box2d-bindings 0.1.2-arm64-darwin → 0.1.4-arm64-darwin

data/lib/box2d_types.rb

@@ -10,7 +10,6 @@ module Box2D
   extend FFI::Library
   # Define/Macro
 
-  DEFAULT_CATEGORY_BITS = 0x0001
 
   # Enum
 
@@ -27,11 +26,10 @@ module Box2D
   JointType_distanceJoint = 0
   JointType_filterJoint = 1
   JointType_motorJoint = 2
-  JointType_mouseJoint = 3
-  JointType_prismaticJoint = 4
-  JointType_revoluteJoint = 5
-  JointType_weldJoint = 6
-  JointType_wheelJoint = 7
+  JointType_prismaticJoint = 3
+  JointType_revoluteJoint = 4
+  JointType_weldJoint = 5
+  JointType_wheelJoint = 6
   HexColor_colorAliceBlue = 15792383
   HexColor_colorAntiqueWhite = 16444375
   HexColor_colorAqua = 65535
@@ -241,14 +239,13 @@ module Box2D
       :hitEventThreshold, :float,
       :contactHertz, :float,
       :contactDampingRatio, :float,
-      :maxContactPushSpeed, :float,
-      :jointHertz, :float,
-      :jointDampingRatio, :float,
+      :contactSpeed, :float,
       :maximumLinearSpeed, :float,
       :frictionCallback, :pointer,
       :restitutionCallback, :pointer,
       :enableSleep, :bool,
       :enableContinuous, :bool,
+      :enableContactSoftening, :bool,
       :workerCount, :int,
       :enqueueTask, :pointer,
       :finishTask, :pointer,
@@ -266,12 +263,8 @@ module Box2D
     def contactHertz=(v) self[:contactHertz] = v end
     def contactDampingRatio = self[:contactDampingRatio]
     def contactDampingRatio=(v) self[:contactDampingRatio] = v end
-    def maxContactPushSpeed = self[:maxContactPushSpeed]
-    def maxContactPushSpeed=(v) self[:maxContactPushSpeed] = v end
-    def jointHertz = self[:jointHertz]
-    def jointHertz=(v) self[:jointHertz] = v end
-    def jointDampingRatio = self[:jointDampingRatio]
-    def jointDampingRatio=(v) self[:jointDampingRatio] = v end
+    def contactSpeed = self[:contactSpeed]
+    def contactSpeed=(v) self[:contactSpeed] = v end
     def maximumLinearSpeed = self[:maximumLinearSpeed]
     def maximumLinearSpeed=(v) self[:maximumLinearSpeed] = v end
     def frictionCallback = self[:frictionCallback]
@@ -282,6 +275,8 @@ module Box2D
     def enableSleep=(v) self[:enableSleep] = v end
     def enableContinuous = self[:enableContinuous]
     def enableContinuous=(v) self[:enableContinuous] = v end
+    def enableContactSoftening = self[:enableContactSoftening]
+    def enableContactSoftening=(v) self[:enableContactSoftening] = v end
     def workerCount = self[:workerCount]
     def workerCount=(v) self[:workerCount] = v end
     def enqueueTask = self[:enqueueTask]
@@ -294,21 +289,20 @@ module Box2D
     def userData=(v) self[:userData] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_gravity_, _restitutionThreshold_, _hitEventThreshold_, _contactHertz_, _contactDampingRatio_, _maxContactPushSpeed_, _jointHertz_, _jointDampingRatio_, _maximumLinearSpeed_, _frictionCallback_, _restitutionCallback_, _enableSleep_, _enableContinuous_, _workerCount_, _enqueueTask_, _finishTask_, _userTaskContext_, _userData_, _internalValue_)
+    def self.create_as(_gravity_, _restitutionThreshold_, _hitEventThreshold_, _contactHertz_, _contactDampingRatio_, _contactSpeed_, _maximumLinearSpeed_, _frictionCallback_, _restitutionCallback_, _enableSleep_, _enableContinuous_, _enableContactSoftening_, _workerCount_, _enqueueTask_, _finishTask_, _userTaskContext_, _userData_, _internalValue_)
       instance = WorldDef.new
       instance[:gravity] = _gravity_
       instance[:restitutionThreshold] = _restitutionThreshold_
       instance[:hitEventThreshold] = _hitEventThreshold_
       instance[:contactHertz] = _contactHertz_
       instance[:contactDampingRatio] = _contactDampingRatio_
-      instance[:maxContactPushSpeed] = _maxContactPushSpeed_
-      instance[:jointHertz] = _jointHertz_
-      instance[:jointDampingRatio] = _jointDampingRatio_
+      instance[:contactSpeed] = _contactSpeed_
       instance[:maximumLinearSpeed] = _maximumLinearSpeed_
       instance[:frictionCallback] = _frictionCallback_
       instance[:restitutionCallback] = _restitutionCallback_
       instance[:enableSleep] = _enableSleep_
       instance[:enableContinuous] = _enableContinuous_
+      instance[:enableContactSoftening] = _enableContactSoftening_
       instance[:workerCount] = _workerCount_
       instance[:enqueueTask] = _enqueueTask_
       instance[:finishTask] = _finishTask_
@@ -319,6 +313,27 @@ module Box2D
     end
   end
 
+  class MotionLocks < FFI::Struct
+    layout(
+      :linearX, :bool,
+      :linearY, :bool,
+      :angularZ, :bool,
+    )
+    def linearX = self[:linearX]
+    def linearX=(v) self[:linearX] = v end
+    def linearY = self[:linearY]
+    def linearY=(v) self[:linearY] = v end
+    def angularZ = self[:angularZ]
+    def angularZ=(v) self[:angularZ] = v end
+    def self.create_as(_linearX_, _linearY_, _angularZ_)
+      instance = MotionLocks.new
+      instance[:linearX] = _linearX_
+      instance[:linearY] = _linearY_
+      instance[:angularZ] = _angularZ_
+      instance
+    end
+  end
+
   class BodyDef < FFI::Struct
     layout(
       :type, :int,
@@ -332,9 +347,9 @@ module Box2D
       :sleepThreshold, :float,
       :name, :pointer,
       :userData, :pointer,
+      :motionLocks, MotionLocks,
       :enableSleep, :bool,
       :isAwake, :bool,
-      :fixedRotation, :bool,
       :isBullet, :bool,
       :isEnabled, :bool,
       :allowFastRotation, :bool,
@@ -362,12 +377,12 @@ module Box2D
     def name=(v) self[:name] = v end
     def userData = self[:userData]
     def userData=(v) self[:userData] = v end
+    def motionLocks = self[:motionLocks]
+    def motionLocks=(v) self[:motionLocks] = v end
     def enableSleep = self[:enableSleep]
     def enableSleep=(v) self[:enableSleep] = v end
     def isAwake = self[:isAwake]
     def isAwake=(v) self[:isAwake] = v end
-    def fixedRotation = self[:fixedRotation]
-    def fixedRotation=(v) self[:fixedRotation] = v end
     def isBullet = self[:isBullet]
     def isBullet=(v) self[:isBullet] = v end
     def isEnabled = self[:isEnabled]
@@ -376,7 +391,7 @@ module Box2D
     def allowFastRotation=(v) self[:allowFastRotation] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_type_, _position_, _rotation_, _linearVelocity_, _angularVelocity_, _linearDamping_, _angularDamping_, _gravityScale_, _sleepThreshold_, _name_, _userData_, _enableSleep_, _isAwake_, _fixedRotation_, _isBullet_, _isEnabled_, _allowFastRotation_, _internalValue_)
+    def self.create_as(_type_, _position_, _rotation_, _linearVelocity_, _angularVelocity_, _linearDamping_, _angularDamping_, _gravityScale_, _sleepThreshold_, _name_, _userData_, _motionLocks_, _enableSleep_, _isAwake_, _isBullet_, _isEnabled_, _allowFastRotation_, _internalValue_)
       instance = BodyDef.new
       instance[:type] = _type_
       instance[:position] = _position_
@@ -389,9 +404,9 @@ module Box2D
       instance[:sleepThreshold] = _sleepThreshold_
       instance[:name] = _name_
       instance[:userData] = _userData_
+      instance[:motionLocks] = _motionLocks_
       instance[:enableSleep] = _enableSleep_
       instance[:isAwake] = _isAwake_
-      instance[:fixedRotation] = _fixedRotation_
       instance[:isBullet] = _isBullet_
       instance[:isEnabled] = _isEnabled_
       instance[:allowFastRotation] = _allowFastRotation_
@@ -444,7 +459,7 @@ module Box2D
       :restitution, :float,
       :rollingResistance, :float,
       :tangentSpeed, :float,
-      :userMaterialId, :int,
+      :userMaterialId, :ulong_long,
       :customColor, :uint,
     )
     def friction = self[:friction]
@@ -477,6 +492,7 @@ module Box2D
       :material, SurfaceMaterial,
       :density, :float,
       :filter, Filter,
+      :enableCustomFiltering, :bool,
       :isSensor, :bool,
       :enableSensorEvents, :bool,
       :enableContactEvents, :bool,
@@ -494,6 +510,8 @@ module Box2D
     def density=(v) self[:density] = v end
     def filter = self[:filter]
     def filter=(v) self[:filter] = v end
+    def enableCustomFiltering = self[:enableCustomFiltering]
+    def enableCustomFiltering=(v) self[:enableCustomFiltering] = v end
     def isSensor = self[:isSensor]
     def isSensor=(v) self[:isSensor] = v end
     def enableSensorEvents = self[:enableSensorEvents]
@@ -510,12 +528,13 @@ module Box2D
     def updateBodyMass=(v) self[:updateBodyMass] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_userData_, _material_, _density_, _filter_, _isSensor_, _enableSensorEvents_, _enableContactEvents_, _enableHitEvents_, _enablePreSolveEvents_, _invokeContactCreation_, _updateBodyMass_, _internalValue_)
+    def self.create_as(_userData_, _material_, _density_, _filter_, _enableCustomFiltering_, _isSensor_, _enableSensorEvents_, _enableContactEvents_, _enableHitEvents_, _enablePreSolveEvents_, _invokeContactCreation_, _updateBodyMass_, _internalValue_)
       instance = ShapeDef.new
       instance[:userData] = _userData_
       instance[:material] = _material_
       instance[:density] = _density_
       instance[:filter] = _filter_
+      instance[:enableCustomFiltering] = _enableCustomFiltering_
       instance[:isSensor] = _isSensor_
       instance[:enableSensorEvents] = _enableSensorEvents_
       instance[:enableContactEvents] = _enableContactEvents_
@@ -579,7 +598,6 @@ module Box2D
       :pairs, :float,
       :collide, :float,
       :solve, :float,
-      :mergeIslands, :float,
       :prepareStages, :float,
       :solveConstraints, :float,
       :prepareConstraints, :float,
@@ -592,6 +610,8 @@ module Box2D
       :storeImpulses, :float,
       :splitIslands, :float,
       :transforms, :float,
+      :sensorHits, :float,
+      :jointEvents, :float,
       :hitEvents, :float,
       :refit, :float,
       :bullets, :float,
@@ -606,8 +626,6 @@ module Box2D
     def collide=(v) self[:collide] = v end
     def solve = self[:solve]
     def solve=(v) self[:solve] = v end
-    def mergeIslands = self[:mergeIslands]
-    def mergeIslands=(v) self[:mergeIslands] = v end
     def prepareStages = self[:prepareStages]
     def prepareStages=(v) self[:prepareStages] = v end
     def solveConstraints = self[:solveConstraints]
@@ -632,6 +650,10 @@ module Box2D
     def splitIslands=(v) self[:splitIslands] = v end
     def transforms = self[:transforms]
     def transforms=(v) self[:transforms] = v end
+    def sensorHits = self[:sensorHits]
+    def sensorHits=(v) self[:sensorHits] = v end
+    def jointEvents = self[:jointEvents]
+    def jointEvents=(v) self[:jointEvents] = v end
     def hitEvents = self[:hitEvents]
     def hitEvents=(v) self[:hitEvents] = v end
     def refit = self[:refit]
@@ -642,13 +664,12 @@ module Box2D
     def sleepIslands=(v) self[:sleepIslands] = v end
     def sensors = self[:sensors]
     def sensors=(v) self[:sensors] = v end
-    def self.create_as(_step_, _pairs_, _collide_, _solve_, _mergeIslands_, _prepareStages_, _solveConstraints_, _prepareConstraints_, _integrateVelocities_, _warmStart_, _solveImpulses_, _integratePositions_, _relaxImpulses_, _applyRestitution_, _storeImpulses_, _splitIslands_, _transforms_, _hitEvents_, _refit_, _bullets_, _sleepIslands_, _sensors_)
+    def self.create_as(_step_, _pairs_, _collide_, _solve_, _prepareStages_, _solveConstraints_, _prepareConstraints_, _integrateVelocities_, _warmStart_, _solveImpulses_, _integratePositions_, _relaxImpulses_, _applyRestitution_, _storeImpulses_, _splitIslands_, _transforms_, _sensorHits_, _jointEvents_, _hitEvents_, _refit_, _bullets_, _sleepIslands_, _sensors_)
       instance = Profile.new
       instance[:step] = _step_
       instance[:pairs] = _pairs_
       instance[:collide] = _collide_
       instance[:solve] = _solve_
-      instance[:mergeIslands] = _mergeIslands_
       instance[:prepareStages] = _prepareStages_
       instance[:solveConstraints] = _solveConstraints_
       instance[:prepareConstraints] = _prepareConstraints_
@@ -661,6 +682,8 @@ module Box2D
       instance[:storeImpulses] = _storeImpulses_
       instance[:splitIslands] = _splitIslands_
       instance[:transforms] = _transforms_
+      instance[:sensorHits] = _sensorHits_
+      instance[:jointEvents] = _jointEvents_
       instance[:hitEvents] = _hitEvents_
       instance[:refit] = _refit_
       instance[:bullets] = _bullets_
@@ -682,7 +705,7 @@ module Box2D
       :treeHeight, :int,
       :byteCount, :int,
       :taskCount, :int,
-      :colorCounts, [:int, 12],
+      :colorCounts, [:int, 24],
     )
     def bodyCount = self[:bodyCount]
     def bodyCount=(v) self[:bodyCount] = v end
@@ -723,14 +746,66 @@ module Box2D
     end
   end
 
-  class DistanceJointDef < FFI::Struct
+  class JointDef < FFI::Struct
     layout(
+      :userData, :pointer,
       :bodyIdA, BodyId,
       :bodyIdB, BodyId,
-      :localAnchorA, Vec2,
-      :localAnchorB, Vec2,
+      :localFrameA, Transform,
+      :localFrameB, Transform,
+      :forceThreshold, :float,
+      :torqueThreshold, :float,
+      :constraintHertz, :float,
+      :constraintDampingRatio, :float,
+      :drawScale, :float,
+      :collideConnected, :bool,
+    )
+    def userData = self[:userData]
+    def userData=(v) self[:userData] = v end
+    def bodyIdA = self[:bodyIdA]
+    def bodyIdA=(v) self[:bodyIdA] = v end
+    def bodyIdB = self[:bodyIdB]
+    def bodyIdB=(v) self[:bodyIdB] = v end
+    def localFrameA = self[:localFrameA]
+    def localFrameA=(v) self[:localFrameA] = v end
+    def localFrameB = self[:localFrameB]
+    def localFrameB=(v) self[:localFrameB] = v end
+    def forceThreshold = self[:forceThreshold]
+    def forceThreshold=(v) self[:forceThreshold] = v end
+    def torqueThreshold = self[:torqueThreshold]
+    def torqueThreshold=(v) self[:torqueThreshold] = v end
+    def constraintHertz = self[:constraintHertz]
+    def constraintHertz=(v) self[:constraintHertz] = v end
+    def constraintDampingRatio = self[:constraintDampingRatio]
+    def constraintDampingRatio=(v) self[:constraintDampingRatio] = v end
+    def drawScale = self[:drawScale]
+    def drawScale=(v) self[:drawScale] = v end
+    def collideConnected = self[:collideConnected]
+    def collideConnected=(v) self[:collideConnected] = v end
+    def self.create_as(_userData_, _bodyIdA_, _bodyIdB_, _localFrameA_, _localFrameB_, _forceThreshold_, _torqueThreshold_, _constraintHertz_, _constraintDampingRatio_, _drawScale_, _collideConnected_)
+      instance = JointDef.new
+      instance[:userData] = _userData_
+      instance[:bodyIdA] = _bodyIdA_
+      instance[:bodyIdB] = _bodyIdB_
+      instance[:localFrameA] = _localFrameA_
+      instance[:localFrameB] = _localFrameB_
+      instance[:forceThreshold] = _forceThreshold_
+      instance[:torqueThreshold] = _torqueThreshold_
+      instance[:constraintHertz] = _constraintHertz_
+      instance[:constraintDampingRatio] = _constraintDampingRatio_
+      instance[:drawScale] = _drawScale_
+      instance[:collideConnected] = _collideConnected_
+      instance
+    end
+  end
+
+  class DistanceJointDef < FFI::Struct
+    layout(
+      :base, JointDef,
       :length, :float,
       :enableSpring, :bool,
+      :lowerSpringForce, :float,
+      :upperSpringForce, :float,
       :hertz, :float,
       :dampingRatio, :float,
       :enableLimit, :bool,
@@ -739,22 +814,18 @@ module Box2D
       :enableMotor, :bool,
       :maxMotorForce, :float,
       :motorSpeed, :float,
-      :collideConnected, :bool,
-      :userData, :pointer,
       :internalValue, :int,
     )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def localAnchorA = self[:localAnchorA]
-    def localAnchorA=(v) self[:localAnchorA] = v end
-    def localAnchorB = self[:localAnchorB]
-    def localAnchorB=(v) self[:localAnchorB] = v end
+    def base = self[:base]
+    def base=(v) self[:base] = v end
     def length = self[:length]
     def length=(v) self[:length] = v end
     def enableSpring = self[:enableSpring]
     def enableSpring=(v) self[:enableSpring] = v end
+    def lowerSpringForce = self[:lowerSpringForce]
+    def lowerSpringForce=(v) self[:lowerSpringForce] = v end
+    def upperSpringForce = self[:upperSpringForce]
+    def upperSpringForce=(v) self[:upperSpringForce] = v end
     def hertz = self[:hertz]
     def hertz=(v) self[:hertz] = v end
     def dampingRatio = self[:dampingRatio]
@@ -771,20 +842,15 @@ module Box2D
     def maxMotorForce=(v) self[:maxMotorForce] = v end
     def motorSpeed = self[:motorSpeed]
     def motorSpeed=(v) self[:motorSpeed] = v end
-    def collideConnected = self[:collideConnected]
-    def collideConnected=(v) self[:collideConnected] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _localAnchorA_, _localAnchorB_, _length_, _enableSpring_, _hertz_, _dampingRatio_, _enableLimit_, _minLength_, _maxLength_, _enableMotor_, _maxMotorForce_, _motorSpeed_, _collideConnected_, _userData_, _internalValue_)
+    def self.create_as(_base_, _length_, _enableSpring_, _lowerSpringForce_, _upperSpringForce_, _hertz_, _dampingRatio_, _enableLimit_, _minLength_, _maxLength_, _enableMotor_, _maxMotorForce_, _motorSpeed_, _internalValue_)
       instance = DistanceJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:localAnchorA] = _localAnchorA_
-      instance[:localAnchorB] = _localAnchorB_
+      instance[:base] = _base_
       instance[:length] = _length_
       instance[:enableSpring] = _enableSpring_
+      instance[:lowerSpringForce] = _lowerSpringForce_
+      instance[:upperSpringForce] = _upperSpringForce_
       instance[:hertz] = _hertz_
       instance[:dampingRatio] = _dampingRatio_
       instance[:enableLimit] = _enableLimit_
@@ -793,8 +859,6 @@ module Box2D
       instance[:enableMotor] = _enableMotor_
       instance[:maxMotorForce] = _maxMotorForce_
       instance[:motorSpeed] = _motorSpeed_
-      instance[:collideConnected] = _collideConnected_
-      instance[:userData] = _userData_
       instance[:internalValue] = _internalValue_
       instance
     end
@@ -802,93 +866,56 @@ module Box2D
 
   class MotorJointDef < FFI::Struct
     layout(
-      :bodyIdA, BodyId,
-      :bodyIdB, BodyId,
-      :linearOffset, Vec2,
-      :angularOffset, :float,
-      :maxForce, :float,
-      :maxTorque, :float,
-      :correctionFactor, :float,
-      :collideConnected, :bool,
-      :userData, :pointer,
+      :base, JointDef,
+      :linearVelocity, Vec2,
+      :maxVelocityForce, :float,
+      :angularVelocity, :float,
+      :maxVelocityTorque, :float,
+      :linearHertz, :float,
+      :linearDampingRatio, :float,
+      :maxSpringForce, :float,
+      :angularHertz, :float,
+      :angularDampingRatio, :float,
+      :maxSpringTorque, :float,
       :internalValue, :int,
     )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def linearOffset = self[:linearOffset]
-    def linearOffset=(v) self[:linearOffset] = v end
-    def angularOffset = self[:angularOffset]
-    def angularOffset=(v) self[:angularOffset] = v end
-    def maxForce = self[:maxForce]
-    def maxForce=(v) self[:maxForce] = v end
-    def maxTorque = self[:maxTorque]
-    def maxTorque=(v) self[:maxTorque] = v end
-    def correctionFactor = self[:correctionFactor]
-    def correctionFactor=(v) self[:correctionFactor] = v end
-    def collideConnected = self[:collideConnected]
-    def collideConnected=(v) self[:collideConnected] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
+    def base = self[:base]
+    def base=(v) self[:base] = v end
+    def linearVelocity = self[:linearVelocity]
+    def linearVelocity=(v) self[:linearVelocity] = v end
+    def maxVelocityForce = self[:maxVelocityForce]
+    def maxVelocityForce=(v) self[:maxVelocityForce] = v end
+    def angularVelocity = self[:angularVelocity]
+    def angularVelocity=(v) self[:angularVelocity] = v end
+    def maxVelocityTorque = self[:maxVelocityTorque]
+    def maxVelocityTorque=(v) self[:maxVelocityTorque] = v end
+    def linearHertz = self[:linearHertz]
+    def linearHertz=(v) self[:linearHertz] = v end
+    def linearDampingRatio = self[:linearDampingRatio]
+    def linearDampingRatio=(v) self[:linearDampingRatio] = v end
+    def maxSpringForce = self[:maxSpringForce]
+    def maxSpringForce=(v) self[:maxSpringForce] = v end
+    def angularHertz = self[:angularHertz]
+    def angularHertz=(v) self[:angularHertz] = v end
+    def angularDampingRatio = self[:angularDampingRatio]
+    def angularDampingRatio=(v) self[:angularDampingRatio] = v end
+    def maxSpringTorque = self[:maxSpringTorque]
+    def maxSpringTorque=(v) self[:maxSpringTorque] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _linearOffset_, _angularOffset_, _maxForce_, _maxTorque_, _correctionFactor_, _collideConnected_, _userData_, _internalValue_)
+    def self.create_as(_base_, _linearVelocity_, _maxVelocityForce_, _angularVelocity_, _maxVelocityTorque_, _linearHertz_, _linearDampingRatio_, _maxSpringForce_, _angularHertz_, _angularDampingRatio_, _maxSpringTorque_, _internalValue_)
       instance = MotorJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:linearOffset] = _linearOffset_
-      instance[:angularOffset] = _angularOffset_
-      instance[:maxForce] = _maxForce_
-      instance[:maxTorque] = _maxTorque_
-      instance[:correctionFactor] = _correctionFactor_
-      instance[:collideConnected] = _collideConnected_
-      instance[:userData] = _userData_
-      instance[:internalValue] = _internalValue_
-      instance
-    end
-  end
-
-  class MouseJointDef < FFI::Struct
-    layout(
-      :bodyIdA, BodyId,
-      :bodyIdB, BodyId,
-      :target, Vec2,
-      :hertz, :float,
-      :dampingRatio, :float,
-      :maxForce, :float,
-      :collideConnected, :bool,
-      :userData, :pointer,
-      :internalValue, :int,
-    )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def target = self[:target]
-    def target=(v) self[:target] = v end
-    def hertz = self[:hertz]
-    def hertz=(v) self[:hertz] = v end
-    def dampingRatio = self[:dampingRatio]
-    def dampingRatio=(v) self[:dampingRatio] = v end
-    def maxForce = self[:maxForce]
-    def maxForce=(v) self[:maxForce] = v end
-    def collideConnected = self[:collideConnected]
-    def collideConnected=(v) self[:collideConnected] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
-    def internalValue = self[:internalValue]
-    def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _target_, _hertz_, _dampingRatio_, _maxForce_, _collideConnected_, _userData_, _internalValue_)
-      instance = MouseJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:target] = _target_
-      instance[:hertz] = _hertz_
-      instance[:dampingRatio] = _dampingRatio_
-      instance[:maxForce] = _maxForce_
-      instance[:collideConnected] = _collideConnected_
-      instance[:userData] = _userData_
+      instance[:base] = _base_
+      instance[:linearVelocity] = _linearVelocity_
+      instance[:maxVelocityForce] = _maxVelocityForce_
+      instance[:angularVelocity] = _angularVelocity_
+      instance[:maxVelocityTorque] = _maxVelocityTorque_
+      instance[:linearHertz] = _linearHertz_
+      instance[:linearDampingRatio] = _linearDampingRatio_
+      instance[:maxSpringForce] = _maxSpringForce_
+      instance[:angularHertz] = _angularHertz_
+      instance[:angularDampingRatio] = _angularDampingRatio_
+      instance[:maxSpringTorque] = _maxSpringTorque_
       instance[:internalValue] = _internalValue_
       instance
     end
@@ -896,24 +923,16 @@ module Box2D
 
   class FilterJointDef < FFI::Struct
     layout(
-      :bodyIdA, BodyId,
-      :bodyIdB, BodyId,
-      :userData, :pointer,
+      :base, JointDef,
       :internalValue, :int,
     )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
+    def base = self[:base]
+    def base=(v) self[:base] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _userData_, _internalValue_)
+    def self.create_as(_base_, _internalValue_)
       instance = FilterJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:userData] = _userData_
+      instance[:base] = _base_
       instance[:internalValue] = _internalValue_
       instance
     end
@@ -921,43 +940,29 @@ module Box2D
 
   class PrismaticJointDef < FFI::Struct
     layout(
-      :bodyIdA, BodyId,
-      :bodyIdB, BodyId,
-      :localAnchorA, Vec2,
-      :localAnchorB, Vec2,
-      :localAxisA, Vec2,
-      :referenceAngle, :float,
+      :base, JointDef,
       :enableSpring, :bool,
       :hertz, :float,
       :dampingRatio, :float,
+      :targetTranslation, :float,
       :enableLimit, :bool,
       :lowerTranslation, :float,
       :upperTranslation, :float,
       :enableMotor, :bool,
       :maxMotorForce, :float,
       :motorSpeed, :float,
-      :collideConnected, :bool,
-      :userData, :pointer,
       :internalValue, :int,
     )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def localAnchorA = self[:localAnchorA]
-    def localAnchorA=(v) self[:localAnchorA] = v end
-    def localAnchorB = self[:localAnchorB]
-    def localAnchorB=(v) self[:localAnchorB] = v end
-    def localAxisA = self[:localAxisA]
-    def localAxisA=(v) self[:localAxisA] = v end
-    def referenceAngle = self[:referenceAngle]
-    def referenceAngle=(v) self[:referenceAngle] = v end
+    def base = self[:base]
+    def base=(v) self[:base] = v end
     def enableSpring = self[:enableSpring]
     def enableSpring=(v) self[:enableSpring] = v end
     def hertz = self[:hertz]
     def hertz=(v) self[:hertz] = v end
     def dampingRatio = self[:dampingRatio]
     def dampingRatio=(v) self[:dampingRatio] = v end
+    def targetTranslation = self[:targetTranslation]
+    def targetTranslation=(v) self[:targetTranslation] = v end
     def enableLimit = self[:enableLimit]
     def enableLimit=(v) self[:enableLimit] = v end
     def lowerTranslation = self[:lowerTranslation]
@@ -970,31 +975,21 @@ module Box2D
     def maxMotorForce=(v) self[:maxMotorForce] = v end
     def motorSpeed = self[:motorSpeed]
     def motorSpeed=(v) self[:motorSpeed] = v end
-    def collideConnected = self[:collideConnected]
-    def collideConnected=(v) self[:collideConnected] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _localAnchorA_, _localAnchorB_, _localAxisA_, _referenceAngle_, _enableSpring_, _hertz_, _dampingRatio_, _enableLimit_, _lowerTranslation_, _upperTranslation_, _enableMotor_, _maxMotorForce_, _motorSpeed_, _collideConnected_, _userData_, _internalValue_)
+    def self.create_as(_base_, _enableSpring_, _hertz_, _dampingRatio_, _targetTranslation_, _enableLimit_, _lowerTranslation_, _upperTranslation_, _enableMotor_, _maxMotorForce_, _motorSpeed_, _internalValue_)
       instance = PrismaticJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:localAnchorA] = _localAnchorA_
-      instance[:localAnchorB] = _localAnchorB_
-      instance[:localAxisA] = _localAxisA_
-      instance[:referenceAngle] = _referenceAngle_
+      instance[:base] = _base_
       instance[:enableSpring] = _enableSpring_
       instance[:hertz] = _hertz_
       instance[:dampingRatio] = _dampingRatio_
+      instance[:targetTranslation] = _targetTranslation_
       instance[:enableLimit] = _enableLimit_
       instance[:lowerTranslation] = _lowerTranslation_
       instance[:upperTranslation] = _upperTranslation_
       instance[:enableMotor] = _enableMotor_
       instance[:maxMotorForce] = _maxMotorForce_
       instance[:motorSpeed] = _motorSpeed_
-      instance[:collideConnected] = _collideConnected_
-      instance[:userData] = _userData_
       instance[:internalValue] = _internalValue_
       instance
     end
@@ -1002,11 +997,8 @@ module Box2D
 
   class RevoluteJointDef < FFI::Struct
     layout(
-      :bodyIdA, BodyId,
-      :bodyIdB, BodyId,
-      :localAnchorA, Vec2,
-      :localAnchorB, Vec2,
-      :referenceAngle, :float,
+      :base, JointDef,
+      :targetAngle, :float,
       :enableSpring, :bool,
       :hertz, :float,
       :dampingRatio, :float,
@@ -1016,21 +1008,12 @@ module Box2D
       :enableMotor, :bool,
       :maxMotorTorque, :float,
       :motorSpeed, :float,
-      :drawSize, :float,
-      :collideConnected, :bool,
-      :userData, :pointer,
       :internalValue, :int,
     )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def localAnchorA = self[:localAnchorA]
-    def localAnchorA=(v) self[:localAnchorA] = v end
-    def localAnchorB = self[:localAnchorB]
-    def localAnchorB=(v) self[:localAnchorB] = v end
-    def referenceAngle = self[:referenceAngle]
-    def referenceAngle=(v) self[:referenceAngle] = v end
+    def base = self[:base]
+    def base=(v) self[:base] = v end
+    def targetAngle = self[:targetAngle]
+    def targetAngle=(v) self[:targetAngle] = v end
     def enableSpring = self[:enableSpring]
     def enableSpring=(v) self[:enableSpring] = v end
     def hertz = self[:hertz]
@@ -1049,21 +1032,12 @@ module Box2D
     def maxMotorTorque=(v) self[:maxMotorTorque] = v end
     def motorSpeed = self[:motorSpeed]
     def motorSpeed=(v) self[:motorSpeed] = v end
-    def drawSize = self[:drawSize]
-    def drawSize=(v) self[:drawSize] = v end
-    def collideConnected = self[:collideConnected]
-    def collideConnected=(v) self[:collideConnected] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _localAnchorA_, _localAnchorB_, _referenceAngle_, _enableSpring_, _hertz_, _dampingRatio_, _enableLimit_, _lowerAngle_, _upperAngle_, _enableMotor_, _maxMotorTorque_, _motorSpeed_, _drawSize_, _collideConnected_, _userData_, _internalValue_)
+    def self.create_as(_base_, _targetAngle_, _enableSpring_, _hertz_, _dampingRatio_, _enableLimit_, _lowerAngle_, _upperAngle_, _enableMotor_, _maxMotorTorque_, _motorSpeed_, _internalValue_)
       instance = RevoluteJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:localAnchorA] = _localAnchorA_
-      instance[:localAnchorB] = _localAnchorB_
-      instance[:referenceAngle] = _referenceAngle_
+      instance[:base] = _base_
+      instance[:targetAngle] = _targetAngle_
       instance[:enableSpring] = _enableSpring_
       instance[:hertz] = _hertz_
       instance[:dampingRatio] = _dampingRatio_
@@ -1073,9 +1047,6 @@ module Box2D
       instance[:enableMotor] = _enableMotor_
       instance[:maxMotorTorque] = _maxMotorTorque_
       instance[:motorSpeed] = _motorSpeed_
-      instance[:drawSize] = _drawSize_
-      instance[:collideConnected] = _collideConnected_
-      instance[:userData] = _userData_
       instance[:internalValue] = _internalValue_
       instance
     end
@@ -1083,29 +1054,15 @@ module Box2D
 
   class WeldJointDef < FFI::Struct
     layout(
-      :bodyIdA, BodyId,
-      :bodyIdB, BodyId,
-      :localAnchorA, Vec2,
-      :localAnchorB, Vec2,
-      :referenceAngle, :float,
+      :base, JointDef,
       :linearHertz, :float,
       :angularHertz, :float,
       :linearDampingRatio, :float,
       :angularDampingRatio, :float,
-      :collideConnected, :bool,
-      :userData, :pointer,
       :internalValue, :int,
     )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def localAnchorA = self[:localAnchorA]
-    def localAnchorA=(v) self[:localAnchorA] = v end
-    def localAnchorB = self[:localAnchorB]
-    def localAnchorB=(v) self[:localAnchorB] = v end
-    def referenceAngle = self[:referenceAngle]
-    def referenceAngle=(v) self[:referenceAngle] = v end
+    def base = self[:base]
+    def base=(v) self[:base] = v end
     def linearHertz = self[:linearHertz]
     def linearHertz=(v) self[:linearHertz] = v end
     def angularHertz = self[:angularHertz]
@@ -1114,25 +1071,15 @@ module Box2D
     def linearDampingRatio=(v) self[:linearDampingRatio] = v end
     def angularDampingRatio = self[:angularDampingRatio]
     def angularDampingRatio=(v) self[:angularDampingRatio] = v end
-    def collideConnected = self[:collideConnected]
-    def collideConnected=(v) self[:collideConnected] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _localAnchorA_, _localAnchorB_, _referenceAngle_, _linearHertz_, _angularHertz_, _linearDampingRatio_, _angularDampingRatio_, _collideConnected_, _userData_, _internalValue_)
+    def self.create_as(_base_, _linearHertz_, _angularHertz_, _linearDampingRatio_, _angularDampingRatio_, _internalValue_)
       instance = WeldJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:localAnchorA] = _localAnchorA_
-      instance[:localAnchorB] = _localAnchorB_
-      instance[:referenceAngle] = _referenceAngle_
+      instance[:base] = _base_
       instance[:linearHertz] = _linearHertz_
       instance[:angularHertz] = _angularHertz_
       instance[:linearDampingRatio] = _linearDampingRatio_
       instance[:angularDampingRatio] = _angularDampingRatio_
-      instance[:collideConnected] = _collideConnected_
-      instance[:userData] = _userData_
       instance[:internalValue] = _internalValue_
       instance
     end
@@ -1140,11 +1087,7 @@ module Box2D
 
   class WheelJointDef < FFI::Struct
     layout(
-      :bodyIdA, BodyId,
-      :bodyIdB, BodyId,
-      :localAnchorA, Vec2,
-      :localAnchorB, Vec2,
-      :localAxisA, Vec2,
+      :base, JointDef,
       :enableSpring, :bool,
       :hertz, :float,
       :dampingRatio, :float,
@@ -1154,20 +1097,10 @@ module Box2D
       :enableMotor, :bool,
       :maxMotorTorque, :float,
       :motorSpeed, :float,
-      :collideConnected, :bool,
-      :userData, :pointer,
       :internalValue, :int,
     )
-    def bodyIdA = self[:bodyIdA]
-    def bodyIdA=(v) self[:bodyIdA] = v end
-    def bodyIdB = self[:bodyIdB]
-    def bodyIdB=(v) self[:bodyIdB] = v end
-    def localAnchorA = self[:localAnchorA]
-    def localAnchorA=(v) self[:localAnchorA] = v end
-    def localAnchorB = self[:localAnchorB]
-    def localAnchorB=(v) self[:localAnchorB] = v end
-    def localAxisA = self[:localAxisA]
-    def localAxisA=(v) self[:localAxisA] = v end
+    def base = self[:base]
+    def base=(v) self[:base] = v end
     def enableSpring = self[:enableSpring]
     def enableSpring=(v) self[:enableSpring] = v end
     def hertz = self[:hertz]
@@ -1186,19 +1119,11 @@ module Box2D
     def maxMotorTorque=(v) self[:maxMotorTorque] = v end
     def motorSpeed = self[:motorSpeed]
     def motorSpeed=(v) self[:motorSpeed] = v end
-    def collideConnected = self[:collideConnected]
-    def collideConnected=(v) self[:collideConnected] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
     def internalValue = self[:internalValue]
     def internalValue=(v) self[:internalValue] = v end
-    def self.create_as(_bodyIdA_, _bodyIdB_, _localAnchorA_, _localAnchorB_, _localAxisA_, _enableSpring_, _hertz_, _dampingRatio_, _enableLimit_, _lowerTranslation_, _upperTranslation_, _enableMotor_, _maxMotorTorque_, _motorSpeed_, _collideConnected_, _userData_, _internalValue_)
+    def self.create_as(_base_, _enableSpring_, _hertz_, _dampingRatio_, _enableLimit_, _lowerTranslation_, _upperTranslation_, _enableMotor_, _maxMotorTorque_, _motorSpeed_, _internalValue_)
       instance = WheelJointDef.new
-      instance[:bodyIdA] = _bodyIdA_
-      instance[:bodyIdB] = _bodyIdB_
-      instance[:localAnchorA] = _localAnchorA_
-      instance[:localAnchorB] = _localAnchorB_
-      instance[:localAxisA] = _localAxisA_
+      instance[:base] = _base_
       instance[:enableSpring] = _enableSpring_
       instance[:hertz] = _hertz_
       instance[:dampingRatio] = _dampingRatio_
@@ -1208,8 +1133,6 @@ module Box2D
       instance[:enableMotor] = _enableMotor_
       instance[:maxMotorTorque] = _maxMotorTorque_
       instance[:motorSpeed] = _motorSpeed_
-      instance[:collideConnected] = _collideConnected_
-      instance[:userData] = _userData_
       instance[:internalValue] = _internalValue_
       instance
     end
@@ -1307,19 +1230,19 @@ module Box2D
     layout(
       :shapeIdA, ShapeId,
       :shapeIdB, ShapeId,
-      :manifold, Manifold,
+      :contactId, ContactId,
     )
     def shapeIdA = self[:shapeIdA]
     def shapeIdA=(v) self[:shapeIdA] = v end
     def shapeIdB = self[:shapeIdB]
     def shapeIdB=(v) self[:shapeIdB] = v end
-    def manifold = self[:manifold]
-    def manifold=(v) self[:manifold] = v end
-    def self.create_as(_shapeIdA_, _shapeIdB_, _manifold_)
+    def contactId = self[:contactId]
+    def contactId=(v) self[:contactId] = v end
+    def self.create_as(_shapeIdA_, _shapeIdB_, _contactId_)
       instance = ContactBeginTouchEvent.new
       instance[:shapeIdA] = _shapeIdA_
       instance[:shapeIdB] = _shapeIdB_
-      instance[:manifold] = _manifold_
+      instance[:contactId] = _contactId_
       instance
     end
   end
@@ -1328,15 +1251,19 @@ module Box2D
     layout(
       :shapeIdA, ShapeId,
       :shapeIdB, ShapeId,
+      :contactId, ContactId,
     )
     def shapeIdA = self[:shapeIdA]
     def shapeIdA=(v) self[:shapeIdA] = v end
     def shapeIdB = self[:shapeIdB]
     def shapeIdB=(v) self[:shapeIdB] = v end
-    def self.create_as(_shapeIdA_, _shapeIdB_)
+    def contactId = self[:contactId]
+    def contactId=(v) self[:contactId] = v end
+    def self.create_as(_shapeIdA_, _shapeIdB_, _contactId_)
       instance = ContactEndTouchEvent.new
       instance[:shapeIdA] = _shapeIdA_
       instance[:shapeIdB] = _shapeIdB_
+      instance[:contactId] = _contactId_
       instance
     end
   end
@@ -1345,6 +1272,7 @@ module Box2D
     layout(
       :shapeIdA, ShapeId,
       :shapeIdB, ShapeId,
+      :contactId, ContactId,
       :point, Vec2,
       :normal, Vec2,
       :approachSpeed, :float,
@@ -1353,16 +1281,19 @@ module Box2D
     def shapeIdA=(v) self[:shapeIdA] = v end
     def shapeIdB = self[:shapeIdB]
     def shapeIdB=(v) self[:shapeIdB] = v end
+    def contactId = self[:contactId]
+    def contactId=(v) self[:contactId] = v end
     def point = self[:point]
     def point=(v) self[:point] = v end
     def normal = self[:normal]
     def normal=(v) self[:normal] = v end
     def approachSpeed = self[:approachSpeed]
     def approachSpeed=(v) self[:approachSpeed] = v end
-    def self.create_as(_shapeIdA_, _shapeIdB_, _point_, _normal_, _approachSpeed_)
+    def self.create_as(_shapeIdA_, _shapeIdB_, _contactId_, _point_, _normal_, _approachSpeed_)
       instance = ContactHitEvent.new
       instance[:shapeIdA] = _shapeIdA_
       instance[:shapeIdB] = _shapeIdB_
+      instance[:contactId] = _contactId_
       instance[:point] = _point_
       instance[:normal] = _normal_
       instance[:approachSpeed] = _approachSpeed_
@@ -1405,24 +1336,24 @@ module Box2D
 
   class BodyMoveEvent < FFI::Struct
     layout(
+      :userData, :pointer,
       :transform, Transform,
       :bodyId, BodyId,
-      :userData, :pointer,
       :fellAsleep, :bool,
     )
+    def userData = self[:userData]
+    def userData=(v) self[:userData] = v end
     def transform = self[:transform]
     def transform=(v) self[:transform] = v end
     def bodyId = self[:bodyId]
     def bodyId=(v) self[:bodyId] = v end
-    def userData = self[:userData]
-    def userData=(v) self[:userData] = v end
     def fellAsleep = self[:fellAsleep]
     def fellAsleep=(v) self[:fellAsleep] = v end
-    def self.create_as(_transform_, _bodyId_, _userData_, _fellAsleep_)
+    def self.create_as(_userData_, _transform_, _bodyId_, _fellAsleep_)
       instance = BodyMoveEvent.new
+      instance[:userData] = _userData_
       instance[:transform] = _transform_
       instance[:bodyId] = _bodyId_
-      instance[:userData] = _userData_
       instance[:fellAsleep] = _fellAsleep_
       instance
     end
@@ -1445,20 +1376,58 @@ module Box2D
     end
   end
 
+  class JointEvent < FFI::Struct
+    layout(
+      :jointId, JointId,
+      :userData, :pointer,
+    )
+    def jointId = self[:jointId]
+    def jointId=(v) self[:jointId] = v end
+    def userData = self[:userData]
+    def userData=(v) self[:userData] = v end
+    def self.create_as(_jointId_, _userData_)
+      instance = JointEvent.new
+      instance[:jointId] = _jointId_
+      instance[:userData] = _userData_
+      instance
+    end
+  end
+
+  class JointEvents < FFI::Struct
+    layout(
+      :jointEvents, :pointer,
+      :count, :int,
+    )
+    def jointEvents = self[:jointEvents]
+    def jointEvents=(v) self[:jointEvents] = v end
+    def count = self[:count]
+    def count=(v) self[:count] = v end
+    def self.create_as(_jointEvents_, _count_)
+      instance = JointEvents.new
+      instance[:jointEvents] = _jointEvents_
+      instance[:count] = _count_
+      instance
+    end
+  end
+
   class ContactData < FFI::Struct
     layout(
+      :contactId, ContactId,
       :shapeIdA, ShapeId,
       :shapeIdB, ShapeId,
       :manifold, Manifold,
     )
+    def contactId = self[:contactId]
+    def contactId=(v) self[:contactId] = v end
     def shapeIdA = self[:shapeIdA]
     def shapeIdA=(v) self[:shapeIdA] = v end
     def shapeIdB = self[:shapeIdB]
     def shapeIdB=(v) self[:shapeIdB] = v end
     def manifold = self[:manifold]
     def manifold=(v) self[:manifold] = v end
-    def self.create_as(_shapeIdA_, _shapeIdB_, _manifold_)
+    def self.create_as(_contactId_, _shapeIdA_, _shapeIdB_, _manifold_)
       instance = ContactData.new
+      instance[:contactId] = _contactId_
       instance[:shapeIdA] = _shapeIdA_
       instance[:shapeIdB] = _shapeIdB_
       instance[:manifold] = _manifold_
@@ -1473,24 +1442,25 @@ module Box2D
       :DrawCircleFcn, :pointer,
       :DrawSolidCircleFcn, :pointer,
       :DrawSolidCapsuleFcn, :pointer,
-      :DrawSegmentFcn, :pointer,
+      :DrawLineFcn, :pointer,
       :DrawTransformFcn, :pointer,
       :DrawPointFcn, :pointer,
       :DrawStringFcn, :pointer,
       :drawingBounds, AABB,
-      :useDrawingBounds, :bool,
+      :forceScale, :float,
+      :jointScale, :float,
       :drawShapes, :bool,
       :drawJoints, :bool,
       :drawJointExtras, :bool,
       :drawBounds, :bool,
       :drawMass, :bool,
       :drawBodyNames, :bool,
-      :drawContacts, :bool,
+      :drawContactPoints, :bool,
       :drawGraphColors, :bool,
-      :drawContactNormals, :bool,
-      :drawContactImpulses, :bool,
       :drawContactFeatures, :bool,
-      :drawFrictionImpulses, :bool,
+      :drawContactNormals, :bool,
+      :drawContactForces, :bool,
+      :drawFrictionForces, :bool,
       :drawIslands, :bool,
       :context, :pointer,
     )
@@ -1504,8 +1474,8 @@ module Box2D
     def DrawSolidCircleFcn=(v) self[:DrawSolidCircleFcn] = v end
     def DrawSolidCapsuleFcn = self[:DrawSolidCapsuleFcn]
     def DrawSolidCapsuleFcn=(v) self[:DrawSolidCapsuleFcn] = v end
-    def DrawSegmentFcn = self[:DrawSegmentFcn]
-    def DrawSegmentFcn=(v) self[:DrawSegmentFcn] = v end
+    def DrawLineFcn = self[:DrawLineFcn]
+    def DrawLineFcn=(v) self[:DrawLineFcn] = v end
     def DrawTransformFcn = self[:DrawTransformFcn]
     def DrawTransformFcn=(v) self[:DrawTransformFcn] = v end
     def DrawPointFcn = self[:DrawPointFcn]
@@ -1514,8 +1484,10 @@ module Box2D
     def DrawStringFcn=(v) self[:DrawStringFcn] = v end
     def drawingBounds = self[:drawingBounds]
     def drawingBounds=(v) self[:drawingBounds] = v end
-    def useDrawingBounds = self[:useDrawingBounds]
-    def useDrawingBounds=(v) self[:useDrawingBounds] = v end
+    def forceScale = self[:forceScale]
+    def forceScale=(v) self[:forceScale] = v end
+    def jointScale = self[:jointScale]
+    def jointScale=(v) self[:jointScale] = v end
     def drawShapes = self[:drawShapes]
     def drawShapes=(v) self[:drawShapes] = v end
     def drawJoints = self[:drawJoints]
@@ -1528,47 +1500,48 @@ module Box2D
     def drawMass=(v) self[:drawMass] = v end
     def drawBodyNames = self[:drawBodyNames]
     def drawBodyNames=(v) self[:drawBodyNames] = v end
-    def drawContacts = self[:drawContacts]
-    def drawContacts=(v) self[:drawContacts] = v end
+    def drawContactPoints = self[:drawContactPoints]
+    def drawContactPoints=(v) self[:drawContactPoints] = v end
     def drawGraphColors = self[:drawGraphColors]
     def drawGraphColors=(v) self[:drawGraphColors] = v end
-    def drawContactNormals = self[:drawContactNormals]
-    def drawContactNormals=(v) self[:drawContactNormals] = v end
-    def drawContactImpulses = self[:drawContactImpulses]
-    def drawContactImpulses=(v) self[:drawContactImpulses] = v end
     def drawContactFeatures = self[:drawContactFeatures]
     def drawContactFeatures=(v) self[:drawContactFeatures] = v end
-    def drawFrictionImpulses = self[:drawFrictionImpulses]
-    def drawFrictionImpulses=(v) self[:drawFrictionImpulses] = v end
+    def drawContactNormals = self[:drawContactNormals]
+    def drawContactNormals=(v) self[:drawContactNormals] = v end
+    def drawContactForces = self[:drawContactForces]
+    def drawContactForces=(v) self[:drawContactForces] = v end
+    def drawFrictionForces = self[:drawFrictionForces]
+    def drawFrictionForces=(v) self[:drawFrictionForces] = v end
     def drawIslands = self[:drawIslands]
     def drawIslands=(v) self[:drawIslands] = v end
     def context = self[:context]
     def context=(v) self[:context] = v end
-    def self.create_as(_DrawPolygonFcn_, _DrawSolidPolygonFcn_, _DrawCircleFcn_, _DrawSolidCircleFcn_, _DrawSolidCapsuleFcn_, _DrawSegmentFcn_, _DrawTransformFcn_, _DrawPointFcn_, _DrawStringFcn_, _drawingBounds_, _useDrawingBounds_, _drawShapes_, _drawJoints_, _drawJointExtras_, _drawBounds_, _drawMass_, _drawBodyNames_, _drawContacts_, _drawGraphColors_, _drawContactNormals_, _drawContactImpulses_, _drawContactFeatures_, _drawFrictionImpulses_, _drawIslands_, _context_)
+    def self.create_as(_DrawPolygonFcn_, _DrawSolidPolygonFcn_, _DrawCircleFcn_, _DrawSolidCircleFcn_, _DrawSolidCapsuleFcn_, _DrawLineFcn_, _DrawTransformFcn_, _DrawPointFcn_, _DrawStringFcn_, _drawingBounds_, _forceScale_, _jointScale_, _drawShapes_, _drawJoints_, _drawJointExtras_, _drawBounds_, _drawMass_, _drawBodyNames_, _drawContactPoints_, _drawGraphColors_, _drawContactFeatures_, _drawContactNormals_, _drawContactForces_, _drawFrictionForces_, _drawIslands_, _context_)
       instance = DebugDraw.new
       instance[:DrawPolygonFcn] = _DrawPolygonFcn_
       instance[:DrawSolidPolygonFcn] = _DrawSolidPolygonFcn_
       instance[:DrawCircleFcn] = _DrawCircleFcn_
       instance[:DrawSolidCircleFcn] = _DrawSolidCircleFcn_
       instance[:DrawSolidCapsuleFcn] = _DrawSolidCapsuleFcn_
-      instance[:DrawSegmentFcn] = _DrawSegmentFcn_
+      instance[:DrawLineFcn] = _DrawLineFcn_
       instance[:DrawTransformFcn] = _DrawTransformFcn_
       instance[:DrawPointFcn] = _DrawPointFcn_
       instance[:DrawStringFcn] = _DrawStringFcn_
       instance[:drawingBounds] = _drawingBounds_
-      instance[:useDrawingBounds] = _useDrawingBounds_
+      instance[:forceScale] = _forceScale_
+      instance[:jointScale] = _jointScale_
       instance[:drawShapes] = _drawShapes_
       instance[:drawJoints] = _drawJoints_
       instance[:drawJointExtras] = _drawJointExtras_
       instance[:drawBounds] = _drawBounds_
       instance[:drawMass] = _drawMass_
       instance[:drawBodyNames] = _drawBodyNames_
-      instance[:drawContacts] = _drawContacts_
+      instance[:drawContactPoints] = _drawContactPoints_
       instance[:drawGraphColors] = _drawGraphColors_
-      instance[:drawContactNormals] = _drawContactNormals_
-      instance[:drawContactImpulses] = _drawContactImpulses_
       instance[:drawContactFeatures] = _drawContactFeatures_
-      instance[:drawFrictionImpulses] = _drawFrictionImpulses_
+      instance[:drawContactNormals] = _drawContactNormals_
+      instance[:drawContactForces] = _drawContactForces_
+      instance[:drawFrictionForces] = _drawFrictionForces_
       instance[:drawIslands] = _drawIslands_
       instance[:context] = _context_
       instance
@@ -1589,7 +1562,6 @@ module Box2D
       [:DefaultChainDef, :b2DefaultChainDef, [], ChainDef.by_value],
       [:DefaultDistanceJointDef, :b2DefaultDistanceJointDef, [], DistanceJointDef.by_value],
       [:DefaultMotorJointDef, :b2DefaultMotorJointDef, [], MotorJointDef.by_value],
-      [:DefaultMouseJointDef, :b2DefaultMouseJointDef, [], MouseJointDef.by_value],
       [:DefaultFilterJointDef, :b2DefaultFilterJointDef, [], FilterJointDef.by_value],
       [:DefaultPrismaticJointDef, :b2DefaultPrismaticJointDef, [], PrismaticJointDef.by_value],
       [:DefaultRevoluteJointDef, :b2DefaultRevoluteJointDef, [], RevoluteJointDef.by_value],