mt-lang 0.3.41 → 0.3.42

data/std/c/box3d.mt

@@ -0,0 +1,1871 @@
+# generated by mtc bindgen from /home/teefan/Projects/Ruby/mt-lang/third_party/box3d-upstream/include/box3d/box3d.h
+external
+
+link "box3d"
+include "box3d/box3d.h"
+
+union b3MeshNode_data:
+    asNode: b3MeshNode_data_asNode
+    asLeaf: b3MeshNode_data_asLeaf
+
+struct b3MeshNode_data_asNode:
+    axis: uint
+    childOffset: uint
+
+struct b3MeshNode_data_asLeaf:
+    type: uint
+    triangleCount: uint
+
+type b3AllocFcn = fn(arg0: int, arg1: int) -> ptr[void]
+type b3FreeFcn = fn(arg0: ptr[void]) -> void
+type b3AssertFcn = fn(arg0: cstr, arg1: cstr, arg2: int) -> int
+type b3LogFcn = fn(arg0: cstr) -> void
+
+external function b3SetAllocator(allocFcn: b3AllocFcn, freeFcn: b3FreeFcn) -> void
+external function b3GetByteCount() -> int
+external function b3SetAssertFcn(assertFcn: b3AssertFcn) -> void
+external function b3InternalAssert(condition: cstr, fileName: cstr, lineNumber: int) -> int
+external function b3SetLogFcn(logFcn: b3LogFcn) -> void
+
+struct b3Version:
+    major: int
+    minor: int
+    revision: int
+
+external function b3GetVersion() -> b3Version
+external function b3IsDoublePrecision() -> bool
+external function b3GetTicks() -> ulong
+external function b3GetMilliseconds(ticks: ptr_uint) -> float
+external function b3GetMillisecondsAndReset(ticks: ptr[ulong]) -> float
+external function b3Yield() -> void
+external function b3Sleep(milliseconds: int) -> void
+external function b3Hash(hash: uint, data: const_ptr[ubyte], count: int) -> uint
+
+struct b3Vec2:
+    x: float
+    y: float
+
+struct b3Vec3:
+    x: float
+    y: float
+    z: float
+
+struct b3CosSin:
+    cosine: float
+    sine: float
+
+struct b3Quat:
+    v: b3Vec3
+    s: float
+
+struct b3Transform:
+    p: b3Vec3
+    q: b3Quat
+
+type b3Pos = b3Vec3
+type b3WorldTransform = b3Transform
+
+struct b3Matrix3:
+    cx: b3Vec3
+    cy: b3Vec3
+    cz: b3Vec3
+
+struct b3AABB:
+    lowerBound: b3Vec3
+    upperBound: b3Vec3
+
+struct b3Plane:
+    normal: b3Vec3
+    offset: float
+
+const b3Vec3_zero: b3Vec3 = b3Vec3(x = 0.0, y = 0.0, z = 0.0)
+const b3Vec3_one: b3Vec3 = b3Vec3(x = 1.0, y = 1.0, z = 1.0)
+const b3Vec3_axisX: b3Vec3 = b3Vec3(x = 1.0, y = 0.0, z = 0.0)
+const b3Vec3_axisY: b3Vec3 = b3Vec3(x = 0.0, y = 1.0, z = 0.0)
+const b3Vec3_axisZ: b3Vec3 = b3Vec3(x = 0.0, y = 0.0, z = 1.0)
+const b3Quat_identity: b3Quat = b3Quat(v = b3Vec3(x = 0.0, y = 0.0, z = 0.0), s = 1.0)
+const b3Transform_identity: b3Transform = b3Transform(
+    p = b3Vec3(x = 0.0, y = 0.0, z = 0.0),
+    q = b3Quat(v = b3Vec3(x = 0.0, y = 0.0, z = 0.0), s = 1.0)
+)
+const b3Mat3_zero: b3Matrix3 = b3Matrix3(
+    cx = b3Vec3(x = 0.0, y = 0.0, z = 0.0),
+    cy = b3Vec3(x = 0.0, y = 0.0, z = 0.0),
+    cz = b3Vec3(x = 0.0, y = 0.0, z = 0.0)
+)
+const b3Mat3_identity: b3Matrix3 = b3Matrix3(
+    cx = b3Vec3(x = 1.0, y = 0.0, z = 0.0),
+    cy = b3Vec3(x = 0.0, y = 1.0, z = 0.0),
+    cz = b3Vec3(x = 0.0, y = 0.0, z = 1.0)
+)
+const b3Pos_zero: b3Vec3 = b3Vec3(x = 0.0, y = 0.0, z = 0.0)
+const b3WorldTransform_identity: b3Transform = b3Transform(
+    p = b3Vec3(x = 0.0, y = 0.0, z = 0.0),
+    q = b3Quat(v = b3Vec3(x = 0.0, y = 0.0, z = 0.0), s = 1.0)
+)
+
+external function b3Atan2(y: float, x: float) -> float
+external function b3ComputeCosSin(radians: float) -> b3CosSin
+external function b3MakeQuatFromMatrix(m: const_ptr[b3Matrix3]) -> b3Quat
+external function b3ComputeQuatBetweenUnitVectors(v1: b3Vec3, v2: b3Vec3) -> b3Quat
+external function b3Steiner(mass: float, origin: b3Vec3) -> b3Matrix3
+
+struct b3SegmentDistanceResult:
+    point1: b3Vec3
+    fraction1: float
+    point2: b3Vec3
+    fraction2: float
+
+external function b3PointToSegmentDistance(a: b3Vec3, b: b3Vec3, q: b3Vec3) -> b3Vec3
+external function b3LineDistance(p1: b3Vec3, d1: b3Vec3, p2: b3Vec3, d2: b3Vec3) -> b3SegmentDistanceResult
+external function b3SegmentDistance(p1: b3Vec3, q1: b3Vec3, p2: b3Vec3, q2: b3Vec3) -> b3SegmentDistanceResult
+external function b3IsValidFloat(a: float) -> bool
+external function b3IsValidVec3(a: b3Vec3) -> bool
+external function b3IsValidQuat(q: b3Quat) -> bool
+external function b3IsValidTransform(a: b3Transform) -> bool
+external function b3IsValidMatrix3(a: b3Matrix3) -> bool
+external function b3IsValidAABB(a: b3AABB) -> bool
+external function b3IsBoundedAABB(a: b3AABB) -> bool
+external function b3IsSaneAABB(a: b3AABB) -> bool
+external function b3IsValidPlane(a: b3Plane) -> bool
+external function b3IsValidPosition(p: b3Vec3) -> bool
+external function b3IsValidWorldTransform(t: b3Transform) -> bool
+external function b3SetLengthUnitsPerMeter(lengthUnits: float) -> void
+external function b3GetLengthUnitsPerMeter() -> float
+external function b3SetStallThreshold(seconds: float) -> void
+external function b3GetStallThreshold() -> float
+
+struct b3WorldId:
+    index1: ushort
+    generation: ushort
+
+struct b3BodyId:
+    index1: int
+    world0: ushort
+    generation: ushort
+
+struct b3ShapeId:
+    index1: int
+    world0: ushort
+    generation: ushort
+
+struct b3JointId:
+    index1: int
+    world0: ushort
+    generation: ushort
+
+struct b3ContactId:
+    index1: int
+    world0: ushort
+    padding: short
+    generation: uint
+
+const b3_nullWorldId: b3WorldId = b3WorldId(index1 = 0, generation = 0)
+const b3_nullBodyId: b3BodyId = b3BodyId(index1 = 0, world0 = 0, generation = 0)
+const b3_nullShapeId: b3ShapeId = b3ShapeId(index1 = 0, world0 = 0, generation = 0)
+const b3_nullJointId: b3JointId = b3JointId(index1 = 0, world0 = 0, generation = 0)
+const b3_nullContactId: b3ContactId = b3ContactId(index1 = 0, world0 = 0, padding = 0, generation = 0)
+
+type b3TaskCallback = fn(arg0: ptr[void]) -> void
+type b3EnqueueTaskCallback = fn(arg0: b3TaskCallback, arg1: ptr[void], arg2: ptr[void], arg3: cstr) -> ptr[void]
+type b3FinishTaskCallback = fn(arg0: ptr[void], arg1: ptr[void]) -> void
+type b3CreateDebugShapeCallback = fn(arg0: const_ptr[b3DebugShape], arg1: ptr[void]) -> ptr[void]
+type b3DestroyDebugShapeCallback = fn(arg0: ptr[void], arg1: ptr[void]) -> void
+type b3FrictionCallback = fn(arg0: float, arg1: ulong, arg2: float, arg3: ulong) -> float
+type b3RestitutionCallback = fn(arg0: float, arg1: ulong, arg2: float, arg3: ulong) -> float
+type b3CustomFilterFcn = fn(arg0: b3ShapeId, arg1: b3ShapeId, arg2: ptr[void]) -> bool
+type b3PreSolveFcn = fn(arg0: b3ShapeId, arg1: b3ShapeId, arg2: b3Pos, arg3: b3Vec3, arg4: ptr[void]) -> bool
+type b3OverlapResultFcn = fn(arg0: b3ShapeId, arg1: ptr[void]) -> bool
+type b3CastResultFcn = fn(arg0: b3ShapeId, arg1: b3Pos, arg2: b3Vec3, arg3: float, arg4: ulong, arg5: int, arg6: int, arg7: ptr[void]) -> float
+
+struct b3Capacity:
+    staticShapeCount: int
+    dynamicShapeCount: int
+    staticBodyCount: int
+    dynamicBodyCount: int
+    contactCount: int
+
+struct b3WorldDef:
+    gravity: b3Vec3
+    restitutionThreshold: float
+    hitEventThreshold: float
+    contactHertz: float
+    contactDampingRatio: float
+    contactSpeed: float
+    maximumLinearSpeed: float
+    frictionCallback: b3FrictionCallback
+    restitutionCallback: b3RestitutionCallback
+    enableSleep: bool
+    enableContinuous: bool
+    workerCount: uint
+    enqueueTask: b3EnqueueTaskCallback
+    finishTask: b3FinishTaskCallback
+    userTaskContext: ptr[void]
+    userData: ptr[void]
+    createDebugShape: b3CreateDebugShapeCallback
+    destroyDebugShape: b3DestroyDebugShapeCallback
+    userDebugShapeContext: ptr[void]
+    capacity: b3Capacity
+    internalValue: int
+
+external function b3DefaultWorldDef() -> b3WorldDef
+
+enum b3BodyType: int
+    b3_staticBody = 0
+    b3_kinematicBody = 1
+    b3_dynamicBody = 2
+    b3_bodyTypeCount = 3
+
+struct b3MotionLocks:
+    linearX: bool
+    linearY: bool
+    linearZ: bool
+    angularX: bool
+    angularY: bool
+    angularZ: bool
+
+struct b3BodyDef:
+    type: b3BodyType
+    position: b3Vec3
+    rotation: b3Quat
+    linearVelocity: b3Vec3
+    angularVelocity: b3Vec3
+    linearDamping: float
+    angularDamping: float
+    gravityScale: float
+    sleepThreshold: float
+    name: cstr
+    userData: ptr[void]
+    motionLocks: b3MotionLocks
+    enableSleep: bool
+    isAwake: bool
+    isBullet: bool
+    isEnabled: bool
+    allowFastRotation: bool
+    enableContactRecycling: bool
+    internalValue: int
+
+external function b3DefaultBodyDef() -> b3BodyDef
+
+struct b3Filter:
+    categoryBits: ptr_uint
+    maskBits: ptr_uint
+    groupIndex: int
+
+external function b3DefaultFilter() -> b3Filter
+
+struct b3SurfaceMaterial:
+    friction: float
+    restitution: float
+    rollingResistance: float
+    tangentVelocity: b3Vec3
+    userMaterialId: ptr_uint
+    customColor: uint
+    padding: uint
+
+external function b3DefaultSurfaceMaterial() -> b3SurfaceMaterial
+
+enum b3ShapeType: int
+    b3_capsuleShape = 0
+    b3_compoundShape = 1
+    b3_heightShape = 2
+    b3_hullShape = 3
+    b3_meshShape = 4
+    b3_sphereShape = 5
+    b3_shapeTypeCount = 6
+
+struct b3ShapeDef:
+    name: cstr
+    userData: ptr[void]
+    materials: ptr[b3SurfaceMaterial]
+    materialCount: int
+    baseMaterial: b3SurfaceMaterial
+    density: float
+    explosionScale: float
+    filter: b3Filter
+    enableCustomFiltering: bool
+    isSensor: bool
+    enableSensorEvents: bool
+    enableContactEvents: bool
+    enableHitEvents: bool
+    enablePreSolveEvents: bool
+    invokeContactCreation: bool
+    updateBodyMass: bool
+    enableSpeculativeContact: bool
+    internalValue: int
+
+external function b3DefaultShapeDef() -> b3ShapeDef
+
+struct b3Profile:
+    step: float
+    pairs: float
+    collide: float
+    solve: float
+    solverSetup: float
+    constraints: float
+    prepareConstraints: float
+    integrateVelocities: float
+    warmStart: float
+    solveImpulses: float
+    integratePositions: float
+    relaxImpulses: float
+    applyRestitution: float
+    storeImpulses: float
+    splitIslands: float
+    transforms: float
+    sensorHits: float
+    jointEvents: float
+    hitEvents: float
+    refit: float
+    bullets: float
+    sleepIslands: float
+    sensors: float
+
+struct b3Counters:
+    bodyCount: int
+    shapeCount: int
+    contactCount: int
+    jointCount: int
+    islandCount: int
+    stackUsed: int
+    arenaCapacity: int
+    staticTreeHeight: int
+    treeHeight: int
+    satCallCount: int
+    satCacheHitCount: int
+    byteCount: int
+    taskCount: int
+    colorCounts: array[int, 24]
+    manifoldCounts: array[int, 8]
+    awakeContactCount: int
+    recycledContactCount: int
+    distanceIterations: int
+    pushBackIterations: int
+    rootIterations: int
+
+enum b3JointType: int
+    b3_parallelJoint = 0
+    b3_distanceJoint = 1
+    b3_filterJoint = 2
+    b3_motorJoint = 3
+    b3_prismaticJoint = 4
+    b3_revoluteJoint = 5
+    b3_sphericalJoint = 6
+    b3_weldJoint = 7
+    b3_wheelJoint = 8
+
+struct b3JointDef:
+    userData: ptr[void]
+    bodyIdA: b3BodyId
+    bodyIdB: b3BodyId
+    localFrameA: b3Transform
+    localFrameB: b3Transform
+    forceThreshold: float
+    torqueThreshold: float
+    constraintHertz: float
+    constraintDampingRatio: float
+    drawScale: float
+    collideConnected: bool
+    internalValue: int
+
+struct b3DistanceJointDef:
+    base: b3JointDef
+    length: float
+    enableSpring: bool
+    lowerSpringForce: float
+    upperSpringForce: float
+    hertz: float
+    dampingRatio: float
+    enableLimit: bool
+    minLength: float
+    maxLength: float
+    enableMotor: bool
+    maxMotorForce: float
+    motorSpeed: float
+
+external function b3DefaultDistanceJointDef() -> b3DistanceJointDef
+
+struct b3MotorJointDef:
+    base: b3JointDef
+    linearVelocity: b3Vec3
+    maxVelocityForce: float
+    angularVelocity: b3Vec3
+    maxVelocityTorque: float
+    linearHertz: float
+    linearDampingRatio: float
+    maxSpringForce: float
+    angularHertz: float
+    angularDampingRatio: float
+    maxSpringTorque: float
+
+external function b3DefaultMotorJointDef() -> b3MotorJointDef
+
+struct b3FilterJointDef:
+    base: b3JointDef
+
+external function b3DefaultFilterJointDef() -> b3FilterJointDef
+
+struct b3ParallelJointDef:
+    base: b3JointDef
+    hertz: float
+    dampingRatio: float
+    maxTorque: float
+
+external function b3DefaultParallelJointDef() -> b3ParallelJointDef
+
+struct b3PrismaticJointDef:
+    base: b3JointDef
+    enableSpring: bool
+    hertz: float
+    dampingRatio: float
+    targetTranslation: float
+    enableLimit: bool
+    lowerTranslation: float
+    upperTranslation: float
+    enableMotor: bool
+    maxMotorForce: float
+    motorSpeed: float
+
+external function b3DefaultPrismaticJointDef() -> b3PrismaticJointDef
+
+struct b3RevoluteJointDef:
+    base: b3JointDef
+    targetAngle: float
+    enableSpring: bool
+    hertz: float
+    dampingRatio: float
+    enableLimit: bool
+    lowerAngle: float
+    upperAngle: float
+    enableMotor: bool
+    maxMotorTorque: float
+    motorSpeed: float
+
+external function b3DefaultRevoluteJointDef() -> b3RevoluteJointDef
+
+struct b3SphericalJointDef:
+    base: b3JointDef
+    enableSpring: bool
+    hertz: float
+    dampingRatio: float
+    targetRotation: b3Quat
+    enableConeLimit: bool
+    coneAngle: float
+    enableTwistLimit: bool
+    lowerTwistAngle: float
+    upperTwistAngle: float
+    enableMotor: bool
+    maxMotorTorque: float
+    motorVelocity: b3Vec3
+
+external function b3DefaultSphericalJointDef() -> b3SphericalJointDef
+
+struct b3WeldJointDef:
+    base: b3JointDef
+    linearHertz: float
+    angularHertz: float
+    linearDampingRatio: float
+    angularDampingRatio: float
+
+external function b3DefaultWeldJointDef() -> b3WeldJointDef
+
+struct b3WheelJointDef:
+    base: b3JointDef
+    enableSuspensionSpring: bool
+    suspensionHertz: float
+    suspensionDampingRatio: float
+    enableSuspensionLimit: bool
+    lowerSuspensionLimit: float
+    upperSuspensionLimit: float
+    enableSpinMotor: bool
+    maxSpinTorque: float
+    spinSpeed: float
+    enableSteering: bool
+    steeringHertz: float
+    steeringDampingRatio: float
+    targetSteeringAngle: float
+    maxSteeringTorque: float
+    enableSteeringLimit: bool
+    lowerSteeringLimit: float
+    upperSteeringLimit: float
+
+external function b3DefaultWheelJointDef() -> b3WheelJointDef
+
+struct b3ExplosionDef:
+    maskBits: ptr_uint
+    position: b3Vec3
+    radius: float
+    falloff: float
+    impulsePerArea: float
+
+external function b3DefaultExplosionDef() -> b3ExplosionDef
+
+struct b3SensorBeginTouchEvent:
+    sensorShapeId: b3ShapeId
+    visitorShapeId: b3ShapeId
+
+struct b3SensorEndTouchEvent:
+    sensorShapeId: b3ShapeId
+    visitorShapeId: b3ShapeId
+
+struct b3SensorEvents:
+    beginEvents: ptr[b3SensorBeginTouchEvent]
+    endEvents: ptr[b3SensorEndTouchEvent]
+    beginCount: int
+    endCount: int
+
+struct b3ContactBeginTouchEvent:
+    shapeIdA: b3ShapeId
+    shapeIdB: b3ShapeId
+    contactId: b3ContactId
+
+struct b3ContactEndTouchEvent:
+    shapeIdA: b3ShapeId
+    shapeIdB: b3ShapeId
+    contactId: b3ContactId
+
+struct b3ContactHitEvent:
+    shapeIdA: b3ShapeId
+    shapeIdB: b3ShapeId
+    contactId: b3ContactId
+    point: b3Vec3
+    normal: b3Vec3
+    approachSpeed: float
+    userMaterialIdA: ptr_uint
+    userMaterialIdB: ptr_uint
+
+struct b3ContactEvents:
+    beginEvents: ptr[b3ContactBeginTouchEvent]
+    endEvents: ptr[b3ContactEndTouchEvent]
+    hitEvents: ptr[b3ContactHitEvent]
+    beginCount: int
+    endCount: int
+    hitCount: int
+
+struct b3BodyMoveEvent:
+    userData: ptr[void]
+    transform: b3Transform
+    bodyId: b3BodyId
+    fellAsleep: bool
+
+struct b3BodyEvents:
+    moveEvents: ptr[b3BodyMoveEvent]
+    moveCount: int
+
+struct b3JointEvent:
+    jointId: b3JointId
+    userData: ptr[void]
+
+struct b3JointEvents:
+    jointEvents: ptr[b3JointEvent]
+    count: int
+
+struct b3ContactData:
+    contactId: b3ContactId
+    shapeIdA: b3ShapeId
+    shapeIdB: b3ShapeId
+    manifolds: const_ptr[b3Manifold]
+    manifoldCount: int
+
+struct b3QueryFilter:
+    categoryBits: ptr_uint
+    maskBits: ptr_uint
+    id: ptr_uint
+    name: cstr
+
+external function b3DefaultQueryFilter() -> b3QueryFilter
+
+struct b3RayCastInput:
+    origin: b3Vec3
+    translation: b3Vec3
+    maxFraction: float
+
+struct b3RayResult:
+    shapeId: b3ShapeId
+    point: b3Vec3
+    normal: b3Vec3
+    userMaterialId: ptr_uint
+    fraction: float
+    triangleIndex: int
+    childIndex: int
+    nodeVisits: int
+    leafVisits: int
+    hit: bool
+
+struct b3ShapeProxy:
+    points: const_ptr[b3Vec3]
+    count: int
+    radius: float
+
+struct b3ShapeCastInput:
+    proxy: b3ShapeProxy
+    translation: b3Vec3
+    maxFraction: float
+    canEncroach: bool
+
+struct b3BoxCastInput:
+    box: b3AABB
+    translation: b3Vec3
+    maxFraction: float
+
+struct b3CastOutput:
+    normal: b3Vec3
+    point: b3Vec3
+    fraction: float
+    iterations: int
+    triangleIndex: int
+    childIndex: int
+    materialIndex: int
+    hit: bool
+
+type b3WorldCastOutput = b3CastOutput
+
+struct b3BodyCastResult:
+    shapeId: b3ShapeId
+    point: b3Vec3
+    normal: b3Vec3
+    fraction: float
+    triangleIndex: int
+    userMaterialId: ptr_uint
+    iterations: int
+    hit: bool
+
+struct b3SimplexCache:
+    metric: float
+    count: ushort
+    indexA: array[ubyte, 4]
+    indexB: array[ubyte, 4]
+
+const b3_emptyDistanceCache: b3SimplexCache = b3SimplexCache(
+    metric = 0,
+    count = 0,
+    indexA = array[ubyte, 4](0, 0, 0, 0),
+    indexB = array[ubyte, 4](0, 0, 0, 0)
+)
+
+struct b3ShapeCastPairInput:
+    proxyA: b3ShapeProxy
+    proxyB: b3ShapeProxy
+    transform: b3Transform
+    translationB: b3Vec3
+    maxFraction: float
+    canEncroach: bool
+
+struct b3DistanceInput:
+    proxyA: b3ShapeProxy
+    proxyB: b3ShapeProxy
+    transform: b3Transform
+    useRadii: bool
+
+struct b3DistanceOutput:
+    pointA: b3Vec3
+    pointB: b3Vec3
+    normal: b3Vec3
+    distance: float
+    iterations: int
+    simplexCount: int
+
+struct b3SimplexVertex:
+    wA: b3Vec3
+    wB: b3Vec3
+    w: b3Vec3
+    a: float
+    indexA: int
+    indexB: int
+
+struct b3Simplex:
+    vertices: array[b3SimplexVertex, 4]
+    count: int
+
+struct b3Sweep:
+    localCenter: b3Vec3
+    c1: b3Vec3
+    c2: b3Vec3
+    q1: b3Quat
+    q2: b3Quat
+
+struct b3TOIInput:
+    proxyA: b3ShapeProxy
+    proxyB: b3ShapeProxy
+    sweepA: b3Sweep
+    sweepB: b3Sweep
+    maxFraction: float
+
+enum b3TOIState: int
+    b3_toiStateUnknown = 0
+    b3_toiStateFailed = 1
+    b3_toiStateOverlapped = 2
+    b3_toiStateHit = 3
+    b3_toiStateSeparated = 4
+
+struct b3TOIOutput:
+    state: b3TOIState
+    point: b3Vec3
+    normal: b3Vec3
+    fraction: float
+    distance: float
+    distanceIterations: int
+    pushBackIterations: int
+    rootIterations: int
+    usedFallback: bool
+
+flags b3TreeNodeFlags: int
+    b3_allocatedNode = 1
+    b3_enlargedNode = 2
+    b3_leafNode = 4
+
+struct b3TreeNodeChildren:
+    child1: int
+    child2: int
+
+struct b3TreeNode:
+    aabb: b3AABB
+    categoryBits: ptr_uint
+    children: b3TreeNodeChildren
+    userData: ptr_uint
+    parent: int
+    next: int
+    height: ushort
+    flags: ushort
+
+struct b3DynamicTree:
+    version: ptr_uint
+    nodes: ptr[b3TreeNode]
+    root: int
+    nodeCount: int
+    nodeCapacity: int
+    proxyCount: int
+    freeList: int
+    leafIndices: ptr[int]
+    leafBoxes: ptr[b3AABB]
+    leafCenters: ptr[b3Vec3]
+    binIndices: ptr[int]
+    rebuildCapacity: int
+
+struct b3TreeStats:
+    nodeVisits: int
+    leafVisits: int
+
+type b3TreeQueryCallbackFcn = fn(arg0: int, arg1: ulong, arg2: ptr[void]) -> bool
+type b3TreeQueryClosestCallbackFcn = fn(arg0: float, arg1: int, arg2: ulong, arg3: ptr[void]) -> float
+type b3TreeBoxCastCallbackFcn = fn(arg0: const_ptr[b3BoxCastInput], arg1: int, arg2: ulong, arg3: ptr[void]) -> float
+type b3TreeRayCastCallbackFcn = fn(arg0: const_ptr[b3RayCastInput], arg1: int, arg2: ulong, arg3: ptr[void]) -> float
+
+struct b3PlaneResult:
+    plane: b3Plane
+    point: b3Vec3
+
+struct b3CollisionPlane:
+    plane: b3Plane
+    pushLimit: float
+    push: float
+    clipVelocity: bool
+
+struct b3PlaneSolverResult:
+    delta: b3Vec3
+    iterationCount: int
+
+struct b3BodyPlaneResult:
+    shapeId: b3ShapeId
+    result: b3PlaneResult
+
+type b3PlaneResultFcn = fn(arg0: b3ShapeId, arg1: const_ptr[b3PlaneResult], arg2: int, arg3: ptr[void]) -> bool
+type b3MoverFilterFcn = fn(arg0: b3ShapeId, arg1: ptr[void]) -> bool
+
+struct b3MassData:
+    mass: float
+    center: b3Vec3
+    inertia: b3Matrix3
+
+struct b3Sphere:
+    center: b3Vec3
+    radius: float
+
+struct b3Capsule:
+    center1: b3Vec3
+    center2: b3Vec3
+    radius: float
+
+struct b3HullVertex:
+    edge: ubyte
+
+struct b3HullHalfEdge:
+    next: ubyte
+    twin: ubyte
+    origin: ubyte
+    face: ubyte
+
+struct b3HullFace:
+    edge: ubyte
+
+struct b3HullData:
+    version: ptr_uint
+    hash: ptr_uint
+    aabb: b3AABB
+    surfaceArea: float
+    volume: float
+    innerRadius: float
+    center: b3Vec3
+    centralInertia: b3Matrix3
+    vertexCount: int
+    vertexOffset: int
+    pointOffset: int
+    edgeCount: int
+    edgeOffset: int
+    faceCount: int
+    planeOffset: int
+    faceOffset: int
+    soaVertexOffset: int
+    soaNormalOffset: int
+    byteCount: int
+
+struct b3BoxHull:
+    base: b3HullData
+    boxVertices: array[b3HullVertex, 8]
+    boxPoints: array[b3Vec3, 8]
+    boxEdges: array[b3HullHalfEdge, 24]
+    boxPlanes: array[b3Plane, 6]
+    boxFaces: array[b3HullFace, 6]
+    padding: array[ubyte, 2]
+    vx: array[float, 8]
+    vy: array[float, 8]
+    vz: array[float, 8]
+    nx: array[float, 8]
+    ny: array[float, 8]
+    nz: array[float, 8]
+
+struct b3MeshDef:
+    vertices: ptr[b3Vec3]
+    indices: ptr[int]
+    materialIndices: ptr[ubyte]
+    weldTolerance: float
+    vertexCount: int
+    triangleCount: int
+    weldVertices: bool
+    useMedianSplit: bool
+    identifyEdges: bool
+
+enum b3MeshEdgeFlags: int
+    b3_concaveEdge1 = 1
+    b3_concaveEdge2 = 2
+    b3_concaveEdge3 = 4
+    b3_inverseConcaveEdge1 = 16
+    b3_inverseConcaveEdge2 = 32
+    b3_inverseConcaveEdge3 = 64
+    b3_allConcaveEdges = 7
+    b3_flatEdge1 = 17
+    b3_flatEdge2 = 34
+    b3_flatEdge3 = 68
+    b3_allFlatEdges = 119
+
+struct b3MeshTriangle:
+    index1: int
+    index2: int
+    index3: int
+
+struct b3MeshNode:
+    lowerBound: b3Vec3
+    data: b3MeshNode_data
+    upperBound: b3Vec3
+    triangleOffset: uint
+
+struct b3MeshData:
+    version: ptr_uint
+    hash: ptr_uint
+    byteCount: int
+    bounds: b3AABB
+    surfaceArea: float
+    treeHeight: int
+    degenerateCount: int
+    nodeOffset: int
+    nodeCount: int
+    vertexOffset: int
+    vertexCount: int
+    triangleOffset: int
+    triangleCount: int
+    materialOffset: int
+    materialCount: int
+    flagsOffset: int
+    padding: int
+
+struct b3Mesh:
+    data: const_ptr[b3MeshData]
+    scale: b3Vec3
+
+struct b3HeightFieldDef:
+    heights: ptr[float]
+    materialIndices: ptr[ubyte]
+    scale: b3Vec3
+    countX: int
+    countZ: int
+    globalMinimumHeight: float
+    globalMaximumHeight: float
+    clockwiseWinding: bool
+
+struct b3HeightFieldData:
+    version: ptr_uint
+    hash: ptr_uint
+    byteCount: int
+    aabb: b3AABB
+    minHeight: float
+    maxHeight: float
+    heightScale: float
+    scale: b3Vec3
+    columnCount: int
+    rowCount: int
+    heightsOffset: int
+    materialOffset: int
+    flagsOffset: int
+    clockwise: ubyte
+    padding: array[ubyte, 7]
+
+struct b3CompoundCapsuleDef:
+    capsule: b3Capsule
+    material: b3SurfaceMaterial
+
+struct b3CompoundHullDef:
+    hull: const_ptr[b3HullData]
+    transform: b3Transform
+    material: b3SurfaceMaterial
+
+struct b3CompoundMeshDef:
+    meshData: const_ptr[b3MeshData]
+    transform: b3Transform
+    scale: b3Vec3
+    materials: const_ptr[b3SurfaceMaterial]
+    materialCount: int
+
+struct b3CompoundSphereDef:
+    sphere: b3Sphere
+    material: b3SurfaceMaterial
+
+struct b3CompoundDef:
+    capsules: ptr[b3CompoundCapsuleDef]
+    capsuleCount: int
+    hulls: ptr[b3CompoundHullDef]
+    hullCount: int
+    meshes: ptr[b3CompoundMeshDef]
+    meshCount: int
+    spheres: ptr[b3CompoundSphereDef]
+    sphereCount: int
+
+struct b3CompoundData:
+    version: ptr_uint
+    byteCount: int
+    nodeOffset: int
+    tree: b3DynamicTree
+    materialOffset: int
+    materialCount: int
+    capsuleOffset: int
+    capsuleCount: int
+    hullOffset: int
+    hullCount: int
+    sharedHullCount: int
+    meshOffset: int
+    meshCount: int
+    sharedMeshCount: int
+    sphereOffset: int
+    sphereCount: int
+
+struct b3CompoundCapsule:
+    capsule: b3Capsule
+    materialIndex: int
+
+struct b3CompoundHull:
+    hull: const_ptr[b3HullData]
+    transform: b3Transform
+    materialIndex: int
+
+struct b3CompoundMesh:
+    meshData: const_ptr[b3MeshData]
+    transform: b3Transform
+    scale: b3Vec3
+    materialIndices: array[int, 4]
+
+struct b3CompoundSphere:
+    sphere: b3Sphere
+    materialIndex: int
+
+struct b3ChildShape:
+    capsule: b3Capsule
+    hull: const_ptr[b3HullData]
+    mesh: b3Mesh
+    sphere: b3Sphere
+    transform: b3Transform
+    materialIndices: array[int, 4]
+    type: b3ShapeType
+
+type b3CompoundQueryFcn = fn(arg0: const_ptr[b3CompoundData], arg1: int, arg2: ptr[void]) -> bool
+
+struct b3ManifoldPoint:
+    anchorA: b3Vec3
+    anchorB: b3Vec3
+    separation: float
+    baseSeparation: float
+    normalImpulse: float
+    totalNormalImpulse: float
+    normalVelocity: float
+    featureId: uint
+    triangleIndex: int
+    persisted: bool
+
+struct b3Manifold:
+    points: array[b3ManifoldPoint, 4]
+    normal: b3Vec3
+    twistImpulse: float
+    frictionImpulse: b3Vec3
+    rollingImpulse: b3Vec3
+    pointCount: int
+
+enum b3SeparatingFeature: int
+    b3_invalidAxis = 0
+    b3_backsideAxis = 1
+    b3_faceAxisA = 2
+    b3_faceAxisB = 3
+    b3_edgePairAxis = 4
+    b3_closestPointsAxis = 5
+    b3_manualFaceAxisA = 6
+    b3_manualFaceAxisB = 7
+    b3_manualEdgePairAxis = 8
+
+enum b3TriangleFeature: int
+    b3_featureNone = 0
+    b3_featureTriangleFace = 1
+    b3_featureHullFace = 2
+    b3_featureEdge1 = 3
+    b3_featureEdge2 = 4
+    b3_featureEdge3 = 5
+    b3_featureVertex1 = 6
+    b3_featureVertex2 = 7
+    b3_featureVertex3 = 8
+
+struct b3SATCache:
+    separation: float
+    type: ubyte
+    indexA: ubyte
+    indexB: ubyte
+    hit: ubyte
+
+struct b3FeaturePair:
+    owner1: ubyte
+    index1: ubyte
+    owner2: ubyte
+    index2: ubyte
+
+struct b3LocalManifoldPoint:
+    point: b3Vec3
+    separation: float
+    pair: b3FeaturePair
+    triangleIndex: int
+
+struct b3LocalManifold:
+    normal: b3Vec3
+    triangleNormal: b3Vec3
+    points: ptr[b3LocalManifoldPoint]
+    pointCount: int
+    triangleIndex: int
+    i1: int
+    i2: int
+    i3: int
+    squaredDistance: float
+    feature: b3TriangleFeature
+    triangleFlags: int
+
+enum b3HexColor: int
+    b3_colorAliceBlue = 15792383
+    b3_colorAntiqueWhite = 16444375
+    b3_colorAqua = 65535
+    b3_colorAquamarine = 8388564
+    b3_colorAzure = 15794175
+    b3_colorBeige = 16119260
+    b3_colorBisque = 16770244
+    b3_colorBlack = 0
+    b3_colorBlanchedAlmond = 16772045
+    b3_colorBlue = 255
+    b3_colorBlueViolet = 9055202
+    b3_colorBrown = 10824234
+    b3_colorBurlywood = 14596231
+    b3_colorCadetBlue = 6266528
+    b3_colorChartreuse = 8388352
+    b3_colorChocolate = 13789470
+    b3_colorCoral = 16744272
+    b3_colorCornflowerBlue = 6591981
+    b3_colorCornsilk = 16775388
+    b3_colorCrimson = 14423100
+    b3_colorCyan = 65535
+    b3_colorDarkBlue = 139
+    b3_colorDarkCyan = 35723
+    b3_colorDarkGoldenRod = 12092939
+    b3_colorDarkGray = 11119017
+    b3_colorDarkGreen = 25600
+    b3_colorDarkKhaki = 12433259
+    b3_colorDarkMagenta = 9109643
+    b3_colorDarkOliveGreen = 5597999
+    b3_colorDarkOrange = 16747520
+    b3_colorDarkOrchid = 10040012
+    b3_colorDarkRed = 9109504
+    b3_colorDarkSalmon = 15308410
+    b3_colorDarkSeaGreen = 9419919
+    b3_colorDarkSlateBlue = 4734347
+    b3_colorDarkSlateGray = 3100495
+    b3_colorDarkTurquoise = 52945
+    b3_colorDarkViolet = 9699539
+    b3_colorDeepPink = 16716947
+    b3_colorDeepSkyBlue = 49151
+    b3_colorDimGray = 6908265
+    b3_colorDodgerBlue = 2003199
+    b3_colorFireBrick = 11674146
+    b3_colorFloralWhite = 16775920
+    b3_colorForestGreen = 2263842
+    b3_colorFuchsia = 16711935
+    b3_colorGainsboro = 14474460
+    b3_colorGhostWhite = 16316671
+    b3_colorGold = 16766720
+    b3_colorGoldenRod = 14329120
+    b3_colorGray = 8421504
+    b3_colorGreen = 32768
+    b3_colorGreenYellow = 11403055
+    b3_colorHoneyDew = 15794160
+    b3_colorHotPink = 16738740
+    b3_colorIndianRed = 13458524
+    b3_colorIndigo = 4915330
+    b3_colorIvory = 16777200
+    b3_colorKhaki = 15787660
+    b3_colorLavender = 15132410
+    b3_colorLavenderBlush = 16773365
+    b3_colorLawnGreen = 8190976
+    b3_colorLemonChiffon = 16775885
+    b3_colorLightBlue = 11393254
+    b3_colorLightCoral = 15761536
+    b3_colorLightCyan = 14745599
+    b3_colorLightGoldenRodYellow = 16448210
+    b3_colorLightGray = 13882323
+    b3_colorLightGreen = 9498256
+    b3_colorLightPink = 16758465
+    b3_colorLightSalmon = 16752762
+    b3_colorLightSeaGreen = 2142890
+    b3_colorLightSkyBlue = 8900346
+    b3_colorLightSlateGray = 7833753
+    b3_colorLightSteelBlue = 11584734
+    b3_colorLightYellow = 16777184
+    b3_colorLime = 65280
+    b3_colorLimeGreen = 3329330
+    b3_colorLinen = 16445670
+    b3_colorMagenta = 16711935
+    b3_colorMaroon = 8388608
+    b3_colorMediumAquaMarine = 6737322
+    b3_colorMediumBlue = 205
+    b3_colorMediumOrchid = 12211667
+    b3_colorMediumPurple = 9662683
+    b3_colorMediumSeaGreen = 3978097
+    b3_colorMediumSlateBlue = 8087790
+    b3_colorMediumSpringGreen = 64154
+    b3_colorMediumTurquoise = 4772300
+    b3_colorMediumVioletRed = 13047173
+    b3_colorMidnightBlue = 1644912
+    b3_colorMintCream = 16121850
+    b3_colorMistyRose = 16770273
+    b3_colorMoccasin = 16770229
+    b3_colorNavajoWhite = 16768685
+    b3_colorNavy = 128
+    b3_colorOldLace = 16643558
+    b3_colorOlive = 8421376
+    b3_colorOliveDrab = 7048739
+    b3_colorOrange = 16753920
+    b3_colorOrangeRed = 16729344
+    b3_colorOrchid = 14315734
+    b3_colorPaleGoldenRod = 15657130
+    b3_colorPaleGreen = 10025880
+    b3_colorPaleTurquoise = 11529966
+    b3_colorPaleVioletRed = 14381203
+    b3_colorPapayaWhip = 16773077
+    b3_colorPeachPuff = 16767673
+    b3_colorPeru = 13468991
+    b3_colorPink = 16761035
+    b3_colorPlum = 14524637
+    b3_colorPowderBlue = 11591910
+    b3_colorPurple = 8388736
+    b3_colorRebeccaPurple = 6697881
+    b3_colorRed = 16711680
+    b3_colorRosyBrown = 12357519
+    b3_colorRoyalBlue = 4286945
+    b3_colorSaddleBrown = 9127187
+    b3_colorSalmon = 16416882
+    b3_colorSandyBrown = 16032864
+    b3_colorSeaGreen = 3050327
+    b3_colorSeaShell = 16774638
+    b3_colorSienna = 10506797
+    b3_colorSilver = 12632256
+    b3_colorSkyBlue = 8900331
+    b3_colorSlateBlue = 6970061
+    b3_colorSlateGray = 7372944
+    b3_colorSnow = 16775930
+    b3_colorSpringGreen = 65407
+    b3_colorSteelBlue = 4620980
+    b3_colorTan = 13808780
+    b3_colorTeal = 32896
+    b3_colorThistle = 14204888
+    b3_colorTomato = 16737095
+    b3_colorTurquoise = 4251856
+    b3_colorViolet = 15631086
+    b3_colorWheat = 16113331
+    b3_colorWhite = 16777215
+    b3_colorWhiteSmoke = 16119285
+    b3_colorYellow = 16776960
+    b3_colorYellowGreen = 10145074
+    b3_colorBox2DRed = 14430514
+    b3_colorBox2DBlue = 3190463
+    b3_colorBox2DGreen = 9226532
+    b3_colorBox2DYellow = 16772748
+
+enum b3DebugMaterial: int
+    b3_debugMaterialDefault = 0
+    b3_debugMaterialMatte = 1
+    b3_debugMaterialSoft = 2
+    b3_debugMaterialDead = 3
+    b3_debugMaterialGlossy = 4
+    b3_debugMaterialMetallic = 5
+
+external function b3GetGraphColor(index: int) -> b3HexColor
+
+struct b3DebugShape:
+    shapeId: b3ShapeId
+    type: b3ShapeType
+    capsule: const_ptr[b3Capsule]
+    compound: const_ptr[b3CompoundData]
+    heightField: const_ptr[b3HeightFieldData]
+    hull: const_ptr[b3HullData]
+    mesh: const_ptr[b3Mesh]
+    sphere: const_ptr[b3Sphere]
+
+struct b3DebugDraw:
+    DrawShapeFcn: fn(arg0: ptr[void], arg1: b3WorldTransform, arg2: b3HexColor, arg3: ptr[void]) -> void
+    DrawSegmentFcn: fn(arg0: b3Pos, arg1: b3Pos, arg2: b3HexColor, arg3: ptr[void]) -> void
+    DrawTransformFcn: fn(arg0: b3WorldTransform, arg1: ptr[void]) -> void
+    DrawPointFcn: fn(arg0: b3Pos, arg1: float, arg2: b3HexColor, arg3: ptr[void]) -> void
+    DrawSphereFcn: fn(arg0: b3Pos, arg1: float, arg2: b3HexColor, arg3: float, arg4: ptr[void]) -> void
+    DrawCapsuleFcn: fn(arg0: b3Pos, arg1: b3Pos, arg2: float, arg3: b3HexColor, arg4: float, arg5: ptr[void]) -> void
+    DrawBoundsFcn: fn(arg0: b3AABB, arg1: b3HexColor, arg2: ptr[void]) -> void
+    DrawBoxFcn: fn(arg0: b3Vec3, arg1: b3WorldTransform, arg2: b3HexColor, arg3: ptr[void]) -> void
+    DrawStringFcn: fn(arg0: b3Pos, arg1: cstr, arg2: b3HexColor, arg3: ptr[void]) -> void
+    drawingBounds: b3AABB
+    forceScale: float
+    jointScale: float
+    drawShapes: bool
+    drawJoints: bool
+    drawJointExtras: bool
+    drawBounds: bool
+    drawMass: bool
+    drawSleep: bool
+    drawBodyNames: bool
+    drawContacts: bool
+    drawAnchorA: bool
+    drawGraphColors: bool
+    drawContactFeatures: bool
+    drawContactNormals: bool
+    drawContactForces: bool
+    drawIslands: bool
+    context: ptr[void]
+
+external function b3DefaultDebugDraw() -> b3DebugDraw
+external function b3DynamicTree_Create(proxyCapacity: int) -> b3DynamicTree
+external function b3DynamicTree_Destroy(tree: ptr[b3DynamicTree]) -> void
+external function b3DynamicTree_CreateProxy(tree: ptr[b3DynamicTree], aabb: b3AABB, categoryBits: ptr_uint, userData: ptr_uint) -> int
+external function b3DynamicTree_DestroyProxy(tree: ptr[b3DynamicTree], proxyId: int) -> void
+external function b3DynamicTree_MoveProxy(tree: ptr[b3DynamicTree], proxyId: int, aabb: b3AABB) -> void
+external function b3DynamicTree_EnlargeProxy(tree: ptr[b3DynamicTree], proxyId: int, aabb: b3AABB) -> void
+external function b3DynamicTree_SetCategoryBits(tree: ptr[b3DynamicTree], proxyId: int, categoryBits: ptr_uint) -> void
+external function b3DynamicTree_GetCategoryBits(tree: ptr[b3DynamicTree], proxyId: int) -> ulong
+external function b3DynamicTree_Query(tree: const_ptr[b3DynamicTree], aabb: b3AABB, maskBits: ptr_uint, requireAllBits: bool, callback: b3TreeQueryCallbackFcn, context: ptr[void]) -> b3TreeStats
+external function b3DynamicTree_QueryClosest(tree: const_ptr[b3DynamicTree], point: b3Vec3, maskBits: ptr_uint, requireAllBits: bool, callback: b3TreeQueryClosestCallbackFcn, context: ptr[void], minDistanceSqr: ptr[float]) -> b3TreeStats
+external function b3DynamicTree_RayCast(tree: const_ptr[b3DynamicTree], input: const_ptr[b3RayCastInput], maskBits: ptr_uint, requireAllBits: bool, callback: b3TreeRayCastCallbackFcn, context: ptr[void]) -> b3TreeStats
+external function b3DynamicTree_BoxCast(tree: const_ptr[b3DynamicTree], input: const_ptr[b3BoxCastInput], maskBits: ptr_uint, requireAllBits: bool, callback: b3TreeBoxCastCallbackFcn, context: ptr[void]) -> b3TreeStats
+external function b3DynamicTree_GetHeight(tree: const_ptr[b3DynamicTree]) -> int
+external function b3DynamicTree_GetAreaRatio(tree: const_ptr[b3DynamicTree]) -> float
+external function b3DynamicTree_GetRootBounds(tree: const_ptr[b3DynamicTree]) -> b3AABB
+external function b3DynamicTree_GetProxyCount(tree: const_ptr[b3DynamicTree]) -> int
+external function b3DynamicTree_Rebuild(tree: ptr[b3DynamicTree], fullBuild: bool) -> int
+external function b3DynamicTree_GetByteCount(tree: const_ptr[b3DynamicTree]) -> int
+external function b3DynamicTree_Validate(tree: const_ptr[b3DynamicTree]) -> void
+external function b3DynamicTree_ValidateNoEnlarged(tree: const_ptr[b3DynamicTree]) -> void
+external function b3DynamicTree_Save(tree: const_ptr[b3DynamicTree], fileName: cstr) -> void
+external function b3DynamicTree_Load(fileName: cstr, scale: float) -> b3DynamicTree
+external function b3CreateCylinder(height: float, radius: float, yOffset: float, sides: int) -> ptr[b3HullData]
+external function b3CreateCone(height: float, radius1: float, radius2: float, slices: int) -> ptr[b3HullData]
+external function b3CreateRock(radius: float) -> ptr[b3HullData]
+external function b3CreateHull(points: const_ptr[b3Vec3], pointCount: int, maxVertexCount: int) -> ptr[b3HullData]
+external function b3CloneHull(hull: const_ptr[b3HullData]) -> ptr[b3HullData]
+external function b3CloneAndTransformHull(original: const_ptr[b3HullData], transform: b3Transform, scale: b3Vec3) -> ptr[b3HullData]
+external function b3DestroyHull(hull: ptr[b3HullData]) -> void
+external function b3MakeCubeHull(halfWidth: float) -> b3BoxHull
+external function b3MakeBoxHull(hx: float, hy: float, hz: float) -> b3BoxHull
+external function b3MakeOffsetBoxHull(hx: float, hy: float, hz: float, offset: b3Vec3) -> b3BoxHull
+external function b3MakeTransformedBoxHull(hx: float, hy: float, hz: float, transform: b3Transform) -> b3BoxHull
+external function b3MakeScaledBoxHull(halfWidths: b3Vec3, transform: b3Transform, postScale: b3Vec3) -> b3BoxHull
+external function b3ScaleBox(halfWidths: ptr[b3Vec3], transform: ptr[b3Transform], postScale: b3Vec3, minHalfWidth: float) -> void
+external function b3CreateGridMesh(xCount: int, zCount: int, cellWidth: float, materialCount: int, identifyEdges: bool) -> ptr[b3MeshData]
+external function b3CreateWaveMesh(xCount: int, zCount: int, cellWidth: float, amplitude: float, rowFrequency: float, columnFrequency: float) -> ptr[b3MeshData]
+external function b3CreateTorusMesh(radialResolution: int, tubularResolution: int, radius: float, thickness: float) -> ptr[b3MeshData]
+external function b3CreateBoxMesh(center: b3Vec3, extent: b3Vec3, identifyEdges: bool) -> ptr[b3MeshData]
+external function b3CreateHollowBoxMesh(center: b3Vec3, extent: b3Vec3) -> ptr[b3MeshData]
+external function b3CreatePlatformMesh(center: b3Vec3, height: float, topWidth: float, bottomWidth: float) -> ptr[b3MeshData]
+external function b3CreateMesh(def: const_ptr[b3MeshDef], degenerateTriangleIndices: ptr[int], degenerateCapacity: int) -> ptr[b3MeshData]
+external function b3DestroyMesh(mesh: ptr[b3MeshData]) -> void
+external function b3GetHeight(mesh: const_ptr[b3MeshData]) -> int
+external function b3CreateHeightField(data: const_ptr[b3HeightFieldDef]) -> ptr[b3HeightFieldData]
+external function b3CreateGrid(rowCount: int, columnCount: int, scale: b3Vec3, makeHoles: bool) -> ptr[b3HeightFieldData]
+external function b3CreateWave(rowCount: int, columnCount: int, scale: b3Vec3, rowFrequency: float, columnFrequency: float, makeHoles: bool) -> ptr[b3HeightFieldData]
+external function b3DestroyHeightField(heightField: ptr[b3HeightFieldData]) -> void
+external function b3DumpHeightData(data: const_ptr[b3HeightFieldDef], fileName: cstr) -> void
+external function b3LoadHeightField(fileName: cstr) -> ptr[b3HeightFieldData]
+external function b3GetCompoundChild(compound: const_ptr[b3CompoundData], childIndex: int) -> b3ChildShape
+external function b3QueryCompound(compound: const_ptr[b3CompoundData], aabb: b3AABB, fcn: b3CompoundQueryFcn, context: ptr[void]) -> void
+external function b3GetCompoundCapsule(compound: const_ptr[b3CompoundData], index: int) -> b3CompoundCapsule
+external function b3GetCompoundHull(compound: const_ptr[b3CompoundData], index: int) -> b3CompoundHull
+external function b3GetCompoundMesh(compound: const_ptr[b3CompoundData], index: int) -> b3CompoundMesh
+external function b3GetCompoundSphere(compound: const_ptr[b3CompoundData], index: int) -> b3CompoundSphere
+external function b3GetCompoundMaterials(compound: const_ptr[b3CompoundData]) -> const_ptr[b3SurfaceMaterial]
+external function b3CreateCompound(def: const_ptr[b3CompoundDef]) -> ptr[b3CompoundData]
+external function b3DestroyCompound(compound: ptr[b3CompoundData]) -> void
+external function b3ConvertCompoundToBytes(compound: ptr[b3CompoundData]) -> ptr[ubyte]
+external function b3ConvertBytesToCompound(bytes: ptr[ubyte], byteCount: int) -> ptr[b3CompoundData]
+external function b3ComputeSphereMass(shape: const_ptr[b3Sphere], density: float) -> b3MassData
+external function b3ComputeCapsuleMass(shape: const_ptr[b3Capsule], density: float) -> b3MassData
+external function b3ComputeHullMass(shape: const_ptr[b3HullData], density: float) -> b3MassData
+external function b3ComputeSphereAABB(shape: const_ptr[b3Sphere], transform: b3Transform) -> b3AABB
+external function b3ComputeCapsuleAABB(shape: const_ptr[b3Capsule], transform: b3Transform) -> b3AABB
+external function b3ComputeHullAABB(shape: const_ptr[b3HullData], transform: b3Transform) -> b3AABB
+external function b3ComputeMeshAABB(shape: const_ptr[b3MeshData], transform: b3Transform, scale: b3Vec3) -> b3AABB
+external function b3ComputeHeightFieldAABB(shape: const_ptr[b3HeightFieldData], transform: b3Transform) -> b3AABB
+external function b3ComputeCompoundAABB(shape: const_ptr[b3CompoundData], transform: b3Transform) -> b3AABB
+external function b3IsValidRay(input: const_ptr[b3RayCastInput]) -> bool
+external function b3OverlapCapsule(shape: const_ptr[b3Capsule], shapeTransform: b3Transform, proxy: const_ptr[b3ShapeProxy]) -> bool
+external function b3OverlapCompound(shape: const_ptr[b3CompoundData], shapeTransform: b3Transform, proxy: const_ptr[b3ShapeProxy]) -> bool
+external function b3OverlapHeightField(shape: const_ptr[b3HeightFieldData], shapeTransform: b3Transform, proxy: const_ptr[b3ShapeProxy]) -> bool
+external function b3OverlapHull(shape: const_ptr[b3HullData], shapeTransform: b3Transform, proxy: const_ptr[b3ShapeProxy]) -> bool
+external function b3OverlapMesh(shape: const_ptr[b3Mesh], shapeTransform: b3Transform, proxy: const_ptr[b3ShapeProxy]) -> bool
+external function b3OverlapSphere(shape: const_ptr[b3Sphere], shapeTransform: b3Transform, proxy: const_ptr[b3ShapeProxy]) -> bool
+external function b3RayCastSphere(shape: const_ptr[b3Sphere], input: const_ptr[b3RayCastInput]) -> b3CastOutput
+external function b3RayCastHollowSphere(shape: const_ptr[b3Sphere], input: const_ptr[b3RayCastInput]) -> b3CastOutput
+external function b3RayCastCapsule(shape: const_ptr[b3Capsule], input: const_ptr[b3RayCastInput]) -> b3CastOutput
+external function b3RayCastCompound(shape: const_ptr[b3CompoundData], input: const_ptr[b3RayCastInput]) -> b3CastOutput
+external function b3RayCastHull(shape: const_ptr[b3HullData], input: const_ptr[b3RayCastInput]) -> b3CastOutput
+external function b3RayCastMesh(shape: const_ptr[b3Mesh], input: const_ptr[b3RayCastInput]) -> b3CastOutput
+external function b3RayCastHeightField(shape: const_ptr[b3HeightFieldData], input: const_ptr[b3RayCastInput]) -> b3CastOutput
+external function b3ShapeCastSphere(shape: const_ptr[b3Sphere], input: const_ptr[b3ShapeCastInput]) -> b3CastOutput
+external function b3ShapeCastCapsule(shape: const_ptr[b3Capsule], input: const_ptr[b3ShapeCastInput]) -> b3CastOutput
+external function b3ShapeCastCompound(shape: const_ptr[b3CompoundData], input: const_ptr[b3ShapeCastInput]) -> b3CastOutput
+external function b3ShapeCastHull(shape: const_ptr[b3HullData], input: const_ptr[b3ShapeCastInput]) -> b3CastOutput
+external function b3ShapeCastMesh(shape: const_ptr[b3Mesh], input: const_ptr[b3ShapeCastInput]) -> b3CastOutput
+external function b3ShapeCastHeightField(shape: const_ptr[b3HeightFieldData], input: const_ptr[b3ShapeCastInput]) -> b3CastOutput
+
+type b3MeshQueryFcn = fn(arg0: b3Vec3, arg1: b3Vec3, arg2: b3Vec3, arg3: int, arg4: ptr[void]) -> bool
+
+external function b3QueryMesh(mesh: const_ptr[b3Mesh], bounds: b3AABB, fcn: b3MeshQueryFcn, context: ptr[void]) -> void
+external function b3QueryHeightField(heightField: const_ptr[b3HeightFieldData], bounds: b3AABB, fcn: b3MeshQueryFcn, context: ptr[void]) -> void
+external function b3ShapeDistance(input: const_ptr[b3DistanceInput], cache: ptr[b3SimplexCache], simplexes: ptr[b3Simplex], simplexCapacity: int) -> b3DistanceOutput
+external function b3ShapeCast(input: const_ptr[b3ShapeCastPairInput]) -> b3CastOutput
+external function b3GetSweepTransform(sweep: const_ptr[b3Sweep], time: float) -> b3Transform
+external function b3TimeOfImpact(input: const_ptr[b3TOIInput]) -> b3TOIOutput
+external function b3CollideSpheres(manifold: ptr[b3LocalManifold], capacity: int, sphereA: const_ptr[b3Sphere], sphereB: const_ptr[b3Sphere], transformBtoA: b3Transform) -> void
+external function b3CollideCapsuleAndSphere(manifold: ptr[b3LocalManifold], capacity: int, capsuleA: const_ptr[b3Capsule], sphereB: const_ptr[b3Sphere], transformBtoA: b3Transform) -> void
+external function b3CollideHullAndSphere(manifold: ptr[b3LocalManifold], capacity: int, hullA: const_ptr[b3HullData], sphereB: const_ptr[b3Sphere], transformBtoA: b3Transform, cache: ptr[b3SimplexCache]) -> void
+external function b3CollideCapsules(manifold: ptr[b3LocalManifold], capacity: int, capsuleA: const_ptr[b3Capsule], capsuleB: const_ptr[b3Capsule], transformBtoA: b3Transform) -> void
+external function b3CollideHullAndCapsule(manifold: ptr[b3LocalManifold], capacity: int, hullA: const_ptr[b3HullData], capsuleB: const_ptr[b3Capsule], transformBtoA: b3Transform, cache: ptr[b3SimplexCache]) -> void
+external function b3CollideHulls(manifold: ptr[b3LocalManifold], capacity: int, hullA: const_ptr[b3HullData], hullB: const_ptr[b3HullData], transformBtoA: b3Transform, cache: ptr[b3SATCache]) -> void
+external function b3CollideTriangleAndCapsule(manifold: ptr[b3LocalManifold], capacity: int, triangleA: const_ptr[b3Vec3], capsuleB: const_ptr[b3Capsule], cache: ptr[b3SimplexCache]) -> void
+external function b3CollideTriangleAndHull(manifold: ptr[b3LocalManifold], capacity: int, v1: b3Vec3, v2: b3Vec3, v3: b3Vec3, triangleFlags: int, hullB: const_ptr[b3HullData], cache: ptr[b3SATCache], enableSpeculative: bool) -> void
+external function b3CollideTriangleAndSphere(manifold: ptr[b3LocalManifold], capacity: int, triangleA: const_ptr[b3Vec3], sphereB: const_ptr[b3Sphere]) -> void
+external function b3SolvePlanes(targetDelta: b3Vec3, planes: ptr[b3CollisionPlane], count: int) -> b3PlaneSolverResult
+external function b3ClipVector(vector: b3Vec3, planes: const_ptr[b3CollisionPlane], count: int) -> b3Vec3
+external function b3CreateWorld(def: const_ptr[b3WorldDef]) -> b3WorldId
+external function b3DestroyWorld(worldId: b3WorldId) -> void
+external function b3GetWorldCount() -> int
+external function b3GetMaxWorldCount() -> int
+external function b3World_IsValid(id: b3WorldId) -> bool
+external function b3World_Step(worldId: b3WorldId, timeStep: float, subStepCount: int) -> void
+external function b3World_Draw(worldId: b3WorldId, draw: ptr[b3DebugDraw], maskBits: ptr_uint) -> void
+external function b3World_GetBounds(worldId: b3WorldId) -> b3AABB
+external function b3World_GetBodyEvents(worldId: b3WorldId) -> b3BodyEvents
+external function b3World_GetSensorEvents(worldId: b3WorldId) -> b3SensorEvents
+external function b3World_GetContactEvents(worldId: b3WorldId) -> b3ContactEvents
+external function b3World_GetJointEvents(worldId: b3WorldId) -> b3JointEvents
+external function b3World_OverlapAABB(worldId: b3WorldId, aabb: b3AABB, filter: b3QueryFilter, fcn: b3OverlapResultFcn, context: ptr[void]) -> b3TreeStats
+external function b3World_OverlapShape(worldId: b3WorldId, origin: b3Vec3, proxy: const_ptr[b3ShapeProxy], filter: b3QueryFilter, fcn: b3OverlapResultFcn, context: ptr[void]) -> b3TreeStats
+external function b3World_CastRay(worldId: b3WorldId, origin: b3Vec3, translation: b3Vec3, filter: b3QueryFilter, fcn: b3CastResultFcn, context: ptr[void]) -> b3TreeStats
+external function b3World_CastRayClosest(worldId: b3WorldId, origin: b3Vec3, translation: b3Vec3, filter: b3QueryFilter) -> b3RayResult
+external function b3World_CastShape(worldId: b3WorldId, origin: b3Vec3, proxy: const_ptr[b3ShapeProxy], translation: b3Vec3, filter: b3QueryFilter, fcn: b3CastResultFcn, context: ptr[void]) -> b3TreeStats
+external function b3World_CastMover(worldId: b3WorldId, origin: b3Vec3, mover: const_ptr[b3Capsule], translation: b3Vec3, filter: b3QueryFilter, fcn: b3MoverFilterFcn, context: ptr[void]) -> float
+external function b3World_CollideMover(worldId: b3WorldId, origin: b3Vec3, mover: const_ptr[b3Capsule], filter: b3QueryFilter, fcn: b3PlaneResultFcn, context: ptr[void]) -> void
+external function b3World_EnableSleeping(worldId: b3WorldId, flag: bool) -> void
+external function b3World_IsSleepingEnabled(worldId: b3WorldId) -> bool
+external function b3World_EnableContinuous(worldId: b3WorldId, flag: bool) -> void
+external function b3World_IsContinuousEnabled(worldId: b3WorldId) -> bool
+external function b3World_SetRestitutionThreshold(worldId: b3WorldId, value: float) -> void
+external function b3World_GetRestitutionThreshold(worldId: b3WorldId) -> float
+external function b3World_SetHitEventThreshold(worldId: b3WorldId, value: float) -> void
+external function b3World_GetHitEventThreshold(worldId: b3WorldId) -> float
+external function b3World_SetCustomFilterCallback(worldId: b3WorldId, fcn: b3CustomFilterFcn, context: ptr[void]) -> void
+external function b3World_SetPreSolveCallback(worldId: b3WorldId, fcn: b3PreSolveFcn, context: ptr[void]) -> void
+external function b3World_SetGravity(worldId: b3WorldId, gravity: b3Vec3) -> void
+external function b3World_GetGravity(worldId: b3WorldId) -> b3Vec3
+external function b3World_Explode(worldId: b3WorldId, explosionDef: const_ptr[b3ExplosionDef]) -> void
+external function b3World_SetContactTuning(worldId: b3WorldId, hertz: float, dampingRatio: float, contactSpeed: float) -> void
+external function b3World_SetContactRecycleDistance(worldId: b3WorldId, recycleDistance: float) -> void
+external function b3World_GetContactRecycleDistance(worldId: b3WorldId) -> float
+external function b3World_SetMaximumLinearSpeed(worldId: b3WorldId, maximumLinearSpeed: float) -> void
+external function b3World_GetMaximumLinearSpeed(worldId: b3WorldId) -> float
+external function b3World_EnableWarmStarting(worldId: b3WorldId, flag: bool) -> void
+external function b3World_IsWarmStartingEnabled(worldId: b3WorldId) -> bool
+external function b3World_GetAwakeBodyCount(worldId: b3WorldId) -> int
+external function b3World_GetProfile(worldId: b3WorldId) -> b3Profile
+external function b3World_GetCounters(worldId: b3WorldId) -> b3Counters
+external function b3World_GetMaxCapacity(worldId: b3WorldId) -> b3Capacity
+external function b3World_SetUserData(worldId: b3WorldId, userData: ptr[void]) -> void
+external function b3World_GetUserData(worldId: b3WorldId) -> ptr[void]
+external function b3World_SetFrictionCallback(worldId: b3WorldId, callback: b3FrictionCallback) -> void
+external function b3World_SetRestitutionCallback(worldId: b3WorldId, callback: b3RestitutionCallback) -> void
+external function b3World_SetWorkerCount(worldId: b3WorldId, count: int) -> void
+external function b3World_GetWorkerCount(worldId: b3WorldId) -> int
+external function b3World_DumpMemoryStats(worldId: b3WorldId) -> void
+external function b3World_DumpShapeBounds(worldId: b3WorldId, type_: b3BodyType) -> void
+external function b3World_RebuildStaticTree(worldId: b3WorldId) -> void
+external function b3World_EnableSpeculative(worldId: b3WorldId, flag: bool) -> void
+
+opaque b3Recording = c"b3Recording"
+
+external function b3CreateRecording(byteCapacity: int) -> ptr[b3Recording]
+external function b3DestroyRecording(recording: ptr[b3Recording]) -> void
+external function b3Recording_GetData(recording: const_ptr[b3Recording]) -> const_ptr[ubyte]
+external function b3Recording_GetSize(recording: const_ptr[b3Recording]) -> int
+external function b3World_StartRecording(worldId: b3WorldId, recording: ptr[b3Recording]) -> void
+external function b3World_StopRecording(worldId: b3WorldId) -> void
+external function b3SaveRecordingToFile(recording: const_ptr[b3Recording], path: cstr) -> bool
+external function b3LoadRecordingFromFile(path: cstr) -> ptr[b3Recording]
+external function b3ValidateReplay(data: const_ptr[void], size: int, workerCount: int) -> bool
+
+opaque b3RecPlayer = c"b3RecPlayer"
+
+struct b3RecPlayerInfo:
+    frameCount: int
+    workerCount: int
+    timeStep: float
+    subStepCount: int
+    lengthScale: float
+    bounds: b3AABB
+
+external function b3CreatePlayer(data: const_ptr[void], size: int, workerCount: int) -> ptr[b3RecPlayer]
+external function b3DestroyPlayer(player: ptr[b3RecPlayer]) -> void
+external function b3RecPlayer_StepFrame(player: ptr[b3RecPlayer]) -> bool
+external function b3RecPlayer_SubStepFrame(player: ptr[b3RecPlayer]) -> void
+external function b3RecPlayer_Restart(player: ptr[b3RecPlayer]) -> void
+external function b3RecPlayer_SeekFrame(player: ptr[b3RecPlayer], targetFrame: int) -> void
+external function b3RecPlayer_GetWorldId(player: const_ptr[b3RecPlayer]) -> b3WorldId
+external function b3RecPlayer_GetFrame(player: const_ptr[b3RecPlayer]) -> int
+external function b3RecPlayer_GetFrameCount(player: const_ptr[b3RecPlayer]) -> int
+external function b3RecPlayer_IsAtEnd(player: const_ptr[b3RecPlayer]) -> bool
+external function b3RecPlayer_IsAtPreStep(player: const_ptr[b3RecPlayer]) -> bool
+external function b3RecPlayer_HasDiverged(player: const_ptr[b3RecPlayer]) -> bool
+external function b3RecPlayer_GetInfo(player: const_ptr[b3RecPlayer]) -> b3RecPlayerInfo
+external function b3RecPlayer_GetDivergeFrame(player: const_ptr[b3RecPlayer]) -> int
+external function b3RecPlayer_SetWorkerCount(player: ptr[b3RecPlayer], count: int) -> void
+external function b3RecPlayer_SetKeyframePolicy(player: ptr[b3RecPlayer], budgetBytes: ptr_uint, minIntervalFrames: int) -> void
+external function b3RecPlayer_GetKeyframeBudget(player: const_ptr[b3RecPlayer]) -> ptr_uint
+external function b3RecPlayer_GetKeyframeMinInterval(player: const_ptr[b3RecPlayer]) -> int
+external function b3RecPlayer_GetKeyframeInterval(player: const_ptr[b3RecPlayer]) -> int
+external function b3RecPlayer_GetKeyframeBytes(player: const_ptr[b3RecPlayer]) -> ptr_uint
+external function b3RecPlayer_GetBodyCount(player: const_ptr[b3RecPlayer]) -> int
+external function b3RecPlayer_GetBodyId(player: const_ptr[b3RecPlayer], index: int) -> b3BodyId
+external function b3RecPlayer_SetDebugShapeCallbacks(player: ptr[b3RecPlayer], createDebugShape: b3CreateDebugShapeCallback, destroyDebugShape: b3DestroyDebugShapeCallback, context: ptr[void]) -> void
+external function b3RecPlayer_DrawFrameQueries(player: ptr[b3RecPlayer], draw: ptr[b3DebugDraw], queryIndex: int, selectedIndex: int) -> void
+
+enum b3RecQueryType: int
+    b3_recQueryOverlapAABB = 0
+    b3_recQueryOverlapShape = 1
+    b3_recQueryCastRay = 2
+    b3_recQueryCastShape = 3
+    b3_recQueryCastRayClosest = 4
+    b3_recQueryCastMover = 5
+    b3_recQueryCollideMover = 6
+
+struct b3RecQueryInfo:
+    type: b3RecQueryType
+    filter: b3QueryFilter
+    aabb: b3AABB
+    origin: b3Vec3
+    translation: b3Vec3
+    hitCount: int
+    key: ptr_uint
+    id: ptr_uint
+    name: cstr
+
+struct b3RecQueryHit:
+    shape: b3ShapeId
+    point: b3Vec3
+    normal: b3Vec3
+    fraction: float
+
+external function b3RecPlayer_GetFrameQueryCount(player: const_ptr[b3RecPlayer]) -> int
+external function b3RecPlayer_GetFrameQuery(player: const_ptr[b3RecPlayer], index: int) -> b3RecQueryInfo
+external function b3RecPlayer_GetFrameQueryHit(player: const_ptr[b3RecPlayer], queryIndex: int, hitIndex: int) -> b3RecQueryHit
+external function b3CreateBody(worldId: b3WorldId, def: const_ptr[b3BodyDef]) -> b3BodyId
+external function b3DestroyBody(bodyId: b3BodyId) -> void
+external function b3Body_IsValid(id: b3BodyId) -> bool
+external function b3Body_GetType(bodyId: b3BodyId) -> b3BodyType
+external function b3Body_SetType(bodyId: b3BodyId, type_: b3BodyType) -> void
+external function b3Body_SetName(bodyId: b3BodyId, name: cstr) -> void
+external function b3Body_GetName(bodyId: b3BodyId) -> cstr
+external function b3Body_SetUserData(bodyId: b3BodyId, userData: ptr[void]) -> void
+external function b3Body_GetUserData(bodyId: b3BodyId) -> ptr[void]
+external function b3Body_GetPosition(bodyId: b3BodyId) -> b3Pos
+external function b3Body_GetRotation(bodyId: b3BodyId) -> b3Quat
+external function b3Body_GetTransform(bodyId: b3BodyId) -> b3WorldTransform
+external function b3Body_SetTransform(bodyId: b3BodyId, position: b3Vec3, rotation: b3Quat) -> void
+external function b3Body_GetLocalPoint(bodyId: b3BodyId, worldPoint: b3Vec3) -> b3Vec3
+external function b3Body_GetWorldPoint(bodyId: b3BodyId, localPoint: b3Vec3) -> b3Pos
+external function b3Body_GetLocalVector(bodyId: b3BodyId, worldVector: b3Vec3) -> b3Vec3
+external function b3Body_GetWorldVector(bodyId: b3BodyId, localVector: b3Vec3) -> b3Vec3
+external function b3Body_GetLinearVelocity(bodyId: b3BodyId) -> b3Vec3
+external function b3Body_GetAngularVelocity(bodyId: b3BodyId) -> b3Vec3
+external function b3Body_SetLinearVelocity(bodyId: b3BodyId, linearVelocity: b3Vec3) -> void
+external function b3Body_SetAngularVelocity(bodyId: b3BodyId, angularVelocity: b3Vec3) -> void
+external function b3Body_SetTargetTransform(bodyId: b3BodyId, target: b3Transform, timeStep: float, wake: bool) -> void
+external function b3Body_GetLocalPointVelocity(bodyId: b3BodyId, localPoint: b3Vec3) -> b3Vec3
+external function b3Body_GetWorldPointVelocity(bodyId: b3BodyId, worldPoint: b3Vec3) -> b3Vec3
+external function b3Body_ApplyForce(bodyId: b3BodyId, force: b3Vec3, point: b3Vec3, wake: bool) -> void
+external function b3Body_ApplyForceToCenter(bodyId: b3BodyId, force: b3Vec3, wake: bool) -> void
+external function b3Body_ApplyTorque(bodyId: b3BodyId, torque: b3Vec3, wake: bool) -> void
+external function b3Body_ApplyLinearImpulse(bodyId: b3BodyId, impulse: b3Vec3, point: b3Vec3, wake: bool) -> void
+external function b3Body_ApplyLinearImpulseToCenter(bodyId: b3BodyId, impulse: b3Vec3, wake: bool) -> void
+external function b3Body_ApplyAngularImpulse(bodyId: b3BodyId, impulse: b3Vec3, wake: bool) -> void
+external function b3Body_GetMass(bodyId: b3BodyId) -> float
+external function b3Body_GetLocalRotationalInertia(bodyId: b3BodyId) -> b3Matrix3
+external function b3Body_GetInverseMass(bodyId: b3BodyId) -> float
+external function b3Body_GetWorldInverseRotationalInertia(bodyId: b3BodyId) -> b3Matrix3
+external function b3Body_GetLocalCenter(bodyId: b3BodyId) -> b3Vec3
+external function b3Body_GetWorldCenter(bodyId: b3BodyId) -> b3Pos
+external function b3Body_SetMassData(bodyId: b3BodyId, massData: b3MassData) -> void
+external function b3Body_GetMassData(bodyId: b3BodyId) -> b3MassData
+external function b3Body_ApplyMassFromShapes(bodyId: b3BodyId) -> void
+external function b3Body_SetLinearDamping(bodyId: b3BodyId, linearDamping: float) -> void
+external function b3Body_GetLinearDamping(bodyId: b3BodyId) -> float
+external function b3Body_SetAngularDamping(bodyId: b3BodyId, angularDamping: float) -> void
+external function b3Body_GetAngularDamping(bodyId: b3BodyId) -> float
+external function b3Body_SetGravityScale(bodyId: b3BodyId, gravityScale: float) -> void
+external function b3Body_GetGravityScale(bodyId: b3BodyId) -> float
+external function b3Body_IsAwake(bodyId: b3BodyId) -> bool
+external function b3Body_SetAwake(bodyId: b3BodyId, awake: bool) -> void
+external function b3Body_EnableSleep(bodyId: b3BodyId, enableSleep: bool) -> void
+external function b3Body_IsSleepEnabled(bodyId: b3BodyId) -> bool
+external function b3Body_SetSleepThreshold(bodyId: b3BodyId, sleepThreshold: float) -> void
+external function b3Body_GetSleepThreshold(bodyId: b3BodyId) -> float
+external function b3Body_IsEnabled(bodyId: b3BodyId) -> bool
+external function b3Body_Disable(bodyId: b3BodyId) -> void
+external function b3Body_Enable(bodyId: b3BodyId) -> void
+external function b3Body_SetMotionLocks(bodyId: b3BodyId, locks: b3MotionLocks) -> void
+external function b3Body_GetMotionLocks(bodyId: b3BodyId) -> b3MotionLocks
+external function b3Body_SetBullet(bodyId: b3BodyId, flag: bool) -> void
+external function b3Body_IsBullet(bodyId: b3BodyId) -> bool
+external function b3Body_AllowFastRotation(bodyId: b3BodyId, flag: bool) -> void
+external function b3Body_IsFastRotationAllowed(bodyId: b3BodyId) -> bool
+external function b3Body_EnableContactRecycling(bodyId: b3BodyId, flag: bool) -> void
+external function b3Body_IsContactRecyclingEnabled(bodyId: b3BodyId) -> bool
+external function b3Body_EnableHitEvents(bodyId: b3BodyId, flag: bool) -> void
+external function b3Body_GetWorld(bodyId: b3BodyId) -> b3WorldId
+external function b3Body_GetShapeCount(bodyId: b3BodyId) -> int
+external function b3Body_GetShapes(bodyId: b3BodyId, shapeArray: ptr[b3ShapeId], capacity: int) -> int
+external function b3Body_GetJointCount(bodyId: b3BodyId) -> int
+external function b3Body_GetJoints(bodyId: b3BodyId, jointArray: ptr[b3JointId], capacity: int) -> int
+external function b3Body_GetContactCapacity(bodyId: b3BodyId) -> int
+external function b3Body_GetContactData(bodyId: b3BodyId, contactData: ptr[b3ContactData], capacity: int) -> int
+external function b3Body_ComputeAABB(bodyId: b3BodyId) -> b3AABB
+external function b3Body_GetClosestPoint(bodyId: b3BodyId, result: ptr[b3Vec3], target: b3Vec3) -> float
+external function b3Body_CastRay(bodyId: b3BodyId, origin: b3Vec3, translation: b3Vec3, filter: b3QueryFilter, maxFraction: float, bodyTransform: b3Transform) -> b3BodyCastResult
+external function b3Body_CastShape(bodyId: b3BodyId, origin: b3Vec3, proxy: const_ptr[b3ShapeProxy], translation: b3Vec3, filter: b3QueryFilter, maxFraction: float, canEncroach: bool, bodyTransform: b3Transform) -> b3BodyCastResult
+external function b3Body_OverlapShape(bodyId: b3BodyId, origin: b3Vec3, proxy: const_ptr[b3ShapeProxy], filter: b3QueryFilter, bodyTransform: b3Transform) -> bool
+external function b3Body_CollideMover(bodyId: b3BodyId, bodyPlanes: ptr[b3BodyPlaneResult], planeCapacity: int, origin: b3Vec3, mover: const_ptr[b3Capsule], filter: b3QueryFilter, bodyTransform: b3Transform) -> int
+external function b3CreateSphereShape(bodyId: b3BodyId, def: const_ptr[b3ShapeDef], sphere: const_ptr[b3Sphere]) -> b3ShapeId
+external function b3CreateCapsuleShape(bodyId: b3BodyId, def: const_ptr[b3ShapeDef], capsule: const_ptr[b3Capsule]) -> b3ShapeId
+external function b3CreateHullShape(bodyId: b3BodyId, def: const_ptr[b3ShapeDef], hull: const_ptr[b3HullData]) -> b3ShapeId
+external function b3CreateTransformedHullShape(bodyId: b3BodyId, def: const_ptr[b3ShapeDef], hull: const_ptr[b3HullData], transform: b3Transform, scale: b3Vec3) -> b3ShapeId
+external function b3CreateMeshShape(bodyId: b3BodyId, def: const_ptr[b3ShapeDef], mesh: const_ptr[b3MeshData], scale: b3Vec3) -> b3ShapeId
+external function b3CreateHeightFieldShape(bodyId: b3BodyId, def: const_ptr[b3ShapeDef], heightField: const_ptr[b3HeightFieldData]) -> b3ShapeId
+external function b3CreateBakedCompoundShape(bodyId: b3BodyId, def: ptr[b3ShapeDef], compound: const_ptr[b3CompoundData]) -> b3ShapeId
+external function b3DestroyShape(shapeId: b3ShapeId, updateBodyMass: bool) -> void
+external function b3Shape_IsValid(id: b3ShapeId) -> bool
+external function b3Shape_GetType(shapeId: b3ShapeId) -> b3ShapeType
+external function b3Shape_GetBody(shapeId: b3ShapeId) -> b3BodyId
+external function b3Shape_GetWorld(shapeId: b3ShapeId) -> b3WorldId
+external function b3Shape_IsSensor(shapeId: b3ShapeId) -> bool
+external function b3Shape_SetName(shapeId: b3ShapeId, name: cstr) -> void
+external function b3Shape_GetName(shapeId: b3ShapeId) -> cstr
+external function b3Shape_SetUserData(shapeId: b3ShapeId, userData: ptr[void]) -> void
+external function b3Shape_GetUserData(shapeId: b3ShapeId) -> ptr[void]
+external function b3Shape_SetDensity(shapeId: b3ShapeId, density: float, updateBodyMass: bool) -> void
+external function b3Shape_GetDensity(shapeId: b3ShapeId) -> float
+external function b3Shape_SetFriction(shapeId: b3ShapeId, friction: float) -> void
+external function b3Shape_GetFriction(shapeId: b3ShapeId) -> float
+external function b3Shape_SetRestitution(shapeId: b3ShapeId, restitution: float) -> void
+external function b3Shape_GetRestitution(shapeId: b3ShapeId) -> float
+external function b3Shape_SetSurfaceMaterial(shapeId: b3ShapeId, surfaceMaterial: b3SurfaceMaterial) -> void
+external function b3Shape_GetSurfaceMaterial(shapeId: b3ShapeId) -> b3SurfaceMaterial
+external function b3Shape_GetMeshMaterialCount(shapeId: b3ShapeId) -> int
+external function b3Shape_SetMeshMaterial(shapeId: b3ShapeId, surfaceMaterial: b3SurfaceMaterial, index: int) -> void
+external function b3Shape_GetMeshSurfaceMaterial(shapeId: b3ShapeId, index: int) -> b3SurfaceMaterial
+external function b3Shape_GetFilter(shapeId: b3ShapeId) -> b3Filter
+external function b3Shape_SetFilter(shapeId: b3ShapeId, filter: b3Filter, invokeContacts: bool) -> void
+external function b3Shape_EnableSensorEvents(shapeId: b3ShapeId, flag: bool) -> void
+external function b3Shape_AreSensorEventsEnabled(shapeId: b3ShapeId) -> bool
+external function b3Shape_EnableContactEvents(shapeId: b3ShapeId, flag: bool) -> void
+external function b3Shape_AreContactEventsEnabled(shapeId: b3ShapeId) -> bool
+external function b3Shape_EnablePreSolveEvents(shapeId: b3ShapeId, flag: bool) -> void
+external function b3Shape_ArePreSolveEventsEnabled(shapeId: b3ShapeId) -> bool
+external function b3Shape_EnableHitEvents(shapeId: b3ShapeId, flag: bool) -> void
+external function b3Shape_AreHitEventsEnabled(shapeId: b3ShapeId) -> bool
+external function b3Shape_RayCast(shapeId: b3ShapeId, origin: b3Vec3, translation: b3Vec3) -> b3WorldCastOutput
+external function b3Shape_GetSphere(shapeId: b3ShapeId) -> b3Sphere
+external function b3Shape_GetCapsule(shapeId: b3ShapeId) -> b3Capsule
+external function b3Shape_GetHull(shapeId: b3ShapeId) -> const_ptr[b3HullData]
+external function b3Shape_GetMesh(shapeId: b3ShapeId) -> b3Mesh
+external function b3Shape_GetHeightField(shapeId: b3ShapeId) -> const_ptr[b3HeightFieldData]
+external function b3Shape_SetSphere(shapeId: b3ShapeId, sphere: const_ptr[b3Sphere]) -> void
+external function b3Shape_SetCapsule(shapeId: b3ShapeId, capsule: const_ptr[b3Capsule]) -> void
+external function b3Shape_SetHull(shapeId: b3ShapeId, hull: const_ptr[b3HullData]) -> void
+external function b3Shape_SetMesh(shapeId: b3ShapeId, meshData: const_ptr[b3MeshData], scale: b3Vec3) -> void
+external function b3Shape_GetContactCapacity(shapeId: b3ShapeId) -> int
+external function b3Shape_GetContactData(shapeId: b3ShapeId, contactData: ptr[b3ContactData], capacity: int) -> int
+external function b3Shape_GetSensorCapacity(shapeId: b3ShapeId) -> int
+external function b3Shape_GetSensorData(shapeId: b3ShapeId, visitorIds: ptr[b3ShapeId], capacity: int) -> int
+external function b3Shape_GetAABB(shapeId: b3ShapeId) -> b3AABB
+external function b3Shape_ComputeMassData(shapeId: b3ShapeId) -> b3MassData
+external function b3Shape_GetClosestPoint(shapeId: b3ShapeId, target: b3Vec3) -> b3Vec3
+external function b3Shape_ApplyWind(shapeId: b3ShapeId, wind: b3Vec3, drag: float, lift: float, maxSpeed: float, wake: bool) -> void
+external function b3DestroyJoint(jointId: b3JointId, wakeAttached: bool) -> void
+external function b3Joint_IsValid(id: b3JointId) -> bool
+external function b3Joint_GetType(jointId: b3JointId) -> b3JointType
+external function b3Joint_GetBodyA(jointId: b3JointId) -> b3BodyId
+external function b3Joint_GetBodyB(jointId: b3JointId) -> b3BodyId
+external function b3Joint_GetWorld(jointId: b3JointId) -> b3WorldId
+external function b3Joint_SetLocalFrameA(jointId: b3JointId, localFrame: b3Transform) -> void
+external function b3Joint_GetLocalFrameA(jointId: b3JointId) -> b3Transform
+external function b3Joint_SetLocalFrameB(jointId: b3JointId, localFrame: b3Transform) -> void
+external function b3Joint_GetLocalFrameB(jointId: b3JointId) -> b3Transform
+external function b3Joint_SetCollideConnected(jointId: b3JointId, shouldCollide: bool) -> void
+external function b3Joint_GetCollideConnected(jointId: b3JointId) -> bool
+external function b3Joint_SetUserData(jointId: b3JointId, userData: ptr[void]) -> void
+external function b3Joint_GetUserData(jointId: b3JointId) -> ptr[void]
+external function b3Joint_WakeBodies(jointId: b3JointId) -> void
+external function b3Joint_GetConstraintForce(jointId: b3JointId) -> b3Vec3
+external function b3Joint_GetConstraintTorque(jointId: b3JointId) -> b3Vec3
+external function b3Joint_GetLinearSeparation(jointId: b3JointId) -> float
+external function b3Joint_GetAngularSeparation(jointId: b3JointId) -> float
+external function b3Joint_SetConstraintTuning(jointId: b3JointId, hertz: float, dampingRatio: float) -> void
+external function b3Joint_GetConstraintTuning(jointId: b3JointId, hertz: ptr[float], dampingRatio: ptr[float]) -> void
+external function b3Joint_SetForceThreshold(jointId: b3JointId, threshold: float) -> void
+external function b3Joint_GetForceThreshold(jointId: b3JointId) -> float
+external function b3Joint_SetTorqueThreshold(jointId: b3JointId, threshold: float) -> void
+external function b3Joint_GetTorqueThreshold(jointId: b3JointId) -> float
+external function b3CreateParallelJoint(worldId: b3WorldId, def: const_ptr[b3ParallelJointDef]) -> b3JointId
+external function b3ParallelJoint_SetSpringHertz(jointId: b3JointId, hertz: float) -> void
+external function b3ParallelJoint_SetSpringDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3ParallelJoint_GetSpringHertz(jointId: b3JointId) -> float
+external function b3ParallelJoint_GetSpringDampingRatio(jointId: b3JointId) -> float
+external function b3ParallelJoint_SetMaxTorque(jointId: b3JointId, force: float) -> void
+external function b3ParallelJoint_GetMaxTorque(jointId: b3JointId) -> float
+external function b3CreateDistanceJoint(worldId: b3WorldId, def: const_ptr[b3DistanceJointDef]) -> b3JointId
+external function b3DistanceJoint_SetLength(jointId: b3JointId, length: float) -> void
+external function b3DistanceJoint_GetLength(jointId: b3JointId) -> float
+external function b3DistanceJoint_EnableSpring(jointId: b3JointId, enableSpring: bool) -> void
+external function b3DistanceJoint_IsSpringEnabled(jointId: b3JointId) -> bool
+external function b3DistanceJoint_SetSpringForceRange(jointId: b3JointId, lowerForce: float, upperForce: float) -> void
+external function b3DistanceJoint_GetSpringForceRange(jointId: b3JointId, lowerForce: ptr[float], upperForce: ptr[float]) -> void
+external function b3DistanceJoint_SetSpringHertz(jointId: b3JointId, hertz: float) -> void
+external function b3DistanceJoint_SetSpringDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3DistanceJoint_GetSpringHertz(jointId: b3JointId) -> float
+external function b3DistanceJoint_GetSpringDampingRatio(jointId: b3JointId) -> float
+external function b3DistanceJoint_EnableLimit(jointId: b3JointId, enableLimit: bool) -> void
+external function b3DistanceJoint_IsLimitEnabled(jointId: b3JointId) -> bool
+external function b3DistanceJoint_SetLengthRange(jointId: b3JointId, minLength: float, maxLength: float) -> void
+external function b3DistanceJoint_GetMinLength(jointId: b3JointId) -> float
+external function b3DistanceJoint_GetMaxLength(jointId: b3JointId) -> float
+external function b3DistanceJoint_GetCurrentLength(jointId: b3JointId) -> float
+external function b3DistanceJoint_EnableMotor(jointId: b3JointId, enableMotor: bool) -> void
+external function b3DistanceJoint_IsMotorEnabled(jointId: b3JointId) -> bool
+external function b3DistanceJoint_SetMotorSpeed(jointId: b3JointId, motorSpeed: float) -> void
+external function b3DistanceJoint_GetMotorSpeed(jointId: b3JointId) -> float
+external function b3DistanceJoint_SetMaxMotorForce(jointId: b3JointId, force: float) -> void
+external function b3DistanceJoint_GetMaxMotorForce(jointId: b3JointId) -> float
+external function b3DistanceJoint_GetMotorForce(jointId: b3JointId) -> float
+external function b3CreateMotorJoint(worldId: b3WorldId, def: const_ptr[b3MotorJointDef]) -> b3JointId
+external function b3MotorJoint_SetLinearVelocity(jointId: b3JointId, velocity: b3Vec3) -> void
+external function b3MotorJoint_GetLinearVelocity(jointId: b3JointId) -> b3Vec3
+external function b3MotorJoint_SetAngularVelocity(jointId: b3JointId, velocity: b3Vec3) -> void
+external function b3MotorJoint_GetAngularVelocity(jointId: b3JointId) -> b3Vec3
+external function b3MotorJoint_SetMaxVelocityForce(jointId: b3JointId, maxForce: float) -> void
+external function b3MotorJoint_GetMaxVelocityForce(jointId: b3JointId) -> float
+external function b3MotorJoint_SetMaxVelocityTorque(jointId: b3JointId, maxTorque: float) -> void
+external function b3MotorJoint_GetMaxVelocityTorque(jointId: b3JointId) -> float
+external function b3MotorJoint_SetLinearHertz(jointId: b3JointId, hertz: float) -> void
+external function b3MotorJoint_GetLinearHertz(jointId: b3JointId) -> float
+external function b3MotorJoint_SetLinearDampingRatio(jointId: b3JointId, damping: float) -> void
+external function b3MotorJoint_GetLinearDampingRatio(jointId: b3JointId) -> float
+external function b3MotorJoint_SetAngularHertz(jointId: b3JointId, hertz: float) -> void
+external function b3MotorJoint_GetAngularHertz(jointId: b3JointId) -> float
+external function b3MotorJoint_SetAngularDampingRatio(jointId: b3JointId, damping: float) -> void
+external function b3MotorJoint_GetAngularDampingRatio(jointId: b3JointId) -> float
+external function b3MotorJoint_SetMaxSpringForce(jointId: b3JointId, maxForce: float) -> void
+external function b3MotorJoint_GetMaxSpringForce(jointId: b3JointId) -> float
+external function b3MotorJoint_SetMaxSpringTorque(jointId: b3JointId, maxTorque: float) -> void
+external function b3MotorJoint_GetMaxSpringTorque(jointId: b3JointId) -> float
+external function b3CreateFilterJoint(worldId: b3WorldId, def: const_ptr[b3FilterJointDef]) -> b3JointId
+external function b3CreatePrismaticJoint(worldId: b3WorldId, def: const_ptr[b3PrismaticJointDef]) -> b3JointId
+external function b3PrismaticJoint_EnableSpring(jointId: b3JointId, enableSpring: bool) -> void
+external function b3PrismaticJoint_IsSpringEnabled(jointId: b3JointId) -> bool
+external function b3PrismaticJoint_SetSpringHertz(jointId: b3JointId, hertz: float) -> void
+external function b3PrismaticJoint_GetSpringHertz(jointId: b3JointId) -> float
+external function b3PrismaticJoint_SetSpringDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3PrismaticJoint_GetSpringDampingRatio(jointId: b3JointId) -> float
+external function b3PrismaticJoint_SetTargetTranslation(jointId: b3JointId, targetTranslation: float) -> void
+external function b3PrismaticJoint_GetTargetTranslation(jointId: b3JointId) -> float
+external function b3PrismaticJoint_EnableLimit(jointId: b3JointId, enableLimit: bool) -> void
+external function b3PrismaticJoint_IsLimitEnabled(jointId: b3JointId) -> bool
+external function b3PrismaticJoint_GetLowerLimit(jointId: b3JointId) -> float
+external function b3PrismaticJoint_GetUpperLimit(jointId: b3JointId) -> float
+external function b3PrismaticJoint_SetLimits(jointId: b3JointId, lower: float, upper: float) -> void
+external function b3PrismaticJoint_EnableMotor(jointId: b3JointId, enableMotor: bool) -> void
+external function b3PrismaticJoint_IsMotorEnabled(jointId: b3JointId) -> bool
+external function b3PrismaticJoint_SetMotorSpeed(jointId: b3JointId, motorSpeed: float) -> void
+external function b3PrismaticJoint_GetMotorSpeed(jointId: b3JointId) -> float
+external function b3PrismaticJoint_SetMaxMotorForce(jointId: b3JointId, force: float) -> void
+external function b3PrismaticJoint_GetMaxMotorForce(jointId: b3JointId) -> float
+external function b3PrismaticJoint_GetMotorForce(jointId: b3JointId) -> float
+external function b3PrismaticJoint_GetTranslation(jointId: b3JointId) -> float
+external function b3PrismaticJoint_GetSpeed(jointId: b3JointId) -> float
+external function b3CreateRevoluteJoint(worldId: b3WorldId, def: const_ptr[b3RevoluteJointDef]) -> b3JointId
+external function b3RevoluteJoint_EnableSpring(jointId: b3JointId, enableSpring: bool) -> void
+external function b3RevoluteJoint_IsSpringEnabled(jointId: b3JointId) -> bool
+external function b3RevoluteJoint_SetSpringHertz(jointId: b3JointId, hertz: float) -> void
+external function b3RevoluteJoint_GetSpringHertz(jointId: b3JointId) -> float
+external function b3RevoluteJoint_SetSpringDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3RevoluteJoint_GetSpringDampingRatio(jointId: b3JointId) -> float
+external function b3RevoluteJoint_SetTargetAngle(jointId: b3JointId, targetRadians: float) -> void
+external function b3RevoluteJoint_GetTargetAngle(jointId: b3JointId) -> float
+external function b3RevoluteJoint_GetAngle(jointId: b3JointId) -> float
+external function b3RevoluteJoint_EnableLimit(jointId: b3JointId, enableLimit: bool) -> void
+external function b3RevoluteJoint_IsLimitEnabled(jointId: b3JointId) -> bool
+external function b3RevoluteJoint_GetLowerLimit(jointId: b3JointId) -> float
+external function b3RevoluteJoint_GetUpperLimit(jointId: b3JointId) -> float
+external function b3RevoluteJoint_SetLimits(jointId: b3JointId, lowerLimitRadians: float, upperLimitRadians: float) -> void
+external function b3RevoluteJoint_EnableMotor(jointId: b3JointId, enableMotor: bool) -> void
+external function b3RevoluteJoint_IsMotorEnabled(jointId: b3JointId) -> bool
+external function b3RevoluteJoint_SetMotorSpeed(jointId: b3JointId, motorSpeed: float) -> void
+external function b3RevoluteJoint_GetMotorSpeed(jointId: b3JointId) -> float
+external function b3RevoluteJoint_GetMotorTorque(jointId: b3JointId) -> float
+external function b3RevoluteJoint_SetMaxMotorTorque(jointId: b3JointId, torque: float) -> void
+external function b3RevoluteJoint_GetMaxMotorTorque(jointId: b3JointId) -> float
+external function b3CreateSphericalJoint(worldId: b3WorldId, def: const_ptr[b3SphericalJointDef]) -> b3JointId
+external function b3SphericalJoint_EnableConeLimit(jointId: b3JointId, enableLimit: bool) -> void
+external function b3SphericalJoint_IsConeLimitEnabled(jointId: b3JointId) -> bool
+external function b3SphericalJoint_GetConeLimit(jointId: b3JointId) -> float
+external function b3SphericalJoint_SetConeLimit(jointId: b3JointId, angleRadians: float) -> void
+external function b3SphericalJoint_GetConeAngle(jointId: b3JointId) -> float
+external function b3SphericalJoint_EnableTwistLimit(jointId: b3JointId, enableLimit: bool) -> void
+external function b3SphericalJoint_IsTwistLimitEnabled(jointId: b3JointId) -> bool
+external function b3SphericalJoint_GetLowerTwistLimit(jointId: b3JointId) -> float
+external function b3SphericalJoint_GetUpperTwistLimit(jointId: b3JointId) -> float
+external function b3SphericalJoint_SetTwistLimits(jointId: b3JointId, lowerLimitRadians: float, upperLimitRadians: float) -> void
+external function b3SphericalJoint_GetTwistAngle(jointId: b3JointId) -> float
+external function b3SphericalJoint_EnableSpring(jointId: b3JointId, enableSpring: bool) -> void
+external function b3SphericalJoint_IsSpringEnabled(jointId: b3JointId) -> bool
+external function b3SphericalJoint_SetSpringHertz(jointId: b3JointId, hertz: float) -> void
+external function b3SphericalJoint_GetSpringHertz(jointId: b3JointId) -> float
+external function b3SphericalJoint_SetSpringDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3SphericalJoint_GetSpringDampingRatio(jointId: b3JointId) -> float
+external function b3SphericalJoint_SetTargetRotation(jointId: b3JointId, targetRotation: b3Quat) -> void
+external function b3SphericalJoint_GetTargetRotation(jointId: b3JointId) -> b3Quat
+external function b3SphericalJoint_EnableMotor(jointId: b3JointId, enableMotor: bool) -> void
+external function b3SphericalJoint_IsMotorEnabled(jointId: b3JointId) -> bool
+external function b3SphericalJoint_SetMotorVelocity(jointId: b3JointId, motorVelocity: b3Vec3) -> void
+external function b3SphericalJoint_GetMotorVelocity(jointId: b3JointId) -> b3Vec3
+external function b3SphericalJoint_GetMotorTorque(jointId: b3JointId) -> b3Vec3
+external function b3SphericalJoint_SetMaxMotorTorque(jointId: b3JointId, torque: float) -> void
+external function b3SphericalJoint_GetMaxMotorTorque(jointId: b3JointId) -> float
+external function b3CreateWeldJoint(worldId: b3WorldId, def: const_ptr[b3WeldJointDef]) -> b3JointId
+external function b3WeldJoint_SetLinearHertz(jointId: b3JointId, hertz: float) -> void
+external function b3WeldJoint_GetLinearHertz(jointId: b3JointId) -> float
+external function b3WeldJoint_SetLinearDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3WeldJoint_GetLinearDampingRatio(jointId: b3JointId) -> float
+external function b3WeldJoint_SetAngularHertz(jointId: b3JointId, hertz: float) -> void
+external function b3WeldJoint_GetAngularHertz(jointId: b3JointId) -> float
+external function b3WeldJoint_SetAngularDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3WeldJoint_GetAngularDampingRatio(jointId: b3JointId) -> float
+external function b3CreateWheelJoint(worldId: b3WorldId, def: const_ptr[b3WheelJointDef]) -> b3JointId
+external function b3WheelJoint_EnableSuspension(jointId: b3JointId, flag: bool) -> void
+external function b3WheelJoint_IsSuspensionEnabled(jointId: b3JointId) -> bool
+external function b3WheelJoint_SetSuspensionHertz(jointId: b3JointId, hertz: float) -> void
+external function b3WheelJoint_GetSuspensionHertz(jointId: b3JointId) -> float
+external function b3WheelJoint_SetSuspensionDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3WheelJoint_GetSuspensionDampingRatio(jointId: b3JointId) -> float
+external function b3WheelJoint_EnableSuspensionLimit(jointId: b3JointId, flag: bool) -> void
+external function b3WheelJoint_IsSuspensionLimitEnabled(jointId: b3JointId) -> bool
+external function b3WheelJoint_GetLowerSuspensionLimit(jointId: b3JointId) -> float
+external function b3WheelJoint_GetUpperSuspensionLimit(jointId: b3JointId) -> float
+external function b3WheelJoint_SetSuspensionLimits(jointId: b3JointId, lower: float, upper: float) -> void
+external function b3WheelJoint_EnableSpinMotor(jointId: b3JointId, flag: bool) -> void
+external function b3WheelJoint_IsSpinMotorEnabled(jointId: b3JointId) -> bool
+external function b3WheelJoint_SetSpinMotorSpeed(jointId: b3JointId, speed: float) -> void
+external function b3WheelJoint_GetSpinMotorSpeed(jointId: b3JointId) -> float
+external function b3WheelJoint_SetMaxSpinTorque(jointId: b3JointId, torque: float) -> void
+external function b3WheelJoint_GetMaxSpinTorque(jointId: b3JointId) -> float
+external function b3WheelJoint_GetSpinSpeed(jointId: b3JointId) -> float
+external function b3WheelJoint_GetSpinTorque(jointId: b3JointId) -> float
+external function b3WheelJoint_EnableSteering(jointId: b3JointId, flag: bool) -> void
+external function b3WheelJoint_IsSteeringEnabled(jointId: b3JointId) -> bool
+external function b3WheelJoint_SetSteeringHertz(jointId: b3JointId, hertz: float) -> void
+external function b3WheelJoint_GetSteeringHertz(jointId: b3JointId) -> float
+external function b3WheelJoint_SetSteeringDampingRatio(jointId: b3JointId, dampingRatio: float) -> void
+external function b3WheelJoint_GetSteeringDampingRatio(jointId: b3JointId) -> float
+external function b3WheelJoint_SetMaxSteeringTorque(jointId: b3JointId, torque: float) -> void
+external function b3WheelJoint_GetMaxSteeringTorque(jointId: b3JointId) -> float
+external function b3WheelJoint_EnableSteeringLimit(jointId: b3JointId, flag: bool) -> void
+external function b3WheelJoint_IsSteeringLimitEnabled(jointId: b3JointId) -> bool
+external function b3WheelJoint_GetLowerSteeringLimit(jointId: b3JointId) -> float
+external function b3WheelJoint_GetUpperSteeringLimit(jointId: b3JointId) -> float
+external function b3WheelJoint_SetSteeringLimits(jointId: b3JointId, lowerRadians: float, upperRadians: float) -> void
+external function b3WheelJoint_SetTargetSteeringAngle(jointId: b3JointId, radians: float) -> void
+external function b3WheelJoint_GetTargetSteeringAngle(jointId: b3JointId) -> float
+external function b3WheelJoint_GetSteeringAngle(jointId: b3JointId) -> float
+external function b3WheelJoint_GetSteeringTorque(jointId: b3JointId) -> float
+external function b3Contact_IsValid(id: b3ContactId) -> bool
+external function b3Contact_GetData(contactId: b3ContactId) -> b3ContactData
+
+const B3_ENABLE_VALIDATION: int = 0
+const B3_NULL_INDEX: int = -1
+const B3_HASH_INIT: int = 5381
+const B3_PI: float = 3.14159274
+const B3_DEG_TO_RAD: float = 0.0174532924
+const B3_RAD_TO_DEG: float = 57.2957802
+const B3_MIN_SCALE: float = 0.00999999977
+const B3_MAX_WORKERS: int = 32
+const B3_MAX_TASKS: int = 256
+const B3_GRAPH_COLOR_COUNT: int = 24
+const B3_CONTACT_MANIFOLD_COUNT_BUCKETS: int = 8
+const B3_MIN_FRICTION_WEIGHT: float = 1.00000001E-10
+const B3_MAX_WORLDS: int = 128
+const B3_CONTACT_RECYCLE_ANGULAR_DISTANCE: float = 0.992403864
+const B3_AABB_MARGIN_FRACTION: float = 0.125
+const B3_TIME_TO_SLEEP: float = 0.5
+const B3_MAX_MANIFOLD_POINTS: int = 4
+const B3_GYROSCOPIC_ITERATIONS: int = 1
+const B3_MAX_HULL_VERTICES: int = 128
+const B3_MAX_HULL_FACES: int = 128
+const B3_MAX_HULL_EDGES: int = 128
+const B3_PARALLEL_EDGE_TOL: float = 0.00499999989
+const B3_SHAPE_POWER: int = 22
+const B3_RESTITUTION_ITERATIONS: int = 1
+const B3_DYNAMIC_TREE_VERSION: ulong = 10659368894387653450
+const B3_HULL_VERSION: ulong = 5353818467820062812
+const B3_MESH_VERSION: ulong = 12298092536310311671
+const B3_HEIGHT_FIELD_HOLE: int = 255
+const B3_HEIGHT_FIELD_VERSION: ulong = 10250727093210466552
+const B3_MAX_COMPOUND_MESH_MATERIALS: int = 4