diff --git a/CHANGELOG.md b/CHANGELOG.md
index a46d922..1c9d8fe 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,10 @@
 - `RigidsBody::apply_force`, `::apply_torque`, `::apply_force_at_point` have been renamed to `::add_force`,
   `::add_torque`, and `::add_force_at_point` to better reflect the fact that they are not cleared at the end
   of the timestep.
+- Rename `RigidBodyType::Static` to `RigidBodyType::Fixed` to avoid confusion with the `static` keyword.
+- All method referring to `static` rigid-bodies now use `fixed` instead of `static`.
+- Rename `RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based` to
+  `RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based`.
 
 ## v0.12.0-alpha.0 (2 Jan. 2022)
 ### Fixed
diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs
index a560d65..eb0b390 100644
--- a/benchmarks2d/balls2.rs
+++ b/benchmarks2d/balls2.rs
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shifty + centery;
 
             let status = if j == 0 {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs
index 0da76a9..2960e70 100644
--- a/benchmarks2d/boxes2.rs
+++ b/benchmarks2d/boxes2.rs
@@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
@@ -50,7 +50,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs
index 86e1004..e4c2efa 100644
--- a/benchmarks2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size * 4.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size * 4.0]);
     let handle = bodies.insert(rigid_body);
@@ -52,7 +52,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::capsule_y(rad * 1.5, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs
index c340143..eaa609c 100644
--- a/benchmarks2d/convex_polygons2.rs
+++ b/benchmarks2d/convex_polygons2.rs
@@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 30.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
@@ -55,7 +55,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs
index 60fc45f..7984d08 100644
--- a/benchmarks2d/heightfield2.rs
+++ b/benchmarks2d/heightfield2.rs
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
diff --git a/benchmarks2d/joint_ball2.rs b/benchmarks2d/joint_ball2.rs
index 9d819fc..9fd61ff 100644
--- a/benchmarks2d/joint_ball2.rs
+++ b/benchmarks2d/joint_ball2.rs
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let fi = i as f32;
 
             let status = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs
index f492bd5..36ff62e 100644
--- a/benchmarks2d/joint_fixed2.rs
+++ b/benchmarks2d/joint_fixed2.rs
@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     let fi = i as f32;
 
                     let status = if k == 0 {
-                        RigidBodyType::Static
+                        RigidBodyType::Fixed
                     } else {
                         RigidBodyType::Dynamic
                     };
diff --git a/benchmarks2d/joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs
index 65e7fe1..d4d328b 100644
--- a/benchmarks2d/joint_prismatic2.rs
+++ b/benchmarks2d/joint_prismatic2.rs
@@ -24,7 +24,7 @@ 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(vector![x, y]);
+            let ground = RigidBodyBuilder::fixed().translation(vector![x, y]);
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, curr_parent, &mut bodies);
@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
             for i in 0..num {
                 let y = y - (i + 1) as f32 * shift;
                 let density = 1.0;
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
                 let curr_child = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad).density(density);
                 colliders.insert_with_parent(collider, curr_child, &mut bodies);
diff --git a/benchmarks2d/pyramid2.rs b/benchmarks2d/pyramid2.rs
index 7453344..617da83 100644
--- a/benchmarks2d/pyramid2.rs
+++ b/benchmarks2d/pyramid2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.0;
     let ground_thickness = 1.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs
index 4ccf594..7d76dcf 100644
--- a/benchmarks3d/balls3.rs
+++ b/benchmarks3d/balls3.rs
@@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let z = k as f32 * shift - centerz;
 
                 let status = if j == 0 {
-                    RigidBodyType::Static
+                    RigidBodyType::Fixed
                 } else {
                     RigidBodyType::Dynamic
                 };
diff --git a/benchmarks3d/boxes3.rs b/benchmarks3d/boxes3.rs
index e816a63..0981395 100644
--- a/benchmarks3d/boxes3.rs
+++ b/benchmarks3d/boxes3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -42,7 +42,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/capsules3.rs b/benchmarks3d/capsules3.rs
index ec00e2d..041715e 100644
--- a/benchmarks3d/capsules3.rs
+++ b/benchmarks3d/capsules3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd3.rs
index ed137a2..f642739 100644
--- a/benchmarks3d/ccd3.rs
+++ b/benchmarks3d/ccd3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -45,7 +45,7 @@ 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()
+                let rigid_body = RigidBodyBuilder::dynamic()
                     .translation(vector![x, y, z])
                     .linvel(vector![0.0, -1000.0, 0.0])
                     .ccd_enabled(true);
diff --git a/benchmarks3d/compound3.rs b/benchmarks3d/compound3.rs
index 04e8c78..9be2cc5 100644
--- a/benchmarks3d/compound3.rs
+++ b/benchmarks3d/compound3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -42,7 +42,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
                 let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad).translation(vector![
diff --git a/benchmarks3d/convex_polyhedron3.rs b/benchmarks3d/convex_polyhedron3.rs
index 5d9f363..f95c350 100644
--- a/benchmarks3d/convex_polyhedron3.rs
+++ b/benchmarks3d/convex_polyhedron3.rs
@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/heightfield3.rs b/benchmarks3d/heightfield3.rs
index 6bf6fc0..5c392a2 100644
--- a/benchmarks3d/heightfield3.rs
+++ b/benchmarks3d/heightfield3.rs
@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,7 +55,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
diff --git a/benchmarks3d/joint_ball3.rs b/benchmarks3d/joint_ball3.rs
index 4b509af..f137c69 100644
--- a/benchmarks3d/joint_ball3.rs
+++ b/benchmarks3d/joint_ball3.rs
@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let fi = i as f32;
 
             let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs
index 5fdba9c..b15515c 100644
--- a/benchmarks3d/joint_fixed3.rs
+++ b/benchmarks3d/joint_fixed3.rs
@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
                         // a joint between these.
 
                         let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
-                            RigidBodyType::Static
+                            RigidBodyType::Fixed
                         } else {
                             RigidBodyType::Dynamic
                         };
diff --git a/benchmarks3d/joint_prismatic3.rs b/benchmarks3d/joint_prismatic3.rs
index faa5f93..a97dc56 100644
--- a/benchmarks3d/joint_prismatic3.rs
+++ b/benchmarks3d/joint_prismatic3.rs
@@ -23,7 +23,7 @@ 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(vector![x, y, z]);
+                let ground = RigidBodyBuilder::fixed().translation(vector![x, y, z]);
                 let mut curr_parent = bodies.insert(ground);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad);
                 colliders.insert_with_parent(collider, curr_parent, &mut bodies);
@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 for i in 0..num {
                     let z = z + (i + 1) as f32 * shift;
                     let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                     let curr_child = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
                     colliders.insert_with_parent(collider, curr_child, &mut bodies);
diff --git a/benchmarks3d/joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs
index aa1be50..779248a 100644
--- a/benchmarks3d/joint_revolute3.rs
+++ b/benchmarks3d/joint_revolute3.rs
@@ -20,7 +20,7 @@ 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(vector![x, y, 0.0]);
+            let ground = RigidBodyBuilder::fixed().translation(vector![x, y, 0.0]);
             let mut curr_parent = bodies.insert(ground);
             let collider = ColliderBuilder::cuboid(rad, rad, rad);
             colliders.insert_with_parent(collider, curr_parent, &mut bodies);
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let mut handles = [curr_parent; 4];
                 for k in 0..4 {
                     let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
+                    let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
                     handles[k] = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
                     colliders.insert_with_parent(collider, handles[k], &mut bodies);
diff --git a/benchmarks3d/keva3.rs b/benchmarks3d/keva3.rs
index 30e5246..ecd6e77 100644
--- a/benchmarks3d/keva3.rs
+++ b/benchmarks3d/keva3.rs
@@ -38,7 +38,7 @@ pub fn build_block(
                 };
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                     x + dim.x + shift.x,
                     y + dim.y + shift.y,
                     z + dim.z + shift.z
@@ -59,7 +59,7 @@ pub fn build_block(
     for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
         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(vector![
+            let rigid_body = RigidBodyBuilder::dynamic().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
@@ -88,7 +88,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/pyramid3.rs b/benchmarks3d/pyramid3.rs
index 572db45..fbbce31 100644
--- a/benchmarks3d/pyramid3.rs
+++ b/benchmarks3d/pyramid3.rs
@@ -22,7 +22,7 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let rigid_body_handle = bodies.insert(rigid_body);
 
                 let collider =
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
diff --git a/benchmarks3d/stacks3.rs b/benchmarks3d/stacks3.rs
index ff67917..15fa17c 100644
--- a/benchmarks3d/stacks3.rs
+++ b/benchmarks3d/stacks3.rs
@@ -23,7 +23,7 @@ fn create_tower_circle(
                 * Translation::new(0.0, y, radius);
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().position(pos);
+            let rigid_body = RigidBodyBuilder::dynamic().position(pos);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
             colliders.insert_with_parent(collider, handle, bodies);
@@ -49,7 +49,7 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
             colliders.insert_with_parent(collider, handle, bodies);
@@ -79,7 +79,7 @@ fn create_pyramid(
                     - stack_height as f32 * half_extents.z;
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider =
                     ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/benchmarks3d/trimesh3.rs b/benchmarks3d/trimesh3.rs
index e9d73ee..ea5aaaa 100644
--- a/benchmarks3d/trimesh3.rs
+++ b/benchmarks3d/trimesh3.rs
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let heightfield = HeightField::new(heights, ground_size);
     let (vertices, indices) = heightfield.to_trimesh();
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vertices, indices);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -60,7 +60,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 if j % 2 == 0 {
diff --git a/examples2d/add_remove2.rs b/examples2d/add_remove2.rs
index 261071b..1405b51 100644
--- a/examples2d/add_remove2.rs
+++ b/examples2d/add_remove2.rs
@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let platform_handles = positions
         .into_iter()
         .map(|pos| {
-            let rigid_body = RigidBodyBuilder::new_kinematic_position_based().translation(pos);
+            let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(pos);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
         if state.timestep_id % 10 == 0 {
             let x = rand::random::<f32>() * 10.0 - 5.0;
             let y = rand::random::<f32>() * 10.0 + 10.0;
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = physics.bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             physics
diff --git a/examples2d/ccd2.rs b/examples2d/ccd2.rs
index 0e64713..0a10800 100644
--- a/examples2d/ccd2.rs
+++ b/examples2d/ccd2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 25.0;
     let ground_thickness = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true);
+    let rigid_body = RigidBodyBuilder::fixed().ccd_enabled(true);
     let ground_handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic()
+            let rigid_body = RigidBodyBuilder::dynamic()
                 .translation(vector![x, y])
                 .linvel(vector![100.0, -10.0])
                 .ccd_enabled(true);
diff --git a/examples2d/collision_groups2.rs b/examples2d/collision_groups2.rs
index 9c9cd30..707696c 100644
--- a/examples2d/collision_groups2.rs
+++ b/examples2d/collision_groups2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -70,7 +70,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 (BLUE_GROUP, [0.0, 0.0, 1.0])
             };
 
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples2d/convex_polygons2.rs b/examples2d/convex_polygons2.rs
index b3139c4..b986d6a 100644
--- a/examples2d/convex_polygons2.rs
+++ b/examples2d/convex_polygons2.rs
@@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 30.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
@@ -55,7 +55,7 @@ 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(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             let mut points = Vec::new();
diff --git a/examples2d/damping2.rs b/examples2d/damping2.rs
index 689190c..0087323 100644
--- a/examples2d/damping2.rs
+++ b/examples2d/damping2.rs
@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
 
         // Build the rigid body.
-        let rb = RigidBodyBuilder::new_dynamic()
+        let rb = RigidBodyBuilder::dynamic()
             .translation(vector![x, y])
             .linvel(vector![x * 10.0, y * 10.0])
             .angvel(100.0)
diff --git a/examples2d/debug_box_ball2.rs b/examples2d/debug_box_ball2.rs
index e071c61..9725ccf 100644
--- a/examples2d/debug_box_ball2.rs
+++ b/examples2d/debug_box_ball2.rs
@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Ground
      */
     let rad = 1.0;
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .translation(vector![0.0, -rad])
         .rotation(std::f32::consts::PI / 4.0);
     let handle = bodies.insert(rigid_body);
@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Build the dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 3.0 * rad])
         .can_sleep(false);
     let handle = bodies.insert(rigid_body);
diff --git a/examples2d/drum2.rs b/examples2d/drum2.rs
index 57c891f..54588c8 100644
--- a/examples2d/drum2.rs
+++ b/examples2d/drum2.rs
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift - centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a velocity-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based();
+    let platform_body = RigidBodyBuilder::kinematic_velocity_based();
     let velocity_based_platform_handle = bodies.insert(platform_body);
 
     let sides = [
diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs
index 65ad76c..56ffc9f 100644
--- a/examples2d/heightfield2.rs
+++ b/examples2d/heightfield2.rs
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs
index 7a7119e..31fda33 100644
--- a/examples2d/joints2.rs
+++ b/examples2d/joints2.rs
@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let fi = i as f32;
 
             let status = if i == 0 && k == 0 {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
diff --git a/examples2d/locked_rotations2.rs b/examples2d/locked_rotations2.rs
index c9d74be..35b1549 100644
--- a/examples2d/locked_rotations2.rs
+++ b/examples2d/locked_rotations2.rs
@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * A rectangle that only rotate.
      */
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 3.0])
         .lock_translations();
     let handle = bodies.insert(rigid_body);
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * A tilted capsule that cannot rotate.
      */
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 5.0])
         .rotation(1.0)
         .lock_rotations();
diff --git a/examples2d/one_way_platforms2.rs b/examples2d/one_way_platforms2.rs
index dae3f39..2b72c1f 100644
--- a/examples2d/one_way_platforms2.rs
+++ b/examples2d/one_way_platforms2.rs
@@ -68,7 +68,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(25.0, 0.5)
@@ -96,7 +96,7 @@ pub fn init_world(testbed: &mut Testbed) {
         if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.5, 2.0);
-            let body = RigidBodyBuilder::new_dynamic().translation(vector![20.0, 10.0]);
+            let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]);
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs
index 325e7ce..c240518 100644
--- a/examples2d/platform2.rs
+++ b/examples2d/platform2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 10.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -47,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a position-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
-        .translation(vector![-10.0 * rad, 1.5 + 0.8]);
+    let platform_body =
+        RigidBodyBuilder::kinematic_velocity_based().translation(vector![-10.0 * rad, 1.5 + 0.8]);
     let velocity_based_platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
     colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
@@ -56,7 +56,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a velocity-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic_position_based()
+    let platform_body = RigidBodyBuilder::kinematic_position_based()
         .translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8]);
     let position_based_platform_handle = bodies.insert(platform_body);
     let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
diff --git a/examples2d/polyline2.rs b/examples2d/polyline2.rs
index 35253e0..d9eb604 100644
--- a/examples2d/polyline2.rs
+++ b/examples2d/polyline2.rs
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     }
     points.push(point![ground_size / 2.0, 40.0]);
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::polyline(points, None);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 3.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
 
             if j % 2 == 0 {
diff --git a/examples2d/pyramid2.rs b/examples2d/pyramid2.rs
index 1f1440c..cc501f4 100644
--- a/examples2d/pyramid2.rs
+++ b/examples2d/pyramid2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 10.0;
     let ground_thickness = 1.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = fi * shift + centery;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples2d/restitution2.rs b/examples2d/restitution2.rs
index 428c6c4..273777c 100644
--- a/examples2d/restitution2.rs
+++ b/examples2d/restitution2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.;
     let ground_height = 1.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height).restitution(1.0);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,8 +27,8 @@ pub fn init_world(testbed: &mut Testbed) {
     for j in 0..2 {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
-            let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
+            let rigid_body =
+                RigidBodyBuilder::dynamic().translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::ball(rad).restitution((i as f32) / (num as f32));
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs
index edd8933..e5a95df 100644
--- a/examples2d/sensor2.rs
+++ b/examples2d/sensor2.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let y = 3.0;
 
         // Build the rigid body.
-        let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad);
         colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
 
     // Rigid body so that the sensor can move.
-    let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0]);
+    let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0]);
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs
index debecf9..219a583 100644
--- a/examples2d/trimesh2.rs
+++ b/examples2d/trimesh2.rs
@@ -21,19 +21,19 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![ground_size, ground_size]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
         .translation(vector![-ground_size, ground_size]);
     let handle = bodies.insert(rigid_body);
@@ -85,7 +85,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 for k in 0..5 {
                     let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone());
-                    let rigid_body = RigidBodyBuilder::new_dynamic()
+                    let rigid_body = RigidBodyBuilder::dynamic()
                         .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
                         .rotation(angle);
                     let handle = bodies.insert(rigid_body);
diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs
index c1ade84..635b0e0 100644
--- a/examples3d/ccd3.rs
+++ b/examples3d/ccd3.rs
@@ -21,7 +21,7 @@ fn create_wall(
                 - stack_height as f32 * half_extents.z;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
             colliders.insert_with_parent(collider, handle, bodies);
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -93,7 +93,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .density(10.0)
         .sensor(true)
         .active_events(ActiveEvents::INTERSECTION_EVENTS);
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .linvel(vector![1000.0, 0.0, 0.0])
         .translation(vector![-20.0, shift_y + 2.0, 0.0])
         .ccd_enabled(true);
@@ -102,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Second rigid-body with CCD enabled.
     let collider = ColliderBuilder::ball(1.0).density(10.0);
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .linvel(vector![1000.0, 0.0, 0.0])
         .translation(vector![-20.0, shift_y + 2.0, shift_z])
         .ccd_enabled(true);
diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs
index c1bc144..480ac3e 100644
--- a/examples3d/collision_groups3.rs
+++ b/examples3d/collision_groups3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let floor_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -73,7 +73,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     (BLUE_GROUP, [0.0, 0.0, 1.0])
                 };
 
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs
index 5ecccb9..8c2deb0 100644
--- a/examples3d/compound3.rs
+++ b/examples3d/compound3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 // First option: attach several colliders to a single rigid-body.
diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs
index 33c1611..0863430 100644
--- a/examples3d/convex_decomposition3.rs
+++ b/examples3d/convex_decomposition3.rs
@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -86,7 +86,7 @@ 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(vector![x, y, z]);
+                let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(body);
 
                 for shape in &shapes {
diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs
index b4c391e..980720a 100644
--- a/examples3d/convex_polyhedron3.rs
+++ b/examples3d/convex_polyhedron3.rs
@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 40.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 }
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/damping3.rs b/examples3d/damping3.rs
index d189482..992afbe 100644
--- a/examples3d/damping3.rs
+++ b/examples3d/damping3.rs
@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
 
         // Build the rigid body.
-        let rb = RigidBodyBuilder::new_dynamic()
+        let rb = RigidBodyBuilder::dynamic()
             .translation(vector![x, y, 0.0])
             .linvel(vector![x * 10.0, y * 10.0, 0.0])
             .angvel(Vector::z() * 100.0)
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index e6d8ac6..25bb23a 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 3.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4);
     let mut ground_collider_handle =
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 0.2, 0.0]);
+    let rb = RigidBodyBuilder::dynamic().translation(vector![0.0, 0.2, 0.0]);
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0);
     colliders.insert_with_parent(collider, ball_handle, &mut bodies);
diff --git a/examples3d/debug_articulations3.rs b/examples3d/debug_articulations3.rs
index 0dbc66a..e844630 100644
--- a/examples3d/debug_articulations3.rs
+++ b/examples3d/debug_articulations3.rs
@@ -20,7 +20,7 @@ fn create_ball_articulations(
 
             let status = if i == 0 {
                 // && (k % 4 == 0 || k == num - 1) {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
@@ -74,7 +74,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .rotation(vector![0.1, 0.0, 0.1]);
     colliders.insert(collider);
 
-    let rigid_body = RigidBodyBuilder::new_dynamic();
+    let rigid_body = RigidBodyBuilder::dynamic();
     let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
         .translation(vector![0.0, -3.0, 0.0])
         .rotation(vector![0.1, 0.0, 0.1]);
diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs
index d221a05..680e24e 100644
--- a/examples3d/debug_big_colliders3.rs
+++ b/examples3d/debug_big_colliders3.rs
@@ -13,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
     let collider = ColliderBuilder::new(halfspace);
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let curr_height = 0.1f32.min(curr_width);
         curr_y += curr_height * 4.0;
 
-        let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, curr_y, 0.0]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, curr_y, 0.0]);
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width);
         colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs
index 908985b..1bd1504 100644
--- a/examples3d/debug_boxes3.rs
+++ b/examples3d/debug_boxes3.rs
@@ -17,8 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 0.1;
 
     for _ in 0..6 {
-        let rigid_body =
-            RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+        let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
         let handle = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
         colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -26,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Build the dynamic box rigid body.
     for _ in 0..2 {
-        let rigid_body = RigidBodyBuilder::new_dynamic()
+        let rigid_body = RigidBodyBuilder::dynamic()
             .translation(vector![1.1, 0.0, 0.0])
             // .rotation(vector![0.8, 0.2, 0.1])
             .can_sleep(false);
diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
index b62fb12..1805aed 100644
--- a/examples3d/debug_cylinder3.rs
+++ b/examples3d/debug_cylinder3.rs
@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let z = -centerz + offset;
 
     // Build the rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cylinder(rad, rad);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index 9404a61..fa1054c 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic()
+    let rb = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 0.2, 0.0])
         .linvel(vector![10.0, 0.0, 0.0]);
     let ball_handle = bodies.insert(rb);
diff --git a/examples3d/debug_friction3.rs b/examples3d/debug_friction3.rs
index b48364d..9078bc4 100644
--- a/examples3d/debug_friction3.rs
+++ b/examples3d/debug_friction3.rs
@@ -16,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).friction(1.5);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Build a dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 1.1, 0.0])
         .rotation(Vector::y() * 0.3);
     let handle = bodies.insert(rigid_body);
diff --git a/examples3d/debug_infinite_fall3.rs b/examples3d/debug_infinite_fall3.rs
index 7d03734..a62c92f 100644
--- a/examples3d/debug_infinite_fall3.rs
+++ b/examples3d/debug_infinite_fall3.rs
@@ -16,21 +16,21 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 2.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 4.0, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 4.0, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let rad = 1.0;
     // Build the dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 7.0 * rad, 0.0])
         .can_sleep(false);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(rad);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 2.0 * rad, 0.0])
         .can_sleep(false);
     let handle = bodies.insert(rigid_body);
diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs
index 9f93237..815f4e5 100644
--- a/examples3d/debug_prismatic3.rs
+++ b/examples3d/debug_prismatic3.rs
@@ -7,7 +7,7 @@ fn prismatic_repro(
     impulse_joints: &mut ImpulseJointSet,
     box_center: Point<f32>,
 ) {
-    let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+    let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
         box_center.x,
         box_center.y,
         box_center.z
@@ -24,7 +24,7 @@ fn prismatic_repro(
 
     for pos in wheel_positions {
         let wheel_pos_in_world = box_center + pos;
-        let wheel_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+        let wheel_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
             wheel_pos_in_world.x,
             wheel_pos_in_world.y,
             wheel_pos_in_world.z
@@ -40,7 +40,7 @@ fn prismatic_repro(
     }
 
     // put a small box under one of the wheels
-    let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
+    let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
         box_center.x + 1.0,
         box_center.y - 2.4,
         -1.0
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index b40384c..9936e37 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
         .friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic()
+    let rb = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 0.2, 0.0])
         .linvel(vector![10.0, 0.0, 0.0]);
     let ball_handle = bodies.insert(rb);
diff --git a/examples3d/debug_shape_modification3.rs b/examples3d/debug_shape_modification3.rs
index 5557131..0fc3cc5 100644
--- a/examples3d/debug_shape_modification3.rs
+++ b/examples3d/debug_shape_modification3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
         .friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Rolling ball
      */
     let ball_rad = 0.1;
-    let rb = RigidBodyBuilder::new_dynamic()
+    let rb = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 0.2, 0.0])
         .linvel(vector![10.0, 0.0, 0.0]);
     let ball_handle = bodies.insert(rb);
@@ -87,7 +87,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
diff --git a/examples3d/debug_triangle3.rs b/examples3d/debug_triangle3.rs
index e84331a..b5ff530 100644
--- a/examples3d/debug_triangle3.rs
+++ b/examples3d/debug_triangle3.rs
@@ -17,13 +17,13 @@ pub fn init_world(testbed: &mut Testbed) {
         point![0.0, 0.0, 10.0],
     ];
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     // Dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![1.1, 0.01, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false);
diff --git a/examples3d/debug_trimesh3.rs b/examples3d/debug_trimesh3.rs
index f7fa651..c588545 100644
--- a/examples3d/debug_trimesh3.rs
+++ b/examples3d/debug_trimesh3.rs
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     ];
 
     // Dynamic box rigid body.
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 35.0, 0.0])
         // .rotation(Vector3::new(0.8, 0.2, 0.1))
         .can_sleep(false);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vtx, idx);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/domino3.rs b/examples3d/domino3.rs
index f57e2c5..2276c1c 100644
--- a/examples3d/domino3.rs
+++ b/examples3d/domino3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
                     * tilt
                     * rot;
-            let rigid_body = RigidBodyBuilder::new_dynamic().position(position);
+            let rigid_body = RigidBodyBuilder::dynamic().position(position);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
             colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index bb7199f..3927cac 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -17,14 +17,14 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 2.1; // 16.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     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(vector![0.0, 10.0, 0.0]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0, 0.0]);
         let handle = physics.bodies.insert(rigid_body);
         let collider = match run_state.timestep_id % 3 {
             0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
diff --git a/examples3d/harness_capsules3.rs b/examples3d/harness_capsules3.rs
index 30849d3..d422c11 100644
--- a/examples3d/harness_capsules3.rs
+++ b/examples3d/harness_capsules3.rs
@@ -16,7 +16,7 @@ pub fn init_world(harness: &mut Harness) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::capsule_y(rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index e144442..360ba3a 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
         }
     });
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::heightfield(heights, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,7 +55,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 6 {
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index 73783d8..b5dc984 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -9,9 +9,9 @@ fn create_coupled_joints(
     origin: Point<f32>,
     use_articulations: bool,
 ) {
-    let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
+    let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
     let body1 = bodies.insert(
-        RigidBodyBuilder::new_dynamic()
+        RigidBodyBuilder::dynamic()
             .translation(origin.coords)
             .linvel(vector![5.0, 5.0, 5.0]),
     );
@@ -42,15 +42,14 @@ fn create_prismatic_joints(
     let rad = 0.4;
     let shift = 2.0;
 
-    let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
+    let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, origin.z]);
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad);
     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(vector![origin.x, origin.y, z]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![origin.x, origin.y, z]);
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad);
         colliders.insert_with_parent(collider, curr_child, bodies);
@@ -87,15 +86,14 @@ fn create_actuated_prismatic_joints(
     let rad = 0.4;
     let shift = 2.0;
 
-    let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
+    let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, origin.z]);
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad);
     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(vector![origin.x, origin.y, z]);
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![origin.x, origin.y, z]);
         let curr_child = bodies.insert(rigid_body);
         let collider = ColliderBuilder::cuboid(rad, rad, rad);
         colliders.insert_with_parent(collider, curr_child, bodies);
@@ -153,7 +151,7 @@ fn create_revolute_joints(
     let rad = 0.4;
     let shift = 2.0;
 
-    let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, 0.0]);
+    let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, 0.0]);
     let mut curr_parent = bodies.insert(ground);
     let collider = ColliderBuilder::cuboid(rad, rad, rad);
     colliders.insert_with_parent(collider, curr_parent, bodies);
@@ -170,7 +168,7 @@ fn create_revolute_joints(
 
         let mut handles = [curr_parent; 4];
         for k in 0..4 {
-            let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
+            let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
             handles[k] = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad);
             colliders.insert_with_parent(collider, handles[k], bodies);
@@ -210,14 +208,13 @@ fn create_revolute_joints_with_limits(
     origin: Point<f32>,
     use_articulations: bool,
 ) {
-    let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
+    let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
 
-    let platform1 = bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords));
+    let platform1 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords));
     colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform1, bodies);
 
     let shift = vector![0.0, 0.0, 6.0];
-    let platform2 =
-        bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift));
+    let platform2 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords + shift));
     colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies);
 
     let z = Vector::z_axis();
@@ -256,9 +253,8 @@ fn create_revolute_joints_with_limits(
     }
 
     // Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
-    let cuboid_body1 = bodies.insert(
-        RigidBodyBuilder::new_dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]),
-    );
+    let cuboid_body1 = bodies
+        .insert(RigidBodyBuilder::dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]));
     colliders.insert_with_parent(
         ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
         cuboid_body1,
@@ -266,8 +262,7 @@ fn create_revolute_joints_with_limits(
     );
 
     let cuboid_body2 = bodies.insert(
-        RigidBodyBuilder::new_dynamic()
-            .translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
+        RigidBodyBuilder::dynamic().translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
     );
     colliders.insert_with_parent(
         ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
@@ -299,7 +294,7 @@ fn create_fixed_joints(
             // fixed bodies. Because physx will crash if we add
             // a joint between these.
             let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
@@ -358,7 +353,7 @@ fn create_spherical_joints(
             let fi = i as f32;
 
             let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
@@ -408,17 +403,16 @@ fn create_spherical_joints_with_limits(
 ) {
     let shift = vector![0.0, 0.0, 3.0];
 
-    let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
+    let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
 
     let ball1 = bodies.insert(
-        RigidBodyBuilder::new_dynamic()
+        RigidBodyBuilder::dynamic()
             .translation(origin.coords + shift)
             .linvel(vector![20.0, 20.0, 0.0]),
     );
     colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball1, bodies);
 
-    let ball2 =
-        bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0));
+    let ball2 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords + shift * 2.0));
     colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies);
 
     let joint1 = SphericalJointBuilder::new()
@@ -465,7 +459,7 @@ fn create_actuated_revolute_joints(
         // fixed bodies. Because physx will crash if we add
         // a joint between these.
         let status = if i == 0 {
-            RigidBodyType::Static
+            RigidBodyType::Fixed
         } else {
             RigidBodyType::Dynamic
         };
@@ -533,7 +527,7 @@ fn create_actuated_spherical_joints(
         // fixed bodies. Because physx will crash if we add
         // a joint between these.
         let status = if i == 0 {
-            RigidBodyType::Static
+            RigidBodyType::Fixed
         } else {
             RigidBodyType::Dynamic
         };
diff --git a/examples3d/keva3.rs b/examples3d/keva3.rs
index 30e5246..ecd6e77 100644
--- a/examples3d/keva3.rs
+++ b/examples3d/keva3.rs
@@ -38,7 +38,7 @@ pub fn build_block(
                 };
 
                 // Build the rigid body.
-                let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                     x + dim.x + shift.x,
                     y + dim.y + shift.y,
                     z + dim.z + shift.z
@@ -59,7 +59,7 @@ pub fn build_block(
     for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
         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(vector![
+            let rigid_body = RigidBodyBuilder::dynamic().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
@@ -88,7 +88,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 50.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
diff --git a/examples3d/locked_rotations3.rs b/examples3d/locked_rotations3.rs
index e45aefd..c8d2a5d 100644
--- a/examples3d/locked_rotations3.rs
+++ b/examples3d/locked_rotations3.rs
@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * A rectangle that only rotates along the `x` axis.
      */
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 3.0, 0.0])
         .lock_translations()
         .restrict_rotations(true, false, false);
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * A tilted capsule that cannot rotate.
      */
-    let rigid_body = RigidBodyBuilder::new_dynamic()
+    let rigid_body = RigidBodyBuilder::dynamic()
         .translation(vector![0.0, 5.0, 0.0])
         .rotation(Vector::x() * 1.0)
         .lock_rotations();
diff --git a/examples3d/one_way_platforms3.rs b/examples3d/one_way_platforms3.rs
index b82f564..6f214b5 100644
--- a/examples3d/one_way_platforms3.rs
+++ b/examples3d/one_way_platforms3.rs
@@ -68,7 +68,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
 
     let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0)
@@ -96,7 +96,7 @@ pub fn init_world(testbed: &mut Testbed) {
         if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5);
-            let body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 6.0, 20.0]);
+            let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 6.0, 20.0]);
             let handle = physics.bodies.insert(body);
             physics
                 .colliders
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 5f757fa..d42cb76 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 10.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -40,7 +40,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
                 let collider = ColliderBuilder::cuboid(rad, rad, rad);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -51,7 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a velocity-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic_velocity_based().translation(vector![
+    let platform_body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![
         0.0,
         1.5 + 0.8,
         -10.0 * rad
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a position-based kinematic rigid body.
      */
-    let platform_body = RigidBodyBuilder::new_kinematic_position_based().translation(vector![
+    let platform_body = RigidBodyBuilder::kinematic_position_based().translation(vector![
         0.0,
         2.0 + 1.5 + 0.8,
         -10.0 * rad
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index a664308..ab2f555 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 100.1;
     let ground_height = 2.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,7 +44,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 5 {
diff --git a/examples3d/restitution3.rs b/examples3d/restitution3.rs
index 834fe22..6acdac5 100644
--- a/examples3d/restitution3.rs
+++ b/examples3d/restitution3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 20.;
     let ground_height = 1.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, 2.0).restitution(1.0);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     for j in 0..2 {
         for i in 0..=num {
             let x = (i as f32) - num as f32 / 2.0;
-            let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
                 x * 2.0,
                 10.0 * (j as f32 + 1.0),
                 0.0
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index e09359d..3c92460 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_size = 200.1;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
     colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -38,7 +38,7 @@ 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(vector![x, y, z]);
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
 
     // Rigid body so that the sensor can move.
-    let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 5.0, 0.0]);
+    let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
     let sensor_handle = bodies.insert(sensor);
 
     // Solid cube attached to the sensor which
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index 1985671..729fc3e 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let heightfield = HeightField::new(heights, ground_size);
     let (vertices, indices) = heightfield.to_trimesh();
 
-    let rigid_body = RigidBodyBuilder::new_static();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::trimesh(vertices, indices);
     colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -60,7 +60,7 @@ 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(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                 let handle = bodies.insert(rigid_body);
 
                 let collider = match j % 6 {
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
index b3a1608..d15b28c 100644
--- a/src/dynamics/ccd/ccd_solver.rs
+++ b/src/dynamics/ccd/ccd_solver.rs
@@ -412,7 +412,7 @@ impl CCDSolver {
             return PredictedImpacts::ImpactsAfterEndTime(min_overstep);
         }
 
-        // NOTE: all static bodies (and kinematic bodies?) should be considered as "frozen", this
+        // NOTE: all fixed bodies (and kinematic bodies?) should be considered as "frozen", this
         // may avoid some resweeps.
         let mut pseudo_intersections_to_check = vec![];
 
diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs
index 7cf16d6..06f3820 100644
--- a/src/dynamics/island_manager.rs
+++ b/src/dynamics/island_manager.rs
@@ -259,7 +259,7 @@ impl IslandManager {
 
             if rb_ids.active_set_timestamp == self.active_set_timestamp || !rb_status.is_dynamic() {
                 // We already visited this body and its neighbors.
-                // Also, we don't propagate awake state through static bodies.
+                // Also, we don't propagate awake state through fixed bodies.
                 continue;
             }
 
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 1bfdf48..695b256 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -112,7 +112,7 @@ impl RigidBody {
             self.changes.insert(RigidBodyChanges::TYPE);
             self.rb_type = status;
 
-            if status == RigidBodyType::Static {
+            if status == RigidBodyType::Fixed {
                 self.rb_vels = RigidBodyVelocity::zero();
             }
         }
@@ -372,11 +372,11 @@ impl RigidBody {
         self.rb_type.is_kinematic()
     }
 
-    /// Is this rigid body static?
+    /// Is this rigid body fixed?
     ///
-    /// A static body cannot move and is not affected by forces.
-    pub fn is_static(&self) -> bool {
-        self.rb_type == RigidBodyType::Static
+    /// A fixed body cannot move and is not affected by forces.
+    pub fn is_fixed(&self) -> bool {
+        self.rb_type == RigidBodyType::Fixed
     }
 
     /// The mass of this rigid body.
@@ -487,7 +487,7 @@ impl RigidBody {
     /// Is this rigid body sleeping?
     pub fn is_sleeping(&self) -> bool {
         // TODO: should we:
-        // - return false for static bodies.
+        // - return false for fixed bodies.
         // - return true for non-sleeping dynamic bodies.
         // - return true only for kinematic bodies with non-zero velocity?
         self.rb_activation.sleeping
@@ -531,7 +531,7 @@ impl RigidBody {
                 RigidBodyType::KinematicVelocityBased => {
                     self.rb_vels.linvel = linvel;
                 }
-                RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
+                RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
             }
         }
     }
@@ -553,7 +553,7 @@ impl RigidBody {
                 RigidBodyType::KinematicVelocityBased => {
                     self.rb_vels.angvel = angvel;
                 }
-                RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
+                RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
             }
         }
     }
@@ -575,7 +575,7 @@ impl RigidBody {
                 RigidBodyType::KinematicVelocityBased => {
                     self.rb_vels.angvel = angvel;
                 }
-                RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
+                RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
             }
         }
     }
@@ -905,7 +905,7 @@ pub struct RigidBodyBuilder {
 }
 
 impl RigidBodyBuilder {
-    /// Initialize a new builder for a rigid body which is either static, dynamic, or kinematic.
+    /// Initialize a new builder for a rigid body which is either fixed, dynamic, or kinematic.
     pub fn new(rb_type: RigidBodyType) -> Self {
         Self {
             position: Isometry::identity(),
@@ -925,23 +925,39 @@ impl RigidBodyBuilder {
         }
     }
 
-    /// Initializes the builder of a new static rigid body.
+    /// Initializes the builder of a new fixed rigid body.
+    #[deprecated(note = "use `RigidBodyBuilder::fixed()` instead")]
     pub fn new_static() -> Self {
-        Self::new(RigidBodyType::Static)
+        Self::fixed()
+    }
+    /// Initializes the builder of a new velocity-based kinematic rigid body.
+    #[deprecated(note = "use `RigidBodyBuilder::kinematic_velocity_based()` instead")]
+    pub fn new_kinematic_velocity_based() -> Self {
+        Self::kinematic_velocity_based()
+    }
+    /// Initializes the builder of a new position-based kinematic rigid body.
+    #[deprecated(note = "use `RigidBodyBuilder::kinematic_position_based()` instead")]
+    pub fn new_kinematic_position_based() -> Self {
+        Self::kinematic_position_based()
     }
 
-    /// Initializes the builder of a new kinematic rigid body.
-    pub fn new_kinematic_velocity_based() -> Self {
+    /// Initializes the builder of a new fixed rigid body.
+    pub fn fixed() -> Self {
+        Self::new(RigidBodyType::Fixed)
+    }
+
+    /// Initializes the builder of a new velocity-based kinematic rigid body.
+    pub fn kinematic_velocity_based() -> Self {
         Self::new(RigidBodyType::KinematicVelocityBased)
     }
 
-    /// Initializes the builder of a new kinematic rigid body.
-    pub fn new_kinematic_position_based() -> Self {
+    /// Initializes the builder of a new position-based kinematic rigid body.
+    pub fn kinematic_position_based() -> Self {
         Self::new(RigidBodyType::KinematicPositionBased)
     }
 
     /// Initializes the builder of a new dynamic rigid body.
-    pub fn new_dynamic() -> Self {
+    pub fn dynamic() -> Self {
         Self::new(RigidBodyType::Dynamic)
     }
 
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index 52072ea..cac0600 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -57,8 +57,8 @@ pub type BodyStatus = RigidBodyType;
 pub enum RigidBodyType {
     /// A `RigidBodyType::Dynamic` body can be affected by all external forces.
     Dynamic = 0,
-    /// A `RigidBodyType::Static` body cannot be affected by external forces.
-    Static = 1,
+    /// A `RigidBodyType::Fixed` body cannot be affected by external forces.
+    Fixed = 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.
     ///
@@ -73,14 +73,14 @@ pub enum RigidBodyType {
     /// 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?
+    // Semikinematic, // A kinematic that performs automatic CCD with the fixed environment to avoid traversing it?
     // Disabled,
 }
 
 impl RigidBodyType {
-    /// Is this rigid-body static (i.e. cannot move)?
-    pub fn is_static(self) -> bool {
-        self == RigidBodyType::Static
+    /// Is this rigid-body fixed (i.e. cannot move)?
+    pub fn is_fixed(self) -> bool {
+        self == RigidBodyType::Fixed
     }
 
     /// Is this rigid-body dynamic (i.e. can move and be affected by forces)?
diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs
index 451f930..d806251 100644
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -93,20 +93,20 @@ impl ParallelInteractionGroups {
             .zip(self.interaction_colors.iter_mut())
         {
             let mut body_pair = interactions[*interaction_id].body_pair();
-            let is_static1 = body_pair
+            let is_fixed1 = body_pair
                 .0
-                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
+                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
                 .unwrap_or(true);
-            let is_static2 = body_pair
+            let is_fixed2 = body_pair
                 .1
-                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
+                .map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
                 .unwrap_or(true);
 
             let representative = |handle: RigidBodyHandle| {
                 if let Some(link) = multibodies.rigid_body_link(handle).copied() {
                     let multibody = multibodies.get_multibody(link.multibody).unwrap();
                     multibody
-                        .link(1) // Use the link 1 to cover the case where the multibody root is static.
+                        .link(1) // Use the link 1 to cover the case where the multibody root is fixed.
                         .or(multibody.link(0)) // TODO: Never happens?
                         .map(|l| l.rigid_body)
                         .unwrap()
@@ -120,7 +120,7 @@ impl ParallelInteractionGroups {
                 body_pair.1.map(representative),
             );
 
-            match (is_static1, is_static2) {
+            match (is_fixed1, is_fixed2) {
                 (false, false) => {
                     let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
                     let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
@@ -268,10 +268,10 @@ impl InteractionGroups {
             let (status2, ids2): (&RigidBodyType, &RigidBodyIds) =
                 bodies.index_bundle(interaction.body2.0);
 
-            let is_static1 = !status1.is_dynamic();
-            let is_static2 = !status2.is_dynamic();
+            let is_fixed1 = !status1.is_dynamic();
+            let is_fixed2 = !status2.is_dynamic();
 
-            if is_static1 && is_static2 {
+            if is_fixed1 && is_fixed2 {
                 continue;
             }
 
@@ -334,13 +334,13 @@ impl InteractionGroups {
                 }
             }
 
-            // NOTE: static bodies don't transmit forces. Therefore they don't
+            // NOTE: fixed bodies don't transmit forces. Therefore they don't
             // imply any interaction conflicts.
-            if !is_static1 {
+            if !is_fixed1 {
                 self.body_masks[i1] |= target_mask_bit;
             }
 
-            if !is_static2 {
+            if !is_fixed2 {
                 self.body_masks[i2] |= target_mask_bit;
             }
         }
@@ -431,21 +431,21 @@ impl InteractionGroups {
                     let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0);
                     (*data.0, data.1.active_set_offset)
                 } else {
-                    (RigidBodyType::Static, 0)
+                    (RigidBodyType::Fixed, 0)
                 };
                 let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
                 {
                     let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0);
                     (*data.0, data.1.active_set_offset)
                 } else {
-                    (RigidBodyType::Static, 0)
+                    (RigidBodyType::Fixed, 0)
                 };
 
-                let is_static1 = !status1.is_dynamic();
-                let is_static2 = !status2.is_dynamic();
+                let is_fixed1 = !status1.is_dynamic();
+                let is_fixed2 = !status2.is_dynamic();
 
-                // TODO: don't generate interactions between static bodies in the first place.
-                if is_static1 && is_static2 {
+                // TODO: don't generate interactions between fixed bodies in the first place.
+                if is_fixed1 && is_fixed2 {
                     continue;
                 }
 
@@ -489,13 +489,13 @@ impl InteractionGroups {
                     occupied_mask = occupied_mask | target_mask_bit;
                 }
 
-                // NOTE: static bodies don't transmit forces. Therefore they don't
+                // NOTE: fixed bodies don't transmit forces. Therefore they don't
                 // imply any interaction conflicts.
-                if !is_static1 {
+                if !is_fixed1 {
                     self.body_masks[i1] |= target_mask_bit;
                 }
 
-                if !is_static2 {
+                if !is_fixed2 {
                     self.body_masks[i2] |= target_mask_bit;
                 }
             }
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index d2b0076..0149adf 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -634,7 +634,7 @@ mod test {
         let mut multibody_joints = MultibodyJointSet::new();
         let mut islands = IslandManager::new();
 
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
         let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
@@ -652,7 +652,7 @@ mod test {
         broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
 
         // Create another body.
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
         let hrb = bodies.insert(rb);
         let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
diff --git a/src/geometry/collider_components.rs b/src/geometry/collider_components.rs
index fe2961f..5f27823 100644
--- a/src/geometry/collider_components.rs
+++ b/src/geometry/collider_components.rs
@@ -285,18 +285,18 @@ bitflags::bitflags! {
         /// 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).
+        /// and another collider attached to a fixed 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).
+        /// and another collider attached to a fixed 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
+        /// Enable collision-detection between a collider attached to a fixed body (or
+        /// not attached to any body) and another collider attached to a fixed body (or
         /// not attached to any body).
         const STATIC_STATIC = 0b0000_0000_0010_0000;
     }
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 400c635..cf78b81 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -392,7 +392,7 @@ impl NarrowPhase {
                     // For each modified colliders, we need to wake-up the bodies it is in contact with
                     // so that the narrow-phase properly takes into account the change in, e.g.,
                     // collision groups. Waking up the modified collider's parent isn't enough because
-                    // it could be a static or kinematic body which don't propagate the wake-up state.
+                    // it could be a fixed or kinematic body which don't propagate the wake-up state.
 
                     let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
                     let (co_changes, co_type): (&ColliderChanges, &ColliderType) =
@@ -740,8 +740,8 @@ impl NarrowPhase {
                 }
 
                 // TODO: avoid lookup into bodies.
-                let mut rb_type1 = RigidBodyType::Static;
-                let mut rb_type2 = RigidBodyType::Static;
+                let mut rb_type1 = RigidBodyType::Fixed;
+                let mut rb_type2 = RigidBodyType::Fixed;
 
                 if let Some(co_parent1) = co_parent1 {
                     rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -865,8 +865,8 @@ impl NarrowPhase {
                 }
 
                 // TODO: avoid lookup into bodies.
-                let mut rb_type1 = RigidBodyType::Static;
-                let mut rb_type2 = RigidBodyType::Static;
+                let mut rb_type1 = RigidBodyType::Fixed;
+                let mut rb_type2 = RigidBodyType::Fixed;
 
                 if let Some(co_parent1) = co_parent1 {
                     rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -1076,7 +1076,7 @@ impl NarrowPhase {
                                 bodies.index_bundle(handle1.0);
                             (data.0.active_island_id, *data.1, data.2.sleeping)
                         } else {
-                            (0, RigidBodyType::Static, true)
+                            (0, RigidBodyType::Fixed, true)
                         };
 
                     let (active_island_id2, rb_type2, sleeping2) =
@@ -1085,7 +1085,7 @@ impl NarrowPhase {
                                 bodies.index_bundle(handle2.0);
                             (data.0.active_island_id, *data.1, data.2.sleeping)
                         } else {
-                            (0, RigidBodyType::Static, true)
+                            (0, RigidBodyType::Fixed, true)
                         };
 
                     if (rb_type1.is_dynamic() || rb_type2.is_dynamic())
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index ba172c4..3f74b48 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -688,7 +688,7 @@ mod test {
     use crate::prelude::MultibodyJointSet;
 
     #[test]
-    fn kinematic_and_static_contact_crash() {
+    fn kinematic_and_fixed_contact_crash() {
         let mut colliders = ColliderSet::new();
         let mut impulse_joints = ImpulseJointSet::new();
         let mut multibody_joints = MultibodyJointSet::new();
@@ -698,13 +698,13 @@ mod test {
         let mut bodies = RigidBodySet::new();
         let mut islands = IslandManager::new();
 
-        let rb = RigidBodyBuilder::new_static().build();
+        let rb = RigidBodyBuilder::fixed().build();
         let h1 = bodies.insert(rb.clone());
         let co = ColliderBuilder::ball(10.0).build();
         colliders.insert_with_parent(co.clone(), h1, &mut bodies);
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
+        let rb = RigidBodyBuilder::kinematic_position_based().build();
         let h2 = bodies.insert(rb.clone());
         colliders.insert_with_parent(co, h2, &mut bodies);
 
@@ -737,18 +737,18 @@ mod test {
         let mut bodies = RigidBodySet::new();
 
         // Check that removing the body right after inserting it works.
-        // We add two dynamic bodies, one kinematic body and one static body before removing
+        // We add two dynamic bodies, one kinematic body and one fixed body before removing
         // them. This include a non-regression test where deleting a kimenatic body crashes.
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let h1 = bodies.insert(rb.clone());
         let h2 = bodies.insert(rb.clone());
 
         // The same but with a kinematic body.
-        let rb = RigidBodyBuilder::new_kinematic_position_based().build();
+        let rb = RigidBodyBuilder::kinematic_position_based().build();
         let h3 = bodies.insert(rb.clone());
 
-        // The same but with a static body.
-        let rb = RigidBodyBuilder::new_static().build();
+        // The same but with a fixed body.
+        let rb = RigidBodyBuilder::fixed().build();
         let h4 = bodies.insert(rb.clone());
 
         let to_delete = [h1, h2, h3, h4];
@@ -787,7 +787,7 @@ mod test {
         let mut islands = IslandManager::new();
 
         let mut bodies = RigidBodySet::new();
-        let rb = RigidBodyBuilder::new_dynamic().build();
+        let rb = RigidBodyBuilder::dynamic().build();
         let h1 = bodies.insert(rb.clone());
         let h2 = bodies.insert(rb.clone());
         let h3 = bodies.insert(rb.clone());
@@ -846,7 +846,7 @@ mod test {
         let physics_hooks = ();
         let event_handler = ();
 
-        let body = RigidBodyBuilder::new_dynamic().build();
+        let body = RigidBodyBuilder::dynamic().build();
         let b_handle = bodies.insert(body);
         let collider = ColliderBuilder::ball(1.0).build();
         let c_handle = colliders.insert_with_parent(collider, b_handle, &mut bodies);
diff --git a/src/pipeline/user_changes.rs b/src/pipeline/user_changes.rs
index b9c57bd..bd69bb2 100644
--- a/src/pipeline/user_changes.rs
+++ b/src/pipeline/user_changes.rs
@@ -117,7 +117,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
                                 islands.active_kinematic_set.push(*handle);
                             }
                         }
-                        RigidBodyType::Static => {}
+                        RigidBodyType::Fixed => {}
                     }
                 }
 
diff --git a/src_testbed/graphics.rs b/src_testbed/graphics.rs
index 8bf787d..847258d 100644
--- a/src_testbed/graphics.rs
+++ b/src_testbed/graphics.rs
@@ -170,11 +170,11 @@ impl GraphicsManager {
         &mut self,
         materials: &mut Assets<BevyMaterial>,
         handle: RigidBodyHandle,
-        is_static: bool,
+        is_fixed: bool,
     ) -> Point3<f32> {
         let mut color = self.ground_color;
 
-        if !is_static {
+        if !is_fixed {
             match self.b2color.get(&handle).cloned() {
                 Some(c) => color = c,
                 None => color = Self::gen_color(&mut self.rand),
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 827c81d..2d42a68 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -213,7 +213,7 @@ impl PhysxWorld {
 
                     rapier2dynamic.insert(rapier_handle, actor);
                 } else {
-                    let actor = physics.create_static(pos, ()).unwrap();
+                    let actor = physics.create_fixed(pos, ()).unwrap();
                     rapier2static.insert(rapier_handle, actor);
                 }
             }
@@ -231,7 +231,7 @@ impl PhysxWorld {
                     let rb_handle = link.rigid_body_handle();
                     let rb = bodies.get(rb_handle).unwrap();
 
-                    if is_root && rb.is_static() {
+                    if is_root && rb.is_fixed() {
                         articulation.set_articulation_flag(ArticulationFlag::FixBase, true);
                     }
 
@@ -382,7 +382,7 @@ impl PhysxWorld {
             );
 
             for (_, actor) in rapier2static {
-                scene.add_static_actor(actor);
+                scene.add_fixed_actor(actor);
             }
 
             for (_, actor) in rapier2dynamic {
@@ -712,7 +712,7 @@ type PxPhysicsFoundation = PhysicsFoundation<DefaultAllocator, PxShape>;
 type PxMaterial = physx::material::PxMaterial<()>;
 type PxShape = physx::shape::PxShape<(), PxMaterial>;
 type PxArticulationLink = physx::articulation_link::PxArticulationLink<RigidBodyHandle, PxShape>;
-type PxRigidStatic = physx::rigid_static::PxRigidStatic<(), PxShape>;
+type PxRigidStatic = physx::rigid_fixed::PxRigidStatic<(), PxShape>;
 type PxRigidDynamic = physx::rigid_dynamic::PxRigidDynamic<RigidBodyHandle, PxShape>;
 type PxArticulation = physx::articulation::PxArticulation<(), PxArticulationLink>;
 type PxArticulationReducedCoordinate =
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 7fce70d..cd0ff3a 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -668,7 +668,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
                         .physics
                         .bodies
                         .iter()
-                        .filter(|e| !e.1.is_static())
+                        .filter(|e| !e.1.is_fixed())
                         .map(|e| e.0)
                         .collect();
                     let num_to_delete = (dynamic_bodies.len() / 10).max(1);
@@ -773,7 +773,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
     //
     //             let collider = ColliderBuilder::cuboid(4.0, 2.0, 0.4).density(20.0).build();
     //             // let collider = ColliderBuilder::ball(2.0).density(1.0).build();
-    //             let body = RigidBodyBuilder::new_dynamic()
+    //             let body = RigidBodyBuilder::dynamic()
     //                 .position(cam_pos)
     //                 .linvel(vel.x, vel.y, vel.z)
     //                 .ccd_enabled(true)