Changes for version 2.4.0

Infrastructure

• 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

Collision

• Chain and edge shape must now be one-sided to eliminate ghost collisions
• Broad-phase optimizations
• Added b2ShapeCast for linear shape casting

Dynamics

• 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

• Testbed uses dear imgui
• glad OpenGL loader
• OpenGL 3.3 required

Changes for version 2.3.0

• 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.