diff --git a/src/aabb_c.js b/src/aabb_c.js
index 186c163..51127a3 100644
--- a/src/aabb_c.js
+++ b/src/aabb_c.js
@@ -11,6 +11,10 @@ import * as b2Math from './include/math_functions_h.js';
  * @namespace Aabb
  */
 
+/**
+ * @import {b2AABB} from './include/math_functions_h.js'
+ */
+
 // Get surface area of an AABB (the perimeter length)
 export function b2Perimeter(a)
 {
diff --git a/src/block_array_c.js b/src/block_array_c.js
index b3f6018..1094d1c 100644
--- a/src/block_array_c.js
+++ b/src/block_array_c.js
@@ -43,6 +43,7 @@ export class b2ContactArray
 {
     constructor(capacity = 0)
     {
+        /** @type {b2ContactSim[]} */
         this.data = [];
         this.count = 0;
         this.capacity = capacity;
diff --git a/src/body_c.js b/src/body_c.js
index da6301e..5e60ffd 100644
--- a/src/body_c.js
+++ b/src/body_c.js
@@ -28,6 +28,11 @@ import { b2MassData } from './include/collision_h.js';
  * @namespace Body
  */
 
+/**
+ * @import {b2WorldId} from './include/id_h.js'
+ * @import {b2BodyDef, b2ContactData} from './include/types_h.js'
+ */
+
 export function b2MakeSweep(bodySim, out)
 {
     out.c1.x = bodySim.center0X;
diff --git a/src/debug_draw.js b/src/debug_draw.js
index ff6a458..8b7d64f 100644
--- a/src/debug_draw.js
+++ b/src/debug_draw.js
@@ -520,13 +520,18 @@ export function CreateDebugDraw(canvas, ctx, scale = 20.0)
     return draw;
 }
 
+/**
+ * @callback RAFCallback
+ * @param {number} deltaTime - Time elapsed since last frame in seconds, capped at 0.1s
+ * @param {number} totalTime - Total accumulated time in seconds
+ * @param {number} currentFps - Current frames per second, updated once per second
+ * @returns {void}
+ */
+
 /**
  * @function RAF
  * @summary Implements a requestAnimationFrame loop with timing and FPS tracking
- * @param {function} callback - Function to call each frame with signature (deltaTime, totalTime, currentFps)
- * @param {number} callback.deltaTime - Time elapsed since last frame in seconds, capped at 0.1s
- * @param {number} callback.totalTime - Total accumulated time in seconds
- * @param {number} callback.currentFps - Current frames per second, updated once per second
+ * @param {RAFCallback} callback - Function to call each frame with signature (deltaTime, totalTime, currentFps)
  * @description
  * Creates an animation loop using requestAnimationFrame that tracks timing information
  * and FPS. The callback is invoked each frame with the time delta, total time, and
@@ -593,7 +598,7 @@ function loadPNGImage(imageUrl)
  * Attach a graphic image to a physics body
  * @function AttachImage
  * @param {number} worldId - The ID of the Box2D world
- * @param {number} bodyId - The ID of the body to attach the image to
+ * @param {b2BodyId} bodyId - The ID of the body to attach the image to
  * @param {string} path - Directory path where the image is located
  * @param {string} imgName - Name of the image file
  * @param {b2Vec2} [drawOffset=null] - Offset vector for drawing the image
diff --git a/src/distance_c.js b/src/distance_c.js
index 62f0653..9f4299d 100644
--- a/src/distance_c.js
+++ b/src/distance_c.js
@@ -52,6 +52,10 @@ import { b2_linearSlop } from './include/core_h.js';
  * @namespace Distance
  */
 
+/**
+ * @import {b2ShapeCastPairInput, b2TOIInput} from './include/collision_h'
+ */
+
 /**
  * @function b2GetSweepTransform
  * @summary Computes an interpolated transform at a specified time during a sweep motion.
diff --git a/src/distance_joint_c.js b/src/distance_joint_c.js
index 9b9fbb9..7fd39ec 100644
--- a/src/distance_joint_c.js
+++ b/src/distance_joint_c.js
@@ -31,6 +31,10 @@ import { b2MakeSoft } from './include/solver_h.js';
 
 /**
  * @namespace DistanceJoint
+*/
+
+/**
+ * @import {b2JointId} from './include/id_h'
  */
 
 /**
diff --git a/src/dynamic_tree_c.js b/src/dynamic_tree_c.js
index a4eaf7a..f3edf07 100644
--- a/src/dynamic_tree_c.js
+++ b/src/dynamic_tree_c.js
@@ -18,6 +18,11 @@ import { b2TreeNode } from './include/collision_h.js';
  * @namespace DynamicTree
  */
 
+/**
+ * @import {b2AABB, b2Vec2} from './include/math_functions_h.js'
+ * @import {b2RayCastInput, b2ShapeCastInput} from './include/collision_h.js'
+ */
+
 const B2_TREE_STACK_SIZE = 1024;
 
 function b2IsLeaf(node)
diff --git a/src/geometry_c.js b/src/geometry_c.js
index 7ecc08d..81e9c49 100644
--- a/src/geometry_c.js
+++ b/src/geometry_c.js
@@ -44,6 +44,10 @@ import { b2ValidateHull } from './include/hull_h.js';
  * @namespace Geometry
  */
 
+/**
+ * @import {b2Hull, b2RayCastInput, b2Segment, b2ShapeCastInput} from './include/collision_h.js'
+ */
+
 /**
  * Validates a ray cast input structure.
  * @function b2IsValidRay
@@ -537,7 +541,7 @@ export function b2ComputePolygonMass(shape, density)
  * @function b2ComputeCircleAABB
  * @summary Computes an Axis-Aligned Bounding Box (AABB) for a circle shape after applying a transform.
  * @param {b2Circle} shape - The circle shape containing center point and radius.
- * @param {b2Transform} xf2 - The transform to be applied, consisting of a position (p) and rotation (q).
+ * @param {b2Transform} xf - The transform to be applied, consisting of a position (p) and rotation (q).
  * @returns {b2AABB} An AABB object defined by minimum and maximum points that bound the transformed circle.
  * @description
  * Calculates the AABB by transforming the circle's center point using the provided transform
@@ -559,7 +563,7 @@ export function b2ComputeCircleAABB(shape, xf)
  * @function b2ComputeCapsuleAABB
  * @summary Computes an Axis-Aligned Bounding Box (AABB) for a capsule shape.
  * @param {b2Capsule} shape - A capsule shape defined by two centers and a radius.
- * @param {b2Transform} xf2 - A transform containing position and rotation to be applied to the capsule.
+ * @param {b2Transform} xf - A transform containing position and rotation to be applied to the capsule.
  * @returns {b2AABB} An AABB that encompasses the transformed capsule shape.
  * @description
  * Calculates the minimum and maximum bounds of a capsule after applying a transform.
@@ -587,7 +591,7 @@ export function b2ComputeCapsuleAABB(shape, xf)
  * Computes the Axis-Aligned Bounding Box (AABB) for a polygon shape after applying a transform.
  * The AABB includes the polygon's radius in its calculations.
  * @param {b2Polygon} shape - The polygon shape containing vertices and radius
- * @param {b2Transform} xf2 - The transform to apply, consisting of position (p) and rotation (q)
+ * @param {b2Transform} xf - The transform to apply, consisting of position (p) and rotation (q)
  * @returns {b2AABB} An AABB object with lower and upper bounds that encompass the transformed polygon
  */
 export function b2ComputePolygonAABB(shape, xf)
@@ -634,7 +638,7 @@ export function b2ComputePolygonAABB(shape, xf)
  * @summary Computes an Axis-Aligned Bounding Box (AABB) for a line segment.
  * @function b2ComputeSegmentAABB
  * @param {b2Segment} shape - A line segment defined by two points (point1 and point2)
- * @param {b2Transform} xf2 - A transform containing position and rotation to be applied to the segment
+ * @param {b2Transform} xf - A transform containing position and rotation to be applied to the segment
  * @returns {b2AABB} An AABB that contains the transformed line segment
  * @description
  * Transforms the segment's endpoints using the provided transform, then creates an AABB
diff --git a/src/hull_c.js b/src/hull_c.js
index 5a410e3..f05eeff 100644
--- a/src/hull_c.js
+++ b/src/hull_c.js
@@ -15,6 +15,10 @@ import { b2_linearSlop } from './include/core_h.js';
  * @namespace Hull
  */
 
+/**
+ * @import {b2Vec2} from './include/math_functions_h.js'
+ */
+
 // quickhull recursion
 function b2RecurseHull(p1, p2, ps, count)
 {
diff --git a/src/include/collision_h.js b/src/include/collision_h.js
index edf2a61..563c390 100644
--- a/src/include/collision_h.js
+++ b/src/include/collision_h.js
@@ -649,3 +649,11 @@ export class b2TreeNode
         this.enlarged = false;
     }
 }
+
+
+/**
+ * These are performance results returned by dynamic tree queries.
+ * @typedef {Object} b2TreeStats
+ * @property {number} nodeVisits - Number of internal nodes visited during the query.
+ * @property {number} leafVisits - Number of leaf nodes visited during the query.
+ */
diff --git a/src/include/core_h.js b/src/include/core_h.js
index c8af4c8..2a47238 100644
--- a/src/include/core_h.js
+++ b/src/include/core_h.js
@@ -55,8 +55,6 @@ export function B2_ARRAY_COUNT(A)
 /**
  * @summary Sets custom memory allocator functions for Box2D (Not supported in Phaser Box2D JS)
  * @function b2SetAllocator
- * @param {Function} allocFcn - Memory allocation function pointer
- * @param {Function} freeFcn - Memory deallocation function pointer
  * @returns {void}
  * @description
  * This function is intended to set custom memory allocation and deallocation functions
@@ -72,7 +70,7 @@ export function b2SetAllocator()
 /**
  * @summary Returns the byte count for Box2D memory usage.
  * @function b2GetByteCount
- * @returns {number} An integer representing the total bytes used by Box2D.
+ * @returns {void}
  * @description
  * This function is a stub that warns users that byte count tracking is not
  * supported in the JavaScript implementation of Box2D for Phaser.
@@ -85,7 +83,7 @@ export function b2GetByteCount()
 /**
  * @summary Creates a timer object for performance measurement.
  * @function b2CreateTimer
- * @returns {b2Timer} A timer object for measuring elapsed time.
+ * @returns {void} A timer object for measuring elapsed time.
  * @description
  * This function creates a timer object but is not supported in the Phaser Box2D JS implementation.
  * When called, it issues a console warning about lack of support.
@@ -98,7 +96,7 @@ export function b2CreateTimer()
 /**
  * @summary Gets system ticks for timing purposes
  * @function b2GetTicks
- * @returns {number} Returns 0 since this function not supported
+ * @returns {void} Returns 0 since this function not supported
  * @description
  * This is a stub function that exists for compatibility with Box2D but is not
  * implemented in the Phaser Box2D JS port. It logs a warning when called.
@@ -112,7 +110,7 @@ export function b2GetTicks()
 /**
  * @summary Gets the elapsed time in milliseconds.
  * @function b2GetMilliseconds
- * @returns {number} The elapsed time in milliseconds.
+ * @returns {void} The elapsed time in milliseconds.
  * @description
  * This function is a stub that warns that millisecond timing is not supported
  * in the Phaser Box2D JS implementation.
@@ -126,15 +124,14 @@ export function b2GetMilliseconds()
 /**
  * @summary Gets elapsed milliseconds from a b2Timer and resets it.
  * @function b2GetMillisecondsAndReset
- * @param {b2Timer} timer - The Box2D timer object to query and reset
- * @returns {number} The elapsed time in milliseconds
+ * @returns {void} The elapsed time in milliseconds
  * @description
  * This function returns the elapsed milliseconds from a Box2D timer object and resets it.
  * In the JavaScript implementation for Phaser Box2D, this functionality is not supported
  * and will trigger a warning.
  * @throws {Warning} Logs a console warning that this function is not supported
  */
-export function b2GetMillisecondsAndReset(timer)
+export function b2GetMillisecondsAndReset()
 {
     console.warn("b2GetMillisecondsAndReset not supported");
 }
diff --git a/src/include/math_functions_h.js b/src/include/math_functions_h.js
index 42ea889..c75fad5 100644
--- a/src/include/math_functions_h.js
+++ b/src/include/math_functions_h.js
@@ -635,8 +635,8 @@ function b2Distance(a, b)
 /**
  * @function b2DistanceSquared
  * @summary Calculates the squared distance between two 2D points.
- * @param {b2Vec2} a - The first 2D vector point
- * @param {b2Vec2} b - The second 2D vector point
+ * @param {b2Vec2 | {x: number, y: number}} a - The first 2D vector point
+ * @param {b2Vec2 | {x: number, y: number}} b - The second 2D vector point
  * @returns {number} The squared distance between points a and b
  * @description
  * Computes the squared Euclidean distance between two points without taking the square root.
diff --git a/src/include/types_h.js b/src/include/types_h.js
index 3b786c9..4efa043 100644
--- a/src/include/types_h.js
+++ b/src/include/types_h.js
@@ -691,6 +691,87 @@ export class b2ContactData
     }
 }
 
+/**
+ * Prototype for a contact filter callback.
+ * This is called when a contact pair is considered for collision. This allows you to
+ * perform custom logic to prevent collision between shapes. This is only called if
+ * one of the two shapes has custom filtering enabled.
+ *
+ * **Notes:**
+ * - This function must be thread-safe.
+ * - This is only called if one of the two shapes has enabled custom filtering.
+ * - This is called only for awake dynamic bodies.
+ *
+ * @warning Do not attempt to modify the world inside this callback.
+ * @see b2ShapeDef
+ * @ingroup world
+ * @callback b2CustomFilterFcn
+ * @param {b2ShapeId} shapeIdA - The first shape ID.
+ * @param {b2ShapeId} shapeIdB - The second shape ID.
+ * @param {any} context - User-defined context.
+ * @returns {boolean} False to disable the collision.
+ */
+
+/**
+ * Prototype for a pre-solve callback.
+ * This is called after a contact is updated. This allows you to inspect a
+ * contact before it goes to the solver. If you are careful, you can modify the
+ * contact manifold (e.g., modify the normal).
+ *
+ * **Notes:**
+ * - This function must be thread-safe.
+ * - This is only called if the shape has enabled pre-solve events.
+ * - This is called only for awake dynamic bodies.
+ * - This is not called for sensors.
+ * - The supplied manifold has impulse values from the previous step.
+ *
+ * @warning Do not attempt to modify the world inside this callback.
+ * @ingroup world
+ * @callback b2PreSolveFcn
+ * @param {b2ShapeId} shapeIdA - The first shape ID.
+ * @param {b2ShapeId} shapeIdB - The second shape ID.
+ * @param {b2Manifold} manifold - The contact manifold.
+ * @param {any} context - User-defined context.
+ * @returns {boolean} False to disable the contact this step.
+ */
+
+/**
+ * Prototype callback for overlap queries.
+ * Called for each shape found in the query.
+ *
+ * @see b2World_OverlapABB
+ * @ingroup world
+ * @callback b2OverlapResultFcn
+ * @param {b2ShapeId} shapeId - The shape ID found in the query.
+ * @param {any} context - User-defined context.
+ * @returns {boolean} False to terminate the query.
+ */
+
+/**
+ * Prototype callback for ray casts.
+ * Called for each shape found in the query. You control how the ray cast proceeds by returning a float:
+ *
+ * - `-1`: Ignore this shape and continue.
+ * - `0`: Terminate the ray cast.
+ * - `fraction`: Clip the ray to this point.
+ * - `1`: Don't clip the ray and continue.
+ *
+ * @see b2World_CastRay
+ * @ingroup world
+ * @callback b2CastResultFcn
+ * @param {b2ShapeId} shapeId - The shape hit by the ray.
+ * @param {b2Vec2} point - The point of initial intersection.
+ * @param {b2Vec2} normal - The normal vector at the point of intersection.
+ * @param {number} fraction - The fraction along the ray at the point of intersection.
+ * @param {any} context - User-defined context.
+ * @returns {number} - `-1` to filter, `0` to terminate, `fraction` to clip the ray for closest hit, `1` to continue.
+ */
+
+
+/// These colors are used for debug draw and mostly match the named SVG colors.
+/// See https://www.rapidtables.com/web/color/index.html
+/// https://johndecember.com/html/spec/colorsvg.html
+/// https://upload.wikimedia.org/wikipedia/commons/2/2b/SVG_Recognized_color_keyword_names.svg
 export const b2HexColor = {
     b2_colorAliceBlue: 0xf0f8ff,
     b2_colorAntiqueWhite: 0xfaebd7,
diff --git a/src/include/world_h.js b/src/include/world_h.js
index fde5c76..c439fb1 100644
--- a/src/include/world_h.js
+++ b/src/include/world_h.js
@@ -5,6 +5,10 @@
  * - Copyright 2024 Phaser Studio Inc, released under the MIT license.
  */
 
+/**
+ * @import {b2WorldId} from './id_h.js'
+ */
+
 export const b2_maxWorkers = 1;
 
 export {
@@ -29,13 +33,12 @@ export {
  * @summary Gets the performance profile data for a Box2D world.
  * @function b2World_GetProfile
  * @param {b2WorldId} worldId - The identifier of the Box2D world.
- * @returns {b2Profile} A profile object containing performance metrics.
+ * @returns {void} A profile object containing performance metrics.
  * @description
  * This function returns performance profiling data for a Box2D world.
  * Not supported in Phaser Box2D JS implementation.
- * @throws {Error} Outputs a console warning indicating lack of support in Phaser Box2D JS.
  */
-export function b2World_GetProfile()
+export function b2World_GetProfile(worldId)
 {
     console.warn("b2World_GetProfile not supported");
 }
@@ -44,12 +47,12 @@ export function b2World_GetProfile()
  * Gets the current counters from a Box2D world instance.
  * @function b2World_GetCounters
  * @param {b2WorldId} worldId - The ID of the Box2D world instance.
- * @returns {b2Counters} An object containing various Box2D performance counters.
+ * @returns {void} An object containing various Box2D performance counters.
  * @description
  * This function is not supported in the Phaser Box2D JS implementation and will
  * generate a console warning when called.
  */
-export function b2World_GetCounters()
+export function b2World_GetCounters(worldId)
 {
     console.warn("b2World_GetCounters not supported");
 }
@@ -63,7 +66,7 @@ export function b2World_GetCounters()
  * This function is a stub that displays a warning message indicating that memory statistics
  * dumping is not supported in the Phaser Box2D JavaScript implementation.
  */
-export function b2World_DumpMemoryStats()
+export function b2World_DumpMemoryStats(worldId)
 {
     console.warn("b2World_DumpMemoryStats not supported");
 }
diff --git a/src/joint_c.js b/src/joint_c.js
index e3a3c93..a506a7c 100644
--- a/src/joint_c.js
+++ b/src/joint_c.js
@@ -36,6 +36,10 @@ import { b2JointId } from "./include/id_h.js";
  * @namespace Joint
  */
 
+/**
+ * @import {b2WorldId, b2BodyId} from './include/id_h.js'
+ */
+
 /**
  * Creates a default distance joint definition with preset values.
  * @function b2DefaultDistanceJointDef
diff --git a/src/manifold_c.js b/src/manifold_c.js
index 08c4f5a..873198a 100644
--- a/src/manifold_c.js
+++ b/src/manifold_c.js
@@ -42,6 +42,10 @@ import { resetProperties } from './body_c.js';
  * @namespace Manifold
  */
 
+/**
+ * @import {b2Segment, b2Circle, b2ChainSegment, b2DistanceCache, b2Manifold} from './include/collision_h.js'
+ */
+
 const B2_MAKE_ID = (A, B) => ((A & 0xFF) << 8) | (B & 0xFF);
 
 const xf = new b2Transform(new b2Vec2(), new b2Rot());
@@ -762,7 +766,14 @@ const constCapsule = new b2Capsule();
  * @param {b2Transform} xfA - Transform for segmentA containing position and rotation
  * @param {b2Capsule} capsuleB - A capsule shape defined by two points and a radius
  * @param {b2Transform} xfB - Transform for capsuleB containing position and rotation
- * @returns {b2Manifold} Collision manifold containing contact points and normal
+ * @param {b2Manifold} manifold - Output collision manifold
+ * @returns {void} Modifies the manifold parameter with collision data:
+ * - normalX/Y: Collision normal vector
+ * - pointCount: Number of contact points (0-2)
+ * - points[]: Contact point data including:
+ * - anchorA/B: Contact points in local coordinates
+ * - separation: Penetration depth
+ * - id: Contact ID
  * @description
  * Converts the segment to a zero-radius capsule and delegates to b2CollideCapsules
  * for the actual collision computation.
@@ -1488,9 +1499,9 @@ export function b2CollideChainSegmentAndCircle(chainSegmentA, xfA, circleB, xfB,
  * @param {b2Transform} xfA - Transform for segmentA
  * @param {b2Capsule} capsuleB - The capsule shape defined by two centers and a radius
  * @param {b2Transform} xfB - Transform for capsuleB
- * @param {b2SimplexCache} cache - Simplex cache for persistent contact information
+ * @param {b2DistanceCache} cache - Simplex cache for persistent contact information
  * @param {b2Manifold} manifold - Contact manifold to store collision results
- * @returns {void}
+ * @returns {b2Manifold} - Modified manifold
  */
 export function b2CollideChainSegmentAndCapsule(segmentA, xfA, capsuleB, xfB, cache, manifold)
 {
diff --git a/src/math_functions_c.js b/src/math_functions_c.js
index efcc939..49453dd 100644
--- a/src/math_functions_c.js
+++ b/src/math_functions_c.js
@@ -11,6 +11,10 @@ import { b2IsNormalized, b2Length, b2Vec2, eps } from "./include/math_functions_
  * @namespace MathFunctions
  */
 
+/**
+ * @import {b2Rot} from './include/math_functions_h.js'
+ */
+
 /**
  * @summary Checks if a number is valid (finite and not NaN).
  * @function b2IsValid
@@ -39,7 +43,7 @@ export function b2Vec2_IsValid(v)
 /**
  * Validates a 2D rotation object.
  * @function b2Rot_IsValid
- * @param {b2Rot} q4 - A rotation object containing sine (s) and cosine (c) components
+ * @param {b2Rot} q - A rotation object containing sine (s) and cosine (c) components
  * @returns {boolean} True if the rotation is valid, false otherwise
  * @description
  * Checks if a b2Rot object is valid by verifying:
diff --git a/src/motor_joint_c.js b/src/motor_joint_c.js
index c10e9fa..c7578a0 100644
--- a/src/motor_joint_c.js
+++ b/src/motor_joint_c.js
@@ -13,6 +13,7 @@ import {
     b2CrossSV,
     b2GetInverse22,
     b2LengthSquared,
+    b2Mat22,
     b2MulAdd,
     b2MulMV,
     b2MulSV,
@@ -35,6 +36,10 @@ import { b2SetType } from './include/world_h.js';
  * @namespace MotorJoint
  */
 
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
+
 /**
  * @summary Sets the target linear offset for a motor joint.
  * @function b2MotorJoint_SetLinearOffset
@@ -251,10 +256,10 @@ export function b2PrepareMotorJoint(base, context)
     joint.deltaAngle = b2UnwindAngle(joint.deltaAngle);
     const rA = joint.anchorA;
     const rB = joint.anchorB;
-    const K = {
-        cx: new b2Vec2(0, 0),
-        cy: new b2Vec2(0, 0)
-    };
+    const K = new b2Mat22(
+        new b2Vec2(0, 0),
+        new b2Vec2(0, 0)
+    );
     K.cx.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB;
     K.cx.y = -rA.y * rA.x * iA - rB.y * rB.x * iB;
     K.cy.x = K.cx.y;
diff --git a/src/mouse_joint_c.js b/src/mouse_joint_c.js
index f85dd6f..5578bff 100644
--- a/src/mouse_joint_c.js
+++ b/src/mouse_joint_c.js
@@ -5,7 +5,7 @@
  * - Copyright 2024 Phaser Studio Inc, released under the MIT license.
  */
 
-import { b2Add, b2Cross, b2CrossSV, b2GetInverse22, b2Length, b2MulAdd, b2MulMV, b2MulSV, b2Normalize, b2RotateVector, b2Sub, b2Vec2 } from "./include/math_functions_h.js";
+import { b2Add, b2Cross, b2CrossSV, b2GetInverse22, b2Length, b2Mat22, b2MulAdd, b2MulMV, b2MulSV, b2Normalize, b2RotateVector, b2Sub, b2Vec2 } from "./include/math_functions_h.js";
 import { b2GetJointSimCheckType, b2Joint_WakeBodies } from "./include/joint_h.js";
 
 import { B2_NULL_INDEX } from "./include/core_h.js";
@@ -17,6 +17,10 @@ import { b2SetType } from "./include/world_h.js";
  * @namespace MouseJoint
  */
 
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
+
 /**
  * @summary Sets the target position for a mouse joint.
  * @function b2MouseJoint_SetTarget
@@ -193,10 +197,10 @@ export function b2PrepareMouseJoint(base, context)
     const mB = bodySimB.invMass;
     const iB = bodySimB.invInertia;
 
-    const K = {
-        cx: new b2Vec2(mB + iB * rB.y * rB.y, -iB * rB.x * rB.y),
-        cy: new b2Vec2(-iB * rB.x * rB.y, mB + iB * rB.x * rB.x)
-    };
+    const K = new b2Mat22(
+        new b2Vec2(mB + iB * rB.y * rB.y, -iB * rB.x * rB.y),
+        new b2Vec2(-iB * rB.x * rB.y, mB + iB * rB.x * rB.x)
+    );
 
     joint.linearMass = b2GetInverse22(K);
     joint.deltaCenter = b2Sub(bodySimB.center, joint.targetA);
diff --git a/src/physics.js b/src/physics.js
index 413f20a..41c3d17 100644
--- a/src/physics.js
+++ b/src/physics.js
@@ -35,6 +35,13 @@ import { b2ComputeHull } from './include/hull_h.js';
  * @namespace Physics
  */
 
+/**
+ * @import {b2WorldDef, b2ShapeDef, b2BodyDef} from './include/types_h.js'
+ * @import {b2ShapeId, b2WorldId, b2BodyId, b2JointId} from './include/id_h.js'
+ * @import {b2Polygon} from './include/collision_h.js'
+ * @import {b2Body} from './include/body_h.js'
+ */
+
 // local 
 
 function setIfDef (obj, prop, value)
@@ -222,9 +229,8 @@ export function UpdateWorldSprites (worldId)
  * Converts a Box2D Body's position and rotation to a Sprite's position and rotation.
  * 
  * This is called automatically by `UpdateWorldSprites`.
- *
  * @export
- * @param {b2Body} body
+ * @param {{ bodyId: { world0: number; }; }} body
  * @param {Sprite} sprite
  */
 export function BodyToSprite (body, sprite)
@@ -353,7 +359,7 @@ let _accumulator = 0;
  * Steps a physics world to match fixedTimeStep.
  * Returns the average time spent in the step function.
  * 
- * @param {WorldConfig} data - Configuration for the world.
+ * @param {WorldStepConfig} data - Configuration for the world.
  * @returns {number} totalTime - Time spent processing the step function, in seconds.
  */
 export function WorldStep (data)
@@ -415,7 +421,7 @@ export function WorldStep (data)
  * @typedef {Object} BodyCapsule
  * @property {b2BodyId} bodyId - ID for the body to attach the capsule to.
  * @property {b2ShapeId} shapeId - ID for the shape to attach the capsule to.
- * @propery {b2Capsule} object - The capsule object to attach.
+ * @property {b2Capsule} object - The capsule object to attach.
  */
 
 /**
@@ -905,7 +911,7 @@ export function CreatePolygon (data)
  * @property {number} [friction] - Friction of the polygon.
  * @property {number} [restitution=0.1] - Restitution of the polygon.
  * @property {any} [color] - Custom color for the polygon.
- * @property {number[]} indices - List of indices to the vertices for the polygon.
+ * @property {number[][]} indices - List of indices to the vertices for the polygon.
  * @property {number[]} vertices - List of vertices for the polygon in number pairs [x0,y0, x1,y1, ... xN,yN].
  * @property {b2Vec2} vertexOffset - Offset to recenter the vertices if they are not zero based.
  * @property {b2Vec2} vertexScale - Scale for the vertices, defaults to 1, 1.
diff --git a/src/prismatic_joint_c.js b/src/prismatic_joint_c.js
index ebdf7f9..95dbefb 100644
--- a/src/prismatic_joint_c.js
+++ b/src/prismatic_joint_c.js
@@ -34,6 +34,10 @@ import { b2MakeSoft } from './include/solver_h.js';
  * @namespace PrismaticJoint
  */
 
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
+
 /**
  * @function b2PrismaticJoint_EnableSpring
  * @summary Enables or disables the spring functionality of a prismatic joint.
diff --git a/src/revolute_joint_c.js b/src/revolute_joint_c.js
index ccce23a..b9c0243 100644
--- a/src/revolute_joint_c.js
+++ b/src/revolute_joint_c.js
@@ -10,6 +10,7 @@ import {
     b2ClampFloat,
     b2Cross,
     b2CrossSV,
+    b2Mat22,
     b2MulAdd,
     b2MulSV,
     b2MulSub,
@@ -33,6 +34,10 @@ import { b2MakeSoft } from './include/solver_h.js';
  * @namespace RevoluteJoint
  */
 
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
+
 /**
  * @function b2RevoluteJoint_EnableSpring
  * @description
@@ -626,10 +631,10 @@ export function b2SolveRevoluteJoint(base, context, useBias)
             impulseScale = context.jointSoftness.impulseScale;
         }
 
-        const K = {
-            cx: new b2Vec2(0, 0),
-            cy: new b2Vec2(0, 0)
-        };
+        const K = new b2Mat22(
+            new b2Vec2(0, 0),
+            new b2Vec2(0, 0)
+        );
         K.cx.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB;
         K.cy.x = -rA.y * rA.x * iA - rB.y * rB.x * iB;
         K.cx.y = K.cy.x;
diff --git a/src/shape_c.js b/src/shape_c.js
index 750f266..e13ae4c 100644
--- a/src/shape_c.js
+++ b/src/shape_c.js
@@ -58,6 +58,12 @@ import { b2MakeProxy, b2ShapeDistance } from './include/distance_h.js';
  * @namespace Shape
  */
 
+/**
+ * @import {b2BodyId} from './include/id_h.js'
+ * @import {b2ShapeDef, b2ChainDef, b2Filter} from './include/types_h.js'
+ * @import {b2Capsule, b2Polygon, b2Manifold} from './include/collision_h.js'
+ */
+
 function b2GetShape(world, shapeId)
 {
     const id = shapeId.index1 - 1;
diff --git a/src/solver_set_c.js b/src/solver_set_c.js
index 703137e..b91deee 100644
--- a/src/solver_set_c.js
+++ b/src/solver_set_c.js
@@ -38,6 +38,10 @@ import { b2ClearBit } from './include/bitset_h.js';
  * @namespace SolverSet
  */
 
+/**
+ * @import {b2World} from './include/world_h.js'
+ */
+
 // This holds solver set data. The following sets are used:
 // - static set for all static bodies (no contacts or joints)
 // - active set for all active bodies with body states (no contacts or joints)
@@ -90,6 +94,10 @@ export function b2DestroySolverSet(world, setIndex)
     world.solverSetArray[setIndex] = set;
 }
 
+/**
+ * @param {b2World} world
+ * @param {number} setIndex
+ */
 export function b2WakeSolverSet(world, setIndex)
 {
     console.assert(setIndex >= b2SetType.b2_firstSleepingSet);
@@ -172,8 +180,8 @@ export function b2WakeSolverSet(world, setIndex)
     {
         const contactSim = set.contacts.data[i];
         const contact = contacts[contactSim.contactId];
-        console.assert(contact.flags & b2ContactFlags.b2_contactTouchingFlag);
-        console.assert(contactSim.simFlags & b2ContactSimFlags.b2_simTouchingFlag);
+        console.assert(!!(contact.flags & b2ContactFlags.b2_contactTouchingFlag));
+        console.assert(!!(contactSim.simFlags & b2ContactSimFlags.b2_simTouchingFlag));
         console.assert(contactSim.manifold.pointCount > 0);
         console.assert(contact.setIndex === setIndex);
         b2AddContactToGraph(world, contactSim, contact);
diff --git a/src/weld_joint_c.js b/src/weld_joint_c.js
index 1fcb296..e902c6d 100644
--- a/src/weld_joint_c.js
+++ b/src/weld_joint_c.js
@@ -32,6 +32,10 @@ import { b2SetType } from './include/world_h.js';
  * @namespace WeldJoint
  */
 
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
+
 /**
  * Sets the linear frequency (hertz) for a weld joint.
  * @function b2WeldJoint_SetLinearHertz
diff --git a/src/wheel_joint_c.js b/src/wheel_joint_c.js
index 6091444..e08486e 100644
--- a/src/wheel_joint_c.js
+++ b/src/wheel_joint_c.js
@@ -18,6 +18,10 @@ import { b2MakeSoft } from './include/solver_h.js';
  * @namespace WheelJoint
  */
 
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
+
 /**
  * @function b2WheelJoint_EnableSpring
  * @description
diff --git a/src/world_c.js b/src/world_c.js
index 91111be..b040900 100644
--- a/src/world_c.js
+++ b/src/world_c.js
@@ -72,6 +72,13 @@ import { b2HexColor } from './include/types_h.js';
  * @namespace World
  */
 
+/**
+ * @import {b2WorldDef, b2DebugDraw, b2QueryFilter} from './include/types_h.js'
+ * @import {b2ChainId, b2JointId} from './include/id_h.js'
+ * @import {b2PreSolveFcn, b2CastResultFcn, b2OverlapResultFcn, b2CustomFilterFcn} from './include/types_h.js'
+ * @import {b2TreeStats, b2Circle, b2Capsule, b2Polygon} from './include/collision_h.js'
+ */
+
 export const B2_MAX_WORLDS = 32;
 
 export const b2SetType =
@@ -92,12 +99,16 @@ export class b2World
     bodyArray = [];
 
     // solverSetIdPool = new b2IdPool();
+
+    /** @type {b2SolverSet[]} */
     solverSetArray = [];
 
     // jointIdPool = new b2IdPool();
     jointArray = [];
 
     // contactIdPool = new b2IdPool();
+
+    /** @type {b2Contact[]} */
     contactArray = [];
 
     // islandIdPool = new b2IdPool();
diff --git a/types/aabb_c.d.ts b/types/aabb_c.d.ts
index c9b670f..7a6a751 100644
--- a/types/aabb_c.d.ts
+++ b/types/aabb_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace Aabb
  */
+/**
+ * @import {b2AABB} from './include/math_functions_h.js'
+ */
 export function b2Perimeter(a: any): number;
 export function b2EnlargeAABB(a: any, b: any): boolean;
 export function b2AABB_Overlaps(a: any, b: any): boolean;
@@ -16,4 +19,5 @@ export function b2AABB_Overlaps(a: any, b: any): boolean;
  * 3. The height (upperBoundY - lowerBoundY) is non-negative
  * 4. All coordinate values are valid numbers
  */
-export function b2AABB_IsValid(aabb: b2AABB): boolean;
+export function b2AABB_IsValid(aabb: b2Math.b2AABB): boolean;
+import * as b2Math from './include/math_functions_h.js';
diff --git a/types/block_array_c.d.ts b/types/block_array_c.d.ts
index 7397dfb..c9f7f25 100644
--- a/types/block_array_c.d.ts
+++ b/types/block_array_c.d.ts
@@ -27,7 +27,8 @@ export class b2BodyStateArray {
 }
 export class b2ContactArray {
     constructor(capacity?: number);
-    data: any[];
+    /** @type {b2ContactSim[]} */
+    data: b2ContactSim[];
     count: number;
     capacity: number;
 }
@@ -43,3 +44,4 @@ export class b2JointArray {
     count: number;
     capacity: number;
 }
+import { b2ContactSim } from './include/contact_h.js';
diff --git a/types/body_c.d.ts b/types/body_c.d.ts
index 7c793df..f275ab0 100644
--- a/types/body_c.d.ts
+++ b/types/body_c.d.ts
@@ -1,6 +1,10 @@
 /**
  * @namespace Body
  */
+/**
+ * @import {b2WorldId} from './include/id_h.js'
+ * @import {b2BodyDef, b2ContactData} from './include/types_h.js'
+ */
 export function b2MakeSweep(bodySim: any, out: any): any;
 export function b2GetBody(world: any, bodyId: any): any;
 export function b2GetBodyFullId(world: any, bodyId: any): any;
@@ -376,15 +380,15 @@ export function b2Body_GetUserData(bodyId: b2BodyId): object;
  */
 export function b2Body_GetMass(bodyId: b2BodyId): number;
 /**
- * Gets the inertia tensor value for a specified body.
- * @function b2Body_GetInertiaTensor
+ * Get the rotational inertia of the body, typically in kg*m^2
+ * @function b2Body_GetRotationalInertia
  * @param {b2BodyId} bodyId - The ID of the body to get the inertia tensor from.
  * @returns {number} The inertia tensor value of the body.
  * @description
  * Retrieves the rotational inertia value from a body's simulation data using the body's ID.
  * The inertia tensor represents the body's resistance to rotational acceleration.
  */
-export function b2Body_GetInertiaTensor(bodyId: b2BodyId): number;
+export function b2Body_GetRotationalInertia(bodyId: b2BodyId): number;
 /**
  * Gets the local center of mass for a body.
  * @function b2Body_GetLocalCenterOfMass
@@ -558,13 +562,13 @@ export function b2Body_IsSleepEnabled(bodyId: b2BodyId): boolean;
  * Sets the sleep threshold velocity for a body.
  * @function b2Body_SetSleepThreshold
  * @param {b2BodyId} bodyId - The identifier for the body to modify.
- * @param {number} sleepVelocity - The velocity threshold below which the body can sleep.
+ * @param {number} sleepThreshold - The velocity threshold below which the body can sleep.
  * @returns {void}
  * @description
  * Sets the minimum velocity threshold that determines when a body can transition to a sleeping state.
  * When a body's velocity falls below this threshold, it becomes eligible for sleeping.
  */
-export function b2Body_SetSleepThreshold(bodyId: b2BodyId, sleepVelocity: number): void;
+export function b2Body_SetSleepThreshold(bodyId: b2BodyId, sleepThreshold: number): void;
 /**
  * Gets the sleep threshold value for a body.
  * @function b2Body_GetSleepThreshold
@@ -711,6 +715,9 @@ export function b2Body_GetJoints(bodyId: b2BodyId, jointArray: b2JointId[], capa
 export function b2ShouldBodiesCollide(world: any, bodyA: any, bodyB: any): boolean;
 export function resetProperties(obj: any): void;
 import { b2BodyId } from './include/id_h.js';
+import type { b2WorldId } from './include/id_h.js';
+import type { b2BodyDef } from './include/types_h.js';
+import type { b2ContactData } from './include/types_h.js';
 import { b2AABB } from './include/math_functions_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
 import { b2Rot } from './include/math_functions_h.js';
diff --git a/types/contact_c.d.ts b/types/contact_c.d.ts
index 73f4f06..23de9d5 100644
--- a/types/contact_c.d.ts
+++ b/types/contact_c.d.ts
@@ -5,10 +5,10 @@ export function b2PolygonAndCircleManifold(shapeA: any, xfA: any, shapeB: any, x
 export function b2PolygonAndCapsuleManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): b2Manifold;
 export function b2PolygonManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): b2Manifold;
 export function b2SegmentAndCircleManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): b2Manifold;
-export function b2SegmentAndCapsuleManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): b2Manifold;
+export function b2SegmentAndCapsuleManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): void;
 export function b2SegmentAndPolygonManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): b2Manifold;
 export function b2ChainSegmentAndCircleManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): any;
-export function b2ChainSegmentAndCapsuleManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): void;
+export function b2ChainSegmentAndCapsuleManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): b2Manifold;
 export function b2ChainSegmentAndPolygonManifold(shapeA: any, xfA: any, shapeB: any, xfB: any, cache: any, manifold: any): b2Manifold;
 export function b2AddType(fcn: any, type1: any, type2: any): void;
 export function b2InitializeContactRegisters(): void;
diff --git a/types/debug_draw.d.ts b/types/debug_draw.d.ts
index 5e935aa..454dbd5 100644
--- a/types/debug_draw.d.ts
+++ b/types/debug_draw.d.ts
@@ -19,24 +19,28 @@
  * - Transforms
  */
 export function CreateDebugDraw(canvas: HTMLCanvasElement, ctx: CanvasRenderingContext2D, scale?: number): b2DebugDraw;
+/**
+ * @callback RAFCallback
+ * @param {number} deltaTime - Time elapsed since last frame in seconds, capped at 0.1s
+ * @param {number} totalTime - Total accumulated time in seconds
+ * @param {number} currentFps - Current frames per second, updated once per second
+ * @returns {void}
+ */
 /**
  * @function RAF
  * @summary Implements a requestAnimationFrame loop with timing and FPS tracking
- * @param {function} callback - Function to call each frame with signature (deltaTime, totalTime, currentFps)
- * @param {number} callback.deltaTime - Time elapsed since last frame in seconds, capped at 0.1s
- * @param {number} callback.totalTime - Total accumulated time in seconds
- * @param {number} callback.currentFps - Current frames per second, updated once per second
+ * @param {RAFCallback} callback - Function to call each frame with signature (deltaTime, totalTime, currentFps)
  * @description
  * Creates an animation loop using requestAnimationFrame that tracks timing information
  * and FPS. The callback is invoked each frame with the time delta, total time, and
  * current FPS. Frame delta time is capped at 100ms to avoid large time steps.
  */
-export function RAF(callback: Function): void;
+export function RAF(callback: RAFCallback): void;
 /**
  * Attach a graphic image to a physics body
  * @function AttachImage
  * @param {number} worldId - The ID of the Box2D world
- * @param {number} bodyId - The ID of the body to attach the image to
+ * @param {b2BodyId} bodyId - The ID of the body to attach the image to
  * @param {string} path - Directory path where the image is located
  * @param {string} imgName - Name of the image file
  * @param {b2Vec2} [drawOffset=null] - Offset vector for drawing the image
@@ -49,7 +53,7 @@ export function RAF(callback: Function): void;
  * asynchronously and sets up drawing parameters including offset, scale, and source
  * rectangle coordinates. The image is stored in the shape's properties for later rendering.
  */
-export function AttachImage(worldId: number, bodyId: number, path: string, imgName: string, drawOffset?: b2Vec2, drawScale?: b2Vec2, sourcePosition?: b2Vec2, sourceSize?: b2Vec2): any;
+export function AttachImage(worldId: number, bodyId: b2BodyId, path: string, imgName: string, drawOffset?: b2Vec2, drawScale?: b2Vec2, sourcePosition?: b2Vec2, sourceSize?: b2Vec2): any;
 /**
  * @function ConvertScreenToWorld
  * @description
@@ -77,5 +81,7 @@ export function ConvertScreenToWorld(canvas: HTMLCanvasElement, drawScale: numbe
  * screen pixels.
  */
 export function ConvertWorldToScreen(canvas: HTMLCanvasElement, drawScale: number, pw: b2Vec2): b2Vec2;
+export type RAFCallback = (deltaTime: number, totalTime: number, currentFps: number) => void;
 import { b2DebugDraw } from './include/types_h.js';
+import { b2BodyId } from './main.js';
 import { b2Vec2 } from './include/math_functions_h.js';
diff --git a/types/distance_c.d.ts b/types/distance_c.d.ts
index 215d407..482ee73 100644
--- a/types/distance_c.d.ts
+++ b/types/distance_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace Distance
  */
+/**
+ * @import {b2ShapeCastPairInput, b2TOIInput} from './include/collision_h'
+ */
 /**
  * @function b2GetSweepTransform
  * @summary Computes an interpolated transform at a specified time during a sweep motion.
@@ -102,6 +105,7 @@ import { b2DistanceCache } from './include/collision_h.js';
 import { b2DistanceInput } from './include/collision_h.js';
 import { b2Simplex } from './include/collision_h.js';
 import { b2DistanceOutput } from './include/collision_h.js';
+import type { b2ShapeCastPairInput } from './include/collision_h';
 import { b2CastOutput } from './include/collision_h.js';
 declare class b2SeparationFunction {
     proxyA: any;
@@ -118,5 +122,6 @@ declare class MinSeparationReturn {
     indexB: any;
     separation: any;
 }
+import type { b2TOIInput } from './include/collision_h';
 import { b2TOIOutput } from './include/collision_h.js';
 export {};
diff --git a/types/distance_joint_c.d.ts b/types/distance_joint_c.d.ts
index a31a658..3db71f1 100644
--- a/types/distance_joint_c.d.ts
+++ b/types/distance_joint_c.d.ts
@@ -1,5 +1,8 @@
 /**
  * @namespace DistanceJoint
+*/
+/**
+ * @import {b2JointId} from './include/id_h'
  */
 /**
  * @function b2DistanceJoint_SetLength
@@ -135,20 +138,20 @@ export function b2DistanceJoint_SetSpringHertz(jointId: b2JointId, hertz: number
 export function b2DistanceJoint_SetSpringDampingRatio(jointId: b2JointId, dampingRatio: number): void;
 /**
  * Gets the hertz frequency parameter of a distance joint.
- * @function b2DistanceJoint_GetHertz
+ * @function b2DistanceJoint_GetSpringHertz
  * @param {number} jointId - The identifier for the distance joint.
  * @returns {number} The hertz frequency value of the distance joint.
  * @throws {Error} If the joint is not a distance joint or the jointId is invalid.
  */
-export function b2DistanceJoint_GetHertz(jointId: number): number;
+export function b2DistanceJoint_GetSpringHertz(jointId: number): number;
 /**
  * Gets the damping ratio of a distance joint.
- * @function b2DistanceJoint_GetDampingRatio
+ * @function b2DistanceJoint_GetSpringDampingRatio
  * @param {number} jointId - The identifier for the distance joint.
  * @returns {number} The damping ratio of the distance joint.
  * @throws {Error} If the joint is not a distance joint or the jointId is invalid.
  */
-export function b2DistanceJoint_GetDampingRatio(jointId: number): number;
+export function b2DistanceJoint_GetSpringDampingRatio(jointId: number): number;
 /**
  * @function b2DistanceJoint_EnableMotor
  * @description
@@ -218,3 +221,4 @@ export function b2PrepareDistanceJoint(base: any, context: any): void;
 export function b2WarmStartDistanceJoint(base: any, context: any): void;
 export function b2SolveDistanceJoint(base: any, context: any, useBias: any): void;
 export function b2DrawDistanceJoint(draw: any, base: any, transformA: any, transformB: any): void;
+import type { b2JointId } from './include/id_h';
diff --git a/types/dynamic_tree_c.d.ts b/types/dynamic_tree_c.d.ts
index 063c567..dac060f 100644
--- a/types/dynamic_tree_c.d.ts
+++ b/types/dynamic_tree_c.d.ts
@@ -38,7 +38,7 @@ export function b2RemoveLeaf(tree: any, leaf: any): void;
  * @returns {number} The ID of the created proxy node
  * @throws {Error} Throws assertion error if AABB bounds are outside valid range
  */
-export function b2DynamicTree_CreateProxy(tree: b2DynamicTree, aabb: b2AABB, categoryBits: number, userData: number): number;
+export function b2DynamicTree_CreateProxy(tree: b2DynamicTree, aabb: b2Math.b2AABB, categoryBits: number, userData: number): number;
 /**
  * @function b2DynamicTree_DestroyProxy
  * @summary Removes and frees a proxy from the dynamic tree.
@@ -79,7 +79,7 @@ export function b2DynamicTree_GetProxyCount(tree: b2DynamicTree): number;
  * - The proxyId is out of bounds
  * - The node at proxyId is not a leaf node
  */
-export function b2DynamicTree_MoveProxy(tree: b2DynamicTree, proxyId: number, aabb: b2AABB): void;
+export function b2DynamicTree_MoveProxy(tree: b2DynamicTree, proxyId: number, aabb: b2Math.b2AABB): void;
 /**
  * @function b2DynamicTree_EnlargeProxy
  * @description
@@ -96,7 +96,7 @@ export function b2DynamicTree_MoveProxy(tree: b2DynamicTree, proxyId: number, aa
  * - The node is not a leaf
  * - The new AABB is contained within the old one
  */
-export function b2DynamicTree_EnlargeProxy(tree: b2DynamicTree, proxyId: number, aabb: b2AABB): void;
+export function b2DynamicTree_EnlargeProxy(tree: b2DynamicTree, proxyId: number, aabb: b2Math.b2AABB): void;
 /**
  * @summary Gets the height of a dynamic tree
  * @function b2DynamicTree_GetHeight
@@ -161,7 +161,7 @@ export function b2DynamicTree_RebuildBottomUp(tree: b2DynamicTree): void;
  * Updates the axis-aligned bounding boxes (AABBs) of all nodes in the tree by
  * subtracting the newOrigin vector from both their lower and upper bounds.
  */
-export function b2DynamicTree_ShiftOrigin(tree: b2DynamicTree, newOrigin: b2Vec2): void;
+export function b2DynamicTree_ShiftOrigin(tree: b2DynamicTree, newOrigin: b2Math.b2Vec2): void;
 /**
  * @function b2DynamicTree_GetByteCount
  * @summary Calculates the approximate memory usage of a dynamic tree in bytes.
@@ -187,7 +187,7 @@ export function b2DynamicTree_GetByteCount(tree: b2DynamicTree): number;
  * @param {*} context - User context data passed to the callback function
  * @returns {void}
  */
-export function b2DynamicTree_Query(tree: b2DynamicTree, aabb: b2AABB, maskBits: number, callback: Function, context: any): void;
+export function b2DynamicTree_Query(tree: b2DynamicTree, aabb: b2Math.b2AABB, maskBits: number, callback: Function, context: any): void;
 export function b2DynamicTree_QueryAll(tree: any, aabb: any, context: any): void;
 /**
  * @summary Performs a ray cast query on a dynamic tree
@@ -239,3 +239,6 @@ export function b2DynamicTree_ShapeCast(tree: b2DynamicTree, input: b2ShapeCastI
  */
 export function b2DynamicTree_Rebuild(tree: b2DynamicTree): number;
 import { b2DynamicTree } from './include/dynamic_tree_h.js';
+import * as b2Math from './include/math_functions_h.js';
+import type { b2RayCastInput } from './include/collision_h.js';
+import type { b2ShapeCastInput } from './include/collision_h.js';
diff --git a/types/geometry_c.d.ts b/types/geometry_c.d.ts
index a95e42f..82bddcd 100644
--- a/types/geometry_c.d.ts
+++ b/types/geometry_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace Geometry
  */
+/**
+ * @import {b2Hull, b2RayCastInput, b2Segment, b2ShapeCastInput} from './include/collision_h.js'
+ */
 /**
  * Validates a ray cast input structure.
  * @function b2IsValidRay
@@ -84,14 +87,14 @@ export function b2MakeRoundedBox(hx: number, hy: number, radius: number): b2Poly
  * @param {number} hx - Half-width of the box along the x-axis
  * @param {number} hy - Half-height of the box along the y-axis
  * @param {b2Vec2} center - The center position of the box
- * @param {number} angle - The rotation angle of the box in radians
+ * @param {b2Rot} rotation - The 2D rotation of the box
  * @returns {b2Polygon} A polygon shape representing the box with 4 vertices and normals
  * @description
  * Creates a b2Polygon representing a rectangle with the given dimensions. The box is centered
  * at the specified position and rotated by the given angle. The resulting polygon includes
  * 4 vertices, 4 normals, and has its centroid set to the center position.
  */
-export function b2MakeOffsetBox(hx: number, hy: number, center: b2Vec2, angle?: number): b2Polygon;
+export function b2MakeOffsetBox(hx: number, hy: number, center: b2Vec2, rotation: b2Rot): b2Polygon;
 /**
  * @function b2TransformPolygon
  * @summary Transforms a polygon by applying a rigid body transformation.
@@ -152,47 +155,47 @@ export function b2ComputePolygonMass(shape: b2Polygon, density: number): b2MassD
  * @function b2ComputeCircleAABB
  * @summary Computes an Axis-Aligned Bounding Box (AABB) for a circle shape after applying a transform.
  * @param {b2Circle} shape - The circle shape containing center point and radius.
- * @param {b2Transform} xf2 - The transform to be applied, consisting of a position (p) and rotation (q).
+ * @param {b2Transform} xf - The transform to be applied, consisting of a position (p) and rotation (q).
  * @returns {b2AABB} An AABB object defined by minimum and maximum points that bound the transformed circle.
  * @description
  * Calculates the AABB by transforming the circle's center point using the provided transform
  * and extending the bounds by the circle's radius in each direction.
  */
-export function b2ComputeCircleAABB(shape: b2Circle, xf: any): b2AABB;
+export function b2ComputeCircleAABB(shape: b2Circle, xf: b2Transform): b2AABB;
 /**
  * @function b2ComputeCapsuleAABB
  * @summary Computes an Axis-Aligned Bounding Box (AABB) for a capsule shape.
  * @param {b2Capsule} shape - A capsule shape defined by two centers and a radius.
- * @param {b2Transform} xf2 - A transform containing position and rotation to be applied to the capsule.
+ * @param {b2Transform} xf - A transform containing position and rotation to be applied to the capsule.
  * @returns {b2AABB} An AABB that encompasses the transformed capsule shape.
  * @description
  * Calculates the minimum and maximum bounds of a capsule after applying a transform.
  * The AABB is computed by transforming the capsule's center points and extending
  * the bounds by the capsule's radius in all directions.
  */
-export function b2ComputeCapsuleAABB(shape: b2Capsule, xf: any): b2AABB;
+export function b2ComputeCapsuleAABB(shape: b2Capsule, xf: b2Transform): b2AABB;
 /**
  * @function b2ComputePolygonAABB
  * @description
  * Computes the Axis-Aligned Bounding Box (AABB) for a polygon shape after applying a transform.
  * The AABB includes the polygon's radius in its calculations.
  * @param {b2Polygon} shape - The polygon shape containing vertices and radius
- * @param {b2Transform} xf2 - The transform to apply, consisting of position (p) and rotation (q)
+ * @param {b2Transform} xf - The transform to apply, consisting of position (p) and rotation (q)
  * @returns {b2AABB} An AABB object with lower and upper bounds that encompass the transformed polygon
  */
-export function b2ComputePolygonAABB(shape: b2Polygon, xf: any): b2AABB;
+export function b2ComputePolygonAABB(shape: b2Polygon, xf: b2Transform): b2AABB;
 /**
  * @summary Computes an Axis-Aligned Bounding Box (AABB) for a line segment.
  * @function b2ComputeSegmentAABB
  * @param {b2Segment} shape - A line segment defined by two points (point1 and point2)
- * @param {b2Transform} xf2 - A transform containing position and rotation to be applied to the segment
+ * @param {b2Transform} xf - A transform containing position and rotation to be applied to the segment
  * @returns {b2AABB} An AABB that contains the transformed line segment
  * @description
  * Transforms the segment's endpoints using the provided transform, then creates an AABB
  * that encompasses the transformed segment by finding the minimum and maximum coordinates
  * of the transformed endpoints.
  */
-export function b2ComputeSegmentAABB(shape: b2Segment, xf: any): b2AABB;
+export function b2ComputeSegmentAABB(shape: b2Segment, xf: b2Transform): b2AABB;
 /**
  * @summary Determines if a point lies within a circle.
  * @function b2PointInCircle
@@ -334,11 +337,16 @@ export function b2ShapeCastSegment(input: b2ShapeCastInput, shape: b2Segment): b
  * @returns {b2CastOutput} The result of the shape cast operation
  */
 export function b2ShapeCastPolygon(input: b2ShapeCastInput, shape: b2Polygon): b2CastOutput;
+import type { b2RayCastInput } from './include/collision_h.js';
+import type { b2Hull } from './include/collision_h.js';
 import { b2Polygon } from './include/collision_h.js';
 import { b2Transform } from './include/math_functions_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
+import { b2Rot } from './include/math_functions_h.js';
 import { b2Circle } from './include/collision_h.js';
 import { b2MassData } from './include/collision_h.js';
 import { b2Capsule } from './include/collision_h.js';
 import { b2AABB } from './include/math_functions_h.js';
+import type { b2Segment } from './include/collision_h.js';
 import { b2CastOutput } from './include/collision_h.js';
+import type { b2ShapeCastInput } from './include/collision_h.js';
diff --git a/types/hull_c.d.ts b/types/hull_c.d.ts
index fd32de1..157c6c5 100644
--- a/types/hull_c.d.ts
+++ b/types/hull_c.d.ts
@@ -27,4 +27,5 @@ export function b2ComputeHull(points: b2Vec2[], count: number): b2Hull;
  * @throws {Warning} Console warnings are issued explaining validation failures
  */
 export function b2ValidateHull(hull: b2Hull): boolean;
+import type { b2Vec2 } from './include/math_functions_h.js';
 import { b2Hull } from './include/collision_h.js';
diff --git a/types/include/body_h.d.ts b/types/include/body_h.d.ts
index 0a916b2..1796ccd 100644
--- a/types/include/body_h.d.ts
+++ b/types/include/body_h.d.ts
@@ -60,4 +60,4 @@ export class b2BodySim {
 import { b2Vec2 } from './math_functions_h.js';
 import { b2Rot } from './math_functions_h.js';
 import { b2Transform } from './math_functions_h.js';
-export { b2CreateBody, b2DestroyBody, b2GetBodyFullId, b2GetBody, b2GetBodyTransformQuick, b2GetBodyTransform, b2MakeBodyId, b2ShouldBodiesCollide, b2IsBodyAwake, b2GetBodySim, b2GetBodyState, b2WakeBody, b2UpdateBodyMassData, b2Body_IsEnabled, b2Body_GetType, b2Body_SetType, b2Body_GetUserData, b2Body_SetUserData, b2Body_GetLocalPoint, b2Body_GetPosition, b2Body_GetRotation, b2Body_SetTransform, b2Body_GetMassData, b2Body_SetMassData, b2Body_GetMass, b2Body_GetTransform, b2Body_ApplyTorque, b2Body_GetWorldPoint, b2Body_GetWorldVector, b2Body_GetLinearDamping, b2Body_SetLinearDamping, b2Body_GetLinearVelocity, b2Body_SetLinearVelocity, b2Body_ApplyLinearImpulse, b2Body_ApplyLinearImpulseToCenter, b2Body_GetAngularVelocity, b2Body_SetAngularVelocity, b2Body_ApplyAngularImpulse, b2Body_GetInertiaTensor, b2Body_GetLocalCenterOfMass, b2Body_GetWorldCenterOfMass, b2Body_ApplyMassFromShapes, b2Body_SetAngularDamping, b2Body_GetAngularDamping, b2Body_SetGravityScale, b2Body_GetGravityScale, b2Body_EnableSleep, b2Body_IsSleepEnabled, b2Body_SetSleepThreshold, b2Body_GetSleepThreshold, b2Body_Enable, b2Body_Disable, b2Body_SetFixedRotation, b2Body_IsFixedRotation, b2Body_GetLocalVector, b2Body_SetBullet, b2Body_IsBullet, b2Body_EnableHitEvents, b2Body_GetShapeCount, b2Body_GetShapes, b2Body_GetJointCount, b2Body_GetJoints, b2Body_ApplyForce, b2Body_SetAwake, b2Body_IsAwake, b2Body_ApplyForceToCenter, b2Body_GetContactCapacity, b2Body_GetContactData, b2Body_ComputeAABB, b2MakeSweep, resetProperties } from "../body_c.js";
+export { b2CreateBody, b2DestroyBody, b2GetBodyFullId, b2GetBody, b2GetBodyTransformQuick, b2GetBodyTransform, b2MakeBodyId, b2ShouldBodiesCollide, b2IsBodyAwake, b2GetBodySim, b2GetBodyState, b2WakeBody, b2UpdateBodyMassData, b2Body_IsEnabled, b2Body_GetType, b2Body_SetType, b2Body_GetUserData, b2Body_SetUserData, b2Body_GetLocalPoint, b2Body_GetPosition, b2Body_GetRotation, b2Body_SetTransform, b2Body_GetMassData, b2Body_SetMassData, b2Body_GetMass, b2Body_GetTransform, b2Body_ApplyTorque, b2Body_GetWorldPoint, b2Body_GetWorldVector, b2Body_GetLinearDamping, b2Body_SetLinearDamping, b2Body_GetLinearVelocity, b2Body_SetLinearVelocity, b2Body_ApplyLinearImpulse, b2Body_ApplyLinearImpulseToCenter, b2Body_GetAngularVelocity, b2Body_SetAngularVelocity, b2Body_ApplyAngularImpulse, b2Body_GetRotationalInertia, b2Body_GetLocalCenterOfMass, b2Body_GetWorldCenterOfMass, b2Body_ApplyMassFromShapes, b2Body_SetAngularDamping, b2Body_GetAngularDamping, b2Body_SetGravityScale, b2Body_GetGravityScale, b2Body_EnableSleep, b2Body_IsSleepEnabled, b2Body_SetSleepThreshold, b2Body_GetSleepThreshold, b2Body_Enable, b2Body_Disable, b2Body_SetFixedRotation, b2Body_IsFixedRotation, b2Body_GetLocalVector, b2Body_SetBullet, b2Body_IsBullet, b2Body_EnableHitEvents, b2Body_GetShapeCount, b2Body_GetShapes, b2Body_GetJointCount, b2Body_GetJoints, b2Body_ApplyForce, b2Body_SetAwake, b2Body_IsAwake, b2Body_ApplyForceToCenter, b2Body_GetContactCapacity, b2Body_GetContactData, b2Body_ComputeAABB, b2MakeSweep, resetProperties } from "../body_c.js";
diff --git a/types/include/collision_h.d.ts b/types/include/collision_h.d.ts
index 62aba55..399553c 100644
--- a/types/include/collision_h.d.ts
+++ b/types/include/collision_h.d.ts
@@ -378,5 +378,18 @@ export class b2TreeNode {
     height: number;
     enlarged: boolean;
 }
+/**
+ * These are performance results returned by dynamic tree queries.
+ */
+export type b2TreeStats = {
+    /**
+     * - Number of internal nodes visited during the query.
+     */
+    nodeVisits: number;
+    /**
+     * - Number of leaf nodes visited during the query.
+     */
+    leafVisits: number;
+};
 import { b2Transform } from './math_functions_h.js';
 import { b2Vec2 } from './math_functions_h.js';
diff --git a/types/include/core_h.d.ts b/types/include/core_h.d.ts
index 5319034..16c9cb4 100644
--- a/types/include/core_h.d.ts
+++ b/types/include/core_h.d.ts
@@ -2,8 +2,6 @@ export function B2_ARRAY_COUNT(A: any): any;
 /**
  * @summary Sets custom memory allocator functions for Box2D (Not supported in Phaser Box2D JS)
  * @function b2SetAllocator
- * @param {Function} allocFcn - Memory allocation function pointer
- * @param {Function} freeFcn - Memory deallocation function pointer
  * @returns {void}
  * @description
  * This function is intended to set custom memory allocation and deallocation functions
@@ -15,53 +13,52 @@ export function b2SetAllocator(): void;
 /**
  * @summary Returns the byte count for Box2D memory usage.
  * @function b2GetByteCount
- * @returns {number} An integer representing the total bytes used by Box2D.
+ * @returns {void}
  * @description
  * This function is a stub that warns users that byte count tracking is not
  * supported in the JavaScript implementation of Box2D for Phaser.
  */
-export function b2GetByteCount(): number;
+export function b2GetByteCount(): void;
 /**
  * @summary Creates a timer object for performance measurement.
  * @function b2CreateTimer
- * @returns {b2Timer} A timer object for measuring elapsed time.
+ * @returns {void} A timer object for measuring elapsed time.
  * @description
  * This function creates a timer object but is not supported in the Phaser Box2D JS implementation.
  * When called, it issues a console warning about lack of support.
  */
-export function b2CreateTimer(): b2Timer;
+export function b2CreateTimer(): void;
 /**
  * @summary Gets system ticks for timing purposes
  * @function b2GetTicks
- * @returns {number} Returns 0 since this function not supported
+ * @returns {void} Returns 0 since this function not supported
  * @description
  * This is a stub function that exists for compatibility with Box2D but is not
  * implemented in the Phaser Box2D JS port. It logs a warning when called.
  * @throws {Warning} Logs a console warning that the function is not supported
  */
-export function b2GetTicks(): number;
+export function b2GetTicks(): void;
 /**
  * @summary Gets the elapsed time in milliseconds.
  * @function b2GetMilliseconds
- * @returns {number} The elapsed time in milliseconds.
+ * @returns {void} The elapsed time in milliseconds.
  * @description
  * This function is a stub that warns that millisecond timing is not supported
  * in the Phaser Box2D JS implementation.
  * @throws {Warning} Console warning indicating lack of support.
  */
-export function b2GetMilliseconds(): number;
+export function b2GetMilliseconds(): void;
 /**
  * @summary Gets elapsed milliseconds from a b2Timer and resets it.
  * @function b2GetMillisecondsAndReset
- * @param {b2Timer} timer - The Box2D timer object to query and reset
- * @returns {number} The elapsed time in milliseconds
+ * @returns {void} The elapsed time in milliseconds
  * @description
  * This function returns the elapsed milliseconds from a Box2D timer object and resets it.
  * In the JavaScript implementation for Phaser Box2D, this functionality is not supported
  * and will trigger a warning.
  * @throws {Warning} Logs a console warning that this function is not supported
  */
-export function b2GetMillisecondsAndReset(timer: b2Timer): number;
+export function b2GetMillisecondsAndReset(): void;
 /**
  * @summary Placeholder function for sleep functionality in Box2D JS
  * @function b2SleepMilliseconds
diff --git a/types/include/distance_joint_h.d.ts b/types/include/distance_joint_h.d.ts
index 4997665..0d0e202 100644
--- a/types/include/distance_joint_h.d.ts
+++ b/types/include/distance_joint_h.d.ts
@@ -1 +1 @@
-export { b2DistanceJoint_SetLength, b2DistanceJoint_GetLength, b2DistanceJoint_EnableLimit, b2DistanceJoint_IsLimitEnabled, b2DistanceJoint_SetLengthRange, b2DistanceJoint_GetMinLength, b2DistanceJoint_GetMaxLength, b2DistanceJoint_GetCurrentLength, b2DistanceJoint_EnableSpring, b2DistanceJoint_IsSpringEnabled, b2DistanceJoint_SetSpringHertz, b2DistanceJoint_SetSpringDampingRatio, b2DistanceJoint_GetHertz, b2DistanceJoint_GetDampingRatio, b2DistanceJoint_EnableMotor, b2DistanceJoint_IsMotorEnabled, b2DistanceJoint_SetMotorSpeed, b2DistanceJoint_GetMotorSpeed, b2DistanceJoint_GetMotorForce, b2DistanceJoint_SetMaxMotorForce, b2DistanceJoint_GetMaxMotorForce, b2GetDistanceJointForce, b2PrepareDistanceJoint, b2WarmStartDistanceJoint, b2SolveDistanceJoint, b2DrawDistanceJoint } from "../distance_joint_c.js";
+export { b2DistanceJoint_SetLength, b2DistanceJoint_GetLength, b2DistanceJoint_EnableLimit, b2DistanceJoint_IsLimitEnabled, b2DistanceJoint_SetLengthRange, b2DistanceJoint_GetMinLength, b2DistanceJoint_GetMaxLength, b2DistanceJoint_GetCurrentLength, b2DistanceJoint_EnableSpring, b2DistanceJoint_IsSpringEnabled, b2DistanceJoint_SetSpringHertz, b2DistanceJoint_SetSpringDampingRatio, b2DistanceJoint_GetSpringHertz, b2DistanceJoint_GetSpringDampingRatio, b2DistanceJoint_EnableMotor, b2DistanceJoint_IsMotorEnabled, b2DistanceJoint_SetMotorSpeed, b2DistanceJoint_GetMotorSpeed, b2DistanceJoint_GetMotorForce, b2DistanceJoint_SetMaxMotorForce, b2DistanceJoint_GetMaxMotorForce, b2GetDistanceJointForce, b2PrepareDistanceJoint, b2WarmStartDistanceJoint, b2SolveDistanceJoint, b2DrawDistanceJoint } from "../distance_joint_c.js";
diff --git a/types/include/math_functions_h.d.ts b/types/include/math_functions_h.d.ts
index 0a2d16d..3bd484b 100644
--- a/types/include/math_functions_h.d.ts
+++ b/types/include/math_functions_h.d.ts
@@ -391,14 +391,20 @@ export function b2Distance(a: b2Vec2, b: b2Vec2): number;
 /**
  * @function b2DistanceSquared
  * @summary Calculates the squared distance between two 2D points.
- * @param {b2Vec2} a - The first 2D vector point
- * @param {b2Vec2} b - The second 2D vector point
+ * @param {b2Vec2 | {x: number, y: number}} a - The first 2D vector point
+ * @param {b2Vec2 | {x: number, y: number}} b - The second 2D vector point
  * @returns {number} The squared distance between points a and b
  * @description
  * Computes the squared Euclidean distance between two points without taking the square root.
  * The calculation is (b.x - a.x)² + (b.y - a.y)²
  */
-export function b2DistanceSquared(a: b2Vec2, b: b2Vec2): number;
+export function b2DistanceSquared(a: b2Vec2 | {
+    x: number;
+    y: number;
+}, b: b2Vec2 | {
+    x: number;
+    y: number;
+}): number;
 /**
  * Creates a new b2Rot object representing a 2D rotation.
  * @function b2MakeRot
diff --git a/types/include/types_h.d.ts b/types/include/types_h.d.ts
index 8088855..964cca3 100644
--- a/types/include/types_h.d.ts
+++ b/types/include/types_h.d.ts
@@ -775,6 +775,47 @@ export class b2QueryFilter {
     categoryBits: number;
     maskBits: number;
 }
+/**
+ * Prototype for a contact filter callback.
+ * This is called when a contact pair is considered for collision. This allows you to
+ * perform custom logic to prevent collision between shapes. This is only called if
+ * one of the two shapes has custom filtering enabled.
+ *
+ * **Notes:**
+ * - This function must be thread-safe.
+ * - This is only called if one of the two shapes has enabled custom filtering.
+ * - This is called only for awake dynamic bodies.
+ */
+export type b2CustomFilterFcn = (shapeIdA: b2ShapeId, shapeIdB: b2ShapeId, context: any) => boolean;
+/**
+ * Prototype for a pre-solve callback.
+ * This is called after a contact is updated. This allows you to inspect a
+ * contact before it goes to the solver. If you are careful, you can modify the
+ * contact manifold (e.g., modify the normal).
+ *
+ * **Notes:**
+ * - This function must be thread-safe.
+ * - This is only called if the shape has enabled pre-solve events.
+ * - This is called only for awake dynamic bodies.
+ * - This is not called for sensors.
+ * - The supplied manifold has impulse values from the previous step.
+ */
+export type b2PreSolveFcn = (shapeIdA: b2ShapeId, shapeIdB: b2ShapeId, manifold: b2Manifold, context: any) => boolean;
+/**
+ * Prototype callback for overlap queries.
+ * Called for each shape found in the query.
+ */
+export type b2OverlapResultFcn = (shapeId: b2ShapeId, context: any) => boolean;
+/**
+ * Prototype callback for ray casts.
+ * Called for each shape found in the query. You control how the ray cast proceeds by returning a float:
+ *
+ * - `-1`: Ignore this shape and continue.
+ * - `0`: Terminate the ray cast.
+ * - `fraction`: Clip the ray to this point.
+ * - `1`: Don't clip the ray and continue.
+ */
+export type b2CastResultFcn = (shapeId: b2ShapeId, point: b2Vec2, normal: b2Vec2, fraction: number, context: any) => number;
 import { b2Vec2 } from './math_functions_h.js';
 import { b2Rot } from './math_functions_h.js';
 import { b2AABB } from './math_functions_h.js';
diff --git a/types/include/world_h.d.ts b/types/include/world_h.d.ts
index 26818ea..fcda86a 100644
--- a/types/include/world_h.d.ts
+++ b/types/include/world_h.d.ts
@@ -2,23 +2,22 @@
  * @summary Gets the performance profile data for a Box2D world.
  * @function b2World_GetProfile
  * @param {b2WorldId} worldId - The identifier of the Box2D world.
- * @returns {b2Profile} A profile object containing performance metrics.
+ * @returns {void} A profile object containing performance metrics.
  * @description
  * This function returns performance profiling data for a Box2D world.
  * Not supported in Phaser Box2D JS implementation.
- * @throws {Error} Outputs a console warning indicating lack of support in Phaser Box2D JS.
  */
-export function b2World_GetProfile(): b2Profile;
+export function b2World_GetProfile(worldId: b2WorldId): void;
 /**
  * Gets the current counters from a Box2D world instance.
  * @function b2World_GetCounters
  * @param {b2WorldId} worldId - The ID of the Box2D world instance.
- * @returns {b2Counters} An object containing various Box2D performance counters.
+ * @returns {void} An object containing various Box2D performance counters.
  * @description
  * This function is not supported in the Phaser Box2D JS implementation and will
  * generate a console warning when called.
  */
-export function b2World_GetCounters(): b2Counters;
+export function b2World_GetCounters(worldId: b2WorldId): void;
 /**
  * @summary Dumps memory statistics for a Box2D world (Not supported in Phaser Box2D JS)
  * @function b2World_DumpMemoryStats
@@ -28,12 +27,16 @@ export function b2World_GetCounters(): b2Counters;
  * This function is a stub that displays a warning message indicating that memory statistics
  * dumping is not supported in the Phaser Box2D JavaScript implementation.
  */
-export function b2World_DumpMemoryStats(): void;
+export function b2World_DumpMemoryStats(worldId: b2WorldId): void;
 /**
  * This file includes code that is:
  *
  * - Copyright 2023 Erin Catto, released under the MIT license.
  * - Copyright 2024 Phaser Studio Inc, released under the MIT license.
  */
+/**
+ * @import {b2WorldId} from './id_h.js'
+ */
 export const b2_maxWorkers: 1;
+import type { b2WorldId } from './id_h.js';
 export { b2SetType, b2World, b2CreateWorldArray, b2GetWorldFromId, b2GetWorld, b2GetWorldLocked, b2CreateWorld, b2World_Step, b2DestroyWorld, b2World_Draw, b2World_OverlapAABB, b2World_OverlapCapsule, b2World_OverlapCircle, b2World_OverlapPolygon, b2World_Explode, b2World_CastCapsule, b2World_CastCircle, b2World_CastPolygon, b2World_CastRay, b2World_CastRayClosest, b2World_GetBodyEvents, b2World_GetContactEvents, b2World_GetGravity, b2World_GetSensorEvents, b2World_SetContactTuning, b2World_SetJointTuning, b2World_SetPreSolveCallback, b2World_SetCustomFilterCallback, b2World_SetGravity, b2World_SetHitEventThreshold, b2World_SetRestitutionThreshold, b2World_IsValid, b2Joint_IsValid, b2World_EnableSleeping, b2World_EnableContinuous, b2World_EnableWarmStarting, b2ValidateConnectivity, b2ValidateSolverSets, b2ValidateContacts, b2CheckIndex, b2Body_IsValid, b2Chain_IsValid, b2Shape_IsValid } from "../world_c.js";
diff --git a/types/island_c.d.ts b/types/island_c.d.ts
index a644847..b57f3c8 100644
--- a/types/island_c.d.ts
+++ b/types/island_c.d.ts
@@ -3,7 +3,7 @@ export function b2DestroyIsland(world: any, islandId: any): void;
 export function b2GetIsland(world: any, islandId: any): any;
 export function b2LinkContact(world: any, contact: any): void;
 export function b2UnlinkContact(world: any, contact: any): void;
-export function b2LinkJoint(world: any, joint: any): void;
+export function b2LinkJoint(world: any, joint: any, mergeIslands: any): void;
 export function b2UnlinkJoint(world: any, joint: any): void;
 export function b2MergeAwakeIslands(world: any): void;
 export function b2SplitIsland(world: any, baseId: any): void;
diff --git a/types/joint_c.d.ts b/types/joint_c.d.ts
index 30eeecd..ad32e69 100644
--- a/types/joint_c.d.ts
+++ b/types/joint_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace Joint
  */
+/**
+ * @import {b2WorldId, b2BodyId} from './include/id_h.js'
+ */
 /**
  * Creates a default distance joint definition with preset values.
  * @function b2DefaultDistanceJointDef
@@ -415,6 +418,8 @@ declare class b2JointPair {
     joint: any;
     jointSim: any;
 }
+import type { b2WorldId } from './include/id_h.js';
 import { b2JointId } from "./include/id_h.js";
+import type { b2BodyId } from './include/id_h.js';
 import { b2Vec2 } from "./include/math_functions_h.js";
 export {};
diff --git a/types/main-prod.d.ts b/types/main-prod.d.ts
index 9e2c561..e9f0b1d 100644
--- a/types/main-prod.d.ts
+++ b/types/main-prod.d.ts
@@ -5,10 +5,10 @@ export { b2MinFloat, b2MaxFloat, b2AbsFloat, b2ClampFloat, b2MinInt, b2MaxInt, b
 export { b2SetAllocator, b2GetByteCount, b2SetAssertFcn, b2GetVersion, b2CreateTimer, b2GetTicks, b2GetMilliseconds, b2GetMillisecondsAndReset, b2SleepMilliseconds, b2Yield, b2SetLengthUnitsPerMeter, b2GetLengthUnitsPerMeter, B2_NULL_INDEX } from "./include/core_h.js";
 export { B2_ID_EQUALS, B2_IS_NULL, B2_IS_NON_NULL, b2WorldId, b2ShapeId, b2BodyId, b2JointId, b2ChainId } from "./include/id_h.js";
 export { b2CreateWorld, b2CreateWorldArray, b2DestroyWorld, b2World_IsValid, b2World_Step, b2World_Draw, b2World_GetBodyEvents, b2World_GetSensorEvents, b2World_GetContactEvents, b2World_SetGravity, b2World_GetGravity, b2World_GetProfile, b2World_GetCounters, b2World_OverlapAABB, b2World_OverlapCircle, b2World_OverlapCapsule, b2World_OverlapPolygon, b2World_CastRay, b2World_CastRayClosest, b2World_CastCircle, b2World_CastCapsule, b2World_CastPolygon, b2World_EnableSleeping, b2World_EnableContinuous, b2World_SetRestitutionThreshold, b2World_SetHitEventThreshold, b2World_SetCustomFilterCallback, b2World_SetPreSolveCallback, b2World_Explode, b2World_SetContactTuning, b2World_EnableWarmStarting, b2World_DumpMemoryStats, b2Body_IsValid, b2Shape_IsValid, b2Joint_IsValid, b2Chain_IsValid } from "./include/world_h.js";
-export { b2CreateBody, b2DestroyBody, b2Body_GetType, b2Body_SetType, b2Body_GetPosition, b2Body_GetRotation, b2Body_GetTransform, b2Body_SetTransform, b2Body_ApplyForce, b2Body_ApplyTorque, b2Body_ApplyLinearImpulse, b2Body_ApplyAngularImpulse, b2Body_SetUserData, b2Body_GetUserData, b2Body_GetLocalPoint, b2Body_GetWorldPoint, b2Body_GetLocalVector, b2Body_GetWorldVector, b2Body_GetLinearVelocity, b2Body_GetAngularVelocity, b2Body_SetLinearVelocity, b2Body_SetAngularVelocity, b2Body_ApplyForceToCenter, b2Body_ApplyLinearImpulseToCenter, b2Body_GetMass, b2Body_GetInertiaTensor, b2Body_GetLocalCenterOfMass, b2Body_GetWorldCenterOfMass, b2Body_SetMassData, b2Body_GetMassData, b2Body_ApplyMassFromShapes, b2Body_SetLinearDamping, b2Body_GetLinearDamping, b2Body_SetAngularDamping, b2Body_GetAngularDamping, b2Body_SetGravityScale, b2Body_GetGravityScale, b2Body_IsAwake, b2Body_SetAwake, b2Body_EnableSleep, b2Body_IsSleepEnabled, b2Body_SetSleepThreshold, b2Body_GetSleepThreshold, b2Body_IsEnabled, b2Body_Disable, b2Body_Enable, b2Body_SetFixedRotation, b2Body_IsFixedRotation, b2Body_SetBullet, b2Body_IsBullet, b2Body_EnableHitEvents, b2Body_GetShapeCount, b2Body_GetShapes, b2Body_GetJointCount, b2Body_GetJoints, b2Body_GetContactCapacity, b2Body_GetContactData, b2Body_ComputeAABB } from "./include/body_h.js";
+export { b2CreateBody, b2DestroyBody, b2Body_GetType, b2Body_SetType, b2Body_GetPosition, b2Body_GetRotation, b2Body_GetTransform, b2Body_SetTransform, b2Body_ApplyForce, b2Body_ApplyTorque, b2Body_ApplyLinearImpulse, b2Body_ApplyAngularImpulse, b2Body_SetUserData, b2Body_GetUserData, b2Body_GetLocalPoint, b2Body_GetWorldPoint, b2Body_GetLocalVector, b2Body_GetWorldVector, b2Body_GetLinearVelocity, b2Body_GetAngularVelocity, b2Body_SetLinearVelocity, b2Body_SetAngularVelocity, b2Body_ApplyForceToCenter, b2Body_ApplyLinearImpulseToCenter, b2Body_GetMass, b2Body_GetRotationalInertia, b2Body_GetLocalCenterOfMass, b2Body_GetWorldCenterOfMass, b2Body_SetMassData, b2Body_GetMassData, b2Body_ApplyMassFromShapes, b2Body_SetLinearDamping, b2Body_GetLinearDamping, b2Body_SetAngularDamping, b2Body_GetAngularDamping, b2Body_SetGravityScale, b2Body_GetGravityScale, b2Body_IsAwake, b2Body_SetAwake, b2Body_EnableSleep, b2Body_IsSleepEnabled, b2Body_SetSleepThreshold, b2Body_GetSleepThreshold, b2Body_IsEnabled, b2Body_Disable, b2Body_Enable, b2Body_SetFixedRotation, b2Body_IsFixedRotation, b2Body_SetBullet, b2Body_IsBullet, b2Body_EnableHitEvents, b2Body_GetShapeCount, b2Body_GetShapes, b2Body_GetJointCount, b2Body_GetJoints, b2Body_GetContactCapacity, b2Body_GetContactData, b2Body_ComputeAABB } from "./include/body_h.js";
 export { b2CreateCircleShape, b2CreateSegmentShape, b2CreateCapsuleShape, b2CreatePolygonShape, b2DestroyShape, b2Shape_GetType, b2Shape_TestPoint, b2Shape_RayCast, b2Shape_GetBody, b2Shape_IsSensor, b2Shape_SetUserData, b2Shape_GetUserData, b2Shape_SetDensity, b2Shape_GetDensity, b2Shape_SetFriction, b2Shape_GetFriction, b2Shape_SetRestitution, b2Shape_GetRestitution, b2Shape_GetFilter, b2Shape_SetFilter, b2Shape_EnableSensorEvents, b2Shape_AreSensorEventsEnabled, b2Shape_EnableContactEvents, b2Shape_AreContactEventsEnabled, b2Shape_EnablePreSolveEvents, b2Shape_ArePreSolveEventsEnabled, b2Shape_EnableHitEvents, b2Shape_AreHitEventsEnabled, b2Shape_GetCircle, b2Shape_GetSegment, b2Shape_GetChainSegment, b2Shape_GetCapsule, b2Shape_GetPolygon, b2Shape_SetCircle, b2Shape_SetCapsule, b2Shape_SetSegment, b2Shape_SetPolygon, b2Shape_GetParentChain, b2Shape_GetContactCapacity, b2Shape_GetContactData, b2Shape_GetAABB, b2Shape_GetClosestPoint, b2CreateChain, b2Chain_SetFriction, b2Chain_SetRestitution, b2DestroyChain } from "./include/shape_h.js";
 export { b2CreateDistanceJoint, b2CreateMotorJoint, b2CreateMouseJoint, b2CreatePrismaticJoint, b2CreateRevoluteJoint, b2CreateWeldJoint, b2CreateWheelJoint, b2DestroyJoint, b2Joint_GetType, b2Joint_GetBodyA, b2Joint_GetBodyB, b2Joint_GetLocalAnchorA, b2Joint_GetLocalAnchorB, b2Joint_SetCollideConnected, b2Joint_GetCollideConnected, b2Joint_SetUserData, b2Joint_GetUserData, b2Joint_WakeBodies, b2Joint_GetConstraintForce, b2Joint_GetConstraintTorque, b2DefaultDistanceJointDef, b2DefaultMotorJointDef, b2DefaultMouseJointDef, b2DefaultPrismaticJointDef, b2DefaultRevoluteJointDef, b2DefaultWeldJointDef, b2DefaultWheelJointDef } from "./include/joint_h.js";
-export { b2DistanceJoint_SetLength, b2DistanceJoint_GetLength, b2DistanceJoint_EnableSpring, b2DistanceJoint_IsSpringEnabled, b2DistanceJoint_SetSpringHertz, b2DistanceJoint_SetSpringDampingRatio, b2DistanceJoint_GetHertz, b2DistanceJoint_GetDampingRatio, b2DistanceJoint_EnableLimit, b2DistanceJoint_IsLimitEnabled, b2DistanceJoint_SetLengthRange, b2DistanceJoint_GetMinLength, b2DistanceJoint_GetMaxLength, b2DistanceJoint_GetCurrentLength, b2DistanceJoint_EnableMotor, b2DistanceJoint_IsMotorEnabled, b2DistanceJoint_SetMotorSpeed, b2DistanceJoint_GetMotorSpeed, b2DistanceJoint_SetMaxMotorForce, b2DistanceJoint_GetMaxMotorForce, b2DistanceJoint_GetMotorForce } from "./include/distance_joint_h.js";
+export { b2DistanceJoint_SetLength, b2DistanceJoint_GetLength, b2DistanceJoint_EnableSpring, b2DistanceJoint_IsSpringEnabled, b2DistanceJoint_SetSpringHertz, b2DistanceJoint_SetSpringDampingRatio, b2DistanceJoint_GetSpringHertz, b2DistanceJoint_GetSpringDampingRatio, b2DistanceJoint_EnableLimit, b2DistanceJoint_IsLimitEnabled, b2DistanceJoint_SetLengthRange, b2DistanceJoint_GetMinLength, b2DistanceJoint_GetMaxLength, b2DistanceJoint_GetCurrentLength, b2DistanceJoint_EnableMotor, b2DistanceJoint_IsMotorEnabled, b2DistanceJoint_SetMotorSpeed, b2DistanceJoint_GetMotorSpeed, b2DistanceJoint_SetMaxMotorForce, b2DistanceJoint_GetMaxMotorForce, b2DistanceJoint_GetMotorForce } from "./include/distance_joint_h.js";
 export { b2MotorJoint_SetLinearOffset, b2MotorJoint_GetLinearOffset, b2MotorJoint_SetAngularOffset, b2MotorJoint_GetAngularOffset, b2MotorJoint_SetMaxForce, b2MotorJoint_GetMaxForce, b2MotorJoint_SetMaxTorque, b2MotorJoint_GetMaxTorque, b2MotorJoint_SetCorrectionFactor, b2MotorJoint_GetCorrectionFactor } from "./include/motor_joint_h.js";
 export { b2MouseJoint_SetTarget, b2MouseJoint_GetTarget, b2MouseJoint_SetSpringHertz, b2MouseJoint_GetSpringHertz, b2MouseJoint_SetSpringDampingRatio, b2MouseJoint_GetSpringDampingRatio, b2MouseJoint_SetMaxForce, b2MouseJoint_GetMaxForce } from "./include/mouse_joint_h.js";
 export { b2PrismaticJoint_EnableSpring, b2PrismaticJoint_IsSpringEnabled, b2PrismaticJoint_SetSpringHertz, b2PrismaticJoint_GetSpringHertz, b2PrismaticJoint_SetSpringDampingRatio, b2PrismaticJoint_GetSpringDampingRatio, b2PrismaticJoint_EnableLimit, b2PrismaticJoint_IsLimitEnabled, b2PrismaticJoint_GetLowerLimit, b2PrismaticJoint_GetUpperLimit, b2PrismaticJoint_SetLimits, b2PrismaticJoint_EnableMotor, b2PrismaticJoint_IsMotorEnabled, b2PrismaticJoint_SetMotorSpeed, b2PrismaticJoint_GetMotorSpeed, b2PrismaticJoint_SetMaxMotorForce, b2PrismaticJoint_GetMaxMotorForce, b2PrismaticJoint_GetMotorForce } from "./include/prismatic_joint_h.js";
diff --git a/types/main.d.ts b/types/main.d.ts
index 340419d..7901746 100644
--- a/types/main.d.ts
+++ b/types/main.d.ts
@@ -5,10 +5,10 @@ export { b2MinFloat, b2MaxFloat, b2AbsFloat, b2ClampFloat, b2MinInt, b2MaxInt, b
 export { b2SetAllocator, b2GetByteCount, b2SetAssertFcn, b2GetVersion, b2CreateTimer, b2GetTicks, b2GetMilliseconds, b2GetMillisecondsAndReset, b2SleepMilliseconds, b2Yield, b2SetLengthUnitsPerMeter, b2GetLengthUnitsPerMeter, B2_NULL_INDEX } from "./include/core_h.js";
 export { B2_ID_EQUALS, B2_IS_NULL, B2_IS_NON_NULL, b2WorldId, b2ShapeId, b2BodyId, b2JointId, b2ChainId } from "./include/id_h.js";
 export { b2CreateWorld, b2CreateWorldArray, b2DestroyWorld, b2World_IsValid, b2World_Step, b2World_Draw, b2World_GetBodyEvents, b2World_GetSensorEvents, b2World_GetContactEvents, b2World_SetGravity, b2World_GetGravity, b2World_GetProfile, b2World_GetCounters, b2World_OverlapAABB, b2World_OverlapCircle, b2World_OverlapCapsule, b2World_OverlapPolygon, b2World_CastRay, b2World_CastRayClosest, b2World_CastCircle, b2World_CastCapsule, b2World_CastPolygon, b2World_EnableSleeping, b2World_EnableContinuous, b2World_SetRestitutionThreshold, b2World_SetHitEventThreshold, b2World_SetCustomFilterCallback, b2World_SetPreSolveCallback, b2World_Explode, b2World_SetContactTuning, b2World_EnableWarmStarting, b2World_DumpMemoryStats, b2Body_IsValid, b2Shape_IsValid, b2Joint_IsValid, b2Chain_IsValid } from "./include/world_h.js";
-export { b2CreateBody, b2DestroyBody, b2Body_GetType, b2Body_SetType, b2Body_GetPosition, b2Body_GetRotation, b2Body_GetTransform, b2Body_SetTransform, b2Body_ApplyForce, b2Body_ApplyTorque, b2Body_ApplyLinearImpulse, b2Body_ApplyAngularImpulse, b2Body_SetUserData, b2Body_GetUserData, b2Body_GetLocalPoint, b2Body_GetWorldPoint, b2Body_GetLocalVector, b2Body_GetWorldVector, b2Body_GetLinearVelocity, b2Body_GetAngularVelocity, b2Body_SetLinearVelocity, b2Body_SetAngularVelocity, b2Body_ApplyForceToCenter, b2Body_ApplyLinearImpulseToCenter, b2Body_GetMass, b2Body_GetInertiaTensor, b2Body_GetLocalCenterOfMass, b2Body_GetWorldCenterOfMass, b2Body_SetMassData, b2Body_GetMassData, b2Body_ApplyMassFromShapes, b2Body_SetLinearDamping, b2Body_GetLinearDamping, b2Body_SetAngularDamping, b2Body_GetAngularDamping, b2Body_SetGravityScale, b2Body_GetGravityScale, b2Body_IsAwake, b2Body_SetAwake, b2Body_EnableSleep, b2Body_IsSleepEnabled, b2Body_SetSleepThreshold, b2Body_GetSleepThreshold, b2Body_IsEnabled, b2Body_Disable, b2Body_Enable, b2Body_SetFixedRotation, b2Body_IsFixedRotation, b2Body_SetBullet, b2Body_IsBullet, b2Body_EnableHitEvents, b2Body_GetShapeCount, b2Body_GetShapes, b2Body_GetJointCount, b2Body_GetJoints, b2Body_GetContactCapacity, b2Body_GetContactData, b2Body_ComputeAABB } from "./include/body_h.js";
+export { b2CreateBody, b2DestroyBody, b2Body_GetType, b2Body_SetType, b2Body_GetPosition, b2Body_GetRotation, b2Body_GetTransform, b2Body_SetTransform, b2Body_ApplyForce, b2Body_ApplyTorque, b2Body_ApplyLinearImpulse, b2Body_ApplyAngularImpulse, b2Body_SetUserData, b2Body_GetUserData, b2Body_GetLocalPoint, b2Body_GetWorldPoint, b2Body_GetLocalVector, b2Body_GetWorldVector, b2Body_GetLinearVelocity, b2Body_GetAngularVelocity, b2Body_SetLinearVelocity, b2Body_SetAngularVelocity, b2Body_ApplyForceToCenter, b2Body_ApplyLinearImpulseToCenter, b2Body_GetMass, b2Body_GetRotationalInertia, b2Body_GetLocalCenterOfMass, b2Body_GetWorldCenterOfMass, b2Body_SetMassData, b2Body_GetMassData, b2Body_ApplyMassFromShapes, b2Body_SetLinearDamping, b2Body_GetLinearDamping, b2Body_SetAngularDamping, b2Body_GetAngularDamping, b2Body_SetGravityScale, b2Body_GetGravityScale, b2Body_IsAwake, b2Body_SetAwake, b2Body_EnableSleep, b2Body_IsSleepEnabled, b2Body_SetSleepThreshold, b2Body_GetSleepThreshold, b2Body_IsEnabled, b2Body_Disable, b2Body_Enable, b2Body_SetFixedRotation, b2Body_IsFixedRotation, b2Body_SetBullet, b2Body_IsBullet, b2Body_EnableHitEvents, b2Body_GetShapeCount, b2Body_GetShapes, b2Body_GetJointCount, b2Body_GetJoints, b2Body_GetContactCapacity, b2Body_GetContactData, b2Body_ComputeAABB } from "./include/body_h.js";
 export { b2CreateCircleShape, b2CreateSegmentShape, b2CreateCapsuleShape, b2CreatePolygonShape, b2DestroyShape, b2Shape_GetType, b2Shape_TestPoint, b2Shape_RayCast, b2Shape_GetBody, b2Shape_IsSensor, b2Shape_SetUserData, b2Shape_GetUserData, b2Shape_SetDensity, b2Shape_GetDensity, b2Shape_SetFriction, b2Shape_GetFriction, b2Shape_SetRestitution, b2Shape_GetRestitution, b2Shape_GetFilter, b2Shape_SetFilter, b2Shape_EnableSensorEvents, b2Shape_AreSensorEventsEnabled, b2Shape_EnableContactEvents, b2Shape_AreContactEventsEnabled, b2Shape_EnablePreSolveEvents, b2Shape_ArePreSolveEventsEnabled, b2Shape_EnableHitEvents, b2Shape_AreHitEventsEnabled, b2Shape_GetCircle, b2Shape_GetSegment, b2Shape_GetChainSegment, b2Shape_GetCapsule, b2Shape_GetPolygon, b2Shape_SetCircle, b2Shape_SetCapsule, b2Shape_SetSegment, b2Shape_SetPolygon, b2Shape_GetParentChain, b2Shape_GetContactCapacity, b2Shape_GetContactData, b2Shape_GetAABB, b2Shape_GetClosestPoint, b2CreateChain, b2Chain_SetFriction, b2Chain_SetRestitution, b2DestroyChain } from "./include/shape_h.js";
 export { b2CreateDistanceJoint, b2CreateMotorJoint, b2CreateMouseJoint, b2CreatePrismaticJoint, b2CreateRevoluteJoint, b2CreateWeldJoint, b2CreateWheelJoint, b2DestroyJoint, b2Joint_GetType, b2Joint_GetBodyA, b2Joint_GetBodyB, b2Joint_GetLocalAnchorA, b2Joint_GetLocalAnchorB, b2Joint_SetCollideConnected, b2Joint_GetCollideConnected, b2Joint_SetUserData, b2Joint_GetUserData, b2Joint_WakeBodies, b2Joint_GetConstraintForce, b2Joint_GetConstraintTorque, b2DefaultDistanceJointDef, b2DefaultMotorJointDef, b2DefaultMouseJointDef, b2DefaultPrismaticJointDef, b2DefaultRevoluteJointDef, b2DefaultWeldJointDef, b2DefaultWheelJointDef } from "./include/joint_h.js";
-export { b2DistanceJoint_SetLength, b2DistanceJoint_GetLength, b2DistanceJoint_EnableSpring, b2DistanceJoint_IsSpringEnabled, b2DistanceJoint_SetSpringHertz, b2DistanceJoint_SetSpringDampingRatio, b2DistanceJoint_GetHertz, b2DistanceJoint_GetDampingRatio, b2DistanceJoint_EnableLimit, b2DistanceJoint_IsLimitEnabled, b2DistanceJoint_SetLengthRange, b2DistanceJoint_GetMinLength, b2DistanceJoint_GetMaxLength, b2DistanceJoint_GetCurrentLength, b2DistanceJoint_EnableMotor, b2DistanceJoint_IsMotorEnabled, b2DistanceJoint_SetMotorSpeed, b2DistanceJoint_GetMotorSpeed, b2DistanceJoint_SetMaxMotorForce, b2DistanceJoint_GetMaxMotorForce, b2DistanceJoint_GetMotorForce } from "./include/distance_joint_h.js";
+export { b2DistanceJoint_SetLength, b2DistanceJoint_GetLength, b2DistanceJoint_EnableSpring, b2DistanceJoint_IsSpringEnabled, b2DistanceJoint_SetSpringHertz, b2DistanceJoint_SetSpringDampingRatio, b2DistanceJoint_GetSpringHertz, b2DistanceJoint_GetSpringDampingRatio, b2DistanceJoint_EnableLimit, b2DistanceJoint_IsLimitEnabled, b2DistanceJoint_SetLengthRange, b2DistanceJoint_GetMinLength, b2DistanceJoint_GetMaxLength, b2DistanceJoint_GetCurrentLength, b2DistanceJoint_EnableMotor, b2DistanceJoint_IsMotorEnabled, b2DistanceJoint_SetMotorSpeed, b2DistanceJoint_GetMotorSpeed, b2DistanceJoint_SetMaxMotorForce, b2DistanceJoint_GetMaxMotorForce, b2DistanceJoint_GetMotorForce } from "./include/distance_joint_h.js";
 export { b2MotorJoint_SetLinearOffset, b2MotorJoint_GetLinearOffset, b2MotorJoint_SetAngularOffset, b2MotorJoint_GetAngularOffset, b2MotorJoint_SetMaxForce, b2MotorJoint_GetMaxForce, b2MotorJoint_SetMaxTorque, b2MotorJoint_GetMaxTorque, b2MotorJoint_SetCorrectionFactor, b2MotorJoint_GetCorrectionFactor } from "./include/motor_joint_h.js";
 export { b2MouseJoint_SetTarget, b2MouseJoint_GetTarget, b2MouseJoint_SetSpringHertz, b2MouseJoint_GetSpringHertz, b2MouseJoint_SetSpringDampingRatio, b2MouseJoint_GetSpringDampingRatio, b2MouseJoint_SetMaxForce, b2MouseJoint_GetMaxForce } from "./include/mouse_joint_h.js";
 export { b2PrismaticJoint_EnableSpring, b2PrismaticJoint_IsSpringEnabled, b2PrismaticJoint_SetSpringHertz, b2PrismaticJoint_GetSpringHertz, b2PrismaticJoint_SetSpringDampingRatio, b2PrismaticJoint_GetSpringDampingRatio, b2PrismaticJoint_EnableLimit, b2PrismaticJoint_IsLimitEnabled, b2PrismaticJoint_GetLowerLimit, b2PrismaticJoint_GetUpperLimit, b2PrismaticJoint_SetLimits, b2PrismaticJoint_EnableMotor, b2PrismaticJoint_IsMotorEnabled, b2PrismaticJoint_SetMotorSpeed, b2PrismaticJoint_GetMotorSpeed, b2PrismaticJoint_SetMaxMotorForce, b2PrismaticJoint_GetMaxMotorForce, b2PrismaticJoint_GetMotorForce } from "./include/prismatic_joint_h.js";
diff --git a/types/manifold_c.d.ts b/types/manifold_c.d.ts
index 93c7b87..54ef50e 100644
--- a/types/manifold_c.d.ts
+++ b/types/manifold_c.d.ts
@@ -67,12 +67,19 @@ export function b2CollideCapsules(capsuleA: b2Capsule, xfA: b2Transform, capsule
  * @param {b2Transform} xfA - Transform for segmentA containing position and rotation
  * @param {b2Capsule} capsuleB - A capsule shape defined by two points and a radius
  * @param {b2Transform} xfB - Transform for capsuleB containing position and rotation
- * @returns {b2Manifold} Collision manifold containing contact points and normal
+ * @param {b2Manifold} manifold - Output collision manifold
+ * @returns {void} Modifies the manifold parameter with collision data:
+ * - normalX/Y: Collision normal vector
+ * - pointCount: Number of contact points (0-2)
+ * - points[]: Contact point data including:
+ * - anchorA/B: Contact points in local coordinates
+ * - separation: Penetration depth
+ * - id: Contact ID
  * @description
  * Converts the segment to a zero-radius capsule and delegates to b2CollideCapsules
  * for the actual collision computation.
  */
-export function b2CollideSegmentAndCapsule(segmentA: b2Segment, xfA: b2Transform, capsuleB: b2Capsule, xfB: b2Transform, manifold: any): b2Manifold;
+export function b2CollideSegmentAndCapsule(segmentA: b2Segment, xfA: b2Transform, capsuleB: b2Capsule, xfB: b2Transform, manifold: b2Manifold): void;
 /**
  * @function b2CollidePolygonAndCapsule
  * @description
@@ -157,11 +164,11 @@ export function b2CollideChainSegmentAndCircle(chainSegmentA: any, xfA: any, cir
  * @param {b2Transform} xfA - Transform for segmentA
  * @param {b2Capsule} capsuleB - The capsule shape defined by two centers and a radius
  * @param {b2Transform} xfB - Transform for capsuleB
- * @param {b2SimplexCache} cache - Simplex cache for persistent contact information
+ * @param {b2DistanceCache} cache - Simplex cache for persistent contact information
  * @param {b2Manifold} manifold - Contact manifold to store collision results
- * @returns {void}
+ * @returns {b2Manifold} - Modified manifold
  */
-export function b2CollideChainSegmentAndCapsule(segmentA: b2ChainSegment, xfA: b2Transform, capsuleB: b2Capsule, xfB: b2Transform, cache: b2SimplexCache, manifold: b2Manifold): void;
+export function b2CollideChainSegmentAndCapsule(segmentA: b2ChainSegment, xfA: b2Transform, capsuleB: b2Capsule, xfB: b2Transform, cache: b2DistanceCache, manifold: b2Manifold): b2Manifold;
 /**
  * @function b2CollideChainSegmentAndPolygon
  * @param {b2ChainSegment} chainSegmentA - The chain segment shape A
@@ -178,6 +185,11 @@ export function b2CollideChainSegmentAndCapsule(segmentA: b2ChainSegment, xfA: b
  * and can contain 0, 1 or 2 contact points depending on the collision configuration.
  */
 export function b2CollideChainSegmentAndPolygon(chainSegmentA: b2ChainSegment, xfA: b2Transform, polygonB: b2Polygon, xfB: b2Transform, cache: b2DistanceCache, manifold: b2Manifold): b2Manifold;
+import type { b2Circle } from './include/collision_h.js';
 import { b2Transform } from './include/math_functions_h.js';
+import type { b2Manifold } from './include/collision_h.js';
 import { b2Capsule } from './include/collision_h.js';
 import { b2Polygon } from './include/collision_h.js';
+import type { b2Segment } from './include/collision_h.js';
+import type { b2ChainSegment } from './include/collision_h.js';
+import type { b2DistanceCache } from './include/collision_h.js';
diff --git a/types/math_functions_c.d.ts b/types/math_functions_c.d.ts
index 32017b9..f9cde6e 100644
--- a/types/math_functions_c.d.ts
+++ b/types/math_functions_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace MathFunctions
  */
+/**
+ * @import {b2Rot} from './include/math_functions_h.js'
+ */
 /**
  * @summary Checks if a number is valid (finite and not NaN).
  * @function b2IsValid
@@ -21,7 +24,7 @@ export function b2Vec2_IsValid(v: b2Vec2): boolean;
 /**
  * Validates a 2D rotation object.
  * @function b2Rot_IsValid
- * @param {b2Rot} q4 - A rotation object containing sine (s) and cosine (c) components
+ * @param {b2Rot} q - A rotation object containing sine (s) and cosine (c) components
  * @returns {boolean} True if the rotation is valid, false otherwise
  * @description
  * Checks if a b2Rot object is valid by verifying:
@@ -29,7 +32,7 @@ export function b2Vec2_IsValid(v: b2Vec2): boolean;
  * 2. Both sine and cosine components contain valid numbers
  * 3. The rotation is properly normalized (s² + c² = 1)
  */
-export function b2Rot_IsValid(q: any): boolean;
+export function b2Rot_IsValid(q: b2Rot): boolean;
 /**
  * @function b2Normalize
  * @summary Normalizes a 2D vector to unit length.
@@ -64,3 +67,4 @@ export function b2GetLengthAndNormalize(v: b2Vec2): {
     normal: b2Vec2;
 };
 import { b2Vec2 } from "./include/math_functions_h.js";
+import type { b2Rot } from './include/math_functions_h.js';
diff --git a/types/motor_joint_c.d.ts b/types/motor_joint_c.d.ts
index e318b58..a378c38 100644
--- a/types/motor_joint_c.d.ts
+++ b/types/motor_joint_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace MotorJoint
  */
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
 /**
  * @summary Sets the target linear offset for a motor joint.
  * @function b2MotorJoint_SetLinearOffset
@@ -100,4 +103,5 @@ export function b2GetMotorJointTorque(world: any, base: any): number;
 export function b2PrepareMotorJoint(base: any, context: any): void;
 export function b2WarmStartMotorJoint(base: any, context: any): void;
 export function b2SolveMotorJoint(base: any, context: any, useBias: any): void;
+import type { b2JointId } from './include/id_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
diff --git a/types/mouse_joint_c.d.ts b/types/mouse_joint_c.d.ts
index 6cd1e23..667dd78 100644
--- a/types/mouse_joint_c.d.ts
+++ b/types/mouse_joint_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace MouseJoint
  */
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
 /**
  * @summary Sets the target position for a mouse joint.
  * @function b2MouseJoint_SetTarget
@@ -79,4 +82,5 @@ export function b2GetMouseJointTorque(world: any, base: any): number;
 export function b2PrepareMouseJoint(base: any, context: any): void;
 export function b2WarmStartMouseJoint(base: any, context: any): void;
 export function b2SolveMouseJoint(base: any, context: any): void;
+import type { b2JointId } from './include/id_h.js';
 import { b2Vec2 } from "./include/math_functions_h.js";
diff --git a/types/physics.d.ts b/types/physics.d.ts
index 53d4fb1..e634e36 100644
--- a/types/physics.d.ts
+++ b/types/physics.d.ts
@@ -92,12 +92,15 @@ export function UpdateWorldSprites(worldId: number): void;
  * Converts a Box2D Body's position and rotation to a Sprite's position and rotation.
  *
  * This is called automatically by `UpdateWorldSprites`.
- *
  * @export
- * @param {b2Body} body
+ * @param {{ bodyId: { world0: number; }; }} body
  * @param {Sprite} sprite
  */
-export function BodyToSprite(body: b2Body, sprite: Sprite): void;
+export function BodyToSprite(body: {
+    bodyId: {
+        world0: number;
+    };
+}, sprite: Sprite): void;
 /**
  * @typedef {Object} Sprite
  * @property {number} x - The x position of the sprite.
@@ -156,10 +159,10 @@ export function CreateWorld(data: WorldConfig): {
  * Steps a physics world to match fixedTimeStep.
  * Returns the average time spent in the step function.
  *
- * @param {WorldConfig} data - Configuration for the world.
+ * @param {WorldStepConfig} data - Configuration for the world.
  * @returns {number} totalTime - Time spent processing the step function, in seconds.
  */
-export function WorldStep(data: WorldConfig): number;
+export function WorldStep(data: WorldStepConfig): number;
 /**
  * @typedef {Object} ChainConfig
  * @property {b2WorldId} worldId - ID for the world.
@@ -179,7 +182,7 @@ export function WorldStep(data: WorldConfig): number;
  * @typedef {Object} BodyCapsule
  * @property {b2BodyId} bodyId - ID for the body to attach the capsule to.
  * @property {b2ShapeId} shapeId - ID for the shape to attach the capsule to.
- * @propery {b2Capsule} object - The capsule object to attach.
+ * @property {b2Capsule} object - The capsule object to attach.
  */
 /**
  * Creates a chain of capsules with each one linked to the previous and next one.
@@ -345,7 +348,7 @@ export function CreatePolygon(data: PolygonConfig): {
  * @property {number} [friction] - Friction of the polygon.
  * @property {number} [restitution=0.1] - Restitution of the polygon.
  * @property {any} [color] - Custom color for the polygon.
- * @property {number[]} indices - List of indices to the vertices for the polygon.
+ * @property {number[][]} indices - List of indices to the vertices for the polygon.
  * @property {number[]} vertices - List of vertices for the polygon in number pairs [x0,y0, x1,y1, ... xN,yN].
  * @property {b2Vec2} vertexOffset - Offset to recenter the vertices if they are not zero based.
  * @property {b2Vec2} vertexScale - Scale for the vertices, defaults to 1, 1.
@@ -666,6 +669,10 @@ export type BodyCapsule = {
      * - ID for the shape to attach the capsule to.
      */
     shapeId: b2ShapeId;
+    /**
+     * - The capsule object to attach.
+     */
+    object: b2Capsule;
 };
 export type CircleConfig = {
     /**
@@ -1037,7 +1044,7 @@ export type PolygonVertexConfig = {
     /**
      * - List of indices to the vertices for the polygon.
      */
-    indices: number[];
+    indices: number[][];
     /**
      * - List of vertices for the polygon in number pairs [x0,y0, x1,y1, ... xN,yN].
      */
@@ -1474,7 +1481,17 @@ export type WorldStepConfig = {
 };
 import { b2Vec2 } from './include/math_functions_h.js';
 import { b2Rot } from './include/math_functions_h.js';
+import type { b2Body } from './include/body_h.js';
+import type { b2BodyId } from './include/id_h.js';
+import type { b2ShapeId } from './include/id_h.js';
+import type { b2Polygon } from './include/collision_h.js';
 import { b2Circle } from './include/collision_h.js';
+import type { b2WorldId } from './include/id_h.js';
+import type { b2JointId } from './include/id_h.js';
+import type { b2WorldDef } from './include/types_h.js';
+import { b2Capsule } from './include/collision_h.js';
+import type { b2BodyDef } from './include/types_h.js';
+import type { b2ShapeDef } from './include/types_h.js';
 import { b2RevoluteJointDef } from './include/types_h.js';
 import { b2WeldJointDef } from './include/types_h.js';
 import { b2DistanceJointDef } from './include/types_h.js';
diff --git a/types/prismatic_joint_c.d.ts b/types/prismatic_joint_c.d.ts
index a013ad3..c3c9826 100644
--- a/types/prismatic_joint_c.d.ts
+++ b/types/prismatic_joint_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace PrismaticJoint
  */
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
 /**
  * @function b2PrismaticJoint_EnableSpring
  * @summary Enables or disables the spring functionality of a prismatic joint.
@@ -177,4 +180,5 @@ export function b2PreparePrismaticJoint(base: any, context: any): void;
 export function b2WarmStartPrismaticJoint(base: any, context: any): void;
 export function b2SolvePrismaticJoint(base: any, context: any, useBias: any): void;
 export function b2DrawPrismaticJoint(draw: any, base: any, transformA: any, transformB: any): void;
+import type { b2JointId } from './include/id_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
diff --git a/types/revolute_joint_c.d.ts b/types/revolute_joint_c.d.ts
index 04fc9c9..9f0ee51 100644
--- a/types/revolute_joint_c.d.ts
+++ b/types/revolute_joint_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace RevoluteJoint
  */
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
 /**
  * @function b2RevoluteJoint_EnableSpring
  * @description
@@ -191,4 +194,5 @@ export function b2PrepareRevoluteJoint(base: any, context: any): void;
 export function b2WarmStartRevoluteJoint(base: any, context: any): void;
 export function b2SolveRevoluteJoint(base: any, context: any, useBias: any): void;
 export function b2DrawRevoluteJoint(draw: any, base: any, transformA: any, transformB: any, drawSize: any): void;
+import type { b2JointId } from './include/id_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
diff --git a/types/shape_c.d.ts b/types/shape_c.d.ts
index bffc22e..d641a5c 100644
--- a/types/shape_c.d.ts
+++ b/types/shape_c.d.ts
@@ -542,8 +542,13 @@ export function b2Shape_GetAABB(shapeId: b2ShapeId): b2AABB;
  */
 export function b2Shape_GetClosestPoint(shapeId: b2ShapeId, target: b2Vec2): b2Vec2;
 import { b2ShapeId } from './include/id_h.js';
+import type { b2BodyId } from './include/id_h.js';
+import type { b2ShapeDef } from './include/types_h.js';
 import { b2Circle } from './include/collision_h.js';
+import type { b2Capsule } from './include/collision_h.js';
+import type { b2Polygon } from './include/collision_h.js';
 import { b2Segment } from './include/collision_h.js';
+import type { b2ChainDef } from './include/types_h.js';
 import { b2ChainId } from './include/id_h.js';
 import { b2AABB } from './include/math_functions_h.js';
 import { b2MassData } from './include/collision_h.js';
@@ -552,3 +557,5 @@ import { b2CastOutput } from './include/collision_h.js';
 import { b2DistanceProxy } from './include/collision_h.js';
 import { b2WorldId } from './include/id_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
+import type { b2Filter } from './include/types_h.js';
+import type { b2Manifold } from './include/collision_h.js';
diff --git a/types/solver_set_c.d.ts b/types/solver_set_c.d.ts
index 6d76648..f4fd00b 100644
--- a/types/solver_set_c.d.ts
+++ b/types/solver_set_c.d.ts
@@ -1,5 +1,9 @@
 export function b2DestroySolverSet(world: any, setIndex: any): void;
-export function b2WakeSolverSet(world: any, setIndex: any): void;
+/**
+ * @param {b2World} world
+ * @param {number} setIndex
+ */
+export function b2WakeSolverSet(world: b2World, setIndex: number): void;
 export function b2TrySleepIsland(world: any, islandId: any): void;
 export function b2MergeSolverSets(world: any, setId1: any, setId2: any): void;
 export function b2TransferBody(world: any, targetSet: any, sourceSet: any, body: any): void;
@@ -7,6 +11,9 @@ export function b2TransferJoint(world: any, targetSet: any, sourceSet: any, join
 /**
  * @namespace SolverSet
  */
+/**
+ * @import {b2World} from './include/world_h.js'
+ */
 export class b2SolverSet {
     sims: b2BodySimArray;
     states: b2BodyStateArray;
@@ -15,6 +22,7 @@ export class b2SolverSet {
     islands: b2IslandArray;
     setIndex: number;
 }
+import type { b2World } from './include/world_h.js';
 import { b2BodySimArray } from './include/block_array_h.js';
 import { b2BodyStateArray } from './include/block_array_h.js';
 import { b2JointArray } from './include/block_array_h.js';
diff --git a/types/weld_joint_c.d.ts b/types/weld_joint_c.d.ts
index 4babb04..a6903a7 100644
--- a/types/weld_joint_c.d.ts
+++ b/types/weld_joint_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace WeldJoint
  */
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
 /**
  * Sets the linear frequency (hertz) for a weld joint.
  * @function b2WeldJoint_SetLinearHertz
@@ -75,4 +78,5 @@ export function b2GetWeldJointTorque(world: any, base: any): number;
 export function b2PrepareWeldJoint(base: any, context: any): void;
 export function b2WarmStartWeldJoint(base: any, context: any): void;
 export function b2SolveWeldJoint(base: any, context: any, useBias: any): void;
+import type { b2JointId } from './include/id_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
diff --git a/types/wheel_joint_c.d.ts b/types/wheel_joint_c.d.ts
index a6fe52d..c5603a1 100644
--- a/types/wheel_joint_c.d.ts
+++ b/types/wheel_joint_c.d.ts
@@ -1,6 +1,9 @@
 /**
  * @namespace WheelJoint
  */
+/**
+ * @import {b2JointId} from './include/id_h.js'
+ */
 /**
  * @function b2WheelJoint_EnableSpring
  * @description
@@ -181,3 +184,4 @@ export function b2PrepareWheelJoint(base: any, context: any): void;
 export function b2WarmStartWheelJoint(base: any, context: any): void;
 export function b2SolveWheelJoint(base: any, context: any, useBias: any): void;
 export function b2DrawWheelJoint(draw: any, base: any, transformA: any, transformB: any): void;
+import type { b2JointId } from './include/id_h.js';
diff --git a/types/world_c.d.ts b/types/world_c.d.ts
index 08ecd5e..0987422 100644
--- a/types/world_c.d.ts
+++ b/types/world_c.d.ts
@@ -496,6 +496,12 @@ export function b2ValidateContacts(world: any): void;
 /**
  * @namespace World
  */
+/**
+ * @import {b2WorldDef, b2DebugDraw, b2QueryFilter} from './include/types_h.js'
+ * @import {b2ChainId, b2JointId} from './include/id_h.js'
+ * @import {b2PreSolveFcn, b2CastResultFcn, b2OverlapResultFcn, b2CustomFilterFcn} from './include/types_h.js'
+ * @import {b2TreeStats, b2Circle, b2Capsule, b2Polygon} from './include/collision_h.js'
+ */
 export const B2_MAX_WORLDS: 32;
 export namespace b2SetType {
     let b2_staticSet: number;
@@ -508,9 +514,11 @@ export class b2World {
     broadPhase: b2BroadPhase;
     constraintGraph: b2ConstraintGraph;
     bodyArray: any[];
-    solverSetArray: any[];
+    /** @type {b2SolverSet[]} */
+    solverSetArray: b2SolverSet[];
     jointArray: any[];
-    contactArray: any[];
+    /** @type {b2Contact[]} */
+    contactArray: b2Contact[];
     islandArray: any[];
     shapeArray: any[];
     chainArray: any[];
@@ -558,17 +566,32 @@ export class b2TaskContext {
     splitSleepTime: number;
     splitIslandId: number;
 }
+import type { b2WorldDef } from './include/types_h.js';
 import { b2WorldId } from './include/id_h.js';
+import type { b2DebugDraw } from './include/types_h.js';
 import { b2BodyEvents } from './include/types_h.js';
 import { b2SensorEvents } from './include/types_h.js';
 import { b2ContactEvents } from './include/types_h.js';
 import { b2BodyId } from './include/id_h.js';
 import { b2ShapeId } from './include/id_h.js';
+import type { b2ChainId } from './include/id_h.js';
+import type { b2JointId } from './include/id_h.js';
 import { b2AABB } from './include/math_functions_h.js';
+import type { b2QueryFilter } from './include/types_h.js';
+import type { b2OverlapResultFcn } from './include/types_h.js';
+import type { b2Circle } from './include/collision_h.js';
 import { b2Transform } from './include/math_functions_h.js';
+import type { b2Capsule } from './include/collision_h.js';
+import type { b2Polygon } from './include/collision_h.js';
 import { b2Vec2 } from './include/math_functions_h.js';
+import type { b2CastResultFcn } from './include/types_h.js';
+import type { b2TreeStats } from './include/collision_h.js';
 import { b2RayResult } from './include/types_h.js';
+import type { b2PreSolveFcn } from './include/types_h.js';
+import type { b2CustomFilterFcn } from './include/types_h.js';
 import { b2StackAllocator } from './include/stack_allocator_h.js';
 import { b2BroadPhase } from './include/broad_phase_h.js';
 import { b2ConstraintGraph } from './include/constraint_graph_h.js';
+import { b2SolverSet } from './include/solver_set_h.js';
+import { b2Contact } from './include/contact_h.js';
 import { b2BitSet } from './include/bitset_h.js';