Features and fixes from base box2d

box2D/common/B2Settings.hx

@@ -101,12 +101,6 @@ class B2Settings
 	 */
 	static public var b2_maxTOIJointsPerIsland:Int = 32;
 
-	/**
-	 * A velocity threshold for elastic collisions. Any collision with a relative linear
-	 * velocity below this threshold will be treated as inelastic.
-	 */
-	static public var b2_velocityThreshold:Float = 1.0; // 1 m/s
-
 	/**
 	 * The maximum linear position correction used when solving constraints. This helps to
 	 * prevent overshoot.
@@ -158,6 +152,14 @@ class B2Settings
 		return restitution1 > restitution2 ? restitution1 : restitution2;
 	}
 
+	/**
+	 * Restitution mixing law. This picks the lowest value.
+	 */
+	public static function b2MixRestitutionThreshold(threshold1:Float, threshold2:Float):Float
+	{
+		return threshold1 < threshold2 ? threshold1 : threshold2;
+	}
+
 	// Sleep
 
 	/**

box2D/dynamics/B2Body.hx

@@ -373,6 +373,11 @@ class B2Body
 		{
 			return;
 		}
+
+		if (v.lengthSquared() > 0) {
+			setAwake(true);
+		}
+
 		m_linearVelocity.setV(v);
 	}
 
@@ -395,6 +400,11 @@ class B2Body
 		{
 			return;
 		}
+
+		if (omega * omega > 0) {
+			setAwake(true);
+		}
+
 		m_angularVelocity = omega;
 	}
 
@@ -1084,6 +1094,7 @@ class B2Body
 				f = f.m_next;
 			}
 			// Contacts are created the next time step.
+			m_world.m_flags |= B2World.e_newFixture;
 		}
 		else
 		{

box2D/dynamics/B2Fixture.hx

@@ -241,6 +241,22 @@ class B2Fixture
 		m_restitution = restitution;
 	}
 
+	/**
+	 * Get the coefficient of restitution.
+	 */
+	public function getRestitutionThreshold():Float
+	{
+		return m_restitutionThreshold;
+	}
+
+	/**
+	 * Set the restitution threshold.
+	 */
+	public function setRestitutionThreshold(threshold:Float):Void
+	{
+		m_restitutionThreshold = threshold;
+	}
+
 	/**
 	 * Get the fixture's AABB. This AABB may be enlarge and/or stale.
 	 * If you need a more accurate AABB, compute it using the shape and
@@ -268,6 +284,7 @@ class B2Fixture
 
 		m_friction = 0.0;
 		m_restitution = 0.0;
+		m_restitutionThreshold = 0.0;
 	}
 
 	/**
@@ -279,6 +296,7 @@ class B2Fixture
 		m_userData = def.userData;
 		m_friction = def.friction;
 		m_restitution = def.restitution;
+		m_restitutionThreshold = def.restitutionThreshold;
 
 		m_body = body;
 		m_next = null;
@@ -357,6 +375,7 @@ class B2Fixture
 
 	public var m_friction:Float;
 	public var m_restitution:Float;
+	public var m_restitutionThreshold:Float;
 
 	public var m_proxy:Dynamic;
 	public var m_filter:B2FilterData;

box2D/dynamics/B2FixtureDef.hx

@@ -36,6 +36,7 @@ class B2FixtureDef
 		userData = null;
 		friction = 0.2;
 		restitution = 0.0;
+		restitutionThreshold = 1.0;
 		density = 0.0;
 		filter.categoryBits = 0x0001;
 		filter.maskBits = 0xFFFF;
@@ -64,6 +65,12 @@ class B2FixtureDef
 	 */
 	public var restitution:Float;
 
+	/**
+	 * The velocity threshold for elastic collisions. Any collision with a relative linear velocity below this
+	 * will be treated as inelastic.
+	 */
+	public var restitutionThreshold:Float;
+
 	/**
 	 * The density, usually in kg/m^2.
 	 */

box2D/dynamics/contacts/B2ContactConstraint.hx

@@ -56,6 +56,7 @@ class B2ContactConstraint
 	public var radius:Float = 0;
 	public var friction:Float = 0;
 	public var restitution:Float = 0;
+	public var restitutionThreshold:Float = 0;
 	public var pointCount:Int = 0;
 	public var manifold:B2Manifold;
 }

box2D/dynamics/contacts/B2ContactSolver.hx

@@ -80,6 +80,7 @@ class B2ContactSolver
 
 			var friction:Float = B2Settings.b2MixFriction(fixtureA.getFriction(), fixtureB.getFriction());
 			var restitution:Float = B2Settings.b2MixRestitution(fixtureA.getRestitution(), fixtureB.getRestitution());
+			var restitutionThreshold:Float = B2Settings.b2MixRestitutionThreshold(fixtureA.getRestitutionThreshold(), fixtureB.getRestitutionThreshold());
 
 			// var vA:B2Vec2 = bodyA.m_linearVelocity.Copy();
 			var vAX:Float = bodyA.m_linearVelocity.x;
@@ -107,6 +108,7 @@ class B2ContactSolver
 			cc.pointCount = manifold.m_pointCount;
 			cc.friction = friction;
 			cc.restitution = restitution;
+			cc.restitutionThreshold = restitutionThreshold;
 
 			cc.localPlaneNormal.x = manifold.m_localPlaneNormal.x;
 			cc.localPlaneNormal.y = manifold.m_localPlaneNormal.y;
@@ -168,7 +170,7 @@ class B2ContactSolver
 				var tY:Float = vBY + (wB * rBX) - vAY - (wA * rAX);
 				// var vRel:Float = b2Dot(cc.normal, t);
 				var vRel:Float = cc.normal.x * tX + cc.normal.y * tY;
-				if (vRel < -B2Settings.b2_velocityThreshold)
+				if (vRel < -cc.restitutionThreshold)
 				{
 					ccp.velocityBias += -cc.restitution * vRel;
 				}