diff --git a/melos.yaml b/melos.yaml
deleted file mode 100644
index e4d49cf..0000000
--- a/melos.yaml
+++ /dev/null
@@ -1,84 +0,0 @@
-name: Forge2D
-repository: https://github.com/flame-engine/forge2d
-
-packages:
-  - packages/**
-
-ignore:
-  - packages/benchmark/build
-
-command:
-  version:
-    # Generate commit links in package changelogs.
-    linkToCommits: true
-    # Only allow versioning to happen on main branch.
-    branch: main
-  environment:
-    sdk: ">=3.0.0 <4.0.0"
-  bootstrap:
-    environment:
-      sdk: ">=3.0.0 <4.0.0"
-    dependencies:
-      meta: ^1.11.0
-      vector_math: ^2.1.4
-    dev_dependencies:
-      dartdoc: ^7.0.2
-      flame_lint: ^1.1.1
-      mocktail: ^1.0.1
-      test: ^1.24.9
-
-scripts:
-  lint:all:
-    run: melos run analyze && melos run format
-    description: Run all static analysis checks.
-
-  analyze:
-    run: |
-      melos exec -c 1 -- \
-        dart analyze --fatal-infos
-    description: Run `dart analyze` for all packages.
-
-  format:
-    run: melos exec dart format . --fix
-    description: Run `dart format` for all packages.
-
-  format-check:
-    run: melos exec dart format . --set-exit-if-changed
-    description: Run `dart format` checks for all packages.
-
-  dartdoc:
-    run: melos exec dart pub run dartdoc
-    description: Run dartdoc checks for all packages.
-
-  test:select:
-    run: melos exec -c 1 -- dart test
-    packageFilters:
-      dirExists: test
-    description: Run `dart test` for selected packages.
-
-  test:
-    run: melos run test:select --no-select
-    description: Run all tests in this project.
-
-  coverage:
-    run: |
-      melos exec -- dart test --coverage &&
-      melos exec -- genhtml coverage/lcov.info --output-directory=coverage/
-    packageFilters:
-      dirExists: test
-    description: Generate coverage for the selected package.
-
-  benchmark:
-    run: melos exec -- dart web/bench2d.dart
-    packageFilters:
-      scope: forge2d_benchmark
-
-  benchmark_serve:
-    run: melos exec -- dart pub global run webdev serve --release
-    packageFilters:
-      scope: forge2d_benchmark
-
-  example:
-    run: melos exec -- dart pub global run webdev serve --release
-    packageFilters:
-      scope: forge2d_examples
\ No newline at end of file
diff --git a/packages/benchmark/pubspec.yaml b/packages/benchmark/pubspec.yaml
index 2b1884d..0dd12fb 100644
--- a/packages/benchmark/pubspec.yaml
+++ b/packages/benchmark/pubspec.yaml
@@ -1,17 +1,19 @@
 name: forge2d_benchmark
 description: Simple benchmark for Forge2D
+resolution: workspace
 
 version: 1.0.0+1
 
 publish_to: 'none'
 
 environment:
-  sdk: ">=3.0.0 <4.0.0"
+  sdk: ">=3.8.0 <4.0.0"
 
 dependencies:
   build_runner: ^2.4.5
   build_web_compilers: ^4.0.3
   forge2d: ^0.14.0
+  web: ^1.1.1
 
 dev_dependencies:
-  flame_lint: ^1.1.1
+  flame_lint: ^1.4.1
diff --git a/packages/benchmark/web/bench2d_web.dart b/packages/benchmark/web/bench2d_web.dart
index 29a648e..279c6ce 100644
--- a/packages/benchmark/web/bench2d_web.dart
+++ b/packages/benchmark/web/bench2d_web.dart
@@ -1,6 +1,7 @@
-import 'dart:html';
+import 'dart:js_interop';
 
 import 'package:forge2d/forge2d_browser.dart';
+import 'package:web/web.dart';
 
 import 'bench2d.dart';
 
@@ -16,7 +17,7 @@ class Bench2dWeb extends Bench2d {
   static const int canvasHeight = 600;
   static const double _viewportScale = 10.0;
 
-  late CanvasElement canvas;
+  late HTMLCanvasElement canvas;
   late CanvasRenderingContext2D ctx;
   late ViewportTransform viewport;
   late DebugDraw debugDraw;
@@ -25,7 +26,7 @@ class Bench2dWeb extends Bench2d {
   /// before calling runAnimation.
   void initializeAnimation() {
     // Setup the canvas.
-    canvas = CanvasElement()
+    canvas = HTMLCanvasElement()
       ..width = canvasWidth
       ..height = canvasHeight;
 
@@ -51,10 +52,10 @@ class Bench2dWeb extends Bench2d {
 
     ctx.clearRect(0, 0, canvasWidth, canvasHeight);
     world.drawDebugData();
-    window.animationFrame.then(render);
+    window.requestAnimationFrame(render.toJS);
   }
 
   void runAnimation() {
-    window.animationFrame.then(render);
+    window.requestAnimationFrame(render.toJS);
   }
 }
diff --git a/packages/forge2d/example/pubspec.yaml b/packages/forge2d/example/pubspec.yaml
index 7f7159b..37ab900 100644
--- a/packages/forge2d/example/pubspec.yaml
+++ b/packages/forge2d/example/pubspec.yaml
@@ -1,17 +1,18 @@
 name: forge2d_examples
 description: Samples showcasing Forge2D
-
 version: 1.0.0+1
+resolution: workspace
 
 publish_to: 'none'
 
 environment:
-  sdk: ">=3.0.0 <4.0.0"
+  sdk: ">=3.8.0 <4.0.0"
 
 dependencies:
   forge2d: ^0.14.0
+  web: ^1.1.1
 
 dev_dependencies:
-  build_runner: ^2.4.5
-  build_web_compilers: ^4.0.4
-  flame_lint: ^1.1.1
+  build_runner: ^2.6.0
+  build_web_compilers: ^4.2.0
+  flame_lint: ^1.4.1
diff --git a/packages/forge2d/example/web/demo.dart b/packages/forge2d/example/web/demo.dart
index a116861..624a0eb 100644
--- a/packages/forge2d/example/web/demo.dart
+++ b/packages/forge2d/example/web/demo.dart
@@ -1,7 +1,8 @@
 import 'dart:async';
-import 'dart:html' hide Body;
+import 'dart:js_interop';
 
 import 'package:forge2d/forge2d_browser.dart';
+import 'package:web/web.dart';
 
 /// An abstract class for any Demo of the Forge2D library.
 abstract class Demo {
@@ -31,7 +32,7 @@ abstract class Demo {
   final double _viewportScale;
 
   /// The drawing canvas.
-  late final CanvasElement canvas;
+  late final HTMLCanvasElement canvas;
 
   /// The canvas rendering context.
   late final CanvasRenderingContext2D ctx;
@@ -55,10 +56,10 @@ abstract class Demo {
   late final Element worldStepTime;
 
   Demo(String name, [Vector2? gravity, this._viewportScale = viewportScale])
-      : world = World(gravity ?? Vector2(0.0, _gravity)),
-        _stopwatch = Stopwatch()..start() {
+    : world = World(gravity ?? Vector2(0.0, _gravity)),
+      _stopwatch = Stopwatch()..start() {
     world.setAllowSleep(true);
-    querySelector('#title')?.innerHtml = name;
+    document.querySelector('#title')?.innerHTML = name.toJS;
   }
 
   /// Advances the world forward by timestep seconds.
@@ -72,17 +73,17 @@ abstract class Demo {
     world.drawDebugData();
     frameCount++;
 
-    window.requestAnimationFrame(step);
+    window.requestAnimationFrame(step.toJS);
   }
 
   /// Creates the canvas and readies the demo for animation. Must be called
   /// before calling runAnimation.
   void initializeAnimation() {
     // Setup the canvas.
-    canvas = (Element.tag('canvas') as CanvasElement)
+    canvas = HTMLCanvasElement()
       ..width = canvasWidth
       ..height = canvasHeight;
-    document.body?.nodes.add(canvas);
+    document.body?.appendChild(canvas);
     ctx = canvas.context2D;
 
     // Create the viewport transform with the center at extents.
@@ -96,17 +97,17 @@ abstract class Demo {
     // Have the world draw itself for debugging purposes.
     world.debugDraw = debugDraw;
 
-    fpsCounter = querySelector('#fps-counter')!;
-    worldStepTime = querySelector('#world-step-time')!;
+    fpsCounter = document.querySelector('#fps-counter')!;
+    worldStepTime = document.querySelector('#world-step-time')!;
     Timer.periodic(const Duration(seconds: 1), (Timer t) {
-      fpsCounter.innerHtml = frameCount.toString();
+      fpsCounter.innerHTML = frameCount.toJS;
       frameCount = 0;
     });
     Timer.periodic(const Duration(milliseconds: 200), (Timer t) {
       if (elapsedUs == null) {
         return;
       }
-      worldStepTime.innerHtml = '${elapsedUs! / 1000} ms';
+      worldStepTime.innerHTML = '${elapsedUs! / 1000} ms'.toJS;
     });
   }
 
@@ -114,6 +115,6 @@ abstract class Demo {
 
   /// Starts running the demo as an animation using an animation scheduler.
   void runAnimation() {
-    window.requestAnimationFrame(step);
+    window.requestAnimationFrame(step.toJS);
   }
 }
diff --git a/packages/forge2d/example/web/domino_test.dart b/packages/forge2d/example/web/domino_test.dart
index ab831f8..a1c1182 100644
--- a/packages/forge2d/example/web/domino_test.dart
+++ b/packages/forge2d/example/web/domino_test.dart
@@ -42,8 +42,10 @@ class DominoTest extends Demo {
 
       for (var i = 0; i < 4; ++i) {
         for (var j = 0; j < numPerRow; j++) {
-          bodyDef.position =
-              Vector2(-14.75 + j * (29.5 / (numPerRow - 1)), 7.3 + 5 * i);
+          bodyDef.position = Vector2(
+            -14.75 + j * (29.5 / (numPerRow - 1)),
+            7.3 + 5 * i,
+          );
           if (i == 2 && j == 0) {
             bodyDef.angle = -.1;
             bodyDef.position.x += .1;
diff --git a/packages/forge2d/example/web/domino_tower.dart b/packages/forge2d/example/web/domino_tower.dart
index 1322c12..e89331d 100644
--- a/packages/forge2d/example/web/domino_tower.dart
+++ b/packages/forge2d/example/web/domino_tower.dart
@@ -97,7 +97,8 @@ class DominoTower extends Demo {
             dominoHeight * .5 + (dominoHeight + 2 * dominoWidth) * .99 * j;
 
         for (var i = 0; i < baseCount - j; ++i) {
-          currX = i * 1.5 * dominoHeight -
+          currX =
+              i * 1.5 * dominoHeight -
               (1.5 * dominoHeight * (baseCount - j) / 2);
           dominoDensity *= 2.5;
           if (i == 0) {
diff --git a/packages/forge2d/example/web/racer.dart b/packages/forge2d/example/web/racer.dart
index 0036e46..77e1b5d 100644
--- a/packages/forge2d/example/web/racer.dart
+++ b/packages/forge2d/example/web/racer.dart
@@ -1,7 +1,8 @@
-import 'dart:html' hide Body;
+import 'dart:js_interop';
 import 'dart:math';
 
 import 'package:forge2d/forge2d_browser.dart';
+import 'package:web/web.dart';
 
 import 'demo.dart';
 import 'racer/car.dart';
@@ -26,8 +27,8 @@ class Racer extends Demo implements ContactListener {
     _controlState = 0;
 
     // Bind to keyboard events.
-    document.onKeyDown.listen(_handleKeyDown);
-    document.onKeyUp.listen(_handleKeyUp);
+    document.onkeydown = _handleKeyDown.toJS;
+    document.onkeyup = _handleKeyUp.toJS;
 
     // Add ourselves as a collision listener.
     world.setContactListener(this);
@@ -120,16 +121,12 @@ class Racer extends Demo implements ContactListener {
     switch (event.keyCode) {
       case 37:
         _controlState |= ControlState.left;
-        break;
       case 38:
         _controlState |= ControlState.up;
-        break;
       case 39:
         _controlState |= ControlState.right;
-        break;
       case 40:
         _controlState |= ControlState.down;
-        break;
     }
   }
 
@@ -137,16 +134,12 @@ class Racer extends Demo implements ContactListener {
     switch (event.keyCode) {
       case 37:
         _controlState &= ~ControlState.left;
-        break;
       case 38:
         _controlState &= ~ControlState.up;
-        break;
       case 39:
         _controlState &= ~ControlState.right;
-        break;
       case 40:
         _controlState &= ~ControlState.down;
-        break;
     }
   }
 
@@ -179,8 +172,8 @@ void main() {
   final racer = Racer();
   racer.initialize();
   racer.initializeAnimation();
-  final paragraph = ParagraphElement()
+  final paragraph = HTMLParagraphElement()
     ..innerText = 'Use the arrow keys to drive the car';
-  document.body?.nodes.add(paragraph);
+  document.body?.append(paragraph);
   racer.runAnimation();
 }
diff --git a/packages/forge2d/example/web/racer/car.dart b/packages/forge2d/example/web/racer/car.dart
index cf837ab..afd6307 100644
--- a/packages/forge2d/example/web/racer/car.dart
+++ b/packages/forge2d/example/web/racer/car.dart
@@ -122,15 +122,15 @@ class Car {
     switch (controlState & (ControlState.left | ControlState.right)) {
       case ControlState.left:
         desiredAngle = _lockAngle;
-        break;
       case ControlState.right:
         desiredAngle = -_lockAngle;
-        break;
     }
     final turnPerTimeStep = _turnSpeedPerSec * 1000 / time;
     final angleNow = _frontLeftJoint.jointAngle();
-    final angleToTurn =
-        (desiredAngle - angleNow).clamp(-turnPerTimeStep, turnPerTimeStep);
+    final angleToTurn = (desiredAngle - angleNow).clamp(
+      -turnPerTimeStep,
+      turnPerTimeStep,
+    );
     final angle = angleNow + angleToTurn;
     _frontLeftJoint.setLimits(angle, angle);
     _frontRightJoint.setLimits(angle, angle);
diff --git a/packages/forge2d/example/web/racer/tire.dart b/packages/forge2d/example/web/racer/tire.dart
index 6eec5d5..0bee823 100644
--- a/packages/forge2d/example/web/racer/tire.dart
+++ b/packages/forge2d/example/web/racer/tire.dart
@@ -71,10 +71,8 @@ class Tire {
     switch (controlState & (ControlState.up | ControlState.down)) {
       case ControlState.up:
         desiredSpeed = _maxForwardSpeed;
-        break;
       case ControlState.down:
         desiredSpeed = _maxBackwardSpeed;
-        break;
       default:
         return;
     }
@@ -98,10 +96,8 @@ class Tire {
     switch (controlState & (ControlState.left | ControlState.right)) {
       case ControlState.left:
         desiredTorque = 15.0;
-        break;
       case ControlState.right:
         desiredTorque = -15.0;
-        break;
     }
     body.applyTorque(desiredTorque);
   }
diff --git a/packages/forge2d/lib/src/callbacks/canvas_draw.dart b/packages/forge2d/lib/src/callbacks/canvas_draw.dart
index 31367ff..61fcea6 100644
--- a/packages/forge2d/lib/src/callbacks/canvas_draw.dart
+++ b/packages/forge2d/lib/src/callbacks/canvas_draw.dart
@@ -1,8 +1,9 @@
-import 'dart:html';
+import 'dart:js_interop';
 import 'dart:math';
 
 import 'package:forge2d/forge2d.dart';
 import 'package:forge2d/forge2d_browser.dart';
+import 'package:web/web.dart';
 
 class CanvasDraw extends DebugDraw {
   /// The canvas rendering context with which to draw.
@@ -27,25 +28,35 @@ class CanvasDraw extends DebugDraw {
   }
 
   void _pathPolygon(List<Vector2> vertices, Color3i color) {
-    // Set the color and convert to screen coordinates.
     _setColor(color);
-    // TODO(gregbglw): Do a single ctx transform rather than convert all of
-    // these vectors.
-    final screenVertices = vertices.map(worldToScreen).toList();
 
+    // Save the current canvas state
+    ctx.save();
+
+    // Apply the transformation matrix for world-to-screen conversion
+    ctx.transform(
+      viewport.scale,
+      0,
+      0,
+      -viewport.scale,
+      viewport.extents.x + viewport.translation.x,
+      viewport.extents.y - viewport.translation.y,
+    );
+
+    // Begin the path and move to the first vertex
     ctx.beginPath();
-    ctx.moveTo(screenVertices[0].x, screenVertices[0].y);
+    ctx.moveTo(vertices[0].x, vertices[0].y);
 
-    // Draw lines to all of the remaining points.
-    for (final vertex in screenVertices) {
+    // Draw lines to the remaining vertices
+    for (final vertex in vertices) {
       ctx.lineTo(vertex.x, vertex.y);
     }
 
-    // Draw a line back to the starting point.
-    ctx.lineTo(screenVertices[0].x, screenVertices[0].y);
-
-    // Close the drawn polygon ready for fill/stroke
+    // Close the polygon
     ctx.closePath();
+
+    // Restore the canvas state
+    ctx.restore();
   }
 
   /// Draw a line segment. WARNING: This mutates [p1] and [p2].
@@ -114,8 +125,8 @@ class CanvasDraw extends DebugDraw {
 
   /// Sets the rendering context stroke and fill color to [color].
   void _setColor(Color3i color) {
-    ctx.setStrokeColorRgb(color.r, color.g, color.b, color.a);
-    ctx.setFillColorRgb(color.r, color.g, color.b, color.a);
+    ctx.strokeStyle = color.toHex().toJS;
+    ctx.fillStyle = color.toHex().toJS;
   }
 
   @override
diff --git a/packages/forge2d/lib/src/collision/aabb.dart b/packages/forge2d/lib/src/collision/aabb.dart
index 0d3d1a4..4e4cb4b 100644
--- a/packages/forge2d/lib/src/collision/aabb.dart
+++ b/packages/forge2d/lib/src/collision/aabb.dart
@@ -12,21 +12,19 @@ class AABB {
   final Vector2 upperBound;
 
   /// Creates the default object, with vertices at 0,0 and 0,0.
-  AABB()
-      : lowerBound = Vector2.zero(),
-        upperBound = Vector2.zero();
+  AABB() : lowerBound = Vector2.zero(), upperBound = Vector2.zero();
 
   /// Copies from the given object.
   AABB.copy(AABB copy)
-      : lowerBound = Vector2.copy(copy.lowerBound),
-        upperBound = Vector2.copy(copy.upperBound);
+    : lowerBound = Vector2.copy(copy.lowerBound),
+      upperBound = Vector2.copy(copy.upperBound);
 
   /// Creates an AABB object using the given bounding vertices.
   /// [lowerVertex] should be the bottom left vertex of the bounding box.
   /// [upperVertex] should be the top right vertex of the bounding box.
   AABB.withVec2(Vector2 lowerVertex, Vector2 upperVertex)
-      : lowerBound = Vector2.copy(lowerVertex),
-        upperBound = Vector2.copy(upperVertex);
+    : lowerBound = Vector2.copy(lowerVertex),
+      upperBound = Vector2.copy(upperVertex);
 
   /// Sets this object from the given object.
   void set(AABB aabb) {
@@ -101,14 +99,18 @@ class AABB {
 
   /// Combines another aabb with this one
   void combine(AABB aabb) {
-    lowerBound.x =
-        lowerBound.x < aabb.lowerBound.x ? lowerBound.x : aabb.lowerBound.x;
-    lowerBound.y =
-        lowerBound.y < aabb.lowerBound.y ? lowerBound.y : aabb.lowerBound.y;
-    upperBound.x =
-        upperBound.x > aabb.upperBound.x ? upperBound.x : aabb.upperBound.x;
-    upperBound.y =
-        upperBound.y > aabb.upperBound.y ? upperBound.y : aabb.upperBound.y;
+    lowerBound.x = lowerBound.x < aabb.lowerBound.x
+        ? lowerBound.x
+        : aabb.lowerBound.x;
+    lowerBound.y = lowerBound.y < aabb.lowerBound.y
+        ? lowerBound.y
+        : aabb.lowerBound.y;
+    upperBound.x = upperBound.x > aabb.upperBound.x
+        ? upperBound.x
+        : aabb.upperBound.x;
+    upperBound.y = upperBound.y > aabb.upperBound.y
+        ? upperBound.y
+        : aabb.upperBound.y;
   }
 
   /// Does this aabb contain the provided AABB.
diff --git a/packages/forge2d/lib/src/collision/broadphase/dynamic_tree.dart b/packages/forge2d/lib/src/collision/broadphase/dynamic_tree.dart
index efbc909..ea87f02 100644
--- a/packages/forge2d/lib/src/collision/broadphase/dynamic_tree.dart
+++ b/packages/forge2d/lib/src/collision/broadphase/dynamic_tree.dart
@@ -151,7 +151,8 @@ class DynamicTree implements BroadPhaseStrategy {
         } else {
           if (_nodeStack.length - nodeStackIndex - 2 <= 0) {
             final previousSize = _nodeStack.length;
-            _nodeStack = _nodeStack +
+            _nodeStack =
+                _nodeStack +
                 List.generate(
                   previousSize,
                   (i) => DynamicTreeNode(previousSize + i),
@@ -269,7 +270,8 @@ class DynamicTree implements BroadPhaseStrategy {
       } else {
         if (_nodeStack.length - nodeStackIndex - 2 <= 0) {
           final previousSize = _nodeStack.length;
-          _nodeStack = _nodeStack +
+          _nodeStack =
+              _nodeStack +
               List.generate(
                 previousSize,
                 (i) => DynamicTreeNode(previousSize + i),
@@ -429,7 +431,8 @@ class DynamicTree implements BroadPhaseStrategy {
     if (_freeList == nullNode) {
       assert(_nodeCount == _nodeCapacity);
 
-      _nodes = _nodes +
+      _nodes =
+          _nodes +
           List<DynamicTreeNode>.generate(
             _nodeCapacity,
             (i) => DynamicTreeNode(_nodeCapacity + i),
diff --git a/packages/forge2d/lib/src/collision/collision.dart b/packages/forge2d/lib/src/collision/collision.dart
index e2003cc..2c611da 100644
--- a/packages/forge2d/lib/src/collision/collision.dart
+++ b/packages/forge2d/lib/src/collision/collision.dart
@@ -648,7 +648,8 @@ class Collision {
 
     var pointCount = 0;
     for (var i = 0; i < settings.maxManifoldPoints; ++i) {
-      final separation = normalx * _clipPoints2[i].v.x +
+      final separation =
+          normalx * _clipPoints2[i].v.x +
           normaly * _clipPoints2[i].v.y -
           frontOffset;
 
@@ -1123,8 +1124,9 @@ class EdgePolygonCollider {
     // Get polygonB in frameA
     polygonB.count = polygonB2.vertices.length;
     for (var i = 0; i < polygonB2.vertices.length; ++i) {
-      polygonB.vertices[i]
-          .setFrom(Transform.mulVec2(xf, polygonB2.vertices[i]));
+      polygonB.vertices[i].setFrom(
+        Transform.mulVec2(xf, polygonB2.vertices[i]),
+      );
       polygonB.normals[i].setFrom(Rot.mulVec2(xf.q, polygonB2.normals[i]));
     }
 
diff --git a/packages/forge2d/lib/src/collision/distance.dart b/packages/forge2d/lib/src/collision/distance.dart
index 8b5bbdd..dade0f7 100644
--- a/packages/forge2d/lib/src/collision/distance.dart
+++ b/packages/forge2d/lib/src/collision/distance.dart
@@ -201,11 +201,9 @@ class _Simplex {
     switch (count) {
       case 0:
         assert(false);
-        break;
       case 1:
         pA.setFrom(vertex1.wA);
         pB.setFrom(vertex1.wB);
-        break;
       case 2:
         _case2
           ..setFrom(vertex1.wA)
@@ -224,7 +222,6 @@ class _Simplex {
           ..scale(vertex2.a)
           ..add(_case2);
 
-        break;
       case 3:
         pA
           ..setFrom(vertex1.wA)
@@ -239,10 +236,8 @@ class _Simplex {
           ..add(_case3)
           ..add(_case33);
         pB.setFrom(pA);
-        break;
       default:
         assert(false);
-        break;
     }
   }
 
@@ -469,7 +464,6 @@ class DistanceProxy {
         _count = 1;
         radius = circle.radius;
 
-        break;
       case ShapeType.polygon:
         final poly = shape as PolygonShape;
         _count = poly.vertices.length;
@@ -477,7 +471,6 @@ class DistanceProxy {
         for (var i = 0; i < _count; i++) {
           vertices[i].setFrom(poly.vertices[i]);
         }
-        break;
       case ShapeType.chain:
         final chain = shape as ChainShape;
         assert(0 <= index && index < chain.vertexCount);
@@ -493,14 +486,12 @@ class DistanceProxy {
         vertices[1].setFrom(buffer[1]);
         _count = 2;
         radius = chain.radius;
-        break;
       case ShapeType.edge:
         final edge = shape as EdgeShape;
         vertices[0].setFrom(edge.vertex1);
         vertices[1].setFrom(edge.vertex2);
         _count = 2;
         radius = edge.radius;
-        break;
     }
   }
 
@@ -607,10 +598,8 @@ class Distance {
           break;
         case 2:
           _simplex.solve2();
-          break;
         case 3:
           _simplex.solve3();
-          break;
         default:
           assert(false);
       }
diff --git a/packages/forge2d/lib/src/collision/manifold_point.dart b/packages/forge2d/lib/src/collision/manifold_point.dart
index c17b284..05f03e8 100644
--- a/packages/forge2d/lib/src/collision/manifold_point.dart
+++ b/packages/forge2d/lib/src/collision/manifold_point.dart
@@ -25,16 +25,14 @@ class ManifoldPoint {
   final ContactID id;
 
   /// Blank manifold point with everything zeroed out.
-  ManifoldPoint()
-      : localPoint = Vector2.zero(),
-        id = ContactID();
+  ManifoldPoint() : localPoint = Vector2.zero(), id = ContactID();
 
   /// Creates a manifold point as a copy of the given point.
   ManifoldPoint.copy(ManifoldPoint manifoldPoint)
-      : localPoint = manifoldPoint.localPoint.clone(),
-        normalImpulse = manifoldPoint.normalImpulse,
-        tangentImpulse = manifoldPoint.tangentImpulse,
-        id = ContactID.copy(manifoldPoint.id);
+    : localPoint = manifoldPoint.localPoint.clone(),
+      normalImpulse = manifoldPoint.normalImpulse,
+      tangentImpulse = manifoldPoint.tangentImpulse,
+      id = ContactID.copy(manifoldPoint.id);
 
   /// Sets this manifold point form the given one.
   void set(ManifoldPoint manifoldPoint) {
diff --git a/packages/forge2d/lib/src/collision/shapes/circle_shape.dart b/packages/forge2d/lib/src/collision/shapes/circle_shape.dart
index b872556..b0411fd 100644
--- a/packages/forge2d/lib/src/collision/shapes/circle_shape.dart
+++ b/packages/forge2d/lib/src/collision/shapes/circle_shape.dart
@@ -136,7 +136,8 @@ class CircleShape extends Shape {
     massData.center.y = position.y;
 
     // inertia about the local origin
-    massData.I = massData.mass *
+    massData.I =
+        massData.mass *
         (0.5 * radius * radius +
             (position.x * position.x + position.y * position.y));
   }
diff --git a/packages/forge2d/lib/src/collision/shapes/mass_data.dart b/packages/forge2d/lib/src/collision/shapes/mass_data.dart
index c322192..f7f1ed4 100644
--- a/packages/forge2d/lib/src/collision/shapes/mass_data.dart
+++ b/packages/forge2d/lib/src/collision/shapes/mass_data.dart
@@ -18,9 +18,9 @@ class MassData {
 
   /// Copies from the given mass data.
   MassData.copy(MassData md)
-      : mass = md.mass,
-        center = md.center.clone(),
-        I = md.I;
+    : mass = md.mass,
+      center = md.center.clone(),
+      I = md.I;
 
   void set(MassData md) {
     mass = md.mass;
diff --git a/packages/forge2d/lib/src/collision/time_of_impact.dart b/packages/forge2d/lib/src/collision/time_of_impact.dart
index d2f2105..07ef2b3 100644
--- a/packages/forge2d/lib/src/collision/time_of_impact.dart
+++ b/packages/forge2d/lib/src/collision/time_of_impact.dart
@@ -77,8 +77,10 @@ class TimeOfImpact {
 
     final totalRadius = proxyA.radius + proxyB.radius;
     // djm: whats with all these constants?
-    final target =
-        max(settings.linearSlop, totalRadius - 3.0 * settings.linearSlop);
+    final target = max(
+      settings.linearSlop,
+      totalRadius - 3.0 * settings.linearSlop,
+    );
     final tolerance = 0.25 * settings.linearSlop;
 
     assert(target > tolerance);
diff --git a/packages/forge2d/lib/src/collision/world_manifold.dart b/packages/forge2d/lib/src/collision/world_manifold.dart
index 2a14199..4395a75 100644
--- a/packages/forge2d/lib/src/collision/world_manifold.dart
+++ b/packages/forge2d/lib/src/collision/world_manifold.dart
@@ -65,7 +65,6 @@ class WorldManifold {
           points[0].y = (cAy + cBy) * .5;
           separations[0] = (cBx - cAx) * normal.x + (cBy - cAy) * normal.y;
         }
-        break;
       case ManifoldType.faceA:
         {
           final planePoint = _pool3;
@@ -76,10 +75,12 @@ class WorldManifold {
           final clipPoint = _pool4;
 
           for (var i = 0; i < manifold.pointCount; i++) {
-            clipPoint
-                .setFrom(Transform.mulVec2(xfB, manifold.points[i].localPoint));
+            clipPoint.setFrom(
+              Transform.mulVec2(xfB, manifold.points[i].localPoint),
+            );
 
-            final scalar = radiusA -
+            final scalar =
+                radiusA -
                 ((clipPoint.x - planePoint.x) * normal.x +
                     (clipPoint.y - planePoint.y) * normal.y);
 
@@ -94,7 +95,6 @@ class WorldManifold {
             separations[i] = (cBx - cAx) * normal.x + (cBy - cAy) * normal.y;
           }
         }
-        break;
       case ManifoldType.faceB:
         final planePoint = _pool3;
         normal.setFrom(Rot.mulVec2(xfB.q, manifold.localNormal));
@@ -103,10 +103,12 @@ class WorldManifold {
         final clipPoint = _pool4;
 
         for (var i = 0; i < manifold.pointCount; i++) {
-          clipPoint
-              .setFrom(Transform.mulVec2(xfA, manifold.points[i].localPoint));
+          clipPoint.setFrom(
+            Transform.mulVec2(xfA, manifold.points[i].localPoint),
+          );
 
-          final scalar = radiusB -
+          final scalar =
+              radiusB -
               ((clipPoint.x - planePoint.x) * normal.x +
                   (clipPoint.y - planePoint.y) * normal.y);
 
@@ -123,7 +125,6 @@ class WorldManifold {
         // Ensure normal points from A to B.
         normal.x = -normal.x;
         normal.y = -normal.y;
-        break;
     }
   }
 }
diff --git a/packages/forge2d/lib/src/common/canvas_viewport_transform.dart b/packages/forge2d/lib/src/common/canvas_viewport_transform.dart
index 00f0289..f0ac9c7 100644
--- a/packages/forge2d/lib/src/common/canvas_viewport_transform.dart
+++ b/packages/forge2d/lib/src/common/canvas_viewport_transform.dart
@@ -1,6 +1,7 @@
-import 'dart:html';
+import 'dart:js_interop';
 
 import 'package:forge2d/forge2d.dart';
+import 'package:web/web.dart';
 
 /// Transform for drawing using a canvas context. Y-flip is permanently set
 /// to true.
@@ -9,7 +10,7 @@ class CanvasViewportTransform extends ViewportTransform {
 
   /// Constructs a new viewport transform with the default scale.
   CanvasViewportTransform(Vector2 extents, Vector2 center)
-      : super(extents, center, defaultDrawingScale) {
+    : super(extents, center, defaultDrawingScale) {
     yFlip = true;
   }
 
@@ -18,7 +19,7 @@ class CanvasViewportTransform extends ViewportTransform {
   /// screen.
   void updateTransformation(CanvasRenderingContext2D ctx) {
     // Clear all previous transformation.
-    ctx.setTransform(1, 0, 0, 1, 0, 0);
+    ctx.setTransform(1.toJS, 0, 0, 1, 0, 0);
 
     // Translate to the center of the canvas screen. This will be considered the
     // actual origin.
diff --git a/packages/forge2d/lib/src/common/color3i.dart b/packages/forge2d/lib/src/common/color3i.dart
index af2d3d2..0c51a85 100644
--- a/packages/forge2d/lib/src/common/color3i.dart
+++ b/packages/forge2d/lib/src/common/color3i.dart
@@ -15,10 +15,10 @@ class Color3i {
   Color3i.zero();
 
   Color3i.fromRGBd(double red, double green, double blue, {double alpha = 1.0})
-      : r = (red * 255).floor(),
-        g = (green * 255).floor(),
-        b = (blue * 255).floor(),
-        a = alpha;
+    : r = (red * 255).floor(),
+      g = (green * 255).floor(),
+      b = (blue * 255).floor(),
+      a = alpha;
 
   void setRGB(int red, int green, int blue, {double? alpha}) {
     r = red;
@@ -43,6 +43,12 @@ class Color3i {
 
   Color3i clone() => Color3i(r, g, b, a: a);
 
+  String toHex() =>
+      '#${r.toRadixString(16).padLeft(2, '0')}'
+      '${g.toRadixString(16).padLeft(2, '0')}'
+      '${b.toRadixString(16).padLeft(2, '0')}'
+      '${(a * 255).toInt().toRadixString(16).padLeft(2, '0')}';
+
   @override
   String toString() => 'Color3i($r, $g, $b, $a)';
 }
diff --git a/packages/forge2d/lib/src/common/rot.dart b/packages/forge2d/lib/src/common/rot.dart
index 9ef7a14..4504995 100644
--- a/packages/forge2d/lib/src/common/rot.dart
+++ b/packages/forge2d/lib/src/common/rot.dart
@@ -8,9 +8,7 @@ class Rot {
 
   Rot({this.sin = 0.0, this.cos = 1.0});
 
-  Rot.withAngle(double angle)
-      : sin = math.sin(angle),
-        cos = math.cos(angle);
+  Rot.withAngle(double angle) : sin = math.sin(angle), cos = math.cos(angle);
 
   void setAngle(double angle) {
     sin = math.sin(angle);
@@ -49,16 +47,16 @@ class Rot {
   Rot clone() => Rot(sin: sin, cos: cos);
 
   Rot.mul(Rot q, Rot r)
-      : this(
-          sin: q.sin * r.cos + q.cos * r.sin,
-          cos: q.cos * r.cos - q.sin * r.sin,
-        );
+    : this(
+        sin: q.sin * r.cos + q.cos * r.sin,
+        cos: q.cos * r.cos - q.sin * r.sin,
+      );
 
   Rot.mulTrans(Rot q, Rot r)
-      : this(
-          sin: q.cos * r.sin - q.sin * r.cos,
-          cos: q.cos * r.cos + q.sin * r.sin,
-        );
+    : this(
+        sin: q.cos * r.sin - q.sin * r.cos,
+        cos: q.cos * r.cos + q.sin * r.sin,
+      );
 
   static Vector2 mulVec2(Rot q, Vector2 v) {
     return Vector2(q.cos * v.x - q.sin * v.y, q.sin * v.x + q.cos * v.y);
diff --git a/packages/forge2d/lib/src/common/transform.dart b/packages/forge2d/lib/src/common/transform.dart
index d63c2eb..bea8d83 100644
--- a/packages/forge2d/lib/src/common/transform.dart
+++ b/packages/forge2d/lib/src/common/transform.dart
@@ -10,19 +10,13 @@ class Transform {
   final Rot q;
 
   /// The default constructor.
-  Transform.zero()
-      : p = Vector2.zero(),
-        q = Rot();
+  Transform.zero() : p = Vector2.zero(), q = Rot();
 
   /// Initialize as a copy of another transform.
-  Transform.clone(Transform xf)
-      : p = xf.p.clone(),
-        q = xf.q.clone();
+  Transform.clone(Transform xf) : p = xf.p.clone(), q = xf.q.clone();
 
   /// Initialize using a position vector and a rotation matrix.
-  Transform.from(Vector2 position, Rot r)
-      : p = position.clone(),
-        q = r.clone();
+  Transform.from(Vector2 position, Rot r) : p = position.clone(), q = r.clone();
 
   /// Set this to equal another transform.
   void setFrom(Transform xf) {
diff --git a/packages/forge2d/lib/src/dynamics/body.dart b/packages/forge2d/lib/src/dynamics/body.dart
index 8091716..4d0a531 100644
--- a/packages/forge2d/lib/src/dynamics/body.dart
+++ b/packages/forge2d/lib/src/dynamics/body.dart
@@ -74,10 +74,10 @@ class Body {
   Object? userData;
 
   Body(BodyDef bd, this.world)
-      : assert(!bd.position.isInfinite && !bd.position.isNaN),
-        assert(!bd.linearVelocity.isInfinite && !bd.linearVelocity.isNaN),
-        assert(bd.angularDamping >= 0.0),
-        assert(bd.linearDamping >= 0.0) {
+    : assert(!bd.position.isInfinite && !bd.position.isNaN),
+      assert(!bd.linearVelocity.isInfinite && !bd.linearVelocity.isNaN),
+      assert(bd.angularDamping >= 0.0),
+      assert(bd.linearDamping >= 0.0) {
     flags = 0;
 
     if (bd.bullet) {
@@ -364,7 +364,8 @@ class Body {
     }
 
     linearVelocity += impulse * _inverseMass;
-    _angularVelocity += inverseInertia *
+    _angularVelocity +=
+        inverseInertia *
         ((point.x - sweep.c.x) * impulse.y - (point.y - sweep.c.y) * impulse.x);
   }
 
@@ -731,10 +732,12 @@ class Body {
     final xf1 = _pxf;
     xf1.q.sin = sin(sweep.a0);
     xf1.q.cos = cos(sweep.a0);
-    xf1.p.x = sweep.c0.x -
+    xf1.p.x =
+        sweep.c0.x -
         xf1.q.cos * sweep.localCenter.x +
         xf1.q.sin * sweep.localCenter.y;
-    xf1.p.y = sweep.c0.y -
+    xf1.p.y =
+        sweep.c0.y -
         xf1.q.sin * sweep.localCenter.x -
         xf1.q.cos * sweep.localCenter.y;
 
diff --git a/packages/forge2d/lib/src/dynamics/body_def.dart b/packages/forge2d/lib/src/dynamics/body_def.dart
index 8c818cc..5c43b02 100644
--- a/packages/forge2d/lib/src/dynamics/body_def.dart
+++ b/packages/forge2d/lib/src/dynamics/body_def.dart
@@ -23,8 +23,8 @@ class BodyDef {
     this.active = true,
     this.gravityOverride,
     this.gravityScale,
-  })  : position = position ?? Vector2.zero(),
-        linearVelocity = linearVelocity ?? Vector2.zero();
+  }) : position = position ?? Vector2.zero(),
+       linearVelocity = linearVelocity ?? Vector2.zero();
 
   /// The body type: static, kinematic, or dynamic.
   ///
diff --git a/packages/forge2d/lib/src/dynamics/contacts/chain_and_circle_contact.dart b/packages/forge2d/lib/src/dynamics/contacts/chain_and_circle_contact.dart
index dbe77f5..a432d3d 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/chain_and_circle_contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/chain_and_circle_contact.dart
@@ -8,8 +8,8 @@ class ChainAndCircleContact extends Contact {
     super.indexB,
     super.collision,
     super.distance,
-  )   : assert(fixtureA.type == ShapeType.chain),
-        assert(fixtureB.type == ShapeType.circle);
+  ) : assert(fixtureA.type == ShapeType.chain),
+      assert(fixtureB.type == ShapeType.circle);
 
   @override
   void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
diff --git a/packages/forge2d/lib/src/dynamics/contacts/chain_and_polygon_contact.dart b/packages/forge2d/lib/src/dynamics/contacts/chain_and_polygon_contact.dart
index 7379e6f..45ee5ab 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/chain_and_polygon_contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/chain_and_polygon_contact.dart
@@ -8,8 +8,8 @@ class ChainAndPolygonContact extends Contact {
     super.indexB,
     super.collision,
     super.distance,
-  )   : assert(fixtureA.type == ShapeType.chain),
-        assert(fixtureB.type == ShapeType.polygon);
+  ) : assert(fixtureA.type == ShapeType.chain),
+      assert(fixtureB.type == ShapeType.polygon);
 
   @override
   void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
diff --git a/packages/forge2d/lib/src/dynamics/contacts/circle_contact.dart b/packages/forge2d/lib/src/dynamics/contacts/circle_contact.dart
index 8ea28fc..f1ece1a 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/circle_contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/circle_contact.dart
@@ -6,9 +6,9 @@ class CircleContact extends Contact {
     Fixture fixtureB,
     Collision collision,
     Distance distance,
-  )   : assert(fixtureA.type == ShapeType.circle),
-        assert(fixtureB.type == ShapeType.circle),
-        super(fixtureA, 0, fixtureB, 0, collision, distance);
+  ) : assert(fixtureA.type == ShapeType.circle),
+      assert(fixtureB.type == ShapeType.circle),
+      super(fixtureA, 0, fixtureB, 0, collision, distance);
 
   @override
   void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
diff --git a/packages/forge2d/lib/src/dynamics/contacts/contact.dart b/packages/forge2d/lib/src/dynamics/contacts/contact.dart
index 1783fdc..15c8a9e 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/contact.dart
@@ -211,8 +211,10 @@ abstract class Contact {
   }
 
   void resetRestitution() {
-    _restitution =
-        Contact.mixRestitution(fixtureA.restitution, fixtureB.restitution);
+    _restitution = Contact.mixRestitution(
+      fixtureA.restitution,
+      fixtureB.restitution,
+    );
   }
 
   void evaluate(Manifold manifold, Transform xfA, Transform xfB);
diff --git a/packages/forge2d/lib/src/dynamics/contacts/contact_solver.dart b/packages/forge2d/lib/src/dynamics/contacts/contact_solver.dart
index 7db3921..8b569a7 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/contact_solver.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/contact_solver.dart
@@ -290,8 +290,10 @@ class ContactSolver {
 
         // Clamp the accumulated force
         final maxFriction = (friction * vcp.normalImpulse).abs();
-        final newImpulse =
-            (vcp.tangentImpulse + lambda).clamp(-maxFriction, maxFriction);
+        final newImpulse = (vcp.tangentImpulse + lambda).clamp(
+          -maxFriction,
+          maxFriction,
+        );
         lambda = newImpulse - vcp.tangentImpulse;
         vcp.tangentImpulse = newImpulse;
 
@@ -459,11 +461,13 @@ class ContactSolver {
             vB.x += mB * (p1x + p2x);
             vB.y += mB * (p1y + p2y);
 
-            wA -= iA *
+            wA -=
+                iA *
                 (cp1rA.x * p1y -
                     cp1rA.y * p1x +
                     (cp2rA.x * p2y - cp2rA.y * p2x));
-            wB += iB *
+            wB +=
+                iB *
                 (cp1rB.x * p1y -
                     cp1rB.y * p1x +
                     (cp2rB.x * p2y - cp2rB.y * p2x));
@@ -530,11 +534,13 @@ class ContactSolver {
             vB.x += mB * (p1x + p2x);
             vB.y += mB * (p1y + p2y);
 
-            wA -= iA *
+            wA -=
+                iA *
                 (cp1rA.x * p1y -
                     cp1rA.y * p1x +
                     (cp2rA.x * p2y - cp2rA.y * p2x));
-            wB += iB *
+            wB +=
+                iB *
                 (cp1rB.x * p1y -
                     cp1rB.y * p1x +
                     (cp2rB.x * p2y - cp2rB.y * p2x));
@@ -599,11 +605,13 @@ class ContactSolver {
             vB.x += mB * (p1x + p2x);
             vB.y += mB * (p1y + p2y);
 
-            wA -= iA *
+            wA -=
+                iA *
                 (cp1rA.x * p1y -
                     cp1rA.y * p1x +
                     (cp2rA.x * p2y - cp2rA.y * p2x));
-            wB += iB *
+            wB +=
+                iB *
                 (cp1rB.x * p1y -
                     cp1rB.y * p1x +
                     (cp2rB.x * p2y - cp2rB.y * p2x));
@@ -666,11 +674,13 @@ class ContactSolver {
             vB.x += mB * (p1x + p2x);
             vB.y += mB * (p1y + p2y);
 
-            wA -= iA *
+            wA -=
+                iA *
                 (cp1rA.x * p1y -
                     cp1rA.y * p1x +
                     (cp2rA.x * p2y - cp2rA.y * p2x));
-            wB += iB *
+            wB +=
+                iB *
                 (cp1rB.x * p1y -
                     cp1rB.y * p1x +
                     (cp2rB.x * p2y - cp2rB.y * p2x));
@@ -932,7 +942,6 @@ class PositionSolverManifold {
         final tempY = pointBy - pointAy;
         separation =
             tempX * normal.x + tempY * normal.y - pc.radiusA - pc.radiusB;
-        break;
 
       case ManifoldType.faceA:
         final pcLocalNormal = pc.localNormal;
@@ -946,17 +955,16 @@ class PositionSolverManifold {
 
         final clipPointX =
             (xfBq.cos * pcLocalPointsI.x - xfBq.sin * pcLocalPointsI.y) +
-                xfB.p.x;
+            xfB.p.x;
         final clipPointY =
             (xfBq.sin * pcLocalPointsI.x + xfBq.cos * pcLocalPointsI.y) +
-                xfB.p.y;
+            xfB.p.y;
         final tempX = clipPointX - planePointX;
         final tempY = clipPointY - planePointY;
         separation =
             tempX * normal.x + tempY * normal.y - pc.radiusA - pc.radiusB;
         point.x = clipPointX;
         point.y = clipPointY;
-        break;
 
       case ManifoldType.faceB:
         final pcLocalNormal = pc.localNormal;
@@ -970,10 +978,10 @@ class PositionSolverManifold {
 
         final clipPointX =
             (xfAq.cos * pcLocalPointsI.x - xfAq.sin * pcLocalPointsI.y) +
-                xfA.p.x;
+            xfA.p.x;
         final clipPointY =
             (xfAq.sin * pcLocalPointsI.x + xfAq.cos * pcLocalPointsI.y) +
-                xfA.p.y;
+            xfA.p.y;
         final tempX = clipPointX - planePointX;
         final tempY = clipPointY - planePointY;
         separation =
@@ -982,7 +990,6 @@ class PositionSolverManifold {
         point.y = clipPointY;
         normal.x *= -1;
         normal.y *= -1;
-        break;
     }
   }
 }
diff --git a/packages/forge2d/lib/src/dynamics/contacts/contact_velocity_constraint.dart b/packages/forge2d/lib/src/dynamics/contacts/contact_velocity_constraint.dart
index 20a4371..624218d 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/contact_velocity_constraint.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/contact_velocity_constraint.dart
@@ -14,9 +14,9 @@ class VelocityConstraintPoint {
 class ContactVelocityConstraint {
   final List<VelocityConstraintPoint> points =
       List<VelocityConstraintPoint>.generate(
-    settings.maxManifoldPoints,
-    (_) => VelocityConstraintPoint(),
-  );
+        settings.maxManifoldPoints,
+        (_) => VelocityConstraintPoint(),
+      );
 
   final Vector2 normal = Vector2.zero();
   final Matrix2 normalMass = Matrix2.zero();
diff --git a/packages/forge2d/lib/src/dynamics/contacts/edge_and_circle_contact.dart b/packages/forge2d/lib/src/dynamics/contacts/edge_and_circle_contact.dart
index 414ba84..645ceb6 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/edge_and_circle_contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/edge_and_circle_contact.dart
@@ -8,8 +8,8 @@ class EdgeAndCircleContact extends Contact {
     super.indexB,
     super.collision,
     super.distance,
-  )   : assert(fixtureA.type == ShapeType.edge),
-        assert(fixtureB.type == ShapeType.circle);
+  ) : assert(fixtureA.type == ShapeType.edge),
+      assert(fixtureB.type == ShapeType.circle);
 
   @override
   void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
diff --git a/packages/forge2d/lib/src/dynamics/contacts/edge_and_polygon_contact.dart b/packages/forge2d/lib/src/dynamics/contacts/edge_and_polygon_contact.dart
index be8e0e3..ea0fa85 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/edge_and_polygon_contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/edge_and_polygon_contact.dart
@@ -8,8 +8,8 @@ class EdgeAndPolygonContact extends Contact {
     super.indexB,
     super.collision,
     super.distance,
-  )   : assert(fixtureA.type == ShapeType.edge),
-        assert(fixtureB.type == ShapeType.polygon);
+  ) : assert(fixtureA.type == ShapeType.edge),
+      assert(fixtureB.type == ShapeType.polygon);
 
   @override
   void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
diff --git a/packages/forge2d/lib/src/dynamics/contacts/polygon_and_circle_contact.dart b/packages/forge2d/lib/src/dynamics/contacts/polygon_and_circle_contact.dart
index 229f65c..fefa8a9 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/polygon_and_circle_contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/polygon_and_circle_contact.dart
@@ -6,9 +6,9 @@ class PolygonAndCircleContact extends Contact {
     Fixture fixtureB,
     Collision collision,
     Distance distance,
-  )   : assert(fixtureA.type == ShapeType.polygon),
-        assert(fixtureB.type == ShapeType.circle),
-        super(fixtureA, 0, fixtureB, 0, collision, distance);
+  ) : assert(fixtureA.type == ShapeType.polygon),
+      assert(fixtureB.type == ShapeType.circle),
+      super(fixtureA, 0, fixtureB, 0, collision, distance);
 
   @override
   void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
diff --git a/packages/forge2d/lib/src/dynamics/contacts/polygon_contact.dart b/packages/forge2d/lib/src/dynamics/contacts/polygon_contact.dart
index 91b714d..f1f395e 100644
--- a/packages/forge2d/lib/src/dynamics/contacts/polygon_contact.dart
+++ b/packages/forge2d/lib/src/dynamics/contacts/polygon_contact.dart
@@ -6,9 +6,9 @@ class PolygonContact extends Contact {
     Fixture fixtureB,
     Collision collision,
     Distance distance,
-  )   : assert(fixtureA.type == ShapeType.polygon),
-        assert(fixtureB.type == ShapeType.polygon),
-        super(fixtureA, 0, fixtureB, 0, collision, distance);
+  ) : assert(fixtureA.type == ShapeType.polygon),
+      assert(fixtureB.type == ShapeType.polygon),
+      super(fixtureA, 0, fixtureB, 0, collision, distance);
 
   @override
   void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
diff --git a/packages/forge2d/lib/src/dynamics/fixture.dart b/packages/forge2d/lib/src/dynamics/fixture.dart
index 902fe84..5252b1d 100644
--- a/packages/forge2d/lib/src/dynamics/fixture.dart
+++ b/packages/forge2d/lib/src/dynamics/fixture.dart
@@ -280,7 +280,6 @@ class Fixture {
             debugDraw.drawSolidCircle(renderCenter, radius, color);
           }
         }
-        break;
       case ShapeType.polygon:
         {
           final poly = shape as PolygonShape;
@@ -297,7 +296,6 @@ class Fixture {
             debugDraw.drawSolidPolygon(vertices, color);
           }
         }
-        break;
       case ShapeType.edge:
         {
           final edge = shape as EdgeShape;
@@ -305,7 +303,6 @@ class Fixture {
           _v2.setFrom(Transform.mulVec2(xf, edge.vertex2));
           debugDraw.drawSegment(_v1, _v2, color);
         }
-        break;
       case ShapeType.chain:
         {
           final chain = shape as ChainShape;
@@ -320,7 +317,6 @@ class Fixture {
             _v1.setFrom(_v2);
           }
         }
-        break;
     }
   }
 }
diff --git a/packages/forge2d/lib/src/dynamics/island.dart b/packages/forge2d/lib/src/dynamics/island.dart
index dff2f97..c154961 100644
--- a/packages/forge2d/lib/src/dynamics/island.dart
+++ b/packages/forge2d/lib/src/dynamics/island.dart
@@ -190,10 +190,12 @@ class Island {
       if (b.bodyType == BodyType.dynamic) {
         // Integrate velocities.
         final bodyGravity = b.gravityOverride ?? gravity;
-        v.x += dt *
+        v.x +=
+            dt *
             ((b.gravityScale?.x ?? 1) * bodyGravity.x +
                 b.inverseMass * b.force.x);
-        v.y += dt *
+        v.y +=
+            dt *
             ((b.gravityScale?.y ?? 1) * bodyGravity.y +
                 b.inverseMass * b.force.y);
         w += dt * b.inverseInertia * b.torque;
@@ -267,7 +269,8 @@ class Island {
 
       if (translationX * translationX + translationY * translationY >
           settings.maxTranslationSquared) {
-        final ratio = settings.maxTranslation /
+        final ratio =
+            settings.maxTranslation /
             sqrt(translationX * translationX + translationY * translationY);
         v.x *= ratio;
         v.y *= ratio;
@@ -378,8 +381,10 @@ class Island {
 
     // Solve position constraints.
     for (var i = 0; i < subStep.positionIterations; ++i) {
-      final contactsOkay =
-          _toiContactSolver.solveTOIPositionConstraints(toiIndexA, toiIndexB);
+      final contactsOkay = _toiContactSolver.solveTOIPositionConstraints(
+        toiIndexA,
+        toiIndexB,
+      );
       if (contactsOkay) {
         break;
       }
@@ -420,7 +425,8 @@ class Island {
       final translationY = v.y * dt;
       if (translationX * translationX + translationY * translationY >
           settings.maxTranslationSquared) {
-        final ratio = settings.maxTranslation /
+        final ratio =
+            settings.maxTranslation /
             sqrt(translationX * translationX + translationY * translationY);
         v.scale(ratio);
       }
diff --git a/packages/forge2d/lib/src/dynamics/joints/constant_volume_joint.dart b/packages/forge2d/lib/src/dynamics/joints/constant_volume_joint.dart
index ca2b164..de2b5d0 100644
--- a/packages/forge2d/lib/src/dynamics/joints/constant_volume_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/constant_volume_joint.dart
@@ -29,8 +29,8 @@ class ConstantVolumeJoint extends Joint {
   }
 
   ConstantVolumeJoint(World argWorld, ConstantVolumeJointDef def)
-      : _bodies = def.bodies.toList(growable: false),
-        super(def) {
+    : _bodies = def.bodies.toList(growable: false),
+      super(def) {
     _world = argWorld;
     if (def.bodies.length <= 2) {
       throw "Can't create a constant volume joint with less than three bodies.";
@@ -92,7 +92,8 @@ class ConstantVolumeJoint extends Joint {
     var area = 0.0;
     for (var i = 0; i < _bodies.length; ++i) {
       final next = (i == _bodies.length - 1) ? 0 : i + 1;
-      area += _bodies[i].worldCenter.x * _bodies[next].worldCenter.y -
+      area +=
+          _bodies[i].worldCenter.x * _bodies[next].worldCenter.y -
           _bodies[next].worldCenter.x * _bodies[i].worldCenter.y;
     }
     return area *= .5;
@@ -102,7 +103,8 @@ class ConstantVolumeJoint extends Joint {
     var area = 0.0;
     for (var i = 0; i < _bodies.length; ++i) {
       final next = (i == _bodies.length - 1) ? 0 : i + 1;
-      area += positions[_bodies[i].islandIndex].c.x *
+      area +=
+          positions[_bodies[i].islandIndex].c.x *
               positions[_bodies[next].islandIndex].c.y -
           positions[_bodies[next].islandIndex].c.x *
               positions[_bodies[i].islandIndex].c.y;
@@ -114,9 +116,11 @@ class ConstantVolumeJoint extends Joint {
     var perimeter = 0.0;
     for (var i = 0; i < _bodies.length; ++i) {
       final next = (i == _bodies.length - 1) ? 0 : i + 1;
-      final dx = positions[_bodies[next].islandIndex].c.x -
+      final dx =
+          positions[_bodies[next].islandIndex].c.x -
           positions[_bodies[i].islandIndex].c.x;
-      final dy = positions[_bodies[next].islandIndex].c.y -
+      final dy =
+          positions[_bodies[next].islandIndex].c.y -
           positions[_bodies[i].islandIndex].c.y;
       var dist = sqrt(dx * dx + dy * dy);
       if (dist < settings.epsilon) {
@@ -198,7 +202,8 @@ class ConstantVolumeJoint extends Joint {
       (i) {
         final prev = (i == 0) ? _bodies.length - 1 : i - 1;
         final next = (i == _bodies.length - 1) ? 0 : i + 1;
-        final v = positions[_bodies[next].islandIndex].c -
+        final v =
+            positions[_bodies[next].islandIndex].c -
             positions[_bodies[prev].islandIndex].c;
         dotMassSum += (v.length2) / _bodies[i].mass;
         crossMassSum += velocities[_bodies[i].islandIndex].v.cross(v);
diff --git a/packages/forge2d/lib/src/dynamics/joints/distance_joint.dart b/packages/forge2d/lib/src/dynamics/joints/distance_joint.dart
index 7a3503a..6b391e9 100644
--- a/packages/forge2d/lib/src/dynamics/joints/distance_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/distance_joint.dart
@@ -220,8 +220,10 @@ class DistanceJoint extends Joint {
       ..sub(rA);
 
     final length = u.normalize();
-    final C = (length - _length)
-        .clamp(-settings.maxLinearCorrection, settings.maxLinearCorrection);
+    final C = (length - _length).clamp(
+      -settings.maxLinearCorrection,
+      settings.maxLinearCorrection,
+    );
 
     final impulse = -_mass * C;
     final pX = impulse * u.x;
diff --git a/packages/forge2d/lib/src/dynamics/joints/friction_joint.dart b/packages/forge2d/lib/src/dynamics/joints/friction_joint.dart
index e58d9b2..d52193a 100644
--- a/packages/forge2d/lib/src/dynamics/joints/friction_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/friction_joint.dart
@@ -22,8 +22,8 @@ class FrictionJoint extends Joint {
   double _angularMass = 0.0;
 
   FrictionJoint(FrictionJointDef def)
-      : _linearImpulse = Vector2.zero(),
-        super(def) {
+    : _linearImpulse = Vector2.zero(),
+      super(def) {
     _maxForce = def.maxForce;
     _maxTorque = def.maxTorque;
   }
@@ -164,8 +164,10 @@ class FrictionJoint extends Joint {
 
       final oldImpulse = _angularImpulse;
       final maxImpulse = dt * _maxTorque;
-      _angularImpulse =
-          (_angularImpulse + impulse).clamp(-maxImpulse, maxImpulse);
+      _angularImpulse = (_angularImpulse + impulse).clamp(
+        -maxImpulse,
+        maxImpulse,
+      );
       impulse = _angularImpulse - oldImpulse;
 
       wA -= iA * impulse;
diff --git a/packages/forge2d/lib/src/dynamics/joints/gear_joint.dart b/packages/forge2d/lib/src/dynamics/joints/gear_joint.dart
index 653aad6..e47b929 100644
--- a/packages/forge2d/lib/src/dynamics/joints/gear_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/gear_joint.dart
@@ -81,11 +81,11 @@ class GearJoint extends Joint {
   double _mass = 0.0;
 
   GearJoint(GearJointDef def)
-      : _joint1 = def.joint1,
-        _joint2 = def.joint2,
-        _bodyC = def.joint1.bodyA,
-        _bodyD = def.joint2.bodyA,
-        super(def) {
+    : _joint1 = def.joint1,
+      _joint2 = def.joint2,
+      _bodyC = def.joint1.bodyA,
+      _bodyD = def.joint2.bodyA,
+      super(def) {
     assert(
       (_joint1 is RevoluteJoint || _joint1 is PrismaticJoint) &&
           (_joint2 is RevoluteJoint || _joint2 is PrismaticJoint),
@@ -325,7 +325,8 @@ class GearJoint extends Joint {
 
     final temp1 = Vector2.zero();
     final temp2 = Vector2.zero();
-    var cDot = _jvAC.dot(
+    var cDot =
+        _jvAC.dot(
           temp1
             ..setFrom(vA)
             ..sub(vC),
diff --git a/packages/forge2d/lib/src/dynamics/joints/joint.dart b/packages/forge2d/lib/src/dynamics/joints/joint.dart
index e49cfc2..4c3d895 100644
--- a/packages/forge2d/lib/src/dynamics/joints/joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/joint.dart
@@ -18,9 +18,9 @@ abstract class Joint {
   final Vector2 localAnchorB;
 
   Joint(JointDef def)
-      : assert(def.bodyA != def.bodyB),
-        localAnchorA = def.localAnchorA,
-        localAnchorB = def.localAnchorB {
+    : assert(def.bodyA != def.bodyB),
+      localAnchorA = def.localAnchorA,
+      localAnchorB = def.localAnchorB {
     bodyA = def.bodyA;
     bodyB = def.bodyB;
     _collideConnected = def.collideConnected;
diff --git a/packages/forge2d/lib/src/dynamics/joints/motor_joint.dart b/packages/forge2d/lib/src/dynamics/joints/motor_joint.dart
index 9c2e9a8..8fb5602 100644
--- a/packages/forge2d/lib/src/dynamics/joints/motor_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/motor_joint.dart
@@ -242,8 +242,10 @@ class MotorJoint extends Joint {
 
       final oldImpulse = _angularImpulse;
       final maxImpulse = dt * _maxTorque;
-      _angularImpulse =
-          (_angularImpulse + impulse).clamp(-maxImpulse, maxImpulse);
+      _angularImpulse = (_angularImpulse + impulse).clamp(
+        -maxImpulse,
+        maxImpulse,
+      );
       impulse = _angularImpulse - oldImpulse;
 
       wA -= iA * impulse;
@@ -256,12 +258,14 @@ class MotorJoint extends Joint {
     {
       // Cdot = vB + b2Cross(wB, _rB) - vA - b2Cross(wA, _rA) + inv_h *
       // _correctionFactor * _linearError;
-      cDot.x = vB.x +
+      cDot.x =
+          vB.x +
           -wB * _rB.y -
           vA.x -
           -wA * _rA.y +
           invDt * _correctionFactor * _linearError.x;
-      cDot.y = vB.y +
+      cDot.y =
+          vB.y +
           wB * _rB.x -
           vA.y -
           wA * _rA.x +
diff --git a/packages/forge2d/lib/src/dynamics/joints/mouse_joint.dart b/packages/forge2d/lib/src/dynamics/joints/mouse_joint.dart
index 01c0c81..de3b93b 100644
--- a/packages/forge2d/lib/src/dynamics/joints/mouse_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/mouse_joint.dart
@@ -30,11 +30,11 @@ class MouseJoint extends Joint {
   final Vector2 _c = Vector2.zero();
 
   MouseJoint(MouseJointDef def)
-      : assert(!def.target.isInfinite && !def.target.isNaN),
-        assert(def.maxForce >= 0),
-        assert(def.frequencyHz >= 0),
-        assert(def.dampingRatio >= 0),
-        super(def) {
+    : assert(!def.target.isInfinite && !def.target.isNaN),
+      assert(def.maxForce >= 0),
+      assert(def.frequencyHz >= 0),
+      assert(def.dampingRatio >= 0),
+      super(def) {
     _targetA.setFrom(def.target);
     localAnchorB.setFrom(Transform.mulTransVec2(bodyB.transform, _targetA));
 
diff --git a/packages/forge2d/lib/src/dynamics/joints/prismatic_joint.dart b/packages/forge2d/lib/src/dynamics/joints/prismatic_joint.dart
index 1767f51..afb6535 100644
--- a/packages/forge2d/lib/src/dynamics/joints/prismatic_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/prismatic_joint.dart
@@ -123,11 +123,11 @@ class PrismaticJoint extends Joint {
       0.0; // effective mass for motor/limit translational constraint.
 
   PrismaticJoint(PrismaticJointDef def)
-      : localAnchorA = Vector2.copy(def.localAnchorA),
-        localAnchorB = Vector2.copy(def.localAnchorB),
-        localXAxisA = Vector2.copy(def.localAxisA)..normalize(),
-        _localYAxisA = Vector2.zero(),
-        super(def) {
+    : localAnchorA = Vector2.copy(def.localAnchorA),
+      localAnchorB = Vector2.copy(def.localAnchorB),
+      localXAxisA = Vector2.copy(def.localAxisA)..normalize(),
+      _localYAxisA = Vector2.zero(),
+      super(def) {
     localXAxisA.scaleOrthogonalInto(1.0, _localYAxisA);
     _referenceAngle = def.referenceAngle;
 
@@ -642,17 +642,19 @@ class PrismaticJoint extends Joint {
       ..sub(rA);
 
     axis.setFrom(Rot.mulVec2(qA, localXAxisA));
-    final a1 = (temp
-          ..setFrom(d)
-          ..add(rA))
-        .cross(axis);
+    final a1 =
+        (temp
+              ..setFrom(d)
+              ..add(rA))
+            .cross(axis);
     final a2 = rB.cross(axis);
     perp.setFrom(Rot.mulVec2(qA, _localYAxisA));
 
-    final s1 = (temp
-          ..setFrom(d)
-          ..add(rA))
-        .cross(perp);
+    final s1 =
+        (temp
+              ..setFrom(d)
+              ..add(rA))
+            .cross(perp);
     final s2 = rB.cross(perp);
 
     c1.x = perp.dot(d);
@@ -676,14 +678,18 @@ class PrismaticJoint extends Joint {
         active = true;
       } else if (translation <= _lowerTranslation) {
         // Prevent large linear corrections and allow some slop.
-        c2 = (translation - _lowerTranslation + settings.linearSlop)
-            .clamp(-settings.maxLinearCorrection, 0.0);
+        c2 = (translation - _lowerTranslation + settings.linearSlop).clamp(
+          -settings.maxLinearCorrection,
+          0.0,
+        );
         linearError = max(linearError, _lowerTranslation - translation);
         active = true;
       } else if (translation >= _upperTranslation) {
         // Prevent large linear corrections and allow some slop.
-        c2 = (translation - _upperTranslation - settings.linearSlop)
-            .clamp(0.0, settings.maxLinearCorrection);
+        c2 = (translation - _upperTranslation - settings.linearSlop).clamp(
+          0.0,
+          settings.maxLinearCorrection,
+        );
         linearError = max(linearError, translation - _upperTranslation);
         active = true;
       }
diff --git a/packages/forge2d/lib/src/dynamics/joints/revolute_joint.dart b/packages/forge2d/lib/src/dynamics/joints/revolute_joint.dart
index bddac9b..dcf1b61 100644
--- a/packages/forge2d/lib/src/dynamics/joints/revolute_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/revolute_joint.dart
@@ -360,16 +360,20 @@ class RevoluteJoint extends Joint {
         angularError = -C;
 
         // Prevent large angular corrections and allow some slop.
-        C = (C + settings.angularSlop)
-            .clamp(-settings.maxAngularCorrection, 0.0);
+        C = (C + settings.angularSlop).clamp(
+          -settings.maxAngularCorrection,
+          0.0,
+        );
         limitImpulse = -_motorMass * C;
       } else if (_limitState == LimitState.atUpper) {
         var C = angle - _upperAngle;
         angularError = C;
 
         // Prevent large angular corrections and allow some slop.
-        C = (C - settings.angularSlop)
-            .clamp(0.0, settings.maxAngularCorrection);
+        C = (C - settings.angularSlop).clamp(
+          0.0,
+          settings.maxAngularCorrection,
+        );
         limitImpulse = -_motorMass * C;
       }
 
diff --git a/packages/forge2d/lib/src/dynamics/joints/weld_joint.dart b/packages/forge2d/lib/src/dynamics/joints/weld_joint.dart
index 04dc753..3aa2d0a 100644
--- a/packages/forge2d/lib/src/dynamics/joints/weld_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/weld_joint.dart
@@ -47,10 +47,10 @@ class WeldJoint extends Joint {
   final Matrix3 _mass = Matrix3.zero();
 
   WeldJoint(WeldJointDef def)
-      : localAnchorA = Vector2.copy(def.localAnchorA),
-        localAnchorB = Vector2.copy(def.localAnchorB),
-        _impulse = Vector3.zero(),
-        super(def) {
+    : localAnchorA = Vector2.copy(def.localAnchorA),
+      localAnchorB = Vector2.copy(def.localAnchorB),
+      _impulse = Vector3.zero(),
+      super(def) {
     _referenceAngle = def.referenceAngle;
     _frequencyHz = def.frequencyHz;
     _dampingRatio = def.dampingRatio;
diff --git a/packages/forge2d/lib/src/dynamics/joints/wheel_joint.dart b/packages/forge2d/lib/src/dynamics/joints/wheel_joint.dart
index 4415782..f9374ea 100644
--- a/packages/forge2d/lib/src/dynamics/joints/wheel_joint.dart
+++ b/packages/forge2d/lib/src/dynamics/joints/wheel_joint.dart
@@ -225,10 +225,11 @@ class WheelJoint extends Joint {
     // Point to line constraint
     {
       _ay.setFrom(Rot.mulVec2(qA, _localYAxisA));
-      _sAy = (temp
-            ..setFrom(d)
-            ..add(rA))
-          .cross(_ay);
+      _sAy =
+          (temp
+                ..setFrom(d)
+                ..add(rA))
+              .cross(_ay);
       _sBy = rB.cross(_ay);
 
       _mass = mA + mB + iA * _sAy * _sAy + iB * _sBy * _sBy;
@@ -244,10 +245,11 @@ class WheelJoint extends Joint {
     _gamma = 0.0;
     if (_frequencyHz > 0.0) {
       _ax.setFrom(Rot.mulVec2(qA, _localXAxisA));
-      _sAx = (temp
-            ..setFrom(d)
-            ..add(rA))
-          .cross(_ax);
+      _sAx =
+          (temp
+                ..setFrom(d)
+                ..add(rA))
+              .cross(_ax);
       _sBx = rB.cross(_ax);
 
       final invMass = mA + mB + iA * _sAx * _sAx + iB * _sBx * _sBx;
@@ -341,7 +343,8 @@ class WheelJoint extends Joint {
 
     // Solve spring constraint
     {
-      final cDot = _ax.dot(
+      final cDot =
+          _ax.dot(
             temp
               ..setFrom(vB)
               ..sub(vA),
@@ -381,7 +384,8 @@ class WheelJoint extends Joint {
 
     // Solve point to line constraint
     {
-      final cDot = _ay.dot(
+      final cDot =
+          _ay.dot(
             temp
               ..setFrom(vB)
               ..sub(vA),
@@ -441,10 +445,11 @@ class WheelJoint extends Joint {
       ..sub(rA);
 
     final ay = Vector2.copy(Rot.mulVec2(qA, _localYAxisA));
-    final sAy = (temp
-          ..setFrom(d)
-          ..add(rA))
-        .cross(ay);
+    final sAy =
+        (temp
+              ..setFrom(d)
+              ..add(rA))
+            .cross(ay);
     final sBy = rB.cross(ay);
 
     final c = d.dot(ay);
diff --git a/packages/forge2d/lib/src/dynamics/world.dart b/packages/forge2d/lib/src/dynamics/world.dart
index 9ec531b..4f0b32e 100644
--- a/packages/forge2d/lib/src/dynamics/world.dart
+++ b/packages/forge2d/lib/src/dynamics/world.dart
@@ -70,7 +70,7 @@ class World {
   late ParticleSystem particleSystem;
 
   World([Vector2? gravity, BroadPhase? broadPhase])
-      : _gravity = Vector2.copy(gravity ?? Vector2.zero()) {
+    : _gravity = Vector2.copy(gravity ?? Vector2.zero()) {
     broadPhase ??= DefaultBroadPhaseBuffer(DynamicTree());
 
     _warmStarting = true;
diff --git a/packages/forge2d/lib/src/particle/particle_system.dart b/packages/forge2d/lib/src/particle/particle_system.dart
index ad62c09..2fe774c 100644
--- a/packages/forge2d/lib/src/particle/particle_system.dart
+++ b/packages/forge2d/lib/src/particle/particle_system.dart
@@ -233,12 +233,16 @@ class ParticleSystem {
       }
       final upperBoundY = aabb.upperBound.y;
       final upperBoundX = aabb.upperBound.x;
-      for (var y = (aabb.lowerBound.y / stride).floor() * stride;
-          y < upperBoundY;
-          y += stride) {
-        for (var x = (aabb.lowerBound.x / stride).floor() * stride;
-            x < upperBoundX;
-            x += stride) {
+      for (
+        var y = (aabb.lowerBound.y / stride).floor() * stride;
+        y < upperBoundY;
+        y += stride
+      ) {
+        for (
+          var x = (aabb.lowerBound.x / stride).floor() * stride;
+          x < upperBoundX;
+          x += stride
+        ) {
           final p = _tempVec..setValues(x, y);
           if (shape.testPoint(identity, p)) {
             p.setFrom(Transform.mulVec2(transform, p));
@@ -277,8 +281,10 @@ class ParticleSystem {
         diagram.addGenerator(particle.position, particle);
       }
       diagram.generate(stride / 2);
-      final createParticleGroupCallback =
-          CreateParticleGroupCallback(this, groupDef);
+      final createParticleGroupCallback = CreateParticleGroupCallback(
+        this,
+        groupDef,
+      );
       diagram.nodes(createParticleGroupCallback);
     }
     if ((groupDef.groupFlags & ParticleGroupType.solidParticleGroup) != 0) {
@@ -532,8 +538,9 @@ class ParticleSystem {
       v.y += gravityY;
       final v2 = v.x * v.x + v.y * v.y;
       if (v2 > criticalVelocitySquared) {
-        final a =
-            v2 == 0 ? double.maxFinite : sqrt(criticalVelocitySquared / v2);
+        final a = v2 == 0
+            ? double.maxFinite
+            : sqrt(criticalVelocitySquared / v2);
         v.x *= a;
         v.y *= a;
       }
@@ -602,7 +609,8 @@ class ParticleSystem {
     final pressurePerWeight = pressureStrength * getCriticalPressure(step);
     for (final particle in _particles) {
       final w = particle.accumulation;
-      final h = pressurePerWeight *
+      final h =
+          pressurePerWeight *
           max(
             0.0,
             min(w, settings.maxParticleWeight) - settings.minParticleWeight,
diff --git a/packages/forge2d/pubspec.yaml b/packages/forge2d/pubspec.yaml
index 74efc20..271b98b 100644
--- a/packages/forge2d/pubspec.yaml
+++ b/packages/forge2d/pubspec.yaml
@@ -2,16 +2,18 @@ name: forge2d
 version: 0.14.0
 description: A 2D physics engine for Dart (based on Box2D), also works with the Flame game engine in Flutter
 homepage: https://github.com/flame-engine/forge2d
+resolution: workspace
 
 environment:
-  sdk: ">=3.0.0 <4.0.0"
+  sdk: ">=3.8.0 <4.0.0"
 
 dependencies:
-  meta: ^1.11.0
-  vector_math: ^2.1.4
+  meta: ^1.17.0
+  vector_math: ^2.2.0
+  web: ^1.1.1
 
 dev_dependencies:
-  dartdoc: ^7.0.2
-  flame_lint: ^1.1.1
-  mocktail: ^1.0.1
-  test: ^1.24.9
+  dartdoc: ^8.3.4
+  flame_lint: ^1.4.1
+  mocktail: ^1.0.4
+  test: ^1.26.3
diff --git a/packages/forge2d/test/collision/shapes/circle_shape_test.dart b/packages/forge2d/test/collision/shapes/circle_shape_test.dart
index ecd1265..8cc470f 100644
--- a/packages/forge2d/test/collision/shapes/circle_shape_test.dart
+++ b/packages/forge2d/test/collision/shapes/circle_shape_test.dart
@@ -35,8 +35,12 @@ void main() {
         final position = Vector2(1.0, 2.0);
         final circleShape = CircleShape(radius: radius, position: position);
         final normal = Vector2.zero();
-        final distance =
-            circleShape.computeDistanceToOut(tf, testPoint, 0, normal);
+        final distance = circleShape.computeDistanceToOut(
+          tf,
+          testPoint,
+          0,
+          normal,
+        );
         expect(distance, closeTo(expectedDistance, 0.01));
         expect(normal.x, closeTo(expectedNormal.x, 0.01));
         expect(normal.y, closeTo(expectedNormal.y, 0.01));
diff --git a/packages/forge2d/test/collision/shapes/polygon_shape_test.dart b/packages/forge2d/test/collision/shapes/polygon_shape_test.dart
index 6c2e549..637310d 100644
--- a/packages/forge2d/test/collision/shapes/polygon_shape_test.dart
+++ b/packages/forge2d/test/collision/shapes/polygon_shape_test.dart
@@ -42,8 +42,12 @@ void main() {
       ) {
         final polygonShape = PolygonShape()..setAsBoxXY(3, 4);
         final normal = Vector2.zero();
-        final distance =
-            polygonShape.computeDistanceToOut(tf, testPoint, 0, normal);
+        final distance = polygonShape.computeDistanceToOut(
+          tf,
+          testPoint,
+          0,
+          normal,
+        );
         expect(distance, closeTo(expectedDistance, 0.01));
         expect(normal.x, closeTo(expectedNormal.x, 0.01));
         expect(normal.y, closeTo(expectedNormal.y, 0.01));
diff --git a/packages/forge2d/test/dynamics/body_test.dart b/packages/forge2d/test/dynamics/body_test.dart
index 9f5b288..5805eea 100644
--- a/packages/forge2d/test/dynamics/body_test.dart
+++ b/packages/forge2d/test/dynamics/body_test.dart
@@ -38,8 +38,7 @@ void main() {
         expect(bodyInitialPosition.y, equals(body.position.y));
       });
 
-      test(
-          "body moves with world's gravity "
+      test("body moves with world's gravity "
           'when gravityOverride is not specfied', () {
         final gravity = Vector2(10, 10);
         final world = World(gravity);
@@ -70,8 +69,7 @@ void main() {
         expect(bodyInitialPosition.y, equals(body.position.y));
       });
 
-      test(
-          "body moves with world's gravity "
+      test("body moves with world's gravity "
           'when gravityScale is not specfied', () {
         final gravity = Vector2(10, 10);
         final world = World(gravity);
diff --git a/packages/forge2d/test/dynamics/joints/gear_joint_test.dart b/packages/forge2d/test/dynamics/joints/gear_joint_test.dart
index 8ccf02a..91f966e 100644
--- a/packages/forge2d/test/dynamics/joints/gear_joint_test.dart
+++ b/packages/forge2d/test/dynamics/joints/gear_joint_test.dart
@@ -140,32 +140,36 @@ void main() {
       group('returns normally', () {
         test('when joint1 and joint2 are both RevoluteJoints', () {
           expect(
-            () => GearJoint(revoluteRevoluteGearJointDef)
-                .initVelocityConstraints(data),
+            () => GearJoint(
+              revoluteRevoluteGearJointDef,
+            ).initVelocityConstraints(data),
             returnsNormally,
           );
         });
 
         test('when joint1 is RevoluteJoint and joint2 is PrismaticJoint', () {
           expect(
-            () => GearJoint(revolutePrismaticGearJointDef)
-                .initVelocityConstraints(data),
+            () => GearJoint(
+              revolutePrismaticGearJointDef,
+            ).initVelocityConstraints(data),
             returnsNormally,
           );
         });
 
         test('when joint1 is PrismaticJoint and joint2 is RevoluteJoint', () {
           expect(
-            () => GearJoint(prismaticRevoluteGearJointDef)
-                .initVelocityConstraints(data),
+            () => GearJoint(
+              prismaticRevoluteGearJointDef,
+            ).initVelocityConstraints(data),
             returnsNormally,
           );
         });
 
         test('when joint1 and joint2 are both PrismaticJoints', () {
           expect(
-            () => GearJoint(prismaticPrismaticGearJointDef)
-                .initVelocityConstraints(data),
+            () => GearJoint(
+              prismaticPrismaticGearJointDef,
+            ).initVelocityConstraints(data),
             returnsNormally,
           );
         });
@@ -185,32 +189,36 @@ void main() {
       group('returns normally', () {
         test('when joint1 and joint2 are both RevoluteJoints', () {
           expect(
-            () => GearJoint(revoluteRevoluteGearJointDef)
-                .solvePositionConstraints(data),
+            () => GearJoint(
+              revoluteRevoluteGearJointDef,
+            ).solvePositionConstraints(data),
             returnsNormally,
           );
         });
 
         test('when joint1 is RevoluteJoint and joint2 is PrismaticJoint', () {
           expect(
-            () => GearJoint(revolutePrismaticGearJointDef)
-                .solvePositionConstraints(data),
+            () => GearJoint(
+              revolutePrismaticGearJointDef,
+            ).solvePositionConstraints(data),
             returnsNormally,
           );
         });
 
         test('when joint1 is PrismaticJoint and joint2 is RevoluteJoint', () {
           expect(
-            () => GearJoint(prismaticRevoluteGearJointDef)
-                .solvePositionConstraints(data),
+            () => GearJoint(
+              prismaticRevoluteGearJointDef,
+            ).solvePositionConstraints(data),
             returnsNormally,
           );
         });
 
         test('when joint1 and joint2 are both PrismaticJoints', () {
           expect(
-            () => GearJoint(prismaticPrismaticGearJointDef)
-                .solvePositionConstraints(data),
+            () => GearJoint(
+              prismaticPrismaticGearJointDef,
+            ).solvePositionConstraints(data),
             returnsNormally,
           );
         });
@@ -227,32 +235,28 @@ void main() {
         registerFallbackValue(Color3i.black());
       });
 
-      test(
-          'draws three segments '
+      test('draws three segments '
           'when joint1 and joint2 are both RevoluteJoints', () {
         final joint = GearJoint(revoluteRevoluteGearJointDef);
         joint.render(debugDraw);
         verify(() => debugDraw.drawSegment(any(), any(), any())).called(3);
       });
 
-      test(
-          'draws three segments '
+      test('draws three segments '
           'when joint1 is RevoluteJoint and joint2 is PrismaticJoint', () {
         final joint = GearJoint(revolutePrismaticGearJointDef);
         joint.render(debugDraw);
         verify(() => debugDraw.drawSegment(any(), any(), any())).called(3);
       });
 
-      test(
-          'draws three segments '
+      test('draws three segments '
           'when joint1 is PrismaticJoint and joint2 is RevoluteJoint', () {
         final joint = GearJoint(prismaticRevoluteGearJointDef);
         joint.render(debugDraw);
         verify(() => debugDraw.drawSegment(any(), any(), any())).called(3);
       });
 
-      test(
-          'draws three segments '
+      test('draws three segments '
           'when joint1 and joint2 are both PrismaticJoints', () {
         final joint = GearJoint(prismaticPrismaticGearJointDef);
         joint.render(debugDraw);
diff --git a/pubspec.yaml b/pubspec.yaml
index 1c98e91..5b23ec6 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -1,7 +1,82 @@
 name: forge2d_workspace
+repository: https://github.com/flame-engine/forge2d
+workspace:
+  - packages/benchmark
+  - packages/forge2d
+  - packages/forge2d/example
 
 environment:
-  sdk: ">=3.0.0 <4.0.0"
+  sdk: ">=3.8.0 <4.0.0"
 
 dev_dependencies:
-  melos: ^3.2.0
+  melos: ^7.0.0-dev.9
+
+melos:
+  command:
+    version:
+      # Only allow versioning to happen on main branch.
+      branch: main
+      # Generates a link to a prefilled GitHub release creation page.
+      releaseUrl: true
+      includeCommitId: true
+      linkToCommits: true
+
+    bootstrap:
+      environment:
+        sdk: ">=3.8.0 <4.0.0"
+
+  scripts:
+    lint:all:
+      run: melos run analyze && melos run format
+      description: Run all static analysis checks.
+
+    analyze:
+      run: |
+        melos exec -c 1 -- \
+          dart analyze --fatal-infos
+      description: Run `dart analyze` for all packages.
+
+    format:
+      run: melos exec dart format . --fix
+      description: Run `dart format` for all packages.
+
+    format-check:
+      run: melos exec dart format . --set-exit-if-changed
+      description: Run `dart format` checks for all packages.
+
+    dartdoc:
+      run: melos exec dart pub run dartdoc
+      description: Run dartdoc checks for all packages.
+
+    test:select:
+      run: melos exec -c 1 -- dart test
+      packageFilters:
+        dirExists: test
+      description: Run `dart test` for selected packages.
+
+    test:
+      run: melos run test:select --no-select
+      description: Run all tests in this project.
+
+    coverage:
+      run: |
+        melos exec -- dart test --coverage &&
+        melos exec -- genhtml coverage/lcov.info --output-directory=coverage/
+      packageFilters:
+        dirExists: test
+      description: Generate coverage for the selected package.
+
+    benchmark:
+      run: melos exec -- dart web/bench2d.dart
+      packageFilters:
+        scope: forge2d_benchmark
+
+    benchmark_serve:
+      run: melos exec -- dart pub global run webdev serve --release
+      packageFilters:
+        scope: forge2d_benchmark
+
+    example:
+      run: melos exec -- dart pub global run webdev serve --release
+      packageFilters:
+        scope: forge2d_examples