- Documentation in Doxygen format
- CMake build system
- Unit test support
- Continuous integration testing using Travis CI
- Limited use of C++11 (nullptr and override)
- Restructured folders and renamed files to better match open-source standards
- MIT License
- Removed float32 and float64
- Linked the Box2D project to GitHub Sponsors
- Chain and edge shape must now be one-sided to eliminate ghost collisions
- Broad-phase optimizations
- Added b2ShapeCast for linear shape casting
- Joint limits are now predictive and not stateful
- Experimental 2D cloth (rope)
- b2Body::SetActive -> b2Body::SetEnabled
- Better support for running multiple worlds
- Handle zero density better
- The body behaves like a static body
- The body is drawn with a red color
- Added translation limit to wheel joint
- World dump now writes to box2d_dump.inl
- Static bodies are never awake
- All joints with spring-dampers now use stiffness and damping
- Added utility functions to convert frequency and damping ratio to stiffness and damping
- Testbed uses dear imgui
- glad OpenGL loader
- OpenGL 3.3 required
- Polygon creation now computes the convex hull. Vertices no longer need to be ordered.
- The convex hull code will merge vertices closer than dm_linearSlop. This may lead to failure on very small polygons.
- Added b2MotorJoint.
- Bug fixes.