// SPDX-FileCopyrightText: 2026 Erin Catto
// SPDX-License-Identifier: MIT

#pragma once

#include "base.h"
#include "collision.h"
#include "id.h"
#include "types.h"

#include <stdbool.h>

#if defined( BOX2D_DOUBLE_PRECISION )
// Force a link error if the application and library disagree on precision. A float app linking
// a double precision library, or the reverse, gets one unresolved external on the first call
// every program makes. CMake consumers inherit the define and cannot mismatch.
#define b2CreateWorld b2CreateWorldDoublePrecision
#endif

/**
 * @defgroup world World
 * These functions allow you to create a simulation world.
 *
 * You can add rigid bodies and joint constraints to the world and run the simulation. You can get contact
 * information to get contact points and normals as well as events. You can query to world, checking for overlaps and casting rays
 * or shapes. There is also debugging information such as debug draw, timing information, and counters. You can find documentation
 * here: https://box2d.org/
 * @{
 */

/// Create a world for rigid body simulation. A world contains bodies, shapes, and constraints. You make create
/// up to 128 worlds. Each world is completely independent and may be simulated in parallel.
/// @return the world id.
B2_API b2WorldId b2CreateWorld( const b2WorldDef* def );

/// Destroy a world
B2_API void b2DestroyWorld( b2WorldId worldId );

/// World id validation. Provides validation for up to 64K allocations.
B2_API bool b2World_IsValid( b2WorldId id );

/// Simulate a world for one time step. This performs collision detection, integration, and constraint solution.
/// @param worldId The world to simulate
/// @param timeStep The amount of time to simulate, this should be a fixed number. Usually 1/60.
/// @param subStepCount The number of sub-steps, increasing the sub-step count can increase accuracy. Usually 4.
B2_API void b2World_Step( b2WorldId worldId, float timeStep, int subStepCount );

/// Call this to draw shapes and other debug draw data
B2_API void b2World_Draw( b2WorldId worldId, b2DebugDraw* draw );

/// Call this to get the world bounds based on the union of all shape bounds.
B2_API b2AABB b2World_GetBounds( b2WorldId worldId );

/// Get the body events for the current time step. The event data is transient. Do not store a reference to this data.
B2_API b2BodyEvents b2World_GetBodyEvents( b2WorldId worldId );

/// Get sensor events for the current time step. The event data is transient. Do not store a reference to this data.
B2_API b2SensorEvents b2World_GetSensorEvents( b2WorldId worldId );

/// Get contact events for this current time step. The event data is transient. Do not store a reference to this data.
B2_API b2ContactEvents b2World_GetContactEvents( b2WorldId worldId );

/// Get the joint events for the current time step. The event data is transient. Do not store a reference to this data.
B2_API b2JointEvents b2World_GetJointEvents( b2WorldId worldId );

/// Overlap test for all shapes that *potentially* overlap the provided AABB.
/// The AABB is relative to the origin, which keeps the test precise far from the world origin
/// in large world mode. Near the origin pass b2Pos_zero and a world AABB.
B2_API b2TreeStats b2World_OverlapAABB( b2WorldId worldId, b2Pos origin, b2AABB aabb, b2QueryFilter filter,
										b2OverlapResultFcn* fcn, void* context );

/// Overlap test for all shapes that overlap the provided shape proxy.
/// The proxy points are relative to the origin. Near the origin pass b2Pos_zero and world points.
B2_API b2TreeStats b2World_OverlapShape( b2WorldId worldId, b2Pos origin, const b2ShapeProxy* proxy, b2QueryFilter filter,
										 b2OverlapResultFcn* fcn, void* context );

/// Cast a ray into the world to collect shapes in the path of the ray.
/// Your callback function controls whether you get the closest point, any point, or n-points.
/// @note The callback function may receive shapes in any order
/// @param worldId The world to cast the ray against
/// @param origin The start point of the ray
/// @param translation The translation of the ray from the start point to the end point
/// @param filter Contains bit flags to filter unwanted shapes from the results
/// @param fcn A user implemented callback function
/// @param context A user context that is passed along to the callback function
///	@return traversal performance counters
B2_API b2TreeStats b2World_CastRay( b2WorldId worldId, b2Pos origin, b2Vec2 translation, b2QueryFilter filter,
									b2CastResultFcn* fcn, void* context );

/// Cast a ray into the world to collect the closest hit. This is a convenience function. Ignores initial overlap.
/// This is less general than b2World_CastRay() and does not allow for custom filtering.
B2_API b2RayResult b2World_CastRayClosest( b2WorldId worldId, b2Pos origin, b2Vec2 translation, b2QueryFilter filter );

/// Cast a shape through the world. Similar to a cast ray except that a shape is cast instead of a point.
/// The proxy points are relative to the origin. Callback points are world positions.
///	@see b2World_CastRay
B2_API b2TreeStats b2World_CastShape( b2WorldId worldId, b2Pos origin, const b2ShapeProxy* proxy, b2Vec2 translation,
									  b2QueryFilter filter, b2CastResultFcn* fcn, void* context );

/// Cast a capsule mover through the world. This is a special shape cast that handles sliding along other shapes while reducing
/// clipping. The mover capsule is relative to the origin. Near the origin pass b2Pos_zero and a world capsule.
B2_API float b2World_CastMover( b2WorldId worldId, b2Pos origin, const b2Capsule* mover, b2Vec2 translation,
								b2QueryFilter filter );

/// Collide a capsule mover with the world, gathering collision planes that can be fed to b2SolvePlanes. Useful for
/// kinematic character movement. The mover capsule and the resulting planes are relative to the origin.
B2_API void b2World_CollideMover( b2WorldId worldId, b2Pos origin, const b2Capsule* mover, b2QueryFilter filter,
								  b2PlaneResultFcn* fcn, void* context );

/// Enable/disable sleep. If your application does not need sleeping, you can gain some performance
/// by disabling sleep completely at the world level.
/// @see b2WorldDef
B2_API void b2World_EnableSleeping( b2WorldId worldId, bool flag );

/// Is body sleeping enabled?
B2_API bool b2World_IsSleepingEnabled( b2WorldId worldId );

/// Enable/disable continuous collision between dynamic and static bodies. Generally you should keep continuous
/// collision enabled to prevent fast moving objects from going through static objects. The performance gain from
/// disabling continuous collision is minor.
/// @see b2WorldDef
B2_API void b2World_EnableContinuous( b2WorldId worldId, bool flag );

/// Is continuous collision enabled?
B2_API bool b2World_IsContinuousEnabled( b2WorldId worldId );

/// Adjust the restitution threshold. It is recommended not to make this value very small
/// because it will prevent bodies from sleeping. Usually in meters per second.
/// @see b2WorldDef
B2_API void b2World_SetRestitutionThreshold( b2WorldId worldId, float value );

/// Get the the restitution speed threshold. Usually in meters per second.
B2_API float b2World_GetRestitutionThreshold( b2WorldId worldId );

/// Adjust the hit event threshold. This controls the collision speed needed to generate a b2ContactHitEvent.
/// Usually in meters per second.
/// @see b2WorldDef::hitEventThreshold
B2_API void b2World_SetHitEventThreshold( b2WorldId worldId, float value );

/// Get the the hit event speed threshold. Usually in meters per second.
B2_API float b2World_GetHitEventThreshold( b2WorldId worldId );

/// Register the custom filter callback. This is optional.
B2_API void b2World_SetCustomFilterCallback( b2WorldId worldId, b2CustomFilterFcn* fcn, void* context );

/// Register the pre-solve callback. This is optional.
B2_API void b2World_SetPreSolveCallback( b2WorldId worldId, b2PreSolveFcn* fcn, void* context );

/// Set the gravity vector for the entire world. Box2D has no concept of an up direction and this
/// is left as a decision for the application. Usually in m/s^2.
/// @see b2WorldDef
B2_API void b2World_SetGravity( b2WorldId worldId, b2Vec2 gravity );

/// Get the gravity vector
B2_API b2Vec2 b2World_GetGravity( b2WorldId worldId );

/// Apply a radial explosion
/// @param worldId The world id
/// @param explosionDef The explosion definition
B2_API void b2World_Explode( b2WorldId worldId, const b2ExplosionDef* explosionDef );

/// Adjust contact tuning parameters
/// @param worldId The world id
/// @param hertz The contact stiffness (cycles per second)
/// @param dampingRatio The contact bounciness with 1 being critical damping (non-dimensional)
/// @param pushSpeed The maximum contact constraint push out speed (meters per second)
/// @note Advanced feature
B2_API void b2World_SetContactTuning( b2WorldId worldId, float hertz, float dampingRatio, float pushSpeed );

/// Set the contact point recycling distance. Setting this to zero disables contact point recycling.
/// Usually in meters.
B2_API void b2World_SetContactRecycleDistance( b2WorldId worldId, float recycleDistance );

/// Get the contact point recycling distance. Usually in meters.
B2_API float b2World_GetContactRecycleDistance( b2WorldId worldId );

/// Set the maximum linear speed. Usually in m/s.
B2_API void b2World_SetMaximumLinearSpeed( b2WorldId worldId, float maximumLinearSpeed );

/// Get the maximum linear speed. Usually in m/s.
B2_API float b2World_GetMaximumLinearSpeed( b2WorldId worldId );

/// Enable/disable constraint warm starting. Advanced feature for testing. Disabling
/// warm starting greatly reduces stability and provides no performance gain.
B2_API void b2World_EnableWarmStarting( b2WorldId worldId, bool flag );

/// Is constraint warm starting enabled?
B2_API bool b2World_IsWarmStartingEnabled( b2WorldId worldId );

/// Get the number of awake bodies.
B2_API int b2World_GetAwakeBodyCount( b2WorldId worldId );

/// Get the current world performance profile
B2_API b2Profile b2World_GetProfile( b2WorldId worldId );

/// Get world counters and sizes
B2_API b2Counters b2World_GetCounters( b2WorldId worldId );

/// Get max capacity. This can be used with b2WorldDef to avoid run-time allocations and copies
B2_API b2Capacity b2World_GetMaxCapacity( b2WorldId worldId );

/// Set the user data pointer.
B2_API void b2World_SetUserData( b2WorldId worldId, void* userData );

/// Get the user data pointer.
B2_API void* b2World_GetUserData( b2WorldId worldId );

/// Set the friction callback. Passing NULL resets to default.
B2_API void b2World_SetFrictionCallback( b2WorldId worldId, b2FrictionCallback* callback );

/// Set the restitution callback. Passing NULL resets to default.
B2_API void b2World_SetRestitutionCallback( b2WorldId worldId, b2RestitutionCallback* callback );

/// Set the worker count. Must be between in the range [1, B2_MAX_WORKERS]
B2_API void b2World_SetWorkerCount( b2WorldId worldId, int count );

/// Get the worker count.
B2_API int b2World_GetWorkerCount( b2WorldId worldId );

/// Dump memory stats to box2d_memory.txt
B2_API void b2World_DumpMemoryStats( b2WorldId worldId );

/// This is for internal testing
B2_API void b2World_RebuildStaticTree( b2WorldId worldId );

/// This is for internal testing
B2_API void b2World_EnableSpeculative( b2WorldId worldId, bool flag );

/** @} */

/**
 * @defgroup recording Recording
 * These functions allow you to record a simulation for later playback
 * @{
 */

/// Opaque handle for a recording buffer. Create one, hand it to b2World_StartRecording, then
/// save its bytes and destroy it. The buffer grows as the world records into it.
typedef struct b2Recording b2Recording;

/// Create a recording buffer. The buffer grows on demand. @p byteCapacity pre-sizes it to avoid
/// reallocations during a known-length session. Pass 0 for a small default.
/// @return A recording handle, freed with b2DestroyRecording
B2_API b2Recording* b2CreateRecording( int byteCapacity );

/// Destroy a recording buffer and free its memory.
B2_API void b2DestroyRecording( b2Recording* recording );

/// Get a pointer to the recorded bytes, for saving to a file or transmitting. Valid until the
/// next recording call or b2DestroyRecording.
B2_API const uint8_t* b2Recording_GetData( const b2Recording* recording );

/// Get the number of recorded bytes.
B2_API int b2Recording_GetSize( const b2Recording* recording );

/// Begin recording the world into @p recording. Serializes a snapshot of the current world as the
/// seed, then logs every mutating call. Call at a step boundary, before or after creating bodies.
/// Start before the first step to capture the whole session. No effect if already recording or if
/// the world is locked.
/// @param worldId The world to record
/// @param recording A recording buffer from b2CreateRecording
B2_API void b2World_StartRecording( b2WorldId worldId, b2Recording* recording );

/// Stop recording. The recording buffer keeps its bytes. Save and destroy it yourself.
/// @param worldId The world being recorded
B2_API void b2World_StopRecording( b2WorldId worldId );

/// Save a recording buffer to a file. Convenience wrapper over your own file I/O.
/// @return false if the file could not be written
B2_API bool b2SaveRecordingToFile( const b2Recording* recording, const char* path );

/// Load a recording from a file into a new recording buffer. Convenience wrapper over your own
/// file I/O. Destroy the result with b2DestroyRecording.
/// @return NULL if the file is missing or unreadable
B2_API b2Recording* b2LoadRecordingFromFile( const char* path );

/** @} */

/**
 * @defgroup snapshot Snapshot
 * Save and restore the full simulation state of a world as a byte image. Unlike a
 * recording, which is a stream of steps, a snapshot is a single instant. Useful for
 * rollback, undo, and deterministic save games. Call between world steps.
 *
 * A snapshot carries only simulation state. Host wiring (task callbacks, worker
 * count, world and per-object user data, pre-solve, custom filter, friction and
 * restitution callbacks) is not stored, so body, shape and joint user data read back
 * as NULL after a restore even though the ids stay valid. Restoring in place with
 * b2World_Restore keeps the live world's wiring. Loading with b2CreateWorldFromSnapshot
 * resets it to defaults.
 *
 * Ids: every b2BodyId / b2ShapeId / b2JointId / b2ChainId carries the world slot it
 * was created in. b2World_Restore reuses the same world, so ids you held at the
 * snapshot instant keep working. b2CreateWorldFromSnapshot allocates a new world,
 * so ids from the origin world will not match it. Ids minted after the snapshot
 * instant fail validation after a restore rather than aliasing a different object.
 * @{
 */

/// Write a snapshot of the world's simulation state into a caller-owned buffer.
/// Call once with image == NULL to get the required size, then again with a buffer
/// of at least that size. Must be called at a step boundary.
/// @param worldId The world to snapshot
/// @param image Destination buffer, or NULL to query the size
/// @param capacity Size of image in bytes, ignored when querying
/// @return The number of bytes the snapshot needs. If it exceeds capacity nothing is written.
///         Returns 0 if the world is mid-step.
B2_API int b2World_Snapshot( b2WorldId worldId, uint8_t* image, int capacity );

/// Restore a world's simulation state from a snapshot image, in place. The world keeps
/// its slot and generation, so this b2WorldId and any ids held from this same world stay
/// valid for objects that existed at the snapshot instant. Host wiring is preserved.
/// Restore into the same world the snapshot came from to keep held ids valid. Must be
/// called at a step boundary.
/// @param worldId The world to restore into
/// @param image A snapshot image produced by b2World_Snapshot
/// @param size Size of image in bytes
/// @return true on success. On a rejected image (bad magic, version, or layout) the world
///         is left unchanged. A corrupt payload detected after the rebuild begins returns
///         false and leaves the world unusable, so the caller must destroy it.
B2_API bool b2World_Restore( b2WorldId worldId, const uint8_t* image, int size );

/// Create a new world from a snapshot image. Use this to load a saved world when there is
/// no existing world to restore into. The new world gets a fresh slot and id, so ids held
/// from the origin world will not match it. Host wiring is reset to defaults.
/// @param image A snapshot image produced by b2World_Snapshot
/// @param size Size of image in bytes
/// @param workerCount Worker count for the new world. 0 uses the serial single-worker fallback.
/// @return The new world id, or b2_nullWorldId on failure.
B2_API b2WorldId b2CreateWorldFromSnapshot( const uint8_t* image, int size, int workerCount );

/** @} */

/**
 * @defgroup body Body
 * This is the body API.
 * @{
 */

/// Create a rigid body given a definition. No reference to the definition is retained. So you can create the definition
/// on the stack and pass it as a pointer.
/// @code{.c}
/// b2BodyDef bodyDef = b2DefaultBodyDef();
/// b2BodyId myBodyId = b2CreateBody(myWorldId, &bodyDef);
/// @endcode
/// @warning This function is locked during callbacks.
B2_API b2BodyId b2CreateBody( b2WorldId worldId, const b2BodyDef* def );

/// Destroy a rigid body given an id. This destroys all shapes and joints attached to the body.
/// Do not keep references to the associated shapes and joints.
B2_API void b2DestroyBody( b2BodyId bodyId );

/// Body identifier validation. A valid body exists in a world and is non-null.
/// This can be used to detect orphaned ids. Provides validation for up to 64K allocations.
B2_API bool b2Body_IsValid( b2BodyId id );

/// Get the body type: static, kinematic, or dynamic
B2_API b2BodyType b2Body_GetType( b2BodyId bodyId );

/// Change the body type. This is an expensive operation. This automatically updates the mass
/// properties regardless of the automatic mass setting.
B2_API void b2Body_SetType( b2BodyId bodyId, b2BodyType type );

/// Set the body name. Up to 31 characters excluding 0 termination.
B2_API void b2Body_SetName( b2BodyId bodyId, const char* name );

/// Get the body name.
B2_API const char* b2Body_GetName( b2BodyId bodyId );

/// Set the user data for a body
B2_API void b2Body_SetUserData( b2BodyId bodyId, void* userData );

/// Get the user data stored in a body
B2_API void* b2Body_GetUserData( b2BodyId bodyId );

/// Get the world position of a body. This is the location of the body origin.
B2_API b2Pos b2Body_GetPosition( b2BodyId bodyId );

/// Get the world rotation of a body as a cosine/sine pair (complex number)
B2_API b2Rot b2Body_GetRotation( b2BodyId bodyId );

/// Get the world transform of a body.
B2_API b2WorldTransform b2Body_GetTransform( b2BodyId bodyId );

/// Set the world transform of a body. This acts as a teleport and is fairly expensive.
/// @note Generally you should create a body with then intended transform.
/// @see b2BodyDef::position and b2BodyDef::rotation
B2_API void b2Body_SetTransform( b2BodyId bodyId, b2Pos position, b2Rot rotation );

/// Get a local point on a body given a world point
B2_API b2Vec2 b2Body_GetLocalPoint( b2BodyId bodyId, b2Pos worldPoint );

/// Get a world point on a body given a local point
B2_API b2Pos b2Body_GetWorldPoint( b2BodyId bodyId, b2Vec2 localPoint );

/// Get a local vector on a body given a world vector
B2_API b2Vec2 b2Body_GetLocalVector( b2BodyId bodyId, b2Vec2 worldVector );

/// Get a world vector on a body given a local vector
B2_API b2Vec2 b2Body_GetWorldVector( b2BodyId bodyId, b2Vec2 localVector );

/// Get the linear velocity of a body's center of mass. Usually in meters per second.
B2_API b2Vec2 b2Body_GetLinearVelocity( b2BodyId bodyId );

/// Get the angular velocity of a body in radians per second
B2_API float b2Body_GetAngularVelocity( b2BodyId bodyId );

/// Set the linear velocity of a body. Usually in meters per second.
B2_API void b2Body_SetLinearVelocity( b2BodyId bodyId, b2Vec2 linearVelocity );

/// Set the angular velocity of a body in radians per second
B2_API void b2Body_SetAngularVelocity( b2BodyId bodyId, float angularVelocity );

/// Set the velocity to reach the given transform after a given time step.
/// The result will be close but maybe not exact. This is meant for kinematic bodies.
/// The target is not applied if the velocity would be below the sleep threshold and
/// the body is currently asleep.
/// @param bodyId The body id
/// @param target The target transform for the body
/// @param timeStep The time step of the next call to b2World_Step
/// @param wake Option to wake the body or not
B2_API void b2Body_SetTargetTransform( b2BodyId bodyId, b2WorldTransform target, float timeStep, bool wake );

/// Get the linear velocity of a local point attached to a body. Usually in meters per second.
B2_API b2Vec2 b2Body_GetLocalPointVelocity( b2BodyId bodyId, b2Vec2 localPoint );

/// Get the linear velocity of a world point attached to a body. Usually in meters per second.
B2_API b2Vec2 b2Body_GetWorldPointVelocity( b2BodyId bodyId, b2Pos worldPoint );

/// Apply a force at a world point. If the force is not applied at the center of mass,
/// it will generate a torque and affect the angular velocity. This optionally wakes up the body.
/// The force is ignored if the body is not awake.
/// @param bodyId The body id
/// @param force The world force vector, usually in newtons (N)
/// @param point The world position of the point of application
/// @param wake Option to wake up the body
B2_API void b2Body_ApplyForce( b2BodyId bodyId, b2Vec2 force, b2Pos point, bool wake );

/// Apply a force to the center of mass. This optionally wakes up the body.
/// The force is ignored if the body is not awake.
/// @param bodyId The body id
/// @param force the world force vector, usually in newtons (N).
/// @param wake also wake up the body
B2_API void b2Body_ApplyForceToCenter( b2BodyId bodyId, b2Vec2 force, bool wake );

/// Apply a torque. This affects the angular velocity without affecting the linear velocity.
/// This optionally wakes the body. The torque is ignored if the body is not awake.
/// @param bodyId The body id
/// @param torque about the z-axis (out of the screen), usually in N*m.
/// @param wake also wake up the body
B2_API void b2Body_ApplyTorque( b2BodyId bodyId, float torque, bool wake );

/// Clear the force and torque on this body. Forces and torques are automatically cleared after each world
/// step. So this only needs to be called if the application wants to remove the effect of previous
/// calls to apply forces and torques before the world step is called.
/// @param bodyId The body id
B2_API void b2Body_ClearForces( b2BodyId bodyId );

/// Apply an impulse at a point. This immediately modifies the velocity.
/// It also modifies the angular velocity if the point of application
/// is not at the center of mass. This optionally wakes the body.
/// The impulse is ignored if the body is not awake.
/// @param bodyId The body id
/// @param impulse the world impulse vector, usually in N*s or kg*m/s.
/// @param point the world position of the point of application.
/// @param wake also wake up the body
/// @warning This should be used for one-shot impulses. If you need a steady force,
/// use a force instead, which will work better with the sub-stepping solver.
B2_API void b2Body_ApplyLinearImpulse( b2BodyId bodyId, b2Vec2 impulse, b2Pos point, bool wake );

/// Apply an impulse to the center of mass. This immediately modifies the velocity.
/// The impulse is ignored if the body is not awake. This optionally wakes the body.
/// @param bodyId The body id
/// @param impulse the world impulse vector, usually in N*s or kg*m/s.
/// @param wake also wake up the body
/// @warning This should be used for one-shot impulses. If you need a steady force,
/// use a force instead, which will work better with the sub-stepping solver.
B2_API void b2Body_ApplyLinearImpulseToCenter( b2BodyId bodyId, b2Vec2 impulse, bool wake );

/// Apply an angular impulse. The impulse is ignored if the body is not awake.
/// This optionally wakes the body.
/// @param bodyId The body id
/// @param impulse the angular impulse, usually in units of kg*m*m/s
/// @param wake also wake up the body
/// @warning This should be used for one-shot impulses. If you need a steady torque,
/// use a torque instead, which will work better with the sub-stepping solver.
B2_API void b2Body_ApplyAngularImpulse( b2BodyId bodyId, float impulse, bool wake );

/// Get the mass of the body, usually in kilograms
B2_API float b2Body_GetMass( b2BodyId bodyId );

/// Get the rotational inertia of the body, usually in kg*m^2
B2_API float b2Body_GetRotationalInertia( b2BodyId bodyId );

/// Get the center of mass position of the body in local space.
B2_API b2Vec2 b2Body_GetLocalCenter( b2BodyId bodyId );

/// Get the center of mass position of the body in world space.
B2_API b2Pos b2Body_GetWorldCenter( b2BodyId bodyId );

/// Override the body's mass properties. Normally this is computed automatically using the
/// shape geometry and density. This information is lost if a shape is added or removed or if the
/// body type changes.
B2_API void b2Body_SetMassData( b2BodyId bodyId, b2MassData massData );

/// Get the mass data for a body
B2_API b2MassData b2Body_GetMassData( b2BodyId bodyId );

/// This updates the mass properties to the sum of the mass properties of the shapes.
/// This normally does not need to be called unless you called SetMassData to override
/// the mass and you later want to reset the mass.
/// You may also use this when automatic mass computation has been disabled.
/// You should call this regardless of body type.
/// Note that sensor shapes may have mass.
B2_API void b2Body_ApplyMassFromShapes( b2BodyId bodyId );

/// Adjust the linear damping. Normally this is set in b2BodyDef before creation.
B2_API void b2Body_SetLinearDamping( b2BodyId bodyId, float linearDamping );

/// Get the current linear damping.
B2_API float b2Body_GetLinearDamping( b2BodyId bodyId );

/// Adjust the angular damping. Normally this is set in b2BodyDef before creation.
B2_API void b2Body_SetAngularDamping( b2BodyId bodyId, float angularDamping );

/// Get the current angular damping.
B2_API float b2Body_GetAngularDamping( b2BodyId bodyId );

/// Adjust the gravity scale. Normally this is set in b2BodyDef before creation.
/// @see b2BodyDef::gravityScale
B2_API void b2Body_SetGravityScale( b2BodyId bodyId, float gravityScale );

/// Get the current gravity scale
B2_API float b2Body_GetGravityScale( b2BodyId bodyId );

/// @return true if this body is awake
B2_API bool b2Body_IsAwake( b2BodyId bodyId );

/// Wake a body from sleep. This wakes the entire island the body is touching.
/// @warning Putting a body to sleep will put the entire island of bodies touching this body to sleep,
/// which can be expensive and possibly unintuitive.
B2_API void b2Body_SetAwake( b2BodyId bodyId, bool awake );

/// Wake bodies touching this body. Works for static bodies.
B2_API void b2Body_WakeTouching( b2BodyId bodyId );

/// Enable or disable sleeping for this body. If sleeping is disabled the body will wake (and the entire island).
B2_API void b2Body_EnableSleep( b2BodyId bodyId, bool enableSleep );

/// Returns true if sleeping is enabled for this body
B2_API bool b2Body_IsSleepEnabled( b2BodyId bodyId );

/// Set the sleep threshold, usually in meters per second
B2_API void b2Body_SetSleepThreshold( b2BodyId bodyId, float sleepThreshold );

/// Get the sleep threshold, usually in meters per second.
B2_API float b2Body_GetSleepThreshold( b2BodyId bodyId );

/// Returns true if this body is enabled
B2_API bool b2Body_IsEnabled( b2BodyId bodyId );

/// Disable a body by removing it completely from the simulation. This is expensive.
B2_API void b2Body_Disable( b2BodyId bodyId );

/// Enable a body by adding it to the simulation. This is expensive.
B2_API void b2Body_Enable( b2BodyId bodyId );

/// Set the motion locks on this body.
B2_API void b2Body_SetMotionLocks( b2BodyId bodyId, b2MotionLocks locks );

/// Get the motion locks for this body.
B2_API b2MotionLocks b2Body_GetMotionLocks( b2BodyId bodyId );

/// Set this body to be a bullet. A bullet does continuous collision detection
/// against dynamic bodies (but not other bullets).
B2_API void b2Body_SetBullet( b2BodyId bodyId, bool flag );

/// Is this body a bullet?
B2_API bool b2Body_IsBullet( b2BodyId bodyId );

/// Enable or disable contact recycling for this body. Contact recycling is a performance optimization
/// that reuses contact manifolds when bodies move slightly. Disabling it can avoid ghost collisions
/// on characters at the cost of higher per-step work. Existing contacts retain their prior setting;
/// only contacts created after this call see the new value.
/// @see b2BodyDef::enableContactRecycling
B2_API void b2Body_EnableContactRecycling( b2BodyId bodyId, bool flag );

/// Is contact recycling enabled on this body?
B2_API bool b2Body_IsContactRecyclingEnabled( b2BodyId bodyId );

/// Enable/disable contact events on all shapes.
/// @see b2ShapeDef::enableContactEvents
/// @warning changing this at runtime may cause mismatched begin/end touch events
B2_API void b2Body_EnableContactEvents( b2BodyId bodyId, bool flag );

/// Enable/disable hit events on all shapes
/// @see b2ShapeDef::enableHitEvents
B2_API void b2Body_EnableHitEvents( b2BodyId bodyId, bool flag );

/// Get the world that owns this body
B2_API b2WorldId b2Body_GetWorld( b2BodyId bodyId );

/// Get the number of shapes on this body
B2_API int b2Body_GetShapeCount( b2BodyId bodyId );

/// Get the shape ids for all shapes on this body, up to the provided capacity.
/// @returns the number of shape ids stored in the user array
B2_API int b2Body_GetShapes( b2BodyId bodyId, b2ShapeId* shapeArray, int capacity );

/// Get the number of joints on this body
B2_API int b2Body_GetJointCount( b2BodyId bodyId );

/// Get the joint ids for all joints on this body, up to the provided capacity
/// @returns the number of joint ids stored in the user array
B2_API int b2Body_GetJoints( b2BodyId bodyId, b2JointId* jointArray, int capacity );

/// Get the maximum capacity required for retrieving all the touching contacts on a body
B2_API int b2Body_GetContactCapacity( b2BodyId bodyId );

/// Get the touching contact data for a body.
/// @note Box2D uses speculative collision so some contact points may be separated.
/// @returns the number of elements filled in the provided array
/// @warning do not ignore the return value, it specifies the valid number of elements
B2_API int b2Body_GetContactData( b2BodyId bodyId, b2ContactData* contactData, int capacity );

/// Get the current world AABB that contains all the attached shapes. Note that this may not encompass the body origin.
/// If there are no shapes attached then the returned AABB is empty and centered on the body origin.
B2_API b2AABB b2Body_ComputeAABB( b2BodyId bodyId );

/** @} */

/**
 * @defgroup shape Shape
 * Functions to create, destroy, and access.
 * Shapes bind raw geometry to bodies and hold material properties including friction and restitution.
 * @{
 */

/// Create a circle shape and attach it to a body. The shape definition and geometry are fully cloned.
/// Contacts are not created until the next time step.
/// @return the shape id for accessing the shape
B2_API b2ShapeId b2CreateCircleShape( b2BodyId bodyId, const b2ShapeDef* def, const b2Circle* circle );

/// Create a line segment shape and attach it to a body. The shape definition and geometry are fully cloned.
/// Contacts are not created until the next time step.
/// @return the shape id or b2_nullShapeId if the segment is too short.
B2_API b2ShapeId b2CreateSegmentShape( b2BodyId bodyId, const b2ShapeDef* def, const b2Segment* segment );

/// Create an orphaned chain segment shape and attach it to a body. The shape definition and
/// geometry are fully cloned. The caller is responsible for the segment's ghost vertices and
/// lifetime. The segment is not owned by any b2ChainShape (b2Shape_GetParentChain returns
/// b2_nullChainId). Contacts are not created until the next time step.
/// @return the shape id, or b2_nullShapeId if the segment is too short.
B2_API b2ShapeId b2CreateChainSegmentShape( b2BodyId bodyId, const b2ShapeDef* def, const b2ChainSegment* chainSegment );

/// Create a capsule shape and attach it to a body. The shape definition and geometry are fully cloned.
/// Contacts are not created until the next time step.
/// @return the shape id for accessing the shape, this will be b2_nullShapeId if the length is too small.
B2_API b2ShapeId b2CreateCapsuleShape( b2BodyId bodyId, const b2ShapeDef* def, const b2Capsule* capsule );

/// Create a polygon shape and attach it to a body. The shape definition and geometry are fully cloned.
/// Contacts are not created until the next time step.
/// @return the shape id for accessing the shape
B2_API b2ShapeId b2CreatePolygonShape( b2BodyId bodyId, const b2ShapeDef* def, const b2Polygon* polygon );

/// Destroy a shape. You may defer the body mass update which can improve performance if several shapes on a
///	body are destroyed at once.
///	@see b2Body_ApplyMassFromShapes
B2_API void b2DestroyShape( b2ShapeId shapeId, bool updateBodyMass );

/// Shape identifier validation. Provides validation for up to 64K allocations.
B2_API bool b2Shape_IsValid( b2ShapeId id );

/// Get the type of a shape
B2_API b2ShapeType b2Shape_GetType( b2ShapeId shapeId );

/// Get the id of the body that a shape is attached to
B2_API b2BodyId b2Shape_GetBody( b2ShapeId shapeId );

/// Get the world that owns this shape
B2_API b2WorldId b2Shape_GetWorld( b2ShapeId shapeId );

/// Returns true if the shape is a sensor. It is not possible to change a shape
/// from sensor to solid dynamically because this breaks the contract for
/// sensor events.
B2_API bool b2Shape_IsSensor( b2ShapeId shapeId );

/// Set the user data for a shape
B2_API void b2Shape_SetUserData( b2ShapeId shapeId, void* userData );

/// Get the user data for a shape. This is useful when you get a shape id
/// from an event or query.
B2_API void* b2Shape_GetUserData( b2ShapeId shapeId );

/// Set the mass density of a shape, usually in kg/m^2.
/// This will optionally update the mass properties on the parent body.
/// @see b2ShapeDef::density, b2Body_ApplyMassFromShapes
B2_API void b2Shape_SetDensity( b2ShapeId shapeId, float density, bool updateBodyMass );

/// Get the density of a shape, usually in kg/m^2
B2_API float b2Shape_GetDensity( b2ShapeId shapeId );

/// Set the friction on a shape
B2_API void b2Shape_SetFriction( b2ShapeId shapeId, float friction );

/// Get the friction of a shape
B2_API float b2Shape_GetFriction( b2ShapeId shapeId );

/// Set the shape restitution (bounciness)
B2_API void b2Shape_SetRestitution( b2ShapeId shapeId, float restitution );

/// Get the shape restitution
B2_API float b2Shape_GetRestitution( b2ShapeId shapeId );

/// Set the user material identifier
B2_API void b2Shape_SetUserMaterial( b2ShapeId shapeId, uint64_t material );

/// Get the user material identifier
B2_API uint64_t b2Shape_GetUserMaterial( b2ShapeId shapeId );

/// Set the shape surface material
B2_API void b2Shape_SetSurfaceMaterial( b2ShapeId shapeId, const b2SurfaceMaterial* surfaceMaterial );

/// Get the shape surface material
B2_API b2SurfaceMaterial b2Shape_GetSurfaceMaterial( b2ShapeId shapeId );

/// Get the shape filter
B2_API b2Filter b2Shape_GetFilter( b2ShapeId shapeId );

/// Set the current filter. This is almost as expensive as recreating the shape. This may cause
/// contacts to be immediately destroyed. However contacts are not created until the next world step.
/// Sensor overlap state is also not updated until the next world step.
/// @see b2ShapeDef::filter
B2_API void b2Shape_SetFilter( b2ShapeId shapeId, b2Filter filter );

/// Enable sensor events for this shape.
/// @see b2ShapeDef::enableSensorEvents
B2_API void b2Shape_EnableSensorEvents( b2ShapeId shapeId, bool flag );

/// Returns true if sensor events are enabled.
B2_API bool b2Shape_AreSensorEventsEnabled( b2ShapeId shapeId );

/// Enable contact events for this shape. Only applies to kinematic and dynamic bodies. Ignored for sensors.
/// @see b2ShapeDef::enableContactEvents
/// @warning changing this at run-time may lead to lost begin/end events
B2_API void b2Shape_EnableContactEvents( b2ShapeId shapeId, bool flag );

/// Returns true if contact events are enabled
B2_API bool b2Shape_AreContactEventsEnabled( b2ShapeId shapeId );

/// Enable pre-solve contact events for this shape. Only applies to dynamic bodies. These are expensive
/// and must be carefully handled due to multithreading. Ignored for sensors.
/// @see b2PreSolveFcn
B2_API void b2Shape_EnablePreSolveEvents( b2ShapeId shapeId, bool flag );

/// Returns true if pre-solve events are enabled
B2_API bool b2Shape_ArePreSolveEventsEnabled( b2ShapeId shapeId );

/// Enable contact hit events for this shape. Ignored for sensors.
/// @see b2WorldDef.hitEventThreshold
B2_API void b2Shape_EnableHitEvents( b2ShapeId shapeId, bool flag );

/// Returns true if hit events are enabled
B2_API bool b2Shape_AreHitEventsEnabled( b2ShapeId shapeId );

/// Test a world point for overlap with a shape
B2_API bool b2Shape_TestPoint( b2ShapeId shapeId, b2Pos point );

/// Ray cast a single shape. The ray starts at the origin and extends by the translation. The output
/// point is a world position.
B2_API b2WorldCastOutput b2Shape_RayCast( b2ShapeId shapeId, b2Pos origin, b2Vec2 translation );

/// Get a copy of the shape's circle. Asserts the type is correct.
B2_API b2Circle b2Shape_GetCircle( b2ShapeId shapeId );

/// Get a copy of the shape's line segment. Asserts the type is correct.
B2_API b2Segment b2Shape_GetSegment( b2ShapeId shapeId );

/// Get a copy of the shape's chain segment. These come from chain shapes.
/// Asserts the type is correct.
B2_API b2ChainSegment b2Shape_GetChainSegment( b2ShapeId shapeId );

/// Get a copy of the shape's capsule. Asserts the type is correct.
B2_API b2Capsule b2Shape_GetCapsule( b2ShapeId shapeId );

/// Get a copy of the shape's convex polygon. Asserts the type is correct.
B2_API b2Polygon b2Shape_GetPolygon( b2ShapeId shapeId );

/// Allows you to change a shape to be a circle or update the current circle.
/// This does not modify the mass properties.
/// @see b2Body_ApplyMassFromShapes
B2_API void b2Shape_SetCircle( b2ShapeId shapeId, const b2Circle* circle );

/// Allows you to change a shape to be a capsule or update the current capsule.
/// This does not modify the mass properties.
/// @see b2Body_ApplyMassFromShapes
B2_API void b2Shape_SetCapsule( b2ShapeId shapeId, const b2Capsule* capsule );

/// Allows you to change a shape to be a segment or update the current segment.
B2_API void b2Shape_SetSegment( b2ShapeId shapeId, const b2Segment* segment );

/// Allows you to change a shape to be a polygon or update the current polygon.
/// This does not modify the mass properties.
/// @see b2Body_ApplyMassFromShapes
B2_API void b2Shape_SetPolygon( b2ShapeId shapeId, const b2Polygon* polygon );

/// Allows you to change a shape to be an orphaned chain segment or update the current chain
/// segment, including its ghost vertices. The chainId on the input is ignored. The resulting
/// shape is always orphaned. Asserts if the shape is already a chain segment
/// owned by a b2ChainShape (chainId != B2_NULL_INDEX).
B2_API void b2Shape_SetChainSegment( b2ShapeId shapeId, const b2ChainSegment* chainSegment );

/// Get the parent chain id if the shape type is a chain segment, otherwise
/// returns b2_nullChainId.
B2_API b2ChainId b2Shape_GetParentChain( b2ShapeId shapeId );

/// Get the maximum capacity required for retrieving all the touching contacts on a shape
B2_API int b2Shape_GetContactCapacity( b2ShapeId shapeId );

/// Get the touching contact data for a shape. The provided shapeId will be either shapeIdA or shapeIdB on the contact data.
/// @note Box2D uses speculative collision so some contact points may be separated.
/// @returns the number of elements filled in the provided array
/// @warning do not ignore the return value, it specifies the valid number of elements
B2_API int b2Shape_GetContactData( b2ShapeId shapeId, b2ContactData* contactData, int capacity );

/// Get the maximum capacity required for retrieving all the overlapped shapes on a sensor shape.
/// This returns 0 if the provided shape is not a sensor.
/// @param shapeId the id of a sensor shape
/// @returns the required capacity to get all the overlaps in b2Shape_GetSensorData
B2_API int b2Shape_GetSensorCapacity( b2ShapeId shapeId );

/// Get the overlap data for a sensor shape computed the previous world step.
/// @param shapeId the id of a sensor shape
/// @param visitorIds a user allocated array that is filled with the overlapping shapes (visitors)
/// @param capacity the capacity of overlappedShapes
/// @returns the number of elements filled in the provided array
/// @warning do not ignore the return value, it specifies the valid number of elements
/// @warning overlaps may contain destroyed shapes so use b2Shape_IsValid to confirm each overlap
B2_API int b2Shape_GetSensorData( b2ShapeId shapeId, b2ShapeId* visitorIds, int capacity );

/// Get the current world AABB
B2_API b2AABB b2Shape_GetAABB( b2ShapeId shapeId );

/// Compute the mass data for a shape
B2_API b2MassData b2Shape_ComputeMassData( b2ShapeId shapeId );

/// Get the closest point on a shape to a target point. Target and result are world positions.
/// todo need sample
B2_API b2Pos b2Shape_GetClosestPoint( b2ShapeId shapeId, b2Pos target );

/// Apply a wind force to the body for this shape using the density of air. This considers
/// the projected area of the shape in the wind direction. This also considers
/// the relative velocity of the shape.
/// @param shapeId the shape id
/// @param wind the wind velocity in world space
/// @param drag the drag coefficient, the force that opposes the relative velocity
/// @param lift the lift coefficient, the force that is perpendicular to the relative velocity
/// @param wake should this wake the body
B2_API void b2Shape_ApplyWind( b2ShapeId shapeId, b2Vec2 wind, float drag, float lift, bool wake );

/// Chain Shape

/// Create a chain shape
/// @see b2ChainDef for details
B2_API b2ChainId b2CreateChain( b2BodyId bodyId, const b2ChainDef* def );

/// Destroy a chain shape
B2_API void b2DestroyChain( b2ChainId chainId );

/// Get the world that owns this chain shape
B2_API b2WorldId b2Chain_GetWorld( b2ChainId chainId );

/// Get the number of segments on this chain
B2_API int b2Chain_GetSegmentCount( b2ChainId chainId );

/// Fill a user array with chain segment shape ids up to the specified capacity. Returns
/// the actual number of segments returned.
B2_API int b2Chain_GetSegments( b2ChainId chainId, b2ShapeId* segmentArray, int capacity );

/// Get the number of materials used on this chain. Must be 1 or the number of segments.
B2_API int b2Chain_GetSurfaceMaterialCount( b2ChainId chainId );

/// Set a chain material. If the chain has only one material, this material is applied to all
/// segments. Otherwise it is applied to a single segment.
B2_API void b2Chain_SetSurfaceMaterial( b2ChainId chainId, const b2SurfaceMaterial* material, int materialIndex );

/// Get a chain material by index.
B2_API b2SurfaceMaterial b2Chain_GetSurfaceMaterial( b2ChainId chainId, int materialIndex );

/// Chain identifier validation. Provides validation for up to 64K allocations.
B2_API bool b2Chain_IsValid( b2ChainId id );

/** @} */

/**
 * @defgroup joint Joint
 * @brief Joints allow you to connect rigid bodies together while allowing various forms of relative motions.
 * @{
 */

/// Destroy a joint. Optionally wake attached bodies.
B2_API void b2DestroyJoint( b2JointId jointId, bool wakeAttached );

/// Joint identifier validation. Provides validation for up to 64K allocations.
B2_API bool b2Joint_IsValid( b2JointId id );

/// Get the joint type
B2_API b2JointType b2Joint_GetType( b2JointId jointId );

/// Get body A id on a joint
B2_API b2BodyId b2Joint_GetBodyA( b2JointId jointId );

/// Get body B id on a joint
B2_API b2BodyId b2Joint_GetBodyB( b2JointId jointId );

/// Get the world that owns this joint
B2_API b2WorldId b2Joint_GetWorld( b2JointId jointId );

/// Set the local frame on bodyA
B2_API void b2Joint_SetLocalFrameA( b2JointId jointId, b2Transform localFrame );

/// Get the local frame on bodyA
B2_API b2Transform b2Joint_GetLocalFrameA( b2JointId jointId );

/// Set the local frame on bodyB
B2_API void b2Joint_SetLocalFrameB( b2JointId jointId, b2Transform localFrame );

/// Get the local frame on bodyB
B2_API b2Transform b2Joint_GetLocalFrameB( b2JointId jointId );

/// Toggle collision between connected bodies
B2_API void b2Joint_SetCollideConnected( b2JointId jointId, bool shouldCollide );

/// Is collision allowed between connected bodies?
B2_API bool b2Joint_GetCollideConnected( b2JointId jointId );

/// Set the user data on a joint
B2_API void b2Joint_SetUserData( b2JointId jointId, void* userData );

/// Get the user data on a joint
B2_API void* b2Joint_GetUserData( b2JointId jointId );

/// Wake the bodies connect to this joint
B2_API void b2Joint_WakeBodies( b2JointId jointId );

/// Get the current constraint force for this joint. Usually in Newtons.
B2_API b2Vec2 b2Joint_GetConstraintForce( b2JointId jointId );

/// Get the current constraint torque for this joint. Usually in Newton * meters.
B2_API float b2Joint_GetConstraintTorque( b2JointId jointId );

/// Get the current linear separation error for this joint. Does not consider admissible movement. Usually in meters.
B2_API float b2Joint_GetLinearSeparation( b2JointId jointId );

/// Get the current angular separation error for this joint. Does not consider admissible movement. Usually in meters.
B2_API float b2Joint_GetAngularSeparation( b2JointId jointId );

/// Set the joint constraint tuning. Advanced feature.
/// @param jointId the joint
/// @param hertz the stiffness in Hertz (cycles per second)
/// @param dampingRatio the non-dimensional damping ratio (one for critical damping)
B2_API void b2Joint_SetConstraintTuning( b2JointId jointId, float hertz, float dampingRatio );

/// Get the joint constraint tuning. Advanced feature.
B2_API void b2Joint_GetConstraintTuning( b2JointId jointId, float* hertz, float* dampingRatio );

/// Set the force threshold for joint events (Newtons)
B2_API void b2Joint_SetForceThreshold( b2JointId jointId, float threshold );

/// Get the force threshold for joint events (Newtons)
B2_API float b2Joint_GetForceThreshold( b2JointId jointId );

/// Set the torque threshold for joint events (N-m)
B2_API void b2Joint_SetTorqueThreshold( b2JointId jointId, float threshold );

/// Get the torque threshold for joint events (N-m)
B2_API float b2Joint_GetTorqueThreshold( b2JointId jointId );

/**
 * @defgroup distance_joint Distance Joint
 * @brief Functions for the distance joint.
 * @{
 */

/// Create a distance joint
/// @see b2DistanceJointDef for details
B2_API b2JointId b2CreateDistanceJoint( b2WorldId worldId, const b2DistanceJointDef* def );

/// Set the rest length of a distance joint
/// @param jointId The id for a distance joint
/// @param length The new distance joint length
B2_API void b2DistanceJoint_SetLength( b2JointId jointId, float length );

/// Get the rest length of a distance joint
B2_API float b2DistanceJoint_GetLength( b2JointId jointId );

/// Enable/disable the distance joint spring. When disabled the distance joint is rigid.
B2_API void b2DistanceJoint_EnableSpring( b2JointId jointId, bool enableSpring );

/// Is the distance joint spring enabled?
B2_API bool b2DistanceJoint_IsSpringEnabled( b2JointId jointId );

/// Set the force range for the spring.
B2_API void b2DistanceJoint_SetSpringForceRange( b2JointId jointId, float lowerForce, float upperForce );

/// Get the force range for the spring.
B2_API void b2DistanceJoint_GetSpringForceRange( b2JointId jointId, float* lowerForce, float* upperForce );

/// Set the spring stiffness in Hertz
B2_API void b2DistanceJoint_SetSpringHertz( b2JointId jointId, float hertz );

/// Set the spring damping ratio, non-dimensional
B2_API void b2DistanceJoint_SetSpringDampingRatio( b2JointId jointId, float dampingRatio );

/// Get the spring Hertz
B2_API float b2DistanceJoint_GetSpringHertz( b2JointId jointId );

/// Get the spring damping ratio
B2_API float b2DistanceJoint_GetSpringDampingRatio( b2JointId jointId );

/// Enable joint limit. The limit only works if the joint spring is enabled. Otherwise the joint is rigid
/// and the limit has no effect.
B2_API void b2DistanceJoint_EnableLimit( b2JointId jointId, bool enableLimit );

/// Is the distance joint limit enabled?
B2_API bool b2DistanceJoint_IsLimitEnabled( b2JointId jointId );

/// Set the minimum and maximum length parameters of a distance joint
B2_API void b2DistanceJoint_SetLengthRange( b2JointId jointId, float minLength, float maxLength );

/// Get the distance joint minimum length
B2_API float b2DistanceJoint_GetMinLength( b2JointId jointId );

/// Get the distance joint maximum length
B2_API float b2DistanceJoint_GetMaxLength( b2JointId jointId );

/// Get the current length of a distance joint
B2_API float b2DistanceJoint_GetCurrentLength( b2JointId jointId );

/// Enable/disable the distance joint motor
B2_API void b2DistanceJoint_EnableMotor( b2JointId jointId, bool enableMotor );

/// Is the distance joint motor enabled?
B2_API bool b2DistanceJoint_IsMotorEnabled( b2JointId jointId );

/// Set the distance joint motor speed, usually in meters per second
B2_API void b2DistanceJoint_SetMotorSpeed( b2JointId jointId, float motorSpeed );

/// Get the distance joint motor speed, usually in meters per second
B2_API float b2DistanceJoint_GetMotorSpeed( b2JointId jointId );

/// Set the distance joint maximum motor force, usually in newtons
B2_API void b2DistanceJoint_SetMaxMotorForce( b2JointId jointId, float force );

/// Get the distance joint maximum motor force, usually in newtons
B2_API float b2DistanceJoint_GetMaxMotorForce( b2JointId jointId );

/// Get the distance joint current motor force, usually in newtons
B2_API float b2DistanceJoint_GetMotorForce( b2JointId jointId );

/** @} */

/**
 * @defgroup motor_joint Motor Joint
 * @brief Functions for the motor joint.
 *
 * The motor joint is designed to control the movement of a body while still being
 * responsive to collisions. A spring controls the position and rotation. A velocity motor
 * can be used to control velocity and allows for friction in top-down games. Both types
 * of control can be combined. For example, you can have a spring with friction.
 * Position and velocity control have force and torque limits.
 * @{
 */

/// Create a motor joint
/// @see b2MotorJointDef for details
B2_API b2JointId b2CreateMotorJoint( b2WorldId worldId, const b2MotorJointDef* def );

/// Set the desired relative linear velocity in meters per second
B2_API void b2MotorJoint_SetLinearVelocity( b2JointId jointId, b2Vec2 velocity );

/// Get the desired relative linear velocity in meters per second
B2_API b2Vec2 b2MotorJoint_GetLinearVelocity( b2JointId jointId );

/// Set the desired relative angular velocity in radians per second
B2_API void b2MotorJoint_SetAngularVelocity( b2JointId jointId, float velocity );

/// Get the desired relative angular velocity in radians per second
B2_API float b2MotorJoint_GetAngularVelocity( b2JointId jointId );

/// Set the motor joint maximum force, usually in newtons
B2_API void b2MotorJoint_SetMaxVelocityForce( b2JointId jointId, float maxForce );

/// Get the motor joint maximum force, usually in newtons
B2_API float b2MotorJoint_GetMaxVelocityForce( b2JointId jointId );

/// Set the motor joint maximum torque, usually in newton-meters
B2_API void b2MotorJoint_SetMaxVelocityTorque( b2JointId jointId, float maxTorque );

/// Get the motor joint maximum torque, usually in newton-meters
B2_API float b2MotorJoint_GetMaxVelocityTorque( b2JointId jointId );

/// Set the spring linear hertz stiffness
B2_API void b2MotorJoint_SetLinearHertz( b2JointId jointId, float hertz );

/// Get the spring linear hertz stiffness
B2_API float b2MotorJoint_GetLinearHertz( b2JointId jointId );

/// Set the spring linear damping ratio. Use 1.0 for critical damping.
B2_API void b2MotorJoint_SetLinearDampingRatio( b2JointId jointId, float damping );

/// Get the spring linear damping ratio.
B2_API float b2MotorJoint_GetLinearDampingRatio( b2JointId jointId );

/// Set the spring angular hertz stiffness
B2_API void b2MotorJoint_SetAngularHertz( b2JointId jointId, float hertz );

/// Get the spring angular hertz stiffness
B2_API float b2MotorJoint_GetAngularHertz( b2JointId jointId );

/// Set the spring angular damping ratio. Use 1.0 for critical damping.
B2_API void b2MotorJoint_SetAngularDampingRatio( b2JointId jointId, float damping );

/// Get the spring angular damping ratio.
B2_API float b2MotorJoint_GetAngularDampingRatio( b2JointId jointId );

/// Set the maximum spring force in newtons.
B2_API void b2MotorJoint_SetMaxSpringForce( b2JointId jointId, float maxForce );

/// Get the maximum spring force in newtons.
B2_API float b2MotorJoint_GetMaxSpringForce( b2JointId jointId );

/// Set the maximum spring torque in newtons * meters
B2_API void b2MotorJoint_SetMaxSpringTorque( b2JointId jointId, float maxTorque );

/// Get the maximum spring torque in newtons * meters
B2_API float b2MotorJoint_GetMaxSpringTorque( b2JointId jointId );

/**@}*/

/**
 * @defgroup filter_joint Filter Joint
 * @brief Functions for the filter joint.
 *
 * The filter joint is used to disable collision between two bodies. As a side effect of being a joint, it also
 * keeps the two bodies in the same simulation island.
 * @{
 */

/// Create a filter joint.
/// @see b2FilterJointDef for details
B2_API b2JointId b2CreateFilterJoint( b2WorldId worldId, const b2FilterJointDef* def );

/**@}*/

/**
 * @defgroup prismatic_joint Prismatic Joint
 * @brief A prismatic joint allows for translation along a single axis with no rotation.
 *
 * The prismatic joint is useful for things like pistons and moving platforms, where you want a body to translate
 * along an axis and have no rotation. Also called a *slider* joint.
 * @{
 */

/// Create a prismatic (slider) joint.
/// @see b2PrismaticJointDef for details
B2_API b2JointId b2CreatePrismaticJoint( b2WorldId worldId, const b2PrismaticJointDef* def );

/// Enable/disable the joint spring.
B2_API void b2PrismaticJoint_EnableSpring( b2JointId jointId, bool enableSpring );

/// Is the prismatic joint spring enabled or not?
B2_API bool b2PrismaticJoint_IsSpringEnabled( b2JointId jointId );

/// Set the prismatic joint stiffness in Hertz.
/// This should usually be less than a quarter of the simulation rate. For example, if the simulation
/// runs at 60Hz then the joint stiffness should be 15Hz or less.
B2_API void b2PrismaticJoint_SetSpringHertz( b2JointId jointId, float hertz );

/// Get the prismatic joint stiffness in Hertz
B2_API float b2PrismaticJoint_GetSpringHertz( b2JointId jointId );

/// Set the prismatic joint damping ratio (non-dimensional)
B2_API void b2PrismaticJoint_SetSpringDampingRatio( b2JointId jointId, float dampingRatio );

/// Get the prismatic spring damping ratio (non-dimensional)
B2_API float b2PrismaticJoint_GetSpringDampingRatio( b2JointId jointId );

/// Set the prismatic joint spring target angle, usually in meters
B2_API void b2PrismaticJoint_SetTargetTranslation( b2JointId jointId, float translation );

/// Get the prismatic joint spring target translation, usually in meters
B2_API float b2PrismaticJoint_GetTargetTranslation( b2JointId jointId );

/// Enable/disable a prismatic joint limit
B2_API void b2PrismaticJoint_EnableLimit( b2JointId jointId, bool enableLimit );

/// Is the prismatic joint limit enabled?
B2_API bool b2PrismaticJoint_IsLimitEnabled( b2JointId jointId );

/// Get the prismatic joint lower limit
B2_API float b2PrismaticJoint_GetLowerLimit( b2JointId jointId );

/// Get the prismatic joint upper limit
B2_API float b2PrismaticJoint_GetUpperLimit( b2JointId jointId );

/// Set the prismatic joint limits
B2_API void b2PrismaticJoint_SetLimits( b2JointId jointId, float lower, float upper );

/// Enable/disable a prismatic joint motor
B2_API void b2PrismaticJoint_EnableMotor( b2JointId jointId, bool enableMotor );

/// Is the prismatic joint motor enabled?
B2_API bool b2PrismaticJoint_IsMotorEnabled( b2JointId jointId );

/// Set the prismatic joint motor speed, usually in meters per second
B2_API void b2PrismaticJoint_SetMotorSpeed( b2JointId jointId, float motorSpeed );

/// Get the prismatic joint motor speed, usually in meters per second
B2_API float b2PrismaticJoint_GetMotorSpeed( b2JointId jointId );

/// Set the prismatic joint maximum motor force, usually in newtons
B2_API void b2PrismaticJoint_SetMaxMotorForce( b2JointId jointId, float force );

/// Get the prismatic joint maximum motor force, usually in newtons
B2_API float b2PrismaticJoint_GetMaxMotorForce( b2JointId jointId );

/// Get the prismatic joint current motor force, usually in newtons
B2_API float b2PrismaticJoint_GetMotorForce( b2JointId jointId );

/// Get the current joint translation, usually in meters.
B2_API float b2PrismaticJoint_GetTranslation( b2JointId jointId );

/// Get the current joint translation speed, usually in meters per second.
B2_API float b2PrismaticJoint_GetSpeed( b2JointId jointId );

/** @} */

/**
 * @defgroup revolute_joint Revolute Joint
 * @brief A revolute joint allows for relative rotation in the 2D plane with no relative translation.
 *
 * The revolute joint is probably the most common joint. It can be used for ragdolls and chains.
 * Also called a *hinge* or *pin* joint.
 * @{
 */

/// Create a revolute joint
/// @see b2RevoluteJointDef for details
B2_API b2JointId b2CreateRevoluteJoint( b2WorldId worldId, const b2RevoluteJointDef* def );

/// Enable/disable the revolute joint spring
B2_API void b2RevoluteJoint_EnableSpring( b2JointId jointId, bool enableSpring );

/// It the revolute angular spring enabled?
B2_API bool b2RevoluteJoint_IsSpringEnabled( b2JointId jointId );

/// Set the revolute joint spring stiffness in Hertz
B2_API void b2RevoluteJoint_SetSpringHertz( b2JointId jointId, float hertz );

/// Get the revolute joint spring stiffness in Hertz
B2_API float b2RevoluteJoint_GetSpringHertz( b2JointId jointId );

/// Set the revolute joint spring damping ratio, non-dimensional
B2_API void b2RevoluteJoint_SetSpringDampingRatio( b2JointId jointId, float dampingRatio );

/// Get the revolute joint spring damping ratio, non-dimensional
B2_API float b2RevoluteJoint_GetSpringDampingRatio( b2JointId jointId );

/// Set the revolute joint spring target angle, radians
B2_API void b2RevoluteJoint_SetTargetAngle( b2JointId jointId, float angle );

/// Get the revolute joint spring target angle, radians
B2_API float b2RevoluteJoint_GetTargetAngle( b2JointId jointId );

/// Get the revolute joint current angle in radians relative to the reference angle
/// @see b2RevoluteJointDef::referenceAngle
B2_API float b2RevoluteJoint_GetAngle( b2JointId jointId );

/// Enable/disable the revolute joint limit
B2_API void b2RevoluteJoint_EnableLimit( b2JointId jointId, bool enableLimit );

/// Is the revolute joint limit enabled?
B2_API bool b2RevoluteJoint_IsLimitEnabled( b2JointId jointId );

/// Get the revolute joint lower limit in radians
B2_API float b2RevoluteJoint_GetLowerLimit( b2JointId jointId );

/// Get the revolute joint upper limit in radians
B2_API float b2RevoluteJoint_GetUpperLimit( b2JointId jointId );

/// Set the revolute joint limits in radians. It is expected that lower <= upper
/// and that -0.99 * B2_PI <= lower && upper <= -0.99 * B2_PI.
B2_API void b2RevoluteJoint_SetLimits( b2JointId jointId, float lower, float upper );

/// Enable/disable a revolute joint motor
B2_API void b2RevoluteJoint_EnableMotor( b2JointId jointId, bool enableMotor );

/// Is the revolute joint motor enabled?
B2_API bool b2RevoluteJoint_IsMotorEnabled( b2JointId jointId );

/// Set the revolute joint motor speed in radians per second
B2_API void b2RevoluteJoint_SetMotorSpeed( b2JointId jointId, float motorSpeed );

/// Get the revolute joint motor speed in radians per second
B2_API float b2RevoluteJoint_GetMotorSpeed( b2JointId jointId );

/// Get the revolute joint current motor torque, usually in newton-meters
B2_API float b2RevoluteJoint_GetMotorTorque( b2JointId jointId );

/// Set the revolute joint maximum motor torque, usually in newton-meters
B2_API void b2RevoluteJoint_SetMaxMotorTorque( b2JointId jointId, float torque );

/// Get the revolute joint maximum motor torque, usually in newton-meters
B2_API float b2RevoluteJoint_GetMaxMotorTorque( b2JointId jointId );

/**@}*/

/**
 * @defgroup weld_joint Weld Joint
 * @brief A weld joint fully constrains the relative transform between two bodies while allowing for springiness
 *
 * A weld joint constrains the relative rotation and translation between two bodies. Both rotation and translation
 * can have damped springs.
 *
 * @note The accuracy of weld joint is limited by the accuracy of the solver. Long chains of weld joints may flex.
 * @{
 */

/// Create a weld joint
/// @see b2WeldJointDef for details
B2_API b2JointId b2CreateWeldJoint( b2WorldId worldId, const b2WeldJointDef* def );

/// Set the weld joint linear stiffness in Hertz. 0 is rigid.
B2_API void b2WeldJoint_SetLinearHertz( b2JointId jointId, float hertz );

/// Get the weld joint linear stiffness in Hertz
B2_API float b2WeldJoint_GetLinearHertz( b2JointId jointId );

/// Set the weld joint linear damping ratio (non-dimensional)
B2_API void b2WeldJoint_SetLinearDampingRatio( b2JointId jointId, float dampingRatio );

/// Get the weld joint linear damping ratio (non-dimensional)
B2_API float b2WeldJoint_GetLinearDampingRatio( b2JointId jointId );

/// Set the weld joint angular stiffness in Hertz. 0 is rigid.
B2_API void b2WeldJoint_SetAngularHertz( b2JointId jointId, float hertz );

/// Get the weld joint angular stiffness in Hertz
B2_API float b2WeldJoint_GetAngularHertz( b2JointId jointId );

/// Set weld joint angular damping ratio, non-dimensional
B2_API void b2WeldJoint_SetAngularDampingRatio( b2JointId jointId, float dampingRatio );

/// Get the weld joint angular damping ratio, non-dimensional
B2_API float b2WeldJoint_GetAngularDampingRatio( b2JointId jointId );

/** @} */

/**
 * @defgroup wheel_joint Wheel Joint
 * The wheel joint can be used to simulate wheels on vehicles.
 *
 * The wheel joint restricts body B to move along a local axis in body A. Body B is free to
 * rotate. Supports a linear spring, linear limits, and a rotational motor.
 *
 * @{
 */

/// Create a wheel joint
/// @see b2WheelJointDef for details
B2_API b2JointId b2CreateWheelJoint( b2WorldId worldId, const b2WheelJointDef* def );

/// Enable/disable the wheel joint spring
B2_API void b2WheelJoint_EnableSpring( b2JointId jointId, bool enableSpring );

/// Is the wheel joint spring enabled?
B2_API bool b2WheelJoint_IsSpringEnabled( b2JointId jointId );

/// Set the wheel joint stiffness in Hertz
B2_API void b2WheelJoint_SetSpringHertz( b2JointId jointId, float hertz );

/// Get the wheel joint stiffness in Hertz
B2_API float b2WheelJoint_GetSpringHertz( b2JointId jointId );

/// Set the wheel joint damping ratio, non-dimensional
B2_API void b2WheelJoint_SetSpringDampingRatio( b2JointId jointId, float dampingRatio );

/// Get the wheel joint damping ratio, non-dimensional
B2_API float b2WheelJoint_GetSpringDampingRatio( b2JointId jointId );

/// Enable/disable the wheel joint limit
B2_API void b2WheelJoint_EnableLimit( b2JointId jointId, bool enableLimit );

/// Is the wheel joint limit enabled?
B2_API bool b2WheelJoint_IsLimitEnabled( b2JointId jointId );

/// Get the wheel joint lower limit
B2_API float b2WheelJoint_GetLowerLimit( b2JointId jointId );

/// Get the wheel joint upper limit
B2_API float b2WheelJoint_GetUpperLimit( b2JointId jointId );

/// Set the wheel joint limits
B2_API void b2WheelJoint_SetLimits( b2JointId jointId, float lower, float upper );

/// Enable/disable the wheel joint motor
B2_API void b2WheelJoint_EnableMotor( b2JointId jointId, bool enableMotor );

/// Is the wheel joint motor enabled?
B2_API bool b2WheelJoint_IsMotorEnabled( b2JointId jointId );

/// Set the wheel joint motor speed in radians per second
B2_API void b2WheelJoint_SetMotorSpeed( b2JointId jointId, float motorSpeed );

/// Get the wheel joint motor speed in radians per second
B2_API float b2WheelJoint_GetMotorSpeed( b2JointId jointId );

/// Set the wheel joint maximum motor torque, usually in newton-meters
B2_API void b2WheelJoint_SetMaxMotorTorque( b2JointId jointId, float torque );

/// Get the wheel joint maximum motor torque, usually in newton-meters
B2_API float b2WheelJoint_GetMaxMotorTorque( b2JointId jointId );

/// Get the wheel joint current motor torque, usually in newton-meters
B2_API float b2WheelJoint_GetMotorTorque( b2JointId jointId );

/**@}*/

/**@}*/

/**
 * @defgroup contact Contact
 * Access to contacts
 * @{
 */

/// Contact identifier validation. Provides validation for up to 2^32 allocations.
B2_API bool b2Contact_IsValid( b2ContactId id );

/// Get the data for a contact. The manifold may have no points if the contact is not touching.
B2_API b2ContactData b2Contact_GetData( b2ContactId contactId );

/**@}*/

/**
 * @defgroup replay Replay
 * These functions allow you to replay a recorded simulation. This functionality is built
 * to serve the replay viewer in the sample app.
 * @{
 */

/// Replay a recording by re-running the engine and asserting recorded ids and state match.
/// @param data Recorded bytes, e.g. from b2Recording_GetData or a loaded file
/// @param size Number of recorded bytes
/// @param workerCount Worker count to use for replay. 0 uses the serial single-worker fallback.
/// @return true if replay completed without divergence, false on any mismatch
B2_API bool b2ValidateReplay( const void* data, int size, int workerCount );

/// Opaque handle for incremental playback of a recording.
typedef struct b2RecPlayer b2RecPlayer;

/// Static metadata describing a recording, resolved once when the player opens the file.
typedef struct b2RecPlayerInfo
{
	int frameCount;	   // total recorded steps
	int workerCount;   // worker count used for the replay world
	float timeStep;	   // dt of the recorded steps
	int subStepCount;  // recorded sub-steps
	float lengthScale; // length units per meter in effect when recorded
	b2AABB bounds;	   // accumulated world bounds over the recording, zero-extent if unavailable
} b2RecPlayerInfo;

/// Open a recording for incremental playback and replay up to the first step. The player copies
/// the bytes, so you may free or destroy the source buffer immediately after this call.
/// @param data Recorded bytes, e.g. from b2Recording_GetData or a loaded file
/// @param size Number of recorded bytes
/// @param workerCount Worker count for the replay world. 0 uses the serial single-worker fallback.
/// @return A player handle, or NULL if the recording is malformed
B2_API b2RecPlayer* b2RecPlayer_Create( const void* data, int size, int workerCount );

/// Advance the replay by one recorded step.
/// @return true if a step executed, false once the end of the recording is reached
B2_API bool b2RecPlayer_StepFrame( b2RecPlayer* player );

/// Get the id of the replayed world.
B2_API b2WorldId b2RecPlayer_GetWorldId( const b2RecPlayer* player );

/// Rewind the player to the first step, recreating the replay world from the file.
B2_API void b2RecPlayer_Restart( b2RecPlayer* player );

/// Seek to a recorded step. Seeking backward rewinds and re-runs from the start, so the
/// cost grows with the target frame. Clamps to the recording bounds.
B2_API void b2RecPlayer_SeekFrame( b2RecPlayer* player, int targetFrame );

/// Get the number of steps replayed so far.
B2_API int b2RecPlayer_GetFrame( const b2RecPlayer* player );

/// Get static metadata for the recording (frame count, recorded tuning, time).
B2_API b2RecPlayerInfo b2RecPlayer_GetInfo( const b2RecPlayer* player );

/// Returns true once the end of the recording has been reached.
B2_API bool b2RecPlayer_IsAtEnd( const b2RecPlayer* player );

/// Returns true if a recorded state hash failed to reproduce, meaning replay diverged.
B2_API bool b2RecPlayer_HasDiverged( const b2RecPlayer* player );

/// Get the first step at which replay diverged, or -1 if it has not diverged.
B2_API int b2RecPlayer_GetDivergeFrame( const b2RecPlayer* player );

/// Tune the keyframe ring used to speed up backward seeking. A keyframe is a periodic snapshot the
/// player restores from instead of replaying from the start, trading memory for seek speed.
/// @param player the recording player
/// @param budgetBytes Memory cap for the kept snapshots. The spacing widens to stay under it.
/// @param minIntervalFrames Finest spacing between keyframes, in frames.
/// A zero budget or a non-positive interval keeps that value. Clears the existing ring, so call
/// b2RecPlayer_Restart afterward to repopulate it under the new policy.
B2_API void b2RecPlayer_SetKeyframePolicy( b2RecPlayer* player, size_t budgetBytes, int minIntervalFrames );

/// Get the keyframe memory budget in bytes.
B2_API size_t b2RecPlayer_GetKeyframeBudget( const b2RecPlayer* player );

/// Get the finest keyframe spacing in frames.
B2_API int b2RecPlayer_GetKeyframeMinInterval( const b2RecPlayer* player );

/// Get the current keyframe spacing in frames. Starts at the min interval and doubles as the ring
/// evicts to stay under budget, so it reflects the effective backward-seek granularity right now.
B2_API int b2RecPlayer_GetKeyframeInterval( const b2RecPlayer* player );

/// Get the memory currently held by keyframe snapshots, in bytes.
B2_API size_t b2RecPlayer_GetKeyframeBytes( const b2RecPlayer* player );

/// Close a player and free its replay world and file buffer.
B2_API void b2RecPlayer_Destroy( b2RecPlayer* player );

/// Draw spatial queries recorded during the most recently replayed frame.
/// Call after b2World_Draw so queries are layered on top of the world.
/// @param player A valid player handle
/// @param draw Debug draw callbacks. NULL draw function pointers are skipped.
/// @param queryIndex Index into the frame's queries to draw, or -1 to draw all of them.
B2_API void b2RecPlayer_DrawFrameQueries( b2RecPlayer* player, b2DebugDraw* draw, int queryIndex );

/// The kind of a recorded spatial query, matching the public query and cast functions.
typedef enum b2RecQueryType
{
	b2_recQueryOverlapAABB,
	b2_recQueryOverlapShape,
	b2_recQueryCastRay,
	b2_recQueryCastShape,
	b2_recQueryCollideMover,
	b2_recQueryCastRayClosest,
	b2_recQueryCastMover,
	b2_recQueryShapeTestPoint,
	b2_recQueryShapeRayCast,
} b2RecQueryType;

/// A spatial query recorded during a replayed frame, exposed for inspection.
typedef struct b2RecQueryInfo
{
	b2RecQueryType type;
	b2QueryFilter filter; // zeroed for the shape local query types
	b2AABB aabb;		  // overlap AABB, relative to origin
	b2Pos origin;		  // query origin
	b2Vec2 translation;	  // ray and cast translation
	b2ShapeId shape;	  // target shape for the shape local query types
	int hitCount;		  // number of recorded results
} b2RecQueryInfo;

/// One result of a recorded spatial query.
typedef struct b2RecQueryHit
{
	b2ShapeId shape;
	b2Pos point;
	b2Vec2 normal;
	float fraction;
} b2RecQueryHit;

/// Get the number of spatial queries recorded for the most recently replayed frame.
B2_API int b2RecPlayer_GetFrameQueryCount( const b2RecPlayer* player );

/// Get a recorded query from the most recently replayed frame by index.
B2_API b2RecQueryInfo b2RecPlayer_GetFrameQuery( const b2RecPlayer* player, int index );

/// Get one result of a recorded query from the most recently replayed frame.
B2_API b2RecQueryHit b2RecPlayer_GetFrameQueryHit( const b2RecPlayer* player, int queryIndex, int hitIndex );

/// Get the number of body slots tracked for the outliner. This is the creation-order span and
/// includes holes for destroyed bodies, so it only grows as the replay advances.
B2_API int b2RecPlayer_GetBodyCount( const b2RecPlayer* player );

/// Get a tracked body by creation ordinal. Returns b2_nullBodyId for a destroyed slot, an ordinal not
/// yet reached at the current frame, or an out-of-range index. Validate with b2Body_IsValid.
B2_API b2BodyId b2RecPlayer_GetBodyId( const b2RecPlayer* player, int index );

/** @} */