box2d-bindings 0.1.1 → 0.1.3

checksums.yaml

@@ -1,7 +1,7 @@
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data/ChangeLog

@@ -1,3 +1,11 @@
+2025-06-06  vaiorabbit  <http://twitter.com/vaiorabbit>
+
+	* https://github.com/erincatto/box2d/commit/d3d2b926c6694f46f8d511ee90cb3f553bf488b2
+
+2025-05-11  vaiorabbit  <http://twitter.com/vaiorabbit>
+
+	* https://github.com/erincatto/box2d/commit/2d088533b921e912c18c654f8b46c43e04ad0ca8
+
 2025-02-01  vaiorabbit  <http://twitter.com/vaiorabbit>
 
 	* https://github.com/erincatto/box2d/commit/28adacf82377d4113f2ed00586141463244b9d10

data/README.md

@@ -3,7 +3,7 @@
 # Box2D bindings for Ruby #
 
 *   Created : 2024-08-18
-*   Last modified : 2025-02-01
+*   Last modified : 2025-06-06
 
 Provides Ruby bindings for Box2D
 *   https://box2d.org

data/lib/box2d_base.rb

@@ -52,7 +52,6 @@ module Box2D
       [:SetAllocator, :b2SetAllocator, [:pointer, :pointer], :void],
       [:GetByteCount, :b2GetByteCount, [], :int],
       [:SetAssertFcn, :b2SetAssertFcn, [:pointer], :void],
-      [:InternalAssertFcn, :b2InternalAssertFcn, [:pointer, :pointer, :int], :int],
       [:GetVersion, :b2GetVersion, [], Version.by_value],
       [:GetTicks, :b2GetTicks, [], :ulong_long],
       [:GetMilliseconds, :b2GetMilliseconds, [:ulong_long], :float],

data/lib/box2d_collision.rb

@@ -141,13 +141,11 @@ module Box2D
     end
   end
 
-  class ShapeCastInput < FFI::Struct
+  class ShapeProxy < FFI::Struct
     layout(
       :points, [Vec2, 8],
       :count, :int,
       :radius, :float,
-      :translation, Vec2,
-      :maxFraction, :float,
     )
     def points = self[:points]
     def points=(v) self[:points] = v end
@@ -155,17 +153,36 @@ module Box2D
     def count=(v) self[:count] = v end
     def radius = self[:radius]
     def radius=(v) self[:radius] = v end
+    def self.create_as(_points_, _count_, _radius_)
+      instance = ShapeProxy.new
+      instance[:points] = _points_
+      instance[:count] = _count_
+      instance[:radius] = _radius_
+      instance
+    end
+  end
+
+  class ShapeCastInput < FFI::Struct
+    layout(
+      :proxy, ShapeProxy,
+      :translation, Vec2,
+      :maxFraction, :float,
+      :canEncroach, :bool,
+    )
+    def proxy = self[:proxy]
+    def proxy=(v) self[:proxy] = v end
     def translation = self[:translation]
     def translation=(v) self[:translation] = v end
     def maxFraction = self[:maxFraction]
     def maxFraction=(v) self[:maxFraction] = v end
-    def self.create_as(_points_, _count_, _radius_, _translation_, _maxFraction_)
+    def canEncroach = self[:canEncroach]
+    def canEncroach=(v) self[:canEncroach] = v end
+    def self.create_as(_proxy_, _translation_, _maxFraction_, _canEncroach_)
       instance = ShapeCastInput.new
-      instance[:points] = _points_
-      instance[:count] = _count_
-      instance[:radius] = _radius_
+      instance[:proxy] = _proxy_
       instance[:translation] = _translation_
       instance[:maxFraction] = _maxFraction_
+      instance[:canEncroach] = _canEncroach_
       instance
     end
   end
@@ -358,27 +375,6 @@ module Box2D
     end
   end
 
-  class ShapeProxy < FFI::Struct
-    layout(
-      :points, [Vec2, 8],
-      :count, :int,
-      :radius, :float,
-    )
-    def points = self[:points]
-    def points=(v) self[:points] = v end
-    def count = self[:count]
-    def count=(v) self[:count] = v end
-    def radius = self[:radius]
-    def radius=(v) self[:radius] = v end
-    def self.create_as(_points_, _count_, _radius_)
-      instance = ShapeProxy.new
-      instance[:points] = _points_
-      instance[:count] = _count_
-      instance[:radius] = _radius_
-      instance
-    end
-  end
-
   class DistanceInput < FFI::Struct
     layout(
       :proxyA, ShapeProxy,
@@ -412,6 +408,7 @@ module Box2D
     layout(
       :pointA, Vec2,
       :pointB, Vec2,
+      :normal, Vec2,
       :distance, :float,
       :iterations, :int,
       :simplexCount, :int,
@@ -420,16 +417,19 @@ module Box2D
     def pointA=(v) self[:pointA] = v end
     def pointB = self[:pointB]
     def pointB=(v) self[:pointB] = v end
+    def normal = self[:normal]
+    def normal=(v) self[:normal] = v end
     def distance = self[:distance]
     def distance=(v) self[:distance] = v end
     def iterations = self[:iterations]
     def iterations=(v) self[:iterations] = v end
     def simplexCount = self[:simplexCount]
     def simplexCount=(v) self[:simplexCount] = v end
-    def self.create_as(_pointA_, _pointB_, _distance_, _iterations_, _simplexCount_)
+    def self.create_as(_pointA_, _pointB_, _normal_, _distance_, _iterations_, _simplexCount_)
       instance = DistanceOutput.new
       instance[:pointA] = _pointA_
       instance[:pointB] = _pointB_
+      instance[:normal] = _normal_
       instance[:distance] = _distance_
       instance[:iterations] = _iterations_
       instance[:simplexCount] = _simplexCount_
@@ -503,6 +503,7 @@ module Box2D
       :transformB, Transform,
       :translationB, Vec2,
       :maxFraction, :float,
+      :canEncroach, :bool,
     )
     def proxyA = self[:proxyA]
     def proxyA=(v) self[:proxyA] = v end
@@ -516,7 +517,9 @@ module Box2D
     def translationB=(v) self[:translationB] = v end
     def maxFraction = self[:maxFraction]
     def maxFraction=(v) self[:maxFraction] = v end
-    def self.create_as(_proxyA_, _proxyB_, _transformA_, _transformB_, _translationB_, _maxFraction_)
+    def canEncroach = self[:canEncroach]
+    def canEncroach=(v) self[:canEncroach] = v end
+    def self.create_as(_proxyA_, _proxyB_, _transformA_, _transformB_, _translationB_, _maxFraction_, _canEncroach_)
       instance = ShapeCastPairInput.new
       instance[:proxyA] = _proxyA_
       instance[:proxyB] = _proxyB_
@@ -524,6 +527,7 @@ module Box2D
       instance[:transformB] = _transformB_
       instance[:translationB] = _translationB_
       instance[:maxFraction] = _maxFraction_
+      instance[:canEncroach] = _canEncroach_
       instance
     end
   end
@@ -611,7 +615,7 @@ module Box2D
       :separation, :float,
       :normalImpulse, :float,
       :tangentImpulse, :float,
-      :maxNormalImpulse, :float,
+      :totalNormalImpulse, :float,
       :normalVelocity, :float,
       :id, :ushort,
       :persisted, :bool,
@@ -628,15 +632,15 @@ module Box2D
     def normalImpulse=(v) self[:normalImpulse] = v end
     def tangentImpulse = self[:tangentImpulse]
     def tangentImpulse=(v) self[:tangentImpulse] = v end
-    def maxNormalImpulse = self[:maxNormalImpulse]
-    def maxNormalImpulse=(v) self[:maxNormalImpulse] = v end
+    def totalNormalImpulse = self[:totalNormalImpulse]
+    def totalNormalImpulse=(v) self[:totalNormalImpulse] = v end
     def normalVelocity = self[:normalVelocity]
     def normalVelocity=(v) self[:normalVelocity] = v end
     def id = self[:id]
     def id=(v) self[:id] = v end
     def persisted = self[:persisted]
     def persisted=(v) self[:persisted] = v end
-    def self.create_as(_point_, _anchorA_, _anchorB_, _separation_, _normalImpulse_, _tangentImpulse_, _maxNormalImpulse_, _normalVelocity_, _id_, _persisted_)
+    def self.create_as(_point_, _anchorA_, _anchorB_, _separation_, _normalImpulse_, _tangentImpulse_, _totalNormalImpulse_, _normalVelocity_, _id_, _persisted_)
       instance = ManifoldPoint.new
       instance[:point] = _point_
       instance[:anchorA] = _anchorA_
@@ -644,7 +648,7 @@ module Box2D
       instance[:separation] = _separation_
       instance[:normalImpulse] = _normalImpulse_
       instance[:tangentImpulse] = _tangentImpulse_
-      instance[:maxNormalImpulse] = _maxNormalImpulse_
+      instance[:totalNormalImpulse] = _totalNormalImpulse_
       instance[:normalVelocity] = _normalVelocity_
       instance[:id] = _id_
       instance[:persisted] = _persisted_
@@ -747,6 +751,69 @@ module Box2D
     end
   end
 
+  class PlaneResult < FFI::Struct
+    layout(
+      :plane, Plane,
+      :point, Vec2,
+      :hit, :bool,
+    )
+    def plane = self[:plane]
+    def plane=(v) self[:plane] = v end
+    def point = self[:point]
+    def point=(v) self[:point] = v end
+    def hit = self[:hit]
+    def hit=(v) self[:hit] = v end
+    def self.create_as(_plane_, _point_, _hit_)
+      instance = PlaneResult.new
+      instance[:plane] = _plane_
+      instance[:point] = _point_
+      instance[:hit] = _hit_
+      instance
+    end
+  end
+
+  class CollisionPlane < FFI::Struct
+    layout(
+      :plane, Plane,
+      :pushLimit, :float,
+      :push, :float,
+      :clipVelocity, :bool,
+    )
+    def plane = self[:plane]
+    def plane=(v) self[:plane] = v end
+    def pushLimit = self[:pushLimit]
+    def pushLimit=(v) self[:pushLimit] = v end
+    def push = self[:push]
+    def push=(v) self[:push] = v end
+    def clipVelocity = self[:clipVelocity]
+    def clipVelocity=(v) self[:clipVelocity] = v end
+    def self.create_as(_plane_, _pushLimit_, _push_, _clipVelocity_)
+      instance = CollisionPlane.new
+      instance[:plane] = _plane_
+      instance[:pushLimit] = _pushLimit_
+      instance[:push] = _push_
+      instance[:clipVelocity] = _clipVelocity_
+      instance
+    end
+  end
+
+  class PlaneSolverResult < FFI::Struct
+    layout(
+      :translation, Vec2,
+      :iterationCount, :int,
+    )
+    def translation = self[:translation]
+    def translation=(v) self[:translation] = v end
+    def iterationCount = self[:iterationCount]
+    def iterationCount=(v) self[:iterationCount] = v end
+    def self.create_as(_translation_, _iterationCount_)
+      instance = PlaneSolverResult.new
+      instance[:translation] = _translation_
+      instance[:iterationCount] = _iterationCount_
+      instance
+    end
+  end
+
 
   # Function
 
@@ -786,6 +853,7 @@ module Box2D
       [:ShapeDistance, :b2ShapeDistance, [:pointer, :pointer, :pointer, :int], DistanceOutput.by_value],
       [:ShapeCast, :b2ShapeCast, [:pointer], CastOutput.by_value],
       [:MakeProxy, :b2MakeProxy, [:pointer, :int, :float], ShapeProxy.by_value],
+      [:MakeOffsetProxy, :b2MakeOffsetProxy, [:pointer, :int, :float, Vec2.by_value, Rot.by_value], ShapeProxy.by_value],
       [:GetSweepTransform, :b2GetSweepTransform, [:pointer, :float], Transform.by_value],
       [:TimeOfImpact, :b2TimeOfImpact, [:pointer], TOIOutput.by_value],
       [:CollideCircles, :b2CollideCircles, [:pointer, Transform.by_value, :pointer, Transform.by_value], Manifold.by_value],
@@ -802,22 +870,27 @@ module Box2D
       [:CollideChainSegmentAndPolygon, :b2CollideChainSegmentAndPolygon, [:pointer, Transform.by_value, :pointer, Transform.by_value, :pointer], Manifold.by_value],
       [:DynamicTree_Create, :b2DynamicTree_Create, [], DynamicTree.by_value],
       [:DynamicTree_Destroy, :b2DynamicTree_Destroy, [:pointer], :void],
-      [:DynamicTree_CreateProxy, :b2DynamicTree_CreateProxy, [:pointer, AABB.by_value, :ulong_long, :int], :int],
+      [:DynamicTree_CreateProxy, :b2DynamicTree_CreateProxy, [:pointer, AABB.by_value, :ulong_long, :ulong_long], :int],
       [:DynamicTree_DestroyProxy, :b2DynamicTree_DestroyProxy, [:pointer, :int], :void],
       [:DynamicTree_MoveProxy, :b2DynamicTree_MoveProxy, [:pointer, :int, AABB.by_value], :void],
       [:DynamicTree_EnlargeProxy, :b2DynamicTree_EnlargeProxy, [:pointer, :int, AABB.by_value], :void],
+      [:DynamicTree_SetCategoryBits, :b2DynamicTree_SetCategoryBits, [:pointer, :int, :ulong_long], :void],
+      [:DynamicTree_GetCategoryBits, :b2DynamicTree_GetCategoryBits, [:pointer, :int], :ulong_long],
       [:DynamicTree_Query, :b2DynamicTree_Query, [:pointer, AABB.by_value, :ulong_long, :pointer, :pointer], TreeStats.by_value],
       [:DynamicTree_RayCast, :b2DynamicTree_RayCast, [:pointer, :pointer, :ulong_long, :pointer, :pointer], TreeStats.by_value],
       [:DynamicTree_ShapeCast, :b2DynamicTree_ShapeCast, [:pointer, :pointer, :ulong_long, :pointer, :pointer], TreeStats.by_value],
       [:DynamicTree_GetHeight, :b2DynamicTree_GetHeight, [:pointer], :int],
       [:DynamicTree_GetAreaRatio, :b2DynamicTree_GetAreaRatio, [:pointer], :float],
+      [:DynamicTree_GetRootBounds, :b2DynamicTree_GetRootBounds, [:pointer], AABB.by_value],
       [:DynamicTree_GetProxyCount, :b2DynamicTree_GetProxyCount, [:pointer], :int],
       [:DynamicTree_Rebuild, :b2DynamicTree_Rebuild, [:pointer, :bool], :int],
       [:DynamicTree_GetByteCount, :b2DynamicTree_GetByteCount, [:pointer], :int],
-      [:DynamicTree_GetUserData, :b2DynamicTree_GetUserData, [:pointer, :int], :int],
+      [:DynamicTree_GetUserData, :b2DynamicTree_GetUserData, [:pointer, :int], :ulong_long],
       [:DynamicTree_GetAABB, :b2DynamicTree_GetAABB, [:pointer, :int], AABB.by_value],
       [:DynamicTree_Validate, :b2DynamicTree_Validate, [:pointer], :void],
       [:DynamicTree_ValidateNoEnlarged, :b2DynamicTree_ValidateNoEnlarged, [:pointer], :void],
+      [:SolvePlanes, :b2SolvePlanes, [Vec2.by_value, :pointer, :int], PlaneSolverResult.by_value],
+      [:ClipVector, :b2ClipVector, [Vec2.by_value, :pointer, :int], Vec2.by_value],
     ]
     entries.each do |entry|
       api_name = if method_naming == :snake_case

data/lib/box2d_id.rb

@@ -120,6 +120,31 @@ module Box2D
     end
   end
 
+  class ContactId < FFI::Struct
+    layout(
+      :index1, :int,
+      :world0, :ushort,
+      :padding, :short,
+      :generation, :uint,
+    )
+    def index1 = self[:index1]
+    def index1=(v) self[:index1] = v end
+    def world0 = self[:world0]
+    def world0=(v) self[:world0] = v end
+    def padding = self[:padding]
+    def padding=(v) self[:padding] = v end
+    def generation = self[:generation]
+    def generation=(v) self[:generation] = v end
+    def self.create_as(_index1_, _world0_, _padding_, _generation_)
+      instance = ContactId.new
+      instance[:index1] = _index1_
+      instance[:world0] = _world0_
+      instance[:padding] = _padding_
+      instance[:generation] = _generation_
+      instance
+    end
+  end
+
 
   # Function
 

data/lib/box2d_id_inline.rb

@@ -24,6 +24,8 @@ module Box2D
 
   def self.setup_id_inline_symbols(method_naming: :original)
     entries = [
+      [:StoreWorldId, :b2StoreWorldId, [WorldId.by_value], :uint],
+      [:LoadWorldId, :b2LoadWorldId, [:uint], WorldId.by_value],
       [:StoreBodyId, :b2StoreBodyId, [BodyId.by_value], :ulong_long],
       [:LoadBodyId, :b2LoadBodyId, [:ulong_long], BodyId.by_value],
       [:StoreShapeId, :b2StoreShapeId, [ShapeId.by_value], :ulong_long],
@@ -32,6 +34,8 @@ module Box2D
       [:LoadChainId, :b2LoadChainId, [:ulong_long], ChainId.by_value],
       [:StoreJointId, :b2StoreJointId, [JointId.by_value], :ulong_long],
       [:LoadJointId, :b2LoadJointId, [:ulong_long], JointId.by_value],
+      [:StoreContactId, :b2StoreContactId, [ContactId.by_value, :pointer], :void],
+      [:LoadContactId, :b2LoadContactId, [:pointer], ContactId.by_value],
     ]
     entries.each do |entry|
       api_name = if method_naming == :snake_case

data/lib/box2d_main.rb

@@ -32,16 +32,14 @@ module Box2D
       [:World_GetBodyEvents, :b2World_GetBodyEvents, [WorldId.by_value], BodyEvents.by_value],
       [:World_GetSensorEvents, :b2World_GetSensorEvents, [WorldId.by_value], SensorEvents.by_value],
       [:World_GetContactEvents, :b2World_GetContactEvents, [WorldId.by_value], ContactEvents.by_value],
+      [:World_GetJointEvents, :b2World_GetJointEvents, [WorldId.by_value], JointEvents.by_value],
       [:World_OverlapAABB, :b2World_OverlapAABB, [WorldId.by_value, AABB.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
-      [:World_OverlapPoint, :b2World_OverlapPoint, [WorldId.by_value, Vec2.by_value, Transform.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
-      [:World_OverlapCircle, :b2World_OverlapCircle, [WorldId.by_value, :pointer, Transform.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
-      [:World_OverlapCapsule, :b2World_OverlapCapsule, [WorldId.by_value, :pointer, Transform.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
-      [:World_OverlapPolygon, :b2World_OverlapPolygon, [WorldId.by_value, :pointer, Transform.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
+      [:World_OverlapShape, :b2World_OverlapShape, [WorldId.by_value, :pointer, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
       [:World_CastRay, :b2World_CastRay, [WorldId.by_value, Vec2.by_value, Vec2.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
       [:World_CastRayClosest, :b2World_CastRayClosest, [WorldId.by_value, Vec2.by_value, Vec2.by_value, QueryFilter.by_value], RayResult.by_value],
-      [:World_CastCircle, :b2World_CastCircle, [WorldId.by_value, :pointer, Transform.by_value, Vec2.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
-      [:World_CastCapsule, :b2World_CastCapsule, [WorldId.by_value, :pointer, Transform.by_value, Vec2.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
-      [:World_CastPolygon, :b2World_CastPolygon, [WorldId.by_value, :pointer, Transform.by_value, Vec2.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
+      [:World_CastShape, :b2World_CastShape, [WorldId.by_value, :pointer, Vec2.by_value, QueryFilter.by_value, :pointer, :pointer], TreeStats.by_value],
+      [:World_CastMover, :b2World_CastMover, [WorldId.by_value, :pointer, Vec2.by_value, QueryFilter.by_value], :float],
+      [:World_CollideMover, :b2World_CollideMover, [WorldId.by_value, :pointer, QueryFilter.by_value, :pointer, :pointer], :void],
       [:World_EnableSleeping, :b2World_EnableSleeping, [WorldId.by_value, :bool], :void],
       [:World_IsSleepingEnabled, :b2World_IsSleepingEnabled, [WorldId.by_value], :bool],
       [:World_EnableContinuous, :b2World_EnableContinuous, [WorldId.by_value, :bool], :void],
@@ -56,7 +54,6 @@ module Box2D
       [:World_GetGravity, :b2World_GetGravity, [WorldId.by_value], Vec2.by_value],
       [:World_Explode, :b2World_Explode, [WorldId.by_value, :pointer], :void],
       [:World_SetContactTuning, :b2World_SetContactTuning, [WorldId.by_value, :float, :float, :float], :void],
-      [:World_SetJointTuning, :b2World_SetJointTuning, [WorldId.by_value, :float, :float], :void],
       [:World_SetMaximumLinearSpeed, :b2World_SetMaximumLinearSpeed, [WorldId.by_value, :float], :void],
       [:World_GetMaximumLinearSpeed, :b2World_GetMaximumLinearSpeed, [WorldId.by_value], :float],
       [:World_EnableWarmStarting, :b2World_EnableWarmStarting, [WorldId.by_value, :bool], :void],
@@ -92,6 +89,7 @@ module Box2D
       [:Body_GetAngularVelocity, :b2Body_GetAngularVelocity, [BodyId.by_value], :float],
       [:Body_SetLinearVelocity, :b2Body_SetLinearVelocity, [BodyId.by_value, Vec2.by_value], :void],
       [:Body_SetAngularVelocity, :b2Body_SetAngularVelocity, [BodyId.by_value, :float], :void],
+      [:Body_SetTargetTransform, :b2Body_SetTargetTransform, [BodyId.by_value, Transform.by_value, :float], :void],
       [:Body_GetLocalPointVelocity, :b2Body_GetLocalPointVelocity, [BodyId.by_value, Vec2.by_value], Vec2.by_value],
       [:Body_GetWorldPointVelocity, :b2Body_GetWorldPointVelocity, [BodyId.by_value, Vec2.by_value], Vec2.by_value],
       [:Body_ApplyForce, :b2Body_ApplyForce, [BodyId.by_value, Vec2.by_value, Vec2.by_value, :bool], :void],
@@ -156,8 +154,12 @@ module Box2D
       [:Shape_GetRestitution, :b2Shape_GetRestitution, [ShapeId.by_value], :float],
       [:Shape_SetMaterial, :b2Shape_SetMaterial, [ShapeId.by_value, :int], :void],
       [:Shape_GetMaterial, :b2Shape_GetMaterial, [ShapeId.by_value], :int],
+      [:Shape_SetSurfaceMaterial, :b2Shape_SetSurfaceMaterial, [ShapeId.by_value, SurfaceMaterial.by_value], :void],
+      [:Shape_GetSurfaceMaterial, :b2Shape_GetSurfaceMaterial, [ShapeId.by_value], SurfaceMaterial.by_value],
       [:Shape_GetFilter, :b2Shape_GetFilter, [ShapeId.by_value], Filter.by_value],
       [:Shape_SetFilter, :b2Shape_SetFilter, [ShapeId.by_value, Filter.by_value], :void],
+      [:Shape_EnableSensorEvents, :b2Shape_EnableSensorEvents, [ShapeId.by_value, :bool], :void],
+      [:Shape_AreSensorEventsEnabled, :b2Shape_AreSensorEventsEnabled, [ShapeId.by_value], :bool],
       [:Shape_EnableContactEvents, :b2Shape_EnableContactEvents, [ShapeId.by_value, :bool], :void],
       [:Shape_AreContactEventsEnabled, :b2Shape_AreContactEventsEnabled, [ShapeId.by_value], :bool],
       [:Shape_EnablePreSolveEvents, :b2Shape_EnablePreSolveEvents, [ShapeId.by_value, :bool], :void],
@@ -201,8 +203,10 @@ module Box2D
       [:Joint_GetBodyA, :b2Joint_GetBodyA, [JointId.by_value], BodyId.by_value],
       [:Joint_GetBodyB, :b2Joint_GetBodyB, [JointId.by_value], BodyId.by_value],
       [:Joint_GetWorld, :b2Joint_GetWorld, [JointId.by_value], WorldId.by_value],
-      [:Joint_GetLocalAnchorA, :b2Joint_GetLocalAnchorA, [JointId.by_value], Vec2.by_value],
-      [:Joint_GetLocalAnchorB, :b2Joint_GetLocalAnchorB, [JointId.by_value], Vec2.by_value],
+      [:Joint_SetLocalFrameA, :b2Joint_SetLocalFrameA, [JointId.by_value, Transform.by_value], :void],
+      [:Joint_GetLocalFrameA, :b2Joint_GetLocalFrameA, [JointId.by_value], Transform.by_value],
+      [:Joint_SetLocalFrameB, :b2Joint_SetLocalFrameB, [JointId.by_value, Transform.by_value], :void],
+      [:Joint_GetLocalFrameB, :b2Joint_GetLocalFrameB, [JointId.by_value], Transform.by_value],
       [:Joint_SetCollideConnected, :b2Joint_SetCollideConnected, [JointId.by_value, :bool], :void],
       [:Joint_GetCollideConnected, :b2Joint_GetCollideConnected, [JointId.by_value], :bool],
       [:Joint_SetUserData, :b2Joint_SetUserData, [JointId.by_value, :pointer], :void],
@@ -210,6 +214,10 @@ module Box2D
       [:Joint_WakeBodies, :b2Joint_WakeBodies, [JointId.by_value], :void],
       [:Joint_GetConstraintForce, :b2Joint_GetConstraintForce, [JointId.by_value], Vec2.by_value],
       [:Joint_GetConstraintTorque, :b2Joint_GetConstraintTorque, [JointId.by_value], :float],
+      [:Joint_GetLinearSeparation, :b2Joint_GetLinearSeparation, [JointId.by_value], :float],
+      [:Joint_GetAngularSeparation, :b2Joint_GetAngularSeparation, [JointId.by_value], :float],
+      [:Joint_GetConstraintTuning, :b2Joint_GetConstraintTuning, [JointId.by_value, :pointer, :pointer], :void],
+      [:Joint_SetConstraintTuning, :b2Joint_SetConstraintTuning, [JointId.by_value, :float, :float], :void],
       [:CreateDistanceJoint, :b2CreateDistanceJoint, [WorldId.by_value, :pointer], JointId.by_value],
       [:DistanceJoint_SetLength, :b2DistanceJoint_SetLength, [JointId.by_value, :float], :void],
       [:DistanceJoint_GetLength, :b2DistanceJoint_GetLength, [JointId.by_value], :float],
@@ -233,10 +241,6 @@ module Box2D
       [:DistanceJoint_GetMaxMotorForce, :b2DistanceJoint_GetMaxMotorForce, [JointId.by_value], :float],
       [:DistanceJoint_GetMotorForce, :b2DistanceJoint_GetMotorForce, [JointId.by_value], :float],
       [:CreateMotorJoint, :b2CreateMotorJoint, [WorldId.by_value, :pointer], JointId.by_value],
-      [:MotorJoint_SetLinearOffset, :b2MotorJoint_SetLinearOffset, [JointId.by_value, Vec2.by_value], :void],
-      [:MotorJoint_GetLinearOffset, :b2MotorJoint_GetLinearOffset, [JointId.by_value], Vec2.by_value],
-      [:MotorJoint_SetAngularOffset, :b2MotorJoint_SetAngularOffset, [JointId.by_value, :float], :void],
-      [:MotorJoint_GetAngularOffset, :b2MotorJoint_GetAngularOffset, [JointId.by_value], :float],
       [:MotorJoint_SetMaxForce, :b2MotorJoint_SetMaxForce, [JointId.by_value, :float], :void],
       [:MotorJoint_GetMaxForce, :b2MotorJoint_GetMaxForce, [JointId.by_value], :float],
       [:MotorJoint_SetMaxTorque, :b2MotorJoint_SetMaxTorque, [JointId.by_value, :float], :void],
@@ -244,15 +248,13 @@ module Box2D
       [:MotorJoint_SetCorrectionFactor, :b2MotorJoint_SetCorrectionFactor, [JointId.by_value, :float], :void],
       [:MotorJoint_GetCorrectionFactor, :b2MotorJoint_GetCorrectionFactor, [JointId.by_value], :float],
       [:CreateMouseJoint, :b2CreateMouseJoint, [WorldId.by_value, :pointer], JointId.by_value],
-      [:MouseJoint_SetTarget, :b2MouseJoint_SetTarget, [JointId.by_value, Vec2.by_value], :void],
-      [:MouseJoint_GetTarget, :b2MouseJoint_GetTarget, [JointId.by_value], Vec2.by_value],
       [:MouseJoint_SetSpringHertz, :b2MouseJoint_SetSpringHertz, [JointId.by_value, :float], :void],
       [:MouseJoint_GetSpringHertz, :b2MouseJoint_GetSpringHertz, [JointId.by_value], :float],
       [:MouseJoint_SetSpringDampingRatio, :b2MouseJoint_SetSpringDampingRatio, [JointId.by_value, :float], :void],
       [:MouseJoint_GetSpringDampingRatio, :b2MouseJoint_GetSpringDampingRatio, [JointId.by_value], :float],
       [:MouseJoint_SetMaxForce, :b2MouseJoint_SetMaxForce, [JointId.by_value, :float], :void],
       [:MouseJoint_GetMaxForce, :b2MouseJoint_GetMaxForce, [JointId.by_value], :float],
-      [:CreateNullJoint, :b2CreateNullJoint, [WorldId.by_value, :pointer], JointId.by_value],
+      [:CreateFilterJoint, :b2CreateFilterJoint, [WorldId.by_value, :pointer], JointId.by_value],
       [:CreatePrismaticJoint, :b2CreatePrismaticJoint, [WorldId.by_value, :pointer], JointId.by_value],
       [:PrismaticJoint_EnableSpring, :b2PrismaticJoint_EnableSpring, [JointId.by_value, :bool], :void],
       [:PrismaticJoint_IsSpringEnabled, :b2PrismaticJoint_IsSpringEnabled, [JointId.by_value], :bool],
@@ -260,6 +262,8 @@ module Box2D
       [:PrismaticJoint_GetSpringHertz, :b2PrismaticJoint_GetSpringHertz, [JointId.by_value], :float],
       [:PrismaticJoint_SetSpringDampingRatio, :b2PrismaticJoint_SetSpringDampingRatio, [JointId.by_value, :float], :void],
       [:PrismaticJoint_GetSpringDampingRatio, :b2PrismaticJoint_GetSpringDampingRatio, [JointId.by_value], :float],
+      [:PrismaticJoint_SetTargetTranslation, :b2PrismaticJoint_SetTargetTranslation, [JointId.by_value, :float], :void],
+      [:PrismaticJoint_GetTargetTranslation, :b2PrismaticJoint_GetTargetTranslation, [JointId.by_value], :float],
       [:PrismaticJoint_EnableLimit, :b2PrismaticJoint_EnableLimit, [JointId.by_value, :bool], :void],
       [:PrismaticJoint_IsLimitEnabled, :b2PrismaticJoint_IsLimitEnabled, [JointId.by_value], :bool],
       [:PrismaticJoint_GetLowerLimit, :b2PrismaticJoint_GetLowerLimit, [JointId.by_value], :float],
@@ -281,6 +285,8 @@ module Box2D
       [:RevoluteJoint_GetSpringHertz, :b2RevoluteJoint_GetSpringHertz, [JointId.by_value], :float],
       [:RevoluteJoint_SetSpringDampingRatio, :b2RevoluteJoint_SetSpringDampingRatio, [JointId.by_value, :float], :void],
       [:RevoluteJoint_GetSpringDampingRatio, :b2RevoluteJoint_GetSpringDampingRatio, [JointId.by_value], :float],
+      [:RevoluteJoint_SetTargetAngle, :b2RevoluteJoint_SetTargetAngle, [JointId.by_value, :float], :void],
+      [:RevoluteJoint_GetTargetAngle, :b2RevoluteJoint_GetTargetAngle, [JointId.by_value], :float],
       [:RevoluteJoint_GetAngle, :b2RevoluteJoint_GetAngle, [JointId.by_value], :float],
       [:RevoluteJoint_EnableLimit, :b2RevoluteJoint_EnableLimit, [JointId.by_value, :bool], :void],
       [:RevoluteJoint_IsLimitEnabled, :b2RevoluteJoint_IsLimitEnabled, [JointId.by_value], :bool],
@@ -295,8 +301,6 @@ module Box2D
       [:RevoluteJoint_SetMaxMotorTorque, :b2RevoluteJoint_SetMaxMotorTorque, [JointId.by_value, :float], :void],
       [:RevoluteJoint_GetMaxMotorTorque, :b2RevoluteJoint_GetMaxMotorTorque, [JointId.by_value], :float],
       [:CreateWeldJoint, :b2CreateWeldJoint, [WorldId.by_value, :pointer], JointId.by_value],
-      [:WeldJoint_GetReferenceAngle, :b2WeldJoint_GetReferenceAngle, [JointId.by_value], :float],
-      [:WeldJoint_SetReferenceAngle, :b2WeldJoint_SetReferenceAngle, [JointId.by_value, :float], :void],
       [:WeldJoint_SetLinearHertz, :b2WeldJoint_SetLinearHertz, [JointId.by_value, :float], :void],
       [:WeldJoint_GetLinearHertz, :b2WeldJoint_GetLinearHertz, [JointId.by_value], :float],
       [:WeldJoint_SetLinearDampingRatio, :b2WeldJoint_SetLinearDampingRatio, [JointId.by_value, :float], :void],
@@ -324,6 +328,9 @@ module Box2D
       [:WheelJoint_SetMaxMotorTorque, :b2WheelJoint_SetMaxMotorTorque, [JointId.by_value, :float], :void],
       [:WheelJoint_GetMaxMotorTorque, :b2WheelJoint_GetMaxMotorTorque, [JointId.by_value], :float],
       [:WheelJoint_GetMotorTorque, :b2WheelJoint_GetMotorTorque, [JointId.by_value], :float],
+      [:Contact_IsValid, :b2Contact_IsValid, [ContactId.by_value], :bool],
+      [:Contact_GetManifold, :b2Contact_GetManifold, [ContactId.by_value], Manifold.by_value],
+      [:Contact_GetShapeIds, :b2Contact_GetShapeIds, [ContactId.by_value, :pointer, :pointer], :void],
     ]
     entries.each do |entry|
       api_name = if method_naming == :snake_case

data/lib/box2d_math_functions.rb

@@ -121,18 +121,37 @@ module Box2D
     end
   end
 
+  class Plane < FFI::Struct
+    layout(
+      :normal, Vec2,
+      :offset, :float,
+    )
+    def normal = self[:normal]
+    def normal=(v) self[:normal] = v end
+    def offset = self[:offset]
+    def offset=(v) self[:offset] = v end
+    def self.create_as(_normal_, _offset_)
+      instance = Plane.new
+      instance[:normal] = _normal_
+      instance[:offset] = _offset_
+      instance
+    end
+  end
+
 
   # Function
 
   def self.setup_math_functions_symbols(method_naming: :original)
     entries = [
-      [:Atan2, :b2Atan2, [:float, :float], :float],
-      [:ComputeCosSin, :b2ComputeCosSin, [:float], CosSin.by_value],
-      [:ComputeRotationBetweenUnitVectors, :b2ComputeRotationBetweenUnitVectors, [Vec2.by_value, Vec2.by_value], Rot.by_value],
       [:IsValidFloat, :b2IsValidFloat, [:float], :bool],
       [:IsValidVec2, :b2IsValidVec2, [Vec2.by_value], :bool],
       [:IsValidRotation, :b2IsValidRotation, [Rot.by_value], :bool],
+      [:IsValidTransform, :b2IsValidTransform, [Transform.by_value], :bool],
       [:IsValidAABB, :b2IsValidAABB, [AABB.by_value], :bool],
+      [:IsValidPlane, :b2IsValidPlane, [Plane.by_value], :bool],
+      [:Atan2, :b2Atan2, [:float, :float], :float],
+      [:ComputeCosSin, :b2ComputeCosSin, [:float], CosSin.by_value],
+      [:ComputeRotationBetweenUnitVectors, :b2ComputeRotationBetweenUnitVectors, [Vec2.by_value, Vec2.by_value], Rot.by_value],
       [:SetLengthUnitsPerMeter, :b2SetLengthUnitsPerMeter, [:float], :void],
       [:GetLengthUnitsPerMeter, :b2GetLengthUnitsPerMeter, [], :float],
     ]

data/lib/box2d_math_inline_functions.rb

@@ -53,13 +53,15 @@ module Box2D
       [:Length, :b2Length, [Vec2.by_value], :float],
       [:Distance, :b2Distance, [Vec2.by_value, Vec2.by_value], :float],
       [:Normalize, :b2Normalize, [Vec2.by_value], Vec2.by_value],
+      [:IsNormalized, :b2IsNormalized, [Vec2.by_value], :bool],
       [:GetLengthAndNormalize, :b2GetLengthAndNormalize, [:pointer, Vec2.by_value], Vec2.by_value],
       [:NormalizeRot, :b2NormalizeRot, [Rot.by_value], Rot.by_value],
       [:IntegrateRotation, :b2IntegrateRotation, [Rot.by_value, :float], Rot.by_value],
       [:LengthSquared, :b2LengthSquared, [Vec2.by_value], :float],
       [:DistanceSquared, :b2DistanceSquared, [Vec2.by_value, Vec2.by_value], :float],
       [:MakeRot, :b2MakeRot, [:float], Rot.by_value],
-      [:IsNormalized, :b2IsNormalized, [Rot.by_value], :bool],
+      [:MakeRotFromUnitVector, :b2MakeRotFromUnitVector, [Vec2.by_value], Rot.by_value],
+      [:IsNormalizedRot, :b2IsNormalizedRot, [Rot.by_value], :bool],
       [:NLerp, :b2NLerp, [Rot.by_value, Rot.by_value, :float], Rot.by_value],
       [:ComputeAngularVelocity, :b2ComputeAngularVelocity, [Rot.by_value, Rot.by_value, :float], :float],
       [:Rot_GetAngle, :b2Rot_GetAngle, [Rot.by_value], :float],
@@ -69,7 +71,6 @@ module Box2D
       [:InvMulRot, :b2InvMulRot, [Rot.by_value, Rot.by_value], Rot.by_value],
       [:RelativeAngle, :b2RelativeAngle, [Rot.by_value, Rot.by_value], :float],
       [:UnwindAngle, :b2UnwindAngle, [:float], :float],
-      [:UnwindLargeAngle, :b2UnwindLargeAngle, [:float], :float],
       [:RotateVector, :b2RotateVector, [Rot.by_value, Vec2.by_value], Vec2.by_value],
       [:InvRotateVector, :b2InvRotateVector, [Rot.by_value, Vec2.by_value], Vec2.by_value],
       [:TransformPoint, :b2TransformPoint, [Transform.by_value, Vec2.by_value], Vec2.by_value],
@@ -83,6 +84,10 @@ module Box2D
       [:AABB_Center, :b2AABB_Center, [AABB.by_value], Vec2.by_value],
       [:AABB_Extents, :b2AABB_Extents, [AABB.by_value], Vec2.by_value],
       [:AABB_Union, :b2AABB_Union, [AABB.by_value, AABB.by_value], AABB.by_value],
+      [:AABB_Overlaps, :b2AABB_Overlaps, [AABB.by_value, AABB.by_value], :bool],
+      [:MakeAABB, :b2MakeAABB, [:pointer, :int, :float], AABB.by_value],
+      [:PlaneSeparation, :b2PlaneSeparation, [Plane.by_value, Vec2.by_value], :float],
+      [:SpringDamper, :b2SpringDamper, [:float, :float, :float, :float, :float], :float],
     ]
     entries.each do |entry|
       api_name = if method_naming == :snake_case