Box2D: How to get the position of a static body?

Question

I have a Box2D world with a mixture of static and dynamic bodies. On collisions, I can only get the positions of the dynamic ones.

Is it possible to get the positions of static objects?

N.b., this is a development of a previous question, Box2D: How to get the position of a sensor?

Answer 1

I found a way - in the collision, the center of the AABB will give the position

contact.GetFixtureA().GetAABB().GetCenter()

Answer 2

You can get the position vector using the following code:

b2Transform t = body->GetTransform();
b2Vec2 pos = b2Vec2(t.p.x,t.p.y);