diff --git a/math/ignition-math/Makefile b/math/ignition-math/Makefile
index 7eec5754ef40..b18a279ae50b 100644
--- a/math/ignition-math/Makefile
+++ b/math/ignition-math/Makefile
@@ -1,35 +1,33 @@
 PORTNAME=	ignition-math
-DISTVERSION=	6.0.0
-PORTREVISION=	5
+DISTVERSIONPREFIX=	ignition-math6_
+DISTVERSION=	6.16.0
 CATEGORIES=	math
-MASTER_SITES=	https://bitbucket.org/${BB_ACCOUNT}/${BB_PROJECT}/get/${BB_COMMIT}.tar.gz?dummy=/
 
 MAINTAINER=	yuri@FreeBSD.org
 COMMENT=	General purpose math library for robot applications
 WWW=		https://ignitionrobotics.org/home
 
 LICENSE=	APACHE20
 LICENSE_FILE=	${WRKSRC}/LICENSE
 
-BUILD_DEPENDS=	ignition-cmake==2:devel/ignition-cmake
+BUILD_DEPENDS=	ignition-cmake>=2:devel/ignition-cmake
 
 USES=		compiler:c++17-lang cmake eigen:3
+USE_GITHUB=	yes
 USE_LDCONFIG=	yes
 
+CMAKE_ON=	SKIP_PYBIND11 SKIP_SWIG
 CMAKE_OFF=	BUILD_TESTING
 
-BB_ACCOUNT=	ignitionrobotics
-BB_PROJECT=	ign-math
-BB_COMMIT=	46f3dd24499c
-
-WRKSRC=		${WRKDIR}/${BB_ACCOUNT}-${BB_PROJECT}-${BB_COMMIT}
+GH_ACCOUNT=	gazebosim
+GH_PROJECT=	gz-math
 
 PLIST_SUB+=	MATH_IGN_VER=math${DISTVERSION:R:R}
 
 do-test: # one test is known to fail: https://bitbucket.org/ignitionrobotics/ign-math/issues/98
 	@cd ${BUILD_WRKSRC} && \
 		${SETENV} ${CONFIGURE_ENV} ${CMAKE_BIN} ${CMAKE_ARGS} -DBUILD_TESTING=ON ${CMAKE_SOURCE_PATH} && \
 		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} ${ALL_TARGET} && \
 		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} test
 
 .include <bsd.port.mk>
diff --git a/math/ignition-math/distinfo b/math/ignition-math/distinfo
index 98273f6c0a74..fc167dcb39f7 100644
--- a/math/ignition-math/distinfo
+++ b/math/ignition-math/distinfo
@@ -1,3 +1,3 @@
-TIMESTAMP = 1542654723
-SHA256 (ignition-math-6.0.0.tar.gz) = 9cc37738f24f2b98cc36d09a93d297cb99f3ff5a7c8bd14cb9f837713a20cce9
-SIZE (ignition-math-6.0.0.tar.gz) = 503076
+TIMESTAMP = 1779061198
+SHA256 (gazebosim-gz-math-ignition-math6_6.16.0_GH0.tar.gz) = 1671c090f54ad7c73b2b89210698ab9d55785df32ca2f09a9260ccf9170be399
+SIZE (gazebosim-gz-math-ignition-math6_6.16.0_GH0.tar.gz) = 643915
diff --git a/math/ignition-math/files/patch-CMakeLists.txt b/math/ignition-math/files/patch-CMakeLists.txt
deleted file mode 100644
index 9f25606012d2..000000000000
--- a/math/ignition-math/files/patch-CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
---- CMakeLists.txt.orig	2018-11-19 19:12:40 UTC
-+++ CMakeLists.txt
-@@ -37,7 +37,7 @@ ign_find_package(
- 
- ########################################
- # Include swig
--find_package(SWIG QUIET)
-+#find_package(SWIG QUIET)
- if (NOT SWIG_FOUND)
-   IGN_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
-   message (STATUS "Searching for swig - not found.")
diff --git a/math/ignition-math/pkg-plist b/math/ignition-math/pkg-plist
index be48061494db..c564189c2ff8 100644
--- a/math/ignition-math/pkg-plist
+++ b/math/ignition-math/pkg-plist
@@ -1,66 +1,145 @@
+include/ignition/%%MATH_IGN_VER%%/gz/math.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/AdditivelySeparableScalarField3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Angle.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/AxisAlignedBox.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Box.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Capsule.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Color.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Cylinder.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/DiffDriveOdometry.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Ellipsoid.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Export.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Filter.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Frustum.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/GaussMarkovProcess.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Helpers.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Inertial.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Interval.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Kmeans.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Line2.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Line3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/MassMatrix3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Material.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/MaterialType.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Matrix3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Matrix4.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Matrix6.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/MecanumDriveOdometry.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/MovingWindowFilter.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/OrientedBox.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/PID.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/PiecewiseScalarField3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Plane.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Polynomial3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Pose3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Quaternion.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Rand.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Region3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/RollingMean.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/RotationSpline.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/SemanticVersion.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/SignalStats.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/SpeedLimiter.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Sphere.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/SphericalCoordinates.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Spline.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Stopwatch.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Temperature.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Triangle.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Triangle3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Vector2.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Vector3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Vector3Stats.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/Vector4.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/config.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/Box.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/Capsule.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/Cylinder.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/Ellipsoid.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/Export.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/Sphere.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/WellOrderedVector.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/detail/WetVolume.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/eigen3.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/eigen3/Conversions.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/eigen3/Util.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/graph/Edge.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/graph/Graph.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/graph/GraphAlgorithms.hh
+include/ignition/%%MATH_IGN_VER%%/gz/math/graph/Vertex.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/AdditivelySeparableScalarField3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Angle.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/AxisAlignedBox.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Box.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/Capsule.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Color.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Cylinder.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/DiffDriveOdometry.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/Ellipsoid.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Export.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Filter.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Frustum.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/GaussMarkovProcess.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Helpers.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Inertial.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/Interval.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Kmeans.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Line2.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Line3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/MassMatrix3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Material.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/MaterialType.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Matrix3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Matrix4.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/Matrix6.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/MecanumDriveOdometry.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/MovingWindowFilter.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/OrientedBox.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/PID.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/PiecewiseScalarField3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Plane.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/Polynomial3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Pose3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Quaternion.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Rand.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/Region3.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/RollingMean.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/RotationSpline.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/SemanticVersion.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/SignalStats.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/SpeedLimiter.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Sphere.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/SphericalCoordinates.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Spline.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Stopwatch.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Temperature.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Triangle.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Triangle3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Vector2.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Vector3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Vector3Stats.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/Vector4.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/config.hh
-include/ignition/%%MATH_IGN_VER%%/ignition/math/detail/Box.hh
-include/ignition/%%MATH_IGN_VER%%/ignition/math/detail/Cylinder.hh
-include/ignition/%%MATH_IGN_VER%%/ignition/math/detail/Export.hh
-include/ignition/%%MATH_IGN_VER%%/ignition/math/detail/Sphere.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/eigen3.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/eigen3/Conversions.hh
+include/ignition/%%MATH_IGN_VER%%/ignition/math/eigen3/Util.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/graph/Edge.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/graph/Graph.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/graph/GraphAlgorithms.hh
 include/ignition/%%MATH_IGN_VER%%/ignition/math/graph/Vertex.hh
 lib/cmake/ignition-%%MATH_IGN_VER%%-all/ignition-%%MATH_IGN_VER%%-all-config-version.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%-all/ignition-%%MATH_IGN_VER%%-all-config.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%-all/ignition-%%MATH_IGN_VER%%-all-targets.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%-eigen3/ignition-%%MATH_IGN_VER%%-eigen3-config-version.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%-eigen3/ignition-%%MATH_IGN_VER%%-eigen3-config.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%-eigen3/ignition-%%MATH_IGN_VER%%-eigen3-targets.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%/ignition-%%MATH_IGN_VER%%-config-version.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%/ignition-%%MATH_IGN_VER%%-config.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%/ignition-%%MATH_IGN_VER%%-targets-%%CMAKE_BUILD_TYPE%%.cmake
 lib/cmake/ignition-%%MATH_IGN_VER%%/ignition-%%MATH_IGN_VER%%-targets.cmake
 lib/libignition-%%MATH_IGN_VER%%.so
 lib/libignition-%%MATH_IGN_VER%%.so.6
-lib/libignition-%%MATH_IGN_VER%%.so.6.0.0~pre4
+lib/libignition-%%MATH_IGN_VER%%.so.6.16.0
 libdata/pkgconfig/ignition-%%MATH_IGN_VER%%-eigen3.pc
 libdata/pkgconfig/ignition-%%MATH_IGN_VER%%.pc