littlejsengine 1.19.3 → 1.21.0

package/plugins/box2d.js

@@ -1,2074 +1,2517 @@
-/**
- * LittleJS Box2D Physics Plugin
- * - Box2dObject extends EngineObject with Box2D physics
- * - Call box2dInit() to enable
- * - You will also need to include box2d.wasm.js
- * - Uses a super fast web assembly port of Box2D v2.3.1
- * - More info: https://github.com/kripken/box2d.js
- * - Functions to create polygon, circle, and edge shapes
- * - Contact begin and end callbacks
- * - Wraps b2Vec2 type to/from Vector2
- * - Raycasting and querying
- * - Box2dTileLayer for grid based collision
- * - Every type of joint
- * - Debug physics drawing
- * @namespace Box2D
- */
-
-'use strict';
- 
-/** Global Box2d Plugin object
- *  @type {Box2dPlugin}
- *  @memberof Box2D */
-let box2d;
-
-/** Enable Box2D debug drawing
- *  @type {boolean}
- *  @default
- *  @memberof Box2D */
-let box2dDebug = false;
-
-/** Enable Box2D debug drawing
- *  @param {boolean} enable
- *  @memberof Box2D */
-function box2dSetDebug(enable) { box2dDebug = enable; }
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Object - extend with your own custom physics objects
- * - A LittleJS object with Box2D physics, dynamic by default
- * - Provides interface for Box2D body and fixture functions
- * - Each object can have multiple fixtures and joints
- * @extends EngineObject
- * @memberof Box2D
- */
-class Box2dObject extends EngineObject 
-{
-    /** Create a LittleJS object with Box2d physics
-     *  @param {Vector2}  [pos]
-     *  @param {Vector2}  [size]
-     *  @param {TileInfo} [tileInfo]
-     *  @param {number}   [angle]
-     *  @param {Color}    [color]
-     *  @param {number}   [bodyType]
-     *  @param {number}   [renderOrder] */
-    constructor(pos=vec2(), size=vec2(), tileInfo, angle=0, color, bodyType=box2d.bodyTypeDynamic, renderOrder=0)
-    {
-        super(pos, size, tileInfo, angle, color, renderOrder);
-
-        // create physics body
-        const bodyDef = new box2d.instance.b2BodyDef();
-        bodyDef.set_type(bodyType);
-        bodyDef.set_position(box2d.vec2dTo(pos));
-        bodyDef.set_angle(-angle);
-        
-        /** @property {Object} - The Box2d body */
-        this.body = box2d.world.CreateBody(bodyDef);
-        /** @property {Color} - Line color used for default box2d drawing */
-        this.lineColor = BLACK;
-        /** @property {Array<Object>} - List of all edges for default box2d drawing */
-        this.edgeLists = [];
-        /** @property {Array<Object>} - List of all edge loops for default box2d drawing */
-        this.edgeLoops = [];
-
-        this.body.object = this; // link body to this object
-        box2d.objects.push(this); // keep track of all box2d objects
-    }
-
-    /** Destroy this object and its physics body */
-    destroy()
-    {
-        if (this.destroyed) return;
-
-        // destroy physics body, fixtures, and joints
-        ASSERT(this.body, 'Box2dObject has no body to destroy');
-        box2d.world.DestroyBody(this.body);
-
-        // remove from tracked list so paused / headless sessions don't leak
-        const i = box2d.objects.indexOf(this);
-        if (i >= 0)
-            box2d.objects.splice(i, 1);
-        super.destroy();
-    }
-
-    /** Box2d objects updated with Box2d world step */
-    updatePhysics() {}
-
-    /** Render the object, uses box2d drawing if no tile info exists */
-    render()
-    {
-        // use default render or draw fixtures
-        if (this.tileInfo)
-            super.render();
-        else
-            this.drawFixtures(this.color, this.lineColor, this.lineWidth);
-    }
-
-    /** Render debug info */
-    renderDebugInfo()
-    {
-        const isAsleep = !this.getIsAwake();
-        const isStatic = this.getBodyType() === box2d.bodyTypeStatic;
-        const color = rgb(isAsleep?1:0, isAsleep?1:0, isStatic?1:0, .5);
-        this.drawFixtures(color);
-    }
-
-    /** Draws all this object's fixtures 
-     *  @param {Color}   [color]
-     *  @param {Color}   [lineColor]
-     *  @param {number}  [lineWidth]
-     *  @param {boolean} [useWebGL=glEnable]
-     *  @param {CanvasRenderingContext2D} [context] */
-    drawFixtures(color=WHITE, lineColor=BLACK, lineWidth=.1, useWebGL, context)
-    {
-        // draw non-edge fixtures
-        this.getFixtureList().forEach((fixture)=>
-        {
-            const shape = box2d.castShapeObject(fixture.GetShape());
-            if (shape.GetType() !== box2d.instance.b2Shape.e_edge)
-            {
-                box2d.drawFixture(fixture, this.pos, this.angle, color, lineColor, lineWidth, useWebGL, context);
-            }
-        });
-
-        // draw edges using a single draw line for better connections
-        this.edgeLists.forEach(points=>
-            drawLineList(points, lineWidth, lineColor, false, this.pos, this.angle));
-        this.edgeLoops.forEach(points=>
-            drawLineList(points, lineWidth, lineColor, true, this.pos, this.angle));
-    }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // physics contact callbacks
-
-    /** Called when a contact begins
-     *  @param {Box2dObject} otherObject */
-    beginContact(otherObject) {}
-
-    /** Called when a contact ends
-     *  @param {Box2dObject} otherObject */
-    endContact(otherObject) {}
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // physics fixtures and shapes
-
-    /** Add a shape fixture to the body
-     *  @param {Object} shape
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addShape(shape, density=1, friction=.2, restitution=0, isSensor=false)
-    {
-        ASSERT(isNumber(density), 'density must be a number');
-        ASSERT(isNumber(friction), 'friction must be a number');
-        ASSERT(isNumber(restitution), 'restitution must be a number');
-
-        const fd = new box2d.instance.b2FixtureDef();
-        fd.set_shape(shape);
-        fd.set_density(density);
-        fd.set_friction(friction);
-        fd.set_restitution(restitution);
-        fd.set_isSensor(isSensor);
-        return this.body.CreateFixture(fd);
-    }
-
-    /** Add a box shape to the body
-     *  @param {Vector2} [size]
-     *  @param {Vector2} [offset]
-     *  @param {number}  [angle] - LittleJS convention (clockwise positive).
-     *      Negated internally to match Box2D's CCW-positive convention so the
-     *      fixture aligns with the same angle passed to drawRect/drawTile.
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addBox(size=vec2(1), offset=vec2(), angle=0, density, friction, restitution, isSensor)
-    {
-        ASSERT(isVector2(size), 'size must be a Vector2');
-        ASSERT(size.x > 0 && size.y > 0, 'size must be positive');
-        ASSERT(isVector2(offset), 'offset must be a Vector2');
-        ASSERT(isNumber(angle), 'angle must be a number');
-
-        const shape = new box2d.instance.b2PolygonShape();
-        shape.SetAsBox(size.x/2, size.y/2, box2d.vec2dTo(offset), -angle);
-        return this.addShape(shape, density, friction, restitution, isSensor);
-    }
-
-    /** Add a polygon shape to the body
-     *  @param {Array<Vector2>} points
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addPoly(points, density, friction, restitution, isSensor)
-    {
-        ASSERT(isArray(points), 'points must be an array');
-
-        function box2dCreatePolygonShape(points)
-        {
-            ASSERT(3 <= points.length && points.length <= 8);
-            const buffer = box2d.instance._malloc(points.length * 8);
-            for (let i=0, offset=0; i<points.length; ++i)
-            {
-                box2d.instance.HEAPF32[buffer + offset >> 2] = points[i].x;
-                offset += 4;
-                box2d.instance.HEAPF32[buffer + offset >> 2] = points[i].y;
-                offset += 4;
-            }
-            const box2dPoints = box2d.instance.wrapPointer(buffer, box2d.instance.b2Vec2);
-            const shape = new box2d.instance.b2PolygonShape();
-            shape.Set(box2dPoints, points.length);
-            box2d.instance._free(buffer);
-            return shape;
-        }
-
-        const shape = box2dCreatePolygonShape(points);
-        return this.addShape(shape, density, friction, restitution, isSensor);
-    }
-
-    /** Add a regular polygon shape to the body
-     *  @param {number}  [diameter]
-     *  @param {number}  [sides]
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addRegularPoly(diameter=1, sides=8, density, friction, restitution, isSensor)
-    {
-        ASSERT(isNumber(diameter) && diameter>0, 'diameter must be a positive number');
-        ASSERT(isNumber(sides) && sides>2, 'sides must be a positive number greater than 2');
-
-        const points = [];
-        const radius = diameter/2;
-        for (let i=sides; i--;)
-            points.push(vec2(radius,0).rotate((i+.5)/sides*PI*2));
-        return this.addPoly(points, density, friction, restitution, isSensor);
-    }
-
-    /** Add a random polygon shape to the body
-     *  @param {number}  [diameter]
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addRandomPoly(diameter=1, density, friction, restitution, isSensor)
-    {
-        ASSERT(isNumber(diameter) && diameter>0, 'diameter must be a positive number');
-
-        const sides = randInt(3, 9);
-        const points = [];
-        const radius = diameter/2;
-        for (let i=sides; i--;)
-            points.push(vec2(rand(radius/2,radius*1.5),0).rotate(i/sides*PI*2));
-        return this.addPoly(points, density, friction, restitution, isSensor);
-    }
-
-    /** Add a circle shape to the body
-     *  @param {number}  [diameter]
-     *  @param {Vector2} [offset]
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addCircle(diameter=1, offset=vec2(), density, friction, restitution, isSensor)
-    {
-        ASSERT(isNumber(diameter) && diameter>0, 'diameter must be a positive number');
-        ASSERT(isVector2(offset), 'offset must be a Vector2');
-        
-        const shape = new box2d.instance.b2CircleShape();
-        shape.set_m_p(box2d.vec2dTo(offset));
-        shape.set_m_radius(diameter/2);
-        return this.addShape(shape, density, friction, restitution, isSensor);
-    }
-
-    /** Add an edge shape to the body
-     *  @param {Vector2} point1
-     *  @param {Vector2} point2
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addEdge(point1, point2, density, friction, restitution, isSensor)
-    {
-        ASSERT(isVector2(point1), 'point1 must be a Vector2');
-        ASSERT(isVector2(point2), 'point2 must be a Vector2');
-
-        const shape = new box2d.instance.b2EdgeShape();
-        shape.Set(box2d.vec2dTo(point1), box2d.vec2dTo(point2));
-        return this.addShape(shape, density, friction, restitution, isSensor);
-    }
-
-    /** Add an edge list to the body
-     *  @param {Array<Vector2>} points
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addEdgeList(points, density, friction, restitution, isSensor)
-    {
-        ASSERT(isArray(points), 'points must be an array');
-        const fixtures = [], edgePoints = [];
-        for (let i=0; i<points.length-1; ++i)
-        {
-            const shape = new box2d.instance.b2EdgeShape();
-            points[i-1] && shape.set_m_vertex0(box2d.vec2dTo(points[i-1]));
-            points[i+0] && shape.set_m_vertex1(box2d.vec2dTo(points[i+0]));
-            points[i+1] && shape.set_m_vertex2(box2d.vec2dTo(points[i+1]));
-            points[i+2] && shape.set_m_vertex3(box2d.vec2dTo(points[i+2]));
-            const f = this.addShape(shape, density, friction, restitution, isSensor);
-            fixtures.push(f);
-            edgePoints.push(points[i].copy());
-        }
-        edgePoints.push(points[points.length-1].copy());
-        this.edgeLists.push(edgePoints);
-        return fixtures;
-    }
-
-    /** Add an edge loop to the body, an edge loop connects the end points
-     *  @param {Array<Vector2>} points
-     *  @param {number}  [density]
-     *  @param {number}  [friction]
-     *  @param {number}  [restitution]
-     *  @param {boolean} [isSensor] */
-    addEdgeLoop(points, density, friction, restitution, isSensor)
-    {
-        ASSERT(isArray(points), 'points must be an array');
-        const fixtures = [], edgePoints = [];
-        const getPoint = i=> points[mod(i,points.length)];
-        for (let i=0; i<points.length; ++i)
-        {
-            const shape = new box2d.instance.b2EdgeShape();
-            shape.set_m_vertex0(box2d.vec2dTo(getPoint(i-1)));
-            shape.set_m_vertex1(box2d.vec2dTo(getPoint(i+0)));
-            shape.set_m_vertex2(box2d.vec2dTo(getPoint(i+1)));
-            shape.set_m_vertex3(box2d.vec2dTo(getPoint(i+2)));
-            const f = this.addShape(shape, density, friction, restitution, isSensor);
-            fixtures.push(f);
-            edgePoints.push(points[i].copy());
-        }
-        this.edgeLoops.push(edgePoints);
-        return fixtures;
-    }
-
-    /** Destroy a fixture from the body
-     *  @param {Object} [fixture] */
-    destroyFixture(fixture) { this.body.DestroyFixture(fixture); }
-
-    /** Destroy all fixture from the body */
-    destroyAllFixtures()
-    { this.getFixtureList().forEach(fixture=>this.destroyFixture(fixture)); }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // physics get functions
-
-    /** Gets the center of mass
-     *  @return {Vector2} */
-    getCenterOfMass() { return box2d.vec2From(this.body.GetWorldCenter()); }
-
-    /** Gets the linear velocity
-     *  @return {Vector2} */
-    getLinearVelocity() { return box2d.vec2From(this.body.GetLinearVelocity()); }
-
-    /** Gets the angular velocity
-     *  @return {Vector2} */
-    getAngularVelocity() { return this.body.GetAngularVelocity(); }
-
-    /** Gets the mass
-     *  @return {number} */
-    getMass() { return this.body.GetMass(); }
-
-    /** Gets the rotational inertia
-     *  @return {number} */
-    getInertia() { return this.body.GetInertia(); }
-
-    /** Check if this object is awake
-     *  @return {boolean} */
-    getIsAwake() { return this.body.IsAwake(); }
-
-    /** Gets the physics body type
-     *  @return {number} */
-    getBodyType() { return this.body.GetType(); }
-    
-    /** Get the speed of this object
-     *  @return {number} */
-    getSpeed() { return this.getLinearVelocity().length(); }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // physics set functions
-
-    /** Sets the position and angle
-     *  @param {Vector2} pos
-     *  @param {number} angle */
-    setTransform(pos, angle)
-    {
-        this.pos = pos;
-        this.angle = angle;
-        // box2d uses reverse angle
-        this.body.SetTransform(box2d.vec2dTo(pos), -angle);
-    }
-    
-    /** Sets the position
-     *  @param {Vector2} pos */
-    setPosition(pos)
-    { this.setTransform(pos, -this.body.GetAngle()); }
-
-    /** Sets the angle
-     *  @param {number} angle */
-    setAngle(angle)
-    { this.setTransform(box2d.vec2From(this.body.GetPosition()), angle); }
-
-    /** Sets the linear velocity
-     *  @param {Vector2} velocity */
-    setLinearVelocity(velocity)
-    { this.body.SetLinearVelocity(box2d.vec2dTo(velocity)); }
-
-    /** Sets the angular velocity
-     *  @param {number} angularVelocity */
-    setAngularVelocity(angularVelocity)
-    { this.body.SetAngularVelocity(angularVelocity); }
-
-    /** Sets the linear damping
-     *  @param {number} damping */
-    setLinearDamping(damping)
-    { this.body.SetLinearDamping(damping); }
-
-    /** Sets the angular damping
-     *  @param {number} damping */
-    setAngularDamping(damping)
-    { this.body.SetAngularDamping(damping); }
-
-    /** Sets the gravity scale
-     *  @param {number} [scale] */
-    setGravityScale(scale=1)
-    { this.body.SetGravityScale(this.gravityScale = scale); }
-
-    /** Should be like a bullet for continuous collision detection?
-     *  @param {boolean} [isBullet] */
-    setBullet(isBullet=true) { this.body.SetBullet(isBullet); }
-
-    /** Set the sleep state of the body
-     *  @param {boolean} [isAwake] */
-    setAwake(isAwake=true) { this.body.SetAwake(isAwake); }
-    
-    /** Set the physics body type
-     *  @param {number} type */
-    setBodyType(type) { this.body.SetType(type); }
-
-    /** Set whether the body is allowed to sleep
-     *  @param {boolean} [isAllowed] */
-    setSleepingAllowed(isAllowed=true)
-    { this.body.SetSleepingAllowed(isAllowed); }
-    
-    /** Set whether the body can rotate
-     *  @param {boolean} [isFixed] */
-    setFixedRotation(isFixed=true)
-    { this.body.SetFixedRotation(isFixed); }
-
-    /** Set the center of mass of the body
-     *  @param {Vector2} center */
-    setCenterOfMass(center) { this.setMassData(center) }
-
-    /** Set the mass of the body
-     *  @param {number} mass */
-    setMass(mass) { this.setMassData(undefined, mass) }
-    
-    /** Set the moment of inertia of the body
-     *  @param {number} momentOfInertia */
-    setMomentOfInertia(momentOfInertia)
-    { this.setMassData(undefined, undefined, momentOfInertia) }
-    
-    /** Reset the mass, center of mass, and moment */
-    resetMassData() { this.body.ResetMassData(); }
-    
-    /** Set the mass data of the body
-     *  @param {Vector2} [localCenter]
-     *  @param {number}  [mass]
-     *  @param {number}  [momentOfInertia] */
-    setMassData(localCenter, mass, momentOfInertia)
-    {
-        const data = new box2d.instance.b2MassData();
-        this.body.GetMassData(data);
-        // use !== undefined so setMass(0) (static-equivalent) isn't silently ignored
-        if (localCenter !== undefined) data.set_center(box2d.vec2dTo(localCenter));
-        if (mass !== undefined) data.set_mass(mass);
-        if (momentOfInertia !== undefined) data.set_I(momentOfInertia);
-        this.body.SetMassData(data);
-    }
-
-    /** Set the collision filter data for this body
-     *  @param {number} [categoryBits]
-     *  @param {number} [ignoreCategoryBits]
-     *  @param {number} [groupIndex] */
-    setFilterData(categoryBits=0, ignoreCategoryBits=0, groupIndex=0)
-    {
-        this.getFixtureList().forEach(fixture=>
-        {
-            const filter = fixture.GetFilterData();
-            filter.set_categoryBits(categoryBits);
-            filter.set_maskBits(0xffff & ~ignoreCategoryBits);
-            filter.set_groupIndex(groupIndex);
-            fixture.SetFilterData(filter); // applies and refilters contacts
-        });
-    }
-
-    /** Set if this body is a sensor
-     *  @param {boolean} [isSensor] */
-    setSensor(isSensor=true)
-    { this.getFixtureList().forEach(f=>f.SetSensor(isSensor)); }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // physics force and torque functions
-
-    /** Apply force to this object
-     *  @param {Vector2} force
-     *  @param {Vector2} [pos] */
-    applyForce(force, pos)
-    {
-        pos ||= this.getCenterOfMass();
-        this.setAwake();
-        this.body.ApplyForce(box2d.vec2dTo(force), box2d.vec2dTo(pos));
-    }
-
-    /** Apply acceleration to this object (changes velocity by acceleration,
-     *  mass-independent — matches EngineObject.applyAcceleration semantics).
-     *  Use applyImpulse if you want the mass-dependent velocity change
-     *  Δv = impulse / mass, or applyForce for a Newton-style sustained force.
-     *  @param {Vector2} acceleration
-     *  @param {Vector2} [pos] */
-    applyAcceleration(acceleration, pos)
-    {
-        pos ||= this.getCenterOfMass();
-        this.setAwake();
-        const impulse = acceleration.scale(this.getMass());
-        this.body.ApplyLinearImpulse(box2d.vec2dTo(impulse), box2d.vec2dTo(pos));
-    }
-
-    /** Apply an instantaneous linear impulse. Changes velocity immediately by
-     *  impulse / mass (so heavier bodies move less for the same impulse).
-     *  @param {Vector2} impulse
-     *  @param {Vector2} [pos] */
-    applyImpulse(impulse, pos)
-    {
-        pos ||= this.getCenterOfMass();
-        this.setAwake();
-        this.body.ApplyLinearImpulse(box2d.vec2dTo(impulse), box2d.vec2dTo(pos));
-    }
-
-    /** Apply torque to this object
-     *  @param {number} torque */
-    applyTorque(torque)
-    {
-        this.setAwake();
-        this.body.ApplyTorque(torque);
-    }
-
-    /** Apply angular acceleration to this object (changes angular velocity by
-     *  acceleration, mass-independent — matches EngineObject semantics).
-     *  @param {number} acceleration */
-    applyAngularAcceleration(acceleration)
-    {
-        this.setAwake();
-        this.body.ApplyAngularImpulse(acceleration * this.getInertia());
-    }
-
-    /** Apply an instantaneous angular impulse. Changes angular velocity by
-     *  impulse / inertia immediately.
-     *  @param {number} impulse */
-    applyAngularImpulse(impulse)
-    {
-        this.setAwake();
-        this.body.ApplyAngularImpulse(impulse);
-    }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // lists of fixtures and joints
-
-    /** Check if this object has any fixtures
-     *  @return {boolean} */
-    hasFixtures() { return !box2d.isNull(this.body.GetFixtureList()); }
-
-    /** Get list of fixtures for this object
-     *  @return {Array<Object>} */
-    getFixtureList()
-    {
-        const fixtures = [];
-        for (let fixture=this.body.GetFixtureList(); !box2d.isNull(fixture); )
-        {
-            fixtures.push(fixture);
-            fixture = fixture.GetNext();
-        }
-        return fixtures;
-    }
-
-    /** Check if this object has any joints
-     *  @return {boolean} */
-    hasJoints() { return !box2d.isNull(this.body.GetJointList()); }
-    
-    /** Get list of joints for this object
-     *  @return {Array<Object>} */
-    getJointList()
-    {
-        const joints = [];
-        for (let joint=this.body.GetJointList(); !box2d.isNull(joint); )
-        {
-            joints.push(joint);
-            joint = joint.get_next();
-        }
-        return joints;
-    }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Static Object - Box2d with a static physics body
- * @extends Box2dObject
- * @memberof Box2D
- */
-class Box2dStaticObject extends Box2dObject 
-{
-    /** Create a LittleJS object with Box2d physics
-     *  @param {Vector2}  [pos]
-     *  @param {Vector2}  [size]
-     *  @param {TileInfo} [tileInfo]
-     *  @param {number}   [angle]
-     *  @param {Color}    [color]
-     *  @param {number}   [renderOrder] */
-    constructor(pos, size, tileInfo, angle=0, color, renderOrder=0)
-    {
-        const bodyType = box2d.bodyTypeStatic;
-        super(pos, size, tileInfo, angle, color, bodyType, renderOrder);
-    }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Kinematic Object - Box2d with a kinematic physics body
- * @extends Box2dObject
- * @memberof Box2D
- */
-class Box2dKinematicObject extends Box2dObject 
-{
-    /** Create a LittleJS object with Box2d physics
-     *  @param {Vector2}  [pos]
-     *  @param {Vector2}  [size]
-     *  @param {TileInfo} [tileInfo]
-     *  @param {number}   [angle]
-     *  @param {Color}    [color]
-     *  @param {number}   [renderOrder] */
-    constructor(pos, size, tileInfo, angle=0, color, renderOrder=0)
-    {
-        const bodyType = box2d.bodyTypeKinematic;
-        super(pos, size, tileInfo, angle, color, bodyType, renderOrder);
-    }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/**
- * Box2d Tile Layer
- * - adds Box2d support to tile layers
- * - creates static box2d fixtures for solid tiles
- * @extends Box2dObject
- * @memberof Box2D
- */
-class Box2dTileLayer extends Box2dStaticObject
-{
-    /** Create a Box2d tile layer object
-    *  @param {TileCollisionLayer} tileLayer - Tile layer for this object */
-    constructor(tileLayer)
-    {
-        ASSERT(tileLayer instanceof TileCollisionLayer, 'tileLayer must be a TileCollisionLayer');
-        super(tileLayer.pos, tileLayer.size);
-
-        /** @property {TileLayer} - The tile layer */
-        this.tileLayer = tileLayer;
-        this.addChild(tileLayer);
-    }
-
-    render()
-    {
-        // do not render fixtures, tile layer handles rendering
-    }
-    
-    /** Create box2d collision fixtures for solid tiles
-    *  @param {number} [friction]
-    *  @param {number} [restitution] */
-    buildCollision(friction=.2, restitution=0)
-    {
-        // destroy all fixtures and create new ones
-        this.destroyAllFixtures();
-
-        // create box2d object for this layer
-        this.pos = this.tileLayer.pos.copy();
-        this.size = this.tileLayer.size.copy();
-
-        // track which tiles have been processed
-        const processed = [];
-        const getIndex = (x, y)=> x + y * this.size.x;
-        const isSolidUnprocessed = (x, y)=>
-            !processed[getIndex(x, y)] &&
-            this.tileLayer.getCollisionData(vec2(x, y)) > 0;
-
-        // combine tiles into larger boxes
-        for (let x = 0; x < this.size.x; ++x)
-        for (let y = 0; y < this.size.y; ++y)
-        {
-            if (!isSolidUnprocessed(x, y)) continue;
-
-            // find max width by scanning right
-            let width = 1, height = 1, canExpand = true;
-            while (isSolidUnprocessed(x + width, y))
-                ++width;
-
-            // find max height by scanning up, ensuring all rows have the same width
-            while (canExpand)
-            {
-                for (let checkX = 0; checkX < width; ++checkX)
-                {
-                    if (!isSolidUnprocessed(x + checkX, y + height))
-                    {
-                        canExpand = false;
-                        break;
-                    }
-                }
-                if (canExpand)
-                    ++height;
-            }
-
-            // mark all tiles in this rectangle as processed
-            for (let rectX = width;  rectX--;)
-            for (let rectY = height; rectY--;)
-                processed[getIndex(x + rectX, y + rectY)] = true;
-
-            // create a single fixture for the entire rectangle
-            const shapeSize = vec2(width, height);
-            const offset = vec2(x + width/2, y + height/2);
-            this.addBox(shapeSize, offset, 0, 0, friction, restitution);
-        }
-    }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Raycast Result
- * - Holds results from a box2d raycast queries
- * - Automatically created by box2d raycast functions
- */
-class Box2dRaycastResult
-{
-    /** Create a raycast result
-     *  @param {Object}  fixture
-     *  @param {Vector2} point
-     *  @param {Vector2} normal
-     *  @param {number}  fraction */
-    constructor(fixture, point, normal, fraction)
-    {
-        /** @property {Box2dObject} - The box2d object */
-        this.object   = fixture.GetBody().object;
-        /** @property {Object} - The fixture that was hit */
-        this.fixture  = fixture;
-        /** @property {Vector2} - The hit point */
-        this.point    = point;
-        /** @property {Vector2} - The hit normal */
-        this.normal   = normal;
-        /** @property {number} - Distance fraction at the point of intersection */
-        this.fraction = fraction;
-    }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Joint
- * - Base class for Box2D joints 
- * - A joint is used to connect objects together
- * @memberof Box2D
- */
-class Box2dJoint
-{
-    /** Create a box2d joint, the base class is not intended to be used directly
-     *  @param {Object} jointDef */
-    constructor(jointDef)
-    {
-        /** @property {Object} - The Box2d joint */
-        this.box2dJoint = box2d.castJointObject(box2d.world.CreateJoint(jointDef));
-    }
-
-    /** Destroy this joint */
-    destroy() { box2d.world.DestroyJoint(this.box2dJoint); this.box2dJoint = 0; }
-
-    /** Get the first object attached to this joint
-     *  @return {Box2dObject} */
-    getObjectA() { return this.box2dJoint.GetBodyA().object; }
-    
-    /** Get the second object attached to this joint
-     *  @return {Box2dObject} */
-    getObjectB() { return this.box2dJoint.GetBodyB().object; }
-    
-    /** Get the first anchor for this joint in world coordinates
-     *  @return {Vector2} */
-    getAnchorA() { return box2d.vec2From(this.box2dJoint.GetAnchorA());}
-
-    /** Get the second anchor for this joint in world coordinates
-     *  @return {Vector2} */
-    getAnchorB() { return box2d.vec2From(this.box2dJoint.GetAnchorB());}
-    
-    /** Get the reaction force on bodyB at the joint anchor given a time step
-     *  @param {number} time
-     *  @return {Vector2} */
-    getReactionForce(time)  { return box2d.vec2From(this.box2dJoint.GetReactionForce(1/time));}
-
-    /** Get the reaction torque on bodyB in N*m given a time step
-     *  @param {number} time
-     *  @return {number} */
-    getReactionTorque(time) { return this.box2dJoint.GetReactionTorque(1/time);}
-    
-    /** Check if the connected bodies should collide
-     *  @return {boolean} */
-    getCollideConnected()   { return this.box2dJoint.GetCollideConnected();}
-
-    /** Check if either connected body is active
-     *  @return {boolean} */
-    isActive() { return this.box2dJoint.IsActive();}
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Target Joint, also known as a mouse joint
- * - Used to make a point on a object track a specific world point target
- * - This a soft constraint with a max force
- * - This allows the constraint to stretch and without applying huge forces
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dTargetJoint extends Box2dJoint
-{
-    /** Create a target joint
-     *  @param {Box2dObject} object
-     *  @param {Box2dObject} fixedObject
-     *  @param {Vector2} worldPos */
-    constructor(object, fixedObject, worldPos)
-    {
-        object.setAwake();
-        const jointDef = new box2d.instance.b2MouseJointDef();
-        jointDef.set_bodyA(fixedObject.body);
-        jointDef.set_bodyB(object.body);
-        jointDef.set_target(box2d.vec2dTo(worldPos));
-        jointDef.set_maxForce(2e3 * object.getMass());
-        super(jointDef);
-    }
-
-    /** Set the target point in world coordinates
-     *  @param {Vector2} pos */
-    setTarget(pos) { this.box2dJoint.SetTarget(box2d.vec2dTo(pos)); }
-    
-    /** Get the target point in world coordinates
-     *  @return {Vector2} */
-    getTarget(){ return box2d.vec2From(this.box2dJoint.GetTarget()); }
-
-    /** Sets the maximum force in Newtons
-     *  @param {number} force */
-    setMaxForce(force) { this.box2dJoint.SetMaxForce(force); }
-    
-    /** Gets the maximum force in Newtons
-     *  @return {number} */
-    getMaxForce() { return this.box2dJoint.GetMaxForce(); }
-    
-    /** Sets the joint frequency in Hertz
-     *  @param {number} hz */
-    setFrequency(hz) { this.box2dJoint.SetFrequency(hz); }
-    
-    /** Gets the joint frequency in Hertz
-     *  @return {number} */
-    getFrequency() { return this.box2dJoint.GetFrequency(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Distance Joint
- * - Constrains two points on two objects to remain at a fixed distance
- * - You can view this as a massless, rigid rod
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dDistanceJoint extends Box2dJoint
-{
-    /** Create a distance joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} anchorA
-     *  @param {Vector2} anchorB
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, anchorA, anchorB, collide=false)
-    {
-        anchorA ||= box2d.vec2From(objectA.body.GetPosition());
-        anchorB ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchorA);
-        const localAnchorB = objectB.worldToLocal(anchorB);
-        const jointDef = new box2d.instance.b2DistanceJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_length(anchorA.distance(anchorB));
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the local anchor point relative to objectA's origin
-     *  @return {Vector2} */
-    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
-
-    /** Get the local anchor point relative to objectB's origin
-     *  @return {Vector2} */
-    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
-    
-    /** Set the length of the joint
-     *  @param {number} length */
-    setLength(length) { this.box2dJoint.SetLength(length); }
-    
-    /** Get the length of the joint
-     *  @return {number} */
-    getLength() { return this.box2dJoint.GetLength(); }
-    
-    /** Set the frequency in Hertz
-     *  @param {number} hz */
-    setFrequency(hz) { this.box2dJoint.SetFrequency(hz); }
-    
-    /** Get the frequency in Hertz
-     *  @return {number} */
-    getFrequency() { return this.box2dJoint.GetFrequency(); }
-    
-    /** Set the damping ratio
-     *  @param {number} ratio */
-    setDampingRatio(ratio) { this.box2dJoint.SetDampingRatio(ratio); }
-    
-    /** Get the damping ratio
-     *  @return {number} */
-    getDampingRatio() { return this.box2dJoint.GetDampingRatio(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Pin Joint
- * - Pins two objects together at a point
- * @extends Box2dDistanceJoint
- * @memberof Box2D
- */
-class Box2dPinJoint extends Box2dDistanceJoint
-{
-    /** Create a pin joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} [pos]
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, pos=objectA.pos, collide=false)
-    {
-        super(objectA, objectB, undefined, pos, collide);
-    }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Rope Joint
- * - Enforces a maximum distance between two points on two objects
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dRopeJoint extends Box2dJoint
-{
-    /** Create a rope joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} anchorA
-     *  @param {Vector2} anchorB
-     *  @param {number} extraLength
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, anchorA, anchorB, extraLength=0, collide=false)
-    {
-        anchorA ||= box2d.vec2From(objectA.body.GetPosition());
-        anchorB ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchorA);
-        const localAnchorB = objectB.worldToLocal(anchorB);
-        const jointDef = new box2d.instance.b2RopeJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_maxLength(anchorA.distance(anchorB)+extraLength);
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the local anchor point relative to objectA's origin
-     *  @return {Vector2} */
-    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
-
-    /** Get the local anchor point relative to objectB's origin
-     *  @return {Vector2} */
-    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
-    
-    /** Set the max length of the joint
-     *  @param {number} length */
-    setMaxLength(length) { this.box2dJoint.SetMaxLength(length); }
-
-    /** Get the max length of the joint
-     *  @return {number} */
-    getMaxLength() { return this.box2dJoint.GetMaxLength(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Revolute Joint
- * - Constrains two objects to share a point while they are free to rotate around the point
- * - The relative rotation about the shared point is the joint angle
- * - You can limit the relative rotation with a joint limit
- * - You can use a motor to drive the relative rotation about the shared point
- * - A maximum motor torque is provided so that infinite forces are not generated
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dRevoluteJoint extends Box2dJoint
-{
-    /** Create a revolute joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} anchor
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, anchor, collide=false)
-    {
-        anchor ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchor);
-        const localAnchorB = objectB.worldToLocal(anchor);
-        const jointDef = new box2d.instance.b2RevoluteJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_referenceAngle(objectB.body.GetAngle() - objectA.body.GetAngle());
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the local anchor point relative to objectA's origin
-     *  @return {Vector2} */
-    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
-
-    /** Get the local anchor point relative to objectB's origin
-     *  @return {Vector2} */
-    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
-
-    /** Get the reference angle, objectB angle minus objectA angle in the reference state 
-     *  @return {number} */
-    getReferenceAngle() { return this.box2dJoint.GetReferenceAngle(); }
-
-    /** Get the current joint angle
-     *  @return {number} */
-    getJointAngle() { return this.box2dJoint.GetJointAngle(); }
-
-    /** Get the current joint angle speed in radians per second
-     *  @return {number} */
-    getJointSpeed() { return this.box2dJoint.GetJointSpeed(); }
-
-    /** Is the joint limit enabled?
-     *  @return {boolean} */
-    isLimitEnabled() { return this.box2dJoint.IsLimitEnabled(); }
-
-    /** Enable/disable the joint limit
-     *  @param {boolean} [enable] */
-    enableLimit(enable=true) { return this.box2dJoint.EnableLimit(enable); }
-
-    /** Get the lower joint limit
-     *  @return {number} */
-    getLowerLimit() { return this.box2dJoint.GetLowerLimit(); }
-
-    /** Get the upper joint limit
-     *  @return {number} */
-    getUpperLimit() { return this.box2dJoint.GetUpperLimit(); }
-
-    /** Set the joint limits
-     *  @param {number} min
-     *  @param {number} max */
-    setLimits(min, max) { return this.box2dJoint.SetLimits(min, max); }
-
-    /** Is the joint motor enabled?
-     *  @return {boolean} */
-    isMotorEnabled() { return this.box2dJoint.IsMotorEnabled(); }
-
-    /** Enable/disable the joint motor
-     *  @param {boolean} [enable] */
-    enableMotor(enable=true) { return this.box2dJoint.EnableMotor(enable); }
-
-    /** Set the motor speed
-     *  @param {number} speed */
-    setMotorSpeed(speed) { return this.box2dJoint.SetMotorSpeed(speed); }
-
-    /** Get the motor speed
-     *  @return {number} */
-    getMotorSpeed() { return this.box2dJoint.GetMotorSpeed(); }
-
-    /** Set the motor torque
-     *  @param {number} torque */
-    setMaxMotorTorque(torque) { return this.box2dJoint.SetMaxMotorTorque(torque); }
-
-    /** Get the max motor torque
-     *  @return {number} */
-    getMaxMotorTorque() { return this.box2dJoint.GetMaxMotorTorque(); }
-
-    /** Get the motor torque given a time step
-     *  @param {number} time 
-     *  @return {number} */
-    getMotorTorque(time) { return this.box2dJoint.GetMotorTorque(1/time); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Gear Joint
- * - A gear joint is used to connect two joints together
- * - Either joint can be a revolute or prismatic joint
- * - You specify a gear ratio to bind the motions together
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dGearJoint extends Box2dJoint
-{
-    /** Create a gear joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Box2dJoint} joint1
-     *  @param {Box2dJoint} joint2
-     *  @param {number} [ratio] */
-    constructor(objectA, objectB, joint1, joint2, ratio=1)
-    {
-        const jointDef = new box2d.instance.b2GearJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_joint1(joint1.box2dJoint);
-        jointDef.set_joint2(joint2.box2dJoint);
-        jointDef.set_ratio(ratio);
-        super(jointDef);
-
-        this.joint1 = joint1;
-        this.joint2 = joint2;
-    }
-
-    /** Get the first joint
-     *  @return {Box2dJoint} */
-    getJoint1() { return this.joint1; }
-
-    /** Get the second joint
-     *  @return {Box2dJoint} */
-    getJoint2() { return this.joint2; }
-
-    /** Set the gear ratio
-     *  @param {number} ratio */
-    setRatio(ratio) { return this.box2dJoint.SetRatio(ratio); }
-
-    /** Get the gear ratio
-     *  @return {number} */
-    getRatio() { return this.box2dJoint.GetRatio(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Prismatic Joint
- * - Provides one degree of freedom: translation along an axis fixed in objectA
- * - Relative rotation is prevented
- * - You can use a joint limit to restrict the range of motion
- * - You can use a joint motor to drive the motion or to model joint friction
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dPrismaticJoint extends Box2dJoint
-{
-    /** Create a prismatic joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} anchor
-     *  @param {Vector2} worldAxis
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, anchor, worldAxis=vec2(0,1), collide=false)
-    {
-        anchor ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchor);
-        const localAnchorB = objectB.worldToLocal(anchor);
-        const localAxisA = objectA.worldToLocalVector(worldAxis);
-        const jointDef = new box2d.instance.b2PrismaticJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_localAxisA(box2d.vec2dTo(localAxisA));
-        jointDef.set_referenceAngle(objectB.body.GetAngle() - objectA.body.GetAngle());
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the local anchor point relative to objectA's origin
-     *  @return {Vector2} */
-    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
-
-    /** Get the local anchor point relative to objectB's origin
-     *  @return {Vector2} */
-    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
-
-    /** Get the local joint axis relative to bodyA
-     *  @return {Vector2} */
-    getLocalAxisA() { return box2d.vec2From(this.box2dJoint.GetLocalAxisA()); }
-    
-    /** Get the reference angle
-     *  @return {number} */
-    getReferenceAngle() { return this.box2dJoint.GetReferenceAngle(); }
-
-    /** Get the current joint translation
-     *  @return {number} */
-    getJointTranslation() { return this.box2dJoint.GetJointTranslation(); }
-    
-    /** Get the current joint translation speed
-     *  @return {number} */
-    getJointSpeed() { return this.box2dJoint.GetJointSpeed(); }
-    
-    /** Is the joint limit enabled?
-     *  @return {boolean} */
-    isLimitEnabled() { return this.box2dJoint.IsLimitEnabled(); }
-    
-    /** Enable/disable the joint limit
-     *  @param {boolean} [enable] */
-    enableLimit(enable=true) { return this.box2dJoint.EnableLimit(enable); }
-    
-    /** Get the lower joint limit
-     *  @return {number} */
-    getLowerLimit() { return this.box2dJoint.GetLowerLimit(); }
-    
-    /** Get the upper joint limit
-     *  @return {number} */
-    getUpperLimit() { return this.box2dJoint.GetUpperLimit(); }
-    
-    /** Set the joint limits
-     *  @param {number} min
-     *  @param {number} max */
-    setLimits(min, max) { return this.box2dJoint.SetLimits(min, max); }
-    
-    /** Is the motor enabled?
-     *  @return {boolean} */
-    isMotorEnabled() { return this.box2dJoint.IsMotorEnabled(); }
-    
-    /** Enable/disable the joint motor
-     *  @param {boolean} [enable] */
-    enableMotor(enable=true) { return this.box2dJoint.EnableMotor(enable); }
-    
-    /** Set the motor speed
-     *  @param {number} speed */
-    setMotorSpeed(speed) { return this.box2dJoint.SetMotorSpeed(speed); }
-    
-    /** Get the motor speed
-     *  @return {number} */
-    getMotorSpeed() { return this.box2dJoint.GetMotorSpeed(); }
-    
-    /** Set the maximum motor force
-     *  @param {number} force */
-    setMaxMotorForce(force) { return this.box2dJoint.SetMaxMotorForce(force); }
-    
-    /** Get the maximum motor force
-     *  @return {number} */
-    getMaxMotorForce() { return this.box2dJoint.GetMaxMotorForce(); }
-    
-    /** Get the motor force given a time step
-     *  @param {number} time
-     *  @return {number} */
-    getMotorForce(time) { return this.box2dJoint.GetMotorForce(1/time); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Wheel Joint
- * - Provides two degrees of freedom: translation along an axis fixed in objectA and rotation
- * - You can use a joint limit to restrict the range of motion
- * - You can use a joint motor to drive the motion or to model joint friction
- * - This joint is designed for vehicle suspensions
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dWheelJoint extends Box2dJoint
-{
-    /** Create a wheel joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} anchor
-     *  @param {Vector2} worldAxis
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, anchor, worldAxis=vec2(0,1), collide=false)
-    {
-        anchor ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchor);
-        const localAnchorB = objectB.worldToLocal(anchor);
-        const localAxisA = objectA.worldToLocalVector(worldAxis);
-        const jointDef = new box2d.instance.b2WheelJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_localAxisA(box2d.vec2dTo(localAxisA));
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the local anchor point relative to objectA's origin
-     *  @return {Vector2} */
-    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
-
-    /** Get the local anchor point relative to objectB's origin
-     *  @return {Vector2} */
-    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
-
-    /** Get the local joint axis relative to bodyA
-     *  @return {Vector2} */
-    getLocalAxisA() { return box2d.vec2From(this.box2dJoint.GetLocalAxisA()); }
-
-    /** Get the current joint translation
-     *  @return {number} */
-    getJointTranslation() { return this.box2dJoint.GetJointTranslation(); }
-
-    /** Get the current joint translation speed
-     *  @return {number} */
-    getJointSpeed() { return this.box2dJoint.GetJointSpeed(); }
-
-    /** Is the joint motor enabled?
-     *  @return {boolean} */
-    isMotorEnabled() { return this.box2dJoint.IsMotorEnabled(); }
-
-    /** Enable/disable the joint motor
-     *  @param {boolean} [enable] */
-    enableMotor(enable=true) { return this.box2dJoint.EnableMotor(enable); }
-
-    /** Set the motor speed
-     *  @param {number} speed */
-    setMotorSpeed(speed) { return this.box2dJoint.SetMotorSpeed(speed); }
-
-    /** Get the motor speed
-     *  @return {number} */
-    getMotorSpeed() { return this.box2dJoint.GetMotorSpeed(); }
-
-    /** Set the maximum motor torque
-     *  @param {number} torque */
-    setMaxMotorTorque(torque) { return this.box2dJoint.SetMaxMotorTorque(torque); }
-
-    /** Get the max motor torque
-     *  @return {number} */
-    getMaxMotorTorque() { return this.box2dJoint.GetMaxMotorTorque(); }
-
-    /** Get the motor torque for a time step
-     *  @return {number} */
-    getMotorTorque(time) { return this.box2dJoint.GetMotorTorque(1/time); }
-
-    /** Set the spring frequency in Hertz
-     *  @param {number} hz */
-    setSpringFrequencyHz(hz) { return this.box2dJoint.SetSpringFrequencyHz(hz); }
-
-    /** Get the spring frequency in Hertz
-     *  @return {number} */
-    getSpringFrequencyHz() { return this.box2dJoint.GetSpringFrequencyHz(); }
-
-    /** Set the spring damping ratio
-     *  @param {number} ratio */
-    setSpringDampingRatio(ratio) { return this.box2dJoint.SetSpringDampingRatio(ratio); }
-
-    /** Get the spring damping ratio
-     *  @return {number} */
-    getSpringDampingRatio() { return this.box2dJoint.GetSpringDampingRatio(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Weld Joint
- * - Glues two objects together
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dWeldJoint extends Box2dJoint
-{
-    /** Create a weld joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} anchor
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, anchor, collide=false)
-    {
-        anchor ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchor);
-        const localAnchorB = objectB.worldToLocal(anchor);
-        const jointDef = new box2d.instance.b2WeldJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_referenceAngle(objectB.body.GetAngle() - objectA.body.GetAngle());
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the local anchor point relative to objectA's origin
-     *  @return {Vector2} */
-    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
-
-    /** Get the local anchor point relative to objectB's origin
-     *  @return {Vector2} */
-    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
-
-    /** Get the reference angle
-     *  @return {number} */
-    getReferenceAngle() { return this.box2dJoint.GetReferenceAngle(); }
-
-    /** Set the frequency in Hertz
-     *  @param {number} hz */
-    setFrequency(hz) { return this.box2dJoint.SetFrequency(hz); }
-
-    /** Get the frequency in Hertz
-     *  @return {number} */
-    getFrequency() { return this.box2dJoint.GetFrequency(); }
-
-    /** Set the damping ratio
-     *  @param {number} ratio */
-    setSpringDampingRatio(ratio) { return this.box2dJoint.SetSpringDampingRatio(ratio); }
-
-    /** Get the damping ratio
-     *  @return {number} */
-    getSpringDampingRatio() { return this.box2dJoint.GetSpringDampingRatio(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Friction Joint
- * - Used to apply top-down friction
- * - Provides 2D translational friction and angular friction
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dFrictionJoint extends Box2dJoint
-{
-    /** Create a friction joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} anchor
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, anchor, collide=false)
-    {
-        anchor ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchor);
-        const localAnchorB = objectB.worldToLocal(anchor);
-        const jointDef = new box2d.instance.b2FrictionJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the local anchor point relative to objectA's origin
-     *  @return {Vector2} */
-    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
-
-    /** Get the local anchor point relative to objectB's origin
-     *  @return {Vector2} */
-    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
-
-    /** Set the maximum friction force
-     *  @param {number} force */
-    setMaxForce(force) { this.box2dJoint.SetMaxForce(force); }
-
-    /** Get the maximum friction force
-     *  @return {number} */
-    getMaxForce() { return this.box2dJoint.GetMaxForce(); }
-
-    /** Set the maximum friction torque
-     *  @param {number} torque */
-    setMaxTorque(torque) { this.box2dJoint.SetMaxTorque(torque); }
-
-    /** Get the maximum friction torque
-     *  @return {number} */
-    getMaxTorque() { return this.box2dJoint.GetMaxTorque(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Pulley Joint
- * - Connects to two objects and two fixed ground points
- * - The pulley supports a ratio such that: length1 + ratio * length2 <= constant
- * - The force transmitted is scaled by the ratio
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dPulleyJoint extends Box2dJoint
-{
-    /** Create a pulley joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB
-     *  @param {Vector2} groundAnchorA
-     *  @param {Vector2} groundAnchorB
-     *  @param {Vector2} anchorA
-     *  @param {Vector2} anchorB
-     *  @param {number}  [ratio]
-     *  @param {boolean} [collide] */
-    constructor(objectA, objectB, groundAnchorA, groundAnchorB, anchorA, anchorB, ratio=1, collide=false)
-    {
-        anchorA ||= box2d.vec2From(objectA.body.GetPosition());
-        anchorB ||= box2d.vec2From(objectB.body.GetPosition());
-        const localAnchorA = objectA.worldToLocal(anchorA);
-        const localAnchorB = objectB.worldToLocal(anchorB);
-        const jointDef = new box2d.instance.b2PulleyJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_groundAnchorA(box2d.vec2dTo(groundAnchorA));
-        jointDef.set_groundAnchorB(box2d.vec2dTo(groundAnchorB));
-        jointDef.set_localAnchorA(box2d.vec2dTo(localAnchorA));
-        jointDef.set_localAnchorB(box2d.vec2dTo(localAnchorB));
-        jointDef.set_ratio(ratio);
-        jointDef.set_lengthA(groundAnchorA.distance(anchorA));
-        jointDef.set_lengthB(groundAnchorB.distance(anchorB));
-        jointDef.set_collideConnected(collide);
-        super(jointDef);
-    }
-
-    /** Get the first ground anchor
-     *  @return {Vector2} */
-    getGroundAnchorA() { return box2d.vec2From(this.box2dJoint.GetGroundAnchorA()); }
-
-    /** Get the second ground anchor
-     *  @return {Vector2} */
-    getGroundAnchorB() { return box2d.vec2From(this.box2dJoint.GetGroundAnchorB()); }
-
-    /** Get the current length of the segment attached to objectA
-     *  @return {number} */
-    getLengthA() { return this.box2dJoint.GetLengthA(); }
-
-    /** Get the current length of the segment attached to objectB
-     *  @return {number} */
-    getLengthB(){ return this.box2dJoint.GetLengthB(); }
-
-    /** Get the pulley ratio
-     *  @return {number} */
-    getRatio() { return this.box2dJoint.GetRatio(); }
-
-    /** Get the current length of the segment attached to objectA
-     *  @return {number} */
-    getCurrentLengthA() { return this.box2dJoint.GetCurrentLengthA(); }
-
-    /** Get the current length of the segment attached to objectB
-     *  @return {number} */
-    getCurrentLengthB() { return this.box2dJoint.GetCurrentLengthB(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Motor Joint
- * - Controls the relative motion between two objects
- * - Typical usage is to control the movement of a object with respect to the ground
- * @extends Box2dJoint
- * @memberof Box2D
- */
-class Box2dMotorJoint extends Box2dJoint
-{
-    /** Create a motor joint
-     *  @param {Box2dObject} objectA
-     *  @param {Box2dObject} objectB */
-    constructor(objectA, objectB)
-    {
-        const linearOffset = objectA.worldToLocal(box2d.vec2From(objectB.body.GetPosition()));
-        const angularOffset = objectB.body.GetAngle() - objectA.body.GetAngle();
-        const jointDef = new box2d.instance.b2MotorJointDef();
-        jointDef.set_bodyA(objectA.body);
-        jointDef.set_bodyB(objectB.body);
-        jointDef.set_linearOffset(box2d.vec2dTo(linearOffset));
-        jointDef.set_angularOffset(angularOffset);
-        super(jointDef);
-    }
-
-    /** Set the target linear offset, in frame A, in meters.
-     *  @param {Vector2} offset */
-    setLinearOffset(offset) { this.box2dJoint.SetLinearOffset(box2d.vec2dTo(offset)); }
-
-    /** Get the target linear offset, in frame A, in meters.
-     *  @return {Vector2} */
-    getLinearOffset() { return box2d.vec2From(this.box2dJoint.GetLinearOffset()); }
-
-    /** Set the target angular offset
-     *  @param {number} offset */
-    setAngularOffset(offset) { this.box2dJoint.SetAngularOffset(offset); }
-
-    /** Get the target angular offset
-     *  @return {number} */
-    getAngularOffset() { return this.box2dJoint.GetAngularOffset(); }
-
-    /** Set the maximum friction force
-     *  @param {number} force */
-    setMaxForce(force) { this.box2dJoint.SetMaxForce(force); }
-
-    /** Get the maximum friction force
-     *  @return {number} */
-    getMaxForce() { return this.box2dJoint.GetMaxForce(); }
-
-    /** Set the maximum torque
-     *  @param {number} torque */
-    setMaxTorque(torque) { this.box2dJoint.SetMaxTorque(torque); }
-
-    /** Get the maximum torque
-     *  @return {number} */
-    getMaxTorque() { return this.box2dJoint.GetMaxTorque(); }
-
-    /** Set the position correction factor in the range [0,1]
-     *  @param {number} factor */
-    setCorrectionFactor(factor) { this.box2dJoint.SetCorrectionFactor(factor); }
-
-    /** Get the position correction factor in the range [0,1]
-     *  @return {number} */
-    getCorrectionFactor() { return this.box2dJoint.GetCorrectionFactor(); }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** 
- * Box2D Global Object
- * - Wraps Box2d world and provides global functions
- * @memberof Box2D
- */
-class Box2dPlugin
-{
-    /** Create the global UI system object
-     *  @param {Object} instance */
-    constructor(instance)
-    {
-        ASSERT(!box2d, 'Box2D already initialized');
-        box2d = this;
-
-        /** @property {Object} - The Box2d instance */
-        this.instance = instance;
-        /** @property {Object} - The Box2d world */
-        this.world = new box2d.instance.b2World();
-        /** @property {Array<Box2dObject>} - List of all Box2d objects */
-        this.objects = [];
-        /** @property {number} - Velocity iterations per update*/
-        this.velocityIterations = 8;
-        /** @property {number} - Position iterations per update*/
-        this.positionIterations = 3;
-        /** @property {number} - Static, zero mass, zero velocity, may be manually moved */
-        this.bodyTypeStatic = instance.b2_staticBody;
-        /** @property {number} - Kinematic, zero mass, non-zero velocity set by user, moved by solver */
-        this.bodyTypeKinematic = instance.b2_kinematicBody;
-        /** @property {number} - Dynamic, positive mass, non-zero velocity determined by forces, moved by solver */
-        this.bodyTypeDynamic = instance.b2_dynamicBody;
-
-        // setup contact listener
-        const listener = new box2d.instance.JSContactListener();
-        listener.BeginContact = function(contactPtr)
-        {
-            const contact  = box2d.instance.wrapPointer(contactPtr, box2d.instance.b2Contact);
-            const fixtureA = contact.GetFixtureA();
-            const fixtureB = contact.GetFixtureB();
-            const objectA  = fixtureA.GetBody().object;
-            const objectB  = fixtureB.GetBody().object;
-            // raw user-created b2Bodies may have no .object — skip those
-            if (!objectA || !objectB) return;
-            objectA.beginContact(objectB);
-            objectB.beginContact(objectA);
-        }
-        listener.EndContact = function(contactPtr)
-        {
-            const contact  = box2d.instance.wrapPointer(contactPtr, box2d.instance.b2Contact);
-            const fixtureA = contact.GetFixtureA();
-            const fixtureB = contact.GetFixtureB();
-            const objectA  = fixtureA.GetBody().object;
-            const objectB  = fixtureB.GetBody().object;
-            if (!objectA || !objectB) return;
-            objectA.endContact(objectB);
-            objectB.endContact(objectA);
-        };
-        listener.PreSolve  = function() {};
-        listener.PostSolve = function() {};
-        box2d.world.SetContactListener(listener);
-    }
-
-    /** Step the physics world simulation
-     *  @param {number} [frames] */
-    step(frames=1)
-    {
-        box2d.world.SetGravity(box2d.vec2dTo(gravity));
-        for (let i=frames; i--;)
-            box2d.world.Step(timeDelta, this.velocityIterations, this.positionIterations);
-    }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // raycasting and querying
-
-    /** raycast and return a list of all the results
-     *  @param {Vector2} start 
-     *  @param {Vector2} end */
-    raycastAll(start, end)
-    {
-        const raycastCallback = new box2d.instance.JSRayCastCallback();
-        raycastCallback.ReportFixture = function(fixturePointer, point, normal, fraction)
-        {
-            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
-            point  = box2d.vec2FromPointer(point);
-            normal = box2d.vec2FromPointer(normal);
-            raycastResults.push(new Box2dRaycastResult(fixture, point, normal, fraction));
-            return 1; // continue getting results
-        };
-
-        const raycastResults = [];
-        box2d.world.RayCast(raycastCallback, box2d.vec2dTo(start), box2d.vec2dTo(end));
-        debugRaycast && debugLine(start, end, raycastResults.length ? '#f00' : '#00f', .02);
-        return raycastResults;
-    }
-
-    /** raycast and return the first result
-     *  @param {Vector2} start 
-     *  @param {Vector2} end */
-    raycast(start, end)
-    {
-        const raycastResults = box2d.raycastAll(start, end);
-        if (!raycastResults.length)
-            return undefined;
-        return raycastResults.reduce((a,b)=>a.fraction < b.fraction ? a : b);
-    }
-
-    /** box aabb cast and return all the objects
-     *  @param {Vector2} pos 
-     *  @param {Vector2} size */
-    boxCastAll(pos, size)
-    {
-        const queryCallback = new box2d.instance.JSQueryCallback();
-        queryCallback.ReportFixture = function(fixturePointer)
-        {
-            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
-            const o = fixture.GetBody().object;
-            if (!queryObjects.includes(o))
-                queryObjects.push(o); // add if not already in list
-            return true; // continue getting results
-        };
-
-        const aabb = new box2d.instance.b2AABB();
-        aabb.set_lowerBound(box2d.vec2dTo(pos.subtract(size.scale(.5))));
-        aabb.set_upperBound(box2d.vec2dTo(pos.add(size.scale(.5))));
-
-        let queryObjects = [];
-        box2d.world.QueryAABB(queryCallback, aabb);
-        debugRaycast && debugRect(pos, size, queryObjects.length ? '#f00' : '#00f', .02);
-        return queryObjects;
-    }
-
-    /** box aabb cast and return the first object
-     *  @param {Vector2} pos 
-     *  @param {Vector2} size */
-    boxCast(pos, size)
-    {
-        const queryCallback = new box2d.instance.JSQueryCallback();
-        queryCallback.ReportFixture = function(fixturePointer)
-        {
-            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
-            queryObject = fixture.GetBody().object;
-            return false; // stop getting results
-        };
-
-        const aabb = new box2d.instance.b2AABB();
-        aabb.set_lowerBound(box2d.vec2dTo(pos.subtract(size.scale(.5))));
-        aabb.set_upperBound(box2d.vec2dTo(pos.add(size.scale(.5))));
-
-        let queryObject;
-        box2d.world.QueryAABB(queryCallback, aabb);
-        debugRaycast && debugRect(pos, size, queryObject ? '#f00' : '#00f', .02);
-        return queryObject;
-    }
-
-    /** circle cast and return all the objects
-     *  @param {Vector2} pos 
-     *  @param {number} diameter */
-    circleCastAll(pos, diameter)
-    {
-        const radius2 = (diameter/2)**2;
-        const results = box2d.boxCastAll(pos, vec2(diameter));
-        return results.filter(o=>o.pos.distanceSquared(pos) < radius2);
-    }
-
-    /** circle cast and return the first object
-     *  @param {Vector2} pos 
-     *  @param {number} diameter */
-    circleCast(pos, diameter)
-    {
-        const radius2 = (diameter/2)**2;
-        let results = box2d.boxCastAll(pos, vec2(diameter));
-
-        let bestResult, bestDistance2;
-        for (const result of results)
-        {
-            const distance2 = result.pos.distanceSquared(pos);
-            if (distance2 < radius2 && (!bestResult || distance2 < bestDistance2))
-            {
-                bestResult = result;
-                bestDistance2 = distance2;
-            }
-        }
-        return bestResult;
-    }
-
-    /** point cast and return the first object
-     *  @param {Vector2} pos 
-     *  @param {boolean} dynamicOnly */
-    pointCast(pos, dynamicOnly=true)
-    {
-        const queryCallback = new box2d.instance.JSQueryCallback();
-        queryCallback.ReportFixture = function(fixturePointer)
-        {
-            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
-            if (dynamicOnly && fixture.GetBody().GetType() !== box2d.instance.b2_dynamicBody)
-                return true; // continue getting results
-            if (!fixture.TestPoint(box2d.vec2dTo(pos)))
-                return true; // continue getting results
-            queryObject = fixture.GetBody().object;
-            return false; // stop getting results
-        };
-
-        const aabb = new box2d.instance.b2AABB();
-        aabb.set_lowerBound(box2d.vec2dTo(pos));
-        aabb.set_upperBound(box2d.vec2dTo(pos));
-
-        let queryObject;
-        box2d.world.QueryAABB(queryCallback, aabb);
-        debugRaycast && debugRect(pos, vec2(), queryObject ? '#f00' : '#00f', .02);
-        return queryObject;
-    }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // drawing
-
-    /** draws a fixture
-     *  @param {Object} fixture
-     *  @param {Vector2} pos
-     *  @param {number} angle
-     *  @param {Color} [color]
-     *  @param {Color} [lineColor]
-     *  @param {number} [lineWidth]
-     *  @param {boolean} [useWebGL=glEnable]
-     *  @param {CanvasRenderingContext2D} [context] */
-    drawFixture(fixture, pos, angle, color=WHITE, lineColor=BLACK, lineWidth=.1, useWebGL, context)
-    {
-        const shape = box2d.castShapeObject(fixture.GetShape());
-        switch (shape.GetType())
-        {
-            case box2d.instance.b2Shape.e_polygon:
-            {
-                let points = [];
-                for (let i=shape.GetVertexCount(); i--;)
-                    points.push(box2d.vec2From(shape.GetVertex(i)));
-                drawPoly(points, color, lineWidth, lineColor, pos, angle, useWebGL, false, context);
-                break;
-            }
-            case box2d.instance.b2Shape.e_circle:
-            {
-                const radius = shape.get_m_radius();
-                drawCircle(pos, radius*2, color, lineWidth, lineColor, useWebGL, false, context);
-                break;
-            }
-            case box2d.instance.b2Shape.e_edge:
-            {
-                const v1 = box2d.vec2From(shape.get_m_vertex1());
-                const v2 = box2d.vec2From(shape.get_m_vertex2());
-                drawLine(v1, v2, lineWidth, lineColor, pos, angle, useWebGL, false, context);
-                break;
-            }
-        }
-    }
-
-    ///////////////////////////////////////////////////////////////////////////////
-    // helper functions
-
-    /** converts a box2d vec2 to a Vector2
-     *  @param {Object} v */
-    vec2From(v)
-    {
-        ASSERT(v instanceof box2d.instance.b2Vec2);
-        return new Vector2(v.get_x(), v.get_y()); 
-    }
-
-    /** converts a box2d vec2 pointer to a Vector2
-     *  @param {Object} vp */
-    vec2FromPointer(vp)
-    {
-        const v = box2d.instance.wrapPointer(vp, box2d.instance.b2Vec2);
-        return box2d.vec2From(v);
-    }
-
-    /** converts a Vector2 to a box2 vec2
-     *  @param {Vector2} v */
-    vec2dTo(v)
-    {
-        ASSERT(isVector2(v));
-        return new box2d.instance.b2Vec2(v.x, v.y);
-    }
-
-    /** checks if a box2d object is null
-     *  @param {Object} o */
-    isNull(o) { return !box2d.instance.getPointer(o); }
-
-    /** casts a box2d object to a shape type
-     *  @param {Object} o */
-    castShapeObject(o)
-    {
-        switch (o.GetType())
-        {
-            case box2d.instance.b2Shape.e_circle:
-                return box2d.instance.castObject(o, box2d.instance.b2CircleShape);
-            case box2d.instance.b2Shape.e_edge:
-                return box2d.instance.castObject(o, box2d.instance.b2EdgeShape);
-            case box2d.instance.b2Shape.e_polygon:
-                return box2d.instance.castObject(o, box2d.instance.b2PolygonShape);
-            case box2d.instance.b2Shape.e_chain:
-                return box2d.instance.castObject(o, box2d.instance.b2ChainShape);
-        }
-        
-        ASSERT(false, 'Unknown box2d object type');
-    }
-
-    /** casts a box2d object to a joint type
-     *  @param {Object} o */
-    castJointObject(o)
-    {
-        switch (o.GetType())
-        {
-            case box2d.instance.e_revoluteJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2RevoluteJoint);
-            case box2d.instance.e_prismaticJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2PrismaticJoint);
-            case box2d.instance.e_distanceJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2DistanceJoint);
-            case box2d.instance.e_pulleyJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2PulleyJoint);
-            case box2d.instance.e_mouseJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2MouseJoint);
-            case box2d.instance.e_gearJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2GearJoint);
-            case box2d.instance.e_wheelJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2WheelJoint);
-            case box2d.instance.e_weldJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2WeldJoint);
-            case box2d.instance.e_frictionJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2FrictionJoint);
-            case box2d.instance.e_ropeJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2RopeJoint);
-            case box2d.instance.e_motorJoint:
-                return box2d.instance.castObject(o, box2d.instance.b2MotorJoint);
-        }
-        
-        ASSERT(false, 'Unknown box2d object type');
-    }
-}
-
-///////////////////////////////////////////////////////////////////////////////
-/** Box2d Init - Call with await to init box2d
- *  @example
- *  await box2dInit();
- *  @return {Promise<Box2dPlugin>}
- *  @memberof Box2D */
-async function box2dInit()
-{
-    // load box2d
-    new Box2dPlugin(await Box2D());
-    setupDebugDraw();
-    engineAddPlugin(box2dUpdate, box2dRender);
-    return box2d;
-
-    // add the box2d plugin to the engine
-    function box2dUpdate()
-    {
-        if (paused)
-            return;
-
-        box2d.step();
-
-        // remove destroyed objects
-        box2d.objects = box2d.objects.filter(o=>!o.destroyed);
-        
-        // copy box2d physics results to engine objects
-        for (const o of box2d.objects)
-        {
-            if (o.body)
-            {
-                // box2d uses reverse angle
-                o.pos = box2d.vec2From(o.body.GetPosition());
-                o.angle = -o.body.GetAngle();
-            }
-        }
-    }
-    function box2dRender()
-    {
-        if (box2dDebug || debugPhysics)
-            box2d.world.DrawDebugData();
-    }
-    
-    // box2d debug drawing
-    function setupDebugDraw()
-    {
-        // setup debug draw
-        const debugLineWidth = .1;
-        const debugDraw = new box2d.instance.JSDraw();
-        const box2dColor = (c)=> new Color(c.get_r(), c.get_g(), c.get_b());
-        const box2dColorPointer = (c)=>
-            box2dColor(box2d.instance.wrapPointer(c, box2d.instance.b2Color));
-        const getDebugColor = (color)=>box2dColorPointer(color).scale(1,.8);
-        const getPointsList = (vertices, vertexCount)=>
-        {
-            const points = [];
-            for (let i=vertexCount; i--;)
-                points.push(box2d.vec2FromPointer(vertices+i*8));
-            return points;
-        }
-        debugDraw.DrawSegment = function(point1, point2, color)
-        {
-            color = getDebugColor(color);
-            point1 = box2d.vec2FromPointer(point1);
-            point2 = box2d.vec2FromPointer(point2);
-            drawLine(point1, point2, debugLineWidth, color, vec2(), 0, false);
-        };
-        debugDraw.DrawPolygon = function(vertices, vertexCount, color)
-        {
-            color = getDebugColor(color);
-            const points = getPointsList(vertices, vertexCount);
-            drawPoly(points, CLEAR_WHITE, debugLineWidth, color, vec2(), 0, false);
-        };
-        debugDraw.DrawSolidPolygon = function(vertices, vertexCount, color)
-        {
-            color = getDebugColor(color);
-            const points = getPointsList(vertices, vertexCount);
-            drawPoly(points, color, 0, color, vec2(), 0, false);
-        };
-        debugDraw.DrawCircle = function(center, radius, color)
-        {
-            color = getDebugColor(color);
-            center = box2d.vec2FromPointer(center);
-            drawCircle(center, radius*2, CLEAR_WHITE, debugLineWidth, color, false);
-        };
-        debugDraw.DrawSolidCircle = function(center, radius, axis, color)
-        {
-            color = getDebugColor(color);
-            center = box2d.vec2FromPointer(center);
-            axis = box2d.vec2FromPointer(axis).scale(radius);
-            drawCircle(center, radius*2, color, debugLineWidth, color, false);
-            drawLine(vec2(), axis, debugLineWidth, color, center, 0, false);
-        };
-        debugDraw.DrawTransform = function(transform)
-        {
-            transform = box2d.instance.wrapPointer(transform, box2d.instance.b2Transform);
-            const pos = box2d.vec2From(transform.get_p());
-            const angle = -transform.get_q().GetAngle();
-            const p1 = vec2(1,0), c1 = rgb(.75,0,0,.8);
-            const p2 = vec2(0,1), c2 = rgb(0,.75,0,.8);
-            drawLine(vec2(), p1, debugLineWidth, c1, pos, angle, false);
-            drawLine(vec2(), p2, debugLineWidth, c2, pos, angle, false);
-        }
-            
-        debugDraw.AppendFlags(box2d.instance.b2Draw.e_shapeBit);
-        debugDraw.AppendFlags(box2d.instance.b2Draw.e_jointBit);
-        //debugDraw.AppendFlags(box2d.instance.b2Draw.e_aabbBit);
-        //debugDraw.AppendFlags(box2d.instance.b2Draw.e_pairBit);
-        //debugDraw.AppendFlags(box2d.instance.b2Draw.e_centerOfMassBit);
-        box2d.world.SetDebugDraw(debugDraw);
-    }
+/**
+ * LittleJS Box2D Physics Plugin
+ * - Box2dObject extends EngineObject with Box2D physics
+ * - Call box2dInit() to enable
+ * - You will also need to include box2d.wasm.js
+ * - Uses a super fast web assembly port of Box2D v2.3.1
+ * - More info: https://github.com/kripken/box2d.js
+ * - Functions to create polygon, circle, and edge shapes
+ * - Contact begin and end callbacks
+ * - Wraps b2Vec2 type to/from Vector2
+ * - Raycasting and querying
+ * - Box2dTileLayer for grid based collision
+ * - Every type of joint
+ * - Debug physics drawing
+ * - Box2D works per second: its velocities and accelerations are in units per second, and it reads the engine's
+ *   gravity as units per second squared, where an EngineObject's are per frame
+ * @namespace Box2D
+ */
+
+'use strict';
+ 
+/** Global Box2d Plugin object
+ *  @type {Box2dPlugin}
+ *  @memberof Box2D */
+let box2d;
+
+/** Enable Box2D debug drawing
+ *  @type {boolean}
+ *  @default
+ *  @memberof Box2D */
+let box2dDebug = false;
+
+// Box2D copies every vector it is given, so the plugin hands it these two instead of making a new one each call,
+// which the binding would keep; a call that takes two vectors uses both
+let box2dTempVectors;
+function box2dTemp(v, slot=0)
+{
+    ASSERT(isVector2(v));
+    const temp = (box2dTempVectors ||= [new box2d.instance.b2Vec2(), new box2d.instance.b2Vec2()])[slot];
+    temp.Set(v.x, v.y);
+    return temp;
+}
+
+// the native objects a query needs, one of each kind made once and reused, since the binding keeps every one made;
+// a query sets the callback's ReportFixture before each use, so the one callback serves every query of its kind
+const box2dQueryObjects = {};
+const box2dGravity = {x:NaN, y:NaN}; // the gravity the world was last given
+function box2dQueryObject(key, type) { return box2dQueryObjects[key] ||= new box2d.instance[type](); }
+
+// Box2D finds fixtures by boxes it pads and stretches ahead along the velocity, so a query checks the shape's own box
+function box2dFixtureOverlaps(fixture, aabb)
+{
+    const shape = fixture.GetShape(), transform = fixture.GetBody().GetTransform();
+    const shapeBox = box2dQueryObject('shapeAABB', 'b2AABB');
+    const lower = aabb.get_lowerBound(), upper = aabb.get_upperBound();
+    for (let i = shape.GetChildCount(); i--;)
+    {
+        shape.ComputeAABB(shapeBox, transform, i);
+        const a = shapeBox.get_lowerBound(), b = shapeBox.get_upperBound();
+        if (a.get_x() <= upper.get_x() && b.get_x() >= lower.get_x() &&
+            a.get_y() <= upper.get_y() && b.get_y() >= lower.get_y())
+            return true;
+    }
+    return false;
+}
+
+// the points of an edge list or loop, without one that repeats the one before, or a loop's closing repeat of the first;
+// an edge of no length gives its neighbors a ghost vertex on their own end, and bodies fall through them
+function box2dEdgePoints(points, loop)
+{
+    // each point is kept if it is far enough from the last one kept, so a densely sampled curve keeps every few of
+    // its points rather than losing them all
+    const slop2 = .005**2; // Box2D's linear slop, what its own chain shape asserts consecutive points are apart
+    const kept = [];
+    for (const p of points)
+        if (!kept.length || p.distanceSquared(kept[kept.length-1]) > slop2)
+            kept.push(p);
+    while (loop && kept.length > 1 && kept[kept.length-1].distanceSquared(kept[0]) <= slop2)
+        kept.pop();
+    return kept;
+}
+
+// wake a body and whatever touches it, Box2D does not when a body is moved, and a sleeping pair never updates
+function box2dWakeWithContacts(body)
+{
+    body.SetAwake(true);
+    for (let edge = body.GetContactList(); !box2d.isNull(edge); edge = edge.get_next())
+        edge.get_other().SetAwake(true);
+}
+
+// wake both bodies of a joint whose length, spring, ratio or strength changed, a sleeping body would stay where it was
+function box2dWakeJoint(joint)
+{
+    joint.GetBodyA().SetAwake(true);
+    joint.GetBodyB().SetAwake(true);
+}
+
+// what Box2D adds to the inertia for a center of mass away from the origin, in float32 as it does it, so taking it
+// off again gives exactly what Box2D keeps: an inertia of 0, a locked rotation, stays 0 and not a speck either side
+function box2dCenterInertia(mass, x, y)
+{
+    const f = Math.fround;
+    return f(f(mass)*f(f(f(x)*f(x)) + f(f(y)*f(y))));
+}
+
+// what cannot happen while the world steps, like losing a body from a contact callback: done now, or queued until
+// the step is done; a body going calls endContact for what it touched, and a destroy from there waits in the queue
+// too, since the contact it would free is still in use, so the queue runs one at a time in the order things came
+const box2dPending = [];
+let box2dPendingBusy = 0;
+function box2dWhenUnlocked(f)
+{
+    box2dPending.push(f);
+    if (!box2d.world.IsLocked() && !box2dPendingBusy)
+        box2dRunPending();
+}
+function box2dRunPending()
+{
+    ++box2dPendingBusy;
+    try { while (box2dPending.length) box2dPending.shift()(); }
+    finally { --box2dPendingBusy; }
+}
+
+// each Box2dJoint by its native pointer, so a joint Box2D destroys along with a body can let go of its wrapper
+const box2dJoints = new Map;
+
+// the gear joints, kept apart from the others, since every joint that goes looks through them
+const box2dGearJoints = new Set;
+
+// a gear joint keeps pointers to the joints it gears and to their bodies, so it goes before either joint does
+function box2dDestroyGears(joint)
+{
+    for (const gear of box2dGearJoints)
+    {
+        if (!gear.box2dJoint)
+            box2dGearJoints.delete(gear); // gone already, with a body
+        else if (gear.joint1 === joint || gear.joint2 === joint)
+        {
+            box2dGearJoints.delete(gear);
+            gear.destroy();
+        }
+    }
+}
+
+/** Enable Box2D debug drawing
+ *  @param {boolean} enable
+ *  @memberof Box2D */
+function box2dSetDebug(enable) { box2dDebug = enable; }
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Object - extend with your own custom physics objects
+ * - A LittleJS object with Box2D physics, dynamic by default
+ * - Provides interface for Box2D body and fixture functions
+ * - Each object can have multiple fixtures and joints
+ * - Angular values are clockwise like angle: angular velocity, torque, joint angles, limits and motor speeds
+ * @extends EngineObject
+ * @memberof Box2D
+ */
+class Box2dObject extends EngineObject 
+{
+    /** Create a LittleJS object with Box2d physics
+     *  @param {Vector2}  [pos]
+     *  @param {Vector2}  [size]
+     *  @param {TileInfo} [tileInfo]
+     *  @param {number}   [angle]
+     *  @param {Color}    [color]
+     *  @param {number}   [bodyType]
+     *  @param {number}   [renderOrder] */
+    constructor(pos=vec2(), size=vec2(), tileInfo, angle=0, color, bodyType=box2d.bodyTypeDynamic, renderOrder=0)
+    {
+        ASSERT(!box2d.world.IsLocked(), 'cannot create Box2D bodies during a contact callback');
+        super(pos, size, tileInfo, angle, color, renderOrder);
+
+        // create physics body, Box2D copies the def
+        const bodyDef = new box2d.instance.b2BodyDef();
+        bodyDef.set_type(bodyType);
+        bodyDef.set_position(box2dTemp(pos));
+        bodyDef.set_angle(-angle);
+        
+        /** @property {Object} - The Box2d body, undefined once it is destroyed */
+        this.body = box2d.world.CreateBody(bodyDef);
+        box2d.instance.destroy(bodyDef);
+        /** @property {Color} - Line color used for default box2d drawing */
+        this.lineColor = BLACK.copy();
+        /** @property {number} - Line width used for default box2d drawing */
+        this.lineWidth = .1;
+        /** @property {Array<Array<Vector2>>} - List of all edges for default box2d drawing
+         *  @type {Array<Array<Vector2>>} */
+        this.edgeLists = [];
+        /** @property {Array<Array<Vector2>>} - List of all edge loops for default box2d drawing
+         *  @type {Array<Array<Vector2>>} */
+        this.edgeLoops = [];
+        // the fixtures of the edge lists and loops, by pointer, each to the points it is drawn with
+        this.edgeListFixtures = new Map;
+
+        this.body.object = this; // link body to this object
+        box2d.objects.push(this); // keep track of all box2d objects
+    }
+
+    /** Destroy this object and its physics body
+     *  @param {boolean} [immediate] - Remove it now, as EngineObject.destroy does, children included */
+    destroy(immediate=false)
+    {
+        if (this.destroyed) return;
+
+        // destroy physics body, fixtures, and joints; from a contact callback the world is still
+        // stepping and cannot lose a body, so it goes as soon as the step is done; the object
+        // leaves box2d.objects at the next step, or the next frame while paused or time is stopped;
+        // the body lets go of it after, since destroying it calls endContact, which finds it there;
+        // that endContact can destroy this same object again, before it is marked destroyed, so the body is
+        // destroyed only by the call that still finds it, Box2D would lose count of its bodies on a second
+        ASSERT(this.body, 'Box2dObject has no body to destroy');
+        const body = this.body;
+        box2dWhenUnlocked(()=>
+        {
+            if (this.body !== body) return; // destroyed already
+            box2d.world.DestroyBody(body);
+            body.object = undefined;
+            this.body = undefined;
+        });
+        super.destroy(immediate);
+    }
+
+    /** Box2d objects updated with Box2d world step */
+    updatePhysics() {}
+
+    /** Update the object transform, called automatically by engine even when paused;
+     *  its body places it, so it can be a parent but not a child, connect it to another with a joint
+     *  @param {boolean} [updateChildren] - Also update the children's transforms */
+    updateTransforms(updateChildren=true)
+    {
+        ASSERT(!this.parent, 'a Box2dObject cannot be a child, its body would stay behind, connect it with a joint');
+        super.updateTransforms(updateChildren);
+    }
+
+    /** Render the object, uses box2d drawing if no tile info exists */
+    render()
+    {
+        // use default render or draw fixtures
+        if (this.tileInfo)
+            super.render();
+        else
+            this.drawFixtures(this.color, this.lineColor, this.lineWidth);
+    }
+
+    /** Render debug info */
+    renderDebugInfo()
+    {
+        const isAsleep = !this.getIsAwake();
+        const isStatic = this.getBodyType() === box2d.bodyTypeStatic;
+        const color = rgb(isAsleep?1:0, isAsleep?1:0, isStatic?1:0, .5);
+        this.drawFixtures(color);
+    }
+
+    /** Draws all this object's fixtures 
+     *  @param {Color}   [color]
+     *  @param {Color}   [lineColor]
+     *  @param {number}  [lineWidth]
+     *  @param {boolean} [useWebGL=glEnable]
+     *  @param {CanvasRenderingContext2D} [context] */
+    drawFixtures(color=WHITE, lineColor=BLACK, lineWidth=.1, useWebGL, context)
+    {
+        // draw each fixture, but the edges of an edge list or loop, which draw below as one line
+        const edgeFixtures = this.edgeListFixtures;
+        this.getFixtureList().forEach((fixture)=>
+        {
+            if (!edgeFixtures.has(box2d.instance.getPointer(fixture)))
+                box2d.drawFixture(fixture, this.pos, this.angle, color, lineColor, lineWidth, useWebGL, context);
+        });
+
+        // draw edges using a single draw line for better connections
+        this.edgeLists.forEach(points=>
+            drawLineList(points, lineWidth, lineColor, false, this.pos, this.angle, useWebGL, false, context));
+        this.edgeLoops.forEach(points=>
+            drawLineList(points, lineWidth, lineColor, true, this.pos, this.angle, useWebGL, false, context));
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // physics contact callbacks
+
+    /** Called when a contact begins, while the world steps: a destroy or a setter waits until the step is done,
+     *  and creating objects, fixtures or joints must wait until after the step
+     *  - The fixtures say which shapes touched, the same objects addBox and the others returned, so a small sensor
+     *    under a player's feet can tell standing on the ground from touching a wall
+     *  @param {Box2dObject} otherObject
+     *  @param {Object} [fixture] - This object's fixture that touched
+     *  @param {Object} [otherFixture] - The other object's fixture that touched */
+    beginContact(otherObject, fixture, otherFixture) {}
+
+    /** Called when a contact ends, while the world steps or a body is destroyed: a destroy or a setter waits
+     *  until the step is done, and creating objects, fixtures or joints must wait until after the step
+     *  @param {Box2dObject} otherObject
+     *  @param {Object} [fixture] - This object's fixture that touched
+     *  @param {Object} [otherFixture] - The other object's fixture that touched */
+    endContact(otherObject, fixture, otherFixture) {}
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // physics fixtures and shapes
+
+    /** Add a shape fixture to the body
+     *  @param {Object} shape
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addShape(shape, density=1, friction=.2, restitution=0, isSensor=false)
+    {
+        ASSERT(isNumber(density), 'density must be a number');
+        ASSERT(isNumber(friction), 'friction must be a number');
+        ASSERT(isNumber(restitution), 'restitution must be a number');
+        ASSERT(!box2d.world.IsLocked(), 'cannot create Box2D fixtures during a contact callback');
+
+        // Box2D copies the def and the shape
+        const fd = new box2d.instance.b2FixtureDef();
+        fd.set_shape(shape);
+        fd.set_density(density);
+        fd.set_friction(friction);
+        fd.set_restitution(restitution);
+        fd.set_isSensor(isSensor);
+        const fixture = this.body.CreateFixture(fd);
+        box2d.instance.destroy(fd);
+        return fixture;
+    }
+
+    /** Add a box shape to the body
+     *  @param {Vector2} [size]
+     *  @param {Vector2} [offset]
+     *  @param {number}  [angle] - LittleJS convention (clockwise positive).
+     *      Negated internally to match Box2D's CCW-positive convention so the
+     *      fixture aligns with the same angle passed to drawRect/drawTile.
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addBox(size=vec2(1), offset=vec2(), angle=0, density, friction, restitution, isSensor)
+    {
+        ASSERT(isVector2(size), 'size must be a Vector2');
+        ASSERT(size.x > 0 && size.y > 0, 'size must be positive');
+        ASSERT(isVector2(offset), 'offset must be a Vector2');
+        ASSERT(isNumber(angle), 'angle must be a number');
+
+        // Box2D stops for good on a box with almost no area, like addPoly no fixture is made from one
+        ASSERT(size.x * size.y > 1e-6, 'box is too small for Box2D');
+        if (!(size.x * size.y > 1e-6)) return;
+
+        const shape = new box2d.instance.b2PolygonShape();
+        shape.SetAsBox(size.x/2, size.y/2, box2dTemp(offset), -angle);
+        const fixture = this.addShape(shape, density, friction, restitution, isSensor);
+        box2d.instance.destroy(shape); // the fixture has its own copy
+        return fixture;
+    }
+
+    /** Add a polygon shape to the body, the convex hull of its points; Box2D takes 3 to 8 points,
+     *  not all in a line, and no fixture is made from any other; points closer than .001 count as one
+     *  @param {Array<Vector2>} points
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addPoly(points, density, friction, restitution, isSensor)
+    {
+        ASSERT(isArray(points), 'points must be an array');
+
+        function box2dCreatePolygonShape(points)
+        {
+            // Box2D stops for good on two hull points that nearly meet, like a loop whose last point is its first
+            points = points.filter((p, i)=> points.slice(0, i).every(q=> p.distanceSquared(q) > 1e-6));
+
+            // Box2D stops for good on a polygon it cannot take, so one with too many points or no area makes none;
+            // it takes the convex hull, which is at least as big as the biggest triangle of the points
+            let area = 0; // twice the biggest triangle's
+            if (3 <= points.length && points.length <= 8)
+                for (const a of points) for (const b of points) for (const c of points)
+                    area = max(area, abs(b.subtract(a).cross(c.subtract(a))));
+            ASSERT(area >= 1e-6, 'Box2D polygons need 3 to 8 points, not all in a line');
+            if (!(area >= 1e-6)) return;
+
+            const buffer = box2d.instance._malloc(points.length * 8);
+            for (let i=0, offset=0; i<points.length; ++i)
+            {
+                box2d.instance.HEAPF32[buffer + offset >> 2] = points[i].x;
+                offset += 4;
+                box2d.instance.HEAPF32[buffer + offset >> 2] = points[i].y;
+                offset += 4;
+            }
+            const box2dPoints = box2d.instance.wrapPointer(buffer, box2d.instance.b2Vec2);
+            const shape = new box2d.instance.b2PolygonShape();
+            shape.Set(box2dPoints, points.length);
+            box2d.instance._free(buffer);
+            return shape;
+        }
+
+        const shape = box2dCreatePolygonShape(points);
+        if (!shape) return;
+        const fixture = this.addShape(shape, density, friction, restitution, isSensor);
+        box2d.instance.destroy(shape); // the fixture has its own copy
+        return fixture;
+    }
+
+    /** Add a regular polygon shape to the body
+     *  @param {number}  [diameter]
+     *  @param {number}  [sides] - 3 to 8, the most Box2D polygons have
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addRegularPoly(diameter=1, sides=8, density, friction, restitution, isSensor)
+    {
+        ASSERT(isNumber(diameter) && diameter>0, 'diameter must be a positive number');
+        ASSERT(isNumber(sides) && sides>2, 'sides must be a positive number greater than 2');
+        ASSERT(sides <= 8, 'Box2D polygons have at most 8 sides');
+        sides = min(sides, 8); // more would stop Box2D for good
+
+        const points = [];
+        const radius = diameter/2;
+        for (let i=sides; i--;)
+            points.push(vec2(radius,0).rotate((i+.5)/sides*PI*2));
+        return this.addPoly(points, density, friction, restitution, isSensor);
+    }
+
+    /** Add a random polygon shape to the body
+     *  @param {number}  [diameter]
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addRandomPoly(diameter=1, density, friction, restitution, isSensor)
+    {
+        ASSERT(isNumber(diameter) && diameter>0, 'diameter must be a positive number');
+
+        const sides = randInt(3, 9);
+        const points = [];
+        const radius = diameter/2;
+        for (let i=sides; i--;)
+            points.push(vec2(rand(radius/2,radius*1.5),0).rotate(i/sides*PI*2));
+        return this.addPoly(points, density, friction, restitution, isSensor);
+    }
+
+    /** Add a circle shape to the body
+     *  @param {number}  [diameter]
+     *  @param {Vector2} [offset]
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addCircle(diameter=1, offset=vec2(), density, friction, restitution, isSensor)
+    {
+        ASSERT(isNumber(diameter) && diameter>0, 'diameter must be a positive number');
+        ASSERT(isVector2(offset), 'offset must be a Vector2');
+        
+        const shape = new box2d.instance.b2CircleShape();
+        shape.set_m_p(box2dTemp(offset));
+        shape.set_m_radius(diameter/2);
+        const fixture = this.addShape(shape, density, friction, restitution, isSensor);
+        box2d.instance.destroy(shape); // the fixture has its own copy
+        return fixture;
+    }
+
+    /** Add an edge shape to the body
+     *  @param {Vector2} point1
+     *  @param {Vector2} point2
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addEdge(point1, point2, density, friction, restitution, isSensor)
+    {
+        ASSERT(isVector2(point1), 'point1 must be a Vector2');
+        ASSERT(isVector2(point2), 'point2 must be a Vector2');
+
+        const shape = new box2d.instance.b2EdgeShape();
+        shape.Set(box2dTemp(point1), box2dTemp(point2, 1));
+        const fixture = this.addShape(shape, density, friction, restitution, isSensor);
+        box2d.instance.destroy(shape); // the fixture has its own copy
+        return fixture;
+    }
+
+    /** Add an edge list to the body
+     *  @param {Array<Vector2>} points
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addEdgeList(points, density, friction, restitution, isSensor)
+    {
+        ASSERT(isArray(points), 'points must be an array');
+        points = box2dEdgePoints(points);
+        const fixtures = [], edgePoints = [];
+        if (points.length < 2) return fixtures;
+        for (let i=0; i<points.length-1; ++i)
+        {
+            // the ghost vertices, where there is a neighbor, make the edges one smooth surface
+            const shape = new box2d.instance.b2EdgeShape();
+            points[i-1] && shape.set_m_vertex0(box2dTemp(points[i-1]));
+            points[i+0] && shape.set_m_vertex1(box2dTemp(points[i+0]));
+            points[i+1] && shape.set_m_vertex2(box2dTemp(points[i+1]));
+            points[i+2] && shape.set_m_vertex3(box2dTemp(points[i+2]));
+            shape.set_m_hasVertex0(!!points[i-1]);
+            shape.set_m_hasVertex3(!!points[i+2]);
+            const f = this.addShape(shape, density, friction, restitution, isSensor);
+            box2d.instance.destroy(shape); // the fixture has its own copy
+            fixtures.push(f);
+            edgePoints.push(points[i].copy());
+        }
+        edgePoints.push(points[points.length-1].copy());
+        this.edgeLists.push(edgePoints);
+        fixtures.forEach(f=> this.edgeListFixtures.set(box2d.instance.getPointer(f), edgePoints));
+        return fixtures;
+    }
+
+    /** Add an edge loop to the body, an edge loop connects the end points
+     *  @param {Array<Vector2>} points
+     *  @param {number}  [density]
+     *  @param {number}  [friction]
+     *  @param {number}  [restitution]
+     *  @param {boolean} [isSensor] */
+    addEdgeLoop(points, density, friction, restitution, isSensor)
+    {
+        ASSERT(isArray(points), 'points must be an array');
+        points = box2dEdgePoints(points, true);
+        const fixtures = [], edgePoints = [];
+        if (points.length < 2) return fixtures;
+        const getPoint = i=> points[mod(i,points.length)];
+        for (let i=0; i<points.length; ++i)
+        {
+            const shape = new box2d.instance.b2EdgeShape();
+            shape.set_m_vertex0(box2dTemp(getPoint(i-1)));
+            shape.set_m_vertex1(box2dTemp(getPoint(i+0)));
+            shape.set_m_vertex2(box2dTemp(getPoint(i+1)));
+            shape.set_m_vertex3(box2dTemp(getPoint(i+2)));
+            shape.set_m_hasVertex0(true);
+            shape.set_m_hasVertex3(true);
+            const f = this.addShape(shape, density, friction, restitution, isSensor);
+            box2d.instance.destroy(shape); // the fixture has its own copy
+            fixtures.push(f);
+            edgePoints.push(points[i].copy());
+        }
+        this.edgeLoops.push(edgePoints);
+        fixtures.forEach(f=> this.edgeListFixtures.set(box2d.instance.getPointer(f), edgePoints));
+        return fixtures;
+    }
+
+    /** Destroy a fixture from the body, from a contact callback once the step is done
+     *  @param {Object} fixture */
+    destroyFixture(fixture)
+    {
+        const pointer = box2d.instance.getPointer(fixture);
+
+        // an edge list or loop that loses a fixture is no longer one line, what is left of it draws edge by edge
+        const edgeFixtures = this.edgeListFixtures, points = edgeFixtures.get(pointer);
+        if (points)
+        {
+            this.edgeLists = this.edgeLists.filter(p=> p !== points);
+            this.edgeLoops = this.edgeLoops.filter(p=> p !== points);
+            edgeFixtures.forEach((p, pointer)=> p === points && edgeFixtures.delete(pointer));
+        }
+
+        // not once the body is gone, which takes its fixtures with it, or once the fixture is,
+        // since a second destroy of it, like one from each of two contacts in a step, stops Box2D for good
+        box2dWhenUnlocked(()=> this.body && this.getFixtureList().some(f=> box2d.instance.getPointer(f) === pointer)
+            && this.body.DestroyFixture(fixture));
+    }
+
+    /** Destroy all fixtures from the body, from a contact callback once the step is done */
+    destroyAllFixtures()
+    {
+        // the fixtures it has now, each destroyed if still there, in one pass so a big tile layer rebuilds quickly
+        this.edgeLists = [];
+        this.edgeLoops = [];
+        this.edgeListFixtures.clear();
+        const fixtures = this.getFixtureList(), getPointer = box2d.instance.getPointer;
+        box2dWhenUnlocked(()=>
+        {
+            if (!this.body) return;
+            const alive = new Set(this.getFixtureList().map(getPointer));
+            for (const fixture of fixtures)
+                alive.has(getPointer(fixture)) && this.body.DestroyFixture(fixture);
+        });
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // physics get functions
+
+    /** Gets the center of mass in world space
+     *  @return {Vector2} */
+    getCenterOfMass() { return box2d.vec2From(this.body.GetWorldCenter()); }
+
+    /** Gets the linear velocity
+     *  @return {Vector2} */
+    getLinearVelocity() { return box2d.vec2From(this.body.GetLinearVelocity()); }
+
+    /** Gets the angular velocity, clockwise like angle
+     *  @return {number} */
+    getAngularVelocity() { return -this.body.GetAngularVelocity(); } // box2d uses reverse angle
+
+    /** Gets the mass
+     *  @return {number} */
+    getMass() { return this.body.GetMass(); }
+
+    /** Gets the rotational inertia about the center of mass
+     *  @return {number} */
+    getInertia()
+    {
+        // Box2D gives it about the body origin
+        const center = this.body.GetLocalCenter();
+        return max(0, Math.fround(this.body.GetInertia() - box2dCenterInertia(this.getMass(), center.get_x(), center.get_y())));
+    }
+
+    /** Check if this object is awake
+     *  @return {boolean} */
+    getIsAwake() { return this.body.IsAwake(); }
+
+    /** Gets the physics body type
+     *  @return {number} */
+    getBodyType() { return this.body.GetType(); }
+    
+    /** Get the speed of this object
+     *  @return {number} */
+    getSpeed() { return this.getLinearVelocity().length(); }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // physics set functions
+
+    /** Sets the position and angle, from a contact callback the body moves once the step is done
+     *  @param {Vector2} pos
+     *  @param {number} angle */
+    setTransform(pos, angle)
+    {
+        this.pos = pos.copy();
+        this.angle = angle;
+        // box2d uses reverse angle
+        const x = pos.x, y = pos.y;
+        box2dWhenUnlocked(()=>
+        {
+            if (!this.body) return;
+            this.body.SetTransform(box2dTemp(vec2(x, y)), -angle);
+            box2dWakeWithContacts(this.body); // Box2D leaves a sleeping body, and what rests on it, in the air
+        });
+    }
+    
+    /** Sets the position, from a contact callback the body moves once the step is done, keeping the angle it has then
+     *  @param {Vector2} pos */
+    setPosition(pos)
+    {
+        this.pos = pos.copy();
+        const x = pos.x, y = pos.y;
+        box2dWhenUnlocked(()=>
+        {
+            if (!this.body) return;
+            this.body.SetTransform(box2dTemp(vec2(x, y)), this.body.GetAngle());
+            box2dWakeWithContacts(this.body);
+        });
+    }
+
+    /** Sets the angle, from a contact callback the body turns once the step is done, keeping the position it has then
+     *  @param {number} angle */
+    setAngle(angle)
+    {
+        this.angle = angle;
+        box2dWhenUnlocked(()=>
+        {
+            if (!this.body) return;
+            this.body.SetTransform(this.body.GetPosition(), -angle); // box2d uses reverse angle
+            box2dWakeWithContacts(this.body);
+        });
+    }
+
+    /** Sets the linear velocity
+     *  @param {Vector2} velocity */
+    setLinearVelocity(velocity)
+    { this.body.SetLinearVelocity(box2dTemp(velocity)); }
+
+    /** Sets the angular velocity, clockwise like angle
+     *  @param {number} angularVelocity */
+    setAngularVelocity(angularVelocity)
+    { this.body.SetAngularVelocity(-angularVelocity); }
+
+    /** Sets the linear damping
+     *  @param {number} damping */
+    setLinearDamping(damping)
+    { this.body.SetLinearDamping(damping); }
+
+    /** Sets the angular damping
+     *  @param {number} damping */
+    setAngularDamping(damping)
+    { this.body.SetAngularDamping(damping); }
+
+    /** Sets the gravity scale
+     *  @param {number} [scale] */
+    setGravityScale(scale=1)
+    {
+        this.body.SetGravityScale(this.gravityScale = scale);
+        this.body.SetAwake(true); // a sleeping body would not feel it
+    }
+
+    /** Should be like a bullet for continuous collision detection?
+     *  @param {boolean} [isBullet] */
+    setBullet(isBullet=true) { this.body.SetBullet(isBullet); }
+
+    /** Set the sleep state of the body
+     *  @param {boolean} [isAwake] */
+    setAwake(isAwake=true) { this.body.SetAwake(isAwake); }
+    
+    /** Set the physics body type, from a contact callback it changes once the step is done
+     *  @param {number} type */
+    setBodyType(type) { box2dWhenUnlocked(()=> this.body && this.body.SetType(type)); }
+
+    /** Set whether the body is allowed to sleep
+     *  @param {boolean} [isAllowed] */
+    setSleepingAllowed(isAllowed=true)
+    { this.body.SetSleepingAllowed(isAllowed); }
+    
+    /** Set whether the body can rotate
+     *  @param {boolean} [isFixed] */
+    setFixedRotation(isFixed=true)
+    {
+        this.body.SetFixedRotation(isFixed);
+        this.body.SetAwake(true); // a sleeping body would not tip over once it can turn
+    }
+
+    /** Set the center of mass of the body, local to it
+     *  @param {Vector2} center */
+    setCenterOfMass(center) { this.setMassData(center) }
+
+    /** Set the mass of the body
+     *  @param {number} mass */
+    setMass(mass) { this.setMassData(undefined, mass) }
+    
+    /** Set the moment of inertia of the body, about its center of mass
+     *  @param {number} momentOfInertia */
+    setMomentOfInertia(momentOfInertia)
+    { this.setMassData(undefined, undefined, momentOfInertia) }
+
+    /** Reset the mass, center of mass, and moment, from a contact callback once the step is done */
+    resetMassData() { box2dWhenUnlocked(()=> this.body && this.body.ResetMassData()); }
+
+    /** Set the mass data of the body, from a contact callback once the step is done;
+     *  a mass of 0 or less becomes 1, use setBodyType for a static body; call it after adding fixtures and after
+     *  setFixedRotation, both of which put the mass back to what the fixtures give
+     *  @param {Vector2} [localCenter]
+     *  @param {number}  [mass]
+     *  @param {number}  [momentOfInertia] - About the center of mass */
+    setMassData(localCenter, mass, momentOfInertia)
+    {
+        localCenter = localCenter && localCenter.copy(); // as it is now, even if it waits for the step
+        box2dWhenUnlocked(()=>
+        {
+            if (!this.body) return;
+            const data = box2dQueryObject('massData', 'b2MassData'); // reused, GetMassData fills it in
+            this.body.GetMassData(data);
+
+            // Box2D's inertia is about the body origin, so it is turned to the center of mass and back; kept as
+            // it was, one for the old mass and center goes below 0 about the new ones, which stops Box2D for good
+            const center = data.get_center(), oldMass = data.get_mass();
+            const cx = localCenter ? localCenter.x : center.get_x(), cy = localCenter ? localCenter.y : center.get_y();
+            // it is worked out in float32 as Box2D does it, which must come out above 0 or the rotation is locked
+            const f = Math.fround;
+            const oldInertia = f(data.get_I() - box2dCenterInertia(oldMass, center.get_x(), center.get_y()));
+            const inertia = momentOfInertia ?? oldInertia;
+            mass ??= oldMass;
+            const offset = box2dCenterInertia(mass > 0 ? mass : 1, cx, cy); // a mass of 0 or less is 1 to Box2D
+            const I = f(inertia + offset);
+            data.set_mass(mass);
+            data.set_center(box2dTemp(vec2(cx, cy)));
+            data.set_I(inertia > 0 && f(I - offset) > 0 ? I : 0);
+            this.body.SetMassData(data);
+            this.body.SetAwake(true); // a sleeping body would not tip over a new center of mass
+        });
+    }
+
+    /** Set the collision filter data for the fixtures this body has now, a fixture added later has the default
+     *  filter, category 1 colliding with everything
+     *  @param {number} [categoryBits]
+     *  @param {number} [ignoreCategoryBits]
+     *  @param {number} [groupIndex] */
+    setFilterData(categoryBits=1, ignoreCategoryBits=0, groupIndex=0)
+    {
+        this.getFixtureList().forEach(fixture=>
+        {
+            const filter = fixture.GetFilterData();
+            filter.set_categoryBits(categoryBits);
+            filter.set_maskBits(0xffff & ~ignoreCategoryBits);
+            filter.set_groupIndex(groupIndex);
+            fixture.SetFilterData(filter); // applies and refilters contacts
+        });
+    }
+
+    /** Set if this body is a sensor
+     *  @param {boolean} [isSensor] */
+    setSensor(isSensor=true)
+    {
+        this.getFixtureList().forEach(f=>f.SetSensor(isSensor));
+        box2dWakeWithContacts(this.body); // what rests on it or sits in it moves again, a sleeping pair never updates
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // physics force and torque functions
+
+    /** Apply force to this object
+     *  @param {Vector2} force
+     *  @param {Vector2} [pos] */
+    applyForce(force, pos)
+    {
+        pos ||= this.getCenterOfMass();
+        this.setAwake();
+        this.body.ApplyForce(box2dTemp(force), box2dTemp(pos, 1));
+    }
+
+    /** Apply acceleration to this object (changes velocity by acceleration,
+     *  mass-independent like EngineObject.applyAcceleration, but in units per second).
+     *  Use applyImpulse if you want the mass-dependent velocity change
+     *  Δv = impulse / mass, or applyForce for a Newton-style sustained force.
+     *  @param {Vector2} acceleration
+     *  @param {Vector2} [pos] */
+    applyAcceleration(acceleration, pos)
+    {
+        pos ||= this.getCenterOfMass();
+        this.setAwake();
+        const impulse = acceleration.scale(this.getMass());
+        this.body.ApplyLinearImpulse(box2dTemp(impulse), box2dTemp(pos, 1));
+    }
+
+    /** Apply an instantaneous linear impulse. Changes velocity immediately by
+     *  impulse / mass (so heavier bodies move less for the same impulse).
+     *  @param {Vector2} impulse
+     *  @param {Vector2} [pos] */
+    applyImpulse(impulse, pos)
+    {
+        pos ||= this.getCenterOfMass();
+        this.setAwake();
+        this.body.ApplyLinearImpulse(box2dTemp(impulse), box2dTemp(pos, 1));
+    }
+
+    /** Apply torque to this object, clockwise like angle
+     *  @param {number} torque */
+    applyTorque(torque)
+    {
+        this.setAwake();
+        this.body.ApplyTorque(-torque);
+    }
+
+    /** Apply angular acceleration to this object (changes angular velocity by
+     *  acceleration, mass-independent, clockwise — matches EngineObject.applyAngularAcceleration).
+     *  @param {number} acceleration */
+    applyAngularAcceleration(acceleration)
+    {
+        // the velocity itself, since the inertia Box2D gives is about the origin, not the center of mass;
+        // like the impulse this was, only a dynamic body turns
+        if (this.getBodyType() !== box2d.bodyTypeDynamic || this.body.IsFixedRotation()) return;
+        this.setAwake();
+        this.setAngularVelocity(this.getAngularVelocity() + acceleration);
+    }
+
+    /** Apply an instantaneous angular impulse. Changes angular velocity by
+     *  impulse / inertia immediately, clockwise like angle.
+     *  @param {number} impulse */
+    applyAngularImpulse(impulse)
+    {
+        this.setAwake();
+        this.body.ApplyAngularImpulse(-impulse);
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // lists of fixtures and joints
+
+    /** Check if this object has any fixtures
+     *  @return {boolean} */
+    hasFixtures() { return !box2d.isNull(this.body.GetFixtureList()); }
+
+    /** Get list of fixtures for this object
+     *  @return {Array<Object>} */
+    getFixtureList()
+    {
+        const fixtures = [];
+        for (let fixture=this.body.GetFixtureList(); !box2d.isNull(fixture); )
+        {
+            fixtures.push(fixture);
+            fixture = fixture.GetNext();
+        }
+        return fixtures;
+    }
+
+    /** Check if this object has any joints
+     *  @return {boolean} */
+    hasJoints() { return this.getJointList().length > 0; } // not the ones destroyed and waiting for the step to end
+    
+    /** Get list of joints for this object, the Box2dJoint for each one made through LittleJS,
+     *  and the Box2D joint, cast to its type, for any made on the world directly
+     *  @return {Array<Box2dJoint|Object>} */
+    getJointList()
+    {
+        // the body keeps a list of edges, each holding a joint and the next edge
+        const joints = [];
+        for (let edge=this.body.GetJointList(); !box2d.isNull(edge); edge = edge.get_next())
+        {
+            const joint = edge.get_joint(), wrapper = box2dJoints.get(box2d.instance.getPointer(joint));
+            if (wrapper && !wrapper.box2dJoint)
+                continue; // destroyed in a contact callback, Box2D lets go of it once the step is done
+            joints.push(wrapper || box2d.castJointObject(joint));
+        }
+        return joints;
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Static Object - Box2d with a static physics body
+ * @extends Box2dObject
+ * @memberof Box2D
+ */
+class Box2dStaticObject extends Box2dObject 
+{
+    /** Create a LittleJS object with Box2d physics
+     *  @param {Vector2}  [pos]
+     *  @param {Vector2}  [size]
+     *  @param {TileInfo} [tileInfo]
+     *  @param {number}   [angle]
+     *  @param {Color}    [color]
+     *  @param {number}   [renderOrder] */
+    constructor(pos, size, tileInfo, angle=0, color, renderOrder=0)
+    {
+        const bodyType = box2d.bodyTypeStatic;
+        super(pos, size, tileInfo, angle, color, bodyType, renderOrder);
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Kinematic Object - Box2d with a kinematic physics body
+ * @extends Box2dObject
+ * @memberof Box2D
+ */
+class Box2dKinematicObject extends Box2dObject 
+{
+    /** Create a LittleJS object with Box2d physics
+     *  @param {Vector2}  [pos]
+     *  @param {Vector2}  [size]
+     *  @param {TileInfo} [tileInfo]
+     *  @param {number}   [angle]
+     *  @param {Color}    [color]
+     *  @param {number}   [renderOrder] */
+    constructor(pos, size, tileInfo, angle=0, color, renderOrder=0)
+    {
+        const bodyType = box2d.bodyTypeKinematic;
+        super(pos, size, tileInfo, angle, color, bodyType, renderOrder);
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/**
+ * Box2d Tile Layer
+ * - adds Box2d support to tile layers
+ * - creates static box2d fixtures for solid tiles, call buildCollision to rebuild them after the tiles change
+ * @extends Box2dStaticObject
+ * @memberof Box2D
+ */
+class Box2dTileLayer extends Box2dStaticObject
+{
+    /** Create a Box2d tile layer object
+    *  @param {TileCollisionLayer} tileLayer - Tile layer for this object */
+    constructor(tileLayer)
+    {
+        ASSERT(tileLayer instanceof TileCollisionLayer, 'tileLayer must be a TileCollisionLayer');
+        super(tileLayer.pos, tileLayer.size);
+
+        /** @property {TileCollisionLayer} - The tile layer */
+        this.tileLayer = tileLayer;
+        this.addChild(tileLayer);
+
+        // collision for the solid tiles it has now, call buildCollision again after changing them
+        this.buildCollision();
+    }
+
+    render()
+    {
+        // do not render fixtures, tile layer handles rendering
+    }
+    
+    /** Create box2d collision fixtures for solid tiles
+    *  @param {number} [friction]
+    *  @param {number} [restitution] */
+    buildCollision(friction=.2, restitution=0)
+    {
+        // destroy all fixtures and create new ones
+        this.destroyAllFixtures();
+
+        // track which tiles have been processed
+        const processed = [];
+        const getIndex = (x, y)=> x + y * this.size.x;
+        const isSolidUnprocessed = (x, y)=>
+            !processed[getIndex(x, y)] &&
+            this.tileLayer.getCollisionData(vec2(x, y)) > 0;
+
+        // combine tiles into larger boxes
+        for (let x = 0; x < this.size.x; ++x)
+        for (let y = 0; y < this.size.y; ++y)
+        {
+            if (!isSolidUnprocessed(x, y)) continue;
+
+            // find max width by scanning right
+            let width = 1, height = 1, canExpand = true;
+            while (isSolidUnprocessed(x + width, y))
+                ++width;
+
+            // find max height by scanning up, ensuring all rows have the same width
+            while (canExpand)
+            {
+                for (let checkX = 0; checkX < width; ++checkX)
+                {
+                    if (!isSolidUnprocessed(x + checkX, y + height))
+                    {
+                        canExpand = false;
+                        break;
+                    }
+                }
+                if (canExpand)
+                    ++height;
+            }
+
+            // mark all tiles in this rectangle as processed
+            for (let rectX = width;  rectX--;)
+            for (let rectY = height; rectY--;)
+                processed[getIndex(x + rectX, y + rectY)] = true;
+
+            // create a single fixture for the entire rectangle
+            const shapeSize = vec2(width, height);
+            const offset = vec2(x + width/2, y + height/2);
+            this.addBox(shapeSize, offset, 0, 0, friction, restitution);
+        }
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Raycast Result
+ * - Holds results from a box2d raycast queries
+ * - Automatically created by box2d raycast functions
+ * @memberof Box2D
+ */
+class Box2dRaycastResult
+{
+    /** Create a raycast result
+     *  @param {Object}  fixture
+     *  @param {Vector2} point
+     *  @param {Vector2} normal
+     *  @param {number}  fraction */
+    constructor(fixture, point, normal, fraction)
+    {
+        /** @property {Box2dObject} - The box2d object
+         *  @type {Box2dObject} */
+        this.object   = fixture.GetBody().object;
+        /** @property {Object} - The fixture that was hit */
+        this.fixture  = fixture;
+        /** @property {Vector2} - The hit point */
+        this.point    = point;
+        /** @property {Vector2} - The hit normal */
+        this.normal   = normal;
+        /** @property {number} - Distance fraction at the point of intersection */
+        this.fraction = fraction;
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Joint
+ * - Base class for Box2D joints 
+ * - A joint is used to connect objects together
+ * - Angular values are clockwise like angle: joint angles and speeds, limits, motor speeds and torques
+ * @memberof Box2D
+ */
+class Box2dJoint
+{
+    /** Create a box2d joint, the base class is not intended to be used directly
+     *  @param {Object} jointDef - Freed once the joint is made, Box2D copies it */
+    constructor(jointDef)
+    {
+        ASSERT(!box2d.world.IsLocked(), 'cannot create Box2D joints during a contact callback');
+        const bodyA = jointDef.get_bodyA(), bodyB = jointDef.get_bodyB();
+        const bothLive = !box2d.isNull(bodyA) && !box2d.isNull(bodyB);
+        ASSERT(bothLive, 'a joint needs two objects that are not destroyed');
+        ASSERT(box2d.instance.getPointer(bodyA) !== box2d.instance.getPointer(bodyB), 'a joint needs two different objects');
+
+        /** @property {Object} - The Box2d joint, 0 once it is destroyed, as it is when either object is */
+        this.box2dJoint = 0;
+        if (!bothLive)
+        {
+            // one of its objects is gone, so it is made destroyed, as it would be had it gone after
+            box2d.instance.destroy(jointDef);
+            return;
+        }
+        this.box2dJoint = box2d.castJointObject(box2d.world.CreateJoint(jointDef));
+        box2d.instance.destroy(jointDef);
+        box2dJoints.set(box2d.instance.getPointer(this.box2dJoint), this);
+    }
+
+    /** Destroy this joint */
+    destroy()
+    {
+        const joint = this.box2dJoint;
+        if (!joint) return; // destroyed already, or with one of its objects
+        this.box2dJoint = 0;
+        box2dDestroyGears(this);
+
+        // a body destroyed before it, in the same step, takes the joint with it and lets go of it here
+        const pointer = box2d.instance.getPointer(joint);
+        box2dWhenUnlocked(()=>
+        {
+            if (box2dJoints.get(pointer) !== this) return;
+            box2dJoints.delete(pointer);
+            box2d.world.DestroyJoint(joint);
+        });
+    }
+
+    /** Get the first object attached to this joint
+     *  @return {Box2dObject} */
+    getObjectA() { return this.box2dJoint.GetBodyA().object; }
+    
+    /** Get the second object attached to this joint
+     *  @return {Box2dObject} */
+    getObjectB() { return this.box2dJoint.GetBodyB().object; }
+    
+    /** Get the first anchor for this joint in world coordinates
+     *  @return {Vector2} */
+    getAnchorA() { return box2d.vec2From(this.box2dJoint.GetAnchorA());}
+
+    /** Get the second anchor for this joint in world coordinates
+     *  @return {Vector2} */
+    getAnchorB() { return box2d.vec2From(this.box2dJoint.GetAnchorB());}
+    
+    /** Get the reaction force on bodyB at the joint anchor over the last step
+     *  @param {number} [time] - The step length in seconds, the world steps by timeDelta
+     *  @return {Vector2} */
+    getReactionForce(time=timeDelta)  { return box2d.vec2From(this.box2dJoint.GetReactionForce(1/time));}
+
+    /** Get the reaction torque on bodyB in N*m over the last step, clockwise like angle
+     *  @param {number} [time] - The step length in seconds, the world steps by timeDelta
+     *  @return {number} */
+    getReactionTorque(time=timeDelta) { return -this.box2dJoint.GetReactionTorque(1/time);} // box2d uses reverse angle
+    
+    /** Check if the connected bodies should collide
+     *  @return {boolean} */
+    getCollideConnected()   { return this.box2dJoint.GetCollideConnected();}
+
+    /** Check if either connected body is active
+     *  @return {boolean} */
+    isActive() { return !!this.box2dJoint && this.box2dJoint.IsActive(); }
+
+    /** Check if the joint is gone, destroyed or taken along with one of its objects; its other methods can not be used then
+     *  @return {boolean} */
+    isDestroyed() { return !this.box2dJoint; }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Target Joint, also known as a mouse joint
+ * - Used to make a point on a object track a specific world point target
+ * - This a soft constraint with a max force
+ * - This allows the constraint to stretch and without applying huge forces
+ * - The object must be dynamic, and stay dynamic while the joint holds it, Box2D stops for good on one with no mass
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dTargetJoint extends Box2dJoint
+{
+    /** Create a target joint
+     *  @param {Box2dObject} object
+     *  @param {Box2dObject} fixedObject
+     *  @param {Vector2} worldPos */
+    constructor(object, fixedObject, worldPos)
+    {
+        ASSERT(object.getBodyType() === box2d.bodyTypeDynamic, 'a target joint needs a dynamic object');
+        object.setAwake();
+        const jointDef = new box2d.instance.b2MouseJointDef();
+        jointDef.set_bodyA(fixedObject.body);
+        jointDef.set_bodyB(object.body);
+        jointDef.set_target(box2dTemp(worldPos));
+        jointDef.set_maxForce(2e3 * object.getMass());
+        super(jointDef);
+    }
+
+    /** Set the target point in world coordinates
+     *  @param {Vector2} pos */
+    setTarget(pos) { this.box2dJoint.SetTarget(box2dTemp(pos)); }
+    
+    /** Get the target point in world coordinates
+     *  @return {Vector2} */
+    getTarget(){ return box2d.vec2From(this.box2dJoint.GetTarget()); }
+
+    /** Sets the maximum force in Newtons
+     *  @param {number} force */
+    setMaxForce(force) { this.box2dJoint.SetMaxForce(force); box2dWakeJoint(this.box2dJoint); }
+    
+    /** Gets the maximum force in Newtons
+     *  @return {number} */
+    getMaxForce() { return this.box2dJoint.GetMaxForce(); }
+    
+    /** Sets the joint frequency in Hertz, above 0, Box2D stops for good on 0
+     *  @param {number} hz */
+    setFrequency(hz) { this.box2dJoint.SetFrequency(max(hz, 1e-3)); box2dWakeJoint(this.box2dJoint); }
+    
+    /** Gets the joint frequency in Hertz
+     *  @return {number} */
+    getFrequency() { return this.box2dJoint.GetFrequency(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Distance Joint
+ * - Constrains two points on two objects to remain at a fixed distance
+ * - You can view this as a massless, rigid rod
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dDistanceJoint extends Box2dJoint
+{
+    /** Create a distance joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [anchorA] - World position, objectA's position if not given
+     *  @param {Vector2} [anchorB] - World position, objectB's position if not given
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, anchorA, anchorB, collide=false)
+    {
+        anchorA ||= box2d.vec2From(objectA.body.GetPosition());
+        anchorB ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchorA);
+        const localAnchorB = objectB.worldToLocal(anchorB);
+        const jointDef = new box2d.instance.b2DistanceJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        jointDef.set_length(anchorA.distance(anchorB));
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+    }
+
+    /** Get the local anchor point relative to objectA's origin
+     *  @return {Vector2} */
+    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
+
+    /** Get the local anchor point relative to objectB's origin
+     *  @return {Vector2} */
+    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
+    
+    /** Set the length of the joint
+     *  @param {number} length */
+    setLength(length) { this.box2dJoint.SetLength(length); box2dWakeJoint(this.box2dJoint); }
+    
+    /** Get the length of the joint
+     *  @return {number} */
+    getLength() { return this.box2dJoint.GetLength(); }
+    
+    /** Set the frequency in Hertz
+     *  @param {number} hz */
+    setFrequency(hz) { this.box2dJoint.SetFrequency(hz); box2dWakeJoint(this.box2dJoint); }
+    
+    /** Get the frequency in Hertz
+     *  @return {number} */
+    getFrequency() { return this.box2dJoint.GetFrequency(); }
+    
+    /** Set the damping ratio
+     *  @param {number} ratio */
+    setDampingRatio(ratio) { this.box2dJoint.SetDampingRatio(ratio); box2dWakeJoint(this.box2dJoint); }
+    
+    /** Get the damping ratio
+     *  @return {number} */
+    getDampingRatio() { return this.box2dJoint.GetDampingRatio(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Rope Joint
+ * - Enforces a maximum distance between two points on two objects
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dRopeJoint extends Box2dJoint
+{
+    /** Create a rope joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [anchorA] - World position, objectA's position if not given
+     *  @param {Vector2} [anchorB] - World position, objectB's position if not given
+     *  @param {number} [extraLength]
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, anchorA, anchorB, extraLength=0, collide=false)
+    {
+        anchorA ||= box2d.vec2From(objectA.body.GetPosition());
+        anchorB ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchorA);
+        const localAnchorB = objectB.worldToLocal(anchorB);
+        const jointDef = new box2d.instance.b2RopeJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        jointDef.set_maxLength(anchorA.distance(anchorB)+extraLength);
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+    }
+
+    /** Get the local anchor point relative to objectA's origin
+     *  @return {Vector2} */
+    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
+
+    /** Get the local anchor point relative to objectB's origin
+     *  @return {Vector2} */
+    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
+    
+    /** Set the max length of the joint
+     *  @param {number} length */
+    setMaxLength(length) { this.box2dJoint.SetMaxLength(length); box2dWakeJoint(this.box2dJoint); }
+
+    /** Get the max length of the joint
+     *  @return {number} */
+    getMaxLength() { return this.box2dJoint.GetMaxLength(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Revolute Joint
+ * - Constrains two objects to share a point while they are free to rotate around the point
+ * - The relative rotation about the shared point is the joint angle
+ * - You can limit the relative rotation with a joint limit
+ * - You can use a motor to drive the relative rotation about the shared point
+ * - A maximum motor torque is provided so that infinite forces are not generated
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dRevoluteJoint extends Box2dJoint
+{
+    /** Create a revolute joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [anchor] - World position, objectB's position if not given
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, anchor, collide=false)
+    {
+        anchor ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchor);
+        const localAnchorB = objectB.worldToLocal(anchor);
+        const jointDef = new box2d.instance.b2RevoluteJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        jointDef.set_referenceAngle(objectB.body.GetAngle() - objectA.body.GetAngle());
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+    }
+
+    /** Get the local anchor point relative to objectA's origin
+     *  @return {Vector2} */
+    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
+
+    /** Get the local anchor point relative to objectB's origin
+     *  @return {Vector2} */
+    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
+
+    /** Get the reference angle, objectB angle minus objectA angle in the reference state
+     *  @return {number} */
+    getReferenceAngle() { return -this.box2dJoint.GetReferenceAngle(); } // box2d uses reverse angle
+
+    /** Get the current joint angle, clockwise like angle
+     *  @return {number} */
+    getJointAngle() { return -this.box2dJoint.GetJointAngle(); }
+
+    /** Get the current joint angle speed in radians per second, clockwise like angle
+     *  @return {number} */
+    getJointSpeed() { return -this.box2dJoint.GetJointSpeed(); }
+
+    /** Is the joint limit enabled?
+     *  @return {boolean} */
+    isLimitEnabled() { return this.box2dJoint.IsLimitEnabled(); }
+
+    /** Enable/disable the joint limit
+     *  @param {boolean} [enable] */
+    enableLimit(enable=true) { this.box2dJoint.EnableLimit(enable); }
+
+    /** Get the lower joint limit, clockwise like angle
+     *  @return {number} */
+    getLowerLimit() { return -this.box2dJoint.GetUpperLimit(); } // reversed, so Box2D's upper is the lower
+
+    /** Get the upper joint limit, clockwise like angle
+     *  @return {number} */
+    getUpperLimit() { return -this.box2dJoint.GetLowerLimit(); }
+
+    /** Set the joint limits, clockwise like angle
+     *  @param {number} min
+     *  @param {number} max */
+    setLimits(min, max)
+    {
+        ASSERT(min <= max, 'the lower limit must not be above the upper one');
+        if (min > max) [min, max] = [max, min]; // Box2D stops on them reversed
+        this.box2dJoint.SetLimits(-max, -min);
+    }
+
+    /** Is the joint motor enabled?
+     *  @return {boolean} */
+    isMotorEnabled() { return this.box2dJoint.IsMotorEnabled(); }
+
+    /** Enable/disable the joint motor
+     *  @param {boolean} [enable] */
+    enableMotor(enable=true) { this.box2dJoint.EnableMotor(enable); }
+
+    /** Set the motor speed, clockwise like angle
+     *  @param {number} speed */
+    setMotorSpeed(speed) { this.box2dJoint.SetMotorSpeed(-speed); }
+
+    /** Get the motor speed, clockwise like angle
+     *  @return {number} */
+    getMotorSpeed() { return -this.box2dJoint.GetMotorSpeed(); }
+
+    /** Set the max motor torque, a magnitude
+     *  @param {number} torque */
+    setMaxMotorTorque(torque) { this.box2dJoint.SetMaxMotorTorque(torque); }
+
+    /** Get the max motor torque
+     *  @return {number} */
+    getMaxMotorTorque() { return this.box2dJoint.GetMaxMotorTorque(); }
+
+    /** Get the motor torque over the last step, clockwise like angle
+     *  @param {number} [time] - The step length in seconds, the world steps by timeDelta
+     *  @return {number} */
+    getMotorTorque(time=timeDelta) { return -this.box2dJoint.GetMotorTorque(1/time); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Pin Joint
+ * - Pins two objects together at a point, where they still turn freely, like a nail through two boards
+ * - A revolute joint at that point, so it holds exactly and its limits and motor work too
+ * @extends Box2dRevoluteJoint
+ * @memberof Box2D
+ */
+class Box2dPinJoint extends Box2dRevoluteJoint
+{
+    /** Create a pin joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [pos] - World position, objectA's position if not given
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, pos=objectA.pos, collide=false)
+    {
+        super(objectA, objectB, pos, collide);
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Gear Joint
+ * - A gear joint is used to connect two joints together
+ * - Either joint can be a revolute or prismatic joint
+ * - You specify a gear ratio to bind the motions together
+ * - joint1's angle or translation plus ratio times joint2's stays constant, angles clockwise like angle
+ * - It is destroyed along with either joint, or an object either joint is on
+ * - It turns objectB of each joint, so make each with its fixed or carrying object first, and a dynamic objectB
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dGearJoint extends Box2dJoint
+{
+    /** Create a gear joint
+     *  @param {Box2dObject} objectA - objectB of joint1, Box2D joins that one whatever is passed
+     *  @param {Box2dObject} objectB - objectB of joint2, Box2D joins that one whatever is passed
+     *  @param {Box2dJoint} joint1
+     *  @param {Box2dJoint} joint2
+     *  @param {number} [ratio] */
+    constructor(objectA, objectB, joint1, joint2, ratio=1)
+    {
+        // Box2D's angles are reversed and its translations are not, so a revolute joint geared to a prismatic one
+        // needs the ratio reversed too, two of a kind keep it
+        const isGearable = (j)=> (j instanceof Box2dRevoluteJoint || j instanceof Box2dPrismaticJoint) && !!j.box2dJoint;
+        ASSERT(isGearable(joint1) && isGearable(joint2), 'a gear joint needs two revolute or prismatic joints that exist');
+        // Box2D turns objectB of each joint, with objectA as its carrier, so a static objectB leaves the gear doing nothing
+        ASSERT(joint1.getObjectB()?.getBodyType() === box2d.bodyTypeDynamic &&
+            joint2.getObjectB()?.getBodyType() === box2d.bodyTypeDynamic,
+            'a gear joint turns objectB of each joint, make each joint with its fixed or carrying object first');
+        ASSERT(objectA === joint1.getObjectB() && objectB === joint2.getObjectB(),
+            'a gear joint joins objectB of joint1 and objectB of joint2, pass those');
+        const ratioSign = (joint1 instanceof Box2dRevoluteJoint) === (joint2 instanceof Box2dRevoluteJoint) ? 1 : -1;
+        const jointDef = new box2d.instance.b2GearJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_joint1(joint1.box2dJoint);
+        jointDef.set_joint2(joint2.box2dJoint);
+        jointDef.set_ratio(ratio * ratioSign);
+        super(jointDef);
+
+        this.joint1 = joint1;
+        this.joint2 = joint2;
+        this.ratioSign = ratioSign;
+        box2dGearJoints.add(this);
+    }
+
+    /** Get the first joint
+     *  @return {Box2dJoint} */
+    getJoint1() { return this.joint1; }
+
+    /** Get the second joint
+     *  @return {Box2dJoint} */
+    getJoint2() { return this.joint2; }
+
+    /** Set the gear ratio
+     *  @param {number} ratio */
+    setRatio(ratio) { this.box2dJoint.SetRatio(ratio * this.ratioSign); box2dWakeJoint(this.box2dJoint); }
+
+    /** Get the gear ratio
+     *  @return {number} */
+    getRatio() { return this.box2dJoint.GetRatio() * this.ratioSign; }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Prismatic Joint
+ * - Provides one degree of freedom: translation along an axis fixed in objectA
+ * - Relative rotation is prevented
+ * - You can use a joint limit to restrict the range of motion
+ * - You can use a joint motor to drive the motion or to model joint friction
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dPrismaticJoint extends Box2dJoint
+{
+    /** Create a prismatic joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [anchor] - World position, objectB's position if not given
+     *  @param {Vector2} [worldAxis]
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, anchor, worldAxis=vec2(0,1), collide=false)
+    {
+        anchor ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchor);
+        const localAnchorB = objectB.worldToLocal(anchor);
+        const localAxisA = objectA.worldToLocalVector(worldAxis);
+        const jointDef = new box2d.instance.b2PrismaticJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        jointDef.set_localAxisA(box2dTemp(localAxisA));
+        jointDef.set_referenceAngle(objectB.body.GetAngle() - objectA.body.GetAngle());
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+    }
+
+    /** Get the local anchor point relative to objectA's origin
+     *  @return {Vector2} */
+    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
+
+    /** Get the local anchor point relative to objectB's origin
+     *  @return {Vector2} */
+    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
+
+    /** Get the local joint axis relative to bodyA
+     *  @return {Vector2} */
+    getLocalAxisA() { return box2d.vec2From(this.box2dJoint.GetLocalAxisA()); }
+    
+    /** Get the reference angle, objectB angle minus objectA angle in the reference state
+     *  @return {number} */
+    getReferenceAngle() { return -this.box2dJoint.GetReferenceAngle(); } // box2d uses reverse angle
+
+    /** Get the current joint translation
+     *  @return {number} */
+    getJointTranslation() { return this.box2dJoint.GetJointTranslation(); }
+
+    /** Get the current joint translation speed
+     *  @return {number} */
+    getJointSpeed() { return this.box2dJoint.GetJointSpeed(); }
+    
+    /** Is the joint limit enabled?
+     *  @return {boolean} */
+    isLimitEnabled() { return this.box2dJoint.IsLimitEnabled(); }
+    
+    /** Enable/disable the joint limit
+     *  @param {boolean} [enable] */
+    enableLimit(enable=true) { this.box2dJoint.EnableLimit(enable); }
+    
+    /** Get the lower joint limit
+     *  @return {number} */
+    getLowerLimit() { return this.box2dJoint.GetLowerLimit(); }
+    
+    /** Get the upper joint limit
+     *  @return {number} */
+    getUpperLimit() { return this.box2dJoint.GetUpperLimit(); }
+    
+    /** Set the joint limits
+     *  @param {number} min
+     *  @param {number} max */
+    setLimits(min, max)
+    {
+        ASSERT(min <= max, 'the lower limit must not be above the upper one');
+        if (min > max) [min, max] = [max, min]; // Box2D stops on them reversed
+        this.box2dJoint.SetLimits(min, max);
+    }
+    
+    /** Is the motor enabled?
+     *  @return {boolean} */
+    isMotorEnabled() { return this.box2dJoint.IsMotorEnabled(); }
+    
+    /** Enable/disable the joint motor
+     *  @param {boolean} [enable] */
+    enableMotor(enable=true) { this.box2dJoint.EnableMotor(enable); }
+    
+    /** Set the motor speed
+     *  @param {number} speed */
+    setMotorSpeed(speed) { this.box2dJoint.SetMotorSpeed(speed); }
+    
+    /** Get the motor speed
+     *  @return {number} */
+    getMotorSpeed() { return this.box2dJoint.GetMotorSpeed(); }
+    
+    /** Set the maximum motor force
+     *  @param {number} force */
+    setMaxMotorForce(force) { this.box2dJoint.SetMaxMotorForce(force); }
+    
+    /** Get the maximum motor force
+     *  @return {number} */
+    getMaxMotorForce() { return this.box2dJoint.GetMaxMotorForce(); }
+    
+    /** Get the motor force over the last step
+     *  @param {number} [time] - The step length in seconds, the world steps by timeDelta
+     *  @return {number} */
+    getMotorForce(time=timeDelta) { return this.box2dJoint.GetMotorForce(1/time); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Wheel Joint
+ * - Provides two degrees of freedom: translation along an axis fixed in objectA and rotation
+ * - You can use a joint motor to drive the motion or to model joint friction
+ * - This joint is designed for vehicle suspensions
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dWheelJoint extends Box2dJoint
+{
+    /** Create a wheel joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [anchor] - World position, objectB's position if not given
+     *  @param {Vector2} [worldAxis]
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, anchor, worldAxis=vec2(0,1), collide=false)
+    {
+        anchor ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchor);
+        const localAnchorB = objectB.worldToLocal(anchor);
+        const localAxisA = objectA.worldToLocalVector(worldAxis).normalize(); // Box2D uses the wheel axis as given
+        const jointDef = new box2d.instance.b2WheelJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        jointDef.set_localAxisA(box2dTemp(localAxisA));
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+    }
+
+    /** Get the local anchor point relative to objectA's origin
+     *  @return {Vector2} */
+    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
+
+    /** Get the local anchor point relative to objectB's origin
+     *  @return {Vector2} */
+    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
+
+    /** Get the local joint axis relative to bodyA
+     *  @return {Vector2} */
+    getLocalAxisA() { return box2d.vec2From(this.box2dJoint.GetLocalAxisA()); }
+
+    /** Get the current joint translation
+     *  @return {number} */
+    getJointTranslation() { return this.box2dJoint.GetJointTranslation(); }
+
+    /** Get the current joint rotation speed in radians per second, clockwise like angle,
+     *  which is what this version of Box2D measures for a wheel joint
+     *  @return {number} */
+    getJointSpeed() { return -this.box2dJoint.GetJointSpeed(); } // box2d uses reverse angle
+
+    /** Is the joint motor enabled?
+     *  @return {boolean} */
+    isMotorEnabled() { return this.box2dJoint.IsMotorEnabled(); }
+
+    /** Enable/disable the joint motor
+     *  @param {boolean} [enable] */
+    enableMotor(enable=true) { this.box2dJoint.EnableMotor(enable); }
+
+    /** Set the motor speed, the wheel's turn in radians per second, clockwise like angle
+     *  @param {number} speed */
+    setMotorSpeed(speed) { this.box2dJoint.SetMotorSpeed(-speed); }
+
+    /** Get the motor speed, clockwise like angle
+     *  @return {number} */
+    getMotorSpeed() { return -this.box2dJoint.GetMotorSpeed(); }
+
+    /** Set the maximum motor torque, a magnitude
+     *  @param {number} torque */
+    setMaxMotorTorque(torque) { this.box2dJoint.SetMaxMotorTorque(torque); }
+
+    /** Get the max motor torque
+     *  @return {number} */
+    getMaxMotorTorque() { return this.box2dJoint.GetMaxMotorTorque(); }
+
+    /** Get the motor torque over the last step, clockwise like angle
+     *  @param {number} [time] - The step length in seconds, the world steps by timeDelta
+     *  @return {number} */
+    getMotorTorque(time=timeDelta) { return -this.box2dJoint.GetMotorTorque(1/time); }
+
+    /** Set the spring frequency in Hertz
+     *  @param {number} hz */
+    setSpringFrequencyHz(hz) { this.box2dJoint.SetSpringFrequencyHz(hz); box2dWakeJoint(this.box2dJoint); }
+
+    /** Get the spring frequency in Hertz
+     *  @return {number} */
+    getSpringFrequencyHz() { return this.box2dJoint.GetSpringFrequencyHz(); }
+
+    /** Set the spring damping ratio
+     *  @param {number} ratio */
+    setSpringDampingRatio(ratio) { this.box2dJoint.SetSpringDampingRatio(ratio); box2dWakeJoint(this.box2dJoint); }
+
+    /** Get the spring damping ratio
+     *  @return {number} */
+    getSpringDampingRatio() { return this.box2dJoint.GetSpringDampingRatio(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Weld Joint
+ * - Glues two objects together
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dWeldJoint extends Box2dJoint
+{
+    /** Create a weld joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [anchor] - World position, objectB's position if not given
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, anchor, collide=false)
+    {
+        anchor ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchor);
+        const localAnchorB = objectB.worldToLocal(anchor);
+        const referenceAngle = objectB.body.GetAngle() - objectA.body.GetAngle();
+        const jointDef = new box2d.instance.b2WeldJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        jointDef.set_referenceAngle(referenceAngle);
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+
+        // kept here, since the binding cannot read it back from a weld joint; box2d uses reverse angle
+        this.referenceAngle = -referenceAngle;
+    }
+
+    /** Get the local anchor point relative to objectA's origin
+     *  @return {Vector2} */
+    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
+
+    /** Get the local anchor point relative to objectB's origin
+     *  @return {Vector2} */
+    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
+
+    /** Get the reference angle, objectB angle minus objectA angle in the reference state
+     *  @return {number} */
+    getReferenceAngle() { return this.referenceAngle; }
+
+    /** Set the frequency in Hertz
+     *  @param {number} hz */
+    setFrequency(hz) { this.box2dJoint.SetFrequency(hz); box2dWakeJoint(this.box2dJoint); }
+
+    /** Get the frequency in Hertz
+     *  @return {number} */
+    getFrequency() { return this.box2dJoint.GetFrequency(); }
+
+    /** Set the damping ratio
+     *  @param {number} ratio */
+    setDampingRatio(ratio) { this.box2dJoint.SetDampingRatio(ratio); box2dWakeJoint(this.box2dJoint); }
+
+    /** Get the damping ratio
+     *  @return {number} */
+    getDampingRatio() { return this.box2dJoint.GetDampingRatio(); }
+
+    /** @deprecated since 1.20, use setDampingRatio
+     *  @param {number} ratio */
+    setSpringDampingRatio(ratio) { this.setDampingRatio(ratio); }
+
+    /** @deprecated since 1.20, use getDampingRatio
+     *  @return {number} */
+    getSpringDampingRatio() { return this.getDampingRatio(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/**
+ * Box2D Friction Joint
+ * - Used to apply top-down friction
+ * - Provides 2D translational friction and angular friction
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dFrictionJoint extends Box2dJoint
+{
+    /** Create a friction joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} [anchor] - World position, objectB's position if not given
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, anchor, collide=false)
+    {
+        anchor ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchor);
+        const localAnchorB = objectB.worldToLocal(anchor);
+        const jointDef = new box2d.instance.b2FrictionJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+    }
+
+    /** Get the local anchor point relative to objectA's origin
+     *  @return {Vector2} */
+    getLocalAnchorA() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorA()); }
+
+    /** Get the local anchor point relative to objectB's origin
+     *  @return {Vector2} */
+    getLocalAnchorB() { return box2d.vec2From(this.box2dJoint.GetLocalAnchorB()); }
+
+    /** Set the maximum friction force
+     *  @param {number} force */
+    setMaxForce(force) { this.box2dJoint.SetMaxForce(max(force, 0)); } // Box2D stops on a negative one
+
+    /** Get the maximum friction force
+     *  @return {number} */
+    getMaxForce() { return this.box2dJoint.GetMaxForce(); }
+
+    /** Set the maximum friction torque
+     *  @param {number} torque */
+    setMaxTorque(torque) { this.box2dJoint.SetMaxTorque(max(torque, 0)); } // Box2D stops on a negative one
+
+    /** Get the maximum friction torque
+     *  @return {number} */
+    getMaxTorque() { return this.box2dJoint.GetMaxTorque(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Pulley Joint
+ * - Connects to two objects and two fixed ground points
+ * - The pulley supports a ratio such that: length1 + ratio * length2 <= constant
+ * - The force transmitted is scaled by the ratio
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dPulleyJoint extends Box2dJoint
+{
+    /** Create a pulley joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB
+     *  @param {Vector2} groundAnchorA
+     *  @param {Vector2} groundAnchorB
+     *  @param {Vector2} [anchorA] - World position, objectA's position if not given
+     *  @param {Vector2} [anchorB] - World position, objectB's position if not given
+     *  @param {number}  [ratio]
+     *  @param {boolean} [collide] */
+    constructor(objectA, objectB, groundAnchorA, groundAnchorB, anchorA, anchorB, ratio=1, collide=false)
+    {
+        anchorA ||= box2d.vec2From(objectA.body.GetPosition());
+        anchorB ||= box2d.vec2From(objectB.body.GetPosition());
+        const localAnchorA = objectA.worldToLocal(anchorA);
+        const localAnchorB = objectB.worldToLocal(anchorB);
+        const jointDef = new box2d.instance.b2PulleyJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_groundAnchorA(box2dTemp(groundAnchorA));
+        jointDef.set_groundAnchorB(box2dTemp(groundAnchorB));
+        jointDef.set_localAnchorA(box2dTemp(localAnchorA));
+        jointDef.set_localAnchorB(box2dTemp(localAnchorB));
+        ASSERT(ratio, 'a pulley ratio can not be 0');
+        jointDef.set_ratio(ratio);
+        jointDef.set_lengthA(groundAnchorA.distance(anchorA));
+        jointDef.set_lengthB(groundAnchorB.distance(anchorB));
+        jointDef.set_collideConnected(collide);
+        super(jointDef);
+    }
+
+    /** Get the first ground anchor
+     *  @return {Vector2} */
+    getGroundAnchorA() { return box2d.vec2From(this.box2dJoint.GetGroundAnchorA()); }
+
+    /** Get the second ground anchor
+     *  @return {Vector2} */
+    getGroundAnchorB() { return box2d.vec2From(this.box2dJoint.GetGroundAnchorB()); }
+
+    /** Get the rest length of the segment attached to objectA, set at creation
+     *  @return {number} */
+    getLengthA() { return this.box2dJoint.GetLengthA(); }
+
+    /** Get the rest length of the segment attached to objectB, set at creation
+     *  @return {number} */
+    getLengthB(){ return this.box2dJoint.GetLengthB(); }
+
+    /** Get the pulley ratio
+     *  @return {number} */
+    getRatio() { return this.box2dJoint.GetRatio(); }
+
+    /** Get the current length of the segment attached to objectA
+     *  @return {number} */
+    getCurrentLengthA() { return this.box2dJoint.GetCurrentLengthA(); }
+
+    /** Get the current length of the segment attached to objectB
+     *  @return {number} */
+    getCurrentLengthB() { return this.box2dJoint.GetCurrentLengthB(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Motor Joint
+ * - Controls the relative motion between two objects
+ * - Typical usage is to control the movement of a object with respect to the ground
+ * @extends Box2dJoint
+ * @memberof Box2D
+ */
+class Box2dMotorJoint extends Box2dJoint
+{
+    /** Create a motor joint
+     *  @param {Box2dObject} objectA
+     *  @param {Box2dObject} objectB */
+    constructor(objectA, objectB)
+    {
+        const linearOffset = objectA.worldToLocal(box2d.vec2From(objectB.body.GetPosition()));
+        const angularOffset = objectB.body.GetAngle() - objectA.body.GetAngle();
+        const jointDef = new box2d.instance.b2MotorJointDef();
+        jointDef.set_bodyA(objectA.body);
+        jointDef.set_bodyB(objectB.body);
+        jointDef.set_linearOffset(box2dTemp(linearOffset));
+        jointDef.set_angularOffset(angularOffset);
+        super(jointDef);
+    }
+
+    /** Set the target linear offset, in frame A, in meters.
+     *  @param {Vector2} offset */
+    setLinearOffset(offset) { this.box2dJoint.SetLinearOffset(box2dTemp(offset)); }
+
+    /** Get the target linear offset, in frame A, in meters.
+     *  @return {Vector2} */
+    getLinearOffset() { return box2d.vec2From(this.box2dJoint.GetLinearOffset()); }
+
+    /** Set the target angular offset, objectB angle minus objectA angle, clockwise like angle
+     *  @param {number} offset */
+    setAngularOffset(offset) { this.box2dJoint.SetAngularOffset(-offset); } // box2d uses reverse angle
+
+    /** Get the target angular offset, objectB angle minus objectA angle, clockwise like angle
+     *  @return {number} */
+    getAngularOffset() { return -this.box2dJoint.GetAngularOffset(); }
+
+    /** Set the maximum force
+     *  @param {number} force */
+    setMaxForce(force) { this.box2dJoint.SetMaxForce(max(force, 0)); box2dWakeJoint(this.box2dJoint); } // Box2D stops on a negative one
+
+    /** Get the maximum force
+     *  @return {number} */
+    getMaxForce() { return this.box2dJoint.GetMaxForce(); }
+
+    /** Set the maximum torque
+     *  @param {number} torque */
+    setMaxTorque(torque) { this.box2dJoint.SetMaxTorque(max(torque, 0)); box2dWakeJoint(this.box2dJoint); } // Box2D stops on a negative one
+
+    /** Get the maximum torque
+     *  @return {number} */
+    getMaxTorque() { return this.box2dJoint.GetMaxTorque(); }
+
+    /** Set the position correction factor in the range [0,1]
+     *  @param {number} factor */
+    setCorrectionFactor(factor) { this.box2dJoint.SetCorrectionFactor(clamp(factor)); box2dWakeJoint(this.box2dJoint); }
+
+    /** Get the position correction factor in the range [0,1]
+     *  @return {number} */
+    getCorrectionFactor() { return this.box2dJoint.GetCorrectionFactor(); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** 
+ * Box2D Global Object
+ * - Wraps Box2d world and provides global functions
+ * @memberof Box2D
+ */
+class Box2dPlugin
+{
+    /** Create the global Box2D plugin object, box2dInit does this
+     *  @param {Object} instance */
+    constructor(instance)
+    {
+        ASSERT(!box2d, 'Box2D already initialized');
+        box2d = this;
+
+        /** @property {Object} - The Box2d instance */
+        this.instance = instance;
+        /** @property {Object} - The Box2d world */
+        this.world = new box2d.instance.b2World();
+        /** @property {Array<Box2dObject>} - List of all Box2d objects, a destroyed one stays until the next step
+         *  with its body undefined
+         *  @type {Array<Box2dObject>} */
+        this.objects = [];
+        /** @property {number} - Velocity iterations per update*/
+        this.velocityIterations = 8;
+        /** @property {number} - Position iterations per update*/
+        this.positionIterations = 3;
+        /** @property {number} - Static, zero mass, zero velocity, may be manually moved
+         *  @type {number} */
+        this.bodyTypeStatic = instance.b2_staticBody;
+        /** @property {number} - Kinematic, zero mass, non-zero velocity set by user, moved by solver
+         *  @type {number} */
+        this.bodyTypeKinematic = instance.b2_kinematicBody;
+        /** @property {number} - Dynamic, positive mass, non-zero velocity determined by forces, moved by solver
+         *  @type {number} */
+        this.bodyTypeDynamic = instance.b2_dynamicBody;
+
+        // a body that goes takes its joints with it, their wrappers let go of them, and a gear joint on one of them
+        // goes too, since it would keep pointers to what was freed; that destroy waits in the queue, which DestroyBody
+        // runs from, and is skipped if the gear hung off this same body and went with it
+        const destructionListener = new box2d.instance.JSDestructionListener();
+        destructionListener.SayGoodbyeJoint = function(jointPointer)
+        {
+            const joint = box2dJoints.get(jointPointer);
+            if (joint)
+            {
+                box2dDestroyGears(joint);
+                joint.box2dJoint = 0;
+            }
+            box2dJoints.delete(jointPointer);
+        };
+        destructionListener.SayGoodbyeFixture = function() {};
+        box2d.world.SetDestructionListener(destructionListener);
+
+        // setup contact listener
+        const listener = new box2d.instance.JSContactListener();
+        listener.BeginContact = function(contactPtr)
+        {
+            const contact  = box2d.instance.wrapPointer(contactPtr, box2d.instance.b2Contact);
+            const fixtureA = contact.GetFixtureA();
+            const fixtureB = contact.GetFixtureB();
+            const objectA  = fixtureA.GetBody().object;
+            const objectB  = fixtureB.GetBody().object;
+            // raw user-created b2Bodies may have no .object — skip those
+            if (!objectA || !objectB) return;
+            objectA.beginContact(objectB, fixtureA, fixtureB);
+            objectB.beginContact(objectA, fixtureB, fixtureA);
+        }
+        listener.EndContact = function(contactPtr)
+        {
+            const contact  = box2d.instance.wrapPointer(contactPtr, box2d.instance.b2Contact);
+            const fixtureA = contact.GetFixtureA();
+            const fixtureB = contact.GetFixtureB();
+            const objectA  = fixtureA.GetBody().object;
+            const objectB  = fixtureB.GetBody().object;
+            if (!objectA || !objectB) return;
+            objectA.endContact(objectB, fixtureA, fixtureB);
+            objectB.endContact(objectA, fixtureB, fixtureA);
+        };
+        listener.PreSolve  = function() {};
+        listener.PostSolve = function() {};
+        box2d.world.SetContactListener(listener);
+    }
+
+    /** Step the physics world simulation
+     *  @param {number} [frames] */
+    step(frames=1)
+    {
+        // the engine's gravity, Box2D does not wake a sleeping body for a new one, so a change wakes them all
+        if (gravity.x !== box2dGravity.x || gravity.y !== box2dGravity.y)
+        {
+            box2dGravity.x = gravity.x, box2dGravity.y = gravity.y;
+            box2d.world.SetGravity(box2dTemp(gravity));
+            for (let b = box2d.world.GetBodyList(); !box2d.isNull(b); b = b.GetNext())
+                b.SetAwake(true);
+        }
+        for (let i=frames; i--;)
+        {
+            box2d.world.Step(timeDelta, this.velocityIterations, this.positionIterations);
+
+            // what a contact callback destroyed or changed, now the world can take it
+            box2dRunPending();
+        }
+
+        // remove destroyed objects, once for all of them
+        this.objects = this.objects.filter(o=>!o.destroyed);
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // raycasting and querying
+
+    /** raycast and return a list of all the results, nearest first
+     *  @param {Vector2} start
+     *  @param {Vector2} end
+     *  @param {boolean} [includeSensors] - Also hit sensors, trigger zones are passed through by default
+     *  @return {Array<Box2dRaycastResult>} */
+    raycastAll(start, end, includeSensors=false)
+    {
+        // a ray with no length fails an assert that stops Box2D for good, measured as Box2D does in 32 bit floats,
+        // where two ends a float apart are one point; one that is not a number has no length either
+        const f = Math.fround, dx = f(f(end.x) - f(start.x)), dy = f(f(end.y) - f(start.y));
+        const lengthSquared = f(f(dx*dx) + f(dy*dy));
+        if (!(lengthSquared > 0 && lengthSquared < Infinity))
+            return [];
+
+        const raycastCallback = box2dQueryObject('rayCast', 'JSRayCastCallback');
+        raycastCallback.ReportFixture = function(fixturePointer, point, normal, fraction)
+        {
+            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
+            const o = fixture.GetBody().object;
+            if (!o || o.destroyed)
+                return 1; // a raw body with no Box2dObject or one destroyed this step, continue getting results
+            if (!includeSensors && fixture.IsSensor())
+                return -1; // skip it, Box2D goes on as if it were not there
+            point  = box2d.vec2FromPointer(point);
+            normal = box2d.vec2FromPointer(normal);
+            raycastResults.push(new Box2dRaycastResult(fixture, point, normal, fraction));
+            return 1; // continue getting results
+        };
+
+        const raycastResults = [];
+        box2d.world.RayCast(raycastCallback, box2dTemp(start), box2dTemp(end, 1));
+        raycastResults.sort((a,b)=> a.fraction - b.fraction); // Box2D reports them in its tree's order
+        debugRaycast && debugLine(start, end, raycastResults.length ? '#f00' : '#00f', .02, 0, false);
+        return raycastResults;
+    }
+
+    /** raycast and return the first result
+     *  @param {Vector2} start
+     *  @param {Vector2} end
+     *  @param {boolean} [includeSensors] - Also hit sensors, trigger zones are passed through by default
+     *  @return {Box2dRaycastResult|undefined} */
+    raycast(start, end, includeSensors=false)
+    {
+        return box2d.raycastAll(start, end, includeSensors)[0];
+    }
+
+    /** box aabb cast and return all the objects
+     *  @param {Vector2} pos
+     *  @param {Vector2} size
+     *  @param {boolean} [includeSensors] - Also find sensors, trigger zones are passed through by default
+     *  @return {Array<Box2dObject>} */
+    boxCastAll(pos, size, includeSensors=false)
+    {
+        const queryCallback = box2dQueryObject('query', 'JSQueryCallback');
+        queryCallback.ReportFixture = function(fixturePointer)
+        {
+            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
+            if (!includeSensors && fixture.IsSensor())
+                return true; // a trigger zone, continue getting results
+            const o = fixture.GetBody().object;
+            if (o && !o.destroyed && !queryObjects.includes(o) // skip raw bodies and ones destroyed this step
+                && box2dFixtureOverlaps(fixture, aabb))
+                queryObjects.push(o); // add if not already in list
+            return true; // continue getting results
+        };
+
+        const aabb = box2dQueryObject('aabb', 'b2AABB');
+        aabb.set_lowerBound(box2dTemp(pos.subtract(size.scale(.5))));
+        aabb.set_upperBound(box2dTemp(pos.add(size.scale(.5))));
+
+        let queryObjects = [];
+        box2d.world.QueryAABB(queryCallback, aabb);
+        debugRaycast && debugRect(pos, size, queryObjects.length ? '#f00' : '#00f', 0, 0, false, false);
+        return queryObjects;
+    }
+
+    /** box aabb cast and return the first object
+     *  @param {Vector2} pos
+     *  @param {Vector2} size
+     *  @param {boolean} [includeSensors] - Also find sensors, trigger zones are passed through by default
+     *  @return {Box2dObject|undefined} */
+    boxCast(pos, size, includeSensors=false)
+    {
+        const queryCallback = box2dQueryObject('query', 'JSQueryCallback');
+        queryCallback.ReportFixture = function(fixturePointer)
+        {
+            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
+            if (!includeSensors && fixture.IsSensor())
+                return true; // a trigger zone, continue getting results
+            const o = fixture.GetBody().object;
+            if (!o || o.destroyed)
+                return true; // a raw body with no Box2dObject or one destroyed this step, continue getting results
+            if (!box2dFixtureOverlaps(fixture, aabb))
+                return true; // only near the box, continue getting results
+            queryObject = o;
+            return false; // stop getting results
+        };
+
+        const aabb = box2dQueryObject('aabb', 'b2AABB');
+        aabb.set_lowerBound(box2dTemp(pos.subtract(size.scale(.5))));
+        aabb.set_upperBound(box2dTemp(pos.add(size.scale(.5))));
+
+        let queryObject;
+        box2d.world.QueryAABB(queryCallback, aabb);
+        debugRaycast && debugRect(pos, size, queryObject ? '#f00' : '#00f', 0, 0, false, false);
+        return queryObject;
+    }
+
+    /** circle cast and return all the objects whose position is within the circle, wherever their shapes are
+     *  @param {Vector2} pos
+     *  @param {number} diameter
+     *  @param {boolean} [includeSensors] - Also find objects whose shapes are all sensors, like trigger zones
+     *  @return {Array<Box2dObject>} */
+    circleCastAll(pos, diameter, includeSensors=false)
+    {
+        // by each object's position, so an object whose shapes are offset from it is still found
+        const radius2 = (diameter/2)**2;
+        const results = box2d.objects.filter(o=> !o.destroyed && o.body && o.pos.distanceSquared(pos) < radius2 &&
+            (includeSensors || o.getFixtureList().some(fixture=> !fixture.IsSensor())));
+        debugRaycast && debugCircle(pos, diameter, results.length ? '#f00' : '#00f', 0, false, false);
+        return results;
+    }
+
+    /** circle cast and return the object whose position is nearest, of those within the circle
+     *  @param {Vector2} pos
+     *  @param {number} diameter
+     *  @param {boolean} [includeSensors] - Also find objects whose shapes are all sensors, like trigger zones
+     *  @return {Box2dObject|undefined} */
+    circleCast(pos, diameter, includeSensors=false)
+    {
+        let bestResult, bestDistance2;
+        for (const result of box2d.circleCastAll(pos, diameter, includeSensors))
+        {
+            const distance2 = result.pos.distanceSquared(pos);
+            if (!bestResult || distance2 < bestDistance2)
+            {
+                bestResult = result;
+                bestDistance2 = distance2;
+            }
+        }
+        return bestResult;
+    }
+
+    /** point cast and return the first object
+     *  @param {Vector2} pos
+     *  @param {boolean} [dynamicOnly]
+     *  @param {boolean} [includeSensors] - Also find sensors, so a pickup radius does not grab its object from afar
+     *  @return {Box2dObject|undefined} */
+    pointCast(pos, dynamicOnly=true, includeSensors=false)
+    {
+        const queryCallback = box2dQueryObject('query', 'JSQueryCallback');
+        queryCallback.ReportFixture = function(fixturePointer)
+        {
+            const fixture = box2d.instance.wrapPointer(fixturePointer, box2d.instance.b2Fixture);
+            if (!includeSensors && fixture.IsSensor())
+                return true; // a trigger zone, continue getting results
+            if (dynamicOnly && fixture.GetBody().GetType() !== box2d.bodyTypeDynamic)
+                return true; // continue getting results
+            if (!fixture.TestPoint(box2dTemp(pos)))
+                return true; // continue getting results
+            const o = fixture.GetBody().object;
+            if (!o || o.destroyed)
+                return true; // a raw body with no Box2dObject or one destroyed this step, continue getting results
+            queryObject = o;
+            return false; // stop getting results
+        };
+
+        const aabb = box2dQueryObject('aabb', 'b2AABB');
+        aabb.set_lowerBound(box2dTemp(pos));
+        aabb.set_upperBound(box2dTemp(pos));
+
+        let queryObject;
+        box2d.world.QueryAABB(queryCallback, aabb);
+        debugRaycast && debugRect(pos, vec2(), queryObject ? '#f00' : '#00f', 0, 0, false, false);
+        return queryObject;
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // drawing
+
+    /** draws a fixture
+     *  @param {Object} fixture
+     *  @param {Vector2} pos
+     *  @param {number} angle
+     *  @param {Color} [color]
+     *  @param {Color} [lineColor]
+     *  @param {number} [lineWidth]
+     *  @param {boolean} [useWebGL=glEnable]
+     *  @param {CanvasRenderingContext2D} [context] */
+    drawFixture(fixture, pos, angle, color=WHITE, lineColor=BLACK, lineWidth=.1, useWebGL, context)
+    {
+        const shape = box2d.castShapeObject(fixture.GetShape());
+        switch (shape.GetType())
+        {
+            case box2d.instance.b2Shape.e_polygon:
+            {
+                let points = [];
+                for (let i=shape.GetVertexCount(); i--;)
+                    points.push(box2d.vec2From(shape.GetVertex(i)));
+                drawPoly(points, color, lineWidth, lineColor, pos, angle, useWebGL, false, context);
+                break;
+            }
+            case box2d.instance.b2Shape.e_circle:
+            {
+                const radius = shape.get_m_radius(), offset = box2d.vec2From(shape.get_m_p());
+                drawCircle(pos.add(offset.rotate(angle)), radius*2, color, lineWidth, lineColor, useWebGL, false, context);
+                break;
+            }
+            case box2d.instance.b2Shape.e_edge:
+            {
+                const v1 = box2d.vec2From(shape.get_m_vertex1());
+                const v2 = box2d.vec2From(shape.get_m_vertex2());
+                drawLine(v1, v2, lineWidth, lineColor, pos, angle, useWebGL, false, context);
+                break;
+            }
+        }
+    }
+
+    ///////////////////////////////////////////////////////////////////////////////
+    // helper functions
+
+    /** converts a box2d vec2 to a Vector2
+     *  @param {Object} v */
+    vec2From(v)
+    {
+        ASSERT(v instanceof box2d.instance.b2Vec2);
+        return new Vector2(v.get_x(), v.get_y()); 
+    }
+
+    /** converts a box2d vec2 pointer to a Vector2
+     *  @param {Object} vp */
+    vec2FromPointer(vp)
+    {
+        const v = box2d.instance.wrapPointer(vp, box2d.instance.b2Vec2);
+        return box2d.vec2From(v);
+    }
+
+    /** converts a Vector2 to a new box2d vec2, which stays until destroyed with box2d.instance.destroy;
+     *  the plugin itself passes Box2D reused ones, since Box2D copies every vector it is given
+     *  @param {Vector2} v */
+    vec2dTo(v)
+    {
+        ASSERT(isVector2(v));
+        return new box2d.instance.b2Vec2(v.x, v.y);
+    }
+
+    /** checks if a box2d object is null
+     *  @param {Object} o */
+    isNull(o) { return !box2d.instance.getPointer(o); }
+
+    /** casts a box2d object to a shape type
+     *  @param {Object} o */
+    castShapeObject(o)
+    {
+        switch (o.GetType())
+        {
+            case box2d.instance.b2Shape.e_circle:
+                return box2d.instance.castObject(o, box2d.instance.b2CircleShape);
+            case box2d.instance.b2Shape.e_edge:
+                return box2d.instance.castObject(o, box2d.instance.b2EdgeShape);
+            case box2d.instance.b2Shape.e_polygon:
+                return box2d.instance.castObject(o, box2d.instance.b2PolygonShape);
+            case box2d.instance.b2Shape.e_chain:
+                return box2d.instance.castObject(o, box2d.instance.b2ChainShape);
+        }
+        
+        ASSERT(false, 'Unknown box2d object type');
+    }
+
+    /** casts a box2d object to a joint type
+     *  @param {Object} o */
+    castJointObject(o)
+    {
+        switch (o.GetType())
+        {
+            case box2d.instance.e_revoluteJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2RevoluteJoint);
+            case box2d.instance.e_prismaticJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2PrismaticJoint);
+            case box2d.instance.e_distanceJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2DistanceJoint);
+            case box2d.instance.e_pulleyJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2PulleyJoint);
+            case box2d.instance.e_mouseJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2MouseJoint);
+            case box2d.instance.e_gearJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2GearJoint);
+            case box2d.instance.e_wheelJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2WheelJoint);
+            case box2d.instance.e_weldJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2WeldJoint);
+            case box2d.instance.e_frictionJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2FrictionJoint);
+            case box2d.instance.e_ropeJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2RopeJoint);
+            case box2d.instance.e_motorJoint:
+                return box2d.instance.castObject(o, box2d.instance.b2MotorJoint);
+        }
+        
+        ASSERT(false, 'Unknown box2d object type');
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+/** Box2d Init - Call with await to init box2d
+ *  @example
+ *  await box2dInit();
+ *  @return {Promise<Box2dPlugin>}
+ *  @memberof Box2D */
+async function box2dInit()
+{
+    // load box2d
+    // @ts-ignore - Box2D is the global that box2d.wasm.js defines
+    new Box2dPlugin(await Box2D());
+    setupDebugDraw();
+    engineAddPlugin(box2dUpdate, box2dRender);
+    return box2d;
+
+    // add the box2d plugin to the engine
+    function box2dUpdate()
+    {
+        // frozen like the engine objects while paused or time is stopped
+        if (paused || !timeScale)
+        {
+            // what was destroyed while frozen leaves the list, the step does it otherwise
+            box2d.objects = box2d.objects.filter(o=>!o.destroyed);
+            return;
+        }
+
+        box2d.step();
+
+        // copy box2d physics results to engine objects
+        for (const o of box2d.objects)
+        {
+            if (o.body)
+            {
+                // box2d uses reverse angle
+                o.pos = box2d.vec2From(o.body.GetPosition());
+                o.angle = -o.body.GetAngle();
+            }
+        }
+    }
+    function box2dRender()
+    {
+        if (box2dDebug || debugPhysics)
+            box2d.world.DrawDebugData();
+    }
+    
+    // box2d debug drawing
+    function setupDebugDraw()
+    {
+        // setup debug draw
+        const debugLineWidth = .1;
+        const debugDraw = new box2d.instance.JSDraw();
+        const box2dColor = (c)=> new Color(c.get_r(), c.get_g(), c.get_b());
+        const box2dColorPointer = (c)=>
+            box2dColor(box2d.instance.wrapPointer(c, box2d.instance.b2Color));
+        const getDebugColor = (color)=>box2dColorPointer(color).scale(1,.8);
+        const getPointsList = (vertices, vertexCount)=>
+        {
+            const points = [];
+            for (let i=vertexCount; i--;)
+                points.push(box2d.vec2FromPointer(vertices+i*8));
+            return points;
+        }
+        debugDraw.DrawSegment = function(point1, point2, color)
+        {
+            color = getDebugColor(color);
+            point1 = box2d.vec2FromPointer(point1);
+            point2 = box2d.vec2FromPointer(point2);
+            drawLine(point1, point2, debugLineWidth, color, vec2(), 0, false, false);
+        };
+        debugDraw.DrawPolygon = function(vertices, vertexCount, color)
+        {
+            color = getDebugColor(color);
+            const points = getPointsList(vertices, vertexCount);
+            drawPoly(points, CLEAR_WHITE, debugLineWidth, color, vec2(), 0, false, false);
+        };
+        debugDraw.DrawSolidPolygon = function(vertices, vertexCount, color)
+        {
+            color = getDebugColor(color);
+            const points = getPointsList(vertices, vertexCount);
+            drawPoly(points, color, 0, color, vec2(), 0, false, false);
+        };
+        debugDraw.DrawCircle = function(center, radius, color)
+        {
+            color = getDebugColor(color);
+            center = box2d.vec2FromPointer(center);
+            drawCircle(center, radius*2, CLEAR_WHITE, debugLineWidth, color, false, false);
+        };
+        debugDraw.DrawSolidCircle = function(center, radius, axis, color)
+        {
+            color = getDebugColor(color);
+            center = box2d.vec2FromPointer(center);
+            axis = box2d.vec2FromPointer(axis).scale(radius);
+            drawCircle(center, radius*2, color, debugLineWidth, color, false, false);
+            drawLine(vec2(), axis, debugLineWidth, color, center, 0, false, false);
+        };
+        debugDraw.DrawTransform = function(transform)
+        {
+            transform = box2d.instance.wrapPointer(transform, box2d.instance.b2Transform);
+            const pos = box2d.vec2From(transform.get_p());
+            const angle = -transform.get_q().GetAngle();
+            const p1 = vec2(1,0), c1 = rgb(.75,0,0,.8);
+            const p2 = vec2(0,1), c2 = rgb(0,.75,0,.8);
+            drawLine(vec2(), p1, debugLineWidth, c1, pos, angle, false, false);
+            drawLine(vec2(), p2, debugLineWidth, c2, pos, angle, false, false);
+        }
+            
+        debugDraw.AppendFlags(box2d.instance.b2Draw.e_shapeBit);
+        debugDraw.AppendFlags(box2d.instance.b2Draw.e_jointBit);
+        //debugDraw.AppendFlags(box2d.instance.b2Draw.e_aabbBit);
+        //debugDraw.AppendFlags(box2d.instance.b2Draw.e_pairBit);
+        //debugDraw.AppendFlags(box2d.instance.b2Draw.e_centerOfMassBit);
+        box2d.world.SetDebugDraw(debugDraw);
+    }
 }