math_types.h

// SPDX-FileCopyrightText: 2026 Erin Catto
// SPDX-License-Identifier: MIT
 
#pragma once


typedef struct b2Vec2
{
    float x, y;
} b2Vec2;

typedef struct b2CosSin
{
    float cosine;
    float sine;
} b2CosSin;

typedef struct b2Rot
{
    float c, s;
} b2Rot;

typedef struct b2Transform
{
    b2Vec2 p;
    b2Rot q;
} b2Transform;
 
#if defined( BOX2D_DOUBLE_PRECISION )

typedef struct b2Pos
{
    double x, y;
} b2Pos;

typedef struct b2WorldTransform
{
    b2Pos p;
    b2Rot q;
} b2WorldTransform;
 
#else

typedef b2Vec2 b2Pos;

typedef b2Transform b2WorldTransform;
 
#endif

typedef struct b2Mat22
{
    b2Vec2 cx, cy;
} b2Mat22;

typedef struct b2AABB
{
    b2Vec2 lowerBound;
    b2Vec2 upperBound;
} b2AABB;

typedef struct b2Plane
{
    b2Vec2 normal;
    float offset;
} b2Plane;

#define B2_PI 3.14159265359f
 
static const b2Vec2 b2Vec2_zero = { 0.0f, 0.0f };
static const b2Rot b2Rot_identity = { 1.0f, 0.0f };
static const b2Transform b2Transform_identity = { { 0.0f, 0.0f }, { 1.0f, 0.0f } };
static const b2Mat22 b2Mat22_zero = { { 0.0f, 0.0f }, { 0.0f, 0.0f } };
 
// Initializers valid in both modes: 0.0f promotes to double, the identity rotation is float
static const b2Pos b2Pos_zero = { 0.0f, 0.0f };
static const b2WorldTransform b2WorldTransform_identity = { { 0.0f, 0.0f }, { 1.0f, 0.0f } };