Classes
 ClassDescription
 b2Body A rigid body.
 b2BodyDef A body definition holds all the data needed to construct a rigid body.
 b2BoundaryListener This is called when a body's shape passes outside of the world boundary.
 b2ContactFilter Implement this class to provide collision filtering.
 b2ContactListener Implement this class to get collision results.
 b2ContactManager Delegate of b2World.
 b2DebugDraw Implement and register this class with a b2World to provide debug drawing of physics entities in your game.
 b2DestructionListener Joints and shapes are destroyed when their associated body is destroyed.
 b2Island Position Correction Notes ========================= I tried the several algorithms for position correction of the 2D revolute joint.
 b2TimeStep 
 b2World