Version 1.0.0 - Clamp large rotations. DONE - Restitution. DONE - Prismatic joint. DONE - Limits and motors. DONE - Handle equal limits. DONE - Fast broadphase. DONE - Collide connected. DONE - Island sleeping. DONE - Custom allocators. DONE - Convex polygons. DONE - Compound shapes. DONE - Constraint graph. DONE - Contact solver. DONE - Joint solver. DONE - Improved stability. DONE - Improve contact matching. DONE - Contact solver. DONE - Joint solver. DONE - Mouse picking. DONE - SAP AABB query. DONE - Distance joint. DONE Version 1.0.1 - Joint limit bug fix. DONE Version 1.1.0 - Handle dangling joint pointers. DONE - Collision filters. DONE - User data. DONE - Improved API. DONE - Orphaned mouse joint. DONE Version 1.2.0 - Rename engine.lib to box2d.lib. DONE - Code layout. DONE - Circles. DONE Version 1.2.1 - Handle proxies hitting the world boundary. DONE - Freeze out of bounds bodies, notify user. DONE - Handle running out of pairs. DONE Version 1.3.0 - Documentation phase 1. DONE - Add "no rotation" option to body def. DONE - b2Settings configuration for pixel coordinates. DONE - Slider-crank test. DONE - Notify client when a body is frozen. DONE - Fix collide-connected. DONE - Fix compound polygons. DONE - Check degenerate containment resolution. DONE (no problem found) - Access to contacts and joints. DONE Version 1.4.0 - Gear joint. DONE - Pulley joint. DONE - Personalize the phpbb header. DONE - Document contacts and new joint types. DONE Version 1.4.1 - Fix contact list. DONE - Damping. DONE - Poly-circle ids. DONE - Improve mouse joint. DONE Version 1.4.2 - Improve joint stability. DONE. Version 1.4.3 - Fix thin polygon collision. DONE - Simplify broad-phase internally. DONE - OSX patch. DONE - Fix compound body freezing. DONE - Collision filter callback. DONE Version 2.0.0 - Collision doesn't include any files from Dynamics. DONE - User created shapes. DONE - Shape ray casts. DONE - Verify polygon convex and CCW. DONE - Deferred body destruction is gone. DONE - Deferred contact destruction is gone. DONE - JointDefs in local coordinates so that save/load works with limits. DONE - Wake up bonies on apply force/torque/impulse. DONE - Improve polygon collision performance. DONE - Optimal OBBs for polygons. DONE - Debug display interface. DONE - Access version number. DONE - Improved TestBed camera. DONE - Continuous physics with TOI islands. DONE - Max velocities. DONE - Body add/remove shape. DONE - Damping now works better with a variable time step. DONE - Time of Impact (TOI) callbacks. DONE - Contact solver tweak callbacks. DONE - Contact callbacks with impulses. DONE - Safe contact callback example. DONE - Draw world AABB in TestBed. DONE - Use forces instead of impulses to handle variable time step. DONE - Ragdoll contribution. DONE - Car example. DONE - Constraint graph and shapes support changes in center of mass. DONE - Sensors with overlap report. DONE - Doxygen. DONE - Update manual. DONE Version 2.1.0 - Meshes (segment soup). - Ray casts. - Wiki. DONE - Pairs and proxies use small block allocator? - Bounds use growable array? - Don't sleep until position error is low? - Allow non-solid polygon edges. - User refilter. - CMake. - Kequalized crash. - Soft distance constraint. DONE - Version 2.2.0 - Handle orphaned gear joint. - Friction/motor joint for top down games. - Rolling resistance for circles. - Add comments to examples and testbed. Version 2.3.0 - Convex hull tool. - Angle joint. - Weld joint. - Speculative contacts. Version 2.4.0 - Spline joints. - Contact block solver. Version 2.5.0 - Convex decomposition. - Kinematic bodies. Version 2.6.0 - Ropes and particles. - Growable vertex arrays. Version 3+ - Performance. - Try position correction clamping and larger Baumgarte. - Characters. - Vehicles. - Tree constraints. - Buoyancy. - Heightfields. - Static point-grids. - Revolute 3x3 effective mass. - Use velocity lambda to control NGS clamping. - No globals or statics.