Box2D is an open source 2D physics engine for games. Here is the user manual. Please also read the FAQ. The distribution includes the user manual and an API document.
The Box2D manual will suggest a 60Hz time step, which is 160 seconds. The velocity phase" computes the impulses necessary for the bodies to move correctly. " Box2D will suggest a velocity iteration count of 8, but you can change this depending on your needs. Package Description; Box2D. Collision: Contains classes handling detecting collisions.
You can see the reference to bPolygonShape which is a hint that Box2D can simulate other types of polygons. The manual will tell you that the vertices must be specified in CCW, or counterclockwise, order for" right handed coordinate systems.
" In this manual I'll assume you are familiar with basic physics concepts, such as mass, force, torque, and This manual covers the majority of the Box2D API. However, not every aspect is covered.
You are Box2D does not keep a reference to the shape. It clones the data into a new b2Shape object.