d::na::{Point2, Rotation2};
 use usvg::prelude::*;
 
 const RAPIER_SVG_STR: &str = r#"
@@ -37,11 +36,11 @@ const RAPIER_SVG_STR: &str = r#"
 </svg>
 "#;
 
-pub fn rapier_logo() -> Vec<(Vec<Point2<f32>>, Vec<[u32; 3]>)> {
+pub fn rapier_logo() -> Vec<(Vec<Vector>, Vec<[u32; 3]>)> {
     tessellate_svg_str(RAPIER_SVG_STR)
 }
 
-pub fn tessellate_svg_str(svg_str: &str) -> Vec<(Vec<Point2<f32>>, Vec<[u32; 3]>)> {
+pub fn tessellate_svg_str(svg_str: &str) -> Vec<(Vec<Vector>, Vec<[u32; 3]>)> {
     let mut result = vec![];
     let mut fill_tess = FillTessellator::new();
     let opt = usvg::Options::default();
@@ -80,7 +79,7 @@ pub fn tessellate_svg_str(svg_str: &str) -> Vec<(Vec<Point2<f32>>, Vec<[u32; 3]>
                     .vertices
                     .iter()
                     .map(|v| {
-                        Rotation2::new(angle) * point![v.position[0] * sx, v.position[1] * -sy]
+                        Rotation::new(angle) * Vector::new(v.position[0] * sx, v.position[1] * -sy)
                     })
                     .collect();
 

examples2d/voxels2.rs

@@ -39,12 +39,12 @@ pub fn init_world(testbed: &mut Testbed) {
     let nx = 50;
     for i in 0..nx {
         for j in 0..10 {
-            let mut rb = RigidBodyBuilder::dynamic().translation(vector![
+            let mut rb = RigidBodyBuilder::dynamic().translation(Vector::new(
                 i as f32 * 2.0 - nx as f32 / 2.0,
-                20.0 + j as f32 * 2.0
-            ]);
+                20.0 + j as f32 * 2.0,
+            ));
             if test_ccd {
-                rb = rb.linvel(vector![0.0, -1000.0]).ccd_enabled(true);
+                rb = rb.linvel(Vector::new(0.0, -1000.0)).ccd_enabled(true);
             }
             let rb_handle = bodies.insert(rb);
 
@@ -69,19 +69,19 @@ pub fn init_world(testbed: &mut Testbed) {
      * Voxelization.
      */
     let polyline = vec![
-        point![0.0, 0.0],
-        point![0.0, 10.0],
-        point![7.0, 4.0],
-        point![14.0, 10.0],
-        point![14.0, 0.0],
-        point![13.0, 7.0],
-        point![7.0, 2.0],
-        point![1.0, 7.0],
+        Vector::new(0.0, 0.0),
+        Vector::new(0.0, 10.0),
+        Vector::new(7.0, 4.0),
+        Vector::new(14.0, 10.0),
+        Vector::new(14.0, 0.0),
+        Vector::new(13.0, 7.0),
+        Vector::new(7.0, 2.0),
+        Vector::new(1.0, 7.0),
     ];
     let indices: Vec<_> = (0..polyline.len() as u32)
         .map(|i| [i, (i + 1) % polyline.len() as u32])
         .collect();
-    let rb = bodies.insert(RigidBodyBuilder::fixed().translation(vector![-20.0, -10.0]));
+    let rb = bodies.insert(RigidBodyBuilder::fixed().translation(Vector::new(-20.0, -10.0)));
     let shape = SharedShape::voxelized_mesh(&polyline, &indices, 0.2, FillMode::default());
 
     colliders.insert_with_parent(ColliderBuilder::new(shape), rb, &mut bodies);
@@ -92,7 +92,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let voxels: Vec<_> = (0..300)
         .map(|i| {
             let y = (i as f32 / 20.0).sin().clamp(-0.5, 0.5) * 20.0;
-            point![(i as f32 - 125.0) * voxel_size.x / 2.0, y * voxel_size.y]
+            Vector::new((i as f32 - 125.0) * voxel_size.x / 2.0, y * voxel_size.y)
         })
         .collect();
     colliders.insert(ColliderBuilder::voxels_from_points(voxel_size, &voxels));
@@ -101,5 +101,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
-    testbed.look_at(point![0.0, 20.0], 17.0);
+    testbed.look_at(Vec2::new(0.0, 20.0), 17.0);
 }