Erin Catto

Box2D was mostly written before C++11, but I have started adding some C++11 keywords when it makes sense. This seems like a good change. `b2World` is definitely not designed to...

Should you be able to delete the b2World inside a callback? There is always going to be something that breaks. This is the nature of callbacks. I could spend extra...

I looks like the complexity of your static model is the problem. Simplify, then simplify again.

I experimented with this test case. The performance problem is definitely SolveTOI. The over-constrained bodies are trying to prevent tunneling. The solver fights harder for circles than polygons.

I'd like to address the jittering first. Please create a dump file.

Also experiment with bouncy limits.

I will add a function to check for validity.

Please see `extern B2_API b2Version b2_version;` in `b2_common.h`

Some of those limitations haven't existed for a long time. See https://github.com/erincatto/Box2D/blob/master/Box2D/Collision/Shapes/b2PolygonShape.cpp#L120 This computes the convex hull automatically I agree that it would be useful to have convex decomposition as...

I wrote a blog post about this topic. https://box2d.org/posts/2020/04/stuck-inside/ The bottom line is that if I put a convex decomposition algorithm into Box2D it will be inferior to a human...