diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2d3dcf9..52f5a35 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,7 +1,71 @@
 ## v0.9.0
+The user-guide has been fully rewritten and is now exhaustive! Check it out on [rapier.rs](https://rapier.rs/)
+
+### Added
+- A prelude has been added in order to simplify the most common imports. For example: `use rapier3d::prelude::*`
+- Add `RigidBody::set_translation` and `RigidBody.translation()`.
+- Add `RigidBody::set_rotation` and `RigidBody.rotation().
+- Add `RigidBody::set_next_translation` for setting the next translation of a position-based kinematic body.
+- Add `RigidBody::set_next_rotation` for setting the next rotation of a position-based kinematic body.
+- Add kinematic bodies controlled at the velocity level: use `RigidBodyBuilder::new_kinematic_velocity_based` or
+  `RigidBodyType::KinematicVelocityBased`.
 
 ### Modified
+The use of `RigidBodySet, ColliderSet, RigidBody, Collider` is no longer mandatory. Rigid-bodies and colliders have
+been split into multiple components that can be stored in a user-defined set. This is useful for integrating Rapier
+with other engines (for example this allows use to use Bevy's Query as our rigid-body/collider sets).
+
+The `RigidBodySet, ColliderSet, RigidBody, Collider` are still the best option for whoever doesn't want to
+provide their own component sets.
+
+#### Rigid-bodies
 - Renamed `BodyStatus` to `RigidBodyType`.
+- `RigidBodyBuilder::translation` now takes a vector instead of individual components.
+- `RigidBodyBuilder::linvel` now takes a vector instead of individual components.
+- The `RigidBodyBuilder::new_kinematic` has be replaced by the `RigidBodyBuilder::new_kinematic_position_based` and
+  `RigidBodyBuilder::new_kinematic_velocity_based` constructors.
+- The `RigidBodyType::Kinematic` variant has been replaced by two variants: `RigidBodyType::KinematicVelocityBased` and
+  `RigidBodyType::KinematicPositionBased`.
+  
+#### Colliders
+- `Colliderbuilder::translation` now takes a vector instead of individual components.
+- The way `PhysicsHooks` are enabled changed. Now, a physics hooks is executed if any of the two
+  colliders involved in the contact/intersection pair contains the related `PhysicsHooksFlag`.
+  These flags are configured on each collider with `ColliderBuilder::active_hooks`. As a result,
+  there is no `PhysicsHooks::active_hooks` method any more.
+- All events are now disabled for all colliders by default. Enable events for specific colliders by setting its
+  `active_events` bit mask to `ActiveEvents::CONTACT_EVENTS` and/or `ActiveEvents::PROXIMITY_EVENTS`.
+- Add a simpler way of enabling collision-detection between colliders attached to two non-dynamic rigid-bodies: see
+  `ColliderBuilder::active_collision_types`.
+- The `InteractionGroups` is now a structures with two `u32` integers: one integers for the groups
+  membership and one for the group filter mask. (Before, both were only 16-bits wide, and were
+  packed into a single `u32`).
+- Before, sensor colliders had a default density  set to 0.0 whereas non-sensor colliders had a
+  default density of 1.0. This has been unified by setting the default density to 1.0 for both
+  sensor and non-sensor colliders.
+- Colliders are no longer required to be attached to a rigid-body. Therefore, `ColliderSet::insert`
+  only takes the collider as argument now. In order to attach the collider to a rigid-body,
+  (i.e., the old behavior of `ColliderSet::insert`), use `ColliderSet::insert_with_parent`.
+- Fixed a bug where collision groups were ignored by CCD.
+
+#### Joints
+- The fields `FixedJoint::local_anchor1` and `FixedJoint::local_anchor2` have been renamed to
+  `FixedJoint::local_frame1` and `FixedJoint::local_frame2`.
+  
+#### Pipelines and others
+- The field `ContactPair::pair` (which contained two collider handles) has been replaced by two
+  fields: `ContactPair::collider1` and `ContactPair::collider2`.
+- The list of active dynamic bodies is no retrieved with `IslandManager::active_dynamic_bodies`
+  instead of `RigidBodySet::iter_active_dynamic`.
+- The list of active kinematic bodies is no retrieved with `IslandManager::active_kinematic_bodies`
+  instead of `RigidBodySet::iter_active_kinematic`.
+- `NarrowPhase::contacts_with` now returns an `impl Iterator<Item = &ContactPair>` instead of 
+  an `Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>>`. The colliders
+  handles can be read from the contact-pair itself.
+- `NarrowPhase::intersections_with` now returns an iterator directly instead of an `Option<impl Iterator>`.
+- Rename `PhysicsHooksFlags` to `ActiveHooks`.
+- Add the contact pair as an argument to `EventHandler::handle_contact_event`
+
 
 ## v0.8.0
 ### Modified
diff --git a/Cargo.toml b/Cargo.toml
index 99e7b5b..7021ade 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,9 +18,6 @@ resolver = "2"
 #parry3d-f64 = { path = "../parry/build/parry3d-f64" }
 #nalgebra = { path = "../nalgebra" }
 
-#bevy-orbit-controls = { path = "../bevy-orbit-controls" }
-bevy-orbit-controls = { git = "https://github.com/sebcrozet/bevy-orbit-controls" }
-
 #kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
 #parry2d = { git = "https://github.com/dimforge/parry", branch = "special_cases" }
diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
index fdb1690..92e2959 100644
--- a/benchmarks2d/Cargo.toml
+++ b/benchmarks2d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.8"
 Inflector  = "0.11"
-nalgebra   = "0.26"
+nalgebra   = "0.27"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs
index 8fa9775..ec55f24 100644
--- a/benchmarks2d/balls2.rs
+++ b/benchmarks2d/balls2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -22,7 +20,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let co = ColliderDesc::new(ground_shape)
         .translation(-Vector2::y())
         .build(BodyPartHandle(ground_handle, 0));
-    colliders.insert(co);
+    colliders.insert_with_parent(co);
     */
 
     /*
@@ -48,10 +46,12 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new(status)
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+    testbed.look_at(point![0.0, 2.5], 5.0);
 }
diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs
index e524386..2e4c5e4 100644
--- a/benchmarks2d/boxes2.rs
+++ b/benchmarks2d/boxes2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 2.0)
+        .translation(vector![ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 2.0)
+        .translation(vector![-ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -53,10 +51,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 2.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -64,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs
index 89ddfde..e75afe4 100644
--- a/benchmarks2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 4.0)
+        .translation(vector![ground_size, ground_size * 4.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 4.0)
+        .translation(vector![-ground_size, ground_size * 4.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -55,10 +53,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shifty + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -66,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs
index 99f5a14..6c9792e 100644
--- a/benchmarks2d/convex_polygons2.rs
+++ b/benchmarks2d/convex_polygons2.rs
@@ -1,8 +1,6 @@
-use na::Point2;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 2.0)
+        .translation(vector![ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 2.0)
+        .translation(vector![-ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the convex polygons
@@ -58,18 +56,20 @@ 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::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
 
             for _ in 0..10 {
-                let pt: Point2<f32> = distribution.sample(&mut rng);
+                let pt: Point<f32> = distribution.sample(&mut rng);
                 points.push(pt * scale);
             }
 
             let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs
index 1a30849..a07eb6e 100644
--- a/benchmarks2d/heightfield2.rs
+++ b/benchmarks2d/heightfield2.rs
@@ -1,6 +1,5 @@
-use na::{DVector, Point2, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use na::DVector;
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector2::new(50.0, 1.0);
+    let ground_size = Vector::new(50.0, 1.0);
     let nsubdivs = 2000;
 
     let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
                 let collider = ColliderBuilder::cuboid(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             } else {
                 let collider = ColliderBuilder::ball(rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/joint_ball2.rs b/benchmarks2d/joint_ball2.rs
index 1ad2d39..aadf91e 100644
--- a/benchmarks2d/joint_ball2.rs
+++ b/benchmarks2d/joint_ball2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -34,16 +32,16 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, -fi * shift)
+                .translation(vector![fk * shift, -fi * shift])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, &mut bodies);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
+                let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -51,7 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if k > 0 {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -63,5 +61,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
+    testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 5.0);
 }
diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs
index e42ad99..baaa250 100644
--- a/benchmarks2d/joint_fixed2.rs
+++ b/benchmarks2d/joint_fixed2.rs
@@ -1,6 +1,4 @@
-use na::{Isometry2, Point2};
-use rapier2d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -39,18 +37,18 @@ pub fn init_world(testbed: &mut Testbed) {
                     };
 
                     let rigid_body = RigidBodyBuilder::new(status)
-                        .translation(x + fk * shift, y - fi * shift)
+                        .translation(vector![x + fk * shift, y - fi * shift])
                         .build();
                     let child_handle = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, child_handle, &mut bodies);
+                    colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
                     // Vertical joint.
                     if i > 0 {
                         let parent_handle = *body_handles.last().unwrap();
                         let joint = FixedJoint::new(
-                            Isometry2::identity(),
-                            Isometry2::translation(0.0, shift),
+                            Isometry::identity(),
+                            Isometry::translation(0.0, shift),
                         );
                         joints.insert(&mut bodies, parent_handle, child_handle, joint);
                     }
@@ -60,8 +58,8 @@ pub fn init_world(testbed: &mut Testbed) {
                         let parent_index = body_handles.len() - num;
                         let parent_handle = body_handles[parent_index];
                         let joint = FixedJoint::new(
-                            Isometry2::identity(),
-                            Isometry2::translation(-shift, 0.0),
+                            Isometry::identity(),
+                            Isometry::translation(-shift, 0.0),
                         );
                         joints.insert(&mut bodies, parent_handle, child_handle, joint);
                     }
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(50.0, 50.0), 5.0);
+    testbed.look_at(point![50.0, 50.0], 5.0);
 }
diff --git a/benchmarks2d/joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs
index e393542..0cbf859 100644
--- a/benchmarks2d/joint_prismatic2.rs
+++ b/benchmarks2d/joint_prismatic2.rs
@@ -1,6 +1,4 @@
-use na::{Point2, Unit, Vector2};
-use rapier2d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -25,27 +23,31 @@ pub fn init_world(testbed: &mut Testbed) {
         for j in 0..50 {
             let x = j as f32 * shift * 4.0;
 
-            let ground = RigidBodyBuilder::new_static().translation(x, y).build();
+            let ground = RigidBodyBuilder::new_static()
+                .translation(vector![x, y])
+                .build();
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, curr_parent, &mut bodies);
+            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::new_dynamic().translation(x, y).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y])
+                    .build();
                 let curr_child = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
-                colliders.insert(collider, curr_child, &mut bodies);
+                colliders.insert_with_parent(collider, curr_child, &mut bodies);
 
                 let axis = if i % 2 == 0 {
-                    Unit::new_normalize(Vector2::new(1.0, 1.0))
+                    UnitVector::new_normalize(vector![1.0, 1.0])
                 } else {
-                    Unit::new_normalize(Vector2::new(-1.0, 1.0))
+                    UnitVector::new_normalize(vector![-1.0, 1.0])
                 };
 
                 let mut prism =
-                    PrismaticJoint::new(Point2::origin(), axis, Point2::new(0.0, shift), axis);
+                    PrismaticJoint::new(Point::origin(), axis, point![0.0, shift], axis);
                 prism.limits_enabled = true;
                 prism.limits[0] = -1.5;
                 prism.limits[1] = 1.5;
@@ -60,5 +62,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(80.0, 80.0), 15.0);
+    testbed.look_at(point![80.0, 80.0], 15.0);
 }
diff --git a/benchmarks2d/pyramid2.rs b/benchmarks2d/pyramid2.rs
index c3eb6ad..a557ff4 100644
--- a/benchmarks2d/pyramid2.rs
+++ b/benchmarks2d/pyramid2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+    testbed.look_at(point![0.0, 2.5], 5.0);
 }
diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml
index a986136..8fca510 100644
--- a/benchmarks3d/Cargo.toml
+++ b/benchmarks3d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.8"
 Inflector  = "0.11"
-nalgebra   = "0.26"
+nalgebra   = "0.27"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs
index 492aeac..3f0bf36 100644
--- a/benchmarks3d/balls3.rs
+++ b/benchmarks3d/balls3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -37,10 +35,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let density = 0.477;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new(status).translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new(status)
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::ball(rad).density(density).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -49,5 +49,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/boxes3.rs b/benchmarks3d/boxes3.rs
index 86213af..9c7ed81 100644
--- a/benchmarks3d/boxes3.rs
+++ b/benchmarks3d/boxes3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -45,10 +43,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/capsules3.rs b/benchmarks3d/capsules3.rs
index edd6d57..8565503 100644
--- a/benchmarks3d/capsules3.rs
+++ b/benchmarks3d/capsules3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,10 +44,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -60,5 +60,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd3.rs
index a496648..987aba6 100644
--- a/benchmarks3d/ccd3.rs
+++ b/benchmarks3d/ccd3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -49,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(x, y, z)
-                    .linvel(0.0, -1000.0, 0.0)
+                    .translation(vector![x, y, z])
+                    .linvel(vector![0.0, -1000.0, 0.0])
                     .ccd_enabled(true)
                     .build();
                 let handle = bodies.insert(rigid_body);
@@ -65,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad),
                 };
 
-                colliders.insert(collider.build(), handle, &mut bodies);
+                colliders.insert_with_parent(collider.build(), handle, &mut bodies);
             }
         }
 
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/compound3.rs b/benchmarks3d/compound3.rs
index 3f82ca0..a914ce9 100644
--- a/benchmarks3d/compound3.rs
+++ b/benchmarks3d/compound3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -45,18 +43,20 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift * 2.0 - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
                 let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(rad * 10.0, rad * 10.0, 0.0)
+                    .translation(vector![rad * 10.0, rad * 10.0, 0.0])
                     .build();
                 let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(-rad * 10.0, rad * 10.0, 0.0)
+                    .translation(vector![-rad * 10.0, rad * 10.0, 0.0])
                     .build();
-                colliders.insert(collider1, handle, &mut bodies);
-                colliders.insert(collider2, handle, &mut bodies);
-                colliders.insert(collider3, handle, &mut bodies);
+                colliders.insert_with_parent(collider1, handle, &mut bodies);
+                colliders.insert_with_parent(collider2, handle, &mut bodies);
+                colliders.insert_with_parent(collider3, handle, &mut bodies);
             }
         }
 
@@ -67,5 +67,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/convex_polyhedron3.rs b/benchmarks3d/convex_polyhedron3.rs
index 0e14782..7065cd5 100644
--- a/benchmarks3d/convex_polyhedron3.rs
+++ b/benchmarks3d/convex_polyhedron3.rs
@@ -1,8 +1,6 @@
-use na::Point3;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,11 +18,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -53,17 +51,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 let mut points = Vec::new();
                 for _ in 0..10 {
-                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    let pt: Point<f32> = distribution.sample(&mut rng);
                     points.push(pt * scale);
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
                     .unwrap()
                     .build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/heightfield3.rs b/benchmarks3d/heightfield3.rs
index 062e7c5..3ddc0ec 100644
--- a/benchmarks3d/heightfield3.rs
+++ b/benchmarks3d/heightfield3.rs
@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use na::ComplexField;
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(200.0, 1.0, 200.0);
+    let ground_size = vector![200.0, 1.0, 200.0];
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -55,15 +54,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 } else {
                     let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -73,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/joint_ball3.rs b/benchmarks3d/joint_ball3.rs
index e7b3e3d..5e3eb10 100644
--- a/benchmarks3d/joint_ball3.rs
+++ b/benchmarks3d/joint_ball3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -29,16 +27,16 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, fi * shift)
+                .translation(vector![fk * shift, 0.0, fi * shift])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, &mut bodies);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
+                let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -46,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if k > 0 {
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -58,8 +56,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(-110.0, -46.0, 170.0),
-        Point3::new(54.0, -38.0, 29.0),
-    );
+    testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
 }
diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs
index 0475258..5647dde 100644
--- a/benchmarks3d/joint_fixed3.rs
+++ b/benchmarks3d/joint_fixed3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3};
-use rapier3d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -42,18 +40,18 @@ pub fn init_world(testbed: &mut Testbed) {
                         };
 
                         let rigid_body = RigidBodyBuilder::new(status)
-                            .translation(x + fk * shift, y, z + fi * shift)
+                            .translation(vector![x + fk * shift, y, z + fi * shift])
                             .build();
                         let child_handle = bodies.insert(rigid_body);
                         let collider = ColliderBuilder::ball(rad).build();
-                        colliders.insert(collider, child_handle, &mut bodies);
+                        colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
                         // Vertical joint.
                         if i > 0 {
                             let parent_handle = *body_handles.last().unwrap();
                             let joint = FixedJoint::new(
-                                Isometry3::identity(),
-                                Isometry3::translation(0.0, 0.0, -shift),
+                                Isometry::identity(),
+                                Isometry::translation(0.0, 0.0, -shift),
                             );
                             joints.insert(&mut bodies, parent_handle, child_handle, joint);
                         }
@@ -63,8 +61,8 @@ pub fn init_world(testbed: &mut Testbed) {
                             let parent_index = body_handles.len() - num;
                             let parent_handle = body_handles[parent_index];
                             let joint = FixedJoint::new(
-                                Isometry3::identity(),
-                                Isometry3::translation(-shift, 0.0, 0.0),
+                                Isometry::identity(),
+                                Isometry::translation(-shift, 0.0, 0.0),
                             );
                             joints.insert(&mut bodies, parent_handle, child_handle, joint);
                         }
@@ -80,8 +78,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(-38.0, 14.0, 108.0),
-        Point3::new(46.0, 12.0, 23.0),
-    );
+    testbed.look_at(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
 }
diff --git a/benchmarks3d/joint_prismatic3.rs b/benchmarks3d/joint_prismatic3.rs
index afc18fb..b310b14 100644
--- a/benchmarks3d/joint_prismatic3.rs
+++ b/benchmarks3d/joint_prismatic3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Unit, Vector3};
-use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -24,33 +22,37 @@ pub fn init_world(testbed: &mut Testbed) {
             for j in 0..50 {
                 let x = j as f32 * shift * 4.0;
 
-                let ground = RigidBodyBuilder::new_static().translation(x, y, z).build();
+                let ground = RigidBodyBuilder::new_static()
+                    .translation(vector![x, y, z])
+                    .build();
                 let mut curr_parent = bodies.insert(ground);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, curr_parent, &mut bodies);
+                colliders.insert_with_parent(collider, curr_parent, &mut bodies);
 
                 for i in 0..num {
                     let z = z + (i + 1) as f32 * shift;
                     let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                    let rigid_body = RigidBodyBuilder::new_dynamic()
+                        .translation(vector![x, y, z])
+                        .build();
                     let curr_child = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::cuboid(rad, rad, rad)
                         .density(density)
                         .build();
-                    colliders.insert(collider, curr_child, &mut bodies);
+                    colliders.insert_with_parent(collider, curr_child, &mut bodies);
 
                     let axis = if i % 2 == 0 {
-                        Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+                        UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
                     } else {
-                        Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+                        UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
                     };
 
-                    let z = Vector3::z();
+                    let z = Vector::z();
                     let mut prism = PrismaticJoint::new(
-                        Point3::origin(),
+                        Point::origin(),
                         axis,
                         z,
-                        Point3::new(0.0, 0.0, -shift),
+                        point![0.0, 0.0, -shift],
                         axis,
                         z,
                     );
@@ -69,8 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(262.0, 63.0, 124.0),
-        Point3::new(101.0, 4.0, -3.0),
-    );
+    testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
 }
diff --git a/benchmarks3d/joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs
index 0c647a6..7c0f6cb 100644
--- a/benchmarks3d/joint_revolute3.rs
+++ b/benchmarks3d/joint_revolute3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RevoluteJoint, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -22,20 +20,20 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = j as f32 * shift * 4.0;
 
             let ground = RigidBodyBuilder::new_static()
-                .translation(x, y, 0.0)
+                .translation(vector![x, y, 0.0])
                 .build();
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, curr_parent, &mut bodies);
+            colliders.insert_with_parent(collider, curr_parent, &mut bodies);
 
             for i in 0..num {
                 // Create four bodies.
                 let z = i as f32 * shift * 2.0 + shift;
                 let positions = [
-                    Isometry3::translation(x, y, z),
-                    Isometry3::translation(x + shift, y, z),
-                    Isometry3::translation(x + shift, y, z + shift),
-                    Isometry3::translation(x, y, z + shift),
+                    Isometry::translation(x, y, z),
+                    Isometry::translation(x + shift, y, z),
+                    Isometry::translation(x + shift, y, z + shift),
+                    Isometry::translation(x, y, z + shift),
                 ];
 
                 let mut handles = [curr_parent; 4];
@@ -48,19 +46,19 @@ pub fn init_world(testbed: &mut Testbed) {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad)
                         .density(density)
                         .build();
-                    colliders.insert(collider, handles[k], &mut bodies);
+                    colliders.insert_with_parent(collider, handles[k], &mut bodies);
                 }
 
                 // Setup four joints.
-                let o = Point3::origin();
-                let x = Vector3::x_axis();
-                let z = Vector3::z_axis();
+                let o = Point::origin();
+                let x = Vector::x_axis();
+                let z = Vector::z_axis();
 
                 let revs = [
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-                    RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
-                    RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-                    RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
+                    RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+                    RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
+                    RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+                    RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
                 ];
 
                 joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
@@ -77,8 +75,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(
-        Point3::new(478.0, 83.0, 228.0),
-        Point3::new(134.0, 83.0, -116.0),
-    );
+    testbed.look_at(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
 }
diff --git a/benchmarks3d/keva3.rs b/benchmarks3d/keva3.rs
index 9e6807a..38a0432 100644
--- a/benchmarks3d/keva3.rs
+++ b/benchmarks3d/keva3.rs
@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn build_block(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    half_extents: Vector3<f32>,
-    shift: Vector3<f32>,
+    half_extents: Vector<f32>,
+    shift: Vector<f32>,
     mut numx: usize,
     numy: usize,
     mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
     let block_width = 2.0 * half_extents.z * numx as f32;
     let block_height = 2.0 * half_extents.y * numy as f32;
     let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
-    let mut color0 = Point3::new(0.7, 0.5, 0.9);
-    let mut color1 = Point3::new(0.6, 1.0, 0.6);
+    let mut color0 = [0.7, 0.5, 0.9];
+    let mut color1 = [0.6, 1.0, 0.6];
 
     for i in 0..numy {
         std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(
+                    .translation(vector![
                         x + dim.x + shift.x,
                         y + dim.y + shift.y,
-                        z + dim.z + shift.z,
-                    )
+                        z + dim.z + shift.z
+                    ])
                     .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
 
                 testbed.set_initial_body_color(handle, color0);
                 std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
         for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     i as f32 * dim.x * 2.0 + dim.x + shift.x,
                     dim.y + shift.y + block_height,
-                    j as f32 * dim.z * 2.0 + dim.z + shift.z,
-                )
+                    j as f32 * dim.z * 2.0 + dim.z + shift.z
+                ])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
             testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
         }
@@ -94,16 +92,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
-    let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
+    let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
     let mut block_height = 0.0;
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut bodies,
             &mut colliders,
             half_extents,
-            Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
+            vector![-block_width / 2.0, block_height, -block_width / 2.0],
             numx,
             numy,
             numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/pyramid3.rs b/benchmarks3d/pyramid3.rs
index 3b31eac..655ecb7 100644
--- a/benchmarks3d/pyramid3.rs
+++ b/benchmarks3d/pyramid3.rs
@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn create_pyramid(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.5;
     for i in 0usize..stack_height {
@@ -24,12 +22,14 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let rigid_body_handle = bodies.insert(rigid_body);
 
                 let collider =
                     ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-                colliders.insert(collider, rigid_body_handle, bodies);
+                colliders.insert_with_parent(collider, rigid_body_handle, bodies);
             }
         }
     }
@@ -50,22 +50,22 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the cubes
      */
     let cube_size = 1.0;
-    let hext = Vector3::repeat(cube_size);
+    let hext = Vector::repeat(cube_size);
     let bottomy = cube_size;
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(0.0, bottomy, 0.0),
+        vector![0.0, bottomy, 0.0],
         24,
         hext,
     );
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/stacks3.rs b/benchmarks3d/stacks3.rs
index 31dff0a..39386ea 100644
--- a/benchmarks3d/stacks3.rs
+++ b/benchmarks3d/stacks3.rs
@@ -1,15 +1,13 @@
-use na::{Point3, Translation3, UnitQuaternion, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn create_tower_circle(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
     nsubdivs: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
     let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
@@ -20,16 +18,16 @@ fn create_tower_circle(
             let fj = j as f32;
             let fi = i as f32;
             let y = fi * shift.y;
-            let pos = Translation3::from(offset)
-                * UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step)
-                * Translation3::new(0.0, y, radius);
+            let pos = Translation::from(offset)
+                * Rotation::new(Vector::y() * (fi / 2.0 + fj) * ang_step)
+                * Translation::new(0.0, y, radius);
 
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
         }
     }
 }
@@ -37,9 +35,9 @@ fn create_tower_circle(
 fn create_wall(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
     for i in 0usize..stack_height {
@@ -52,11 +50,13 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y, z])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
         }
     }
 }
@@ -64,9 +64,9 @@ fn create_wall(
 fn create_pyramid(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
 
@@ -83,11 +83,13 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider =
                     ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
             }
         }
     }
@@ -108,71 +110,71 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
     let cube_size = 1.0;
-    let hext = Vector3::repeat(cube_size);
+    let hext = Vector::repeat(cube_size);
     let bottomy = cube_size * 50.0;
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-110.0, bottomy, 0.0),
+        vector![-110.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-80.0, bottomy, 0.0),
+        vector![-80.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-50.0, bottomy, 0.0),
+        vector![-50.0, bottomy, 0.0],
         12,
         hext,
     );
     create_pyramid(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-20.0, bottomy, 0.0),
+        vector![-20.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(-2.0, bottomy, 0.0),
+        vector![-2.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(4.0, bottomy, 0.0),
+        vector![4.0, bottomy, 0.0],
         12,
         hext,
     );
     create_wall(
         &mut bodies,
         &mut colliders,
-        Vector3::new(10.0, bottomy, 0.0),
+        vector![10.0, bottomy, 0.0],
         12,
         hext,
     );
     create_tower_circle(
         &mut bodies,
         &mut colliders,
-        Vector3::new(25.0, bottomy, 0.0),
+        vector![25.0, bottomy, 0.0],
         8,
         24,
         hext,
@@ -182,5 +184,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/benchmarks3d/trimesh3.rs b/benchmarks3d/trimesh3.rs
index 0501d6f..fe8f377 100644
--- a/benchmarks3d/trimesh3.rs
+++ b/benchmarks3d/trimesh3.rs
@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField};
+use na::ComplexField;
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(200.0, 1.0, 200.0);
+    let ground_size = vector![200.0, 1.0, 200.0];
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -39,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vertices, indices).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -60,15 +59,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 } else {
                     let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -78,5 +79,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/build/rapier2d-f64/Cargo.toml b/build/rapier2d-f64/Cargo.toml
index d244d9b..cfa121e 100644
--- a/build/rapier2d-f64/Cargo.toml
+++ b/build/rapier2d-f64/Cargo.toml
@@ -44,13 +44,13 @@ required-features = [ "dim2", "f64" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.26"
-parry2d-f64 = "0.4"
-simba = "0.4"
-approx = "0.4"
+nalgebra = "0.27"
+parry2d-f64 = "0.5"
+simba = "0.5"
+approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
-arrayvec = "0.6"
+arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
 serde = { version = "1", features = [ "derive" ], optional = true }
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
index a149bd9..79135d4 100644
--- a/build/rapier2d/Cargo.toml
+++ b/build/rapier2d/Cargo.toml
@@ -44,13 +44,13 @@ required-features = [ "dim2", "f32" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.26"
-parry2d = "0.4"
-simba = "0.4"
-approx = "0.4"
+nalgebra = "0.27"
+parry2d = "0.5"
+simba = "0.5"
+approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
-arrayvec = "0.6"
+arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
 serde = { version = "1", features = [ "derive" ], optional = true }
diff --git a/build/rapier3d-f64/Cargo.toml b/build/rapier3d-f64/Cargo.toml
index 4b6519c..cfbc836 100644
--- a/build/rapier3d-f64/Cargo.toml
+++ b/build/rapier3d-f64/Cargo.toml
@@ -44,13 +44,13 @@ required-features = [ "dim3", "f64" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.26"
-parry3d-f64 = "0.4"
-simba = "0.4"
-approx = "0.4"
+nalgebra = "0.27"
+parry3d-f64 = "0.5"
+simba = "0.5"
+approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
-arrayvec = "0.6"
+arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
 serde = { version = "1", features = [ "derive" ], optional = true }
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
index 8a3877b..1ddb201 100644
--- a/build/rapier3d/Cargo.toml
+++ b/build/rapier3d/Cargo.toml
@@ -44,13 +44,13 @@ required-features = [ "dim3", "f32" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.26"
-parry3d = "0.4"
-simba = "0.4"
-approx = "0.4"
+nalgebra = "0.27"
+parry3d = "0.5"
+simba = "0.5"
+approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
-arrayvec = "0.6"
+arrayvec = "0.7"
 bit-vec = "0.6"
 rustc-hash = "1"
 serde = { version = "1", features = [ "derive" ], optional = true }
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
index b501a1f..67fb07b 100644
--- a/build/rapier_testbed2d/Cargo.toml
+++ b/build/rapier_testbed2d/Cargo.toml
@@ -26,23 +26,22 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
 
 
 [dependencies]
-nalgebra   = { version = "0.26", features = [ "rand" ] }
+nalgebra   = { version = "0.27", features = [ "rand" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
 num_cpus   = { version = "1", optional = true }
 wrapped2d  = { version = "0.4", optional = true }
-parry2d = "0.4"
-ncollide2d = "0.29"
-nphysics2d = { version = "0.21", optional = true }
+parry2d = "0.5"
+ncollide2d = "0.30"
+nphysics2d = { version = "0.22", optional = true }
 crossbeam = "0.8"
 bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.4"
-bevy-orbit-controls = "2"
+bevy_egui = "0.5"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
index 0038fa8..2dfdad7 100644
--- a/build/rapier_testbed3d/Cargo.toml
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -25,16 +25,16 @@ parallel = [ "rapier3d/parallel", "num_cpus" ]
 other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
 
 [dependencies]
-nalgebra   = { version = "0.26", features = [ "rand" ] }
+nalgebra   = { version = "0.27", features = [ "rand" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
 glam       = { version = "0.12", optional = true }
 num_cpus   = { version = "1", optional = true }
-parry3d = "0.4"
-ncollide3d = "0.29"
-nphysics3d = { version = "0.21", optional = true }
+parry3d = "0.5"
+ncollide3d = "0.30"
+nphysics3d = { version = "0.22", optional = true }
 physx      = { version = "0.11", optional = true }
 physx-sys = { version = "0.4", optional = true }
 crossbeam = "0.8"
@@ -43,8 +43,7 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.4"
-bevy-orbit-controls = "2"
+bevy_egui = "0.5"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml
index b367ff8..6ade796 100644
--- a/examples2d/Cargo.toml
+++ b/examples2d/Cargo.toml
@@ -15,7 +15,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.8"
 Inflector  = "0.11"
-nalgebra   = "0.26"
+nalgebra   = "0.27"
 lyon       = "0.17"
 usvg       = "0.13"
 
diff --git a/examples2d/add_remove2.rs b/examples2d/add_remove2.rs
index 9f9f65a..056e63e 100644
--- a/examples2d/add_remove2.rs
+++ b/examples2d/add_remove2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -12,13 +10,13 @@ pub fn init_world(testbed: &mut Testbed) {
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, _| {
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(0.0, 10.0)
+            .translation(vector![0.0, 10.0])
             .build();
         let handle = physics.bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad).build();
         physics
             .colliders
-            .insert(collider, handle, &mut physics.bodies);
+            .insert_with_parent(collider, handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -48,5 +46,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 20.0);
+    testbed.look_at(point![0.0, 0.0], 20.0);
 }
diff --git a/examples2d/ccd2.rs b/examples2d/ccd2.rs
index 18a6bfe..1f25586 100644
--- a/examples2d/ccd2.rs
+++ b/examples2d/ccd2.rs
@@ -1,6 +1,4 @@
-use na::{Isometry2, Point2, Point3};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,24 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(-3.0, 0.0)
+        .translation(vector![-3.0, 0.0])
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(6.0, 0.0)
+        .translation(vector![6.0, 0.0])
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
-        .translation(2.5, 0.0)
+        .translation(vector![2.5, 0.0])
         .sensor(true)
+        .active_events(ActiveEvents::INTERSECTION_EVENTS)
         .build();
-    let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies);
+    let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the shapes
@@ -45,9 +44,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let radx = 0.4;
     let rady = 0.05;
 
-    let delta1 = Isometry2::translation(0.0, radx - rady);
-    let delta2 = Isometry2::translation(-radx + rady, 0.0);
-    let delta3 = Isometry2::translation(radx - rady, 0.0);
+    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 mut compound_parts = Vec::new();
     let vertical = SharedShape::cuboid(rady, radx);
@@ -70,8 +69,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(x, y)
-                .linvel(100.0, -10.0)
+                .translation(vector![x, y])
+                .linvel(vector![100.0, -10.0])
                 .ccd_enabled(true)
                 .build();
             let handle = bodies.insert(rigid_body);
@@ -80,12 +79,12 @@ pub fn init_world(testbed: &mut Testbed) {
             //     let collider = ColliderBuilder::new(part.1.clone())
             //         .position_wrt_parent(part.0)
             //         .build();
-            //     colliders.insert(collider, handle, &mut bodies);
+            //     colliders.insert_with_parent(collider, handle, &mut bodies);
             // }
 
             let collider = ColliderBuilder::new(compound_shape.clone()).build();
             // let collider = ColliderBuilder::cuboid(radx, rady).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -93,13 +92,23 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.add_callback(move |mut graphics, physics, events, _| {
         while let Ok(prox) = events.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+            let parent_handle1 = physics
+                .colliders
+                .get(prox.collider1)
+                .unwrap()
+                .parent()
+                .unwrap();
+            let parent_handle2 = physics
+                .colliders
+                .get(prox.collider2)
+                .unwrap()
+                .parent()
+                .unwrap();
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
                     graphics.set_body_color(parent_handle1, color);
@@ -115,5 +124,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 20.0);
+    testbed.look_at(point![0.0, 2.5], 20.0);
 }
diff --git a/examples2d/collision_groups2.rs b/examples2d/collision_groups2.rs
index 08b73fb..3f2a786 100644
--- a/examples2d/collision_groups2.rs
+++ b/examples2d/collision_groups2.rs
@@ -1,6 +1,4 @@
-use na::{Point2, Point3};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, floor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
     /*
      * Setup groups
@@ -34,23 +32,24 @@ 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(0.0, 1.0)
+        .translation(vector![0.0, 1.0])
         .collision_groups(GREEN_GROUP)
         .build();
-    let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+    let green_collider_handle =
+        colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+    testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
 
     /*
      * A blue floor that will collide with the BLUE group only.
      */
     let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
-        .translation(0.0, 2.0)
+        .translation(vector![0.0, 2.0])
         .collision_groups(BLUE_GROUP)
         .build();
-    let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+    let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+    testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
 
     /*
      * Create the cubes
@@ -69,17 +68,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
             // Alternate between the green and blue groups.
             let (group, color) = if i % 2 == 0 {
-                (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+                (GREEN_GROUP, [0.0, 1.0, 0.0])
             } else {
-                (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+                (BLUE_GROUP, [0.0, 0.0, 1.0])
             };
 
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad)
                 .collision_groups(group)
                 .build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
 
             testbed.set_initial_body_color(handle, color);
         }
@@ -89,5 +90,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 100.0);
+    testbed.look_at(point![0.0, 1.0], 100.0);
 }
diff --git a/examples2d/convex_polygons2.rs b/examples2d/convex_polygons2.rs
index 0e4fb0c..4373fcb 100644
--- a/examples2d/convex_polygons2.rs
+++ b/examples2d/convex_polygons2.rs
@@ -1,8 +1,6 @@
-use na::Point2;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size * 2.0)
+        .translation(vector![ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size * 2.0)
+        .translation(vector![-ground_size, ground_size * 2.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the convex polygons
@@ -58,18 +56,20 @@ 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::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
 
             for _ in 0..10 {
-                let pt: Point2<f32> = distribution.sample(&mut rng);
+                let pt: Point<f32> = distribution.sample(&mut rng);
                 points.push(pt * scale);
             }
 
             let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+    testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/examples2d/damping2.rs b/examples2d/damping2.rs
index 68fd77d..e308de6 100644
--- a/examples2d/damping2.rs
+++ b/examples2d/damping2.rs
@@ -1,6 +1,4 @@
-use na::{Point2, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -24,8 +22,8 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the rigid body.
         let rb = RigidBodyBuilder::new_dynamic()
-            .translation(x, y)
-            .linvel(x * 10.0, y * 10.0)
+            .translation(vector![x, y])
+            .linvel(vector![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)
@@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the collider.
         let co = ColliderBuilder::cuboid(rad, rad).build();
-        colliders.insert(co, rb_handle, &mut bodies);
+        colliders.insert_with_parent(co, rb_handle, &mut bodies);
     }
 
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_params(bodies, colliders, joints, Vector2::zeros(), ());
-    testbed.look_at(Point2::new(3.0, 2.0), 50.0);
+    testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
+    testbed.look_at(point![3.0, 2.0], 50.0);
 }
diff --git a/examples2d/debug_box_ball2.rs b/examples2d/debug_box_ball2.rs
index aad72ae..63b6f95 100644
--- a/examples2d/debug_box_ball2.rs
+++ b/examples2d/debug_box_ball2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -16,25 +14,25 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rad = 1.0;
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -rad)
+        .translation(vector![0.0, -rad])
         .rotation(std::f32::consts::PI / 4.0)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(rad, rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0 * rad)
+        .translation(vector![0.0, 3.0 * rad])
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 50.0);
+    testbed.look_at(point![0.0, 0.0], 50.0);
 }
diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs
index a834a2c..6246c40 100644
--- a/examples2d/heightfield2.rs
+++ b/examples2d/heightfield2.rs
@@ -1,6 +1,5 @@
-use na::{DVector, Point2, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use na::DVector;
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector2::new(50.0, 1.0);
+    let ground_size = Vector::new(50.0, 1.0);
     let nsubdivs = 2000;
 
     let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
                 let collider = ColliderBuilder::cuboid(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             } else {
                 let collider = ColliderBuilder::ball(rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 10.0);
+    testbed.look_at(point![0.0, 0.0], 10.0);
 }
diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs
index ff5c663..9c94968 100644
--- a/examples2d/joints2.rs
+++ b/examples2d/joints2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -15,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Create the balls
      */
     // Build the rigid body.
-    // NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
+    // NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
     // in order to be able to compare rapier with Box2D,
     // we set it to 0.4.
     let rad = 0.4;
@@ -37,16 +35,16 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, -fi * shift)
+                .translation(vector![fk * shift, -fi * shift])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, &mut bodies);
+            colliders.insert_with_parent(collider, child_handle, &mut bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
+                let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -54,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
             if k > 0 {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
                 joints.insert(&mut bodies, parent_handle, child_handle, joint);
             }
 
@@ -66,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
+    testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 20.0);
 }
diff --git a/examples2d/locked_rotations2.rs b/examples2d/locked_rotations2.rs
index 03fb2e7..a1f7ba5 100644
--- a/examples2d/locked_rotations2.rs
+++ b/examples2d/locked_rotations2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 // This shows a bug when a cylinder is in contact with a very large
@@ -21,38 +19,38 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A rectangle that only rotate.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0)
+        .translation(vector![0.0, 3.0])
         .lock_translations()
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(2.0, 0.6).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A tilted capsule that cannot rotate.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 5.0)
+        .translation(vector![0.0, 5.0])
         .rotation(1.0)
         .lock_rotations()
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 40.0);
+    testbed.look_at(point![0.0, 0.0], 40.0);
 }
diff --git a/examples2d/one_way_platforms2.rs b/examples2d/one_way_platforms2.rs
index 19b9968..6cbb2f0 100644
--- a/examples2d/one_way_platforms2.rs
+++ b/examples2d/one_way_platforms2.rs
@@ -1,7 +1,4 @@
-use na::{Point2, Vector2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet};
-use rapier2d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 struct OneWayPlatformHook {
@@ -10,10 +7,6 @@ struct OneWayPlatformHook {
 }
 
 impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
-    fn active_hooks(&self) -> PhysicsHooksFlags {
-        PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS
-    }
-
     fn modify_solver_contacts(
         &self,
         context: &mut ContactModificationContext<RigidBodySet, ColliderSet>,
@@ -30,20 +23,20 @@ impl PhysicsHooks<RigidBodySet, ColliderSet> 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 = Vector2::zeros();
+        let mut allowed_local_n1 = Vector::zeros();
 
         if context.collider1 == self.platform1 {
-            allowed_local_n1 = Vector2::y();
+            allowed_local_n1 = Vector::y();
         } else if context.collider2 == self.platform1 {
             // Flip the allowed direction.
-            allowed_local_n1 = -Vector2::y();
+            allowed_local_n1 = -Vector::y();
         }
 
         if context.collider1 == self.platform2 {
-            allowed_local_n1 = -Vector2::y();
+            allowed_local_n1 = -Vector::y();
         } else if context.collider2 == self.platform2 {
             // Flip the allowed direction.
-            allowed_local_n1 = Vector2::y();
+            allowed_local_n1 = Vector::y();
         }
 
         // Call the helper function that simulates one-way platforms.
@@ -78,15 +71,15 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
-        .translation(30.0, 2.0)
-        .modify_solver_contacts(true)
+        .translation(vector![30.0, 2.0])
+        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform1 = colliders.insert(collider, handle, &mut bodies);
+    let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
-        .translation(-30.0, -2.0)
-        .modify_solver_contacts(true)
+        .translation(vector![-30.0, -2.0])
+        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform2 = colliders.insert(collider, handle, &mut bodies);
+    let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Setup the one-way platform hook.
@@ -105,12 +98,12 @@ pub fn init_world(testbed: &mut Testbed) {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.5, 2.0).build();
             let body = RigidBodyBuilder::new_dynamic()
-                .translation(20.0, 10.0)
+                .translation(vector![20.0, 10.0])
                 .build();
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
-                .insert(collider, handle, &mut physics.bodies);
+                .insert_with_parent(collider, handle, &mut physics.bodies);
 
             if let Some(graphics) = graphics {
                 graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -134,8 +127,8 @@ pub fn init_world(testbed: &mut Testbed) {
         bodies,
         colliders,
         joints,
-        Vector2::new(0.0, -9.81),
+        vector![0.0, -9.81],
         physics_hooks,
     );
-    testbed.look_at(Point2::new(0.0, 0.0), 20.0);
+    testbed.look_at(point![0.0, 0.0], 20.0);
 }
diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs
index 7542cd6..48129a0 100644
--- a/examples2d/platform2.rs
+++ b/examples2d/platform2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the boxes
@@ -40,47 +38,57 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
     /*
-     * Setup a kinematic rigid body.
+     * Setup a position-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic()
-        .translation(-10.0 * rad, 1.5 + 0.8)
+    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
+        .translation(vector![-10.0 * rad, 1.5 + 0.8])
         .build();
-    let platform_handle = bodies.insert(platform_body);
+    let velocity_based_platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
-    colliders.insert(collider, platform_handle, &mut bodies);
+    colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
+
+    /*
+     * Setup a velocity-based kinematic rigid body.
+     */
+    let platform_body = RigidBodyBuilder::new_kinematic_position_based()
+        .translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8])
+        .build();
+    let position_based_platform_handle = bodies.insert(platform_body);
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
+    colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
 
     /*
      * Setup a callback to control the platform.
      */
     testbed.add_callback(move |_, physics, _, run_state| {
-        let platform = physics.bodies.get_mut(platform_handle).unwrap();
-        let mut next_pos = *platform.position();
+        let velocity = vector![run_state.time.sin() * 5.0, (run_state.time * 5.0).sin()];
 
-        let dt = 0.016;
-        next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
-        next_pos.translation.vector.x += run_state.time.sin() * 5.0 * dt;
-
-        if next_pos.translation.vector.x >= rad * 10.0 {
-            next_pos.translation.vector.x -= dt;
-        }
-        if next_pos.translation.vector.x <= -rad * 10.0 {
-            next_pos.translation.vector.x += dt;
+        // Update the velocity-based kinematic body by setting its velocity.
+        if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
+            platform.set_linvel(velocity, true);
         }
 
-        platform.set_next_kinematic_position(next_pos);
+        // Update the position-based kinematic body by setting its next position.
+        if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
+            let mut next_tra = *platform.translation();
+            next_tra += velocity * physics.integration_parameters.dt;
+            platform.set_next_kinematic_translation(next_tra);
+        }
     });
 
     /*
      * Run the simulation.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 40.0);
+    testbed.look_at(point![0.0, 1.0], 40.0);
 }
diff --git a/examples2d/polyline2.rs b/examples2d/polyline2.rs
index 0b3be0c..7405e24 100644
--- a/examples2d/polyline2.rs
+++ b/examples2d/polyline2.rs
@@ -1,6 +1,5 @@
-use na::{ComplexField, Point2};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use na::ComplexField;
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,18 +18,18 @@ pub fn init_world(testbed: &mut Testbed) {
     let step_size = ground_size / (nsubdivs as f32);
     let mut points = Vec::new();
 
-    points.push(Point2::new(-ground_size / 2.0, 40.0));
+    points.push(point![-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(Point2::new(x, y));
+        points.push(point![x, y]);
     }
-    points.push(Point2::new(ground_size / 2.0, 40.0));
+    points.push(point![ground_size / 2.0, 40.0]);
 
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::polyline(points, None).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -48,15 +47,17 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
                 let collider = ColliderBuilder::cuboid(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             } else {
                 let collider = ColliderBuilder::ball(rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -65,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 0.0), 10.0);
+    testbed.look_at(point![0.0, 0.0], 10.0);
 }
diff --git a/examples2d/pyramid2.rs b/examples2d/pyramid2.rs
index dfa64c9..76616be 100644
--- a/examples2d/pyramid2.rs
+++ b/examples2d/pyramid2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 2.5), 20.0);
+    testbed.look_at(point![0.0, 2.5], 20.0);
 }
diff --git a/examples2d/restitution2.rs b/examples2d/restitution2.rs
index 025a9cd..1be4298 100644
--- a/examples2d/restitution2.rs
+++ b/examples2d/restitution2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 1.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height)
         .restitution(1.0)
         .build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let num = 10;
     let rad = 0.5;
@@ -33,13 +31,13 @@ pub fn init_world(testbed: &mut Testbed) {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(x * 2.0, 10.0 * (j as f32 + 1.0))
+                .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad)
                 .restitution((i as f32) / (num as f32))
                 .build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -47,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 25.0);
+    testbed.look_at(point![0.0, 1.0], 25.0);
 }
diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs
index a651f64..5dc5940 100644
--- a/examples2d/sensor2.rs
+++ b/examples2d/sensor2.rs
@@ -1,6 +1,4 @@
-use na::{Point2, Point3};
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height)
+        .translation(vector![0.0, -ground_height])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create some boxes.
@@ -38,12 +36,14 @@ pub fn init_world(testbed: &mut Testbed) {
         let y = 3.0;
 
         // Build the rigid body.
-        let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+        let rigid_body = RigidBodyBuilder::new_dynamic()
+            .translation(vector![x, y])
+            .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
 
-        testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
+        testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
     }
 
     /*
@@ -52,33 +52,38 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Rigid body so that the sensor can move.
     let sensor = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 10.0)
+        .translation(vector![0.0, 10.0])
         .build();
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
     // other colliders can touch.
     let collider = ColliderBuilder::cuboid(rad, rad).build();
-    colliders.insert(collider, sensor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
 
     // We create a collider desc without density because we don't
     // want it to contribute to the rigid body mass.
-    let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
-    colliders.insert(sensor_collider, sensor_handle, &mut bodies);
+    let sensor_collider = ColliderBuilder::ball(rad * 5.0)
+        .density(0.0)
+        .sensor(true)
+        .active_events(ActiveEvents::INTERSECTION_EVENTS)
+        .build();
+    colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
 
-    testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
+    testbed.set_initial_body_color(sensor_handle, [0.5, 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.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+            let parent_handle1 = physics.colliders[prox.collider1].parent().unwrap();
+            let parent_handle2 = physics.colliders[prox.collider2].parent().unwrap();
+
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
                     graphics.set_body_color(parent_handle1, color);
@@ -94,5 +99,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 1.0), 100.0);
+    testbed.look_at(point![0.0, 1.0], 100.0);
 }
diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs
index adc8b6b..a4b049a 100644
--- a/examples2d/trimesh2.rs
+++ b/examples2d/trimesh2.rs
@@ -1,6 +1,4 @@
-use na::Point2;
-use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
 
 use lyon::math::Point;
@@ -25,23 +23,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(ground_size, ground_size)
+        .translation(vector![ground_size, ground_size])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(-ground_size, ground_size)
+        .translation(vector![-ground_size, ground_size])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the trimeshes from a tesselated SVG.
@@ -83,18 +81,18 @@ pub fn init_world(testbed: &mut Testbed) {
                 let vertices: Vec<_> = mesh
                     .vertices
                     .iter()
-                    .map(|v| Point2::new(v.position[0] * sx, v.position[1] * -sy))
+                    .map(|v| point![v.position[0] * sx, v.position[1] * -sy])
                     .collect();
 
                 for k in 0..5 {
                     let collider =
                         ColliderBuilder::trimesh(vertices.clone(), indices.clone()).build();
                     let rigid_body = RigidBodyBuilder::new_dynamic()
-                        .translation(ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0)
+                        .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
                         .rotation(angle)
                         .build();
                     let handle = bodies.insert(rigid_body);
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
 
                 ith += 1;
@@ -106,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point2::new(0.0, 20.0), 17.0);
+    testbed.look_at(point![0.0, 20.0], 17.0);
 }
 
 const RAPIER_SVG_STR: &'static str = r#"
diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 37c641f..a80f3dc 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -16,7 +16,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 rand = "0.8"
 getrandom = { version = "0.2", features = [ "js" ] } 
 Inflector  = "0.11"
-nalgebra   = "0.26"
+nalgebra   = "0.27"
 wasm-bindgen = "0.2"
 obj-rs = { version =  "0.6", default-features = false }
 
diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs
index e5dee33..8d676e3 100644
--- a/examples3d/ccd3.rs
+++ b/examples3d/ccd3.rs
@@ -1,15 +1,13 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn create_wall(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    offset: Vector3<f32>,
+    offset: Vector<f32>,
     stack_height: usize,
-    half_extents: Vector3<f32>,
+    half_extents: Vector<f32>,
 ) {
     let shift = half_extents * 2.0;
     let mut k = 0;
@@ -23,22 +21,18 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y, z])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider =
                 ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
             k += 1;
             if k % 2 == 0 {
-                testbed.set_initial_body_color(
-                    handle,
-                    Point3::new(255. / 255., 131. / 255., 244.0 / 255.),
-                );
+                testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]);
             } else {
-                testbed.set_initial_body_color(
-                    handle,
-                    Point3::new(131. / 255., 255. / 255., 244.0 / 255.),
-                );
+                testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]);
             }
         }
     }
@@ -59,11 +53,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create the pyramids.
@@ -79,18 +73,18 @@ pub fn init_world(testbed: &mut Testbed) {
             testbed,
             &mut bodies,
             &mut colliders,
-            Vector3::new(x, shift_y, 0.0),
+            vector![x, shift_y, 0.0],
             num_z,
-            Vector3::new(0.5, 0.5, 1.0),
+            vector![0.5, 0.5, 1.0],
         );
 
         create_wall(
             testbed,
             &mut bodies,
             &mut colliders,
-            Vector3::new(x, shift_y, shift_z),
+            vector![x, shift_y, shift_z],
             num_z,
-            Vector3::new(0.5, 0.5, 1.0),
+            vector![0.5, 0.5, 1.0],
         );
     }
 
@@ -102,37 +96,48 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(1.0)
         .density(10.0)
         .sensor(true)
+        .active_events(ActiveEvents::INTERSECTION_EVENTS)
         .build();
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .linvel(1000.0, 0.0, 0.0)
-        .translation(-20.0, shift_y + 2.0, 0.0)
+        .linvel(vector![1000.0, 0.0, 0.0])
+        .translation(vector![-20.0, shift_y + 2.0, 0.0])
         .ccd_enabled(true)
         .build();
     let sensor_handle = bodies.insert(rigid_body);
-    colliders.insert(collider, sensor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
 
     // Second rigid-body with CCD enabled.
     let collider = ColliderBuilder::ball(1.0).density(10.0).build();
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .linvel(1000.0, 0.0, 0.0)
-        .translation(-20.0, shift_y + 2.0, shift_z)
+        .linvel(vector![1000.0, 0.0, 0.0])
+        .translation(vector![-20.0, shift_y + 2.0, shift_z])
         .ccd_enabled(true)
         .build();
     let handle = bodies.insert(rigid_body);
-    colliders.insert(collider.clone(), handle, &mut bodies);
-    testbed.set_initial_body_color(handle, Point3::new(0.2, 0.2, 1.0));
+    colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
+    testbed.set_initial_body_color(handle, [0.2, 0.2, 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.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+            let parent_handle1 = physics
+                .colliders
+                .get(prox.collider1)
+                .unwrap()
+                .parent()
+                .unwrap();
+            let parent_handle2 = physics
+                .colliders
+                .get(prox.collider2)
+                .unwrap()
+                .parent()
+                .unwrap();
 
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
@@ -149,5 +154,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs
index a79a4bc..8db86fa 100644
--- a/examples3d/collision_groups3.rs
+++ b/examples3d/collision_groups3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, floor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
     /*
      * Setup groups
@@ -34,23 +32,24 @@ 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, 1.0)
-        .translation(0.0, 1.0, 0.0)
+        .translation(vector![0.0, 1.0, 0.0])
         .collision_groups(GREEN_GROUP)
         .build();
-    let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+    let green_collider_handle =
+        colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+    testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
 
     /*
      * A blue floor that will collide with the BLUE group only.
      */
     let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
-        .translation(0.0, 2.0, 0.0)
+        .translation(vector![0.0, 2.0, 0.0])
         .collision_groups(BLUE_GROUP)
         .build();
-    let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+    let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
 
-    testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+    testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
 
     /*
      * Create the cubes
@@ -72,17 +71,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 // Alternate between the green and blue groups.
                 let (group, color) = if k % 2 == 0 {
-                    (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+                    (GREEN_GROUP, [0.0, 1.0, 0.0])
                 } else {
-                    (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+                    (BLUE_GROUP, [0.0, 0.0, 1.0])
                 };
 
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad)
                     .collision_groups(group)
                     .build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
 
                 testbed.set_initial_body_color(handle, color);
             }
@@ -93,5 +94,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
 }
diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs
index 51523f3..f5f1de1 100644
--- a/examples3d/compound3.rs
+++ b/examples3d/compound3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -46,40 +44,42 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift * 2.0 - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 // First option: attach several colliders to a single rigid-body.
                 if j < numy / 2 {
                     let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
                     let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                        .translation(rad * 10.0, rad * 10.0, 0.0)
+                        .translation(vector![rad * 10.0, rad * 10.0, 0.0])
                         .build();
                     let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                        .translation(-rad * 10.0, rad * 10.0, 0.0)
+                        .translation(vector![-rad * 10.0, rad * 10.0, 0.0])
                         .build();
-                    colliders.insert(collider1, handle, &mut bodies);
-                    colliders.insert(collider2, handle, &mut bodies);
-                    colliders.insert(collider3, handle, &mut bodies);
+                    colliders.insert_with_parent(collider1, handle, &mut bodies);
+                    colliders.insert_with_parent(collider2, handle, &mut bodies);
+                    colliders.insert_with_parent(collider3, handle, &mut bodies);
                 } else {
                     // Second option: create a compound shape and attach it to a single collider.
                     let shapes = vec![
                         (
-                            Isometry3::identity(),
+                            Isometry::identity(),
                             SharedShape::cuboid(rad * 10.0, rad, rad),
                         ),
                         (
-                            Isometry3::translation(rad * 10.0, rad * 10.0, 0.0),
+                            Isometry::translation(rad * 10.0, rad * 10.0, 0.0),
                             SharedShape::cuboid(rad, rad * 10.0, rad),
                         ),
                         (
-                            Isometry3::translation(-rad * 10.0, rad * 10.0, 0.0),
+                            Isometry::translation(-rad * 10.0, rad * 10.0, 0.0),
                             SharedShape::cuboid(rad, rad * 10.0, rad),
                         ),
                     ];
 
                     let collider = ColliderBuilder::compound(shapes).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -91,5 +91,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs
index 1d19597..5676f6d 100644
--- a/examples3d/convex_decomposition3.rs
+++ b/examples3d/convex_decomposition3.rs
@@ -1,8 +1,6 @@
-use na::Point3;
 use obj::raw::object::Polygon;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier3d::parry::bounding_volume;
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 use std::fs::File;
 use std::io::BufReader;
@@ -26,11 +24,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the convex decompositions.
@@ -52,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let mut vertices: Vec<_> = model
                 .positions
                 .iter()
-                .map(|v| Point3::new(v.0, v.1, v.2))
+                .map(|v| point![v.0, v.1, v.2])
                 .collect();
             use std::iter::FromIterator;
             let indices: Vec<_> = model
@@ -90,12 +88,14 @@ pub fn init_world(testbed: &mut Testbed) {
                 let y = (igeom / width) as f32 * shift + 4.0;
                 let z = k as f32 * shift;
 
-                let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(body);
 
                 for shape in &shapes {
                     let collider = ColliderBuilder::new(shape.clone()).build();
-                    colliders.insert(collider, handle, &mut bodies);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
                 }
             }
         }
@@ -105,7 +105,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
 
 fn models() -> Vec<String> {
diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs
index c43a781..896eb03 100644
--- a/examples3d/convex_polyhedron3.rs
+++ b/examples3d/convex_polyhedron3.rs
@@ -1,8 +1,6 @@
-use na::Point3;
 use rand::distributions::{Distribution, Standard};
 use rand::{rngs::StdRng, SeedableRng};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -20,11 +18,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the polyhedra
@@ -50,17 +48,19 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 let mut points = Vec::new();
                 for _ in 0..10 {
-                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    let pt: Point<f32> = distribution.sample(&mut rng);
                     points.push(pt * scale);
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
                     .unwrap()
                     .build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -69,5 +69,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
+    testbed.look_at(point![30.0, 30.0, 30.0], Point::origin());
 }
diff --git a/examples3d/damping3.rs b/examples3d/damping3.rs
index 3847ceb..c634a0a 100644
--- a/examples3d/damping3.rs
+++ b/examples3d/damping3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -24,9 +22,9 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the rigid body.
         let rb = RigidBodyBuilder::new_dynamic()
-            .translation(x, y, 0.0)
-            .linvel(x * 10.0, y * 10.0, 0.0)
-            .angvel(Vector3::z() * 100.0)
+            .translation(vector![x, y, 0.0])
+            .linvel(vector![x * 10.0, y * 10.0, 0.0])
+            .angvel(Vector::z() * 100.0)
             .linear_damping((i + 1) as f32 * subdiv * 10.0)
             .angular_damping((num - i) as f32 * subdiv * 10.0)
             .build();
@@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Build the collider.
         let co = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(co, rb_handle, &mut bodies);
+        colliders.insert_with_parent(co, rb_handle, &mut bodies);
     }
 
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_params(bodies, colliders, joints, Vector3::zeros(), ());
-    testbed.look_at(Point3::new(2.0, 2.5, 20.0), Point3::new(2.0, 2.5, 0.0));
+    testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
+    testbed.look_at(point![2.0, 2.5, 20.0], point![2.0, 2.5, 0.0]);
 }
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index 00a0ff3..12d58ec 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,22 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build();
-    let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+    let mut ground_collider_handle =
+        colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    colliders.insert(collider, ball_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
     testbed.add_callback(move |_, physics, _, _| {
         // Remove then re-add the ground collider.
@@ -46,14 +45,15 @@ pub fn init_world(testbed: &mut Testbed) {
                 true,
             )
             .unwrap();
-        ground_collider_handle = physics
-            .colliders
-            .insert(coll, ground_handle, &mut physics.bodies);
+        ground_collider_handle =
+            physics
+                .colliders
+                .insert_with_parent(coll, ground_handle, &mut physics.bodies);
     });
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs
index a524f97..864782f 100644
--- a/examples3d/debug_big_colliders3.rs
+++ b/examples3d/debug_big_colliders3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -16,9 +14,9 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
-    let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis()));
+    let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
     let collider = ColliderBuilder::new(halfspace).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let mut curr_y = 0.0;
     let mut curr_width = 10_000.0;
@@ -28,11 +26,11 @@ pub fn init_world(testbed: &mut Testbed) {
         curr_y += curr_height * 4.0;
 
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(0.0, curr_y, 0.0)
+            .translation(vector![0.0, curr_y, 0.0])
             .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
 
         curr_width /= 5.0;
     }
@@ -41,5 +39,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs
index cba9d01..ea39a8a 100644
--- a/examples3d/debug_boxes3.rs
+++ b/examples3d/debug_boxes3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -19,28 +17,28 @@ pub fn init_world(testbed: &mut Testbed) {
 
     for _ in 0..6 {
         let rigid_body = RigidBodyBuilder::new_static()
-            .translation(0.0, -ground_height, 0.0)
+            .translation(vector![0.0, -ground_height, 0.0])
             .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
     }
 
     // Build the dynamic box rigid body.
     for _ in 0..6 {
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(1.1, 0.0, 0.0)
-            .rotation(Vector3::new(0.8, 0.2, 0.1))
+            .translation(vector![1.1, 0.0, 0.0])
+            .rotation(vector![0.8, 0.2, 0.1])
             .can_sleep(false)
             .build();
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build();
-        colliders.insert(collider, handle, &mut bodies);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
     }
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
index 0b68b62..88908c1 100644
--- a/examples3d/debug_cylinder3.rs
+++ b/examples3d/debug_cylinder3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 // This shows a bug when a cylinder is in contact with a very large
@@ -21,11 +19,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -47,14 +45,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let z = -centerz + offset;
 
     // Build the rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(vector![x, y, z])
+        .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cylinder(rad, rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index 6a4589b..f66d8ce 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
-        .linvel(10.0, 0.0, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
+        .linvel(vector![10.0, 0.0, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    colliders.insert(collider, ball_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
-    let mut linvel = Vector3::zeros();
-    let mut angvel = Vector3::zeros();
-    let mut pos = Isometry3::identity();
+    let mut linvel = Vector::zeros();
+    let mut angvel = Vector::zeros();
+    let mut pos = Isometry::identity();
     let mut step = 0;
     let mut extra_colliders = Vec::new();
     let snapped_frame = 51;
@@ -55,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let new_ball_collider_handle =
             physics
                 .colliders
-                .insert(collider, ball_handle, &mut physics.bodies);
+                .insert_with_parent(collider, ball_handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_collider(new_ball_collider_handle, &physics.colliders);
@@ -93,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Remove then re-add the ground collider.
         // let ground = physics.bodies.get_mut(ground_handle).unwrap();
-        // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
+        // ground.set_position(Isometry::translation(0.0, step as f32 * 0.001, 0.0), false);
         // let coll = physics
         //     .colliders
         //     .remove(ground_collider_handle, &mut physics.bodies, true)
@@ -104,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let new_ground_collider_handle =
             physics
                 .colliders
-                .insert(coll, ground_handle, &mut physics.bodies);
+                .insert_with_parent(coll, ground_handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_collider(new_ground_collider_handle, &physics.colliders);
@@ -117,5 +115,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_friction3.rs b/examples3d/debug_friction3.rs
index 72631a7..7d01986 100644
--- a/examples3d/debug_friction3.rs
+++ b/examples3d/debug_friction3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -22,24 +20,24 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
         .friction(1.5)
         .build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Build a dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 1.1, 0.0)
-        .rotation(Vector3::y() * 0.3)
+        .translation(vector![0.0, 1.1, 0.0])
+        .rotation(Vector::y() * 0.3)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = &mut bodies[handle];
-    let force = rigid_body.position() * Vector3::z() * 50.0;
+    let force = rigid_body.position() * Vector::z() * 50.0;
     rigid_body.set_linvel(force, true);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/debug_infinite_fall3.rs b/examples3d/debug_infinite_fall3.rs
index ef41c92..dcf4f12 100644
--- a/examples3d/debug_infinite_fall3.rs
+++ b/examples3d/debug_infinite_fall3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,33 +16,33 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, 4.0, 0.0)
+        .translation(vector![0.0, 4.0, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rad = 1.0;
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 7.0 * rad, 0.0)
+        .translation(vector![0.0, 7.0 * rad, 0.0])
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 2.0 * rad, 0.0)
+        .translation(vector![0.0, 2.0 * rad, 0.0])
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
-    testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, -10.0, 100.0], Point::origin());
     testbed.set_world(bodies, colliders, joints);
 }
diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs
index 07cf381..f41ef49 100644
--- a/examples3d/debug_prismatic3.rs
+++ b/examples3d/debug_prismatic3.rs
@@ -1,20 +1,18 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn prismatic_repro(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    box_center: Point3<f32>,
+    box_center: Point<f32>,
 ) {
     let box_rb = bodies.insert(
         RigidBodyBuilder::new_dynamic()
-            .translation(box_center.x, box_center.y, box_center.z)
+            .translation(vector![box_center.x, box_center.y, box_center.z])
             .build(),
     );
-    colliders.insert(
+    colliders.insert_with_parent(
         ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
         box_rb,
         bodies,
@@ -22,32 +20,32 @@ fn prismatic_repro(
 
     let wheel_y = -1.0;
     let wheel_positions = vec![
-        Vector3::new(1.0, wheel_y, -1.0),
-        Vector3::new(-1.0, wheel_y, -1.0),
-        Vector3::new(1.0, wheel_y, 1.0),
-        Vector3::new(-1.0, wheel_y, 1.0),
+        vector![1.0, wheel_y, -1.0],
+        vector![-1.0, wheel_y, -1.0],
+        vector![1.0, wheel_y, 1.0],
+        vector![-1.0, wheel_y, 1.0],
     ];
 
     for pos in wheel_positions {
         let wheel_pos_in_world = box_center + pos;
         let wheel_rb = bodies.insert(
             RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     wheel_pos_in_world.x,
                     wheel_pos_in_world.y,
-                    wheel_pos_in_world.z,
-                )
+                    wheel_pos_in_world.z
+                ])
                 .build(),
         );
-        colliders.insert(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
+        colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
 
         let mut prismatic = rapier3d::dynamics::PrismaticJoint::new(
-            Point3::new(pos.x, pos.y, pos.z),
-            Vector3::y_axis(),
-            Vector3::default(),
-            Point3::new(0.0, 0.0, 0.0),
-            Vector3::y_axis(),
-            Vector3::default(),
+            point![pos.x, pos.y, pos.z],
+            Vector::y_axis(),
+            Vector::zeros(),
+            Point::origin(),
+            Vector::y_axis(),
+            Vector::default(),
         );
         prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased);
         let (stiffness, damping) = (0.05, 0.2);
@@ -59,10 +57,10 @@ fn prismatic_repro(
     // put a small box under one of the wheels
     let gravel = bodies.insert(
         RigidBodyBuilder::new_dynamic()
-            .translation(box_center.x + 1.0, box_center.y - 2.4, -1.0)
+            .translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
             .build(),
     );
-    colliders.insert(
+    colliders.insert_with_parent(
         ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
         gravel,
         bodies,
@@ -84,22 +82,22 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     prismatic_repro(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(0.0, 5.0, 0.0),
+        point![0.0, 5.0, 0.0],
     );
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index 8f1bede..c5e5bde 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
-        .linvel(10.0, 0.0, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
+        .linvel(vector![10.0, 0.0, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    colliders.insert(collider, ball_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
-    let mut linvel = Vector3::zeros();
-    let mut angvel = Vector3::zeros();
-    let mut pos = Isometry3::identity();
+    let mut linvel = Vector::zeros();
+    let mut angvel = Vector::zeros();
+    let mut pos = Isometry::identity();
     let mut step = 0;
     let snapped_frame = 51;
 
@@ -68,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_shape_modification3.rs b/examples3d/debug_shape_modification3.rs
index bef56fa..6c27288 100644
--- a/examples3d/debug_shape_modification3.rs
+++ b/examples3d/debug_shape_modification3.rs
@@ -1,6 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 0.2, 0.0)
-        .linvel(10.0, 0.0, 0.0)
+        .translation(vector![0.0, 0.2, 0.0])
+        .linvel(vector![10.0, 0.0, 0.0])
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
-    let ball_coll_handle = colliders.insert(collider, ball_handle, &mut bodies);
+    let ball_coll_handle = colliders.insert_with_parent(collider, ball_handle, &mut bodies);
 
-    let mut linvel = Vector3::zeros();
-    let mut angvel = Vector3::zeros();
-    let mut pos = Isometry3::identity();
+    let mut linvel = Vector::zeros();
+    let mut angvel = Vector::zeros();
+    let mut pos = Isometry::identity();
     let mut step = 0;
     let snapped_frame = 51;
 
@@ -90,7 +88,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
@@ -103,7 +103,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad).build(),
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -114,5 +114,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_triangle3.rs b/examples3d/debug_triangle3.rs
index 341f396..0c40882 100644
--- a/examples3d/debug_triangle3.rs
+++ b/examples3d/debug_triangle3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -13,31 +11,31 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Triangle ground.
     let vtx = [
-        Point3::new(-10.0, 0.0, -10.0),
-        Point3::new(10.0, 0.0, -10.0),
-        Point3::new(0.0, 0.0, 10.0),
+        point![-10.0, 0.0, -10.0],
+        point![10.0, 0.0, -10.0],
+        point![0.0, 0.0, 10.0],
     ];
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, 0.0, 0.0)
+        .translation(vector![0.0, 0.0, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(1.1, 0.01, 0.0)
+        .translation(vector![1.1, 0.01, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/debug_trimesh3.rs b/examples3d/debug_trimesh3.rs
index 5a8ed4b..d21d0d3 100644
--- a/examples3d/debug_trimesh3.rs
+++ b/examples3d/debug_trimesh3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,14 +12,14 @@ pub fn init_world(testbed: &mut Testbed) {
     // Triangle ground.
     let width = 0.5;
     let vtx = vec![
-        Point3::new(-width, 0.0, -width),
-        Point3::new(width, 0.0, -width),
-        Point3::new(width, 0.0, width),
-        Point3::new(-width, 0.0, width),
-        Point3::new(-width, -width, -width),
-        Point3::new(width, -width, -width),
-        Point3::new(width, -width, width),
-        Point3::new(-width, -width, width),
+        point![-width, 0.0, -width],
+        point![width, 0.0, -width],
+        point![width, 0.0, width],
+        point![-width, 0.0, width],
+        point![-width, -width, -width],
+        point![width, -width, -width],
+        point![width, -width, width],
+        point![-width, -width, width],
     ];
     let idx = vec![
         [0, 2, 1],
@@ -40,25 +38,25 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 35.0, 0.0)
+        .translation(vector![0.0, 35.0, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, 0.0, 0.0)
+        .translation(vector![0.0, 0.0, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vtx, idx).build();
-    colliders.insert(collider, handle, &mut bodies);
-    testbed.set_initial_body_color(handle, Point3::new(0.3, 0.3, 0.3));
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+    testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
 }
diff --git a/examples3d/domino3.rs b/examples3d/domino3.rs
index b619da5..7e9143f 100644
--- a/examples3d/domino3.rs
+++ b/examples3d/domino3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Translation3, UnitQuaternion, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -31,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let width = 1.0;
     let thickness = 0.1;
 
-    let colors = [Point3::new(0.7, 0.5, 0.9), Point3::new(0.6, 1.0, 0.6)];
+    let colors = [[0.7, 0.5, 0.9], [0.6, 1.0, 0.6]];
 
     let mut curr_angle = 0.0;
     let mut curr_rad = 10.0;
@@ -50,16 +48,16 @@ pub fn init_world(testbed: &mut Testbed) {
         let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
 
         if skip == 0 {
-            let rot = UnitQuaternion::new(Vector3::y() * curr_angle);
-            let tilt = UnitQuaternion::new(rot * Vector3::z() * tilt);
+            let rot = Rotation::new(Vector::y() * curr_angle);
+            let tilt = Rotation::new(rot * Vector::z() * tilt);
             let position =
-                Translation3::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
+                Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
                     * tilt
                     * rot;
             let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
             testbed.set_initial_body_color(handle, colors[i % 2]);
         } else {
             skip -= 1;
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index 0d228c7..788d05d 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 const MAX_NUMBER_OF_BODIES: usize = 400;
@@ -18,16 +16,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 2.1; // 16.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, run_state| {
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(0.0, 10.0, 0.0)
+            .translation(vector![0.0, 10.0, 0.0])
             .build();
         let handle = physics.bodies.insert(rigid_body);
         let collider = match run_state.timestep_id % 3 {
@@ -38,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
         physics
             .colliders
-            .insert(collider, handle, &mut physics.bodies);
+            .insert_with_parent(collider, handle, &mut physics.bodies);
 
         if let Some(graphics) = &mut graphics {
             graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -83,5 +81,5 @@ pub fn init_world(testbed: &mut Testbed) {
     //     .physics_state_mut()
     //     .integration_parameters
     //     .velocity_based_erp = 0.2;
-    testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
+    testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
 }
diff --git a/examples3d/harness_capsules3.rs b/examples3d/harness_capsules3.rs
index 4632811..e2f19d5 100644
--- a/examples3d/harness_capsules3.rs
+++ b/examples3d/harness_capsules3.rs
@@ -1,7 +1,4 @@
-extern crate nalgebra as na;
-
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::harness::Harness;
 
 pub fn init_world(harness: &mut Harness) {
@@ -19,11 +16,11 @@ pub fn init_world(harness: &mut Harness) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -47,10 +44,12 @@ pub fn init_world(harness: &mut Harness) {
                 let z = k as f32 * shift - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index 414ffdd..7f5979a 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
+use na::ComplexField;
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(100.0, 1.0, 100.0);
+    let ground_size = Vector::new(100.0, 1.0, 100.0);
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -55,7 +54,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 6 {
@@ -69,15 +70,15 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => {
                         let shapes = vec![
                             (
-                                Isometry3::identity(),
+                                Isometry::identity(),
                                 SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(rad, 0.0, 0.0),
+                                Isometry::translation(rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(-rad, 0.0, 0.0),
+                                Isometry::translation(-rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                         ];
@@ -86,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     }
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -95,5 +96,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index c7f8a1c..e22f293 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -1,49 +1,44 @@
-use na::{Isometry3, Point3, Unit, UnitQuaternion, Vector3};
-use rapier3d::dynamics::{
-    BallJoint, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
-    RigidBodyHandle, RigidBodySet, RigidBodyType,
-};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 fn create_prismatic_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, origin.z)
+        .translation(vector![origin.x, origin.y, origin.z])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         let z = origin.z + (i + 1) as f32 * shift;
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(origin.x, origin.y, z)
+            .translation(vector![origin.x, origin.y, z])
             .build();
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(collider, curr_child, bodies);
+        colliders.insert_with_parent(collider, curr_child, bodies);
 
         let axis = if i % 2 == 0 {
-            Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
         } else {
-            Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
         };
 
-        let z = Vector3::z();
+        let z = Vector::z();
         let mut prism = PrismaticJoint::new(
-            Point3::new(0.0, 0.0, 0.0),
+            point![0.0, 0.0, 0.0],
             axis,
             z,
-            Point3::new(0.0, 0.0, -shift),
+            point![0.0, 0.0, -shift],
             axis,
             z,
         );
@@ -61,40 +56,40 @@ fn create_actuated_prismatic_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, origin.z)
+        .translation(vector![origin.x, origin.y, origin.z])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         let z = origin.z + (i + 1) as f32 * shift;
         let rigid_body = RigidBodyBuilder::new_dynamic()
-            .translation(origin.x, origin.y, z)
+            .translation(vector![origin.x, origin.y, z])
             .build();
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-        colliders.insert(collider, curr_child, bodies);
+        colliders.insert_with_parent(collider, curr_child, bodies);
 
         let axis = if i % 2 == 0 {
-            Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
         } else {
-            Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+            UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
         };
 
-        let z = Vector3::z();
+        let z = Vector::z();
         let mut prism = PrismaticJoint::new(
-            Point3::new(0.0, 0.0, 0.0),
+            point![0.0, 0.0, 0.0],
             axis,
             z,
-            Point3::new(0.0, 0.0, -shift),
+            point![0.0, 0.0, -shift],
             axis,
             z,
         );
@@ -128,27 +123,27 @@ fn create_revolute_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     let ground = RigidBodyBuilder::new_static()
-        .translation(origin.x, origin.y, 0.0)
+        .translation(vector![origin.x, origin.y, 0.0])
         .build();
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, curr_parent, bodies);
+    colliders.insert_with_parent(collider, curr_parent, bodies);
 
     for i in 0..num {
         // Create four bodies.
         let z = origin.z + i as f32 * shift * 2.0 + shift;
         let positions = [
-            Isometry3::translation(origin.x, origin.y, z),
-            Isometry3::translation(origin.x + shift, origin.y, z),
-            Isometry3::translation(origin.x + shift, origin.y, z + shift),
-            Isometry3::translation(origin.x, origin.y, z + shift),
+            Isometry::translation(origin.x, origin.y, z),
+            Isometry::translation(origin.x + shift, origin.y, z),
+            Isometry::translation(origin.x + shift, origin.y, z + shift),
+            Isometry::translation(origin.x, origin.y, z + shift),
         ];
 
         let mut handles = [curr_parent; 4];
@@ -158,19 +153,19 @@ fn create_revolute_joints(
                 .build();
             handles[k] = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, handles[k], bodies);
+            colliders.insert_with_parent(collider, handles[k], bodies);
         }
 
         // Setup four joints.
-        let o = Point3::origin();
-        let x = Vector3::x_axis();
-        let z = Vector3::z_axis();
+        let o = Point::origin();
+        let x = Vector::x_axis();
+        let z = Vector::z_axis();
 
         let revs = [
-            RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-            RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
-            RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
-            RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
+            RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+            RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
+            RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
+            RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
         ];
 
         joints.insert(bodies, curr_parent, handles[0], revs[0]);
@@ -186,7 +181,7 @@ fn create_fixed_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
@@ -209,18 +204,22 @@ fn create_fixed_joints(
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
+                .translation(vector![
+                    origin.x + fk * shift,
+                    origin.y,
+                    origin.z + fi * shift
+                ])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).build();
-            colliders.insert(collider, child_handle, bodies);
+            colliders.insert_with_parent(collider, child_handle, bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
                 let joint = FixedJoint::new(
-                    Isometry3::identity(),
-                    Isometry3::translation(0.0, 0.0, -shift),
+                    Isometry::identity(),
+                    Isometry::translation(0.0, 0.0, -shift),
                 );
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
@@ -230,8 +229,8 @@ fn create_fixed_joints(
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
                 let joint = FixedJoint::new(
-                    Isometry3::identity(),
-                    Isometry3::translation(-shift, 0.0, 0.0),
+                    Isometry::identity(),
+                    Isometry::translation(-shift, 0.0, 0.0),
                 );
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
@@ -264,16 +263,16 @@ fn create_ball_joints(
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, fi * shift * 2.0)
+                .translation(vector![fk * shift, 0.0, fi * shift * 2.0])
                 .build();
             let child_handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
-            colliders.insert(collider, child_handle, bodies);
+            colliders.insert_with_parent(collider, child_handle, bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift * 2.0));
+                let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]);
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
 
@@ -281,7 +280,7 @@ fn create_ball_joints(
             if k > 0 {
                 let parent_index = body_handles.len() - num;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
+                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
 
@@ -294,7 +293,7 @@ fn create_actuated_revolute_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
@@ -302,10 +301,10 @@ fn create_actuated_revolute_joints(
 
     // We will reuse this base configuration for all the joints here.
     let joint_template = RevoluteJoint::new(
-        Point3::origin(),
-        Vector3::z_axis(),
-        Point3::new(0.0, 0.0, -shift),
-        Vector3::z_axis(),
+        Point::origin(),
+        Vector::z_axis(),
+        point![0.0, 0.0, -shift],
+        Vector::z_axis(),
     );
 
     let mut parent_handle = RigidBodyHandle::invalid();
@@ -325,13 +324,13 @@ fn create_actuated_revolute_joints(
         let shifty = (i >= 1) as u32 as f32 * -2.0;
 
         let rigid_body = RigidBodyBuilder::new(status)
-            .translation(origin.x, origin.y + shifty, origin.z + fi * shift)
+            .translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
             // .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
             .build();
 
         let child_handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
-        colliders.insert(collider, child_handle, bodies);
+        colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
             let mut joint = joint_template.clone();
@@ -360,14 +359,14 @@ fn create_actuated_ball_joints(
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
     joints: &mut JointSet,
-    origin: Point3<f32>,
+    origin: Point<f32>,
     num: usize,
 ) {
     let rad = 0.4;
     let shift = 2.0;
 
     // We will reuse this base configuration for all the joints here.
-    let joint_template = BallJoint::new(Point3::new(0.0, 0.0, shift), Point3::origin());
+    let joint_template = BallJoint::new(point![0.0, 0.0, shift], Point::origin());
 
     let mut parent_handle = RigidBodyHandle::invalid();
 
@@ -384,24 +383,24 @@ fn create_actuated_ball_joints(
         };
 
         let rigid_body = RigidBodyBuilder::new(status)
-            .translation(origin.x, origin.y, origin.z + fi * shift)
+            .translation(vector![origin.x, origin.y, origin.z + fi * shift])
             // .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
             .build();
 
         let child_handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
-        colliders.insert(collider, child_handle, bodies);
+        colliders.insert_with_parent(collider, child_handle, bodies);
 
         if i > 0 {
             let mut joint = joint_template.clone();
 
             if i == 1 {
-                joint.configure_motor_velocity(Vector3::new(0.0, 0.5, -2.0), 0.1);
+                joint.configure_motor_velocity(vector![0.0, 0.5, -2.0], 0.1);
             } else if i == num - 1 {
                 let stiffness = 0.2;
                 let damping = 1.0;
                 joint.configure_motor_position(
-                    UnitQuaternion::new(Vector3::new(0.0, 1.0, 3.14 / 2.0)),
+                    Rotation::new(vector![0.0, 1.0, 3.14 / 2.0]),
                     stiffness,
                     damping,
                 );
@@ -426,42 +425,42 @@ pub fn init_world(testbed: &mut Testbed) {
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 5.0, 0.0),
+        point![20.0, 5.0, 0.0],
         4,
     );
     create_actuated_prismatic_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(25.0, 5.0, 0.0),
+        point![25.0, 5.0, 0.0],
         4,
     );
     create_revolute_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 0.0, 0.0),
+        point![20.0, 0.0, 0.0],
         3,
     );
     create_fixed_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(0.0, 10.0, 0.0),
+        point![0.0, 10.0, 0.0],
         10,
     );
     create_actuated_revolute_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(20.0, 10.0, 0.0),
+        point![20.0, 10.0, 0.0],
         6,
     );
     create_actuated_ball_joints(
         &mut bodies,
         &mut colliders,
         &mut joints,
-        Point3::new(13.0, 10.0, 0.0),
+        point![13.0, 10.0, 0.0],
         3,
     );
     create_ball_joints(&mut bodies, &mut colliders, &mut joints, 15);
@@ -470,5 +469,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(15.0, 5.0, 42.0), Point3::new(13.0, 1.0, 1.0));
+    testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
 }
diff --git a/examples3d/keva3.rs b/examples3d/keva3.rs
index 9e6807a..38a0432 100644
--- a/examples3d/keva3.rs
+++ b/examples3d/keva3.rs
@@ -1,14 +1,12 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn build_block(
     testbed: &mut Testbed,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
-    half_extents: Vector3<f32>,
-    shift: Vector3<f32>,
+    half_extents: Vector<f32>,
+    shift: Vector<f32>,
     mut numx: usize,
     numy: usize,
     mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
     let block_width = 2.0 * half_extents.z * numx as f32;
     let block_height = 2.0 * half_extents.y * numy as f32;
     let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
-    let mut color0 = Point3::new(0.7, 0.5, 0.9);
-    let mut color1 = Point3::new(0.6, 1.0, 0.6);
+    let mut color0 = [0.7, 0.5, 0.9];
+    let mut color1 = [0.6, 1.0, 0.6];
 
     for i in 0..numy {
         std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic()
-                    .translation(
+                    .translation(vector![
                         x + dim.x + shift.x,
                         y + dim.y + shift.y,
-                        z + dim.z + shift.z,
-                    )
+                        z + dim.z + shift.z
+                    ])
                     .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-                colliders.insert(collider, handle, bodies);
+                colliders.insert_with_parent(collider, handle, bodies);
 
                 testbed.set_initial_body_color(handle, color0);
                 std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
         for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(
+                .translation(vector![
                     i as f32 * dim.x * 2.0 + dim.x + shift.x,
                     dim.y + shift.y + block_height,
-                    j as f32 * dim.z * 2.0 + dim.z + shift.z,
-                )
+                    j as f32 * dim.z * 2.0 + dim.z + shift.z
+                ])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
-            colliders.insert(collider, handle, bodies);
+            colliders.insert_with_parent(collider, handle, bodies);
             testbed.set_initial_body_color(handle, color0);
             std::mem::swap(&mut color0, &mut color1);
         }
@@ -94,16 +92,16 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
      */
-    let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
+    let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
     let mut block_height = 0.0;
     // These should only be set to odd values otherwise
     // the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
             &mut bodies,
             &mut colliders,
             half_extents,
-            Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
+            vector![-block_width / 2.0, block_height, -block_width / 2.0],
             numx,
             numy,
             numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/locked_rotations3.rs b/examples3d/locked_rotations3.rs
index 9748c17..95dfae1 100644
--- a/examples3d/locked_rotations3.rs
+++ b/examples3d/locked_rotations3.rs
@@ -1,6 +1,4 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 // This shows a bug when a cylinder is in contact with a very large
@@ -21,41 +19,41 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A rectangle that only rotates along the `x` axis.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0, 0.0)
+        .translation(vector![0.0, 3.0, 0.0])
         .lock_translations()
         .restrict_rotations(true, false, false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * A tilted capsule that cannot rotate.
      */
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 5.0, 0.0)
-        .rotation(Vector3::x() * 1.0)
+        .translation(vector![0.0, 5.0, 0.0])
+        .rotation(Vector::x() * 1.0)
         .lock_rotations()
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::capsule_x(0.6, 0.4).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0));
+    testbed.look_at(point![10.0, 3.0, 0.0], point![0.0, 3.0, 0.0]);
 }
diff --git a/examples3d/one_way_platforms3.rs b/examples3d/one_way_platforms3.rs
index 7933f78..3802563 100644
--- a/examples3d/one_way_platforms3.rs
+++ b/examples3d/one_way_platforms3.rs
@@ -1,7 +1,4 @@
-use na::{Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet};
-use rapier3d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 struct OneWayPlatformHook {
@@ -10,10 +7,6 @@ struct OneWayPlatformHook {
 }
 
 impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
-    fn active_hooks(&self) -> PhysicsHooksFlags {
-        PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS
-    }
-
     fn modify_solver_contacts(
         &self,
         context: &mut ContactModificationContext<RigidBodySet, ColliderSet>,
@@ -30,20 +23,20 @@ impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
         // - If context.collider2 == self.platform1 then the allowed normal is -y.
         // - If context.collider1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
         // - If context.collider2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
-        let mut allowed_local_n1 = Vector3::zeros();
+        let mut allowed_local_n1 = Vector::zeros();
 
         if context.collider1 == self.platform1 {
-            allowed_local_n1 = Vector3::y();
+            allowed_local_n1 = Vector::y();
         } else if context.collider2 == self.platform1 {
             // Flip the allowed direction.
-            allowed_local_n1 = -Vector3::y();
+            allowed_local_n1 = -Vector::y();
         }
 
         if context.collider1 == self.platform2 {
-            allowed_local_n1 = -Vector3::y();
+            allowed_local_n1 = -Vector::y();
         } else if context.collider2 == self.platform2 {
             // Flip the allowed direction.
-            allowed_local_n1 = Vector3::y();
+            allowed_local_n1 = Vector::y();
         }
 
         // Call the helper function that simulates one-way platforms.
@@ -78,15 +71,15 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0)
-        .translation(0.0, 2.0, 30.0)
-        .modify_solver_contacts(true)
+        .translation(vector![0.0, 2.0, 30.0])
+        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform1 = colliders.insert(collider, handle, &mut bodies);
+    let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
     let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0)
-        .translation(0.0, -2.0, -30.0)
-        .modify_solver_contacts(true)
+        .translation(vector![0.0, -2.0, -30.0])
+        .active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
         .build();
-    let platform2 = colliders.insert(collider, handle, &mut bodies);
+    let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Setup the one-way platform hook.
@@ -105,12 +98,12 @@ pub fn init_world(testbed: &mut Testbed) {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5).build();
             let body = RigidBodyBuilder::new_dynamic()
-                .translation(0.0, 6.0, 20.0)
+                .translation(vector![0.0, 6.0, 20.0])
                 .build();
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
-                .insert(collider, handle, &mut physics.bodies);
+                .insert_with_parent(collider, handle, &mut physics.bodies);
 
             if let Some(graphics) = graphics {
                 graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -134,8 +127,8 @@ pub fn init_world(testbed: &mut Testbed) {
         bodies,
         colliders,
         joints,
-        Vector3::new(0.0, -9.81, 0.0),
+        vector![0.0, -9.81, 0.0],
         physics_hooks,
     );
-    testbed.look_at(Point3::new(-100.0, 0.0, 0.0), Point3::origin());
+    testbed.look_at(point![-100.0, 0.0, 0.0], Point::origin());
 }
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 786ddbf..6b3c234 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the boxes
@@ -43,23 +41,35 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
 
     /*
-     * Setup a kinematic rigid body.
+     * Setup a velocity-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic()
-        .translation(0.0, 1.5 + 0.8, -10.0 * rad)
+    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
+        .translation(vector![0.0, 1.5 + 0.8, -10.0 * rad])
         .build();
-    let platform_handle = bodies.insert(platform_body);
+    let velocity_based_platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
-    colliders.insert(collider, platform_handle, &mut bodies);
+    colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
+
+    /*
+     * Setup a position-based kinematic rigid body.
+     */
+    let platform_body = RigidBodyBuilder::new_kinematic_position_based()
+        .translation(vector![0.0, 2.0 + 1.5 + 0.8, -10.0 * rad])
+        .build();
+    let position_based_platform_handle = bodies.insert(platform_body);
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
+    colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
 
     /*
      * Setup a callback to control the platform.
@@ -71,21 +81,22 @@ pub fn init_world(testbed: &mut Testbed) {
             return;
         }
 
-        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
-            let mut next_pos = *platform.position();
+        let velocity = vector![
+            0.0,
+            (run_state.time * 5.0).sin(),
+            run_state.time.sin() * 5.0
+        ];
 
-            let dt = 0.016;
-            next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
-            next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
+        // Update the velocity-based kinematic body by setting its velocity.
+        if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
+            platform.set_linvel(velocity, true);
+        }
 
-            if next_pos.translation.vector.z >= rad * 10.0 {
-                next_pos.translation.vector.z -= dt;
-            }
-            if next_pos.translation.vector.z <= -rad * 10.0 {
-                next_pos.translation.vector.z += dt;
-            }
-
-            platform.set_next_kinematic_position(next_pos);
+        // Update the position-based kinematic body by setting its next position.
+        if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
+            let mut next_tra = *platform.translation();
+            next_tra += velocity * physics.integration_parameters.dt;
+            platform.set_next_kinematic_translation(next_tra);
         }
     });
 
@@ -93,5 +104,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Run the simulation.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(-10.0, 5.0, -10.0), Point3::origin());
+    testbed.look_at(point![-10.0, 5.0, -10.0], Point::origin());
 }
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index afa5dfd..db9143b 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the primitives
@@ -47,7 +45,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => ColliderBuilder::capsule_y(rad, rad).build(),
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
 
@@ -71,5 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/examples3d/restitution3.rs b/examples3d/restitution3.rs
index 8fa3275..4c08742 100644
--- a/examples3d/restitution3.rs
+++ b/examples3d/restitution3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 1.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 2.0)
         .restitution(1.0)
         .build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let num = 10;
     let rad = 0.5;
@@ -33,13 +31,13 @@ pub fn init_world(testbed: &mut Testbed) {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
             let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(x * 2.0, 10.0 * (j as f32 + 1.0), 0.0)
+                .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0), 0.0])
                 .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad)
                 .restitution((i as f32) / (num as f32))
                 .build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }
 
@@ -47,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(0.0, 3.0, 30.0), Point3::new(0.0, 3.0, 0.0));
+    testbed.look_at(point![0.0, 3.0, 30.0], point![0.0, 3.0, 0.0]);
 }
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index e55bf72..0e2b489 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -1,6 +1,4 @@
-use na::Point3;
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(vector![0.0, -ground_height, 0.0])
         .build();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
 
     /*
      * Create some boxes.
@@ -41,12 +39,14 @@ pub fn init_world(testbed: &mut Testbed) {
             let z = k as f32 * shift - centerz;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(vector![x, y, z])
+                .build();
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-            colliders.insert(collider, handle, &mut bodies);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
 
-            testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
+            testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
         }
     }
 
@@ -56,33 +56,37 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Rigid body so that the sensor can move.
     let sensor = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 5.0, 0.0)
+        .translation(vector![0.0, 5.0, 0.0])
         .build();
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
     // other colliders can touch.
     let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-    colliders.insert(collider, sensor_handle, &mut bodies);
+    colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
 
     // We create a collider desc without density because we don't
     // want it to contribute to the rigid body mass.
-    let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
-    colliders.insert(sensor_collider, sensor_handle, &mut bodies);
+    let sensor_collider = ColliderBuilder::ball(rad * 5.0)
+        .density(0.0)
+        .sensor(true)
+        .active_events(ActiveEvents::INTERSECTION_EVENTS)
+        .build();
+    colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
 
-    testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
+    testbed.set_initial_body_color(sensor_handle, [0.5, 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.intersection_events.try_recv() {
             let color = if prox.intersecting {
-                Point3::new(1.0, 1.0, 0.0)
+                [1.0, 1.0, 0.0]
             } else {
-                Point3::new(0.5, 0.5, 1.0)
+                [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
-            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+            let parent_handle1 = physics.colliders[prox.collider1].parent().unwrap();
+            let parent_handle2 = physics.colliders[prox.collider2].parent().unwrap();
 
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
@@ -99,5 +103,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(-6.0, 4.0, -6.0), Point3::new(0.0, 1.0, 0.0));
+    testbed.look_at(point![-6.0, 4.0, -6.0], point![0.0, 1.0, 0.0]);
 }
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index 2a4bd24..23e4090 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -1,6 +1,5 @@
-use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3};
-use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField, SharedShape};
+use na::ComplexField;
+use rapier3d::prelude::*;
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = Vector3::new(100.0, 1.0, 100.0);
+    let ground_size = vector![100.0, 1.0, 100.0];
     let nsubdivs = 20;
 
     let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -39,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vertices, indices).build();
-    colliders.insert(collider, handle, &mut bodies);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
      * Create the cubes
@@ -60,7 +59,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let rigid_body = RigidBodyBuilder::new_dynamic()
+                    .translation(vector![x, y, z])
+                    .build();
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 6 {
@@ -74,15 +75,15 @@ pub fn init_world(testbed: &mut Testbed) {
                     _ => {
                         let shapes = vec![
                             (
-                                Isometry3::identity(),
+                                Isometry::identity(),
                                 SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(rad, 0.0, 0.0),
+                                Isometry::translation(rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                             (
-                                Isometry3::translation(-rad, 0.0, 0.0),
+                                Isometry::translation(-rad, 0.0, 0.0),
                                 SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
                             ),
                         ];
@@ -91,7 +92,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     }
                 };
 
-                colliders.insert(collider, handle, &mut bodies);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
     }
@@ -100,5 +101,5 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }
diff --git a/publish.sh b/publish.sh
new file mode 100755
index 0000000..9431d3e
--- /dev/null
+++ b/publish.sh
@@ -0,0 +1,35 @@
+#! /bin/bash
+
+tmp=$(mktemp -d)
+
+echo "$tmp"
+
+cp -r src "$tmp"/.
+cp -r LICENSE README.md "$tmp"/.
+
+### Publish the 2D version.
+sed 's#\.\./\.\./src#src#g' build/rapier2d/Cargo.toml > "$tmp"/Cargo.toml
+currdir=$(pwd)
+cd "$tmp" && cargo publish
+cd "$currdir" || exit
+
+
+### Publish the 3D version.
+sed 's#\.\./\.\./src#src#g' build/rapier3d/Cargo.toml > "$tmp"/Cargo.toml
+cp -r LICENSE README.md "$tmp"/.
+cd "$tmp" && cargo publish
+cd "$currdir" || exit
+
+### Publish the 2D f64 version.
+sed 's#\.\./\.\./src#src#g' build/rapier2d-f64/Cargo.toml > "$tmp"/Cargo.toml
+currdir=$(pwd)
+cd "$tmp" && cargo publish
+cd "$currdir" || exit
+
+
+### Publish the 3D f64 version.
+sed 's#\.\./\.\./src#src#g' build/rapier3d-f64/Cargo.toml > "$tmp"/Cargo.toml
+cp -r LICENSE README.md "$tmp"/.
+cd "$tmp" && cargo publish
+
+rm -rf "$tmp"
diff --git a/src/data/coarena.rs b/src/data/coarena.rs
index cd64910..ac6e43f 100644
--- a/src/data/coarena.rs
+++ b/src/data/coarena.rs
@@ -13,6 +13,14 @@ impl<T> Coarena<T> {
         Self { data: Vec::new() }
     }
 
+    /// Gets a specific element from the coarena without specifying its generation number.
+    ///
+    /// It is strongly encouraged to use `Coarena::get` instead of this method because this method
+    /// can suffer from the ABA problem.
+    pub fn get_unknown_gen(&self, index: u32) -> Option<&T> {
+        self.data.get(index as usize).map(|(_, t)| t)
+    }
+
     /// Gets a specific element from the coarena, if it exists.
     pub fn get(&self, index: Index) -> Option<&T> {
         let (i, g) = index.into_raw_parts();
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
index b348283..7e95f08 100644
--- a/src/dynamics/ccd/ccd_solver.rs
+++ b/src/dynamics/ccd/ccd_solver.rs
@@ -10,6 +10,7 @@ use crate::geometry::{
 use crate::math::Real;
 use crate::parry::utils::SortedPair;
 use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
+use crate::prelude::{ActiveEvents, ColliderFlags};
 use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
 use parry::utils::hashmap::HashMap;
 use std::collections::BinaryHeap;
@@ -66,7 +67,7 @@ impl CCDSolver {
                         &RigidBodyCcd,
                         &RigidBodyMassProps,
                     ) = bodies.index_bundle(handle.0);
-                    let local_com = &mprops.mass_properties.local_com;
+                    let local_com = &mprops.local_mprops.local_com;
 
                     let min_toi = (ccd.ccd_thickness
                         * 0.15
@@ -139,7 +140,8 @@ impl CCDSolver {
         Colliders: ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>
-            + ComponentSet<ColliderType>,
+            + ComponentSet<ColliderType>
+            + ComponentSet<ColliderFlags>,
     {
         // Update the query pipeline.
         self.query_pipeline.update_with_mode(
@@ -200,16 +202,21 @@ impl CCDSolver {
                             {
                                 let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
                                 let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
-                                let c1: (_, _, _) = colliders.index_bundle(ch1.0);
-                                let c2: (_, _, _) = colliders.index_bundle(ch2.0);
+                                let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
+                                let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
                                 let co_type1: &ColliderType = colliders.index(ch1.0);
                                 let co_type2: &ColliderType = colliders.index(ch1.0);
 
                                 let bh1 = co_parent1.map(|p| p.handle);
                                 let bh2 = co_parent2.map(|p| p.handle);
 
-                                if bh1 == bh2 || (co_type1.is_sensor() || co_type2.is_sensor()) {
-                                    // Ignore self-intersection and sensors.
+                                // Ignore self-intersection and sensors and apply collision groups filter.
+                                if bh1 == bh2                                                 // Ignore self-intersection.
+                                    || (co_type1.is_sensor() || co_type2.is_sensor())         // Ignore sensors.
+                                    || !c1.3.collision_groups.test(c2.3.collision_groups) // Apply collision groups.
+                                    || !c1.3.solver_groups.test(c2.3.solver_groups)
+                                // Apply solver groups.
+                                {
                                     return true;
                                 }
 
@@ -225,8 +232,8 @@ impl CCDSolver {
                                     self.query_pipeline.query_dispatcher(),
                                     *ch1,
                                     *ch2,
-                                    (c1.0, c1.1, c1.2, co_parent1),
-                                    (c2.0, c2.1, c2.2, co_parent2),
+                                    (c1.0, c1.1, c1.2, c1.3, co_parent1),
+                                    (c2.0, c2.1, c2.2, c2.3, co_parent2),
                                     Some((rb_pos1, rb_vels1, rb_mprops1, rb_ccd1)),
                                     b2,
                                     None,
@@ -272,7 +279,9 @@ impl CCDSolver {
         Colliders: ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>
-            + ComponentSet<ColliderType>,
+            + ComponentSet<ColliderType>
+            + ComponentSet<ColliderFlags>
+            + ComponentSet<ColliderFlags>,
     {
         let mut frozen = HashMap::<_, Real>::default();
         let mut all_toi = BinaryHeap::new();
@@ -334,14 +343,15 @@ impl CCDSolver {
                             {
                                 let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
                                 let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
-                                let c1: (_, _, _) = colliders.index_bundle(ch1.0);
-                                let c2: (_, _, _) = colliders.index_bundle(ch2.0);
+                                let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
+                                let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
 
                                 let bh1 = co_parent1.map(|p| p.handle);
                                 let bh2 = co_parent2.map(|p| p.handle);
 
-                                if bh1 == bh2 {
-                                    // Ignore self-intersection.
+                                // Ignore self-intersections and apply groups filter.
+                                if bh1 == bh2 || !c1.3.collision_groups.test(c2.3.collision_groups)
+                                {
                                     return true;
                                 }
 
@@ -358,8 +368,8 @@ impl CCDSolver {
                                     self.query_pipeline.query_dispatcher(),
                                     *ch1,
                                     *ch2,
-                                    (c1.0, c1.1, c1.2, co_parent1),
-                                    (c2.0, c2.1, c2.2, co_parent2),
+                                    (c1.0, c1.1, c1.2, c1.3, co_parent1),
+                                    (c2.0, c2.1, c2.2, c2.3, co_parent2),
                                     b1,
                                     b2,
                                     None,
@@ -398,7 +408,7 @@ impl CCDSolver {
 
         // NOTE: all static bodies (and kinematic bodies?) should be considered as "frozen", this
         // may avoid some resweeps.
-        let mut intersections_to_check = vec![];
+        let mut pseudo_intersections_to_check = vec![];
 
         while let Some(toi) = all_toi.pop() {
             assert!(toi.toi <= dt);
@@ -420,7 +430,7 @@ impl CCDSolver {
                 continue;
             }
 
-            if toi.is_intersection_test {
+            if toi.is_pseudo_intersection_test {
                 // NOTE: this test is redundant with the previous `if !should_freeze && ...`
                 //       but let's keep it to avoid tricky regressions if we end up swapping both
                 //       `if` for some reasons in the future.
@@ -428,7 +438,7 @@ impl CCDSolver {
                     // This is only an intersection so we don't have to freeze and there is no
                     // need to resweep. However we will need to see if we have to generate
                     // intersection events, so push the TOI for further testing.
-                    intersections_to_check.push(toi);
+                    pseudo_intersections_to_check.push(toi);
                 }
                 continue;
             }
@@ -460,14 +470,14 @@ impl CCDSolver {
                     .colliders_with_aabb_intersecting_aabb(&aabb, |ch2| {
                         let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
                         let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
-                        let c1: (_, _, _) = colliders.index_bundle(ch1.0);
-                        let c2: (_, _, _) = colliders.index_bundle(ch2.0);
+                        let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
+                        let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
 
                         let bh1 = co_parent1.map(|p| p.handle);
                         let bh2 = co_parent2.map(|p| p.handle);
 
-                        if bh1 == bh2 {
-                            // Ignore self-intersection.
+                        // Ignore self-intersection and apply groups filter.
+                        if bh1 == bh2 || !c1.3.collision_groups.test(c2.3.collision_groups) {
                             return true;
                         }
 
@@ -496,8 +506,8 @@ impl CCDSolver {
                             self.query_pipeline.query_dispatcher(),
                             *ch1,
                             *ch2,
-                            (c1.0, c1.1, c1.2, co_parent1),
-                            (c2.0, c2.1, c2.2, co_parent2),
+                            (c1.0, c1.1, c1.2, c1.3, co_parent1),
+                            (c2.0, c2.1, c2.2, c2.3, co_parent2),
                             b1,
                             b2,
                             frozen1.copied(),
@@ -514,7 +524,7 @@ impl CCDSolver {
             }
         }
 
-        for toi in intersections_to_check {
+        for toi in pseudo_intersections_to_check {
             // See if the intersection is still active once the bodies
             // reach their final positions.
             // - If the intersection is still active, don't report it yet. It will be
@@ -522,10 +532,29 @@ impl CCDSolver {
             // - If the intersection isn't active anymore, and it wasn't intersecting
             //   before, then we need to generate one interaction-start and one interaction-stop
             //   events because it will never be detected by the narrow-phase because of tunneling.
-            let (co_pos1, co_shape1): (&ColliderPosition, &ColliderShape) =
-                colliders.index_bundle(toi.c1.0);
-            let (co_pos2, co_shape2): (&ColliderPosition, &ColliderShape) =
-                colliders.index_bundle(toi.c2.0);
+            let (co_type1, co_pos1, co_shape1, co_flags1): (
+                &ColliderType,
+                &ColliderPosition,
+                &ColliderShape,
+                &ColliderFlags,
+            ) = colliders.index_bundle(toi.c1.0);
+            let (co_type2, co_pos2, co_shape2, co_flags2): (
+                &ColliderType,
+                &ColliderPosition,
+                &ColliderShape,
+                &ColliderFlags,
+            ) = colliders.index_bundle(toi.c2.0);
+
+            if !co_type1.is_sensor() && !co_type2.is_sensor() {
+                // TODO: this happens if we found a TOI between two non-sensor
+                //       colliders with mismatching solver_flags. It is not clear
+                //       what we should do in this case: we could report a
+                //       contact started/contact stopped event for example. But in
+                //       that case, what contact pair should be pass to these events?
+                // For now we just ignore this special case. Let's wait for an actual
+                // use-case to come up before we determine what we want to do here.
+                continue;
+            }
 
             let co_next_pos1 = if let Some(b1) = toi.b1 {
                 let co_parent1: &ColliderParent = colliders.get(toi.c1.0).unwrap();
@@ -535,7 +564,7 @@ impl CCDSolver {
                     &RigidBodyMassProps,
                 ) = bodies.index_bundle(b1.0);
 
-                let local_com1 = &rb_mprops1.mass_properties.local_com;
+                let local_com1 = &rb_mprops1.local_mprops.local_com;
                 let frozen1 = frozen.get(&b1);
                 let pos1 = frozen1
                     .map(|t| rb_vels1.integrate(*t, &rb_pos1.position, local_com1))
@@ -553,7 +582,7 @@ impl CCDSolver {
                     &RigidBodyMassProps,
                 ) = bodies.index_bundle(b2.0);
 
-                let local_com2 = &rb_mprops2.mass_properties.local_com;
+                let local_com2 = &rb_mprops2.local_mprops.local_com;
                 let frozen2 = frozen.get(&b2);
                 let pos2 = frozen2
                     .map(|t| rb_vels2.integrate(*t, &rb_pos2.position, local_com2))
@@ -575,7 +604,11 @@ impl CCDSolver {
                 .intersection_test(&next_coll_pos12, co_shape1.as_ref(), co_shape2.as_ref())
                 .unwrap_or(false);
 
-            if !intersect_before && !intersect_after {
+            if !intersect_before
+                && !intersect_after
+                && (co_flags1.active_events | co_flags2.active_events)
+                    .contains(ActiveEvents::INTERSECTION_EVENTS)
+            {
                 // Emit one intersection-started and one intersection-stopped event.
                 events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, true));
                 events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, false));
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs
index 4637940..f937979 100644
--- a/src/dynamics/ccd/toi_entry.rs
+++ b/src/dynamics/ccd/toi_entry.rs
@@ -2,7 +2,7 @@ use crate::dynamics::{
     RigidBodyCcd, RigidBodyHandle, RigidBodyMassProps, RigidBodyPosition, RigidBodyVelocity,
 };
 use crate::geometry::{
-    ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
+    ColliderFlags, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
 };
 use crate::math::Real;
 use parry::query::{NonlinearRigidMotion, QueryDispatcher};
@@ -14,7 +14,9 @@ pub struct TOIEntry {
     pub b1: Option<RigidBodyHandle>,
     pub c2: ColliderHandle,
     pub b2: Option<RigidBodyHandle>,
-    pub is_intersection_test: bool,
+    // We call this "pseudo" intersection because this also
+    // includes colliders pairs with mismatching solver_groups.
+    pub is_pseudo_intersection_test: bool,
     pub timestamp: usize,
 }
 
@@ -25,7 +27,7 @@ impl TOIEntry {
         b1: Option<RigidBodyHandle>,
         c2: ColliderHandle,
         b2: Option<RigidBodyHandle>,
-        is_intersection_test: bool,
+        is_pseudo_intersection_test: bool,
         timestamp: usize,
     ) -> Self {
         Self {
@@ -34,7 +36,7 @@ impl TOIEntry {
             b1,
             c2,
             b2,
-            is_intersection_test,
+            is_pseudo_intersection_test,
             timestamp,
         }
     }
@@ -47,12 +49,14 @@ impl TOIEntry {
             &ColliderType,
             &ColliderShape,
             &ColliderPosition,
+            &ColliderFlags,
             Option<&ColliderParent>,
         ),
         c2: (
             &ColliderType,
             &ColliderShape,
             &ColliderPosition,
+            &ColliderFlags,
             Option<&ColliderParent>,
         ),
         b1: Option<(
@@ -78,8 +82,8 @@ impl TOIEntry {
             return None;
         }
 
-        let (co_type1, co_shape1, co_pos1, co_parent1) = c1;
-        let (co_type2, co_shape2, co_pos2, co_parent2) = c2;
+        let (co_type1, co_shape1, co_pos1, co_flags1, co_parent1) = c1;
+        let (co_type2, co_shape2, co_pos2, co_flags2, co_parent2) = c2;
 
         let linvel1 =
             frozen1.is_none() as u32 as Real * b1.map(|b| b.1.linvel).unwrap_or(na::zero());
@@ -104,7 +108,9 @@ impl TOIEntry {
         // keep it since more conservatism is good at this stage.
         let thickness = (co_shape1.0.ccd_thickness() + co_shape2.0.ccd_thickness())
             + smallest_contact_dist.max(0.0);
-        let is_intersection_test = co_type1.is_sensor() || co_type2.is_sensor();
+        let is_pseudo_intersection_test = co_type1.is_sensor()
+            || co_type2.is_sensor()
+            || !co_flags1.solver_groups.test(co_flags2.solver_groups);
 
         if (end_time - start_time) * vel12 < thickness {
             return None;
@@ -135,7 +141,7 @@ impl TOIEntry {
         // If the TOI search involves two non-sensor colliders then
         // we don't want to stop the TOI search at the first penetration
         // because the colliders may be in a separating trajectory.
-        let stop_at_penetration = is_intersection_test;
+        let stop_at_penetration = is_pseudo_intersection_test;
 
         let res_toi = query_dispatcher
             .nonlinear_time_of_impact(
@@ -157,7 +163,7 @@ impl TOIEntry {
             co_parent1.map(|p| p.handle),
             ch2,
             co_parent2.map(|p| p.handle),
-            is_intersection_test,
+            is_pseudo_intersection_test,
             0,
         ))
     }
@@ -173,7 +179,7 @@ impl TOIEntry {
         if ccd.ccd_active {
             NonlinearRigidMotion::new(
                 poss.position,
-                mprops.mass_properties.local_com,
+                mprops.local_mprops.local_com,
                 vels.linvel,
                 vels.angvel,
             )
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index e039bfc..4725319 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -10,7 +10,7 @@ pub struct IntegrationParameters {
     ///
     /// When CCD with multiple substeps is enabled, the timestep is subdivided
     /// into smaller pieces. This timestep subdivision won't generate timestep
-    /// lengths smaller than `min_dt`.
+    /// lengths smaller than `min_ccd_dt`.
     ///
     /// Setting this to a large value will reduce the opportunity to performing
     /// CCD substepping, resulting in potentially more time dropped by the
@@ -18,17 +18,6 @@ pub struct IntegrationParameters {
     /// to numerical instabilities.
     pub min_ccd_dt: Real,
 
-    //    /// If `true` and if rapier is compiled with the `parallel` feature, this will enable rayon-based multithreading (default: `true`).
-    //    ///
-    //    /// This parameter is ignored if rapier is not compiled with is `parallel` feature.
-    //    /// Refer to rayon's documentation regarding how to configure the number of threads with either
-    //    /// `rayon::ThreadPoolBuilder::new().num_threads(4).build_global().unwrap()` or `ThreadPool::install`.
-    //    /// Note that using only one thread with `multithreading_enabled` set to `true` will result on a slower
-    //    /// simulation than setting `multithreading_enabled` to `false`.
-    //    pub multithreading_enabled: bool,
-    // /// If `true`, the world's `step` method will stop right after resolving exactly one CCD event (default: `false`).
-    // /// This allows the user to take action during a timestep, in-between two CCD events.
-    // pub return_after_ccd_substep: bool,
     /// The Error Reduction Parameter in `[0, 1]` is the proportion of
     /// the positional error to be corrected at each time step (default: `0.2`).
     pub erp: Real,
diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs
index b79cdb2..34fa3bd 100644
--- a/src/dynamics/island_manager.rs
+++ b/src/dynamics/island_manager.rs
@@ -229,19 +229,17 @@ impl IslandManager {
             stack: &mut Vec<RigidBodyHandle>,
         ) {
             for collider_handle in &rb_colliders.0 {
-                if let Some(contacts) = narrow_phase.contacts_with(*collider_handle) {
-                    for inter in contacts {
-                        for manifold in &inter.2.manifolds {
-                            if !manifold.data.solver_contacts.is_empty() {
-                                let other = crate::utils::select_other(
-                                    (inter.0, inter.1),
-                                    *collider_handle,
-                                );
-                                if let Some(other_body) = colliders.get(other.0) {
-                                    stack.push(other_body.handle);
-                                }
-                                break;
+                for inter in narrow_phase.contacts_with(*collider_handle) {
+                    for manifold in &inter.manifolds {
+                        if !manifold.data.solver_contacts.is_empty() {
+                            let other = crate::utils::select_other(
+                                (inter.collider1, inter.collider2),
+                                *collider_handle,
+                            );
+                            if let Some(other_body) = colliders.get(other.0) {
+                                stack.push(other_body.handle);
                             }
+                            break;
                         }
                     }
                 }
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 2917757..3f87e8d 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -8,10 +8,10 @@ use crate::math::{Isometry, Real, SpacialVector};
 pub struct FixedJoint {
     /// The frame of reference for the first body affected by this joint, expressed in the local frame
     /// of the first body.
-    pub local_anchor1: Isometry<Real>,
+    pub local_frame1: Isometry<Real>,
     /// The frame of reference for the second body affected by this joint, expressed in the local frame
     /// of the first body.
-    pub local_anchor2: Isometry<Real>,
+    pub local_frame2: Isometry<Real>,
     /// The impulse applied to the first body affected by this joint.
     ///
     /// The impulse applied to the second body affected by this joint is given by `-impulse`.
@@ -23,10 +23,10 @@ pub struct FixedJoint {
 
 impl FixedJoint {
     /// Creates a new fixed joint from the frames of reference of both bodies.
-    pub fn new(local_anchor1: Isometry<Real>, local_anchor2: Isometry<Real>) -> Self {
+    pub fn new(local_frame1: Isometry<Real>, local_frame2: Isometry<Real>) -> Self {
         Self {
-            local_anchor1,
-            local_anchor2,
+            local_frame1,
+            local_frame2,
             impulse: SpacialVector::zeros(),
         }
     }
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 824ec92..63c2221 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -4,8 +4,7 @@ use crate::dynamics::{
     RigidBodyMassPropsFlags, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
 };
 use crate::geometry::{
-    Collider, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
-    ColliderShape,
+    Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderShape,
 };
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
 use crate::utils::{self, WCross};
@@ -48,7 +47,7 @@ impl RigidBody {
             rb_ccd: RigidBodyCcd::default(),
             rb_ids: RigidBodyIds::default(),
             rb_colliders: RigidBodyColliders::default(),
-            rb_activation: RigidBodyActivation::new_active(),
+            rb_activation: RigidBodyActivation::active(),
             changes: RigidBodyChanges::all(),
             rb_type: RigidBodyType::Dynamic,
             rb_dominance: RigidBodyDominance::default(),
@@ -112,7 +111,7 @@ impl RigidBody {
     /// The mass properties of this rigid-body.
     #[inline]
     pub fn mass_properties(&self) -> &MassProperties {
-        &self.rb_mprops.mass_properties
+        &self.rb_mprops.local_mprops
     }
 
     /// The dominance group of this rigid-body.
@@ -124,6 +123,72 @@ impl RigidBody {
         self.rb_dominance.effective_group(&self.rb_type)
     }
 
+    #[inline]
+    /// Locks or unlocks all the rotations of this rigid-body.
+    pub fn lock_rotations(&mut self, locked: bool, wake_up: bool) {
+        if self.is_dynamic() {
+            if wake_up {
+                self.wake_up(true);
+            }
+
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::ROTATION_LOCKED_X, locked);
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y, locked);
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z, locked);
+            self.update_world_mass_properties();
+        }
+    }
+
+    #[inline]
+    /// Locks or unlocks rotations of this rigid-body along each cartesian axes.
+    pub fn restrict_rotations(
+        &mut self,
+        allow_rotations_x: bool,
+        allow_rotations_y: bool,
+        allow_rotations_z: bool,
+        wake_up: bool,
+    ) {
+        if self.is_dynamic() {
+            if wake_up {
+                self.wake_up(true);
+            }
+
+            self.rb_mprops.flags.set(
+                RigidBodyMassPropsFlags::ROTATION_LOCKED_X,
+                allow_rotations_x,
+            );
+            self.rb_mprops.flags.set(
+                RigidBodyMassPropsFlags::ROTATION_LOCKED_Y,
+                allow_rotations_y,
+            );
+            self.rb_mprops.flags.set(
+                RigidBodyMassPropsFlags::ROTATION_LOCKED_Z,
+                allow_rotations_z,
+            );
+            self.update_world_mass_properties();
+        }
+    }
+
+    #[inline]
+    /// Locks or unlocks all the rotations of this rigid-body.
+    pub fn lock_translations(&mut self, locked: bool, wake_up: bool) {
+        if self.is_dynamic() {
+            if wake_up {
+                self.wake_up(true);
+            }
+
+            self.rb_mprops
+                .flags
+                .set(RigidBodyMassPropsFlags::TRANSLATION_LOCKED, locked);
+            self.update_world_mass_properties();
+        }
+    }
+
     /// Are the translations of this rigid-body locked?
     pub fn is_translation_locked(&self) -> bool {
         self.rb_mprops
@@ -190,7 +255,7 @@ impl RigidBody {
             self.wake_up(true);
         }
 
-        self.rb_mprops.mass_properties = props;
+        self.rb_mprops.local_mprops = props;
         self.update_world_mass_properties();
     }
 
@@ -210,7 +275,7 @@ impl RigidBody {
     ///
     /// A kinematic body can move freely but is not affected by forces.
     pub fn is_kinematic(&self) -> bool {
-        self.rb_type == RigidBodyType::Kinematic
+        self.rb_type.is_kinematic()
     }
 
     /// Is this rigid body static?
@@ -224,7 +289,7 @@ impl RigidBody {
     ///
     /// Returns zero if this rigid body has an infinite mass.
     pub fn mass(&self) -> Real {
-        utils::inv(self.rb_mprops.mass_properties.inv_mass)
+        utils::inv(self.rb_mprops.local_mprops.inv_mass)
     }
 
     /// The predicted position of this rigid-body.
@@ -251,6 +316,16 @@ impl RigidBody {
         self.rb_forces.gravity_scale = scale;
     }
 
+    /// The dominance group of this rigid-body.
+    pub fn dominance_group(&self) -> i8 {
+        self.rb_dominance.0
+    }
+
+    /// The dominance group of this rigid-body.
+    pub fn set_dominance_group(&mut self, dominance: i8) {
+        self.rb_dominance.0 = dominance
+    }
+
     /// Adds a collider to this rigid-body.
     // TODO ECS: we keep this public for now just to simply our experiments on bevy_rapier.
     pub fn add_collider(
@@ -259,7 +334,7 @@ impl RigidBody {
         co_parent: &ColliderParent,
         co_pos: &mut ColliderPosition,
         co_shape: &ColliderShape,
-        co_mprops: &ColliderMassProperties,
+        co_mprops: &ColliderMassProps,
     ) {
         self.rb_colliders.attach_collider(
             &mut self.changes,
@@ -279,10 +354,11 @@ impl RigidBody {
         if let Some(i) = self.rb_colliders.0.iter().position(|e| *e == handle) {
             self.changes.set(RigidBodyChanges::COLLIDERS, true);
             self.rb_colliders.0.swap_remove(i);
+
             let mass_properties = coll
                 .mass_properties()
-                .transform_by(coll.position_wrt_parent());
-            self.rb_mprops.mass_properties -= mass_properties;
+                .transform_by(coll.position_wrt_parent().unwrap());
+            self.rb_mprops.local_mprops -= mass_properties;
             self.update_world_mass_properties();
         }
     }
@@ -384,6 +460,45 @@ impl RigidBody {
         &self.rb_pos.position
     }
 
+    /// The translational part of this rigid-body's position.
+    #[inline]
+    pub fn translation(&self) -> &Vector<Real> {
+        &self.rb_pos.position.translation.vector
+    }
+
+    /// Sets the translational part of this rigid-body's position.
+    #[inline]
+    pub fn set_translation(&mut self, translation: Vector<Real>, wake_up: bool) {
+        self.changes.insert(RigidBodyChanges::POSITION);
+        self.rb_pos.position.translation.vector = translation;
+        self.rb_pos.next_position.translation.vector = translation;
+
+        // TODO: Do we really need to check that the body isn't dynamic?
+        if wake_up && self.is_dynamic() {
+            self.wake_up(true)
+        }
+    }
+
+    /// The translational part of this rigid-body's position.
+    #[inline]
+    pub fn rotation(&self) -> &Rotation<Real> {
+        &self.rb_pos.position.rotation
+    }
+
+    /// Sets the rotational part of this rigid-body's position.
+    #[inline]
+    pub fn set_rotation(&mut self, rotation: AngVector<Real>, wake_up: bool) {
+        self.changes.insert(RigidBodyChanges::POSITION);
+        let rotation = Rotation::new(rotation);
+        self.rb_pos.position.rotation = rotation;
+        self.rb_pos.next_position.rotation = rotation;
+
+        // TODO: Do we really need to check that the body isn't dynamic?
+        if wake_up && self.is_dynamic() {
+            self.wake_up(true)
+        }
+    }
+
     /// Sets the position and `next_kinematic_position` of this rigid body.
     ///
     /// This will teleport the rigid-body to the specified position/orientation,
@@ -404,6 +519,20 @@ impl RigidBody {
         }
     }
 
+    /// If this rigid body is kinematic, sets its future translation after the next timestep integration.
+    pub fn set_next_kinematic_rotation(&mut self, rotation: AngVector<Real>) {
+        if self.is_kinematic() {
+            self.rb_pos.next_position.rotation = Rotation::new(rotation);
+        }
+    }
+
+    /// If this rigid body is kinematic, sets its future orientation after the next timestep integration.
+    pub fn set_next_kinematic_translation(&mut self, translation: Vector<Real>) {
+        if self.is_kinematic() {
+            self.rb_pos.next_position.translation = translation.into();
+        }
+    }
+
     /// If this rigid body is kinematic, sets its future position after the next timestep integration.
     pub fn set_next_kinematic_position(&mut self, pos: Isometry<Real>) {
         if self.is_kinematic() {
@@ -411,6 +540,17 @@ impl RigidBody {
         }
     }
 
+    /// Predicts the next position of this rigid-body, by integrating its velocity and forces
+    /// by a time of `dt`.
+    pub fn predict_position_using_velocity_and_forces(&self, dt: Real) -> Isometry<Real> {
+        self.rb_pos.integrate_forces_and_velocities(
+            dt,
+            &self.rb_forces,
+            &self.rb_vels,
+            &self.rb_mprops,
+        )
+    }
+
     pub(crate) fn update_world_mass_properties(&mut self) {
         self.rb_mprops
             .update_world_mass_properties(&self.rb_pos.position);
@@ -551,7 +691,7 @@ impl RigidBody {
     pub fn gravitational_potential_energy(&self, dt: Real, gravity: Vector<Real>) -> Real {
         let world_com = self
             .rb_mprops
-            .mass_properties
+            .local_mprops
             .world_com(&self.rb_pos.position)
             .coords;
 
@@ -608,8 +748,13 @@ impl RigidBodyBuilder {
     }
 
     /// Initializes the builder of a new kinematic rigid body.
-    pub fn new_kinematic() -> Self {
-        Self::new(RigidBodyType::Kinematic)
+    pub fn new_kinematic_velocity_based() -> Self {
+        Self::new(RigidBodyType::KinematicVelocityBased)
+    }
+
+    /// Initializes the builder of a new kinematic rigid body.
+    pub fn new_kinematic_position_based() -> Self {
+        Self::new(RigidBodyType::KinematicPositionBased)
     }
 
     /// Initializes the builder of a new dynamic rigid body.
@@ -618,8 +763,8 @@ impl RigidBodyBuilder {
     }
 
     /// Sets the scale applied to the gravity force affecting the rigid-body to be created.
-    pub fn gravity_scale(mut self, x: Real) -> Self {
-        self.gravity_scale = x;
+    pub fn gravity_scale(mut self, scale_factor: Real) -> Self {
+        self.gravity_scale = scale_factor;
         self
     }
 
@@ -630,19 +775,8 @@ impl RigidBodyBuilder {
     }
 
     /// Sets the initial translation of the rigid-body to be created.
-    #[cfg(feature = "dim2")]
-    pub fn translation(mut self, x: Real, y: Real) -> Self {
-        self.position.translation.x = x;
-        self.position.translation.y = y;
-        self
-    }
-
-    /// Sets the initial translation of the rigid-body to be created.
-    #[cfg(feature = "dim3")]
-    pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
-        self.position.translation.x = x;
-        self.position.translation.y = y;
-        self.position.translation.z = z;
+    pub fn translation(mut self, translation: Vector<Real>) -> Self {
+        self.position.translation.vector = translation;
         self
     }
 
@@ -811,16 +945,8 @@ impl RigidBodyBuilder {
     }
 
     /// Sets the initial linear velocity of the rigid-body to be created.
-    #[cfg(feature = "dim2")]
-    pub fn linvel(mut self, x: Real, y: Real) -> Self {
-        self.linvel = Vector::new(x, y);
-        self
-    }
-
-    /// Sets the initial linear velocity of the rigid-body to be created.
-    #[cfg(feature = "dim3")]
-    pub fn linvel(mut self, x: Real, y: Real, z: Real) -> Self {
-        self.linvel = Vector::new(x, y, z);
+    pub fn linvel(mut self, linvel: Vector<Real>) -> Self {
+        self.linvel = linvel;
         self
     }
 
@@ -857,7 +983,7 @@ impl RigidBodyBuilder {
         rb.rb_vels.angvel = self.angvel;
         rb.rb_type = self.rb_type;
         rb.user_data = self.user_data;
-        rb.rb_mprops.mass_properties = self.mass_properties;
+        rb.rb_mprops.local_mprops = self.mass_properties;
         rb.rb_mprops.flags = self.mprops_flags;
         rb.rb_damping.linear_damping = self.linear_damping;
         rb.rb_damping.angular_damping = self.angular_damping;
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index 2a652f7..ec67b66 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -1,7 +1,7 @@
 use crate::data::{ComponentSetMut, ComponentSetOption};
 use crate::dynamics::MassProperties;
 use crate::geometry::{
-    ColliderChanges, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
+    ColliderChanges, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition,
     ColliderShape, InteractionGraph, RigidBodyGraphIndex,
 };
 use crate::math::{AngVector, AngularInertia, Isometry, Point, Real, Translation, Vector};
@@ -54,16 +54,23 @@ pub type BodyStatus = RigidBodyType;
 /// The status of a body, governing the way it is affected by external forces.
 pub enum RigidBodyType {
     /// A `RigidBodyType::Dynamic` body can be affected by all external forces.
-    Dynamic,
+    Dynamic = 0,
     /// A `RigidBodyType::Static` body cannot be affected by external forces.
-    Static,
-    /// A `RigidBodyType::Kinematic` body cannot be affected by any external forces but can be controlled
+    Static = 1,
+    /// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
     /// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
     ///
     /// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
     /// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
     /// modified by the user and is independent from any contact or joint it is involved in.
-    Kinematic,
+    KinematicPositionBased = 2,
+    /// A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled
+    /// by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies.
+    ///
+    /// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
+    /// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
+    /// modified by the user and is independent from any contact or joint it is involved in.
+    KinematicVelocityBased = 3,
     // Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
     // Disabled,
 }
@@ -81,7 +88,8 @@ impl RigidBodyType {
 
     /// Is this rigid-body kinematic (i.e. can move but is unaffected by forces)?
     pub fn is_kinematic(self) -> bool {
-        self == RigidBodyType::Kinematic
+        self == RigidBodyType::KinematicPositionBased
+            || self == RigidBodyType::KinematicVelocityBased
     }
 }
 
@@ -166,7 +174,7 @@ impl RigidBodyPosition {
         mprops: &RigidBodyMassProps,
     ) -> Isometry<Real> {
         let new_vels = forces.integrate(dt, vels, mprops);
-        new_vels.integrate(dt, &self.position, &mprops.mass_properties.local_com)
+        new_vels.integrate(dt, &self.position, &mprops.local_mprops.local_com)
     }
 }
 
@@ -208,7 +216,7 @@ pub struct RigidBodyMassProps {
     /// Flags for locking rotation and translation.
     pub flags: RigidBodyMassPropsFlags,
     /// The local mass properties of the rigid-body.
-    pub mass_properties: MassProperties,
+    pub local_mprops: MassProperties,
     /// The world-space center of mass of the rigid-body.
     pub world_com: Point<Real>,
     /// The inverse mass taking into account translation locking.
@@ -222,7 +230,7 @@ impl Default for RigidBodyMassProps {
     fn default() -> Self {
         Self {
             flags: RigidBodyMassPropsFlags::empty(),
-            mass_properties: MassProperties::zero(),
+            local_mprops: MassProperties::zero(),
             world_com: Point::origin(),
             effective_inv_mass: 0.0,
             effective_world_inv_inertia_sqrt: AngularInertia::zero(),
@@ -239,11 +247,20 @@ impl From<RigidBodyMassPropsFlags> for RigidBodyMassProps {
     }
 }
 
+impl From<MassProperties> for RigidBodyMassProps {
+    fn from(local_mprops: MassProperties) -> Self {
+        Self {
+            local_mprops,
+            ..Default::default()
+        }
+    }
+}
+
 impl RigidBodyMassProps {
     /// The mass of the rigid-body.
     #[must_use]
     pub fn mass(&self) -> Real {
-        crate::utils::inv(self.mass_properties.inv_mass)
+        crate::utils::inv(self.local_mprops.inv_mass)
     }
 
     /// The effective mass (that takes the potential translation locking into account) of
@@ -255,11 +272,10 @@ impl RigidBodyMassProps {
 
     /// Update the world-space mass properties of `self`, taking into account the new position.
     pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>) {
-        self.world_com = self.mass_properties.world_com(&position);
-        self.effective_inv_mass = self.mass_properties.inv_mass;
-        self.effective_world_inv_inertia_sqrt = self
-            .mass_properties
-            .world_inv_inertia_sqrt(&position.rotation);
+        self.world_com = self.local_mprops.world_com(&position);
+        self.effective_inv_mass = self.local_mprops.inv_mass;
+        self.effective_world_inv_inertia_sqrt =
+            self.local_mprops.world_inv_inertia_sqrt(&position.rotation);
 
         // Take into account translation/rotation locking.
         if self
@@ -665,7 +681,7 @@ impl RigidBodyColliders {
         co_pos: &mut ColliderPosition,
         co_parent: &ColliderParent,
         co_shape: &ColliderShape,
-        co_mprops: &ColliderMassProperties,
+        co_mprops: &ColliderMassProps,
     ) {
         rb_changes.set(
             RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
@@ -684,7 +700,7 @@ impl RigidBodyColliders {
             .mass_properties(&**co_shape)
             .transform_by(&co_parent.pos_wrt_parent);
         self.0.push(co_handle);
-        rb_mprops.mass_properties += mass_properties;
+        rb_mprops.local_mprops += mass_properties;
         rb_mprops.update_world_mass_properties(&rb_pos.position);
     }
 
@@ -759,7 +775,7 @@ pub struct RigidBodyActivation {
 
 impl Default for RigidBodyActivation {
     fn default() -> Self {
-        Self::new_active()
+        Self::active()
     }
 }
 
@@ -770,7 +786,7 @@ impl RigidBodyActivation {
     }
 
     /// Create a new rb_activation status initialised with the default rb_activation threshold and is active.
-    pub fn new_active() -> Self {
+    pub fn active() -> Self {
         RigidBodyActivation {
             threshold: Self::default_threshold(),
             energy: Self::default_threshold() * 4.0,
@@ -779,7 +795,7 @@ impl RigidBodyActivation {
     }
 
     /// Create a new rb_activation status initialised with the default rb_activation threshold and is inactive.
-    pub fn new_inactive() -> Self {
+    pub fn inactive() -> Self {
         RigidBodyActivation {
             threshold: Self::default_threshold(),
             energy: 0.0,
@@ -787,6 +803,14 @@ impl RigidBodyActivation {
         }
     }
 
+    /// Create a new activation status that prevents the rigid-body from sleeping.
+    pub fn cannot_sleep() -> Self {
+        RigidBodyActivation {
+            threshold: -Real::MAX,
+            ..Self::active()
+        }
+    }
+
     /// Returns `true` if the body is not asleep.
     #[inline]
     pub fn is_active(&self) -> bool {
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index 1e65341..0c4c323 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -113,7 +113,7 @@ impl IslandSolver {
                 let mut new_poss = *poss;
                 let new_vels = vels.apply_damping(params.dt, damping);
                 new_poss.next_position =
-                    vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com);
+                    vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
 
                 bodies.set_internal(handle.0, new_vels);
                 bodies.set_internal(handle.0, new_poss);
@@ -140,7 +140,7 @@ impl IslandSolver {
                     .integrate(params.dt, vels, mprops)
                     .apply_damping(params.dt, &damping);
                 new_poss.next_position =
-                    vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com);
+                    vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
 
                 bodies.set_internal(handle.0, new_vels);
                 bodies.set_internal(handle.0, new_poss);
diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs
index 159cc77..0227960 100644
--- a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs
@@ -34,8 +34,8 @@ impl BallPositionConstraint {
         let (mprops2, ids2) = rb2;
 
         Self {
-            local_com1: mprops1.mass_properties.local_com,
-            local_com2: mprops2.mass_properties.local_com,
+            local_com1: mprops1.local_mprops.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             im1: mprops1.effective_inv_mass,
             im2: mprops2.effective_inv_mass,
             ii1: mprops1.effective_world_inv_inertia_sqrt.squared(),
@@ -131,7 +131,7 @@ impl BallPositionGroundConstraint {
                 ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
                 local_anchor2: cparams.local_anchor1,
                 position2: ids2.active_set_offset,
-                local_com2: mprops2.mass_properties.local_com,
+                local_com2: mprops2.local_mprops.local_com,
             }
         } else {
             Self {
@@ -140,7 +140,7 @@ impl BallPositionGroundConstraint {
                 ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
                 local_anchor2: cparams.local_anchor2,
                 position2: ids2.active_set_offset,
-                local_com2: mprops2.mass_properties.local_com,
+                local_com2: mprops2.local_mprops.local_com,
             }
         }
     }
diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
index 6b00639..ea462ed 100644
--- a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
@@ -40,8 +40,8 @@ impl WBallPositionConstraint {
         let (mprops1, ids1) = rbs1;
         let (mprops2, ids2) = rbs2;
 
-        let local_com1 = Point::from(gather![|ii| mprops1[ii].mass_properties.local_com]);
-        let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
+        let local_com1 = Point::from(gather![|ii| mprops1[ii].local_mprops.local_com]);
+        let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
         let im1 = SimdReal::from(gather![|ii| mprops1[ii].effective_inv_mass]);
         let im2 = SimdReal::from(gather![|ii| mprops2[ii].effective_inv_mass]);
         let ii1 = AngularInertia::<SimdReal>::from(gather![
@@ -169,7 +169,7 @@ impl WBallPositionGroundConstraint {
             cparams[ii].local_anchor2
         }]);
         let position2 = gather![|ii| ids2[ii].active_set_offset];
-        let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
+        let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
 
         Self {
             anchor1,
diff --git a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
index 239138f..3ab13f7 100644
--- a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
@@ -8,8 +8,8 @@ use crate::utils::WAngularInertia;
 pub(crate) struct FixedPositionConstraint {
     position1: usize,
     position2: usize,
-    local_anchor1: Isometry<Real>,
-    local_anchor2: Isometry<Real>,
+    local_frame1: Isometry<Real>,
+    local_frame2: Isometry<Real>,
     local_com1: Point<Real>,
     local_com2: Point<Real>,
     im1: Real,
@@ -38,16 +38,16 @@ impl FixedPositionConstraint {
         let ang_inv_lhs = (ii1 + ii2).inverse();
 
         Self {
-            local_anchor1: cparams.local_anchor1,
-            local_anchor2: cparams.local_anchor2,
+            local_frame1: cparams.local_frame1,
+            local_frame2: cparams.local_frame2,
             position1: ids1.active_set_offset,
             position2: ids2.active_set_offset,
             im1,
             im2,
             ii1,
             ii2,
-            local_com1: mprops1.mass_properties.local_com,
-            local_com2: mprops2.mass_properties.local_com,
+            local_com1: mprops1.local_mprops.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             lin_inv_lhs,
             ang_inv_lhs,
         }
@@ -58,8 +58,8 @@ impl FixedPositionConstraint {
         let mut position2 = positions[self.position2 as usize];
 
         // Angular correction.
-        let anchor1 = position1 * self.local_anchor1;
-        let anchor2 = position2 * self.local_anchor2;
+        let anchor1 = position1 * self.local_frame1;
+        let anchor2 = position2 * self.local_frame2;
         let ang_err = anchor2.rotation * anchor1.rotation.inverse();
         #[cfg(feature = "dim3")]
         let ang_impulse = self
@@ -75,8 +75,8 @@ impl FixedPositionConstraint {
             Rotation::new(self.ii2.transform_vector(-ang_impulse)) * position2.rotation;
 
         // Linear correction.
-        let anchor1 = position1 * Point::from(self.local_anchor1.translation.vector);
-        let anchor2 = position2 * Point::from(self.local_anchor2.translation.vector);
+        let anchor1 = position1 * Point::from(self.local_frame1.translation.vector);
+        let anchor2 = position2 * Point::from(self.local_frame2.translation.vector);
         let err = anchor2 - anchor1;
         let impulse = err * (self.lin_inv_lhs * params.joint_erp);
         position1.translation.vector += self.im1 * impulse;
@@ -91,7 +91,7 @@ impl FixedPositionConstraint {
 pub(crate) struct FixedPositionGroundConstraint {
     position2: usize,
     anchor1: Isometry<Real>,
-    local_anchor2: Isometry<Real>,
+    local_frame2: Isometry<Real>,
     local_com2: Point<Real>,
     im2: Real,
     ii2: AngularInertia<Real>,
@@ -109,23 +109,23 @@ impl FixedPositionGroundConstraint {
         let (mprops2, ids2) = rb2;
 
         let anchor1;
-        let local_anchor2;
+        let local_frame2;
 
         if flipped {
-            anchor1 = poss1.next_position * cparams.local_anchor2;
-            local_anchor2 = cparams.local_anchor1;
+            anchor1 = poss1.next_position * cparams.local_frame2;
+            local_frame2 = cparams.local_frame1;
         } else {
-            anchor1 = poss1.next_position * cparams.local_anchor1;
-            local_anchor2 = cparams.local_anchor2;
+            anchor1 = poss1.next_position * cparams.local_frame1;
+            local_frame2 = cparams.local_frame2;
         };
 
         Self {
             anchor1,
-            local_anchor2,
+            local_frame2,
             position2: ids2.active_set_offset,
             im2: mprops2.effective_inv_mass,
             ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
-            local_com2: mprops2.mass_properties.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             impulse: 0.0,
         }
     }
@@ -134,13 +134,13 @@ impl FixedPositionGroundConstraint {
         let mut position2 = positions[self.position2 as usize];
 
         // Angular correction.
-        let anchor2 = position2 * self.local_anchor2;
+        let anchor2 = position2 * self.local_frame2;
         let ang_err = anchor2.rotation * self.anchor1.rotation.inverse();
         position2.rotation = ang_err.powf(-params.joint_erp) * position2.rotation;
 
         // Linear correction.
         let anchor1 = Point::from(self.anchor1.translation.vector);
-        let anchor2 = position2 * Point::from(self.local_anchor2.translation.vector);
+        let anchor2 = position2 * Point::from(self.local_frame2.translation.vector);
         let err = anchor2 - anchor1;
         // NOTE: no need to divide by im2 just to multiply right after.
         let impulse = err * params.joint_erp;
diff --git a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
index a0c0739..8bfc1a6 100644
--- a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
@@ -63,8 +63,8 @@ impl FixedVelocityConstraint {
         let (poss1, vels1, mprops1, ids1) = rb1;
         let (poss2, vels2, mprops2, ids2) = rb2;
 
-        let anchor1 = poss1.position * cparams.local_anchor1;
-        let anchor2 = poss2.position * cparams.local_anchor2;
+        let anchor1 = poss1.position * cparams.local_frame1;
+        let anchor2 = poss2.position * cparams.local_frame2;
         let im1 = mprops1.effective_inv_mass;
         let im2 = mprops2.effective_inv_mass;
         let ii1 = mprops1.effective_world_inv_inertia_sqrt.squared();
@@ -280,13 +280,13 @@ impl FixedVelocityGroundConstraint {
 
         let (anchor1, anchor2) = if flipped {
             (
-                poss1.position * cparams.local_anchor2,
-                poss2.position * cparams.local_anchor1,
+                poss1.position * cparams.local_frame2,
+                poss2.position * cparams.local_frame1,
             )
         } else {
             (
-                poss1.position * cparams.local_anchor1,
-                poss2.position * cparams.local_anchor2,
+                poss1.position * cparams.local_frame1,
+                poss2.position * cparams.local_frame2,
             )
         };
 
diff --git a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
index 84e1fca..0421d49 100644
--- a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
@@ -91,12 +91,12 @@ impl WFixedVelocityConstraint {
         ]);
         let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
 
-        let local_anchor1 = Isometry::from(gather![|ii| cparams[ii].local_anchor1]);
-        let local_anchor2 = Isometry::from(gather![|ii| cparams[ii].local_anchor2]);
+        let local_frame1 = Isometry::from(gather![|ii| cparams[ii].local_frame1]);
+        let local_frame2 = Isometry::from(gather![|ii| cparams[ii].local_frame2]);
         let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
 
-        let anchor1 = position1 * local_anchor1;
-        let anchor2 = position2 * local_anchor2;
+        let anchor1 = position1 * local_frame1;
+        let anchor2 = position2 * local_frame2;
         let ii1 = ii1_sqrt.squared();
         let ii2 = ii2_sqrt.squared();
         let r1 = anchor1.translation.vector - world_com1.coords;
@@ -363,20 +363,20 @@ impl WFixedVelocityGroundConstraint {
         ]);
         let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
 
-        let local_anchor1 = Isometry::from(gather![|ii| if flipped[ii] {
-            cparams[ii].local_anchor2
+        let local_frame1 = Isometry::from(gather![|ii| if flipped[ii] {
+            cparams[ii].local_frame2
         } else {
-            cparams[ii].local_anchor1
+            cparams[ii].local_frame1
         }]);
-        let local_anchor2 = Isometry::from(gather![|ii| if flipped[ii] {
-            cparams[ii].local_anchor1
+        let local_frame2 = Isometry::from(gather![|ii| if flipped[ii] {
+            cparams[ii].local_frame1
         } else {
-            cparams[ii].local_anchor2
+            cparams[ii].local_frame2
         }]);
         let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
 
-        let anchor1 = position1 * local_anchor1;
-        let anchor2 = position2 * local_anchor2;
+        let anchor1 = position1 * local_frame1;
+        let anchor2 = position2 * local_frame2;
         let ii2 = ii2_sqrt.squared();
         let r1 = anchor1.translation.vector - world_com1.coords;
         let r2 = anchor2.translation.vector - world_com2.coords;
diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs
index 76901b1..a7b5ea0 100644
--- a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs
@@ -41,8 +41,8 @@ impl GenericPositionConstraint {
             im2,
             ii1,
             ii2,
-            local_com1: rb1.mass_properties.local_com,
-            local_com2: rb2.mass_properties.local_com,
+            local_com1: rb1.local_mprops.local_com,
+            local_com2: rb2.local_mprops.local_com,
             joint: *joint,
         }
     }
@@ -215,7 +215,7 @@ impl GenericPositionGroundConstraint {
             position2: rb2.active_set_offset,
             im2: rb2.effective_inv_mass,
             ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
-            local_com2: rb2.mass_properties.local_com,
+            local_com2: rb2.local_mprops.local_com,
             joint: *joint,
         }
     }
diff --git a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
index 1b3e23a..731d0e2 100644
--- a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
@@ -51,8 +51,8 @@ impl RevolutePositionConstraint {
             ii1,
             ii2,
             ang_inv_lhs,
-            local_com1: mprops1.mass_properties.local_com,
-            local_com2: mprops2.mass_properties.local_com,
+            local_com1: mprops1.local_mprops.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             local_anchor1: cparams.local_anchor1,
             local_anchor2: cparams.local_anchor2,
             local_axis1: cparams.local_axis1,
@@ -183,7 +183,7 @@ impl RevolutePositionGroundConstraint {
             local_anchor2,
             im2: mprops2.effective_inv_mass,
             ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
-            local_com2: mprops2.mass_properties.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             axis1,
             local_axis2,
             position2: ids2.active_set_offset,
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs
index 9d565c1..e12e7af 100644
--- a/src/dynamics/solver/parallel_island_solver.rs
+++ b/src/dynamics/solver/parallel_island_solver.rs
@@ -392,7 +392,7 @@ impl ParallelIslandSolver {
 
                         let new_rb_vels = new_rb_vels.apply_damping(params.dt, rb_damping);
                         new_rb_pos.next_position =
-                            new_rb_vels.integrate(params.dt, &rb_pos.position, &rb_mprops.mass_properties.local_com);
+                            new_rb_vels.integrate(params.dt, &rb_pos.position, &rb_mprops.local_mprops.local_com);
 
                         bodies.set_internal(handle.0, new_rb_vels);
                         bodies.set_internal(handle.0, new_rb_pos);
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index 4b35e53..63f1a55 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -598,7 +598,7 @@ mod test {
         let rb = RigidBodyBuilder::new_dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
-        let coh = colliders.insert(co, hrb, &mut bodies);
+        let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
 
         let mut events = Vec::new();
         broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
@@ -610,7 +610,7 @@ mod test {
         let rb = RigidBodyBuilder::new_dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
-        let coh = colliders.insert(co, hrb, &mut bodies);
+        let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
 
         // Make sure the proxy handles is recycled properly.
         broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 08295c1..0101a09 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -1,11 +1,12 @@
 use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
 use crate::geometry::{
-    ColliderBroadPhaseData, ColliderChanges, ColliderGroups, ColliderMassProperties,
-    ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
-    InteractionGroups, SharedShape, SolverFlags,
+    ActiveCollisionTypes, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
+    ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape,
+    ColliderType, InteractionGroups, SharedShape,
 };
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use crate::parry::transformation::vhacd::VHACDParameters;
+use crate::pipeline::{ActiveEvents, ActiveHooks};
 use na::Unit;
 use parry::bounding_volume::AABB;
 use parry::shape::Shape;
@@ -18,12 +19,12 @@ use parry::shape::Shape;
 pub struct Collider {
     pub(crate) co_type: ColliderType,
     pub(crate) co_shape: ColliderShape,
-    pub(crate) co_mprops: ColliderMassProperties,
+    pub(crate) co_mprops: ColliderMassProps,
     pub(crate) co_changes: ColliderChanges,
-    pub(crate) co_parent: ColliderParent,
+    pub(crate) co_parent: Option<ColliderParent>,
     pub(crate) co_pos: ColliderPosition,
     pub(crate) co_material: ColliderMaterial,
-    pub(crate) co_groups: ColliderGroups,
+    pub(crate) co_flags: ColliderFlags,
     pub(crate) co_bf_data: ColliderBroadPhaseData,
     /// User-defined data associated to this rigid-body.
     pub user_data: u128,
@@ -31,14 +32,13 @@ pub struct Collider {
 
 impl Collider {
     pub(crate) fn reset_internal_references(&mut self) {
-        self.co_parent.handle = RigidBodyHandle::invalid();
         self.co_bf_data.proxy_index = crate::INVALID_U32;
         self.co_changes = ColliderChanges::all();
     }
 
     /// The rigid body this collider is attached to.
-    pub fn parent(&self) -> RigidBodyHandle {
-        self.co_parent.handle
+    pub fn parent(&self) -> Option<RigidBodyHandle> {
+        self.co_parent.map(|parent| parent.handle)
     }
 
     /// Is this collider a sensor?
@@ -46,6 +46,46 @@ impl Collider {
         self.co_type.is_sensor()
     }
 
+    /// The physics hooks enabled for this collider.
+    pub fn active_hooks(&self) -> ActiveHooks {
+        self.co_flags.active_hooks
+    }
+
+    /// Sets the physics hooks enabled for this collider.
+    pub fn set_active_hooks(&mut self, active_hooks: ActiveHooks) {
+        self.co_flags.active_hooks = active_hooks;
+    }
+
+    /// The events enabled for this collider.
+    pub fn active_events(&self) -> ActiveEvents {
+        self.co_flags.active_events
+    }
+
+    /// Sets the events enabled for this collider.
+    pub fn set_active_events(&mut self, active_events: ActiveEvents) {
+        self.co_flags.active_events = active_events;
+    }
+
+    /// The collision types enabled for this collider.
+    pub fn active_collision_types(&self) -> ActiveCollisionTypes {
+        self.co_flags.active_collision_types
+    }
+
+    /// Sets the collision types enabled for this collider.
+    pub fn set_active_collision_types(&mut self, active_collision_types: ActiveCollisionTypes) {
+        self.co_flags.active_collision_types = active_collision_types;
+    }
+
+    /// The friction coefficient of this collider.
+    pub fn friction(&self) -> Real {
+        self.co_material.friction
+    }
+
+    /// Sets the friction coefficient of this collider.
+    pub fn set_friction(&mut self, coefficient: Real) {
+        self.co_material.friction = coefficient
+    }
+
     /// The combine rule used by this collider to combine its friction
     /// coefficient with the friction coefficient of the other collider it
     /// is in contact with.
@@ -60,6 +100,16 @@ impl Collider {
         self.co_material.friction_combine_rule = rule;
     }
 
+    /// The restitution coefficient of this collider.
+    pub fn restitution(&self) -> Real {
+        self.co_material.restitution
+    }
+
+    /// Sets the restitution coefficient of this collider.
+    pub fn set_restitution(&mut self, coefficient: Real) {
+        self.co_material.restitution = coefficient
+    }
+
     /// The combine rule used by this collider to combine its restitution
     /// coefficient with the restitution coefficient of the other collider it
     /// is in contact with.
@@ -86,15 +136,22 @@ impl Collider {
         }
     }
 
-    #[doc(hidden)]
-    pub fn set_position_debug(&mut self, position: Isometry<Real>) {
-        self.co_pos.0 = position;
+    /// Sets the translational part of this collider's position.
+    pub fn set_translation(&mut self, translation: Vector<Real>) {
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0.translation.vector = translation;
     }
 
-    /// The position of this collider expressed in the local-space of the rigid-body it is attached to.
-    #[deprecated(note = "use `.position_wrt_parent()` instead.")]
-    pub fn delta(&self) -> &Isometry<Real> {
-        &self.co_parent.pos_wrt_parent
+    /// Sets the rotational part of this collider's position.
+    pub fn set_rotation(&mut self, rotation: AngVector<Real>) {
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0.rotation = Rotation::new(rotation);
+    }
+
+    /// Sets the position of this collider.
+    pub fn set_position(&mut self, position: Isometry<Real>) {
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0 = position;
     }
 
     /// The world-space position of this collider.
@@ -102,40 +159,56 @@ impl Collider {
         &self.co_pos
     }
 
+    /// The translational part of this rigid-body's position.
+    pub fn translation(&self) -> &Vector<Real> {
+        &self.co_pos.0.translation.vector
+    }
+
+    /// The rotational part of this rigid-body's position.
+    pub fn rotation(&self) -> &Rotation<Real> {
+        &self.co_pos.0.rotation
+    }
+
     /// The position of this collider wrt the body it is attached to.
-    pub fn position_wrt_parent(&self) -> &Isometry<Real> {
-        &self.co_parent.pos_wrt_parent
+    pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> {
+        self.co_parent.as_ref().map(|p| &p.pos_wrt_parent)
     }
 
     /// Sets the position of this collider wrt. its parent rigid-body.
-    pub fn set_position_wrt_parent(&mut self, position: Isometry<Real>) {
+    ///
+    /// Panics if the collider is not attached to a rigid-body.
+    pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) {
         self.co_changes.insert(ColliderChanges::PARENT);
-        self.co_parent.pos_wrt_parent = position;
+        let co_parent = self
+            .co_parent
+            .as_mut()
+            .expect("This collider has no parent.");
+        co_parent.pos_wrt_parent = pos_wrt_parent;
     }
 
     /// The collision groups used by this collider.
     pub fn collision_groups(&self) -> InteractionGroups {
-        self.co_groups.collision_groups
+        self.co_flags.collision_groups
     }
 
     /// Sets the collision groups of this collider.
     pub fn set_collision_groups(&mut self, groups: InteractionGroups) {
-        if self.co_groups.collision_groups != groups {
+        if self.co_flags.collision_groups != groups {
             self.co_changes.insert(ColliderChanges::GROUPS);
-            self.co_groups.collision_groups = groups;
+            self.co_flags.collision_groups = groups;
         }
     }
 
     /// The solver groups used by this collider.
     pub fn solver_groups(&self) -> InteractionGroups {
-        self.co_groups.solver_groups
+        self.co_flags.solver_groups
     }
 
     /// Sets the solver groups of this collider.
     pub fn set_solver_groups(&mut self, groups: InteractionGroups) {
-        if self.co_groups.solver_groups != groups {
+        if self.co_flags.solver_groups != groups {
             self.co_changes.insert(ColliderChanges::GROUPS);
-            self.co_groups.solver_groups = groups;
+            self.co_flags.solver_groups = groups;
         }
     }
 
@@ -147,8 +220,8 @@ impl Collider {
     /// The density of this collider, if set.
     pub fn density(&self) -> Option<Real> {
         match &self.co_mprops {
-            ColliderMassProperties::Density(density) => Some(*density),
-            ColliderMassProperties::MassProperties(_) => None,
+            ColliderMassProps::Density(density) => Some(*density),
+            ColliderMassProps::MassProperties(_) => None,
         }
     }
 
@@ -188,8 +261,8 @@ impl Collider {
     /// Compute the local-space mass properties of this collider.
     pub fn mass_properties(&self) -> MassProperties {
         match &self.co_mprops {
-            ColliderMassProperties::Density(density) => self.co_shape.mass_properties(*density),
-            ColliderMassProperties::MassProperties(mass_properties) => **mass_properties,
+            ColliderMassProps::Density(density) => self.co_shape.mass_properties(*density),
+            ColliderMassProps::MassProperties(mass_properties) => **mass_properties,
         }
     }
 }
@@ -213,13 +286,16 @@ pub struct ColliderBuilder {
     pub restitution: Real,
     /// The rule used to combine two restitution coefficients.
     pub restitution_combine_rule: CoefficientCombineRule,
-    /// The position of this collider relative to the local frame of the rigid-body it is attached to.
-    pub pos_wrt_parent: Isometry<Real>,
+    /// The position of this collider.
+    pub position: Isometry<Real>,
     /// Is this collider a sensor?
     pub is_sensor: bool,
-    /// Do we have to always call the contact modifier
-    /// on this collider?
-    pub modify_solver_contacts: bool,
+    /// Contact pairs enabled for this collider.
+    pub active_collision_types: ActiveCollisionTypes,
+    /// Physics hooks enabled for this collider.
+    pub active_hooks: ActiveHooks,
+    /// Events enabled for this collider.
+    pub active_events: ActiveEvents,
     /// The user-data of the collider being built.
     pub user_data: u128,
     /// The collision groups for the collider being built.
@@ -237,14 +313,16 @@ impl ColliderBuilder {
             mass_properties: None,
             friction: Self::default_friction(),
             restitution: 0.0,
-            pos_wrt_parent: Isometry::identity(),
+            position: Isometry::identity(),
             is_sensor: false,
             user_data: 0,
             collision_groups: InteractionGroups::all(),
             solver_groups: InteractionGroups::all(),
             friction_combine_rule: CoefficientCombineRule::Average,
             restitution_combine_rule: CoefficientCombineRule::Average,
-            modify_solver_contacts: false,
+            active_collision_types: ActiveCollisionTypes::default(),
+            active_hooks: ActiveHooks::empty(),
+            active_events: ActiveEvents::empty(),
         }
     }
 
@@ -489,6 +567,11 @@ impl ColliderBuilder {
         0.5
     }
 
+    /// The default density used by the collider builder.
+    pub fn default_density() -> Real {
+        1.0
+    }
+
     /// Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.
     pub fn user_data(mut self, data: u128) -> Self {
         self.user_data = data;
@@ -522,10 +605,21 @@ impl ColliderBuilder {
         self
     }
 
-    /// If set to `true` then the physics hooks will always run to modify
-    /// contacts involving this collider.
-    pub fn modify_solver_contacts(mut self, modify_solver_contacts: bool) -> Self {
-        self.modify_solver_contacts = modify_solver_contacts;
+    /// The set of physics hooks enabled for this collider.
+    pub fn active_hooks(mut self, active_hooks: ActiveHooks) -> Self {
+        self.active_hooks = active_hooks;
+        self
+    }
+
+    /// The set of events enabled for this collider.
+    pub fn active_events(mut self, active_events: ActiveEvents) -> Self {
+        self.active_events = active_events;
+        self
+    }
+
+    /// The set of active collision types for this collider.
+    pub fn active_collision_types(mut self, active_collision_types: ActiveCollisionTypes) -> Self {
+        self.active_collision_types = active_collision_types;
         self
     }
 
@@ -571,71 +665,61 @@ impl ColliderBuilder {
         self
     }
 
-    /// Sets the initial translation of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    #[cfg(feature = "dim2")]
-    pub fn translation(mut self, x: Real, y: Real) -> Self {
-        self.pos_wrt_parent.translation.x = x;
-        self.pos_wrt_parent.translation.y = y;
+    /// Sets the initial translation of the collider to be created.
+    ///
+    /// If the collider will be attached to a rigid-body, this sets the translation relative to the
+    /// rigid-body it will be attached to.
+    pub fn translation(mut self, translation: Vector<Real>) -> Self {
+        self.position.translation.vector = translation;
         self
     }
 
-    /// Sets the initial translation of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    #[cfg(feature = "dim3")]
-    pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
-        self.pos_wrt_parent.translation.x = x;
-        self.pos_wrt_parent.translation.y = y;
-        self.pos_wrt_parent.translation.z = z;
-        self
-    }
-
-    /// Sets the initial orientation of the collider to be created,
-    /// relative to the rigid-body it is attached to.
+    /// Sets the initial orientation of the collider to be created.
+    ///
+    /// If the collider will be attached to a rigid-body, this sets the orientation relative to the
+    /// rigid-body it will be attached to.
     pub fn rotation(mut self, angle: AngVector<Real>) -> Self {
-        self.pos_wrt_parent.rotation = Rotation::new(angle);
+        self.position.rotation = Rotation::new(angle);
         self
     }
 
-    /// Sets the initial position (translation and orientation) of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = pos;
-        self
-    }
-
-    /// Sets the initial position (translation and orientation) of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    #[deprecated(note = "Use `.position_wrt_parent` instead.")]
+    /// Sets the initial position (translation and orientation) of the collider to be created.
+    ///
+    /// If the collider will be attached to a rigid-body, this sets the position relative
+    /// to the rigid-body it will be attached to.
     pub fn position(mut self, pos: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = pos;
+        self.position = pos;
+        self
+    }
+
+    /// Sets the initial position (translation and orientation) of the collider to be created,
+    /// relative to the rigid-body it is attached to.
+    #[deprecated(note = "Use `.position` instead.")]
+    pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
+        self.position = pos;
         self
     }
 
     /// Set the position of this collider in the local-space of the rigid-body it is attached to.
-    #[deprecated(note = "Use `.position_wrt_parent` instead.")]
+    #[deprecated(note = "Use `.position` instead.")]
     pub fn delta(mut self, delta: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = delta;
+        self.position = delta;
         self
     }
 
     /// Builds a new collider attached to the given rigid-body.
     pub fn build(&self) -> Collider {
-        let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_groups, co_material, co_mprops) =
+        let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_material, co_flags, co_mprops) =
             self.components();
-        let co_parent = ColliderParent {
-            pos_wrt_parent: co_pos.0,
-            handle: RigidBodyHandle::invalid(),
-        };
         Collider {
             co_shape,
             co_mprops,
             co_material,
-            co_parent,
+            co_parent: None,
             co_changes,
             co_pos,
             co_bf_data,
-            co_groups,
+            co_flags,
             co_type,
             user_data: self.user_data,
         }
@@ -650,24 +734,18 @@ impl ColliderBuilder {
         ColliderBroadPhaseData,
         ColliderShape,
         ColliderType,
-        ColliderGroups,
         ColliderMaterial,
-        ColliderMassProperties,
+        ColliderFlags,
+        ColliderMassProps,
     ) {
         let mass_info = if let Some(mp) = self.mass_properties {
-            ColliderMassProperties::MassProperties(Box::new(mp))
+            ColliderMassProps::MassProperties(Box::new(mp))
         } else {
-            let default_density = if self.is_sensor { 0.0 } else { 1.0 };
+            let default_density = Self::default_density();
             let density = self.density.unwrap_or(default_density);
-            ColliderMassProperties::Density(density)
+            ColliderMassProps::Density(density)
         };
 
-        let mut solver_flags = SolverFlags::default();
-        solver_flags.set(
-            SolverFlags::MODIFY_SOLVER_CONTACTS,
-            self.modify_solver_contacts,
-        );
-
         let co_shape = self.shape.clone();
         let co_mprops = mass_info;
         let co_material = ColliderMaterial {
@@ -675,15 +753,17 @@ impl ColliderBuilder {
             restitution: self.restitution,
             friction_combine_rule: self.friction_combine_rule,
             restitution_combine_rule: self.restitution_combine_rule,
-            solver_flags,
         };
-        let co_changes = ColliderChanges::all();
-        let co_pos = ColliderPosition(self.pos_wrt_parent);
-        let co_bf_data = ColliderBroadPhaseData::default();
-        let co_groups = ColliderGroups {
+        let co_flags = ColliderFlags {
             collision_groups: self.collision_groups,
             solver_groups: self.solver_groups,
+            active_collision_types: self.active_collision_types,
+            active_hooks: self.active_hooks,
+            active_events: self.active_events,
         };
+        let co_changes = ColliderChanges::all();
+        let co_pos = ColliderPosition(self.position);
+        let co_bf_data = ColliderBroadPhaseData::default();
         let co_type = if self.is_sensor {
             ColliderType::Sensor
         } else {
@@ -696,8 +776,8 @@ impl ColliderBuilder {
             co_bf_data,
             co_shape,
             co_type,
-            co_groups,
             co_material,
+            co_flags,
             co_mprops,
         )
     }
diff --git a/src/geometry/collider_components.rs b/src/geometry/collider_components.rs
index a02c706..111f527 100644
--- a/src/geometry/collider_components.rs
+++ b/src/geometry/collider_components.rs
@@ -1,7 +1,8 @@
-use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
-use crate::geometry::{InteractionGroups, SAPProxyIndex, Shape, SharedShape, SolverFlags};
+use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle, RigidBodyType};
+use crate::geometry::{InteractionGroups, SAPProxyIndex, Shape, SharedShape};
 use crate::math::{Isometry, Real};
 use crate::parry::partitioning::IndexedData;
+use crate::pipeline::{ActiveEvents, ActiveHooks};
 use std::ops::Deref;
 
 /// The unique identifier of a collider added to a collider set.
@@ -117,7 +118,7 @@ pub type ColliderShape = SharedShape;
 #[derive(Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// The mass-properties of a collider.
-pub enum ColliderMassProperties {
+pub enum ColliderMassProps {
     /// The collider is given a density.
     ///
     /// Its actual `MassProperties` are computed automatically with
@@ -127,13 +128,19 @@ pub enum ColliderMassProperties {
     MassProperties(Box<MassProperties>),
 }
 
-impl Default for ColliderMassProperties {
+impl Default for ColliderMassProps {
     fn default() -> Self {
-        ColliderMassProperties::Density(1.0)
+        ColliderMassProps::Density(1.0)
     }
 }
 
-impl ColliderMassProperties {
+impl From<MassProperties> for ColliderMassProps {
+    fn from(mprops: MassProperties) -> Self {
+        ColliderMassProps::MassProperties(Box::new(mprops))
+    }
+}
+
+impl ColliderMassProps {
     /// The mass-properties of this collider.
     ///
     /// If `self` is the `Density` variant, then this computes the mass-properties based
@@ -201,27 +208,6 @@ where
     }
 }
 
-#[derive(Copy, Clone, Debug)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// The groups of this collider, for filtering contact and solver pairs.
-pub struct ColliderGroups {
-    /// The groups controlling the pairs of colliders that can interact (generate
-    /// interaction events or contacts).
-    pub collision_groups: InteractionGroups,
-    /// The groups controlling the pairs of collider that have their contact
-    /// points taken into account for force computation.
-    pub solver_groups: InteractionGroups,
-}
-
-impl Default for ColliderGroups {
-    fn default() -> Self {
-        Self {
-            collision_groups: InteractionGroups::default(),
-            solver_groups: InteractionGroups::default(),
-        }
-    }
-}
-
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// The constraints solver-related properties of this collider (friction, restitution, etc.)
@@ -241,9 +227,6 @@ pub struct ColliderMaterial {
     pub friction_combine_rule: CoefficientCombineRule,
     /// The rule applied to combine the restitution coefficients of two colliders.
     pub restitution_combine_rule: CoefficientCombineRule,
-    /// The solver flags attached to this collider in order to customize the way the
-    /// constraints solver will work with contacts involving this collider.
-    pub solver_flags: SolverFlags,
 }
 
 impl ColliderMaterial {
@@ -264,7 +247,133 @@ impl Default for ColliderMaterial {
             restitution: 0.0,
             friction_combine_rule: CoefficientCombineRule::default(),
             restitution_combine_rule: CoefficientCombineRule::default(),
-            solver_flags: SolverFlags::default(),
+        }
+    }
+}
+
+bitflags::bitflags! {
+    #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    /// Flags affecting whether or not collision-detection happens between two colliders
+    /// depending on the type of rigid-bodies they are attached to.
+    pub struct ActiveCollisionTypes: u16 {
+        /// Enable collision-detection between a collider attached to a dynamic body
+        /// and another collider attached to a dynamic body.
+        const DYNAMIC_DYNAMIC = 0b0000_0000_0000_0001;
+        /// Enable collision-detection between a collider attached to a dynamic body
+        /// and another collider attached to a kinematic body.
+        const DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100;
+        /// Enable collision-detection between a collider attached to a dynamic body
+        /// and another collider attached to a static body (or not attached to any body).
+        const DYNAMIC_STATIC  = 0b0000_0000_0000_0010;
+        /// Enable collision-detection between a collider attached to a kinematic body
+        /// and another collider attached to a kinematic body.
+        const KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000;
+
+        /// Enable collision-detection between a collider attached to a kinematic body
+        /// and another collider attached to a static body (or not attached to any body).
+        const KINEMATIC_STATIC = 0b0010_0010_0000_0000;
+
+        /// Enable collision-detection between a collider attached to a static body (or
+        /// not attached to any body) and another collider attached to a static body (or
+        /// not attached to any body).
+        const STATIC_STATIC = 0b0000_0000_0010_0000;
+    }
+}
+
+impl ActiveCollisionTypes {
+    /// Test whether contact should be computed between two rigid-bodies with the given types.
+    pub fn test(self, rb_type1: RigidBodyType, rb_type2: RigidBodyType) -> bool {
+        // NOTE: This test is quite complicated so here is an explanation.
+        //       First, we associate the following bit masks:
+        //           - DYNAMIC = 0001
+        //           - STATIC = 0010
+        //           - KINEMATIC = 1100
+        //       These are equal to the bits indexed by `RigidBodyType as u32`.
+        //       The bit masks defined by ActiveCollisionTypes are defined is such a way
+        //       that the first part of the variant name (e.g. DYNAMIC_*) indicates which
+        //       groups of four bits should be considered:
+        //           - DYNAMIC_* = the first group of four bits.
+        //           - STATIC_* = the second group of four bits.
+        //           - KINEMATIC_* = the third and fourth groups of four bits.
+        //       The second part of the variant name (e.g. *_DYNAMIC) indicates the value
+        //       of the aforementioned groups of four bits.
+        //       For example, DYNAMIC_STATIC means that the first group of four bits (because
+        //       of DYNAMIC_*) must have the value 0010 (because of *_STATIC). That gives
+        //       us 0b0000_0000_0000_0010 for the DYNAMIC_STATIC_VARIANT.
+        //
+        //       The KINEMATIC_* is special because it occupies two groups of four bits. This is
+        //       because it combines both KinematicPositionBased and KinematicVelocityBased.
+        //
+        //       Now that we have a way of building these bit masks, let's see how we use them.
+        //       Given a pair of rigid-body types, the first rigid-body type is used to select
+        //       the group of four bits we want to test (the selection is done by to the
+        //       `>> (rb_type1 as u32 * 4) & 0b0000_1111`) and the second rigid-body type is
+        //       used to form the bit mask we test this group of four bits against.
+        //       In other word, the selection of the group of four bits tells us "for this type
+        //       of rigid-body I can have collision with rigid-body types with these bit representation".
+        //       Then the `(1 << rb_type2)` gives us the bit-representation of the rigid-body type,
+        //       which needs to be checked.
+        //
+        //       Because that test must be symmetric, we perform two similar tests by swapping
+        //       rb_type1 and rb_type2.
+        ((self.bits >> (rb_type1 as u32 * 4)) & 0b0000_1111) & (1 << rb_type2 as u32) != 0
+            || ((self.bits >> (rb_type2 as u32 * 4)) & 0b0000_1111) & (1 << rb_type1 as u32) != 0
+    }
+}
+
+impl Default for ActiveCollisionTypes {
+    fn default() -> Self {
+        ActiveCollisionTypes::DYNAMIC_DYNAMIC
+            | ActiveCollisionTypes::DYNAMIC_KINEMATIC
+            | ActiveCollisionTypes::DYNAMIC_STATIC
+    }
+}
+
+#[derive(Copy, Clone, Debug)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// A set of flags for controlling collision/intersection filtering, modification, and events.
+pub struct ColliderFlags {
+    /// Controls whether collision-detection happens between two colliders depending on
+    /// the type of the rigid-bodies they are attached to.
+    pub active_collision_types: ActiveCollisionTypes,
+    /// The groups controlling the pairs of colliders that can interact (generate
+    /// interaction events or contacts).
+    pub collision_groups: InteractionGroups,
+    /// The groups controlling the pairs of collider that have their contact
+    /// points taken into account for force computation.
+    pub solver_groups: InteractionGroups,
+    /// The physics hooks enabled for contact pairs and intersection pairs involving this collider.
+    pub active_hooks: ActiveHooks,
+    /// The events enabled for this collider.
+    pub active_events: ActiveEvents,
+}
+
+impl Default for ColliderFlags {
+    fn default() -> Self {
+        Self {
+            active_collision_types: ActiveCollisionTypes::default(),
+            collision_groups: InteractionGroups::all(),
+            solver_groups: InteractionGroups::all(),
+            active_hooks: ActiveHooks::empty(),
+            active_events: ActiveEvents::empty(),
+        }
+    }
+}
+
+impl From<ActiveHooks> for ColliderFlags {
+    fn from(active_hooks: ActiveHooks) -> Self {
+        Self {
+            active_hooks,
+            ..Default::default()
+        }
+    }
+}
+
+impl From<ActiveEvents> for ColliderFlags {
+    fn from(active_events: ActiveEvents) -> Self {
+        Self {
+            active_events,
+            ..Default::default()
         }
     }
 }
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 14eb54c..9584015 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -2,7 +2,7 @@ use crate::data::arena::Arena;
 use crate::data::{ComponentSet, ComponentSetMut, ComponentSetOption};
 use crate::dynamics::{IslandManager, RigidBodyHandle, RigidBodySet};
 use crate::geometry::{
-    Collider, ColliderBroadPhaseData, ColliderGroups, ColliderMassProperties, ColliderMaterial,
+    Collider, ColliderBroadPhaseData, ColliderFlags, ColliderMassProps, ColliderMaterial,
     ColliderParent, ColliderPosition, ColliderShape, ColliderType,
 };
 use crate::geometry::{ColliderChanges, ColliderHandle};
@@ -59,14 +59,21 @@ macro_rules! impl_field_component_set(
 
 impl_field_component_set!(ColliderType, co_type);
 impl_field_component_set!(ColliderShape, co_shape);
-impl_field_component_set!(ColliderMassProperties, co_mprops);
+impl_field_component_set!(ColliderMassProps, co_mprops);
 impl_field_component_set!(ColliderChanges, co_changes);
-impl_field_component_set!(ColliderParent, co_parent);
 impl_field_component_set!(ColliderPosition, co_pos);
 impl_field_component_set!(ColliderMaterial, co_material);
-impl_field_component_set!(ColliderGroups, co_groups);
+impl_field_component_set!(ColliderFlags, co_flags);
 impl_field_component_set!(ColliderBroadPhaseData, co_bf_data);
 
+impl ComponentSetOption<ColliderParent> for ColliderSet {
+    #[inline(always)]
+    fn get(&self, handle: crate::data::Index) -> Option<&ColliderParent> {
+        self.get(ColliderHandle(handle))
+            .and_then(|b| b.co_parent.as_ref())
+    }
+}
+
 impl ColliderSet {
     /// Create a new empty set of colliders.
     pub fn new() -> Self {
@@ -122,16 +129,35 @@ impl ColliderSet {
     }
 
     /// Inserts a new collider to this set and retrieve its handle.
-    pub fn insert(
+    pub fn insert(&mut self, mut coll: Collider) -> ColliderHandle {
+        // Make sure the internal links are reset, they may not be
+        // if this rigid-body was obtained by cloning another one.
+        coll.reset_internal_references();
+        coll.co_parent = None;
+        let handle = ColliderHandle(self.colliders.insert(coll));
+        self.modified_colliders.push(handle);
+        handle
+    }
+
+    /// Inserts a new collider to this set, attach it to the given rigid-body, and retrieve its handle.
+    pub fn insert_with_parent(
         &mut self,
         mut coll: Collider,
         parent_handle: RigidBodyHandle,
         bodies: &mut RigidBodySet,
     ) -> ColliderHandle {
         // Make sure the internal links are reset, they may not be
-        // if this rigid-body was obtained by cloning another one.
+        // if this collider was obtained by cloning another one.
         coll.reset_internal_references();
-        coll.co_parent.handle = parent_handle;
+
+        if let Some(prev_parent) = &mut coll.co_parent {
+            prev_parent.handle = parent_handle;
+        } else {
+            coll.co_parent = Some(ColliderParent {
+                handle: parent_handle,
+                pos_wrt_parent: coll.co_pos.0,
+            });
+        }
 
         // NOTE: we use `get_mut` instead of `get_mut_internal` so that the
         // modification flag is updated properly.
@@ -144,7 +170,7 @@ impl ColliderSet {
         let coll = self.colliders.get_mut(handle.0).unwrap();
         parent.add_collider(
             handle,
-            &mut coll.co_parent,
+            coll.co_parent.as_mut().unwrap(),
             &mut coll.co_pos,
             &coll.co_shape,
             &coll.co_mprops,
@@ -170,13 +196,15 @@ impl ColliderSet {
          */
         // NOTE: we use `get_mut_internal_with_modification_tracking` instead of `get_mut_internal` so that the
         // modification flag is updated properly.
-        if let Some(parent) =
-            bodies.get_mut_internal_with_modification_tracking(collider.co_parent.handle)
-        {
-            parent.remove_collider_internal(handle, &collider);
+        if let Some(co_parent) = &collider.co_parent {
+            if let Some(parent) =
+                bodies.get_mut_internal_with_modification_tracking(co_parent.handle)
+            {
+                parent.remove_collider_internal(handle, &collider);
 
-            if wake_up {
-                islands.wake_up(bodies, collider.co_parent.handle, true);
+                if wake_up {
+                    islands.wake_up(bodies, co_parent.handle, true);
+                }
             }
         }
 
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs
index 5a568fa..f4e7834 100644
--- a/src/geometry/contact_pair.rs
+++ b/src/geometry/contact_pair.rs
@@ -1,5 +1,5 @@
 use crate::dynamics::RigidBodyHandle;
-use crate::geometry::{ColliderPair, Contact, ContactManifold};
+use crate::geometry::{ColliderHandle, Contact, ContactManifold};
 use crate::math::{Point, Real, Vector};
 use parry::query::ContactManifoldsWorkspace;
 
@@ -10,9 +10,6 @@ bitflags::bitflags! {
         /// The constraint solver will take this contact manifold into
         /// account for force computation.
         const COMPUTE_IMPULSES = 0b001;
-        /// The user-defined physics hooks will be used to
-        /// modify the solver contacts of this contact manifold.
-        const MODIFY_SOLVER_CONTACTS = 0b010;
     }
 }
 
@@ -56,8 +53,10 @@ impl Default for ContactData {
 #[derive(Clone)]
 /// The description of all the contacts between a pair of colliders.
 pub struct ContactPair {
-    /// The pair of colliders involved.
-    pub pair: ColliderPair,
+    /// The first collider involved in the contact pair.
+    pub collider1: ColliderHandle,
+    /// The second collider involved in the contact pair.
+    pub collider2: ColliderHandle,
     /// The set of contact manifolds between the two colliders.
     ///
     /// All contact manifold contain themselves contact points between the colliders.
@@ -68,9 +67,10 @@ pub struct ContactPair {
 }
 
 impl ContactPair {
-    pub(crate) fn new(pair: ColliderPair) -> Self {
+    pub(crate) fn new(collider1: ColliderHandle, collider2: ColliderHandle) -> Self {
         Self {
-            pair,
+            collider1,
+            collider2,
             has_any_active_contact: false,
             manifolds: Vec::new(),
             workspace: None,
diff --git a/src/geometry/interaction_groups.rs b/src/geometry/interaction_groups.rs
index 37b7586..b2961d9 100644
--- a/src/geometry/interaction_groups.rs
+++ b/src/geometry/interaction_groups.rs
@@ -1,56 +1,66 @@
-#[repr(transparent)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
 /// Pairwise filtering using bit masks.
 ///
-/// This filtering method is based on two 16-bit values:
-/// - The interaction groups (the 16 left-most bits of `self.0`).
-/// - The interaction mask (the 16 right-most bits of `self.0`).
+/// This filtering method is based on two 32-bit values:
+/// - The interaction groups memberships.
+/// - The interaction groups filter.
 ///
 /// An interaction is allowed between two filters `a` and `b` when two conditions
 /// are met simultaneously:
-/// - The interaction groups of `a` has at least one bit set to `1` in common with the interaction mask of `b`.
-/// - The interaction groups of `b` has at least one bit set to `1` in common with the interaction mask of `a`.
+/// - The groups membership of `a` has at least one bit set to `1` in common with the groups filter of `b`.
+/// - The groups membership of `b` has at least one bit set to `1` in common with the groups filter of `a`.
 ///
 /// In other words, interactions are allowed between two filter iff. the following condition is met:
 /// ```ignore
-/// ((self.0 >> 16) & rhs.0) != 0 && ((rhs.0 >> 16) & self.0) != 0
+/// (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
 /// ```
-pub struct InteractionGroups(pub u32);
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, Hash, PartialEq, Eq)]
+#[repr(C)]
+pub struct InteractionGroups {
+    /// Groups memberships.
+    pub memberships: u32,
+    /// Groups filter.
+    pub filter: u32,
+}
 
 impl InteractionGroups {
     /// Initializes with the given interaction groups and interaction mask.
-    pub const fn new(groups: u16, masks: u16) -> Self {
-        Self::none().with_groups(groups).with_mask(masks)
+    pub const fn new(memberships: u32, filter: u32) -> Self {
+        Self {
+            memberships,
+            filter,
+        }
     }
 
     /// Allow interaction with everything.
     pub const fn all() -> Self {
-        Self(u32::MAX)
+        Self::new(u32::MAX, u32::MAX)
     }
 
     /// Prevent all interactions.
     pub const fn none() -> Self {
-        Self(0)
+        Self::new(0, 0)
     }
 
     /// Sets the group this filter is part of.
-    pub const fn with_groups(self, groups: u16) -> Self {
-        Self((self.0 & 0x0000ffff) | ((groups as u32) << 16))
+    pub const fn with_memberships(mut self, memberships: u32) -> Self {
+        self.memberships = memberships;
+        self
     }
 
     /// Sets the interaction mask of this filter.
-    pub const fn with_mask(self, mask: u16) -> Self {
-        Self((self.0 & 0xffff0000) | (mask as u32))
+    pub const fn with_filter(mut self, filter: u32) -> Self {
+        self.filter = filter;
+        self
     }
 
-    /// Check if interactions should be allowed based on the interaction groups and mask.
+    /// Check if interactions should be allowed based on the interaction memberships and filter.
     ///
-    /// An interaction is allowed iff. the groups of `self` contain at least one bit set to 1 in common
-    /// with the mask of `rhs`, and vice-versa.
+    /// An interaction is allowed iff. the memberships of `self` contain at least one bit set to 1 in common
+    /// with the filter of `rhs`, and vice-versa.
     #[inline]
     pub const fn test(self, rhs: Self) -> bool {
-        ((self.0 >> 16) & rhs.0) != 0 && ((rhs.0 >> 16) & self.0) != 0
+        (self.memberships & rhs.filter) != 0 && (rhs.memberships & self.filter) != 0
     }
 }
 
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 57504f5..185cf0c 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -7,15 +7,17 @@ use crate::dynamics::{
     IslandManager, RigidBodyActivation, RigidBodyDominance, RigidBodyIds, RigidBodyType,
 };
 use crate::geometry::{
-    BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderGroups, ColliderHandle,
-    ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
-    ContactData, ContactEvent, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph,
+    BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle, ColliderMaterial,
+    ColliderPair, ColliderParent, ColliderPosition, ColliderShape, ColliderType, ContactData,
+    ContactEvent, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph,
     IntersectionEvent, SolverContact, SolverFlags,
 };
 use crate::math::{Real, Vector};
 use crate::pipeline::{
-    ContactModificationContext, EventHandler, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
+    ActiveEvents, ActiveHooks, ContactModificationContext, EventHandler, PairFilterContext,
+    PhysicsHooks,
 };
+use crate::prelude::ColliderFlags;
 use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
 use parry::utils::IsometryOpt;
 use std::collections::HashMap;
@@ -98,25 +100,80 @@ impl NarrowPhase {
     }
 
     /// All the contacts involving the given collider.
-    pub fn contacts_with(
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::contacts_with`] method instead. This
+    /// method can be used if the generation number of the collider handle isn't known.
+    pub fn contacts_with_unknown_gen(&self, collider: u32) -> impl Iterator<Item = &ContactPair> {
+        self.graph_indices
+            .get_unknown_gen(collider)
+            .map(|id| id.contact_graph_index)
+            .into_iter()
+            .flat_map(move |id| self.contact_graph.interactions_with(id))
+            .map(|pair| pair.2)
+    }
+
+    /// All the contacts involving the given collider.
+    pub fn contacts_with<'a>(
         &self,
         collider: ColliderHandle,
-    ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
-        let id = self.graph_indices.get(collider.0)?;
-        Some(self.contact_graph.interactions_with(id.contact_graph_index))
+    ) -> impl Iterator<Item = &ContactPair> {
+        self.graph_indices
+            .get(collider.0)
+            .map(|id| id.contact_graph_index)
+            .into_iter()
+            .flat_map(move |id| self.contact_graph.interactions_with(id))
+            .map(|pair| pair.2)
+    }
+
+    /// All the intersections involving the given collider.
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::intersections_with`]  method instead.
+    /// This method can be used if the generation number of the collider handle isn't known.
+    pub fn intersections_with_unknown_gen(
+        &self,
+        collider: u32,
+    ) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
+        self.graph_indices
+            .get_unknown_gen(collider)
+            .map(|id| id.intersection_graph_index)
+            .into_iter()
+            .flat_map(move |id| {
+                self.intersection_graph
+                    .interactions_with(id)
+                    .map(|e| (e.0, e.1, *e.2))
+            })
     }
 
     /// All the intersections involving the given collider.
     pub fn intersections_with(
         &self,
         collider: ColliderHandle,
-    ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
-        let id = self.graph_indices.get(collider.0)?;
-        Some(
-            self.intersection_graph
-                .interactions_with(id.intersection_graph_index)
-                .map(|e| (e.0, e.1, *e.2)),
-        )
+    ) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
+        self.graph_indices
+            .get(collider.0)
+            .map(|id| id.intersection_graph_index)
+            .into_iter()
+            .flat_map(move |id| {
+                self.intersection_graph
+                    .interactions_with(id)
+                    .map(|e| (e.0, e.1, *e.2))
+            })
+    }
+
+    /// The contact pair involving two specific colliders.
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::contact_pair`] method instead. This
+    /// method can be used if the generation number of the collider handle isn't known.
+    ///
+    /// If this returns `None`, there is no contact between the two colliders.
+    /// If this returns `Some`, then there may be a contact between the two colliders. Check the
+    /// result [`ContactPair::has_any_active_collider`] method to see if there is an actual contact.
+    pub fn contact_pair_unknown_gen(&self, collider1: u32, collider2: u32) -> Option<&ContactPair> {
+        let id1 = self.graph_indices.get_unknown_gen(collider1)?;
+        let id2 = self.graph_indices.get_unknown_gen(collider2)?;
+        self.contact_graph
+            .interaction_pair(id1.contact_graph_index, id2.contact_graph_index)
+            .map(|c| c.2)
     }
 
     /// The contact pair involving two specific colliders.
@@ -136,6 +193,21 @@ impl NarrowPhase {
             .map(|c| c.2)
     }
 
+    /// The intersection pair involving two specific colliders.
+    ///
+    /// It is strongly recommended to use the [`NarrowPhase::intersection_pair`] method instead. This
+    /// method can be used if the generation number of the collider handle isn't known.
+    ///
+    /// If this returns `None` or `Some(false)`, then there is no intersection between the two colliders.
+    /// If this returns `Some(true)`, then there may be an intersection between the two colliders.
+    pub fn intersection_pair_unknown_gen(&self, collider1: u32, collider2: u32) -> Option<bool> {
+        let id1 = self.graph_indices.get_unknown_gen(collider1)?;
+        let id2 = self.graph_indices.get_unknown_gen(collider2)?;
+        self.intersection_graph
+            .interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
+            .map(|c| *c.2)
+    }
+
     /// The intersection pair involving two specific colliders.
     ///
     /// If this returns `None` or `Some(false)`, then there is no intersection between the two colliders.
@@ -185,8 +257,9 @@ impl NarrowPhase {
             + ComponentSet<RigidBodyType>
             + ComponentSetMut<RigidBodyIds>,
         Colliders: ComponentSet<ColliderChanges>
-            + ComponentSetOption<ColliderParent>
-            + ComponentSet<ColliderType>,
+            + ComponentSet<ColliderType>
+            + ComponentSet<ColliderFlags>
+            + ComponentSetOption<ColliderParent>,
     {
         // TODO: avoid these hash-maps.
         // They are necessary to handle the swap-remove done internally
@@ -281,8 +354,9 @@ impl NarrowPhase {
             + ComponentSet<RigidBodyType>
             + ComponentSetMut<RigidBodyIds>,
         Colliders: ComponentSet<ColliderChanges>
-            + ComponentSetOption<ColliderParent>
-            + ComponentSet<ColliderType>,
+            + ComponentSet<ColliderType>
+            + ComponentSet<ColliderFlags>
+            + ComponentSetOption<ColliderParent>,
     {
         let mut pairs_to_remove = vec![];
 
@@ -397,7 +471,9 @@ impl NarrowPhase {
         Bodies: ComponentSetMut<RigidBodyActivation>
             + ComponentSet<RigidBodyType>
             + ComponentSetMut<RigidBodyIds>,
-        Colliders: ComponentSet<ColliderType> + ComponentSetOption<ColliderParent>,
+        Colliders: ComponentSet<ColliderType>
+            + ComponentSet<ColliderFlags>
+            + ComponentSetOption<ColliderParent>,
     {
         let co_type1: Option<&ColliderType> = colliders.get(pair.collider1.0);
         let co_type2: Option<&ColliderType> = colliders.get(pair.collider2.0);
@@ -419,9 +495,16 @@ impl NarrowPhase {
 
                     // Emit an intersection lost event if we had an intersection before removing the edge.
                     if Some(true) == was_intersecting {
-                        let prox_event =
-                            IntersectionEvent::new(pair.collider1, pair.collider2, false);
-                        events.handle_intersection_event(prox_event)
+                        let co_flag1: &ColliderFlags = colliders.index(pair.collider1.0);
+                        let co_flag2: &ColliderFlags = colliders.index(pair.collider2.0);
+
+                        if (co_flag1.active_events | co_flag2.active_events)
+                            .contains(ActiveEvents::INTERSECTION_EVENTS)
+                        {
+                            let prox_event =
+                                IntersectionEvent::new(pair.collider1, pair.collider2, false);
+                            events.handle_intersection_event(prox_event)
+                        }
                     }
                 } else {
                     let contact_pair = self
@@ -447,10 +530,17 @@ impl NarrowPhase {
                                 }
                             }
 
-                            events.handle_contact_event(ContactEvent::Stopped(
-                                pair.collider1,
-                                pair.collider2,
-                            ))
+                            let co_flag1: &ColliderFlags = colliders.index(pair.collider1.0);
+                            let co_flag2: &ColliderFlags = colliders.index(pair.collider2.0);
+
+                            if (co_flag1.active_events | co_flag2.active_events)
+                                .contains(ActiveEvents::CONTACT_EVENTS)
+                            {
+                                events.handle_contact_event(
+                                    ContactEvent::Stopped(pair.collider1, pair.collider2),
+                                    &ctct,
+                                )
+                            }
                         }
                     }
                 }
@@ -527,7 +617,7 @@ impl NarrowPhase {
                     .find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
                     .is_none()
                 {
-                    let interaction = ContactPair::new(*pair);
+                    let interaction = ContactPair::new(pair.collider1, pair.collider2);
                     let _ = self.contact_graph.add_edge(
                         gid1.contact_graph_index,
                         gid2.contact_graph_index,
@@ -547,9 +637,11 @@ impl NarrowPhase {
         events: &dyn EventHandler,
     ) where
         Bodies: ComponentSetMut<RigidBodyActivation>
-            + ComponentSet<RigidBodyType>
-            + ComponentSetMut<RigidBodyIds>,
-        Colliders: ComponentSet<ColliderType> + ComponentSetOption<ColliderParent>,
+            + ComponentSetMut<RigidBodyIds>
+            + ComponentSet<RigidBodyType>,
+        Colliders: ComponentSet<ColliderType>
+            + ComponentSet<ColliderFlags>
+            + ComponentSetOption<ColliderParent>,
     {
         for event in broad_phase_events {
             match event {
@@ -583,9 +675,10 @@ impl NarrowPhase {
             + ComponentSet<RigidBodyDominance>,
         Colliders: ComponentSet<ColliderChanges>
             + ComponentSetOption<ColliderParent>
-            + ComponentSet<ColliderGroups>
             + ComponentSet<ColliderShape>
-            + ComponentSet<ColliderPosition>,
+            + ComponentSet<ColliderPosition>
+            + ComponentSet<ColliderMaterial>
+            + ComponentSet<ColliderFlags>,
     {
         if modified_colliders.is_empty() {
             return;
@@ -593,7 +686,6 @@ impl NarrowPhase {
 
         let nodes = &self.intersection_graph.graph.nodes;
         let query_dispatcher = &*self.query_dispatcher;
-        let active_hooks = hooks.active_hooks();
 
         // TODO: don't iterate on all the edges.
         par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
@@ -601,19 +693,19 @@ impl NarrowPhase {
             let handle2 = nodes[edge.target().index()].weight;
 
             let co_parent1: Option<&ColliderParent> = colliders.get(handle1.0);
-            let (co_changes1, co_groups1, co_shape1, co_pos1): (
+            let (co_changes1, co_shape1, co_pos1, co_flags1): (
                 &ColliderChanges,
-                &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
+                &ColliderFlags,
             ) = colliders.index_bundle(handle1.0);
 
             let co_parent2: Option<&ColliderParent> = colliders.get(handle2.0);
-            let (co_changes2, co_groups2, co_shape2, co_pos2): (
+            let (co_changes2, co_shape2, co_pos2, co_flags2): (
                 &ColliderChanges,
-                &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
+                &ColliderFlags,
             ) = colliders.index_bundle(handle2.0);
 
             if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
@@ -623,48 +715,40 @@ impl NarrowPhase {
             }
 
             // TODO: avoid lookup into bodies.
-            let (mut sleeping1, mut status1) = (true, RigidBodyType::Static);
-            let (mut sleeping2, mut status2) = (true, RigidBodyType::Static);
+            let mut rb_type1 = RigidBodyType::Static;
+            let mut rb_type2 = RigidBodyType::Static;
 
             if let Some(co_parent1) = co_parent1 {
-                let (rb_type1, rb_activation1): (&RigidBodyType, &RigidBodyActivation) =
-                    bodies.index_bundle(co_parent1.handle.0);
-                status1 = *rb_type1;
-                sleeping1 = rb_activation1.sleeping;
+                rb_type1 = *bodies.index(co_parent1.handle.0);
             }
 
             if let Some(co_parent2) = co_parent2 {
-                let (rb_type2, rb_activation2): (&RigidBodyType, &RigidBodyActivation) =
-                    bodies.index_bundle(co_parent2.handle.0);
-                status2 = *rb_type2;
-                sleeping2 = rb_activation2.sleeping;
+                rb_type2 = *bodies.index(co_parent2.handle.0);
             }
 
-            if (sleeping1 && status2.is_static())
-                || (sleeping2 && status1.is_static())
-                || (sleeping1 && sleeping2)
+            // Filter based on the rigid-body types.
+            if !co_flags1.active_collision_types.test(rb_type1, rb_type2)
+                && !co_flags2.active_collision_types.test(rb_type1, rb_type2)
             {
-                // No need to update this intersection because nothing moved.
                 return;
             }
 
-            if !co_groups1
-                .collision_groups
-                .test(co_groups2.collision_groups)
-            {
-                // The intersection is not allowed.
+            // Filter based on collision groups.
+            if !co_flags1.collision_groups.test(co_flags2.collision_groups) {
                 return;
             }
 
-            if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR)
-                && !status1.is_dynamic()
-                && !status2.is_dynamic()
+            let active_hooks = co_flags1.active_hooks | co_flags2.active_hooks;
+            let active_events = co_flags1.active_events | co_flags2.active_events;
+
+            // Filter based on rigid-body types.
+            if !co_flags1.active_collision_types.test(rb_type1, rb_type2)
+                && !co_flags2.active_collision_types.test(rb_type1, rb_type2)
             {
-                // Default filtering rule: no intersection between two non-dynamic bodies.
                 return;
             }
 
-            if active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR) {
+            if active_hooks.contains(ActiveHooks::FILTER_INTERSECTION_PAIR) {
                 let context = PairFilterContext {
                     bodies,
                     colliders,
@@ -685,7 +769,9 @@ impl NarrowPhase {
             if let Ok(intersection) =
                 query_dispatcher.intersection_test(&pos12, &**co_shape1, &**co_shape2)
             {
-                if intersection != edge.weight {
+                if active_events.contains(ActiveEvents::INTERSECTION_EVENTS)
+                    && intersection != edge.weight
+                {
                     edge.weight = intersection;
                     events.handle_intersection_event(IntersectionEvent::new(
                         handle1,
@@ -711,39 +797,38 @@ impl NarrowPhase {
             + ComponentSet<RigidBodyDominance>,
         Colliders: ComponentSet<ColliderChanges>
             + ComponentSetOption<ColliderParent>
-            + ComponentSet<ColliderGroups>
             + ComponentSet<ColliderShape>
             + ComponentSet<ColliderPosition>
-            + ComponentSet<ColliderMaterial>,
+            + ComponentSet<ColliderMaterial>
+            + ComponentSet<ColliderFlags>,
     {
         if modified_colliders.is_empty() {
             return;
         }
 
         let query_dispatcher = &*self.query_dispatcher;
-        let active_hooks = hooks.active_hooks();
 
         // TODO: don't iterate on all the edges.
         par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
             let pair = &mut edge.weight;
 
-            let co_parent1: Option<&ColliderParent> = colliders.get(pair.pair.collider1.0);
-            let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1): (
+            let co_parent1: Option<&ColliderParent> = colliders.get(pair.collider1.0);
+            let (co_changes1, co_shape1, co_pos1, co_material1, co_flags1): (
                 &ColliderChanges,
-                &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
                 &ColliderMaterial,
-            ) = colliders.index_bundle(pair.pair.collider1.0);
+                &ColliderFlags,
+            ) = colliders.index_bundle(pair.collider1.0);
 
-            let co_parent2: Option<&ColliderParent> = colliders.get(pair.pair.collider2.0);
-            let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2): (
+            let co_parent2: Option<&ColliderParent> = colliders.get(pair.collider2.0);
+            let (co_changes2, co_shape2, co_pos2, co_material2, co_flags2): (
                 &ColliderChanges,
-                &ColliderGroups,
                 &ColliderShape,
                 &ColliderPosition,
                 &ColliderMaterial,
-            ) = colliders.index_bundle(pair.pair.collider2.0);
+                &ColliderFlags,
+            ) = colliders.index_bundle(pair.collider2.0);
 
             if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
             {
@@ -752,56 +837,40 @@ impl NarrowPhase {
             }
 
             // TODO: avoid lookup into bodies.
-            let (mut sleeping1, mut status1) = (true, RigidBodyType::Static);
-            let (mut sleeping2, mut status2) = (true, RigidBodyType::Static);
+            let mut rb_type1 = RigidBodyType::Static;
+            let mut rb_type2 = RigidBodyType::Static;
 
             if let Some(co_parent1) = co_parent1 {
-                let (rb_type1, rb_activation1): (&RigidBodyType, &RigidBodyActivation) =
-                    bodies.index_bundle(co_parent1.handle.0);
-                status1 = *rb_type1;
-                sleeping1 = rb_activation1.sleeping;
+                rb_type1 = *bodies.index(co_parent1.handle.0);
             }
 
             if let Some(co_parent2) = co_parent2 {
-                let (rb_type2, rb_activation2): (&RigidBodyType, &RigidBodyActivation) =
-                    bodies.index_bundle(co_parent2.handle.0);
-                status2 = *rb_type2;
-                sleeping2 = rb_activation2.sleeping;
+                rb_type2 = *bodies.index(co_parent2.handle.0);
             }
 
-            if (sleeping1 && status2.is_static())
-                || (sleeping2 && status1.is_static())
-                || (sleeping1 && sleeping2)
+            // Filter based on the rigid-body types.
+            if !co_flags1.active_collision_types.test(rb_type1, rb_type2)
+                && !co_flags2.active_collision_types.test(rb_type1, rb_type2)
             {
-                // No need to update this intersection because nothing moved.
                 return;
             }
 
-            if !co_groups1
-                .collision_groups
-                .test(co_groups2.collision_groups)
-            {
-                // The collision is not allowed.
+            // Filter based on collision groups.
+            if !co_flags1.collision_groups.test(co_flags2.collision_groups) {
                 return;
             }
 
-            if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
-                && !status1.is_dynamic()
-                && !status2.is_dynamic()
-            {
-                // Default filtering rule: no contact between two non-dynamic bodies.
-                return;
-            }
+            let active_hooks = co_flags1.active_hooks | co_flags2.active_hooks;
+            let active_events = co_flags1.active_events | co_flags2.active_events;
 
-            let mut solver_flags = if active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
-            {
+            let mut solver_flags = if active_hooks.contains(ActiveHooks::FILTER_CONTACT_PAIRS) {
                 let context = PairFilterContext {
                     bodies,
                     colliders,
                     rigid_body1: co_parent1.map(|p| p.handle),
                     rigid_body2: co_parent2.map(|p| p.handle),
-                    collider1: pair.pair.collider1,
-                    collider2: pair.pair.collider2,
+                    collider1: pair.collider1,
+                    collider2: pair.collider2,
                 };
 
                 if let Some(solver_flags) = hooks.filter_contact_pair(&context) {
@@ -811,10 +880,10 @@ impl NarrowPhase {
                     return;
                 }
             } else {
-                co_material1.solver_flags | co_material2.solver_flags
+                SolverFlags::default()
             };
 
-            if !co_groups1.solver_groups.test(co_groups2.solver_groups) {
+            if !co_flags1.solver_groups.test(co_flags2.solver_groups) {
                 solver_flags.remove(SolverFlags::COMPUTE_IMPULSES);
             }
 
@@ -865,7 +934,7 @@ impl NarrowPhase {
                 manifold.data.rigid_body2 = co_parent2.map(|p| p.handle);
                 manifold.data.solver_flags = solver_flags;
                 manifold.data.relative_dominance =
-                    dominance1.effective_group(&status1) - dominance2.effective_group(&status2);
+                    dominance1.effective_group(&rb_type1) - dominance2.effective_group(&rb_type2);
                 manifold.data.normal = world_pos1 * manifold.local_n1;
 
                 // Generate solver contacts.
@@ -896,12 +965,7 @@ impl NarrowPhase {
                 }
 
                 // Apply the user-defined contact modification.
-                if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
-                    && manifold
-                        .data
-                        .solver_flags
-                        .contains(SolverFlags::MODIFY_SOLVER_CONTACTS)
-                {
+                if active_hooks.contains(ActiveHooks::MODIFY_SOLVER_CONTACTS) {
                     let mut modifiable_solver_contacts =
                         std::mem::replace(&mut manifold.data.solver_contacts, Vec::new());
                     let mut modifiable_user_data = manifold.data.user_data;
@@ -912,8 +976,8 @@ impl NarrowPhase {
                         colliders,
                         rigid_body1: co_parent1.map(|p| p.handle),
                         rigid_body2: co_parent2.map(|p| p.handle),
-                        collider1: pair.pair.collider1,
-                        collider2: pair.pair.collider2,
+                        collider1: pair.collider1,
+                        collider2: pair.collider2,
                         manifold,
                         solver_contacts: &mut modifiable_solver_contacts,
                         normal: &mut modifiable_normal,
@@ -929,16 +993,18 @@ impl NarrowPhase {
             }
 
             if has_any_active_contact != pair.has_any_active_contact {
-                if has_any_active_contact {
-                    events.handle_contact_event(ContactEvent::Started(
-                        pair.pair.collider1,
-                        pair.pair.collider2,
-                    ));
-                } else {
-                    events.handle_contact_event(ContactEvent::Stopped(
-                        pair.pair.collider1,
-                        pair.pair.collider2,
-                    ));
+                if active_events.contains(ActiveEvents::CONTACT_EVENTS) {
+                    if has_any_active_contact {
+                        events.handle_contact_event(
+                            ContactEvent::Started(pair.collider1, pair.collider2),
+                            pair,
+                        );
+                    } else {
+                        events.handle_contact_event(
+                            ContactEvent::Stopped(pair.collider1, pair.collider2),
+                            pair,
+                        );
+                    }
                 }
 
                 pair.has_any_active_contact = has_any_active_contact;
@@ -972,7 +1038,7 @@ impl NarrowPhase {
                     .contains(SolverFlags::COMPUTE_IMPULSES)
                     && manifold.data.num_active_contacts() != 0
                 {
-                    let (active_island_id1, status1, sleeping1) =
+                    let (active_island_id1, rb_type1, sleeping1) =
                         if let Some(handle1) = manifold.data.rigid_body1 {
                             let data: (&RigidBodyIds, &RigidBodyType, &RigidBodyActivation) =
                                 bodies.index_bundle(handle1.0);
@@ -981,7 +1047,7 @@ impl NarrowPhase {
                             (0, RigidBodyType::Static, true)
                         };
 
-                    let (active_island_id2, status2, sleeping2) =
+                    let (active_island_id2, rb_type2, sleeping2) =
                         if let Some(handle2) = manifold.data.rigid_body2 {
                             let data: (&RigidBodyIds, &RigidBodyType, &RigidBodyActivation) =
                                 bodies.index_bundle(handle2.0);
@@ -990,11 +1056,11 @@ impl NarrowPhase {
                             (0, RigidBodyType::Static, true)
                         };
 
-                    if (status1.is_dynamic() || status2.is_dynamic())
-                        && (!status1.is_dynamic() || !sleeping1)
-                        && (!status2.is_dynamic() || !sleeping2)
+                    if (rb_type1.is_dynamic() || rb_type2.is_dynamic())
+                        && (!rb_type1.is_dynamic() || !sleeping1)
+                        && (!rb_type2.is_dynamic() || !sleeping2)
                     {
-                        let island_index = if !status1.is_dynamic() {
+                        let island_index = if !rb_type1.is_dynamic() {
                             active_island_id2
                         } else {
                             active_island_id1
diff --git a/src/lib.rs b/src/lib.rs
index 79abaa5..1f32608 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -149,3 +149,12 @@ pub mod math {
     #[cfg(feature = "dim3")]
     pub const MAX_MANIFOLD_POINTS: usize = 4;
 }
+
+/// Prelude containing the common types defined by Rapier.
+pub mod prelude {
+    pub use crate::dynamics::*;
+    pub use crate::geometry::*;
+    pub use crate::math::*;
+    pub use crate::pipeline::*;
+    pub use na::{point, vector, DMatrix, DVector};
+}
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs
index 455e75d..d789da7 100644
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -6,7 +6,7 @@ use crate::dynamics::{
     RigidBodyIds, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
 };
 use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderGroups,
+    BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
     ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition,
     ColliderShape, ColliderType, NarrowPhase,
 };
@@ -65,8 +65,8 @@ impl CollisionPipeline {
             + ComponentSet<ColliderShape>
             + ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderType>
-            + ComponentSet<ColliderGroups>
-            + ComponentSet<ColliderMaterial>,
+            + ComponentSet<ColliderMaterial>
+            + ComponentSet<ColliderFlags>,
     {
         // Update broad-phase.
         self.broad_phase_events.clear();
@@ -172,8 +172,8 @@ impl CollisionPipeline {
             + ComponentSet<ColliderShape>
             + ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderType>
-            + ComponentSet<ColliderGroups>
-            + ComponentSet<ColliderMaterial>,
+            + ComponentSet<ColliderMaterial>
+            + ComponentSet<ColliderFlags>,
     {
         super::user_changes::handle_user_changes_to_colliders(
             bodies,
diff --git a/src/pipeline/event_handler.rs b/src/pipeline/event_handler.rs
index 9d7b17a..c54acc2 100644
--- a/src/pipeline/event_handler.rs
+++ b/src/pipeline/event_handler.rs
@@ -1,6 +1,23 @@
-use crate::geometry::{ContactEvent, IntersectionEvent};
+use crate::geometry::{ContactEvent, ContactPair, IntersectionEvent};
 use crossbeam::channel::Sender;
 
+bitflags::bitflags! {
+    #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+    /// Flags affecting the events generated for this collider.
+    pub struct ActiveEvents: u32 {
+        /// If set, Rapier will call `EventHandler::handle_intersection_event` whenever relevant for this collider.
+        const INTERSECTION_EVENTS = 0b0001;
+        /// If set, Rapier will call `PhysicsHooks::handle_contact_event` whenever relevant for this collider.
+        const CONTACT_EVENTS = 0b0010;
+    }
+}
+
+impl Default for ActiveEvents {
+    fn default() -> Self {
+        ActiveEvents::empty()
+    }
+}
+
 /// Trait implemented by structures responsible for handling events generated by the physics engine.
 ///
 /// Implementors of this trait will typically collect these events for future processing.
@@ -13,12 +30,12 @@ pub trait EventHandler: Send + Sync {
     ///
     /// A contact event is emitted when two collider start or stop touching, independently from the
     /// number of contact points involved.
-    fn handle_contact_event(&self, event: ContactEvent);
+    fn handle_contact_event(&self, event: ContactEvent, contact_pair: &ContactPair);
 }
 
 impl EventHandler for () {
     fn handle_intersection_event(&self, _event: IntersectionEvent) {}
-    fn handle_contact_event(&self, _event: ContactEvent) {}
+    fn handle_contact_event(&self, _event: ContactEvent, _contact_pair: &ContactPair) {}
 }
 
 /// A physics event handler that collects events into a crossbeam channel.
@@ -45,7 +62,7 @@ impl EventHandler for ChannelEventCollector {
         let _ = self.intersection_event_sender.send(event);
     }
 
-    fn handle_contact_event(&self, event: ContactEvent) {
+    fn handle_contact_event(&self, event: ContactEvent, _: &ContactPair) {
         let _ = self.contact_event_sender.send(event);
     }
 }
diff --git a/src/pipeline/mod.rs b/src/pipeline/mod.rs
index ad288d6..2c0393e 100644
--- a/src/pipeline/mod.rs
+++ b/src/pipeline/mod.rs
@@ -1,10 +1,8 @@
 //! Structure for combining the various physics components to perform an actual simulation.
 
 pub use collision_pipeline::CollisionPipeline;
-pub use event_handler::{ChannelEventCollector, EventHandler};
-pub use physics_hooks::{
-    ContactModificationContext, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
-};
+pub use event_handler::{ActiveEvents, ChannelEventCollector, EventHandler};
+pub use physics_hooks::{ActiveHooks, ContactModificationContext, PairFilterContext, PhysicsHooks};
 pub use physics_pipeline::PhysicsPipeline;
 pub use query_pipeline::{QueryPipeline, QueryPipelineMode};
 
diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs
index c4ef245..68a05d1 100644
--- a/src/pipeline/physics_hooks.rs
+++ b/src/pipeline/physics_hooks.rs
@@ -118,30 +118,54 @@ impl<'a, Bodies, Colliders> ContactModificationContext<'a, Bodies, Colliders> {
 bitflags::bitflags! {
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     /// Flags affecting the behavior of the constraints solver for a given contact manifold.
-    pub struct PhysicsHooksFlags: u32 {
+    pub struct ActiveHooks: u32 {
         /// If set, Rapier will call `PhysicsHooks::filter_contact_pair` whenever relevant.
-        const FILTER_CONTACT_PAIR = 0b0001;
+        const FILTER_CONTACT_PAIRS = 0b0001;
         /// If set, Rapier will call `PhysicsHooks::filter_intersection_pair` whenever relevant.
         const FILTER_INTERSECTION_PAIR = 0b0010;
         /// If set, Rapier will call `PhysicsHooks::modify_solver_contact` whenever relevant.
         const MODIFY_SOLVER_CONTACTS = 0b0100;
     }
 }
-impl Default for PhysicsHooksFlags {
+impl Default for ActiveHooks {
     fn default() -> Self {
-        PhysicsHooksFlags::empty()
+        ActiveHooks::empty()
+    }
+}
+
+// TODO: right now, the wasm version don't have the Send+Sync bounds.
+//       This is because these bounds are very difficult to fulfill if we want to
+//       call JS closures. Also, parallelism cannot be enabled for wasm targets, so
+//       not having Send+Sync isn't a problem.
+/// User-defined functions called by the physics engines during one timestep in order to customize its behavior.
+#[cfg(target_arch = "wasm32")]
+pub trait PhysicsHooks<Bodies, Colliders> {
+    /// Applies the contact pair filter.
+    fn filter_contact_pair(
+        &self,
+        _context: &PairFilterContext<Bodies, Colliders>,
+    ) -> Option<SolverFlags> {
+        None
+    }
+
+    /// Applies the intersection pair filter.
+    fn filter_intersection_pair(&self, _context: &PairFilterContext<Bodies, Colliders>) -> bool {
+        false
+    }
+
+    /// Modifies the set of contacts seen by the constraints solver.
+    fn modify_solver_contacts(&self, _context: &mut ContactModificationContext<Bodies, Colliders>) {
     }
 }
 
 /// User-defined functions called by the physics engines during one timestep in order to customize its behavior.
+#[cfg(not(target_arch = "wasm32"))]
 pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
-    /// The sets of hooks that must be taken into account.
-    fn active_hooks(&self) -> PhysicsHooksFlags;
-
     /// Applies the contact pair filter.
     ///
-    /// Note that this method will only be called if `self.active_hooks()`
-    /// contains the `PhysicsHooksFlags::FILTER_CONTACT_PAIR` flags.
+    /// Note that this method will only be called if at least one of the colliders
+    /// involved in the contact contains the `ActiveHooks::FILTER_CONTACT_PAIRS` flags
+    /// in its physics hooks flags.
     ///
     /// User-defined filter for potential contact pairs detected by the broad-phase.
     /// This can be used to apply custom logic in order to decide whether two colliders
@@ -165,13 +189,14 @@ pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
         &self,
         _context: &PairFilterContext<Bodies, Colliders>,
     ) -> Option<SolverFlags> {
-        None
+        Some(SolverFlags::COMPUTE_IMPULSES)
     }
 
     /// Applies the intersection pair filter.
     ///
-    /// Note that this method will only be called if `self.active_hooks()`
-    /// contains the `PhysicsHooksFlags::FILTER_INTERSECTION_PAIR` flags.
+    /// Note that this method will only be called if at least one of the colliders
+    /// involved in the contact contains the `ActiveHooks::FILTER_INTERSECTION_PAIR` flags
+    /// in its physics hooks flags.
     ///
     /// User-defined filter for potential intersection pairs detected by the broad-phase.
     ///
@@ -188,13 +213,14 @@ pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
     /// If this return `true` then the narrow-phase will compute intersection
     /// information for this pair.
     fn filter_intersection_pair(&self, _context: &PairFilterContext<Bodies, Colliders>) -> bool {
-        false
+        true
     }
 
     /// Modifies the set of contacts seen by the constraints solver.
     ///
-    /// Note that this method will only be called if `self.active_hooks()`
-    /// contains the `PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS` flags.
+    /// Note that this method will only be called if at least one of the colliders
+    /// involved in the contact contains the `ActiveHooks::MODIFY_SOLVER_CONTACTS` flags
+    /// in its physics hooks flags.
     ///
     /// By default, the content of `solver_contacts` is computed from `manifold.points`.
     /// This method will be called on each contact manifold which have the flag `SolverFlags::modify_solver_contacts` set.
@@ -220,16 +246,15 @@ pub trait PhysicsHooks<Bodies, Colliders>: Send + Sync {
 }
 
 impl<Bodies, Colliders> PhysicsHooks<Bodies, Colliders> for () {
-    fn active_hooks(&self) -> PhysicsHooksFlags {
-        PhysicsHooksFlags::empty()
-    }
-
-    fn filter_contact_pair(&self, _: &PairFilterContext<Bodies, Colliders>) -> Option<SolverFlags> {
-        None
+    fn filter_contact_pair(
+        &self,
+        _context: &PairFilterContext<Bodies, Colliders>,
+    ) -> Option<SolverFlags> {
+        Some(SolverFlags::default())
     }
 
     fn filter_intersection_pair(&self, _: &PairFilterContext<Bodies, Colliders>) -> bool {
-        false
+        true
     }
 
     fn modify_solver_contacts(&self, _: &mut ContactModificationContext<Bodies, Colliders>) {}
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 2f2a95d..a83240e 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -13,7 +13,7 @@ use crate::dynamics::{
 #[cfg(feature = "parallel")]
 use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
 use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderGroups,
+    BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
     ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition,
     ColliderShape, ColliderType, ContactManifoldIndex, NarrowPhase,
 };
@@ -103,8 +103,8 @@ impl PhysicsPipeline {
             + ComponentSet<ColliderShape>
             + ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderType>
-            + ComponentSet<ColliderGroups>
-            + ComponentSet<ColliderMaterial>,
+            + ComponentSet<ColliderMaterial>
+            + ComponentSet<ColliderFlags>,
     {
         self.counters.stages.collision_detection_time.resume();
         self.counters.cd.broad_phase_time.resume();
@@ -365,7 +365,8 @@ impl PhysicsPipeline {
         Colliders: ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>
-            + ComponentSet<ColliderType>,
+            + ComponentSet<ColliderType>
+            + ComponentSet<ColliderFlags>,
     {
         self.counters.ccd.toi_computation_time.start();
         // Handle CCD
@@ -428,7 +429,10 @@ impl PhysicsPipeline {
         islands: &IslandManager,
         bodies: &mut Bodies,
     ) where
-        Bodies: ComponentSetMut<RigidBodyVelocity> + ComponentSet<RigidBodyPosition>,
+        Bodies: ComponentSetMut<RigidBodyVelocity>
+            + ComponentSetMut<RigidBodyPosition>
+            + ComponentSet<RigidBodyType>
+            + ComponentSet<RigidBodyMassProps>,
     {
         // Update kinematic bodies velocities.
         // TODO: what is the best place for this? It should at least be
@@ -436,9 +440,31 @@ impl PhysicsPipeline {
         // there to determine if this kinematic body should wake-up dynamic
         // bodies it is touching.
         for handle in islands.active_kinematic_bodies() {
-            let ppos: &RigidBodyPosition = bodies.index(handle.0);
-            let new_vel = ppos.interpolate_velocity(integration_parameters.inv_dt());
-            bodies.set_internal(handle.0, new_vel);
+            let (rb_type, rb_pos, rb_vel, rb_mprops): (
+                &RigidBodyType,
+                &RigidBodyPosition,
+                &RigidBodyVelocity,
+                &RigidBodyMassProps,
+            ) = bodies.index_bundle(handle.0);
+
+            match rb_type {
+                RigidBodyType::KinematicPositionBased => {
+                    let rb_pos: &RigidBodyPosition = bodies.index(handle.0);
+                    let new_vel = rb_pos.interpolate_velocity(integration_parameters.inv_dt());
+                    bodies.set_internal(handle.0, new_vel);
+                }
+                RigidBodyType::KinematicVelocityBased => {
+                    let new_pos = rb_vel.integrate(
+                        integration_parameters.dt,
+                        &rb_pos.position,
+                        // NOTE: we don't use the `world_com` here because it is not
+                        //       really updated for kinematic bodies.
+                        &(rb_pos.position * rb_mprops.local_mprops.local_com),
+                    );
+                    bodies.set_internal(handle.0, RigidBodyPosition::from(new_pos));
+                }
+                _ => {}
+            }
         }
     }
 
@@ -519,8 +545,8 @@ impl PhysicsPipeline {
             + ComponentSet<ColliderShape>
             + ComponentSetOption<ColliderParent>
             + ComponentSet<ColliderType>
-            + ComponentSet<ColliderGroups>
-            + ComponentSet<ColliderMaterial>,
+            + ComponentSet<ColliderMaterial>
+            + ComponentSet<ColliderFlags>,
     {
         self.counters.reset();
         self.counters.step_started();
@@ -719,12 +745,12 @@ mod test {
         let rb = RigidBodyBuilder::new_static().build();
         let h1 = bodies.insert(rb.clone());
         let co = ColliderBuilder::ball(10.0).build();
-        colliders.insert(co.clone(), h1, &mut bodies);
+        colliders.insert_with_parent(co.clone(), h1, &mut bodies);
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic().build();
+        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
         let h2 = bodies.insert(rb.clone());
-        colliders.insert(co, h2, &mut bodies);
+        colliders.insert_with_parent(co, h2, &mut bodies);
 
         pipeline.step(
             &Vector::zeros(),
@@ -760,7 +786,7 @@ mod test {
         let h2 = bodies.insert(rb.clone());
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic().build();
+        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
         let h3 = bodies.insert(rb.clone());
 
         // The same but with a static body.
@@ -838,7 +864,7 @@ mod test {
         let body = RigidBodyBuilder::new_dynamic().build();
         let b_handle = bodies.insert(body);
         let collider = ColliderBuilder::ball(1.0).build();
-        let c_handle = colliders.insert(collider, b_handle, &mut bodies);
+        let c_handle = colliders.insert_with_parent(collider, b_handle, &mut bodies);
         colliders.remove(c_handle, &mut islands, &mut bodies, true);
         bodies.remove(b_handle, &mut islands, &mut colliders, &mut joints);
 
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
index 31bf3a4..733d767 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline.rs
@@ -4,7 +4,7 @@ use crate::dynamics::{
     RigidBodyVelocity,
 };
 use crate::geometry::{
-    ColliderGroups, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape,
+    ColliderFlags, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape,
     InteractionGroups, PointProjection, Ray, RayIntersection, AABB, QBVH,
 };
 use crate::math::{Isometry, Point, Real, Vector};
@@ -67,7 +67,7 @@ impl<'a, Colliders> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a
 where
     // TODO ECS: make everything optional but the shape?
     Colliders:
-        ComponentSet<ColliderGroups> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape>,
+        ComponentSet<ColliderFlags> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape>,
 {
     type PartShape = dyn Shape;
     type PartId = ColliderHandle;
@@ -77,10 +77,10 @@ where
         shape_id: Self::PartId,
         mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
     ) {
-        let co_groups: Option<&ColliderGroups> = self.colliders.get(shape_id.0);
+        let co_flags: Option<&ColliderFlags> = self.colliders.get(shape_id.0);
 
-        if let Some(co_groups) = co_groups {
-            if co_groups.collision_groups.test(self.query_groups)
+        if let Some(co_flags) = co_flags {
+            if co_flags.collision_groups.test(self.query_groups)
                 && self.filter.map(|f| f(shape_id)).unwrap_or(true)
             {
                 let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
@@ -384,7 +384,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
     ) -> Option<(ColliderHandle, Real)>
     where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -420,7 +420,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
     ) -> Option<(ColliderHandle, RayIntersection)>
     where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -463,16 +463,16 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
         mut callback: impl FnMut(ColliderHandle, RayIntersection) -> bool,
     ) where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
         let mut leaf_callback = &mut |handle: &ColliderHandle| {
             let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
             if let Some(co_shape) = co_shape {
-                let (co_groups, co_pos): (&ColliderGroups, &ColliderPosition) =
+                let (co_flags, co_pos): (&ColliderFlags, &ColliderPosition) =
                     colliders.index_bundle(handle.0);
-                if co_groups.collision_groups.test(query_groups)
+                if co_flags.collision_groups.test(query_groups)
                     && filter.map(|f| f(*handle)).unwrap_or(true)
                 {
                     if let Some(hit) = co_shape.cast_ray_and_get_normal(co_pos, ray, max_toi, solid)
@@ -509,7 +509,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
     ) -> Option<ColliderHandle>
     where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -550,7 +550,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
     ) -> Option<(ColliderHandle, PointProjection)>
     where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -583,7 +583,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
         mut callback: impl FnMut(ColliderHandle) -> bool,
     ) where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -591,10 +591,10 @@ impl QueryPipeline {
             let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
 
             if let Some(co_shape) = co_shape {
-                let (co_groups, co_pos): (&ColliderGroups, &ColliderPosition) =
+                let (co_flags, co_pos): (&ColliderFlags, &ColliderPosition) =
                     colliders.index_bundle(handle.0);
 
-                if co_groups.collision_groups.test(query_groups)
+                if co_flags.collision_groups.test(query_groups)
                     && filter.map(|f| f(*handle)).unwrap_or(true)
                     && co_shape.contains_point(co_pos, point)
                 {
@@ -635,7 +635,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
     ) -> Option<(ColliderHandle, PointProjection, FeatureId)>
     where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -685,7 +685,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
     ) -> Option<(ColliderHandle, TOI)>
     where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -733,7 +733,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
     ) -> Option<(ColliderHandle, TOI)>
     where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -774,7 +774,7 @@ impl QueryPipeline {
         filter: Option<&dyn Fn(ColliderHandle) -> bool>,
         mut callback: impl FnMut(ColliderHandle) -> bool,
     ) where
-        Colliders: ComponentSet<ColliderGroups>
+        Colliders: ComponentSet<ColliderFlags>
             + ComponentSet<ColliderPosition>
             + ComponentSet<ColliderShape>,
     {
@@ -785,10 +785,10 @@ impl QueryPipeline {
             let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
 
             if let Some(co_shape) = co_shape {
-                let (co_groups, co_pos): (&ColliderGroups, &ColliderPosition) =
+                let (co_flags, co_pos): (&ColliderFlags, &ColliderPosition) =
                     colliders.index_bundle(handle.0);
 
-                if co_groups.collision_groups.test(query_groups)
+                if co_flags.collision_groups.test(query_groups)
                     && filter.map(|f| f(*handle)).unwrap_or(true)
                 {
                     let pos12 = inv_shape_pos * co_pos.as_ref();
diff --git a/src/pipeline/user_changes.rs b/src/pipeline/user_changes.rs
index 99c5cfe..699361c 100644
--- a/src/pipeline/user_changes.rs
+++ b/src/pipeline/user_changes.rs
@@ -100,7 +100,8 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
                             // the active_dynamic_set.
                             changes.set(RigidBodyChanges::SLEEP, true);
                         }
-                        RigidBodyType::Kinematic => {
+                        RigidBodyType::KinematicVelocityBased
+                        | RigidBodyType::KinematicPositionBased => {
                             // Remove from the active dynamic set if it was there.
                             if islands.active_dynamic_set.get(ids.active_set_id) == Some(&handle) {
                                 islands.active_dynamic_set.swap_remove(ids.active_set_id);
diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs
index db0f846..f0bffa3 100644
--- a/src_testbed/box2d_backend.rs
+++ b/src_testbed/box2d_backend.rs
@@ -87,9 +87,11 @@ impl Box2dWorld {
 
     fn insert_colliders(&mut self, colliders: &ColliderSet) {
         for (_, collider) in colliders.iter() {
-            let b2_body_handle = self.rapier2box2d[&collider.parent()];
-            let mut b2_body = self.world.body_mut(b2_body_handle);
-            Self::create_fixture(&collider, &mut *b2_body);
+            if let Some(parent) = collider.parent() {
+                let b2_body_handle = self.rapier2box2d[&parent];
+                let mut b2_body = self.world.body_mut(b2_body_handle);
+                Self::create_fixture(&collider, &mut *b2_body);
+            }
         }
     }
 
@@ -122,8 +124,8 @@ impl Box2dWorld {
                         body_a,
                         body_b,
                         collide_connected: true,
-                        local_anchor_a: na_vec_to_b2_vec(params.local_anchor1.translation.vector),
-                        local_anchor_b: na_vec_to_b2_vec(params.local_anchor2.translation.vector),
+                        local_anchor_a: na_vec_to_b2_vec(params.local_frame1.translation.vector),
+                        local_anchor_b: na_vec_to_b2_vec(params.local_frame2.translation.vector),
                         reference_angle: 0.0,
                         frequency: 0.0,
                         damping_ratio: 0.0,
@@ -155,7 +157,14 @@ impl Box2dWorld {
     }
 
     fn create_fixture(collider: &Collider, body: &mut b2::MetaBody<NoUserData>) {
-        let center = na_vec_to_b2_vec(collider.position_wrt_parent().translation.vector);
+        let center = na_vec_to_b2_vec(
+            collider
+                .position_wrt_parent()
+                .copied()
+                .unwrap_or(na::one())
+                .translation
+                .vector,
+        );
         let mut fixture_def = b2::FixtureDef::new();
 
         fixture_def.restitution = collider.material().restitution;
@@ -230,7 +239,9 @@ impl Box2dWorld {
 
                 for coll_handle in body.colliders() {
                     let collider = &mut colliders[*coll_handle];
-                    collider.set_position_debug(pos * collider.position_wrt_parent());
+                    collider.set_position(
+                        pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
+                    );
                 }
             }
         }
diff --git a/src_testbed/camera.rs b/src_testbed/camera2d.rs
similarity index 97%
rename from src_testbed/camera.rs
rename to src_testbed/camera2d.rs
index 529e6c7..81b3263 100644
--- a/src_testbed/camera.rs
+++ b/src_testbed/camera2d.rs
@@ -1,5 +1,6 @@
 // NOTE: this is inspired from the `bevy-orbit-controls` projects but
 //       with some modifications like Panning, and 2D support.
+//       Most of these modifications have been contributed upstream.
 use bevy::input::mouse::MouseMotion;
 use bevy::input::mouse::MouseScrollUnit::{Line, Pixel};
 use bevy::input::mouse::MouseWheel;
diff --git a/src_testbed/camera3d.rs b/src_testbed/camera3d.rs
new file mode 100644
index 0000000..602ef31
--- /dev/null
+++ b/src_testbed/camera3d.rs
@@ -0,0 +1,121 @@
+// NOTE: this is mostly taken from the `iMplode-nZ/bevy-orbit-controls` projects but
+//       with some modifications like Panning, and 2D support.
+//       Most of these modifications have been contributed upstream.
+
+use bevy::input::mouse::MouseMotion;
+use bevy::input::mouse::MouseScrollUnit::{Line, Pixel};
+use bevy::input::mouse::MouseWheel;
+use bevy::prelude::*;
+use bevy::render::camera::Camera;
+use std::ops::RangeInclusive;
+
+const LINE_TO_PIXEL_RATIO: f32 = 0.1;
+
+pub struct OrbitCamera {
+    pub x: f32,
+    pub y: f32,
+    pub pitch_range: RangeInclusive<f32>,
+    pub distance: f32,
+    pub center: Vec3,
+    pub rotate_sensitivity: f32,
+    pub pan_sensitivity: f32,
+    pub zoom_sensitivity: f32,
+    pub rotate_button: MouseButton,
+    pub pan_button: MouseButton,
+    pub enabled: bool,
+}
+
+impl Default for OrbitCamera {
+    fn default() -> Self {
+        OrbitCamera {
+            x: 0.0,
+            y: std::f32::consts::FRAC_PI_2,
+            pitch_range: 0.01..=3.13,
+            distance: 5.0,
+            center: Vec3::ZERO,
+            rotate_sensitivity: 1.0,
+            pan_sensitivity: 1.0,
+            zoom_sensitivity: 0.8,
+            rotate_button: MouseButton::Left,
+            pan_button: MouseButton::Right,
+            enabled: true,
+        }
+    }
+}
+
+pub struct OrbitCameraPlugin;
+impl OrbitCameraPlugin {
+    fn update_transform_system(
+        mut query: Query<(&OrbitCamera, &mut Transform), (Changed<OrbitCamera>, With<Camera>)>,
+    ) {
+        for (camera, mut transform) in query.iter_mut() {
+            if camera.enabled {
+                let rot = Quat::from_axis_angle(Vec3::Y, camera.x)
+                    * Quat::from_axis_angle(-Vec3::X, camera.y);
+                transform.translation = (rot * Vec3::Y) * camera.distance + camera.center;
+                transform.look_at(camera.center, Vec3::Y);
+            }
+        }
+    }
+
+    fn mouse_motion_system(
+        time: Res<Time>,
+        mut mouse_motion_events: EventReader<MouseMotion>,
+        mouse_button_input: Res<Input<MouseButton>>,
+        mut query: Query<(&mut OrbitCamera, &mut Transform, &mut Camera)>,
+    ) {
+        let mut delta = Vec2::ZERO;
+        for event in mouse_motion_events.iter() {
+            delta += event.delta;
+        }
+        for (mut camera, transform, _) in query.iter_mut() {
+            if !camera.enabled {
+                continue;
+            }
+
+            if mouse_button_input.pressed(camera.rotate_button) {
+                camera.x -= delta.x * camera.rotate_sensitivity * time.delta_seconds();
+                camera.y -= delta.y * camera.rotate_sensitivity * time.delta_seconds();
+                camera.y = camera
+                    .y
+                    .max(*camera.pitch_range.start())
+                    .min(*camera.pitch_range.end());
+            }
+
+            if mouse_button_input.pressed(camera.pan_button) {
+                let right_dir = transform.rotation * -Vec3::X;
+                let up_dir = transform.rotation * Vec3::Y;
+                let pan_vector = (delta.x * right_dir + delta.y * up_dir)
+                    * camera.pan_sensitivity
+                    * time.delta_seconds();
+                camera.center += pan_vector;
+            }
+        }
+    }
+
+    fn zoom_system(
+        mut mouse_wheel_events: EventReader<MouseWheel>,
+        mut query: Query<&mut OrbitCamera, With<Camera>>,
+    ) {
+        let mut total = 0.0;
+        for event in mouse_wheel_events.iter() {
+            total += event.y
+                * match event.unit {
+                    Line => 1.0,
+                    Pixel => LINE_TO_PIXEL_RATIO,
+                };
+        }
+        for mut camera in query.iter_mut() {
+            if camera.enabled {
+                camera.distance *= camera.zoom_sensitivity.powf(total);
+            }
+        }
+    }
+}
+impl Plugin for OrbitCameraPlugin {
+    fn build(&self, app: &mut AppBuilder) {
+        app.add_system(Self::mouse_motion_system.system())
+            .add_system(Self::zoom_system.system())
+            .add_system(Self::update_transform_system.system());
+    }
+}
diff --git a/src_testbed/graphics.rs b/src_testbed/graphics.rs
index 2e3d695..060798c 100644
--- a/src_testbed/graphics.rs
+++ b/src_testbed/graphics.rs
@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use na::Point3;
+use na::{point, Point3};
 
 use crate::math::Isometry;
 use crate::objects::node::EntityWithGraphics;
@@ -34,7 +34,7 @@ impl GraphicsManager {
             b2sn: HashMap::new(),
             b2color: HashMap::new(),
             c2color: HashMap::new(),
-            ground_color: Point3::new(0.5, 0.5, 0.5),
+            ground_color: point![0.5, 0.5, 0.5],
             b2wireframe: HashMap::new(),
             prefab_meshes: HashMap::new(),
         }
@@ -57,9 +57,10 @@ impl GraphicsManager {
     pub fn remove_collider_nodes(
         &mut self,
         commands: &mut Commands,
-        body: RigidBodyHandle,
+        body: Option<RigidBodyHandle>,
         collider: ColliderHandle,
     ) {
+        let body = body.unwrap_or(RigidBodyHandle::invalid());
         if let Some(sns) = self.b2sn.get_mut(&body) {
             for sn in sns.iter_mut() {
                 if sn.collider == collider {
@@ -83,23 +84,23 @@ impl GraphicsManager {
         &mut self,
         materials: &mut Assets<StandardMaterial>,
         b: RigidBodyHandle,
-        color: Point3<f32>,
+        color: [f32; 3],
     ) {
-        self.b2color.insert(b, color);
+        self.b2color.insert(b, color.into());
 
         if let Some(ns) = self.b2sn.get_mut(&b) {
             for n in ns.iter_mut() {
-                n.set_color(materials, color)
+                n.set_color(materials, color.into())
             }
         }
     }
 
-    pub fn set_initial_body_color(&mut self, b: RigidBodyHandle, color: Point3<f32>) {
-        self.b2color.insert(b, color);
+    pub fn set_initial_body_color(&mut self, b: RigidBodyHandle, color: [f32; 3]) {
+        self.b2color.insert(b, color.into());
     }
 
-    pub fn set_initial_collider_color(&mut self, c: ColliderHandle, color: Point3<f32>) {
-        self.c2color.insert(c, color);
+    pub fn set_initial_collider_color(&mut self, c: ColliderHandle, color: [f32; 3]) {
+        self.c2color.insert(c, color.into());
     }
 
     pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
@@ -118,18 +119,18 @@ impl GraphicsManager {
         }
     }
 
-    pub fn toggle_wireframe_mode(&mut self, colliders: &ColliderSet, _enabled: bool) {
-        for n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
-            let _force_wireframe = if let Some(collider) = colliders.get(n.collider) {
-                collider.is_sensor()
-                    || self
-                        .b2wireframe
-                        .get(&collider.parent())
-                        .cloned()
-                        .unwrap_or(false)
-            } else {
-                false
-            };
+    pub fn toggle_wireframe_mode(&mut self, _colliders: &ColliderSet, _enabled: bool) {
+        for _n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
+            // let _force_wireframe = if let Some(collider) = colliders.get(n.collider) {
+            //     collider.is_sensor()
+            //         || self
+            //             .b2wireframe
+            //             .get(&collider.parent())
+            //             .cloned()
+            //             .unwrap_or(false)
+            // } else {
+            //     false
+            // };
 
             // if let Some(node) = n.scene_node_mut() {
             //     if force_wireframe || enabled {
@@ -171,7 +172,7 @@ impl GraphicsManager {
             }
         }
 
-        self.set_body_color(materials, handle, color);
+        self.set_body_color(materials, handle, color.into());
 
         color
     }
@@ -257,10 +258,10 @@ impl GraphicsManager {
         colliders: &ColliderSet,
     ) {
         let collider = &colliders[handle];
-        let color = *self.b2color.get(&collider.parent()).unwrap();
+        let collider_parent = collider.parent().unwrap_or(RigidBodyHandle::invalid());
+        let color = *self.b2color.get(&collider_parent).unwrap();
         let color = self.c2color.get(&handle).copied().unwrap_or(color);
-        let mut nodes =
-            std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new());
+        let mut nodes = std::mem::replace(self.b2sn.get_mut(&collider_parent).unwrap(), Vec::new());
         self.do_add_shape(
             commands,
             meshes,
@@ -273,7 +274,7 @@ impl GraphicsManager {
             color,
             &mut nodes,
         );
-        self.b2sn.insert(collider.parent(), nodes);
+        self.b2sn.insert(collider_parent, nodes);
     }
 
     fn do_add_shape(
@@ -338,9 +339,9 @@ impl GraphicsManager {
                 //
                 //     if bo.is_dynamic() {
                 //         if bo.is_ccd_active() {
-                //             n.set_color(Point3::new(1.0, 0.0, 0.0));
+                //             n.set_color(point![1.0, 0.0, 0.0]);
                 //         } else {
-                //             n.set_color(Point3::new(0.0, 1.0, 0.0));
+                //             n.set_color(point![0.0, 1.0, 0.0]);
                 //         }
                 //     }
                 // }
@@ -365,9 +366,9 @@ impl GraphicsManager {
     //                 let y = rotmat.column(1) * 0.25f32;
     //                 let z = rotmat.column(2) * 0.25f32;
 
-    //                 window.draw_line(center, &(*center + x), &Point3::new(1.0, 0.0, 0.0));
-    //                 window.draw_line(center, &(*center + y), &Point3::new(0.0, 1.0, 0.0));
-    //                 window.draw_line(center, &(*center + z), &Point3::new(0.0, 0.0, 1.0));
+    //                 window.draw_line(center, &(*center + x), &point![1.0, 0.0, 0.0]);
+    //                 window.draw_line(center, &(*center + y), &point![0.0, 1.0, 0.0]);
+    //                 window.draw_line(center, &(*center + z), &point![0.0, 0.0, 1.0]);
     //             // }
     //         }
     //     }
diff --git a/src_testbed/lib.rs b/src_testbed/lib.rs
index db362cc..c2c6797 100644
--- a/src_testbed/lib.rs
+++ b/src_testbed/lib.rs
@@ -31,7 +31,10 @@ pub use crate::testbed::{Testbed, TestbedApp, TestbedGraphics};
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 mod box2d_backend;
-mod camera;
+#[cfg(feature = "dim2")]
+mod camera2d;
+#[cfg(feature = "dim3")]
+mod camera3d;
 mod graphics;
 pub mod harness;
 #[cfg(feature = "other-backends")]
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index 2657b19..c7d6c0e 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -55,15 +55,17 @@ impl NPhysicsWorld {
         }
 
         for (_, collider) in colliders.iter() {
-            let parent = &bodies[collider.parent()];
-            let nphysics_rb_handle = rapier2nphysics[&collider.parent()];
-            if let Some(collider) =
-                nphysics_collider_from_rapier_collider(&collider, parent.is_dynamic())
-            {
-                let nphysics_collider = collider.build(BodyPartHandle(nphysics_rb_handle, 0));
-                nphysics_colliders.insert(nphysics_collider);
-            } else {
-                eprintln!("Creating shape unknown to the nphysics backend.")
+            if let Some(parent_handle) = collider.parent() {
+                let parent = &bodies[parent_handle];
+                let nphysics_rb_handle = rapier2nphysics[&parent_handle];
+                if let Some(collider) =
+                    nphysics_collider_from_rapier_collider(&collider, parent.is_dynamic())
+                {
+                    let nphysics_collider = collider.build(BodyPartHandle(nphysics_rb_handle, 0));
+                    nphysics_colliders.insert(nphysics_collider);
+                } else {
+                    eprintln!("Creating shape unknown to the nphysics backend.")
+                }
             }
         }
 
@@ -76,10 +78,10 @@ impl NPhysicsWorld {
                     let c = FixedConstraint::new(
                         b1,
                         b2,
-                        params.local_anchor1.translation.vector.into(),
-                        params.local_anchor1.rotation,
-                        params.local_anchor2.translation.vector.into(),
-                        params.local_anchor2.rotation,
+                        params.local_frame1.translation.vector.into(),
+                        params.local_frame1.rotation,
+                        params.local_frame2.translation.vector.into(),
+                        params.local_frame2.rotation,
                     );
                     nphysics_joints.insert(c);
                 }
@@ -172,7 +174,9 @@ impl NPhysicsWorld {
 
             for coll_handle in rb.colliders() {
                 let collider = &mut colliders[*coll_handle];
-                collider.set_position_debug(pos * collider.position_wrt_parent());
+                collider.set_position(
+                    pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
+                );
             }
         }
     }
@@ -183,7 +187,7 @@ fn nphysics_collider_from_rapier_collider(
     is_dynamic: bool,
 ) -> Option<ColliderDesc<f32>> {
     let mut margin = ColliderDesc::<f32>::default_margin();
-    let mut pos = *collider.position_wrt_parent();
+    let mut pos = collider.position_wrt_parent().copied().unwrap_or(na::one());
     let shape = collider.shape();
 
     let shape = if let Some(cuboid) = shape.as_cuboid() {
@@ -209,7 +213,7 @@ fn nphysics_collider_from_rapier_collider(
                 trimesh
                     .indices()
                     .iter()
-                    .map(|idx| na::Point3::new(idx[0] as usize, idx[1] as usize, idx[2] as usize))
+                    .map(|idx| na::point![idx[0] as usize, idx[1] as usize, idx[2] as usize])
                     .collect(),
                 None,
             ))
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index be2fa71..9acc62e 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -2,7 +2,7 @@ use bevy::prelude::*;
 use bevy::render::mesh::{Indices, VertexAttributeValues};
 
 //use crate::objects::plane::Plane;
-use na::{Point3, Vector3};
+use na::{point, Point3, Vector3};
 use std::collections::HashMap;
 
 use bevy::render::pipeline::PrimitiveTopology;
@@ -106,7 +106,7 @@ impl EntityWithGraphics {
     pub fn select(&mut self, materials: &mut Assets<StandardMaterial>) {
         // NOTE: we don't just call `self.set_color` because that would
         //       overwrite self.base_color too.
-        self.color = Point3::new(1.0, 0.0, 0.0);
+        self.color = point![1.0, 0.0, 0.0];
         if let Some(material) = materials.get_mut(&self.material) {
             material.base_color = Color::rgb(self.color.x, self.color.y, self.color.z);
         }
@@ -210,10 +210,10 @@ impl EntityWithGraphics {
         // Halfspace
         //
         let vertices = vec![
-            Point3::new(-1000.0, 0.0, -1000.0),
-            Point3::new(1000.0, 0.0, -1000.0),
-            Point3::new(1000.0, 0.0, 1000.0),
-            Point3::new(-1000.0, 0.0, 1000.0),
+            point![-1000.0, 0.0, -1000.0],
+            point![1000.0, 0.0, -1000.0],
+            point![1000.0, 0.0, 1000.0],
+            point![-1000.0, 0.0, 1000.0],
         ];
         let indices = vec![[0, 1, 2], [0, 2, 3]];
         let mesh = bevy_mesh((vertices, indices));
@@ -365,7 +365,7 @@ fn generate_collider_mesh(co_shape: &dyn Shape) -> Option<Mesh> {
             let vertices = trimesh
                 .vertices()
                 .iter()
-                .map(|p| Point3::new(p.x, p.y, 0.0))
+                .map(|p| point![p.x, p.y, 0.0])
                 .collect();
             bevy_mesh((vertices, trimesh.indices().to_vec()))
         }
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 4c41e2c..6c3155f 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -220,23 +220,28 @@ impl PhysxWorld {
                 if let Some((mut px_shape, px_material, collider_pos)) =
                     physx_collider_from_rapier_collider(&mut *physics, &mut cooking, &collider)
                 {
-                    let parent_body = &bodies[collider.parent()];
+                    if let Some(parent_handle) = collider.parent() {
+                        let parent_body = &bodies[parent_handle];
 
-                    if !parent_body.is_dynamic() {
-                        let actor = rapier2static.get_mut(&collider.parent()).unwrap();
-                        actor.attach_shape(&mut px_shape);
-                    } else {
-                        let actor = rapier2dynamic.get_mut(&collider.parent()).unwrap();
-                        actor.attach_shape(&mut px_shape);
+                        if !parent_body.is_dynamic() {
+                            let actor = rapier2static.get_mut(&parent_handle).unwrap();
+                            actor.attach_shape(&mut px_shape);
+                        } else {
+                            let actor = rapier2dynamic.get_mut(&parent_handle).unwrap();
+                            actor.attach_shape(&mut px_shape);
+                        }
+
+                        unsafe {
+                            let pose = collider_pos.into_physx();
+                            physx_sys::PxShape_setLocalPose_mut(
+                                px_shape.as_mut_ptr(),
+                                &pose.into(),
+                            );
+                        }
+
+                        shapes.push(px_shape);
+                        materials.push(px_material);
                     }
-
-                    unsafe {
-                        let pose = collider_pos.into_physx();
-                        physx_sys::PxShape_setLocalPose_mut(px_shape.as_mut_ptr(), &pose.into());
-                    }
-
-                    shapes.push(px_shape);
-                    materials.push(px_material);
                 }
             }
 
@@ -454,8 +459,8 @@ impl PhysxWorld {
                         }
                     }
                     JointParams::FixedJoint(params) => {
-                        let frame1 = params.local_anchor1.into_physx().into();
-                        let frame2 = params.local_anchor2.into_physx().into();
+                        let frame1 = params.local_frame1.into_physx().into();
+                        let frame2 = params.local_frame2.into_physx().into();
 
                         physx_sys::phys_PxFixedJointCreate(
                             physics.as_mut_ptr(),
@@ -500,7 +505,9 @@ impl PhysxWorld {
 
             for coll_handle in rb.colliders() {
                 let collider = &mut colliders[*coll_handle];
-                collider.set_position_debug(pos * collider.position_wrt_parent());
+                collider.set_position(
+                    pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
+                );
             }
         }
     }
@@ -511,7 +518,7 @@ fn physx_collider_from_rapier_collider(
     cooking: &PxCooking,
     collider: &Collider,
 ) -> Option<(Owner<PxShape>, Owner<PxMaterial>, Isometry3<f32>)> {
-    let mut local_pose = *collider.position_wrt_parent();
+    let mut local_pose = collider.position_wrt_parent().copied().unwrap_or(na::one());
     let shape = collider.shape();
     let shape_flags = if collider.is_sensor() {
         ShapeFlag::TriggerShape.into()
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 6e314c8..80d809c 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -32,9 +32,9 @@ use bevy::wgpu::{WgpuFeature, WgpuFeatures, WgpuOptions};
 use bevy_egui::EguiContext;
 
 #[cfg(feature = "dim2")]
-use crate::camera::{OrbitCamera, OrbitCameraPlugin};
+use crate::camera2d::{OrbitCamera, OrbitCameraPlugin};
 #[cfg(feature = "dim3")]
-use bevy_orbit_controls::{OrbitCamera, OrbitCameraPlugin};
+use crate::camera3d::{OrbitCamera, OrbitCameraPlugin};
 
 const RAPIER_BACKEND: usize = 0;
 #[cfg(feature = "other-backends")]
@@ -429,7 +429,7 @@ impl TestbedApp {
 }
 
 impl<'a, 'b, 'c, 'd> TestbedGraphics<'a, 'b, 'c, 'd> {
-    pub fn set_body_color(&mut self, body: RigidBodyHandle, color: Point3<f32>) {
+    pub fn set_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
         self.manager
             .set_body_color(&mut self.materials, body, color);
     }
@@ -588,13 +588,13 @@ impl<'a, 'b, 'c, 'd> Testbed<'a, 'b, 'c, 'd> {
         }
     }
 
-    pub fn set_initial_body_color(&mut self, body: RigidBodyHandle, color: Point3<f32>) {
+    pub fn set_initial_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
         if let Some(graphics) = &mut self.graphics {
             graphics.manager.set_initial_body_color(body, color);
         }
     }
 
-    pub fn set_initial_collider_color(&mut self, collider: ColliderHandle, color: Point3<f32>) {
+    pub fn set_initial_collider_color(&mut self, collider: ColliderHandle, color: [f32; 3]) {
         if let Some(graphics) = &mut self.graphics {
             graphics.manager.set_initial_collider_color(collider, color);
         }
@@ -752,14 +752,14 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
     //             let n = manifold.data.normal;
     //
     //             use crate::engine::GraphicsWindow;
-    //             window.draw_graphics_line(&p, &(p + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
+    //             window.draw_graphics_line(&p, &(p + n * 0.4), &point![0.5, 1.0, 0.5]);
     //         }
     //         */
     //         for pt in manifold.contacts() {
     //             let color = if pt.dist > 0.0 {
-    //                 Point3::new(0.0, 0.0, 1.0)
+    //                 point![0.0, 0.0, 1.0]
     //             } else {
-    //                 Point3::new(1.0, 0.0, 0.0)
+    //                 point![1.0, 0.0, 0.0]
     //             };
     //             let pos1 = colliders[pair.pair.collider1].position();
     //             let pos2 = colliders[pair.pair.collider2].position();
@@ -771,7 +771,7 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
     //                 * manifold.subshape_pos1.unwrap_or(Isometry::identity())
     //                 * manifold.local_n1;
     //
-    //             // window.draw_graphics_line(&start, &(start + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
+    //             // window.draw_graphics_line(&start, &(start + n * 0.4), &point![0.5, 1.0, 0.5]);
     //             // window.draw_graphics_line(&start, &end, &color);
     //         }
     //     }
@@ -1228,10 +1228,13 @@ fn highlight_hovered_body(
 
         if let Some((handle, _)) = hit {
             let collider = &physics.colliders[handle];
-            if physics.bodies[collider.parent()].is_dynamic() {
-                testbed_state.highlighted_body = Some(collider.parent());
-                for node in graphics_manager.body_nodes_mut(collider.parent()).unwrap() {
-                    node.select(materials)
+
+            if let Some(parent_handle) = collider.parent() {
+                if physics.bodies[parent_handle].is_dynamic() {
+                    testbed_state.highlighted_body = Some(parent_handle);
+                    for node in graphics_manager.body_nodes_mut(parent_handle).unwrap() {
+                        node.select(materials)
+                    }
                 }
             }
         }