var b2Settings=function(){};b2Settings.prototype={};b2Settings.USHRT_MAX=65535;b2Settings.b2_pi=Math.PI;b2Settings.b2_massUnitsPerKilogram=1;b2Settings.b2_timeUnitsPerSecond=1;b2Settings.b2_lengthUnitsPerMeter=30;b2Settings.b2_maxManifoldPoints=2;b2Settings.b2_maxShapesPerBody=64;b2Settings.b2_maxPolyVertices=8;b2Settings.b2_maxProxies=1024;b2Settings.b2_maxPairs=8*b2Settings.b2_maxProxies;b2Settings.b2_linearSlop=0.005*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_angularSlop=2/180*b2Settings.b2_pi;b2Settings.b2_velocityThreshold=1*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_maxLinearCorrection=0.2*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_maxAngularCorrection=8/180*b2Settings.b2_pi;b2Settings.b2_contactBaumgarte=0.2;b2Settings.b2_timeToSleep=0.5*b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_linearSleepTolerance=0.01*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_angularSleepTolerance=2/180/b2Settings.b2_timeUnitsPerSecond;
b2Settings.b2Assert=function(b){if(!b){var c;c.x++}};Object.extend=function(a,c){for(var b in c){a[b]=c[b]}return a};var b2Vec2=function(a,b){this.x=a;this.y=b};b2Vec2.prototype={SetZero:function(){this.x=0;this.y=0},Set:function(a,b){this.x=a;this.y=b},SetV:function(a){this.x=a.x;this.y=a.y},Negative:function(){return new b2Vec2(-this.x,-this.y)},Copy:function(){return new b2Vec2(this.x,this.y)},Add:function(a){this.x+=a.x;this.y+=a.y},Subtract:function(a){this.x-=a.x;this.y-=a.y},Multiply:function(b){this.x*=b;this.y*=b},MulM:function(b){var a=this.x;this.x=b.col1.x*a+b.col2.x*this.y;this.y=b.col1.y*a+b.col2.y*this.y},MulTM:function(b){var a=b2Math.b2Dot(this,b.col1);this.y=b2Math.b2Dot(this,b.col2);this.x=a},CrossVF:function(b){var a=this.x;this.x=b*this.y;this.y=-b*a},CrossFV:function(b){var a=this.x;this.x=-b*this.y;this.y=b*a},MinV:function(a){this.x=this.x<a.x?this.x:a.x;this.y=this.y<a.y?this.y:a.y},MaxV:function(a){this.x=this.x>a.x?this.x:a.x;this.y=this.y>a.y?this.y:a.y},Abs:function(){this.x=Math.abs(this.x);this.y=Math.abs(this.y)},Length:function(){return Math.sqrt(this.x*this.x+this.y*this.y)
},Normalize:function(){var b=this.Length();if(b<Number.MIN_VALUE){return 0}var a=1/b;this.x*=a;this.y*=a;return b},IsValid:function(){return b2Math.b2IsValid(this.x)&&b2Math.b2IsValid(this.y)},x:null,y:null};b2Vec2.Make=function(a,b){return new b2Vec2(a,b)};var b2Mat22=function(e,d,a){if(e==null){e=0}this.col1=new b2Vec2();this.col2=new b2Vec2();if(d!=null&&a!=null){this.col1.SetV(d);this.col2.SetV(a)}else{var f=Math.cos(e);var b=Math.sin(e);this.col1.x=f;this.col2.x=-b;this.col1.y=b;this.col2.y=f}};b2Mat22.prototype={Set:function(b){var d=Math.cos(b);var a=Math.sin(b);this.col1.x=d;this.col2.x=-a;this.col1.y=a;this.col2.y=d},SetVV:function(b,a){this.col1.SetV(b);this.col2.SetV(a)},Copy:function(){return new b2Mat22(0,this.col1,this.col2)},SetM:function(a){this.col1.SetV(a.col1);this.col2.SetV(a.col2)},AddM:function(a){this.col1.x+=a.col1.x;this.col1.y+=a.col1.y;this.col2.x+=a.col2.x;this.col2.y+=a.col2.y},SetIdentity:function(){this.col1.x=1;this.col2.x=0;this.col1.y=0;this.col2.y=1},SetZero:function(){this.col1.x=0;this.col2.x=0;this.col1.y=0;this.col2.y=0},Invert:function(g){var f=this.col1.x;var e=this.col2.x;var j=this.col1.y;var i=this.col2.y;var h=f*i-e*j;h=1/h;g.col1.x=h*i;g.col2.x=-h*e;g.col1.y=-h*j;g.col2.y=h*f;return g},Solve:function(e,h,g){var b=this.col1.x;
var a=this.col2.x;var d=this.col1.y;var c=this.col2.y;var f=b*c-a*d;f=1/f;e.x=f*(c*h-a*g);e.y=f*(b*g-d*h);return e},Abs:function(){this.col1.Abs();this.col2.Abs()},col1:new b2Vec2(),col2:new b2Vec2()};var b2Math=function(){};b2Math.prototype={};b2Math.b2IsValid=function(a){return isFinite(a)};b2Math.b2Dot=function(d,c){return d.x*c.x+d.y*c.y};b2Math.b2CrossVV=function(d,c){return d.x*c.y-d.y*c.x};b2Math.b2CrossVF=function(b,d){var c=new b2Vec2(d*b.y,-d*b.x);return c};b2Math.b2CrossFV=function(d,b){var c=new b2Vec2(-d*b.y,d*b.x);return c};b2Math.b2MulMV=function(a,b){var c=new b2Vec2(a.col1.x*b.x+a.col2.x*b.y,a.col1.y*b.x+a.col2.y*b.y);return c};b2Math.b2MulTMV=function(a,b){var c=new b2Vec2(b2Math.b2Dot(b,a.col1),b2Math.b2Dot(b,a.col2));return c};b2Math.AddVV=function(d,c){var e=new b2Vec2(d.x+c.x,d.y+c.y);return e};b2Math.SubtractVV=function(d,c){var e=new b2Vec2(d.x-c.x,d.y-c.y);return e};b2Math.MulFV=function(d,b){var c=new b2Vec2(d*b.x,d*b.y);return c};b2Math.AddMM=function(a,c){var b=new b2Mat22(0,b2Math.AddVV(a.col1,c.col1),b2Math.AddVV(a.col2,c.col2));return b};b2Math.b2MulMM=function(a,c){var b=new b2Mat22(0,b2Math.b2MulMV(a,c.col1),b2Math.b2MulMV(a,c.col2));return b};b2Math.b2MulTMM=function(a,e){var c=new b2Vec2(b2Math.b2Dot(a.col1,e.col1),b2Math.b2Dot(a.col2,e.col1));
var b=new b2Vec2(b2Math.b2Dot(a.col1,e.col2),b2Math.b2Dot(a.col2,e.col2));var d=new b2Mat22(0,c,b);return d};b2Math.b2Abs=function(b){return b>0?b:-b};b2Math.b2AbsV=function(d){var c=new b2Vec2(b2Math.b2Abs(d.x),b2Math.b2Abs(d.y));return c};b2Math.b2AbsM=function(a){var b=new b2Mat22(0,b2Math.b2AbsV(a.col1),b2Math.b2AbsV(a.col2));return b};b2Math.b2Min=function(d,c){return d<c?d:c};b2Math.b2MinV=function(e,d){var f=new b2Vec2(b2Math.b2Min(e.x,d.x),b2Math.b2Min(e.y,d.y));return f};b2Math.b2Max=function(d,c){return d>c?d:c};b2Math.b2MaxV=function(e,d){var f=new b2Vec2(b2Math.b2Max(e.x,d.x),b2Math.b2Max(e.y,d.y));return f};b2Math.b2Clamp=function(c,b,d){return b2Math.b2Max(b,b2Math.b2Min(c,d))};b2Math.b2ClampV=function(c,b,d){return b2Math.b2MaxV(b,b2Math.b2MinV(c,d))};b2Math.b2Swap=function(d,c){var e=d[0];d[0]=c[0];c[0]=e};b2Math.b2Random=function(){return Math.random()*2-1};b2Math.b2NextPowerOfTwo=function(a){a|=(a>>1)&2147483647;a|=(a>>2)&1073741823;a|=(a>>4)&268435455;a|=(a>>8)&16777215;
a|=(a>>16)&65535;return a+1};b2Math.b2IsPowerOfTwo=function(b){var a=b>0&&(b&(b-1))==0;return a};b2Math.tempVec2=new b2Vec2();b2Math.tempVec3=new b2Vec2();b2Math.tempVec4=new b2Vec2();b2Math.tempVec5=new b2Vec2();b2Math.tempMat=new b2Mat22();var b2AABB=function(){this.minVertex=new b2Vec2();this.maxVertex=new b2Vec2()};b2AABB.prototype={IsValid:function(){var b=this.maxVertex.x;var a=this.maxVertex.y;b=this.maxVertex.x;a=this.maxVertex.y;b-=this.minVertex.x;a-=this.minVertex.y;var c=b>=0&&a>=0;c=c&&this.minVertex.IsValid()&&this.maxVertex.IsValid();return c},minVertex:new b2Vec2(),maxVertex:new b2Vec2()};var b2Bound=function(){};b2Bound.prototype={IsLower:function(){return(this.value&1)==0},IsUpper:function(){return(this.value&1)==1},Swap:function(c){var e=this.value;var d=this.proxyId;var a=this.stabbingCount;this.value=c.value;this.proxyId=c.proxyId;this.stabbingCount=c.stabbingCount;c.value=e;c.proxyId=d;c.stabbingCount=a},value:0,proxyId:0,stabbingCount:0};var b2BoundValues=function(){this.lowerValues=[0,0];this.upperValues=[0,0]};b2BoundValues.prototype={lowerValues:[0,0],upperValues:[0,0]};var b2Pair=function(){};b2Pair.prototype={SetBuffered:function(){this.status|=b2Pair.e_pairBuffered},ClearBuffered:function(){this.status&=~b2Pair.e_pairBuffered},IsBuffered:function(){return(this.status&b2Pair.e_pairBuffered)==b2Pair.e_pairBuffered},SetRemoved:function(){this.status|=b2Pair.e_pairRemoved},ClearRemoved:function(){this.status&=~b2Pair.e_pairRemoved},IsRemoved:function(){return(this.status&b2Pair.e_pairRemoved)==b2Pair.e_pairRemoved},SetFinal:function(){this.status|=b2Pair.e_pairFinal},IsFinal:function(){return(this.status&b2Pair.e_pairFinal)==b2Pair.e_pairFinal},userData:null,proxyId1:0,proxyId2:0,next:0,status:0};b2Pair.b2_nullPair=b2Settings.USHRT_MAX;b2Pair.b2_nullProxy=b2Settings.USHRT_MAX;b2Pair.b2_tableCapacity=b2Settings.b2_maxPairs;b2Pair.b2_tableMask=b2Pair.b2_tableCapacity-1;b2Pair.e_pairBuffered=1;b2Pair.e_pairRemoved=2;b2Pair.e_pairFinal=4;var b2PairCallback=function(){};b2PairCallback.prototype={PairAdded:function(b,a){return null},PairRemoved:function(c,b,a){}};var b2BufferedPair=function(){};b2BufferedPair.prototype={proxyId1:0,proxyId2:0};var b2PairManager=function(){var a=0;this.m_hashTable=new Array(b2Pair.b2_tableCapacity);for(a=0;a<b2Pair.b2_tableCapacity;++a){this.m_hashTable[a]=b2Pair.b2_nullPair}this.m_pairs=new Array(b2Settings.b2_maxPairs);for(a=0;a<b2Settings.b2_maxPairs;++a){this.m_pairs[a]=new b2Pair()}this.m_pairBuffer=new Array(b2Settings.b2_maxPairs);for(a=0;a<b2Settings.b2_maxPairs;++a){this.m_pairBuffer[a]=new b2BufferedPair()}for(a=0;a<b2Settings.b2_maxPairs;++a){this.m_pairs[a].proxyId1=b2Pair.b2_nullProxy;this.m_pairs[a].proxyId2=b2Pair.b2_nullProxy;this.m_pairs[a].userData=null;this.m_pairs[a].status=0;this.m_pairs[a].next=(a+1)}this.m_pairs[b2Settings.b2_maxPairs-1].next=b2Pair.b2_nullPair;this.m_pairCount=0};b2PairManager.prototype={Initialize:function(a,b){this.m_broadPhase=a;this.m_callback=b},AddBufferedPair:function(b,a){var c=this.AddPair(b,a);if(c.IsBuffered()==false){c.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=c.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=c.proxyId2;
++this.m_pairBufferCount}c.ClearRemoved();if(b2BroadPhase.s_validate){this.ValidateBuffer()}},RemoveBufferedPair:function(b,a){var c=this.Find(b,a);if(c==null){return}if(c.IsBuffered()==false){c.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=c.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=c.proxyId2;++this.m_pairBufferCount}c.SetRemoved();if(b2BroadPhase.s_validate){this.ValidateBuffer()}},Commit:function(){var b=0;var e=0;var a=this.m_broadPhase.m_proxyPool;for(b=0;b<this.m_pairBufferCount;++b){var f=this.Find(this.m_pairBuffer[b].proxyId1,this.m_pairBuffer[b].proxyId2);f.ClearBuffered();var d=a[f.proxyId1];var c=a[f.proxyId2];if(f.IsRemoved()){if(f.IsFinal()==true){this.m_callback.PairRemoved(d.userData,c.userData,f.userData)}this.m_pairBuffer[e].proxyId1=f.proxyId1;this.m_pairBuffer[e].proxyId2=f.proxyId2;++e}else{if(f.IsFinal()==false){f.userData=this.m_callback.PairAdded(d.userData,c.userData);f.SetFinal()}}}for(b=0;b<e;++b){this.RemovePair(this.m_pairBuffer[b].proxyId1,this.m_pairBuffer[b].proxyId2)
}this.m_pairBufferCount=0;if(b2BroadPhase.s_validate){this.ValidateTable()}},AddPair:function(b,a){if(b>a){var c=b;b=a;a=c}var d=b2PairManager.Hash(b,a)&b2Pair.b2_tableMask;var f=f=this.FindHash(b,a,d);if(f!=null){return f}var e=this.m_freePair;f=this.m_pairs[e];this.m_freePair=f.next;f.proxyId1=b;f.proxyId2=a;f.status=0;f.userData=null;f.next=this.m_hashTable[d];this.m_hashTable[d]=e;++this.m_pairCount;return f},RemovePair:function(g,f){if(g>f){var i=g;g=f;f=i}var d=b2PairManager.Hash(g,f)&b2Pair.b2_tableMask;var b=this.m_hashTable[d];var h=null;while(b!=b2Pair.b2_nullPair){if(b2PairManager.Equals(this.m_pairs[b],g,f)){var e=b;if(h){h.next=this.m_pairs[b].next}else{this.m_hashTable[d]=this.m_pairs[b].next}var c=this.m_pairs[e];var a=c.userData;c.next=this.m_freePair;c.proxyId1=b2Pair.b2_nullProxy;c.proxyId2=b2Pair.b2_nullProxy;c.userData=null;c.status=0;this.m_freePair=e;--this.m_pairCount;return a}else{h=this.m_pairs[b];b=h.next}}return null},Find:function(b,a){if(b>a){var c=b;b=a;a=c
}var d=b2PairManager.Hash(b,a)&b2Pair.b2_tableMask;return this.FindHash(b,a,d)},FindHash:function(b,a,d){var c=this.m_hashTable[d];while(c!=b2Pair.b2_nullPair&&b2PairManager.Equals(this.m_pairs[c],b,a)==false){c=this.m_pairs[c].next}if(c==b2Pair.b2_nullPair){return null}return this.m_pairs[c]},ValidateBuffer:function(){},ValidateTable:function(){},m_broadPhase:null,m_callback:null,m_pairs:null,m_freePair:0,m_pairCount:0,m_pairBuffer:null,m_pairBufferCount:0,m_hashTable:null};b2PairManager.Hash=function(b,a){var c=((a<<16)&4294901760)|b;c=~c+((c<<15)&4294934528);c=c^((c>>12)&1048575);c=c+((c<<2)&4294967292);c=c^((c>>4)&268435455);c=c*2057;c=c^((c>>16)&65535);return c};b2PairManager.Equals=function(c,b,a){return(c.proxyId1==b&&c.proxyId2==a)};b2PairManager.EqualsPair=function(b,a){return b.proxyId1==a.proxyId1&&b.proxyId2==a.proxyId2};var b2BroadPhase=function(f,g){this.m_pairManager=new b2PairManager();this.m_proxyPool=new Array(b2Settings.b2_maxPairs);this.m_bounds=new Array(2*b2Settings.b2_maxProxies);this.m_queryResults=new Array(b2Settings.b2_maxProxies);this.m_quantizationFactor=new b2Vec2();var d=0;this.m_pairManager.Initialize(this,g);this.m_worldAABB=f;this.m_proxyCount=0;for(d=0;d<b2Settings.b2_maxProxies;d++){this.m_queryResults[d]=0}this.m_bounds=new Array(2);for(d=0;d<2;d++){this.m_bounds[d]=new Array(2*b2Settings.b2_maxProxies);for(var c=0;c<2*b2Settings.b2_maxProxies;c++){this.m_bounds[d][c]=new b2Bound()}}var b=f.maxVertex.x;var a=f.maxVertex.y;b-=f.minVertex.x;a-=f.minVertex.y;this.m_quantizationFactor.x=b2Settings.USHRT_MAX/b;this.m_quantizationFactor.y=b2Settings.USHRT_MAX/a;var e;for(d=0;d<b2Settings.b2_maxProxies-1;++d){e=new b2Proxy();this.m_proxyPool[d]=e;e.SetNext(d+1);e.timeStamp=0;e.overlapCount=b2BroadPhase.b2_invalid;e.userData=null}e=new b2Proxy();this.m_proxyPool[b2Settings.b2_maxProxies-1]=e;
e.SetNext(b2Pair.b2_nullProxy);e.timeStamp=0;e.overlapCount=b2BroadPhase.b2_invalid;e.userData=null;this.m_freeProxy=0;this.m_timeStamp=1;this.m_queryResultCount=0};b2BroadPhase.prototype={InRange:function(c){var b;var a;var e;var d;b=c.minVertex.x;a=c.minVertex.y;b-=this.m_worldAABB.maxVertex.x;a-=this.m_worldAABB.maxVertex.y;e=this.m_worldAABB.minVertex.x;d=this.m_worldAABB.minVertex.y;e-=c.maxVertex.x;d-=c.maxVertex.y;b=b2Math.b2Max(b,e);a=b2Math.b2Max(a,d);return b2Math.b2Max(b,a)<0},GetProxy:function(a){if(a==b2Pair.b2_nullProxy||this.m_proxyPool[a].IsValid()==false){return null}return this.m_proxyPool[a]},CreateProxy:function(f,h){var d=0;var u;var w=this.m_freeProxy;u=this.m_proxyPool[w];this.m_freeProxy=u.GetNext();u.overlapCount=0;u.userData=h;var n=2*this.m_proxyCount;var l=new Array();var c=new Array();this.ComputeBounds(l,c,f);for(var b=0;b<2;++b){var e=this.m_bounds[b];var m=0;var r=0;var g=[m];var k=[r];this.Query(g,k,l[b],c[b],e,n,b);m=g[0];r=k[0];var o=new Array();var s=0;
var v=n-r;var q;var p;for(s=0;s<v;s++){o[s]=new b2Bound();q=o[s];p=e[r+s];q.value=p.value;q.proxyId=p.proxyId;q.stabbingCount=p.stabbingCount}v=o.length;var x=r+2;for(s=0;s<v;s++){p=o[s];q=e[x+s];q.value=p.value;q.proxyId=p.proxyId;q.stabbingCount=p.stabbingCount}o=new Array();v=r-m;for(s=0;s<v;s++){o[s]=new b2Bound();q=o[s];p=e[m+s];q.value=p.value;q.proxyId=p.proxyId;q.stabbingCount=p.stabbingCount}v=o.length;x=m+1;for(s=0;s<v;s++){p=o[s];q=e[x+s];q.value=p.value;q.proxyId=p.proxyId;q.stabbingCount=p.stabbingCount}++r;e[m].value=l[b];e[m].proxyId=w;e[r].value=c[b];e[r].proxyId=w;e[m].stabbingCount=m==0?0:e[m-1].stabbingCount;e[r].stabbingCount=e[r-1].stabbingCount;for(d=m;d<r;++d){e[d].stabbingCount++}for(d=m;d<n+2;++d){var a=this.m_proxyPool[e[d].proxyId];if(e[d].IsLower()){a.lowerBounds[b]=d}else{a.upperBounds[b]=d}}}++this.m_proxyCount;for(var t=0;t<this.m_queryResultCount;++t){this.m_pairManager.AddBufferedPair(w,this.m_queryResults[t])}this.m_pairManager.Commit();this.m_queryResultCount=0;
this.IncrementTimeStamp();return w},DestroyProxy:function(s){var q=this.m_proxyPool[s];var h=2*this.m_proxyCount;for(var c=0;c<2;++c){var f=this.m_bounds[c];var g=q.lowerBounds[c];var n=q.upperBounds[c];var u=f[g].value;var a=f[n].value;var k=new Array();var o=0;var r=n-g-1;var m;var l;for(o=0;o<r;o++){k[o]=new b2Bound();m=k[o];l=f[g+1+o];m.value=l.value;m.proxyId=l.proxyId;m.stabbingCount=l.stabbingCount}r=k.length;var t=g;for(o=0;o<r;o++){l=k[o];m=f[t+o];m.value=l.value;m.proxyId=l.proxyId;m.stabbingCount=l.stabbingCount}k=new Array();r=h-n-1;for(o=0;o<r;o++){k[o]=new b2Bound();m=k[o];l=f[n+1+o];m.value=l.value;m.proxyId=l.proxyId;m.stabbingCount=l.stabbingCount}r=k.length;t=n-1;for(o=0;o<r;o++){l=k[o];m=f[t+o];m.value=l.value;m.proxyId=l.proxyId;m.stabbingCount=l.stabbingCount}r=h-2;for(var e=g;e<r;++e){var b=this.m_proxyPool[f[e].proxyId];if(f[e].IsLower()){b.lowerBounds[c]=e}else{b.upperBounds[c]=e}}r=n-1;for(var d=g;d<r;++d){f[d].stabbingCount--}this.Query([0],[0],u,a,f,h-2,c)}for(var p=0;
p<this.m_queryResultCount;++p){this.m_pairManager.RemoveBufferedPair(s,this.m_queryResults[p])}this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();q.userData=null;q.overlapCount=b2BroadPhase.b2_invalid;q.lowerBounds[0]=b2BroadPhase.b2_invalid;q.lowerBounds[1]=b2BroadPhase.b2_invalid;q.upperBounds[0]=b2BroadPhase.b2_invalid;q.upperBounds[1]=b2BroadPhase.b2_invalid;q.SetNext(this.m_freeProxy);this.m_freeProxy=s;--this.m_proxyCount},MoveProxy:function(p,i){var d=0;var g=0;var a;var c;var e;var j=0;var r;if(p==b2Pair.b2_nullProxy||b2Settings.b2_maxProxies<=p){return}if(i.IsValid()==false){return}var l=2*this.m_proxyCount;var n=this.m_proxyPool[p];var f=new b2BoundValues();this.ComputeBounds(f.lowerValues,f.upperValues,i);var s=new b2BoundValues();for(d=0;d<2;++d){s.lowerValues[d]=this.m_bounds[d][n.lowerBounds[d]].value;s.upperValues[d]=this.m_bounds[d][n.upperBounds[d]].value}for(d=0;d<2;++d){var h=this.m_bounds[d];var k=n.lowerBounds[d];var m=n.upperBounds[d];var t=f.lowerValues[d];
var b=f.upperValues[d];var v=t-h[k].value;var q=b-h[m].value;h[k].value=t;h[m].value=b;if(v<0){g=k;while(g>0&&t<h[g-1].value){a=h[g];c=h[g-1];var u=c.proxyId;var o=this.m_proxyPool[c.proxyId];c.stabbingCount++;if(c.IsUpper()==true){if(this.TestOverlap(f,o)){this.m_pairManager.AddBufferedPair(p,u)}o.upperBounds[d]++;a.stabbingCount++}else{o.lowerBounds[d]++;a.stabbingCount--}n.lowerBounds[d]--;a.Swap(c);--g}}if(q>0){g=m;while(g<l-1&&h[g+1].value<=b){a=h[g];e=h[g+1];j=e.proxyId;r=this.m_proxyPool[j];e.stabbingCount++;if(e.IsLower()==true){if(this.TestOverlap(f,r)){this.m_pairManager.AddBufferedPair(p,j)}r.lowerBounds[d]--;a.stabbingCount++}else{r.upperBounds[d]--;a.stabbingCount--}n.upperBounds[d]++;a.Swap(e);g++}}if(v>0){g=k;while(g<l-1&&h[g+1].value<=t){a=h[g];e=h[g+1];j=e.proxyId;r=this.m_proxyPool[j];e.stabbingCount--;if(e.IsUpper()){if(this.TestOverlap(s,r)){this.m_pairManager.RemoveBufferedPair(p,j)}r.upperBounds[d]--;a.stabbingCount--}else{r.lowerBounds[d]--;a.stabbingCount++}n.lowerBounds[d]++;
a.Swap(e);g++}}if(q<0){g=m;while(g>0&&b<h[g-1].value){a=h[g];c=h[g-1];u=c.proxyId;o=this.m_proxyPool[u];c.stabbingCount--;if(c.IsLower()==true){if(this.TestOverlap(s,o)){this.m_pairManager.RemoveBufferedPair(p,u)}o.lowerBounds[d]++;a.stabbingCount--}else{o.upperBounds[d]++;a.stabbingCount++}n.upperBounds[d]--;a.Swap(c);g--}}}},Commit:function(){this.m_pairManager.Commit()},QueryAABB:function(f,b,c){var j=new Array();var g=new Array();this.ComputeBounds(j,g,f);var a=0;var k=0;var d=[a];var m=[k];this.Query(d,m,j[0],g[0],this.m_bounds[0],2*this.m_proxyCount,0);this.Query(d,m,j[1],g[1],this.m_bounds[1],2*this.m_proxyCount,1);var h=0;for(var e=0;e<this.m_queryResultCount&&h<c;++e,++h){var l=this.m_proxyPool[this.m_queryResults[e]];b[e]=l.userData}this.m_queryResultCount=0;this.IncrementTimeStamp();return h},Validate:function(){var f;var e;var c;var j;for(var b=0;b<2;++b){var a=this.m_bounds[b];var k=2*this.m_proxyCount;var h=0;for(var g=0;g<k;++g){var d=a[g];if(d.IsLower()==true){h++}else{h--
}}}},ComputeBounds:function(d,g,a){var c=a.minVertex.x;var b=a.minVertex.y;c=b2Math.b2Min(c,this.m_worldAABB.maxVertex.x);b=b2Math.b2Min(b,this.m_worldAABB.maxVertex.y);c=b2Math.b2Max(c,this.m_worldAABB.minVertex.x);b=b2Math.b2Max(b,this.m_worldAABB.minVertex.y);var f=a.maxVertex.x;var e=a.maxVertex.y;f=b2Math.b2Min(f,this.m_worldAABB.maxVertex.x);e=b2Math.b2Min(e,this.m_worldAABB.maxVertex.y);f=b2Math.b2Max(f,this.m_worldAABB.minVertex.x);e=b2Math.b2Max(e,this.m_worldAABB.minVertex.y);d[0]=(this.m_quantizationFactor.x*(c-this.m_worldAABB.minVertex.x))&(b2Settings.USHRT_MAX-1);g[0]=((this.m_quantizationFactor.x*(f-this.m_worldAABB.minVertex.x))&65535)|1;d[1]=(this.m_quantizationFactor.y*(b-this.m_worldAABB.minVertex.y))&(b2Settings.USHRT_MAX-1);g[1]=((this.m_quantizationFactor.y*(e-this.m_worldAABB.minVertex.y))&65535)|1},TestOverlapValidate:function(d,c){for(var a=0;a<2;++a){var b=this.m_bounds[a];if(b[d.lowerBounds[a]].value>b[c.upperBounds[a]].value){return false}if(b[d.upperBounds[a]].value<b[c.lowerBounds[a]].value){return false
}}return true},TestOverlap:function(a,e){for(var c=0;c<2;++c){var d=this.m_bounds[c];if(a.lowerValues[c]>d[e.upperBounds[c]].value){return false}if(a.upperValues[c]<d[e.lowerBounds[c]].value){return false}}return true},Query:function(h,d,f,m,a,o,b){var c=b2BroadPhase.BinarySearch(a,o,f);var l=b2BroadPhase.BinarySearch(a,o,m);for(var e=c;e<l;++e){if(a[e].IsLower()){this.IncrementOverlapCount(a[e].proxyId)}}if(c>0){var g=c-1;var n=a[g].stabbingCount;while(n){if(a[g].IsLower()){var k=this.m_proxyPool[a[g].proxyId];if(c<=k.upperBounds[b]){this.IncrementOverlapCount(a[g].proxyId);--n}}--g}}h[0]=c;d[0]=l},IncrementOverlapCount:function(b){var a=this.m_proxyPool[b];if(a.timeStamp<this.m_timeStamp){a.timeStamp=this.m_timeStamp;a.overlapCount=1}else{a.overlapCount=2;this.m_queryResults[this.m_queryResultCount]=b;++this.m_queryResultCount}},IncrementTimeStamp:function(){if(this.m_timeStamp==b2Settings.USHRT_MAX){for(var a=0;a<b2Settings.b2_maxProxies;++a){this.m_proxyPool[a].timeStamp=0}this.m_timeStamp=1
}else{++this.m_timeStamp}},m_pairManager:new b2PairManager(),m_proxyPool:new Array(b2Settings.b2_maxPairs),m_freeProxy:0,m_bounds:new Array(2*b2Settings.b2_maxProxies),m_queryResults:new Array(b2Settings.b2_maxProxies),m_queryResultCount:0,m_worldAABB:null,m_quantizationFactor:new b2Vec2(),m_proxyCount:0,m_timeStamp:0};b2BroadPhase.s_validate=false;b2BroadPhase.b2_invalid=b2Settings.USHRT_MAX;b2BroadPhase.b2_nullEdge=b2Settings.USHRT_MAX;b2BroadPhase.BinarySearch=function(d,c,f){var a=0;var e=c-1;while(a<=e){var b=Math.floor((a+e)/2);if(d[b].value>f){e=b-1}else{if(d[b].value<f){a=b+1}else{return(b)}}}return(a)};var b2Collision=function(){};b2Collision.prototype={};b2Collision.b2_nullFeature=255;b2Collision.ClipSegmentToLine=function(f,b,e,a){var c=0;var i=b[0].v;var h=b[1].v;var g=b2Math.b2Dot(e,b[0].v)-a;var d=b2Math.b2Dot(e,b[1].v)-a;if(g<=0){f[c++]=b[0]}if(d<=0){f[c++]=b[1]}if(g*d<0){var j=g/(g-d);var k=f[c].v;k.x=i.x+j*(h.x-i.x);k.y=i.y+j*(h.y-i.y);if(g>0){f[c].id=b[0].id}else{f[c].id=b[1].id}++c}return c};b2Collision.EdgeSeparation=function(p,q,o){var f=p.m_vertices;var g=o.m_vertexCount;var r=o.m_vertices;var e=p.m_normals[q].x;var d=p.m_normals[q].y;var s=e;var l=p.m_R;e=l.col1.x*s+l.col2.x*d;d=l.col1.y*s+l.col2.y*d;var v=e;var u=d;l=o.m_R;s=v*l.col1.x+u*l.col1.y;u=v*l.col2.x+u*l.col2.y;v=s;var n=0;var m=Number.MAX_VALUE;for(var w=0;w<g;++w){var c=r[w];var t=c.x*v+c.y*u;if(t<m){m=t;n=w}}l=p.m_R;var b=p.m_position.x+(l.col1.x*f[q].x+l.col2.x*f[q].y);var a=p.m_position.y+(l.col1.y*f[q].x+l.col2.y*f[q].y);l=o.m_R;var k=o.m_position.x+(l.col1.x*r[n].x+l.col2.x*r[n].y);var h=o.m_position.y+(l.col1.y*r[n].x+l.col2.y*r[n].y);
k-=b;h-=a;var j=k*e+h*d;return j};b2Collision.FindMaxSeparation=function(r,m,l,w){var j=m.m_vertexCount;var d=l.m_position.x-m.m_position.x;var c=l.m_position.y-m.m_position.y;var f=(d*m.m_R.col1.x+c*m.m_R.col1.y);var e=(d*m.m_R.col2.x+c*m.m_R.col2.y);var h=0;var a=-Number.MAX_VALUE;for(var p=0;p<j;++p){var o=(m.m_normals[p].x*f+m.m_normals[p].y*e);if(o>a){a=o;h=p}}var n=b2Collision.EdgeSeparation(m,h,l);if(n>0&&w==false){return n}var g=h-1>=0?h-1:j-1;var t=b2Collision.EdgeSeparation(m,g,l);if(t>0&&w==false){return t}var q=h+1<j?h+1:0;var u=b2Collision.EdgeSeparation(m,q,l);if(u>0&&w==false){return u}var b=0;var k;var v=0;if(t>n&&t>u){v=-1;b=g;k=t}else{if(u>n){v=1;b=q;k=u}else{r[0]=h;return n}}while(true){if(v==-1){h=b-1>=0?b-1:j-1}else{h=b+1<j?b+1:0}n=b2Collision.EdgeSeparation(m,h,l);if(n>0&&w==false){return n}if(n>k){b=h;k=n}else{break}}r[0]=b;return k};b2Collision.FindIncidentEdge=function(D,p,q,n){var h=p.m_vertexCount;var f=p.m_vertices;var g=n.m_vertexCount;var s=n.m_vertices;var a=q;
var F=q+1==h?0:q+1;var e=f[F];var C=e.x;var A=e.y;e=f[a];C-=e.x;A-=e.y;var v=C;C=A;A=-v;var E=1/Math.sqrt(C*C+A*A);C*=E;A*=E;var r=C;var o=A;v=r;var l=p.m_R;r=l.col1.x*v+l.col2.x*o;o=l.col1.y*v+l.col2.y*o;var d=r;var b=o;l=n.m_R;v=d*l.col1.x+b*l.col1.y;b=d*l.col2.x+b*l.col2.y;d=v;var k=0;var j=0;var m=Number.MAX_VALUE;for(var B=0;B<g;++B){var z=B;var y=B+1<g?B+1:0;e=s[y];var u=e.x;var t=e.y;e=s[z];u-=e.x;t-=e.y;v=u;u=t;t=-v;E=1/Math.sqrt(u*u+t*t);u*=E;t*=E;var w=u*d+t*b;if(w<m){m=w;k=z;j=y}}var x;x=D[0];e=x.v;e.SetV(s[k]);e.MulM(n.m_R);e.Add(n.m_position);x.id.features.referenceFace=q;x.id.features.incidentEdge=k;x.id.features.incidentVertex=k;x=D[1];e=x.v;e.SetV(s[j]);e.MulM(n.m_R);e.Add(n.m_position);x.id.features.referenceFace=q;x.id.features.incidentEdge=k;x.id.features.incidentVertex=j};b2Collision.b2CollidePolyTempVec=new b2Vec2();b2Collision.b2CollidePoly=function(w,k,j,b){w.pointCount=0;var M=0;var G=[M];var F=b2Collision.FindMaxSeparation(G,k,j,b);M=G[0];if(F>0&&b==false){return
}var K=0;var g=[K];var E=b2Collision.FindMaxSeparation(g,j,k,b);K=g[0];if(E>0&&b==false){return}var p;var o;var a=0;var R=0;var d=0.98;var O=0.001;if(E>d*F+O){p=j;o=k;a=K;R=1}else{p=k;o=j;a=M;R=0}var c=[new ClipVertex(),new ClipVertex()];b2Collision.FindIncidentEdge(c,p,a,o);var B=p.m_vertexCount;var q=p.m_vertices;var I=q[a];var H=a+1<B?q[a+1]:q[0];var T=H.x-I.x;var S=H.y-I.y;var f=H.x-I.x;var e=H.y-I.y;var h=f;var J=p.m_R;f=J.col1.x*h+J.col2.x*e;e=J.col1.y*h+J.col2.y*e;var s=1/Math.sqrt(f*f+e*e);f*=s;e*=s;var n=f;var m=e;h=n;n=m;m=-h;var N=I.x;var L=I.y;h=N;J=p.m_R;N=J.col1.x*h+J.col2.x*L;L=J.col1.y*h+J.col2.y*L;N+=p.m_position.x;L+=p.m_position.y;var v=H.x;var u=H.y;h=v;J=p.m_R;v=J.col1.x*h+J.col2.x*u;u=J.col1.y*h+J.col2.y*u;v+=p.m_position.x;u+=p.m_position.y;var C=n*N+m*L;var A=-(f*N+e*L);var z=f*v+e*u;var y=[new ClipVertex(),new ClipVertex()];var x=[new ClipVertex(),new ClipVertex()];var Q=0;b2Collision.b2CollidePolyTempVec.Set(-f,-e);Q=b2Collision.ClipSegmentToLine(y,c,b2Collision.b2CollidePolyTempVec,A);
if(Q<2){return}b2Collision.b2CollidePolyTempVec.Set(f,e);Q=b2Collision.ClipSegmentToLine(x,y,b2Collision.b2CollidePolyTempVec,z);if(Q<2){return}if(R){w.normal.Set(-n,-m)}else{w.normal.Set(n,m)}var r=0;for(var P=0;P<b2Settings.b2_maxManifoldPoints;++P){var D=x[P].v;var l=(n*D.x+m*D.y)-C;if(l<=0||b==true){var t=w.points[r];t.separation=l;t.position.SetV(x[P].v);t.id.Set(x[P].id);t.id.features.flip=R;++r}}w.pointCount=r};b2Collision.b2CollideCircle=function(h,i,f,b){h.pointCount=0;var g=f.m_position.x-i.m_position.x;var e=f.m_position.y-i.m_position.y;var m=g*g+e*e;var l=i.m_radius+f.m_radius;if(m>l*l&&b==false){return}var d;if(m<Number.MIN_VALUE){d=-l;h.normal.Set(0,1)}else{var j=Math.sqrt(m);d=j-l;var k=1/j;h.normal.x=k*g;h.normal.y=k*e}h.pointCount=1;var c=h.points[0];c.id.set_key(0);c.separation=d;c.position.x=f.m_position.x-(f.m_radius*h.normal.x);c.position.y=f.m_position.y-(f.m_radius*h.normal.y)};b2Collision.b2CollidePolyAndCircle=function(x,m,k,C){x.pointCount=0;var h;var e;var d;
var z=k.m_position.x-m.m_position.x;var y=k.m_position.y-m.m_position.y;var n=m.m_R;var v=z*n.col1.x+y*n.col1.y;y=z*n.col2.x+y*n.col2.y;z=v;var w;var B=0;var o=-Number.MAX_VALUE;var g=k.m_radius;for(var A=0;A<m.m_vertexCount;++A){var t=m.m_normals[A].x*(z-m.m_vertices[A].x)+m.m_normals[A].y*(y-m.m_vertices[A].y);if(t>g){return}if(t>o){o=t;B=A}}if(o<Number.MIN_VALUE){x.pointCount=1;var c=m.m_normals[B];x.normal.x=n.col1.x*c.x+n.col2.x*c.y;x.normal.y=n.col1.y*c.x+n.col2.y*c.y;h=x.points[0];h.id.features.incidentEdge=B;h.id.features.incidentVertex=b2Collision.b2_nullFeature;h.id.features.referenceFace=b2Collision.b2_nullFeature;h.id.features.flip=0;h.position.x=k.m_position.x-g*x.normal.x;h.position.y=k.m_position.y-g*x.normal.y;h.separation=o-g;return}var b=B;var a=b+1<m.m_vertexCount?b+1:0;var r=m.m_vertices[a].x-m.m_vertices[b].x;var p=m.m_vertices[a].y-m.m_vertices[b].y;var f=Math.sqrt(r*r+p*p);r/=f;p/=f;if(f<Number.MIN_VALUE){e=z-m.m_vertices[b].x;d=y-m.m_vertices[b].y;w=Math.sqrt(e*e+d*d);
e/=w;d/=w;if(w>g){return}x.pointCount=1;x.normal.Set(n.col1.x*e+n.col2.x*d,n.col1.y*e+n.col2.y*d);h=x.points[0];h.id.features.incidentEdge=b2Collision.b2_nullFeature;h.id.features.incidentVertex=b;h.id.features.referenceFace=b2Collision.b2_nullFeature;h.id.features.flip=0;h.position.x=k.m_position.x-g*x.normal.x;h.position.y=k.m_position.y-g*x.normal.y;h.separation=w-g;return}var q=(z-m.m_vertices[b].x)*r+(y-m.m_vertices[b].y)*p;h=x.points[0];h.id.features.incidentEdge=b2Collision.b2_nullFeature;h.id.features.incidentVertex=b2Collision.b2_nullFeature;h.id.features.referenceFace=b2Collision.b2_nullFeature;h.id.features.flip=0;var l,j;if(q<=0){l=m.m_vertices[b].x;j=m.m_vertices[b].y;h.id.features.incidentVertex=b}else{if(q>=f){l=m.m_vertices[a].x;j=m.m_vertices[a].y;h.id.features.incidentVertex=a}else{l=r*q+m.m_vertices[b].x;j=p*q+m.m_vertices[b].y;h.id.features.incidentEdge=b}}e=z-l;d=y-j;w=Math.sqrt(e*e+d*d);e/=w;d/=w;if(w>g){return}x.pointCount=1;x.normal.Set(n.col1.x*e+n.col2.x*d,n.col1.y*e+n.col2.y*d);
h.position.x=k.m_position.x-g*x.normal.x;h.position.y=k.m_position.y-g*x.normal.y;h.separation=w-g};b2Collision.b2TestOverlap=function(d,c){var i=c.minVertex;var g=d.maxVertex;var f=i.x-g.x;var e=i.y-g.y;i=d.minVertex;g=c.maxVertex;var j=i.x-g.x;var h=i.y-g.y;if(f>0||e>0){return false}if(j>0||h>0){return false}return true};var Features=function(){};Features.prototype={set_referenceFace:function(a){this._referenceFace=a;this._m_id._key=(this._m_id._key&4294967040)|(this._referenceFace&255)},get_referenceFace:function(){return this._referenceFace},_referenceFace:0,set_incidentEdge:function(a){this._incidentEdge=a;this._m_id._key=(this._m_id._key&4294902015)|((this._incidentEdge<<8)&65280)},get_incidentEdge:function(){return this._incidentEdge},_incidentEdge:0,set_incidentVertex:function(a){this._incidentVertex=a;this._m_id._key=(this._m_id._key&4278255615)|((this._incidentVertex<<16)&16711680)},get_incidentVertex:function(){return this._incidentVertex},_incidentVertex:0,set_flip:function(a){this._flip=a;this._m_id._key=(this._m_id._key&16777215)|((this._flip<<24)&4278190080)},get_flip:function(){return this._flip},_flip:0,_m_id:null};var b2ContactID=function(){this.features=new Features();this.features._m_id=this};b2ContactID.prototype={Set:function(a){this.set_key(a._key)},Copy:function(){var a=new b2ContactID();a.set_key(this._key);return a},get_key:function(){return this._key},set_key:function(a){this._key=a;this.features._referenceFace=this._key&255;this.features._incidentEdge=((this._key&65280)>>8)&255;this.features._incidentVertex=((this._key&16711680)>>16)&255;this.features._flip=((this._key&4278190080)>>24)&255},features:new Features(),_key:0};var b2ContactPoint=function(){this.position=new b2Vec2();this.id=new b2ContactID()};b2ContactPoint.prototype={position:new b2Vec2(),separation:null,normalImpulse:null,tangentImpulse:null,id:new b2ContactID()};var b2Distance=function(){};b2Distance.prototype={};b2Distance.ProcessTwo=function(j,h,b,k,i){var f=-i[1].x;var e=-i[1].y;var d=i[0].x-i[1].x;var c=i[0].y-i[1].y;var a=Math.sqrt(d*d+c*c);d/=a;c/=a;var g=f*d+e*c;if(g<=0||a<Number.MIN_VALUE){j.SetV(b[1]);h.SetV(k[1]);b[0].SetV(b[1]);k[0].SetV(k[1]);i[0].SetV(i[1]);return 1}g/=a;j.x=b[1].x+g*(b[0].x-b[1].x);j.y=b[1].y+g*(b[0].y-b[1].y);h.x=k[1].x+g*(k[0].x-k[1].x);h.y=k[1].y+g*(k[0].y-k[1].y);return 2};b2Distance.ProcessThree=function(q,D,m,C,G){var k=G[0].x;var h=G[0].y;var z=G[1].x;var s=G[1].y;var J=G[2].x;var I=G[2].y;var l=z-k;var i=s-h;var y=J-k;var r=I-h;var c=J-z;var b=I-s;var H=-(k*l+h*i);var a=(z*l+s*i);var j=-(k*y+h*r);var o=(J*y+I*r);var x=-(z*c+s*b);var F=(J*c+I*b);if(o<=0&&F<=0){q.SetV(m[2]);D.SetV(C[2]);m[0].SetV(m[2]);C[0].SetV(C[2]);G[0].SetV(G[2]);return 1}var E=l*r-i*y;var e=E*(k*s-h*z);var g=E*(z*I-s*J);if(g<=0&&x>=0&&F>=0){var B=x/(x+F);q.x=m[1].x+B*(m[2].x-m[1].x);q.y=m[1].y+B*(m[2].y-m[1].y);D.x=C[1].x+B*(C[2].x-C[1].x);
D.y=C[1].y+B*(C[2].y-C[1].y);m[0].SetV(m[2]);C[0].SetV(C[2]);G[0].SetV(G[2]);return 2}var f=E*(J*h-I*k);if(f<=0&&j>=0&&o>=0){var B=j/(j+o);q.x=m[0].x+B*(m[2].x-m[0].x);q.y=m[0].y+B*(m[2].y-m[0].y);D.x=C[0].x+B*(C[2].x-C[0].x);D.y=C[0].y+B*(C[2].y-C[0].y);m[1].SetV(m[2]);C[1].SetV(C[2]);G[1].SetV(G[2]);return 2}var d=g+f+e;d=1/d;var A=g*d;var t=f*d;var p=1-A-t;q.x=A*m[0].x+t*m[1].x+p*m[2].x;q.y=A*m[0].y+t*m[1].y+p*m[2].y;D.x=A*C[0].x+t*C[1].x+p*C[2].x;D.y=A*C[0].y+t*C[1].y+p*C[2].y;return 3};b2Distance.InPoinsts=function(a,c,d){for(var b=0;b<d;++b){if(a.x==c[b].x&&a.y==c[b].y){return true}}return false};b2Distance.Distance=function(h,n,c,a){var d=new Array(3);var l=new Array(3);var s=new Array(3);var u=0;h.SetV(c.m_position);n.SetV(a.m_position);var k=0;var q=20;for(var t=0;t<q;++t){var f=n.x-h.x;var e=n.y-h.y;var j=c.Support(f,e);var g=a.Support(-f,-e);k=(f*f+e*e);var p=g.x-j.x;var m=g.y-j.y;var o=(f*p+e*m);if(k-b2Dot(f*p+e*m)<=0.01*k){if(u==0){h.SetV(j);n.SetV(g)}b2Distance.g_GJK_Iterations=t;
return Math.sqrt(k)}switch(u){case 0:d[0].SetV(j);l[0].SetV(g);s[0]=w;h.SetV(d[0]);n.SetV(l[0]);++u;break;case 1:d[1].SetV(j);l[1].SetV(g);s[1].x=p;s[1].y=m;u=b2Distance.ProcessTwo(h,n,d,l,s);break;case 2:d[2].SetV(j);l[2].SetV(g);s[2].x=p;s[2].y=m;u=b2Distance.ProcessThree(h,n,d,l,s);break}if(u==3){b2Distance.g_GJK_Iterations=t;return 0}var b=-Number.MAX_VALUE;for(var r=0;r<u;++r){b=b2Math.b2Max(b,(s[r].x*s[r].x+s[r].y*s[r].y))}if(u==3||k<=100*Number.MIN_VALUE*b){b2Distance.g_GJK_Iterations=t;return Math.sqrt(k)}}b2Distance.g_GJK_Iterations=q;return Math.sqrt(k)};b2Distance.g_GJK_Iterations=0;var b2Manifold=function(){this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var a=0;a<b2Settings.b2_maxManifoldPoints;a++){this.points[a]=new b2ContactPoint()}this.normal=new b2Vec2()};b2Manifold.prototype={points:null,normal:null,pointCount:0};var b2OBB=function(){this.R=new b2Mat22();this.center=new b2Vec2();this.extents=new b2Vec2()};b2OBB.prototype={R:new b2Mat22(),center:new b2Vec2(),extents:new b2Vec2()};var b2Proxy=function(){this.lowerBounds=[(0),(0)];this.upperBounds=[(0),(0)]};b2Proxy.prototype={GetNext:function(){return this.lowerBounds[0]},SetNext:function(a){this.lowerBounds[0]=a},IsValid:function(){return this.overlapCount!=b2BroadPhase.b2_invalid},lowerBounds:[(0),(0)],upperBounds:[(0),(0)],overlapCount:0,timeStamp:0,userData:null};var ClipVertex=function(){this.v=new b2Vec2();this.id=new b2ContactID()};ClipVertex.prototype={v:new b2Vec2(),id:new b2ContactID()};var b2Shape=function(b,a){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=b.userData;this.m_friction=b.friction;this.m_restitution=b.restitution;this.m_body=a;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0;this.m_categoryBits=b.categoryBits;this.m_maskBits=b.maskBits;this.m_groupIndex=b.groupIndex};b2Shape.prototype={TestPoint:function(a){return false},GetUserData:function(){return this.m_userData},GetType:function(){return this.m_type},GetBody:function(){return this.m_body},GetPosition:function(){return this.m_position},GetRotationMatrix:function(){return this.m_R},ResetProxy:function(a){},GetNext:function(){return this.m_next},DestroyProxy:function(){if(this.m_proxyId!=b2Pair.b2_nullProxy){this.m_body.m_world.m_broadPhase.DestroyProxy(this.m_proxyId);this.m_proxyId=b2Pair.b2_nullProxy}},Synchronize:function(b,d,a,c){},QuickSync:function(a,b){},Support:function(b,a,c){},GetMaxRadius:function(){return this.m_maxRadius},m_next:null,m_R:new b2Mat22(),m_position:new b2Vec2(),m_type:0,m_userData:null,m_body:null,m_friction:null,m_restitution:null,m_maxRadius:null,m_proxyId:0,m_categoryBits:0,m_maskBits:0,m_groupIndex:0};
b2Shape.Create=function(c,b,a){switch(c.type){case b2Shape.e_circleShape:return new b2CircleShape(c,b,a);case b2Shape.e_boxShape:case b2Shape.e_polyShape:return new b2PolyShape(c,b,a)}return null};b2Shape.Destroy=function(a){if(a.m_proxyId!=b2Pair.b2_nullProxy){a.m_body.m_world.m_broadPhase.DestroyProxy(a.m_proxyId)}};b2Shape.e_unknownShape=-1;b2Shape.e_circleShape=0;b2Shape.e_boxShape=1;b2Shape.e_polyShape=2;b2Shape.e_meshShape=3;b2Shape.e_shapeTypeCount=4;b2Shape.PolyMass=function(o,w,l,e){var z=new b2Vec2();z.SetZero();var y=0;var n=0;var j=new b2Vec2(0,0);var t=1/3;for(var x=0;x<l;++x){var d=j;var c=w[x];var b=x+1<l?w[x+1]:w[0];var m=b2Math.SubtractVV(c,d);var k=b2Math.SubtractVV(b,d);var r=b2Math.b2CrossVV(m,k);var h=0.5*r;y+=h;var g=new b2Vec2();g.SetV(d);g.Add(c);g.Add(b);g.Multiply(t*h);z.Add(g);var s=d.x;var q=d.y;var v=m.x;var a=m.y;var u=k.x;var A=k.y;var f=t*(0.25*(v*v+u*v+u*u)+(s*v+s*u))+0.5*s*s;var p=t*(0.25*(a*a+A*a+A*A)+(q*a+q*A))+0.5*q*q;n+=r*(f+p)}o.mass=e*y;z.Multiply(1/y);
o.center=z;n=e*(n-y*b2Math.b2Dot(z,z));o.I=n};b2Shape.PolyCentroid=function(o,g,s){var u=0;var t=0;var v=0;var c=0;var b=0;var l=1/3;for(var r=0;r<g;++r){var q=c;var p=b;var e=o[r].x;var d=o[r].y;var j=r+1<g?o[r+1].x:o[0].x;var h=r+1<g?o[r+1].y:o[0].y;var n=e-q;var m=d-p;var a=j-q;var w=h-p;var k=(n*w-m*a);var f=0.5*k;v+=f;u+=f*l*(q+e+j);t+=f*l*(p+d+h)}u*=1/v;t*=1/v;s.Set(u,t)};var b2ShapeDef=function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=0.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0};b2ShapeDef.prototype={ComputeMass:function(a){a.center=new b2Vec2(0,0);if(this.density==0){a.mass=0;a.center.Set(0,0);a.I=0}switch(this.type){case b2Shape.e_circleShape:var d=this;a.mass=this.density*b2Settings.b2_pi*d.radius*d.radius;a.center.Set(0,0);a.I=0.5*(a.mass)*d.radius*d.radius;break;case b2Shape.e_boxShape:var b=this;a.mass=4*this.density*b.extents.x*b.extents.y;a.center.Set(0,0);a.I=a.mass/3*b2Math.b2Dot(b.extents,b.extents);break;case b2Shape.e_polyShape:var c=this;b2Shape.PolyMass(a,c.vertices,c.vertexCount,this.density);break;default:a.mass=0;a.center.Set(0,0);a.I=0;break}},type:0,userData:null,localPosition:null,localRotation:null,friction:null,restitution:null,density:null,categoryBits:0,maskBits:0,groupIndex:0};var b2BoxDef=function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=0.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0;this.type=b2Shape.e_boxShape;this.extents=new b2Vec2(1,1)};Object.extend(b2BoxDef.prototype,b2ShapeDef.prototype);Object.extend(b2BoxDef.prototype,{extents:null});var b2CircleDef=function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=0.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0;this.type=b2Shape.e_circleShape;this.radius=1};Object.extend(b2CircleDef.prototype,b2ShapeDef.prototype);Object.extend(b2CircleDef.prototype,{radius:null});var b2CircleShape=function(g,c,b){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=g.userData;this.m_friction=g.friction;this.m_restitution=g.restitution;this.m_body=c;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0;this.m_categoryBits=g.categoryBits;this.m_maskBits=g.maskBits;this.m_groupIndex=g.groupIndex;this.m_localPosition=new b2Vec2();var h=g;this.m_localPosition.Set(g.localPosition.x-b.x,g.localPosition.y-b.y);this.m_type=b2Shape.e_circleShape;this.m_radius=h.radius;this.m_R.SetM(this.m_body.m_R);var f=this.m_R.col1.x*this.m_localPosition.x+this.m_R.col2.x*this.m_localPosition.y;var e=this.m_R.col1.y*this.m_localPosition.x+this.m_R.col2.y*this.m_localPosition.y;this.m_position.x=this.m_body.m_position.x+f;this.m_position.y=this.m_body.m_position.y+e;this.m_maxRadius=Math.sqrt(f*f+e*e)+this.m_radius;var d=new b2AABB();d.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);d.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);
var a=this.m_body.m_world.m_broadPhase;if(a.InRange(d)){this.m_proxyId=a.CreateProxy(d,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}};Object.extend(b2CircleShape.prototype,b2Shape.prototype);Object.extend(b2CircleShape.prototype,{TestPoint:function(a){var b=new b2Vec2();b.SetV(a);b.Subtract(this.m_position);return b2Math.b2Dot(b,b)<=this.m_radius*this.m_radius},Synchronize:function(c,e,a,b){this.m_R.SetM(b);this.m_position.x=(b.col1.x*this.m_localPosition.x+b.col2.x*this.m_localPosition.y)+a.x;this.m_position.y=(b.col1.y*this.m_localPosition.x+b.col2.y*this.m_localPosition.y)+a.y;if(this.m_proxyId==b2Pair.b2_nullProxy){return}var i=c.x+(e.col1.x*this.m_localPosition.x+e.col2.x*this.m_localPosition.y);var h=c.y+(e.col1.y*this.m_localPosition.x+e.col2.y*this.m_localPosition.y);var l=Math.min(i,this.m_position.x);var k=Math.min(h,this.m_position.y);var f=Math.max(i,this.m_position.x);var d=Math.max(h,this.m_position.y);var g=new b2AABB();
g.minVertex.Set(l-this.m_radius,k-this.m_radius);g.maxVertex.Set(f+this.m_radius,d+this.m_radius);var j=this.m_body.m_world.m_broadPhase;if(j.InRange(g)){j.MoveProxy(this.m_proxyId,g)}else{this.m_body.Freeze()}},QuickSync:function(a,b){this.m_R.SetM(b);this.m_position.x=(b.col1.x*this.m_localPosition.x+b.col2.x*this.m_localPosition.y)+a.x;this.m_position.y=(b.col1.y*this.m_localPosition.x+b.col2.y*this.m_localPosition.y)+a.y},ResetProxy:function(a){if(this.m_proxyId==b2Pair.b2_nullProxy){return}var c=a.GetProxy(this.m_proxyId);a.DestroyProxy(this.m_proxyId);c=null;var b=new b2AABB();b.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);b.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);if(a.InRange(b)){this.m_proxyId=a.CreateProxy(b,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}},Support:function(c,b,d){var a=Math.sqrt(c*c+b*b);c/=a;b/=a;d.Set(this.m_position.x+this.m_radius*c,this.m_position.y+this.m_radius*b)
},m_localPosition:new b2Vec2(),m_radius:null});var b2MassData=function(){this.center=new b2Vec2(0,0)};b2MassData.prototype={mass:0,center:new b2Vec2(0,0),I:0};var b2PolyDef=function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=0.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0;this.vertices=new Array(b2Settings.b2_maxPolyVertices);this.type=b2Shape.e_polyShape;this.vertexCount=0;for(var a=0;a<b2Settings.b2_maxPolyVertices;a++){this.vertices[a]=new b2Vec2()}};Object.extend(b2PolyDef.prototype,b2ShapeDef.prototype);Object.extend(b2PolyDef.prototype,{vertices:new Array(b2Settings.b2_maxPolyVertices),vertexCount:0});var b2PolyShape=function(s,o,a){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=s.userData;this.m_friction=s.friction;this.m_restitution=s.restitution;this.m_body=o;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0;this.m_categoryBits=s.categoryBits;this.m_maskBits=s.maskBits;this.m_groupIndex=s.groupIndex;this.syncAABB=new b2AABB();this.syncMat=new b2Mat22();this.m_localCentroid=new b2Vec2();this.m_localOBB=new b2OBB();var w=0;var r;var q;var b;var k=new b2AABB();this.m_vertices=new Array(b2Settings.b2_maxPolyVertices);this.m_coreVertices=new Array(b2Settings.b2_maxPolyVertices);this.m_normals=new Array(b2Settings.b2_maxPolyVertices);this.m_type=b2Shape.e_polyShape;var c=new b2Mat22(s.localRotation);if(s.type==b2Shape.e_boxShape){this.m_localCentroid.x=s.localPosition.x-a.x;this.m_localCentroid.y=s.localPosition.y-a.y;var n=s;this.m_vertexCount=4;r=n.extents.x;q=n.extents.y;var j=Math.max(0,r-2*b2Settings.b2_linearSlop);var g=Math.max(0,q-2*b2Settings.b2_linearSlop);
b=this.m_vertices[0]=new b2Vec2();b.x=c.col1.x*r+c.col2.x*q;b.y=c.col1.y*r+c.col2.y*q;b=this.m_vertices[1]=new b2Vec2();b.x=c.col1.x*-r+c.col2.x*q;b.y=c.col1.y*-r+c.col2.y*q;b=this.m_vertices[2]=new b2Vec2();b.x=c.col1.x*-r+c.col2.x*-q;b.y=c.col1.y*-r+c.col2.y*-q;b=this.m_vertices[3]=new b2Vec2();b.x=c.col1.x*r+c.col2.x*-q;b.y=c.col1.y*r+c.col2.y*-q;b=this.m_coreVertices[0]=new b2Vec2();b.x=c.col1.x*j+c.col2.x*g;b.y=c.col1.y*j+c.col2.y*g;b=this.m_coreVertices[1]=new b2Vec2();b.x=c.col1.x*-j+c.col2.x*g;b.y=c.col1.y*-j+c.col2.y*g;b=this.m_coreVertices[2]=new b2Vec2();b.x=c.col1.x*-j+c.col2.x*-g;b.y=c.col1.y*-j+c.col2.y*-g;b=this.m_coreVertices[3]=new b2Vec2();b.x=c.col1.x*j+c.col2.x*-g;b.y=c.col1.y*j+c.col2.y*-g}else{var e=s;this.m_vertexCount=e.vertexCount;b2Shape.PolyCentroid(e.vertices,e.vertexCount,b2PolyShape.tempVec);var h=b2PolyShape.tempVec.x;var f=b2PolyShape.tempVec.y;this.m_localCentroid.x=s.localPosition.x+(c.col1.x*h+c.col2.x*f)-a.x;this.m_localCentroid.y=s.localPosition.y+(c.col1.y*h+c.col2.y*f)-a.y;
for(w=0;w<this.m_vertexCount;++w){this.m_vertices[w]=new b2Vec2();this.m_coreVertices[w]=new b2Vec2();r=e.vertices[w].x-h;q=e.vertices[w].y-f;this.m_vertices[w].x=c.col1.x*r+c.col2.x*q;this.m_vertices[w].y=c.col1.y*r+c.col2.y*q;var D=this.m_vertices[w].x;var C=this.m_vertices[w].y;var d=Math.sqrt(D*D+C*C);if(d>Number.MIN_VALUE){D*=1/d;C*=1/d}this.m_coreVertices[w].x=this.m_vertices[w].x-2*b2Settings.b2_linearSlop*D;this.m_coreVertices[w].y=this.m_vertices[w].y-2*b2Settings.b2_linearSlop*C}}var y=Number.MAX_VALUE;var x=Number.MAX_VALUE;var m=-Number.MAX_VALUE;var l=-Number.MAX_VALUE;this.m_maxRadius=0;for(w=0;w<this.m_vertexCount;++w){var p=this.m_vertices[w];y=Math.min(y,p.x);x=Math.min(x,p.y);m=Math.max(m,p.x);l=Math.max(l,p.y);this.m_maxRadius=Math.max(this.m_maxRadius,p.Length())}this.m_localOBB.R.SetIdentity();this.m_localOBB.center.Set((y+m)*0.5,(x+l)*0.5);this.m_localOBB.extents.Set((m-y)*0.5,(l-x)*0.5);var u=0;var t=0;for(w=0;w<this.m_vertexCount;++w){this.m_normals[w]=new b2Vec2();
u=w;t=w+1<this.m_vertexCount?w+1:0;this.m_normals[w].x=this.m_vertices[t].y-this.m_vertices[u].y;this.m_normals[w].y=-(this.m_vertices[t].x-this.m_vertices[u].x);this.m_normals[w].Normalize()}for(w=0;w<this.m_vertexCount;++w){u=w;t=w+1<this.m_vertexCount?w+1:0}this.m_R.SetM(this.m_body.m_R);this.m_position.x=this.m_body.m_position.x+(this.m_R.col1.x*this.m_localCentroid.x+this.m_R.col2.x*this.m_localCentroid.y);this.m_position.y=this.m_body.m_position.y+(this.m_R.col1.y*this.m_localCentroid.x+this.m_R.col2.y*this.m_localCentroid.y);b2PolyShape.tAbsR.col1.x=this.m_R.col1.x*this.m_localOBB.R.col1.x+this.m_R.col2.x*this.m_localOBB.R.col1.y;b2PolyShape.tAbsR.col1.y=this.m_R.col1.y*this.m_localOBB.R.col1.x+this.m_R.col2.y*this.m_localOBB.R.col1.y;b2PolyShape.tAbsR.col2.x=this.m_R.col1.x*this.m_localOBB.R.col2.x+this.m_R.col2.x*this.m_localOBB.R.col2.y;b2PolyShape.tAbsR.col2.y=this.m_R.col1.y*this.m_localOBB.R.col2.x+this.m_R.col2.y*this.m_localOBB.R.col2.y;b2PolyShape.tAbsR.Abs();r=b2PolyShape.tAbsR.col1.x*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.x*this.m_localOBB.extents.y;
q=b2PolyShape.tAbsR.col1.y*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.y*this.m_localOBB.extents.y;var B=this.m_position.x+(this.m_R.col1.x*this.m_localOBB.center.x+this.m_R.col2.x*this.m_localOBB.center.y);var A=this.m_position.y+(this.m_R.col1.y*this.m_localOBB.center.x+this.m_R.col2.y*this.m_localOBB.center.y);k.minVertex.x=B-r;k.minVertex.y=A-q;k.maxVertex.x=B+r;k.maxVertex.y=A+q;var z=this.m_body.m_world.m_broadPhase;if(z.InRange(k)){this.m_proxyId=z.CreateProxy(k,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}};Object.extend(b2PolyShape.prototype,b2Shape.prototype);Object.extend(b2PolyShape.prototype,{TestPoint:function(d){var e=new b2Vec2();e.SetV(d);e.Subtract(this.m_position);e.MulTM(this.m_R);for(var c=0;c<this.m_vertexCount;++c){var b=new b2Vec2();b.SetV(e);b.Subtract(this.m_vertices[c]);var a=b2Math.b2Dot(this.m_normals[c],b);if(a>0){return false}}return true},syncAABB:new b2AABB(),syncMat:new b2Mat22(),Synchronize:function(c,e,a,b){this.m_R.SetM(b);
this.m_position.x=this.m_body.m_position.x+(b.col1.x*this.m_localCentroid.x+b.col2.x*this.m_localCentroid.y);this.m_position.y=this.m_body.m_position.y+(b.col1.y*this.m_localCentroid.x+b.col2.y*this.m_localCentroid.y);if(this.m_proxyId==b2Pair.b2_nullProxy){return}var m;var l;var k=e.col1;var j=e.col2;var i=this.m_localOBB.R.col1;var h=this.m_localOBB.R.col2;this.syncMat.col1.x=k.x*i.x+j.x*i.y;this.syncMat.col1.y=k.y*i.x+j.y*i.y;this.syncMat.col2.x=k.x*h.x+j.x*h.y;this.syncMat.col2.y=k.y*h.x+j.y*h.y;this.syncMat.Abs();m=this.m_localCentroid.x+this.m_localOBB.center.x;l=this.m_localCentroid.y+this.m_localOBB.center.y;var f=c.x+(e.col1.x*m+e.col2.x*l);var d=c.y+(e.col1.y*m+e.col2.y*l);m=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;l=this.syncMat.col1.y*this.m_localOBB.extents.x+this.syncMat.col2.y*this.m_localOBB.extents.y;this.syncAABB.minVertex.x=f-m;this.syncAABB.minVertex.y=d-l;this.syncAABB.maxVertex.x=f+m;this.syncAABB.maxVertex.y=d+l;k=b.col1;
j=b.col2;i=this.m_localOBB.R.col1;h=this.m_localOBB.R.col2;this.syncMat.col1.x=k.x*i.x+j.x*i.y;this.syncMat.col1.y=k.y*i.x+j.y*i.y;this.syncMat.col2.x=k.x*h.x+j.x*h.y;this.syncMat.col2.y=k.y*h.x+j.y*h.y;this.syncMat.Abs();m=this.m_localCentroid.x+this.m_localOBB.center.x;l=this.m_localCentroid.y+this.m_localOBB.center.y;f=a.x+(b.col1.x*m+b.col2.x*l);d=a.y+(b.col1.y*m+b.col2.y*l);m=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;l=this.syncMat.col1.y*this.m_localOBB.extents.x+this.syncMat.col2.y*this.m_localOBB.extents.y;this.syncAABB.minVertex.x=Math.min(this.syncAABB.minVertex.x,f-m);this.syncAABB.minVertex.y=Math.min(this.syncAABB.minVertex.y,d-l);this.syncAABB.maxVertex.x=Math.max(this.syncAABB.maxVertex.x,f+m);this.syncAABB.maxVertex.y=Math.max(this.syncAABB.maxVertex.y,d+l);var g=this.m_body.m_world.m_broadPhase;if(g.InRange(this.syncAABB)){g.MoveProxy(this.m_proxyId,this.syncAABB)}else{this.m_body.Freeze()}},QuickSync:function(a,b){this.m_R.SetM(b);
this.m_position.x=a.x+(b.col1.x*this.m_localCentroid.x+b.col2.x*this.m_localCentroid.y);this.m_position.y=a.y+(b.col1.y*this.m_localCentroid.x+b.col2.y*this.m_localCentroid.y)},ResetProxy:function(b){if(this.m_proxyId==b2Pair.b2_nullProxy){return}var e=b.GetProxy(this.m_proxyId);b.DestroyProxy(this.m_proxyId);e=null;var g=b2Math.b2MulMM(this.m_R,this.m_localOBB.R);var d=b2Math.b2AbsM(g);var f=b2Math.b2MulMV(d,this.m_localOBB.extents);var a=b2Math.b2MulMV(this.m_R,this.m_localOBB.center);a.Add(this.m_position);var c=new b2AABB();c.minVertex.SetV(a);c.minVertex.Subtract(f);c.maxVertex.SetV(a);c.maxVertex.Add(f);if(b.InRange(c)){this.m_proxyId=b.CreateProxy(c,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}},Support:function(c,a,b){var g=(c*this.m_R.col1.x+a*this.m_R.col1.y);var f=(c*this.m_R.col2.x+a*this.m_R.col2.y);var e=0;var j=(this.m_coreVertices[0].x*g+this.m_coreVertices[0].y*f);for(var d=1;d<this.m_vertexCount;++d){var h=(this.m_coreVertices[d].x*g+this.m_coreVertices[d].y*f);
if(h>j){e=d;j=h}}b.Set(this.m_position.x+(this.m_R.col1.x*this.m_coreVertices[e].x+this.m_R.col2.x*this.m_coreVertices[e].y),this.m_position.y+(this.m_R.col1.y*this.m_coreVertices[e].x+this.m_R.col2.y*this.m_coreVertices[e].y))},m_localCentroid:new b2Vec2(),m_localOBB:new b2OBB(),m_vertices:null,m_coreVertices:null,m_vertexCount:0,m_normals:null});b2PolyShape.tempVec=new b2Vec2();b2PolyShape.tAbsR=new b2Mat22();var b2Body=function(f,e){this.sMat0=new b2Mat22();this.m_position=new b2Vec2();this.m_R=new b2Mat22(0);this.m_position0=new b2Vec2();var c=0;var g;var a;this.m_flags=0;this.m_position.SetV(f.position);this.m_rotation=f.rotation;this.m_R.Set(this.m_rotation);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;this.m_world=e;this.m_linearDamping=b2Math.b2Clamp(1-f.linearDamping,0,1);this.m_angularDamping=b2Math.b2Clamp(1-f.angularDamping,0,1);this.m_force=new b2Vec2(0,0);this.m_torque=0;this.m_mass=0;var h=new Array(b2Settings.b2_maxShapesPerBody);for(c=0;c<b2Settings.b2_maxShapesPerBody;c++){h[c]=new b2MassData()}this.m_shapeCount=0;this.m_center=new b2Vec2(0,0);for(c=0;c<b2Settings.b2_maxShapesPerBody;++c){g=f.shapes[c];if(g==null){break}a=h[c];g.ComputeMass(a);this.m_mass+=a.mass;this.m_center.x+=a.mass*(g.localPosition.x+a.center.x);this.m_center.y+=a.mass*(g.localPosition.y+a.center.y);++this.m_shapeCount}if(this.m_mass>0){this.m_center.Multiply(1/this.m_mass);this.m_position.Add(b2Math.b2MulMV(this.m_R,this.m_center))
}else{this.m_flags|=b2Body.e_staticFlag}this.m_I=0;for(c=0;c<this.m_shapeCount;++c){g=f.shapes[c];a=h[c];this.m_I+=a.I;var d=b2Math.SubtractVV(b2Math.AddVV(g.localPosition,a.center),this.m_center);this.m_I+=a.mass*b2Math.b2Dot(d,d)}if(this.m_mass>0){this.m_invMass=1/this.m_mass}else{this.m_invMass=0}if(this.m_I>0&&f.preventRotation==false){this.m_invI=1/this.m_I}else{this.m_I=0;this.m_invI=0}this.m_linearVelocity=b2Math.AddVV(f.linearVelocity,b2Math.b2CrossFV(f.angularVelocity,this.m_center));this.m_angularVelocity=f.angularVelocity;this.m_jointList=null;this.m_contactList=null;this.m_prev=null;this.m_next=null;this.m_shapeList=null;for(c=0;c<this.m_shapeCount;++c){g=f.shapes[c];var b=b2Shape.Create(g,this,this.m_center);b.m_next=this.m_shapeList;this.m_shapeList=b}this.m_sleepTime=0;if(f.allowSleep){this.m_flags|=b2Body.e_allowSleepFlag}if(f.isSleeping){this.m_flags|=b2Body.e_sleepFlag}if((this.m_flags&b2Body.e_sleepFlag)||this.m_invMass==0){this.m_linearVelocity.Set(0,0);this.m_angularVelocity=0
}this.m_userData=f.userData};b2Body.prototype={SetOriginPosition:function(a,b){if(this.IsFrozen()){return}this.m_rotation=b;this.m_R.Set(this.m_rotation);this.m_position=b2Math.AddVV(a,b2Math.b2MulMV(this.m_R,this.m_center));this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var c=this.m_shapeList;c!=null;c=c.m_next){c.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R)}this.m_world.m_broadPhase.Commit()},GetOriginPosition:function(){return b2Math.SubtractVV(this.m_position,b2Math.b2MulMV(this.m_R,this.m_center))},SetCenterPosition:function(a,b){if(this.IsFrozen()){return}this.m_rotation=b;this.m_R.Set(this.m_rotation);this.m_position.SetV(a);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var c=this.m_shapeList;c!=null;c=c.m_next){c.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R)}this.m_world.m_broadPhase.Commit()},GetCenterPosition:function(){return this.m_position},GetRotation:function(){return this.m_rotation
},GetRotationMatrix:function(){return this.m_R},SetLinearVelocity:function(a){this.m_linearVelocity.SetV(a)},GetLinearVelocity:function(){return this.m_linearVelocity},SetAngularVelocity:function(a){this.m_angularVelocity=a},GetAngularVelocity:function(){return this.m_angularVelocity},ApplyForce:function(b,a){if(this.IsSleeping()==false){this.m_force.Add(b);this.m_torque+=b2Math.b2CrossVV(b2Math.SubtractVV(a,this.m_position),b)}},ApplyTorque:function(a){if(this.IsSleeping()==false){this.m_torque+=a}},ApplyImpulse:function(b,a){if(this.IsSleeping()==false){this.m_linearVelocity.Add(b2Math.MulFV(this.m_invMass,b));this.m_angularVelocity+=(this.m_invI*b2Math.b2CrossVV(b2Math.SubtractVV(a,this.m_position),b))}},GetMass:function(){return this.m_mass},GetInertia:function(){return this.m_I},GetWorldPoint:function(a){return b2Math.AddVV(this.m_position,b2Math.b2MulMV(this.m_R,a))},GetWorldVector:function(a){return b2Math.b2MulMV(this.m_R,a)},GetLocalPoint:function(a){return b2Math.b2MulTMV(this.m_R,b2Math.SubtractVV(a,this.m_position))
},GetLocalVector:function(a){return b2Math.b2MulTMV(this.m_R,a)},IsStatic:function(){return(this.m_flags&b2Body.e_staticFlag)==b2Body.e_staticFlag},IsFrozen:function(){return(this.m_flags&b2Body.e_frozenFlag)==b2Body.e_frozenFlag},IsSleeping:function(){return(this.m_flags&b2Body.e_sleepFlag)==b2Body.e_sleepFlag},AllowSleeping:function(a){if(a){this.m_flags|=b2Body.e_allowSleepFlag}else{this.m_flags&=~b2Body.e_allowSleepFlag;this.WakeUp()}},WakeUp:function(){this.m_flags&=~b2Body.e_sleepFlag;this.m_sleepTime=0},GetShapeList:function(){return this.m_shapeList},GetContactList:function(){return this.m_contactList},GetJointList:function(){return this.m_jointList},GetNext:function(){return this.m_next},GetUserData:function(){return this.m_userData},Destroy:function(){var b=this.m_shapeList;while(b){var a=b;b=b.m_next;b2Shape.Destroy(a)}},sMat0:new b2Mat22(),SynchronizeShapes:function(){this.sMat0.Set(this.m_rotation0);for(var a=this.m_shapeList;a!=null;a=a.m_next){a.Synchronize(this.m_position0,this.sMat0,this.m_position,this.m_R)
}},QuickSyncShapes:function(){for(var a=this.m_shapeList;a!=null;a=a.m_next){a.QuickSync(this.m_position,this.m_R)}},IsConnected:function(a){for(var b=this.m_jointList;b!=null;b=b.next){if(b.other==a){return b.joint.m_collideConnected==false}}return false},Freeze:function(){this.m_flags|=b2Body.e_frozenFlag;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;for(var a=this.m_shapeList;a!=null;a=a.m_next){a.DestroyProxy()}},m_flags:0,m_position:new b2Vec2(),m_rotation:null,m_R:new b2Mat22(0),m_position0:new b2Vec2(),m_rotation0:null,m_linearVelocity:null,m_angularVelocity:null,m_force:null,m_torque:null,m_center:null,m_world:null,m_prev:null,m_next:null,m_shapeList:null,m_shapeCount:0,m_jointList:null,m_contactList:null,m_mass:null,m_invMass:null,m_I:null,m_invI:null,m_linearDamping:null,m_angularDamping:null,m_sleepTime:null,m_userData:null};b2Body.e_staticFlag=1;b2Body.e_frozenFlag=2;b2Body.e_islandFlag=4;b2Body.e_sleepFlag=8;b2Body.e_allowSleepFlag=16;b2Body.e_destroyFlag=32;var b2BodyDef=function(){this.shapes=new Array();this.userData=null;for(var a=0;a<b2Settings.b2_maxShapesPerBody;a++){this.shapes[a]=null}this.position=new b2Vec2(0,0);this.rotation=0;this.linearVelocity=new b2Vec2(0,0);this.angularVelocity=0;this.linearDamping=0;this.angularDamping=0;this.allowSleep=true;this.isSleeping=false;this.preventRotation=false};b2BodyDef.prototype={userData:null,shapes:new Array(),position:null,rotation:null,linearVelocity:null,angularVelocity:null,linearDamping:null,angularDamping:null,allowSleep:null,isSleeping:null,preventRotation:null,AddShape:function(a){for(var b=0;b<b2Settings.b2_maxShapesPerBody;++b){if(this.shapes[b]==null){this.shapes[b]=a;break}}}};var b2CollisionFilter=function(){};b2CollisionFilter.prototype={ShouldCollide:function(b,a){if(b.m_groupIndex==a.m_groupIndex&&b.m_groupIndex!=0){return b.m_groupIndex>0}var c=(b.m_maskBits&a.m_categoryBits)!=0&&(b.m_categoryBits&a.m_maskBits)!=0;return c}};b2CollisionFilter.b2_defaultFilter=new b2CollisionFilter;var b2Island=function(e,d,c,a){var b=0;this.m_bodyCapacity=e;this.m_contactCapacity=d;this.m_jointCapacity=c;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodies=new Array(e);for(b=0;b<e;b++){this.m_bodies[b]=null}this.m_contacts=new Array(d);for(b=0;b<d;b++){this.m_contacts[b]=null}this.m_joints=new Array(c);for(b=0;b<c;b++){this.m_joints[b]=null}this.m_allocator=a};b2Island.prototype={Clear:function(){this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0},Solve:function(c,l){var f=0;var k;for(f=0;f<this.m_bodyCount;++f){k=this.m_bodies[f];if(k.m_invMass==0){continue}k.m_linearVelocity.Add(b2Math.MulFV(c.dt,b2Math.AddVV(l,b2Math.MulFV(k.m_invMass,k.m_force))));k.m_angularVelocity+=c.dt*k.m_invI*k.m_torque;k.m_linearVelocity.Multiply(k.m_linearDamping);k.m_angularVelocity*=k.m_angularDamping;k.m_position0.SetV(k.m_position);k.m_rotation0=k.m_rotation}var d=new b2ContactSolver(this.m_contacts,this.m_contactCount,this.m_allocator);d.PreSolve();for(f=0;f<this.m_jointCount;
++f){this.m_joints[f].PrepareVelocitySolver()}for(f=0;f<c.iterations;++f){d.SolveVelocityConstraints();for(var e=0;e<this.m_jointCount;++e){this.m_joints[e].SolveVelocityConstraints(c)}}for(f=0;f<this.m_bodyCount;++f){k=this.m_bodies[f];if(k.m_invMass==0){continue}k.m_position.x+=c.dt*k.m_linearVelocity.x;k.m_position.y+=c.dt*k.m_linearVelocity.y;k.m_rotation+=c.dt*k.m_angularVelocity;k.m_R.Set(k.m_rotation)}for(f=0;f<this.m_jointCount;++f){this.m_joints[f].PreparePositionSolver()}if(b2World.s_enablePositionCorrection){for(b2Island.m_positionIterationCount=0;b2Island.m_positionIterationCount<c.iterations;++b2Island.m_positionIterationCount){var g=d.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);var h=true;for(f=0;f<this.m_jointCount;++f){var a=this.m_joints[f].SolvePositionConstraints();h=h&&a}if(g&&h){break}}}d.PostSolve();for(f=0;f<this.m_bodyCount;++f){k=this.m_bodies[f];if(k.m_invMass==0){continue}k.m_R.Set(k.m_rotation);k.SynchronizeShapes();k.m_force.Set(0,0);k.m_torque=0
}},UpdateSleep:function(g){var f=0;var a;var e=Number.MAX_VALUE;var d=b2Settings.b2_linearSleepTolerance*b2Settings.b2_linearSleepTolerance;var c=b2Settings.b2_angularSleepTolerance*b2Settings.b2_angularSleepTolerance;for(f=0;f<this.m_bodyCount;++f){a=this.m_bodies[f];if(a.m_invMass==0){continue}if((a.m_flags&b2Body.e_allowSleepFlag)==0){a.m_sleepTime=0;e=0}if((a.m_flags&b2Body.e_allowSleepFlag)==0||a.m_angularVelocity*a.m_angularVelocity>c||b2Math.b2Dot(a.m_linearVelocity,a.m_linearVelocity)>d){a.m_sleepTime=0;e=0}else{a.m_sleepTime+=g;e=b2Math.b2Min(e,a.m_sleepTime)}}if(e>=b2Settings.b2_timeToSleep){for(f=0;f<this.m_bodyCount;++f){a=this.m_bodies[f];a.m_flags|=b2Body.e_sleepFlag}}},AddBody:function(a){this.m_bodies[this.m_bodyCount++]=a},AddContact:function(a){this.m_contacts[this.m_contactCount++]=a},AddJoint:function(a){this.m_joints[this.m_jointCount++]=a},m_allocator:null,m_bodies:null,m_contacts:null,m_joints:null,m_bodyCount:0,m_jointCount:0,m_contactCount:0,m_bodyCapacity:0,m_contactCapacity:0,m_jointCapacity:0,m_positionError:null};
b2Island.m_positionIterationCount=0;var b2TimeStep=function(){};b2TimeStep.prototype={dt:null,inv_dt:null,iterations:0};var b2ContactNode=function(){};b2ContactNode.prototype={other:null,contact:null,prev:null,next:null};var b2Contact=function(b,a){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!b||!a){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=b;this.m_shape2=a;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null};b2Contact.prototype={GetManifolds:function(){return null},GetManifoldCount:function(){return this.m_manifoldCount},GetNext:function(){return this.m_next},GetShape1:function(){return this.m_shape1},GetShape2:function(){return this.m_shape2},Evaluate:function(){},m_flags:0,m_prev:null,m_next:null,m_node1:new b2ContactNode(),m_node2:new b2ContactNode(),m_shape1:null,m_shape2:null,m_manifoldCount:0,m_friction:null,m_restitution:null};
b2Contact.e_islandFlag=1;b2Contact.e_destroyFlag=2;b2Contact.AddType=function(c,d,b,a){b2Contact.s_registers[b][a].createFcn=c;b2Contact.s_registers[b][a].destroyFcn=d;b2Contact.s_registers[b][a].primary=true;if(b!=a){b2Contact.s_registers[a][b].createFcn=c;b2Contact.s_registers[a][b].destroyFcn=d;b2Contact.s_registers[a][b].primary=false}};b2Contact.InitializeRegisters=function(){b2Contact.s_registers=new Array(b2Shape.e_shapeTypeCount);for(var b=0;b<b2Shape.e_shapeTypeCount;b++){b2Contact.s_registers[b]=new Array(b2Shape.e_shapeTypeCount);for(var a=0;a<b2Shape.e_shapeTypeCount;a++){b2Contact.s_registers[b][a]=new b2ContactRegister()}}b2Contact.AddType(b2CircleContact.Create,b2CircleContact.Destroy,b2Shape.e_circleShape,b2Shape.e_circleShape);b2Contact.AddType(b2PolyAndCircleContact.Create,b2PolyAndCircleContact.Destroy,b2Shape.e_polyShape,b2Shape.e_circleShape);b2Contact.AddType(b2PolyContact.Create,b2PolyContact.Destroy,b2Shape.e_polyShape,b2Shape.e_polyShape)};b2Contact.Create=function(k,j,a){if(b2Contact.s_initialized==false){b2Contact.InitializeRegisters();
b2Contact.s_initialized=true}var e=k.m_type;var d=j.m_type;var g=b2Contact.s_registers[e][d].createFcn;if(g){if(b2Contact.s_registers[e][d].primary){return g(k,j,a)}else{var h=g(j,k,a);for(var f=0;f<h.GetManifoldCount();++f){var b=h.GetManifolds()[f];b.normal=b.normal.Negative()}return h}}else{return null}};b2Contact.Destroy=function(a,c){if(a.GetManifoldCount()>0){a.m_shape1.m_body.WakeUp();a.m_shape2.m_body.WakeUp()}var d=a.m_shape1.m_type;var b=a.m_shape2.m_type;var e=b2Contact.s_registers[d][b].destroyFcn;e(a,c)};b2Contact.s_registers=null;b2Contact.s_initialized=false;var b2ContactConstraint=function(){this.normal=new b2Vec2();this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var a=0;a<b2Settings.b2_maxManifoldPoints;a++){this.points[a]=new b2ContactConstraintPoint()}};b2ContactConstraint.prototype={points:null,normal:new b2Vec2(),manifold:null,body1:null,body2:null,friction:null,restitution:null,pointCount:0};var b2ContactConstraintPoint=function(){this.localAnchor1=new b2Vec2();this.localAnchor2=new b2Vec2()};b2ContactConstraintPoint.prototype={localAnchor1:new b2Vec2(),localAnchor2:new b2Vec2(),normalImpulse:null,tangentImpulse:null,positionImpulse:null,normalMass:null,tangentMass:null,separation:null,velocityBias:null};var b2ContactRegister=function(){};b2ContactRegister.prototype={createFcn:null,destroyFcn:null,primary:null};var b2ContactSolver=function(o,p,l){this.m_constraints=new Array();this.m_allocator=l;var U=0;var H;var N;this.m_constraintCount=0;for(U=0;U<p;++U){this.m_constraintCount+=o[U].GetManifoldCount()}for(U=0;U<this.m_constraintCount;U++){this.m_constraints[U]=new b2ContactConstraint()}var L=0;for(U=0;U<p;++U){var n=o[U];var y=n.m_shape1.m_body;var x=n.m_shape2.m_body;var e=n.GetManifoldCount();var K=n.GetManifolds();var w=n.m_friction;var a=n.m_restitution;var u=y.m_linearVelocity.x;var s=y.m_linearVelocity.y;var f=x.m_linearVelocity.x;var d=x.m_linearVelocity.y;var G=y.m_angularVelocity;var F=x.m_angularVelocity;for(var T=0;T<e;++T){var B=K[T];var J=B.normal.x;var I=B.normal.y;var V=this.m_constraints[L];V.body1=y;V.body2=x;V.manifold=B;V.normal.x=J;V.normal.y=I;V.pointCount=B.pointCount;V.friction=w;V.restitution=a;for(var R=0;R<V.pointCount;++R){var z=B.points[R];var b=V.points[R];b.normalImpulse=z.normalImpulse;b.tangentImpulse=z.tangentImpulse;b.separation=z.separation;var S=z.position.x-y.m_position.x;
var Q=z.position.y-y.m_position.y;var D=z.position.x-x.m_position.x;var C=z.position.y-x.m_position.y;H=b.localAnchor1;N=y.m_R;H.x=S*N.col1.x+Q*N.col1.y;H.y=S*N.col2.x+Q*N.col2.y;H=b.localAnchor2;N=x.m_R;H.x=D*N.col1.x+C*N.col1.y;H.y=D*N.col2.x+C*N.col2.y;var m=S*S+Q*Q;var E=D*D+C*C;var r=S*J+Q*I;var q=D*J+C*I;var A=y.m_invMass+x.m_invMass;A+=y.m_invI*(m-r*r)+x.m_invI*(E-q*q);b.normalMass=1/A;var O=I;var M=-J;var v=S*O+Q*M;var t=D*O+C*M;var W=y.m_invMass+x.m_invMass;W+=y.m_invI*(m-v*v)+x.m_invI*(E-t*t);b.tangentMass=1/W;b.velocityBias=0;if(b.separation>0){b.velocityBias=-60*b.separation}var h=f+(-F*C)-u-(-G*Q);var g=d+(F*D)-s-(G*S);var P=V.normal.x*h+V.normal.y*g;if(P<-b2Settings.b2_velocityThreshold){b.velocityBias+=-V.restitution*P}}++L}}};b2ContactSolver.prototype={PreSolve:function(){var b;var A;var r;for(var w=0;w<this.m_constraintCount;++w){var B=this.m_constraints[w];var o=B.body1;var n=B.body2;var t=o.m_invMass;var m=o.m_invI;var s=n.m_invMass;var l=n.m_invI;var e=B.normal.x;var d=B.normal.y;
var k=d;var h=-e;var v=0;var x=0;if(b2World.s_enableWarmStarting){x=B.pointCount;for(v=0;v<x;++v){var a=B.points[v];var q=a.normalImpulse*e+a.tangentImpulse*k;var p=a.normalImpulse*d+a.tangentImpulse*h;r=o.m_R;b=a.localAnchor1;var z=r.col1.x*b.x+r.col2.x*b.y;var y=r.col1.y*b.x+r.col2.y*b.y;r=n.m_R;b=a.localAnchor2;var g=r.col1.x*b.x+r.col2.x*b.y;var f=r.col1.y*b.x+r.col2.y*b.y;o.m_angularVelocity-=m*(z*p-y*q);o.m_linearVelocity.x-=t*q;o.m_linearVelocity.y-=t*p;n.m_angularVelocity+=l*(g*p-f*q);n.m_linearVelocity.x+=s*q;n.m_linearVelocity.y+=s*p;a.positionImpulse=0}}else{x=B.pointCount;for(v=0;v<x;++v){var u=B.points[v];u.normalImpulse=0;u.tangentImpulse=0;u.positionImpulse=0}}}},SolveVelocityConstraints:function(){var D=0;var a;var I;var H;var k;var g;var A;var z;var x;var K;var r;var q;var s;var b;for(var E=0;E<this.m_constraintCount;++E){var J=this.m_constraints[E];var p=J.body1;var o=J.body2;var v=p.m_angularVelocity;var f=p.m_linearVelocity;var y=o.m_angularVelocity;var u=o.m_linearVelocity;
var w=p.m_invMass;var n=p.m_invI;var t=o.m_invMass;var m=o.m_invI;var e=J.normal.x;var d=J.normal.y;var l=d;var h=-e;var G=J.pointCount;for(D=0;D<G;++D){a=J.points[D];s=p.m_R;b=a.localAnchor1;I=s.col1.x*b.x+s.col2.x*b.y;H=s.col1.y*b.x+s.col2.y*b.y;s=o.m_R;b=a.localAnchor2;k=s.col1.x*b.x+s.col2.x*b.y;g=s.col1.y*b.x+s.col2.y*b.y;A=u.x+(-y*g)-f.x-(-v*H);z=u.y+(y*k)-f.y-(v*I);var F=A*e+z*d;x=-a.normalMass*(F-a.velocityBias);K=b2Math.b2Max(a.normalImpulse+x,0);x=K-a.normalImpulse;r=x*e;q=x*d;f.x-=w*r;f.y-=w*q;v-=n*(I*q-H*r);u.x+=t*r;u.y+=t*q;y+=m*(k*q-g*r);a.normalImpulse=K;A=u.x+(-y*g)-f.x-(-v*H);z=u.y+(y*k)-f.y-(v*I);var C=A*l+z*h;x=a.tangentMass*(-C);var B=J.friction*a.normalImpulse;K=b2Math.b2Clamp(a.tangentImpulse+x,-B,B);x=K-a.tangentImpulse;r=x*l;q=x*h;f.x-=w*r;f.y-=w*q;v-=n*(I*q-H*r);u.x+=t*r;u.y+=t*q;y+=m*(k*q-g*r);a.tangentImpulse=K}p.m_angularVelocity=v;o.m_angularVelocity=y}},SolvePositionConstraints:function(w){var x=0;var H;var y;for(var N=0;N<this.m_constraintCount;++N){var Q=this.m_constraints[N];
var s=Q.body1;var r=Q.body2;var f=s.m_position;var a=s.m_rotation;var m=r.m_position;var g=r.m_rotation;var E=s.m_invMass;var p=s.m_invI;var B=r.m_invMass;var o=r.m_invI;var A=Q.normal.x;var z=Q.normal.y;var J=z;var I=-A;var q=Q.pointCount;for(var M=0;M<q;++M){var b=Q.points[M];H=s.m_R;y=b.localAnchor1;var L=H.col1.x*y.x+H.col2.x*y.y;var K=H.col1.y*y.x+H.col2.y*y.y;H=r.m_R;y=b.localAnchor2;var v=H.col1.x*y.x+H.col2.x*y.y;var u=H.col1.y*y.x+H.col2.y*y.y;var e=f.x+L;var d=f.y+K;var F=m.x+v;var D=m.y+u;var P=F-e;var O=D-d;var k=(P*A+O*z)+b.separation;x=b2Math.b2Min(x,k);var h=w*b2Math.b2Clamp(k+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);var t=-b.normalMass*h;var G=b.positionImpulse;b.positionImpulse=b2Math.b2Max(G+t,0);t=b.positionImpulse-G;var n=t*A;var l=t*z;f.x-=E*n;f.y-=E*l;a-=p*(L*l-K*n);s.m_R.Set(a);m.x+=B*n;m.y+=B*l;g+=o*(v*l-u*n);r.m_R.Set(g)}s.m_rotation=a;r.m_rotation=g}return x>=-b2Settings.b2_linearSlop},PostSolve:function(){for(var d=0;d<this.m_constraintCount;
++d){var g=this.m_constraints[d];var a=g.manifold;for(var b=0;b<g.pointCount;++b){var f=a.points[b];var e=g.points[b];f.normalImpulse=e.normalImpulse;f.tangentImpulse=e.tangentImpulse}}},m_allocator:null,m_constraints:new Array(),m_constraintCount:0};var b2CircleContact=function(b,a){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!b||!a){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=b;this.m_shape2=a;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m_manifold=[new b2Manifold()];this.m_manifold[0].pointCount=0;this.m_manifold[0].points[0].normalImpulse=0;this.m_manifold[0].points[0].tangentImpulse=0};Object.extend(b2CircleContact.prototype,b2Contact.prototype);Object.extend(b2CircleContact.prototype,{Evaluate:function(){b2Collision.b2CollideCircle(this.m_manifold[0],this.m_shape1,this.m_shape2,false);if(this.m_manifold[0].pointCount>0){this.m_manifoldCount=1
}else{this.m_manifoldCount=0}},GetManifolds:function(){return this.m_manifold},m_manifold:[new b2Manifold()]});b2CircleContact.Create=function(b,a,c){return new b2CircleContact(b,a)};b2CircleContact.Destroy=function(a,b){};var b2Conservative=function(){};b2Conservative.prototype={};b2Conservative.R1=new b2Mat22();b2Conservative.R2=new b2Mat22();b2Conservative.x1=new b2Vec2();b2Conservative.x2=new b2Vec2();b2Conservative.Conservative=function(k,j){var i=k.GetBody();var h=j.GetBody();var s=i.m_position.x-i.m_position0.x;var q=i.m_position.y-i.m_position0.y;var H=i.m_rotation-i.m_rotation0;var b=h.m_position.x-h.m_position0.x;var a=h.m_position.y-h.m_position0.y;var F=h.m_rotation-h.m_rotation0;var m=k.GetMaxRadius();var l=j.GetMaxRadius();var I=i.m_position0.x;var D=i.m_position0.y;var z=i.m_rotation0;var E=h.m_position0.x;var C=h.m_position0.y;var n=h.m_rotation0;var e=I;var c=D;var J=z;var B=E;var A=C;var G=n;b2Conservative.R1.Set(J);b2Conservative.R2.Set(G);k.QuickSync(p1,b2Conservative.R1);j.QuickSync(p2,b2Conservative.R2);var L=0;var o=10;var u;var t;var y=0;var v=true;for(var w=0;w<o;++w){var r=b2Distance.Distance(b2Conservative.x1,b2Conservative.x2,k,j);if(r<b2Settings.b2_linearSlop){if(w==0){v=false
}else{v=true}break}if(w==0){u=b2Conservative.x2.x-b2Conservative.x1.x;t=b2Conservative.x2.y-b2Conservative.x1.y;var f=Math.sqrt(u*u+t*t);var x=(u*(s-b)+t*(q-a))+Math.abs(H)*m+Math.abs(F)*l;if(Math.abs(x)<Number.MIN_VALUE){v=false;break}y=1/x}var g=r*y;var K=L+g;if(K<0||1<K){v=false;break}if(K<(1+100*Number.MIN_VALUE)*L){v=true;break}L=K;e=I+L*v1.x;c=D+L*v1.y;J=z+L*H;B=E+L*v2.x;A=C+L*v2.y;G=n+L*F;b2Conservative.R1.Set(J);b2Conservative.R2.Set(G);k.QuickSync(p1,b2Conservative.R1);j.QuickSync(p2,b2Conservative.R2)}if(v){u=b2Conservative.x2.x-b2Conservative.x1.x;t=b2Conservative.x2.y-b2Conservative.x1.y;var p=Math.sqrt(u*u+t*t);if(p>FLT_EPSILON){d*=b2_linearSlop/p}if(i.IsStatic()){i.m_position.x=e;i.m_position.y=c}else{i.m_position.x=e-u;i.m_position.y=c-t}i.m_rotation=J;i.m_R.Set(J);i.QuickSyncShapes();if(h.IsStatic()){h.m_position.x=B;h.m_position.y=A}else{h.m_position.x=B+u;h.m_position.y=A+t}h.m_position.x=B+u;h.m_position.y=A+t;h.m_rotation=G;h.m_R.Set(G);h.QuickSyncShapes();return true
}k.QuickSync(i.m_position,i.m_R);j.QuickSync(h.m_position,h.m_R);return false};var b2NullContact=function(b,a){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!b||!a){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=b;this.m_shape2=a;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null};Object.extend(b2NullContact.prototype,b2Contact.prototype);Object.extend(b2NullContact.prototype,{Evaluate:function(){},GetManifolds:function(){return null}});var b2PolyAndCircleContact=function(b,a){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!b||!a){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=b;this.m_shape2=a;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m_manifold=[new b2Manifold()];b2Settings.b2Assert(this.m_shape1.m_type==b2Shape.e_polyShape);b2Settings.b2Assert(this.m_shape2.m_type==b2Shape.e_circleShape);this.m_manifold[0].pointCount=0;this.m_manifold[0].points[0].normalImpulse=0;this.m_manifold[0].points[0].tangentImpulse=0};Object.extend(b2PolyAndCircleContact.prototype,b2Contact.prototype);Object.extend(b2PolyAndCircleContact.prototype,{Evaluate:function(){b2Collision.b2CollidePolyAndCircle(this.m_manifold[0],this.m_shape1,this.m_shape2,false);
if(this.m_manifold[0].pointCount>0){this.m_manifoldCount=1}else{this.m_manifoldCount=0}},GetManifolds:function(){return this.m_manifold},m_manifold:[new b2Manifold()]});b2PolyAndCircleContact.Create=function(b,a,c){return new b2PolyAndCircleContact(b,a)};b2PolyAndCircleContact.Destroy=function(a,b){};var b2PolyContact=function(b,a){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!b||!a){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=b;this.m_shape2=a;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m0=new b2Manifold();this.m_manifold=[new b2Manifold()];this.m_manifold[0].pointCount=0};Object.extend(b2PolyContact.prototype,b2Contact.prototype);Object.extend(b2PolyContact.prototype,{m0:new b2Manifold(),Evaluate:function(){var a=this.m_manifold[0];var b=this.m0.points;for(var d=0;d<a.pointCount;d++){var c=b[d];var o=a.points[d];c.normalImpulse=o.normalImpulse;c.tangentImpulse=o.tangentImpulse;
c.id=o.id.Copy()}this.m0.pointCount=a.pointCount;b2Collision.b2CollidePoly(a,this.m_shape1,this.m_shape2,false);if(a.pointCount>0){var h=[false,false];for(var f=0;f<a.pointCount;++f){var m=a.points[f];m.normalImpulse=0;m.tangentImpulse=0;var l=m.id.key;for(var e=0;e<this.m0.pointCount;++e){if(h[e]==true){continue}var g=this.m0.points[e];var n=g.id;if(n.key==l){h[e]=true;m.normalImpulse=g.normalImpulse;m.tangentImpulse=g.tangentImpulse;break}}}this.m_manifoldCount=1}else{this.m_manifoldCount=0}},GetManifolds:function(){return this.m_manifold},m_manifold:[new b2Manifold()]});b2PolyContact.Create=function(b,a,c){return new b2PolyContact(b,a)};b2PolyContact.Destroy=function(a,b){};var b2ContactManager=function(){this.m_nullContact=new b2NullContact();this.m_world=null;this.m_destroyImmediate=false};Object.extend(b2ContactManager.prototype,b2PairCallback.prototype);Object.extend(b2ContactManager.prototype,{PairAdded:function(f,d){var i=f;var g=d;var a=i.m_body;var h=g.m_body;if(a.IsStatic()&&h.IsStatic()){return this.m_nullContact}if(i.m_body==g.m_body){return this.m_nullContact}if(h.IsConnected(a)){return this.m_nullContact}if(this.m_world.m_filter!=null&&this.m_world.m_filter.ShouldCollide(i,g)==false){return this.m_nullContact}if(h.m_invMass==0){var e=i;i=g;g=e;var c=a;a=h;h=c}var b=b2Contact.Create(i,g,this.m_world.m_blockAllocator);if(b==null){return this.m_nullContact}else{b.m_prev=null;b.m_next=this.m_world.m_contactList;if(this.m_world.m_contactList!=null){this.m_world.m_contactList.m_prev=b}this.m_world.m_contactList=b;this.m_world.m_contactCount++}return b},PairRemoved:function(e,b,a){if(a==null){return}var d=a;if(d!=this.m_nullContact){if(this.m_destroyImmediate==true){this.DestroyContact(d);
d=null}else{d.m_flags|=b2Contact.e_destroyFlag}}},DestroyContact:function(f){if(f.m_prev){f.m_prev.m_next=f.m_next}if(f.m_next){f.m_next.m_prev=f.m_prev}if(f==this.m_world.m_contactList){this.m_world.m_contactList=f.m_next}if(f.GetManifoldCount()>0){var e=f.m_shape1.m_body;var d=f.m_shape2.m_body;var b=f.m_node1;var a=f.m_node2;e.WakeUp();d.WakeUp();if(b.prev){b.prev.next=b.next}if(b.next){b.next.prev=b.prev}if(b==e.m_contactList){e.m_contactList=b.next}b.prev=null;b.next=null;if(a.prev){a.prev.next=a.next}if(a.next){a.next.prev=a.prev}if(a==d.m_contactList){d.m_contactList=a.next}a.prev=null;a.next=null}b2Contact.Destroy(f,this.m_world.m_blockAllocator);--this.m_world.m_contactCount},CleanContactList:function(){var b=this.m_world.m_contactList;while(b!=null){var a=b;b=b.m_next;if(a.m_flags&b2Contact.e_destroyFlag){this.DestroyContact(a);a=null}}},Collide:function(){var f;var e;var d;var a;for(var h=this.m_world.m_contactList;h!=null;h=h.m_next){if(h.m_shape1.m_body.IsSleeping()&&h.m_shape2.m_body.IsSleeping()){continue
}var b=h.GetManifoldCount();h.Evaluate();var g=h.GetManifoldCount();if(b==0&&g>0){f=h.m_shape1.m_body;e=h.m_shape2.m_body;d=h.m_node1;a=h.m_node2;d.contact=h;d.other=e;d.prev=null;d.next=f.m_contactList;if(d.next!=null){d.next.prev=h.m_node1}f.m_contactList=h.m_node1;a.contact=h;a.other=f;a.prev=null;a.next=e.m_contactList;if(a.next!=null){a.next.prev=a}e.m_contactList=a}else{if(b>0&&g==0){f=h.m_shape1.m_body;e=h.m_shape2.m_body;d=h.m_node1;a=h.m_node2;if(d.prev){d.prev.next=d.next}if(d.next){d.next.prev=d.prev}if(d==f.m_contactList){f.m_contactList=d.next}d.prev=null;d.next=null;if(a.prev){a.prev.next=a.next}if(a.next){a.next.prev=a.prev}if(a==e.m_contactList){e.m_contactList=a.next}a.prev=null;a.next=null}}}},m_world:null,m_nullContact:new b2NullContact(),m_destroyImmediate:null});var b2World=function(a,d,c){this.step=new b2TimeStep();this.m_contactManager=new b2ContactManager();this.m_listener=null;this.m_filter=b2CollisionFilter.b2_defaultFilter;this.m_bodyList=null;this.m_contactList=null;this.m_jointList=null;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodyDestroyList=null;this.m_allowSleep=c;this.m_gravity=d;this.m_contactManager.m_world=this;this.m_broadPhase=new b2BroadPhase(a,this.m_contactManager);var b=new b2BodyDef();this.m_groundBody=this.CreateBody(b)};b2World.prototype={SetListener:function(a){this.m_listener=a},SetFilter:function(a){this.m_filter=a},CreateBody:function(c){var a=new b2Body(c,this);a.m_prev=null;a.m_next=this.m_bodyList;if(this.m_bodyList){this.m_bodyList.m_prev=a}this.m_bodyList=a;++this.m_bodyCount;return a},DestroyBody:function(a){if(a.m_flags&b2Body.e_destroyFlag){return}if(a.m_prev){a.m_prev.m_next=a.m_next}if(a.m_next){a.m_next.m_prev=a.m_prev}if(a==this.m_bodyList){this.m_bodyList=a.m_next}a.m_flags|=b2Body.e_destroyFlag;
--this.m_bodyCount;a.m_prev=null;a.m_next=this.m_bodyDestroyList;this.m_bodyDestroyList=a},CleanBodyList:function(){this.m_contactManager.m_destroyImmediate=true;var c=this.m_bodyDestroyList;while(c){var e=c;c=c.m_next;var d=e.m_jointList;while(d){var a=d;d=d.next;if(this.m_listener){this.m_listener.NotifyJointDestroyed(a.joint)}this.DestroyJoint(a.joint)}e.Destroy()}this.m_bodyDestroyList=null;this.m_contactManager.m_destroyImmediate=false},CreateJoint:function(e){var c=b2Joint.Create(e,this.m_blockAllocator);c.m_prev=null;c.m_next=this.m_jointList;if(this.m_jointList){this.m_jointList.m_prev=c}this.m_jointList=c;++this.m_jointCount;c.m_node1.joint=c;c.m_node1.other=c.m_body2;c.m_node1.prev=null;c.m_node1.next=c.m_body1.m_jointList;if(c.m_body1.m_jointList){c.m_body1.m_jointList.prev=c.m_node1}c.m_body1.m_jointList=c.m_node1;c.m_node2.joint=c;c.m_node2.other=c.m_body1;c.m_node2.prev=null;c.m_node2.next=c.m_body2.m_jointList;if(c.m_body2.m_jointList){c.m_body2.m_jointList.prev=c.m_node2
}c.m_body2.m_jointList=c.m_node2;if(e.collideConnected==false){var a=e.body1.m_shapeCount<e.body2.m_shapeCount?e.body1:e.body2;for(var d=a.m_shapeList;d;d=d.m_next){d.ResetProxy(this.m_broadPhase)}}return c},DestroyJoint:function(e){var g=e.m_collideConnected;if(e.m_prev){e.m_prev.m_next=e.m_next}if(e.m_next){e.m_next.m_prev=e.m_prev}if(e==this.m_jointList){this.m_jointList=e.m_next}var d=e.m_body1;var c=e.m_body2;d.WakeUp();c.WakeUp();if(e.m_node1.prev){e.m_node1.prev.next=e.m_node1.next}if(e.m_node1.next){e.m_node1.next.prev=e.m_node1.prev}if(e.m_node1==d.m_jointList){d.m_jointList=e.m_node1.next}e.m_node1.prev=null;e.m_node1.next=null;if(e.m_node2.prev){e.m_node2.prev.next=e.m_node2.next}if(e.m_node2.next){e.m_node2.next.prev=e.m_node2.prev}if(e.m_node2==c.m_jointList){c.m_jointList=e.m_node2.next}e.m_node2.prev=null;e.m_node2.next=null;b2Joint.Destroy(e,this.m_blockAllocator);--this.m_jointCount;if(g==false){var a=d.m_shapeCount<c.m_shapeCount?d:c;for(var f=a.m_shapeList;f;f=f.m_next){f.ResetProxy(this.m_broadPhase)
}}},GetGroundBody:function(){return this.m_groundBody},step:new b2TimeStep(),Step:function(a,d){var r;var o;this.step.dt=a;this.step.iterations=d;if(a>0){this.step.inv_dt=1/a}else{this.step.inv_dt=0}this.m_positionIterationCount=0;this.m_contactManager.CleanContactList();this.CleanBodyList();this.m_contactManager.Collide();var n=new b2Island(this.m_bodyCount,this.m_contactCount,this.m_jointCount,this.m_stackAllocator);for(r=this.m_bodyList;r!=null;r=r.m_next){r.m_flags&=~b2Body.e_islandFlag}for(var p=this.m_contactList;p!=null;p=p.m_next){p.m_flags&=~b2Contact.e_islandFlag}for(var h=this.m_jointList;h!=null;h=h.m_next){h.m_islandFlag=false}var u=this.m_bodyCount;var q=new Array(this.m_bodyCount);for(var g=0;g<this.m_bodyCount;g++){q[g]=null}for(var m=this.m_bodyList;m!=null;m=m.m_next){if(m.m_flags&(b2Body.e_staticFlag|b2Body.e_islandFlag|b2Body.e_sleepFlag|b2Body.e_frozenFlag)){continue}n.Clear();var t=0;q[t++]=m;m.m_flags|=b2Body.e_islandFlag;while(t>0){r=q[--t];n.AddBody(r);r.m_flags&=~b2Body.e_sleepFlag;
if(r.m_flags&b2Body.e_staticFlag){continue}for(var s=r.m_contactList;s!=null;s=s.next){if(s.contact.m_flags&b2Contact.e_islandFlag){continue}n.AddContact(s.contact);s.contact.m_flags|=b2Contact.e_islandFlag;o=s.other;if(o.m_flags&b2Body.e_islandFlag){continue}q[t++]=o;o.m_flags|=b2Body.e_islandFlag}for(var f=r.m_jointList;f!=null;f=f.next){if(f.joint.m_islandFlag==true){continue}n.AddJoint(f.joint);f.joint.m_islandFlag=true;o=f.other;if(o.m_flags&b2Body.e_islandFlag){continue}q[t++]=o;o.m_flags|=b2Body.e_islandFlag}}n.Solve(this.step,this.m_gravity);this.m_positionIterationCount=b2Math.b2Max(this.m_positionIterationCount,b2Island.m_positionIterationCount);if(this.m_allowSleep){n.UpdateSleep(a)}for(var l=0;l<n.m_bodyCount;++l){r=n.m_bodies[l];if(r.m_flags&b2Body.e_staticFlag){r.m_flags&=~b2Body.e_islandFlag}if(r.IsFrozen()&&this.m_listener){var e=this.m_listener.NotifyBoundaryViolated(r);if(e==b2WorldListener.b2_destroyBody){this.DestroyBody(r);r=null;n.m_bodies[l]=null}}}}this.m_broadPhase.Commit()
},Query:function(b,a,f){var d=new Array();var e=this.m_broadPhase.QueryAABB(b,d,f);for(var c=0;c<e;++c){a[c]=d[c]}return e},GetBodyList:function(){return this.m_bodyList},GetJointList:function(){return this.m_jointList},GetContactList:function(){return this.m_contactList},QueryPoint:function(d,b){var a,c;for(a=this.m_bodyList;a;a=a.m_next){for(c=a.GetShapeList();c!=null;c=c.GetNext()){if(c.TestPoint(b)){d(a)}}}},DebugDraw:function(){var b,a;this.ctx.clearRect(0,0,this.ctx.width,this.ctx.height);for(b=world.m_jointList;b;b=b.m_next){this._drawJoint(b)}for(b=world.m_bodyList;b;b=b.m_next){for(a=b.GetShapeList();a!=null;a=a.GetNext()){this._drawShape(a,b.GetMass(),b.IsSleeping())}}},SetDebugDraw:function(a){a=a||{};this.ctx=a.ctx;this.ctx.width=a.width;this.ctx.height=a.height},_drawJoint:function(f){var d=f.m_body1,b=f.m_body2,c=d.m_position,a=b.m_position,g=f.GetAnchor1(),e=f.GetAnchor2();this.ctx.strokeStyle="rgba(230,230,77,.75)";this.ctx.beginPath();switch(f.m_type){case b2Joint.e_distanceJoint:this.ctx.moveTo(g.x,g.y);
this.ctx.lineTo(e.x,e.y);break;case b2Joint.e_pulleyJoint:this.ctx.moveTo(c.x,c.y);this.ctx.lineTo(g.x,g.y);this.ctx.lineTo(e.x,e.y);this.ctx.lineTo(a.x,a.y);break;default:if(d==world.m_groundBody){this.ctx.moveTo(g.x,g.y);this.ctx.lineTo(a.x,a.y)}else{if(b==world.m_groundBody){this.ctx.moveTo(g.x,g.y);this.ctx.lineTo(c.x,c.y)}else{this.ctx.moveTo(c.x,c.y);this.ctx.lineTo(g.x,g.y);this.ctx.lineTo(a.x,a.y);this.ctx.lineTo(e.x,e.y)}}break}this.ctx.stroke()},_drawShape:function(j,l,f){var q="rgba(180,180,180,.75)",c="rgba(180,180,180,.33)",g,o,p,m,b,h,e,n,k,a;if(!l){q="rgba(128,230,128,.75)";c="rgba(128,230,128,.33)"}else{if(f){q="rgba(230,180,180,.75)";c="rgba(230,180,180,.33)"}}this.ctx.strokeStyle=q;this.ctx.fillStyle=c;this.ctx.beginPath();switch(j.m_type){case b2Shape.e_circleShape:m=j.m_position;b=j.m_radius;h=16;e=0;n=2*Math.PI/h;this.ctx.moveTo(m.x+b,m.y);for(g=0;g<h;g++){k=new b2Vec2(b*Math.cos(e),b*Math.sin(e));o=b2Math.AddVV(m,k);this.ctx.lineTo(o.x,o.y);e+=n}this.ctx.lineTo(m.x+b,m.y);
this.ctx.moveTo(m.x,m.y);a=j.m_R.col1;m=new b2Vec2(m.x+b*a.x,m.y+b*a.y);this.ctx.lineTo(m.x,m.y);break;case b2Shape.e_polyShape:p=b2Math.AddVV(j.m_position,b2Math.b2MulMV(j.m_R,j.m_vertices[0]));this.ctx.moveTo(p.x,p.y);for(g=0;g<j.m_vertexCount;g++){o=b2Math.AddVV(j.m_position,b2Math.b2MulMV(j.m_R,j.m_vertices[g]));this.ctx.lineTo(o.x,o.y)}this.ctx.lineTo(p.x,p.y);break}this.ctx.stroke();this.ctx.fill()},m_blockAllocator:null,m_stackAllocator:null,m_broadPhase:null,m_contactManager:new b2ContactManager(),m_bodyList:null,m_contactList:null,m_jointList:null,m_bodyCount:0,m_contactCount:0,m_jointCount:0,m_bodyDestroyList:null,m_gravity:null,m_allowSleep:null,m_groundBody:null,m_listener:null,m_filter:null,m_positionIterationCount:0};b2World.s_enablePositionCorrection=1;b2World.s_enableWarmStarting=1;var b2WorldListener=function(){};b2WorldListener.prototype={NotifyJointDestroyed:function(a){},NotifyBoundaryViolated:function(a){return b2WorldListener.b2_freezeBody}};b2WorldListener.b2_freezeBody=0;b2WorldListener.b2_destroyBody=1;var b2JointNode=function(){};b2JointNode.prototype={other:null,joint:null,prev:null,next:null};var b2Joint=function(a){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData};b2Joint.prototype={GetType:function(){return this.m_type},GetAnchor1:function(){return null},GetAnchor2:function(){return null},GetReactionForce:function(a){return null},GetReactionTorque:function(a){return 0},GetBody1:function(){return this.m_body1},GetBody2:function(){return this.m_body2},GetNext:function(){return this.m_next},GetUserData:function(){return this.m_userData},PrepareVelocitySolver:function(){},SolveVelocityConstraints:function(a){},PreparePositionSolver:function(){},SolvePositionConstraints:function(){return false},m_type:0,m_prev:null,m_next:null,m_node1:new b2JointNode(),m_node2:new b2JointNode(),m_body1:null,m_body2:null,m_islandFlag:null,m_collideConnected:null,m_userData:null};b2Joint.Create=function(b,a){var c=null;
switch(b.type){case b2Joint.e_distanceJoint:c=new b2DistanceJoint(b);break;case b2Joint.e_mouseJoint:c=new b2MouseJoint(b);break;case b2Joint.e_prismaticJoint:c=new b2PrismaticJoint(b);break;case b2Joint.e_revoluteJoint:c=new b2RevoluteJoint(b);break;case b2Joint.e_pulleyJoint:c=new b2PulleyJoint(b);break;case b2Joint.e_gearJoint:c=new b2GearJoint(b);break;default:break}return c};b2Joint.Destroy=function(b,a){};b2Joint.e_unknownJoint=0;b2Joint.e_revoluteJoint=1;b2Joint.e_prismaticJoint=2;b2Joint.e_distanceJoint=3;b2Joint.e_pulleyJoint=4;b2Joint.e_mouseJoint=5;b2Joint.e_gearJoint=6;b2Joint.e_inactiveLimit=0;b2Joint.e_atLowerLimit=1;b2Joint.e_atUpperLimit=2;b2Joint.e_equalLimits=3;var b2JointDef=function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false};b2JointDef.prototype={type:0,userData:null,body1:null,body2:null,collideConnected:null};var b2DistanceJoint=function(c){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=c.type;this.m_prev=null;this.m_next=null;this.m_body1=c.body1;this.m_body2=c.body2;this.m_collideConnected=c.collideConnected;this.m_islandFlag=false;this.m_userData=c.userData;this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_u=new b2Vec2();var b;var a;var d;b=this.m_body1.m_R;a=c.anchorPoint1.x-this.m_body1.m_position.x;d=c.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=a*b.col1.x+d*b.col1.y;this.m_localAnchor1.y=a*b.col2.x+d*b.col2.y;b=this.m_body2.m_R;a=c.anchorPoint2.x-this.m_body2.m_position.x;d=c.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=a*b.col1.x+d*b.col1.y;this.m_localAnchor2.y=a*b.col2.x+d*b.col2.y;a=c.anchorPoint2.x-c.anchorPoint1.x;d=c.anchorPoint2.y-c.anchorPoint1.y;this.m_length=Math.sqrt(a*a+d*d);this.m_impulse=0};Object.extend(b2DistanceJoint.prototype,b2Joint.prototype);Object.extend(b2DistanceJoint.prototype,{PrepareVelocitySolver:function(){var g;
g=this.m_body1.m_R;var j=g.col1.x*this.m_localAnchor1.x+g.col2.x*this.m_localAnchor1.y;var i=g.col1.y*this.m_localAnchor1.x+g.col2.y*this.m_localAnchor1.y;g=this.m_body2.m_R;var f=g.col1.x*this.m_localAnchor2.x+g.col2.x*this.m_localAnchor2.y;var e=g.col1.y*this.m_localAnchor2.x+g.col2.y*this.m_localAnchor2.y;this.m_u.x=this.m_body2.m_position.x+f-this.m_body1.m_position.x-j;this.m_u.y=this.m_body2.m_position.y+e-this.m_body1.m_position.y-i;var a=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);if(a>b2Settings.b2_linearSlop){this.m_u.Multiply(1/a)}else{this.m_u.SetZero()}var h=(j*this.m_u.y-i*this.m_u.x);var d=(f*this.m_u.y-e*this.m_u.x);this.m_mass=this.m_body1.m_invMass+this.m_body1.m_invI*h*h+this.m_body2.m_invMass+this.m_body2.m_invI*d*d;this.m_mass=1/this.m_mass;if(b2World.s_enableWarmStarting){var c=this.m_impulse*this.m_u.x;var b=this.m_impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*c;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*b;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(j*b-i*c);
this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*c;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*b;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(f*b-e*c)}else{this.m_impulse=0}},SolveVelocityConstraints:function(b){var j;j=this.m_body1.m_R;var n=j.col1.x*this.m_localAnchor1.x+j.col2.x*this.m_localAnchor1.y;var m=j.col1.y*this.m_localAnchor1.x+j.col2.y*this.m_localAnchor1.y;j=this.m_body2.m_R;var h=j.col1.x*this.m_localAnchor2.x+j.col2.x*this.m_localAnchor2.y;var g=j.col1.y*this.m_localAnchor2.x+j.col2.y*this.m_localAnchor2.y;var l=this.m_body1.m_linearVelocity.x+(-this.m_body1.m_angularVelocity*m);var k=this.m_body1.m_linearVelocity.y+(this.m_body1.m_angularVelocity*n);var f=this.m_body2.m_linearVelocity.x+(-this.m_body2.m_angularVelocity*g);var e=this.m_body2.m_linearVelocity.y+(this.m_body2.m_angularVelocity*h);var i=(this.m_u.x*(f-l)+this.m_u.y*(e-k));var a=-this.m_mass*i;this.m_impulse+=a;var d=a*this.m_u.x;var c=a*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*d;
this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*c;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(n*c-m*d);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*d;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*c;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(h*c-g*d)},SolvePositionConstraints:function(){var j;j=this.m_body1.m_R;var l=j.col1.x*this.m_localAnchor1.x+j.col2.x*this.m_localAnchor1.y;var k=j.col1.y*this.m_localAnchor1.x+j.col2.y*this.m_localAnchor1.y;j=this.m_body2.m_R;var i=j.col1.x*this.m_localAnchor2.x+j.col2.x*this.m_localAnchor2.y;var h=j.col1.y*this.m_localAnchor2.x+j.col2.y*this.m_localAnchor2.y;var g=this.m_body2.m_position.x+i-this.m_body1.m_position.x-l;var f=this.m_body2.m_position.y+h-this.m_body1.m_position.y-k;var c=Math.sqrt(g*g+f*f);g/=c;f/=c;var a=c-this.m_length;a=b2Math.b2Clamp(a,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var b=-this.m_mass*a;this.m_u.Set(g,f);var e=b*this.m_u.x;var d=b*this.m_u.y;this.m_body1.m_position.x-=this.m_body1.m_invMass*e;
this.m_body1.m_position.y-=this.m_body1.m_invMass*d;this.m_body1.m_rotation-=this.m_body1.m_invI*(l*d-k*e);this.m_body2.m_position.x+=this.m_body2.m_invMass*e;this.m_body2.m_position.y+=this.m_body2.m_invMass*d;this.m_body2.m_rotation+=this.m_body2.m_invI*(i*d-h*e);this.m_body1.m_R.Set(this.m_body1.m_rotation);this.m_body2.m_R.Set(this.m_body2.m_rotation);return b2Math.b2Abs(a)<b2Settings.b2_linearSlop},GetAnchor1:function(){return b2Math.AddVV(this.m_body1.m_position,b2Math.b2MulMV(this.m_body1.m_R,this.m_localAnchor1))},GetAnchor2:function(){return b2Math.AddVV(this.m_body2.m_position,b2Math.b2MulMV(this.m_body2.m_R,this.m_localAnchor2))},GetReactionForce:function(a){var b=new b2Vec2();b.SetV(this.m_u);b.Multiply(this.m_impulse*a);return b},GetReactionTorque:function(a){return 0},m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_u:new b2Vec2(),m_impulse:null,m_mass:null,m_length:null});var b2DistanceJointDef=function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.anchorPoint1=new b2Vec2();this.anchorPoint2=new b2Vec2();this.type=b2Joint.e_distanceJoint};Object.extend(b2DistanceJointDef.prototype,b2JointDef.prototype);Object.extend(b2DistanceJointDef.prototype,{anchorPoint1:new b2Vec2(),anchorPoint2:new b2Vec2(),Initialize:function(d,b,c,a){this.body1=d;this.body2=b;this.anchorPoint1=c;this.anchorPoint2=a}});var b2Jacobian=function(){this.linear1=new b2Vec2();this.linear2=new b2Vec2()};b2Jacobian.prototype={linear1:new b2Vec2(),angular1:null,linear2:new b2Vec2(),angular2:null,SetZero:function(){this.linear1.SetZero();this.angular1=0;this.linear2.SetZero();this.angular2=0},Set:function(d,b,c,a){this.linear1.SetV(d);this.angular1=b;this.linear2.SetV(c);this.angular2=a},Compute:function(d,b,c,a){return(this.linear1.x*d.x+this.linear1.y*d.y)+this.angular1*b+(this.linear2.x*c.x+this.linear2.y*c.y)+this.angular2*a}};var b2GearJoint=function(a){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData;this.m_groundAnchor1=new b2Vec2();this.m_groundAnchor2=new b2Vec2();this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_J=new b2Jacobian();this.m_revolute1=null;this.m_prismatic1=null;this.m_revolute2=null;this.m_prismatic2=null;var c;var b;this.m_ground1=a.joint1.m_body1;this.m_body1=a.joint1.m_body2;if(a.joint1.m_type==b2Joint.e_revoluteJoint){this.m_revolute1=a.joint1;this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);c=this.m_revolute1.GetJointAngle()}else{this.m_prismatic1=a.joint1;this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);c=this.m_prismatic1.GetJointTranslation()
}this.m_ground2=a.joint2.m_body1;this.m_body2=a.joint2.m_body2;if(a.joint2.m_type==b2Joint.e_revoluteJoint){this.m_revolute2=a.joint2;this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);b=this.m_revolute2.GetJointAngle()}else{this.m_prismatic2=a.joint2;this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);b=this.m_prismatic2.GetJointTranslation()}this.m_ratio=a.ratio;this.m_constant=c+this.m_ratio*b;this.m_impulse=0};Object.extend(b2GearJoint.prototype,b2Joint.prototype);Object.extend(b2GearJoint.prototype,{GetAnchor1:function(){var a=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y))},GetAnchor2:function(){var a=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y))
},GetReactionForce:function(a){return new b2Vec2()},GetReactionTorque:function(a){return 0},GetRatio:function(){return this.m_ratio},PrepareVelocitySolver:function(){var a=this.m_ground1;var l=this.m_ground2;var i=this.m_body1;var f=this.m_body2;var j;var g;var c;var b;var d;var k;var h;var e=0;this.m_J.SetZero();if(this.m_revolute1){this.m_J.angular1=-1;e+=i.m_invI}else{d=a.m_R;k=this.m_prismatic1.m_localXAxis1;j=d.col1.x*k.x+d.col2.x*k.y;g=d.col1.y*k.x+d.col2.y*k.y;d=i.m_R;c=d.col1.x*this.m_localAnchor1.x+d.col2.x*this.m_localAnchor1.y;b=d.col1.y*this.m_localAnchor1.x+d.col2.y*this.m_localAnchor1.y;h=c*g-b*j;this.m_J.linear1.Set(-j,-g);this.m_J.angular1=-h;e+=i.m_invMass+i.m_invI*h*h}if(this.m_revolute2){this.m_J.angular2=-this.m_ratio;e+=this.m_ratio*this.m_ratio*f.m_invI}else{d=l.m_R;k=this.m_prismatic2.m_localXAxis1;j=d.col1.x*k.x+d.col2.x*k.y;g=d.col1.y*k.x+d.col2.y*k.y;d=f.m_R;c=d.col1.x*this.m_localAnchor2.x+d.col2.x*this.m_localAnchor2.y;b=d.col1.y*this.m_localAnchor2.x+d.col2.y*this.m_localAnchor2.y;
h=c*g-b*j;this.m_J.linear2.Set(-this.m_ratio*j,-this.m_ratio*g);this.m_J.angular2=-this.m_ratio*h;e+=this.m_ratio*this.m_ratio*(f.m_invMass+f.m_invI*h*h)}this.m_mass=1/e;i.m_linearVelocity.x+=i.m_invMass*this.m_impulse*this.m_J.linear1.x;i.m_linearVelocity.y+=i.m_invMass*this.m_impulse*this.m_J.linear1.y;i.m_angularVelocity+=i.m_invI*this.m_impulse*this.m_J.angular1;f.m_linearVelocity.x+=f.m_invMass*this.m_impulse*this.m_J.linear2.x;f.m_linearVelocity.y+=f.m_invMass*this.m_impulse*this.m_J.linear2.y;f.m_angularVelocity+=f.m_invI*this.m_impulse*this.m_J.angular2},SolveVelocityConstraints:function(c){var b=this.m_body1;var a=this.m_body2;var e=this.m_J.Compute(b.m_linearVelocity,b.m_angularVelocity,a.m_linearVelocity,a.m_angularVelocity);var d=-this.m_mass*e;this.m_impulse+=d;b.m_linearVelocity.x+=b.m_invMass*d*this.m_J.linear1.x;b.m_linearVelocity.y+=b.m_invMass*d*this.m_J.linear1.y;b.m_angularVelocity+=b.m_invI*d*this.m_J.angular1;a.m_linearVelocity.x+=a.m_invMass*d*this.m_J.linear2.x;a.m_linearVelocity.y+=a.m_invMass*d*this.m_J.linear2.y;
a.m_angularVelocity+=a.m_invI*d*this.m_J.angular2},SolvePositionConstraints:function(){var g=0;var b=this.m_body1;var a=this.m_body2;var f;var d;if(this.m_revolute1){f=this.m_revolute1.GetJointAngle()}else{f=this.m_prismatic1.GetJointTranslation()}if(this.m_revolute2){d=this.m_revolute2.GetJointAngle()}else{d=this.m_prismatic2.GetJointTranslation()}var e=this.m_constant-(f+this.m_ratio*d);var c=-this.m_mass*e;b.m_position.x+=b.m_invMass*c*this.m_J.linear1.x;b.m_position.y+=b.m_invMass*c*this.m_J.linear1.y;b.m_rotation+=b.m_invI*c*this.m_J.angular1;a.m_position.x+=a.m_invMass*c*this.m_J.linear2.x;a.m_position.y+=a.m_invMass*c*this.m_J.linear2.y;a.m_rotation+=a.m_invI*c*this.m_J.angular2;b.m_R.Set(b.m_rotation);a.m_R.Set(a.m_rotation);return g<b2Settings.b2_linearSlop},m_ground1:null,m_ground2:null,m_revolute1:null,m_prismatic1:null,m_revolute2:null,m_prismatic2:null,m_groundAnchor1:new b2Vec2(),m_groundAnchor2:new b2Vec2(),m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_J:new b2Jacobian(),m_constant:null,m_ratio:null,m_mass:null,m_impulse:null});var b2GearJointDef=function(){this.type=b2Joint.e_gearJoint;this.joint1=null;this.joint2=null;this.ratio=1};Object.extend(b2GearJointDef.prototype,b2JointDef.prototype);Object.extend(b2GearJointDef.prototype,{joint1:null,joint2:null,ratio:null});var b2MouseJoint=function(e){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=e.type;this.m_prev=null;this.m_next=null;this.m_body1=e.body1;this.m_body2=e.body2;this.m_collideConnected=e.collideConnected;this.m_islandFlag=false;this.m_userData=e.userData;this.K=new b2Mat22();this.K1=new b2Mat22();this.K2=new b2Mat22();this.m_localAnchor=new b2Vec2();this.m_target=new b2Vec2();this.m_impulse=new b2Vec2();this.m_ptpMass=new b2Mat22();this.m_C=new b2Vec2();this.m_target.SetV(e.target);var a=this.m_target.x-this.m_body2.m_position.x;var h=this.m_target.y-this.m_body2.m_position.y;this.m_localAnchor.x=(a*this.m_body2.m_R.col1.x+h*this.m_body2.m_R.col1.y);this.m_localAnchor.y=(a*this.m_body2.m_R.col2.x+h*this.m_body2.m_R.col2.y);this.m_maxForce=e.maxForce;this.m_impulse.SetZero();var c=this.m_body2.m_mass;var g=2*b2Settings.b2_pi*e.frequencyHz;var f=2*c*e.dampingRatio*g;var b=c*g*g;this.m_gamma=1/(f+e.timeStep*b);this.m_beta=e.timeStep*b/(f+e.timeStep*b)};Object.extend(b2MouseJoint.prototype,b2Joint.prototype);
Object.extend(b2MouseJoint.prototype,{GetAnchor1:function(){return this.m_target},GetAnchor2:function(){var a=b2Math.b2MulMV(this.m_body2.m_R,this.m_localAnchor);a.Add(this.m_body2.m_position);return a},GetReactionForce:function(a){var b=new b2Vec2();b.SetV(this.m_impulse);b.Multiply(a);return b},GetReactionTorque:function(a){return 0},SetTarget:function(a){this.m_body2.WakeUp();this.m_target=a},K:new b2Mat22(),K1:new b2Mat22(),K2:new b2Mat22(),PrepareVelocitySolver:function(){var a=this.m_body2;var e;e=a.m_R;var i=e.col1.x*this.m_localAnchor.x+e.col2.x*this.m_localAnchor.y;var h=e.col1.y*this.m_localAnchor.x+e.col2.y*this.m_localAnchor.y;var g=a.m_invMass;var c=a.m_invI;this.K1.col1.x=g;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=g;this.K2.col1.x=c*h*h;this.K2.col2.x=-c*i*h;this.K2.col1.y=-c*i*h;this.K2.col2.y=c*i*i;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.col1.x+=this.m_gamma;this.K.col2.y+=this.m_gamma;this.K.Invert(this.m_ptpMass);this.m_C.x=a.m_position.x+i-this.m_target.x;
this.m_C.y=a.m_position.y+h-this.m_target.y;a.m_angularVelocity*=0.98;var f=this.m_impulse.x;var d=this.m_impulse.y;a.m_linearVelocity.x+=g*f;a.m_linearVelocity.y+=g*d;a.m_angularVelocity+=c*(i*d-h*f)},SolveVelocityConstraints:function(d){var i=this.m_body2;var k;k=i.m_R;var h=k.col1.x*this.m_localAnchor.x+k.col2.x*this.m_localAnchor.y;var f=k.col1.y*this.m_localAnchor.x+k.col2.y*this.m_localAnchor.y;var a=i.m_linearVelocity.x+(-i.m_angularVelocity*f);var n=i.m_linearVelocity.y+(i.m_angularVelocity*h);k=this.m_ptpMass;var m=a+(this.m_beta*d.inv_dt)*this.m_C.x+this.m_gamma*this.m_impulse.x;var l=n+(this.m_beta*d.inv_dt)*this.m_C.y+this.m_gamma*this.m_impulse.y;var e=-(k.col1.x*m+k.col2.x*l);var c=-(k.col1.y*m+k.col2.y*l);var j=this.m_impulse.x;var g=this.m_impulse.y;this.m_impulse.x+=e;this.m_impulse.y+=c;var b=this.m_impulse.Length();if(b>d.dt*this.m_maxForce){this.m_impulse.Multiply(d.dt*this.m_maxForce/b)}e=this.m_impulse.x-j;c=this.m_impulse.y-g;i.m_linearVelocity.x+=i.m_invMass*e;i.m_linearVelocity.y+=i.m_invMass*c;
i.m_angularVelocity+=i.m_invI*(h*c-f*e)},SolvePositionConstraints:function(){return true},m_localAnchor:new b2Vec2(),m_target:new b2Vec2(),m_impulse:new b2Vec2(),m_ptpMass:new b2Mat22(),m_C:new b2Vec2(),m_maxForce:null,m_beta:null,m_gamma:null});var b2MouseJointDef=function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.target=new b2Vec2();this.type=b2Joint.e_mouseJoint;this.maxForce=0;this.frequencyHz=5;this.dampingRatio=0.7;this.timeStep=1/60};Object.extend(b2MouseJointDef.prototype,b2JointDef.prototype);Object.extend(b2MouseJointDef.prototype,{target:new b2Vec2(),maxForce:null,frequencyHz:null,dampingRatio:null,timeStep:null});var b2PrismaticJoint=function(c){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=c.type;this.m_prev=null;this.m_next=null;this.m_body1=c.body1;this.m_body2=c.body2;this.m_collideConnected=c.collideConnected;this.m_islandFlag=false;this.m_userData=c.userData;this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_localXAxis1=new b2Vec2();this.m_localYAxis1=new b2Vec2();this.m_linearJacobian=new b2Jacobian();this.m_motorJacobian=new b2Jacobian();var b;var a;var d;b=this.m_body1.m_R;a=(c.anchorPoint.x-this.m_body1.m_position.x);d=(c.anchorPoint.y-this.m_body1.m_position.y);this.m_localAnchor1.Set((a*b.col1.x+d*b.col1.y),(a*b.col2.x+d*b.col2.y));b=this.m_body2.m_R;a=(c.anchorPoint.x-this.m_body2.m_position.x);d=(c.anchorPoint.y-this.m_body2.m_position.y);this.m_localAnchor2.Set((a*b.col1.x+d*b.col1.y),(a*b.col2.x+d*b.col2.y));b=this.m_body1.m_R;a=c.axis.x;d=c.axis.y;this.m_localXAxis1.Set((a*b.col1.x+d*b.col1.y),(a*b.col2.x+d*b.col2.y));this.m_localYAxis1.x=-this.m_localXAxis1.y;
this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_initialAngle=this.m_body2.m_rotation-this.m_body1.m_rotation;this.m_linearJacobian.SetZero();this.m_linearMass=0;this.m_linearImpulse=0;this.m_angularMass=0;this.m_angularImpulse=0;this.m_motorJacobian.SetZero();this.m_motorMass=0;this.m_motorImpulse=0;this.m_limitImpulse=0;this.m_limitPositionImpulse=0;this.m_lowerTranslation=c.lowerTranslation;this.m_upperTranslation=c.upperTranslation;this.m_maxMotorForce=c.motorForce;this.m_motorSpeed=c.motorSpeed;this.m_enableLimit=c.enableLimit;this.m_enableMotor=c.enableMotor};Object.extend(b2PrismaticJoint.prototype,b2Joint.prototype);Object.extend(b2PrismaticJoint.prototype,{GetAnchor1:function(){var a=this.m_body1;var b=new b2Vec2();b.SetV(this.m_localAnchor1);b.MulM(a.m_R);b.Add(a.m_position);return b},GetAnchor2:function(){var a=this.m_body2;var b=new b2Vec2();b.SetV(this.m_localAnchor2);b.MulM(a.m_R);b.Add(a.m_position);return b},GetJointTranslation:function(){var l=this.m_body1;var k=this.m_body2;
var j;j=l.m_R;var p=j.col1.x*this.m_localAnchor1.x+j.col2.x*this.m_localAnchor1.y;var n=j.col1.y*this.m_localAnchor1.x+j.col2.y*this.m_localAnchor1.y;j=k.m_R;var i=j.col1.x*this.m_localAnchor2.x+j.col2.x*this.m_localAnchor2.y;var h=j.col1.y*this.m_localAnchor2.x+j.col2.y*this.m_localAnchor2.y;var g=l.m_position.x+p;var f=l.m_position.y+n;var c=k.m_position.x+i;var b=k.m_position.y+h;var e=c-g;var d=b-f;j=l.m_R;var o=j.col1.x*this.m_localXAxis1.x+j.col2.x*this.m_localXAxis1.y;var m=j.col1.y*this.m_localXAxis1.x+j.col2.y*this.m_localXAxis1.y;var a=o*e+m*d;return a},GetJointSpeed:function(){var j=this.m_body1;var i=this.m_body2;var k;k=j.m_R;var t=k.col1.x*this.m_localAnchor1.x+k.col2.x*this.m_localAnchor1.y;var s=k.col1.y*this.m_localAnchor1.x+k.col2.y*this.m_localAnchor1.y;k=i.m_R;var h=k.col1.x*this.m_localAnchor2.x+k.col2.x*this.m_localAnchor2.y;var g=k.col1.y*this.m_localAnchor2.x+k.col2.y*this.m_localAnchor2.y;var r=j.m_position.x+t;var p=j.m_position.y+s;var c=i.m_position.x+h;var a=i.m_position.y+g;
var f=c-r;var e=a-p;k=j.m_R;var o=k.col1.x*this.m_localXAxis1.x+k.col2.x*this.m_localXAxis1.y;var n=k.col1.y*this.m_localXAxis1.x+k.col2.y*this.m_localXAxis1.y;var d=j.m_linearVelocity;var b=i.m_linearVelocity;var m=j.m_angularVelocity;var l=i.m_angularVelocity;var q=(f*(-m*n)+e*(m*o))+(o*(((b.x+(-l*g))-d.x)-(-m*s))+n*(((b.y+(l*h))-d.y)-(m*t)));return q},GetMotorForce:function(a){return a*this.m_motorImpulse},SetMotorSpeed:function(a){this.m_motorSpeed=a},SetMotorForce:function(a){this.m_maxMotorForce=a},GetReactionForce:function(b){var e=b*this.m_limitImpulse;var d;d=this.m_body1.m_R;var g=e*(d.col1.x*this.m_localXAxis1.x+d.col2.x*this.m_localXAxis1.y);var f=e*(d.col1.y*this.m_localXAxis1.x+d.col2.y*this.m_localXAxis1.y);var c=e*(d.col1.x*this.m_localYAxis1.x+d.col2.x*this.m_localYAxis1.y);var a=e*(d.col1.y*this.m_localYAxis1.x+d.col2.y*this.m_localYAxis1.y);return new b2Vec2(g+c,f+a)},GetReactionTorque:function(a){return a*this.m_angularImpulse},PrepareVelocitySolver:function(){var m=this.m_body1;
var l=this.m_body2;var p;p=m.m_R;var z=p.col1.x*this.m_localAnchor1.x+p.col2.x*this.m_localAnchor1.y;var y=p.col1.y*this.m_localAnchor1.x+p.col2.y*this.m_localAnchor1.y;p=l.m_R;var i=p.col1.x*this.m_localAnchor2.x+p.col2.x*this.m_localAnchor2.y;var g=p.col1.y*this.m_localAnchor2.x+p.col2.y*this.m_localAnchor2.y;var s=m.m_invMass;var r=l.m_invMass;var k=m.m_invI;var j=l.m_invI;p=m.m_R;var h=p.col1.x*this.m_localYAxis1.x+p.col2.x*this.m_localYAxis1.y;var f=p.col1.y*this.m_localYAxis1.x+p.col2.y*this.m_localYAxis1.y;var t=l.m_position.x+i-m.m_position.x;var q=l.m_position.y+g-m.m_position.y;this.m_linearJacobian.linear1.x=-h;this.m_linearJacobian.linear1.y=-f;this.m_linearJacobian.linear2.x=h;this.m_linearJacobian.linear2.y=f;this.m_linearJacobian.angular1=-(t*f-q*h);this.m_linearJacobian.angular2=i*f-g*h;this.m_linearMass=s+k*this.m_linearJacobian.angular1*this.m_linearJacobian.angular1+r+j*this.m_linearJacobian.angular2*this.m_linearJacobian.angular2;this.m_linearMass=1/this.m_linearMass;
this.m_angularMass=1/(k+j);if(this.m_enableLimit||this.m_enableMotor){p=m.m_R;var v=p.col1.x*this.m_localXAxis1.x+p.col2.x*this.m_localXAxis1.y;var u=p.col1.y*this.m_localXAxis1.x+p.col2.y*this.m_localXAxis1.y;this.m_motorJacobian.linear1.x=-v;this.m_motorJacobian.linear1.y=-u;this.m_motorJacobian.linear2.x=v;this.m_motorJacobian.linear2.y=u;this.m_motorJacobian.angular1=-(t*u-q*v);this.m_motorJacobian.angular2=i*u-g*v;this.m_motorMass=s+k*this.m_motorJacobian.angular1*this.m_motorJacobian.angular1+r+j*this.m_motorJacobian.angular2*this.m_motorJacobian.angular2;this.m_motorMass=1/this.m_motorMass;if(this.m_enableLimit){var e=t-z;var d=q-y;var c=v*e+u*d;if(b2Math.b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*b2Settings.b2_linearSlop){this.m_limitState=b2Joint.e_equalLimits}else{if(c<=this.m_lowerTranslation){if(this.m_limitState!=b2Joint.e_atLowerLimit){this.m_limitImpulse=0}this.m_limitState=b2Joint.e_atLowerLimit}else{if(c>=this.m_upperTranslation){if(this.m_limitState!=b2Joint.e_atUpperLimit){this.m_limitImpulse=0
}this.m_limitState=b2Joint.e_atUpperLimit}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0}}}}}if(this.m_enableMotor==false){this.m_motorImpulse=0}if(this.m_enableLimit==false){this.m_limitImpulse=0}if(b2World.s_enableWarmStarting){var b=this.m_linearImpulse*this.m_linearJacobian.linear1.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.x;var a=this.m_linearImpulse*this.m_linearJacobian.linear1.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.y;var o=this.m_linearImpulse*this.m_linearJacobian.linear2.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.x;var n=this.m_linearImpulse*this.m_linearJacobian.linear2.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.y;var x=this.m_linearImpulse*this.m_linearJacobian.angular1-this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular1;var w=this.m_linearImpulse*this.m_linearJacobian.angular2+this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular2;
m.m_linearVelocity.x+=s*b;m.m_linearVelocity.y+=s*a;m.m_angularVelocity+=k*x;l.m_linearVelocity.x+=r*o;l.m_linearVelocity.y+=r*n;l.m_angularVelocity+=j*w}else{this.m_linearImpulse=0;this.m_angularImpulse=0;this.m_limitImpulse=0;this.m_motorImpulse=0}this.m_limitPositionImpulse=0},SolveVelocityConstraints:function(b){var l=this.m_body1;var k=this.m_body2;var q=l.m_invMass;var o=k.m_invMass;var d=l.m_invI;var c=k.m_invI;var p;var e=this.m_linearJacobian.Compute(l.m_linearVelocity,l.m_angularVelocity,k.m_linearVelocity,k.m_angularVelocity);var j=-this.m_linearMass*e;this.m_linearImpulse+=j;l.m_linearVelocity.x+=(q*j)*this.m_linearJacobian.linear1.x;l.m_linearVelocity.y+=(q*j)*this.m_linearJacobian.linear1.y;l.m_angularVelocity+=d*j*this.m_linearJacobian.angular1;k.m_linearVelocity.x+=(o*j)*this.m_linearJacobian.linear2.x;k.m_linearVelocity.y+=(o*j)*this.m_linearJacobian.linear2.y;k.m_angularVelocity+=c*j*this.m_linearJacobian.angular2;var h=k.m_angularVelocity-l.m_angularVelocity;var a=-this.m_angularMass*h;
this.m_angularImpulse+=a;l.m_angularVelocity-=d*a;k.m_angularVelocity+=c*a;if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits){var m=this.m_motorJacobian.Compute(l.m_linearVelocity,l.m_angularVelocity,k.m_linearVelocity,k.m_angularVelocity)-this.m_motorSpeed;var f=-this.m_motorMass*m;var n=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+f,-b.dt*this.m_maxMotorForce,b.dt*this.m_maxMotorForce);f=this.m_motorImpulse-n;l.m_linearVelocity.x+=(q*f)*this.m_motorJacobian.linear1.x;l.m_linearVelocity.y+=(q*f)*this.m_motorJacobian.linear1.y;l.m_angularVelocity+=d*f*this.m_motorJacobian.angular1;k.m_linearVelocity.x+=(o*f)*this.m_motorJacobian.linear2.x;k.m_linearVelocity.y+=(o*f)*this.m_motorJacobian.linear2.y;k.m_angularVelocity+=c*f*this.m_motorJacobian.angular2}if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){var i=this.m_motorJacobian.Compute(l.m_linearVelocity,l.m_angularVelocity,k.m_linearVelocity,k.m_angularVelocity);var g=-this.m_motorMass*i;
if(this.m_limitState==b2Joint.e_equalLimits){this.m_limitImpulse+=g}else{if(this.m_limitState==b2Joint.e_atLowerLimit){p=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+g,0);g=this.m_limitImpulse-p}else{if(this.m_limitState==b2Joint.e_atUpperLimit){p=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+g,0);g=this.m_limitImpulse-p}}}l.m_linearVelocity.x+=(q*g)*this.m_motorJacobian.linear1.x;l.m_linearVelocity.y+=(q*g)*this.m_motorJacobian.linear1.y;l.m_angularVelocity+=d*g*this.m_motorJacobian.angular1;k.m_linearVelocity.x+=(o*g)*this.m_motorJacobian.linear2.x;k.m_linearVelocity.y+=(o*g)*this.m_motorJacobian.linear2.y;k.m_angularVelocity+=c*g*this.m_motorJacobian.angular2}},SolvePositionConstraints:function(){var o;var y;var m=this.m_body1;var k=this.m_body2;var t=m.m_invMass;var s=k.m_invMass;var j=m.m_invI;var i=k.m_invI;var q;q=m.m_R;var E=q.col1.x*this.m_localAnchor1.x+q.col2.x*this.m_localAnchor1.y;var D=q.col1.y*this.m_localAnchor1.x+q.col2.y*this.m_localAnchor1.y;
q=k.m_R;var h=q.col1.x*this.m_localAnchor2.x+q.col2.x*this.m_localAnchor2.y;var g=q.col1.y*this.m_localAnchor2.x+q.col2.y*this.m_localAnchor2.y;var B=m.m_position.x+E;var z=m.m_position.y+D;var b=k.m_position.x+h;var a=k.m_position.y+g;var e=b-B;var c=a-z;q=m.m_R;var f=q.col1.x*this.m_localYAxis1.x+q.col2.x*this.m_localYAxis1.y;var d=q.col1.y*this.m_localYAxis1.x+q.col2.y*this.m_localYAxis1.y;var l=f*e+d*c;l=b2Math.b2Clamp(l,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var x=-this.m_linearMass*l;m.m_position.x+=(t*x)*this.m_linearJacobian.linear1.x;m.m_position.y+=(t*x)*this.m_linearJacobian.linear1.y;m.m_rotation+=j*x*this.m_linearJacobian.angular1;k.m_position.x+=(s*x)*this.m_linearJacobian.linear2.x;k.m_position.y+=(s*x)*this.m_linearJacobian.linear2.y;k.m_rotation+=i*x*this.m_linearJacobian.angular2;var p=b2Math.b2Abs(l);var A=k.m_rotation-m.m_rotation-this.m_initialAngle;A=b2Math.b2Clamp(A,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);
var r=-this.m_angularMass*A;m.m_rotation-=m.m_invI*r;m.m_R.Set(m.m_rotation);k.m_rotation+=k.m_invI*r;k.m_R.Set(k.m_rotation);var C=b2Math.b2Abs(A);if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){q=m.m_R;E=q.col1.x*this.m_localAnchor1.x+q.col2.x*this.m_localAnchor1.y;D=q.col1.y*this.m_localAnchor1.x+q.col2.y*this.m_localAnchor1.y;q=k.m_R;h=q.col1.x*this.m_localAnchor2.x+q.col2.x*this.m_localAnchor2.y;g=q.col1.y*this.m_localAnchor2.x+q.col2.y*this.m_localAnchor2.y;B=m.m_position.x+E;z=m.m_position.y+D;b=k.m_position.x+h;a=k.m_position.y+g;e=b-B;c=a-z;q=m.m_R;var v=q.col1.x*this.m_localXAxis1.x+q.col2.x*this.m_localXAxis1.y;var u=q.col1.y*this.m_localXAxis1.x+q.col2.y*this.m_localXAxis1.y;var n=(v*e+u*c);var w=0;if(this.m_limitState==b2Joint.e_equalLimits){o=b2Math.b2Clamp(n,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);w=-this.m_motorMass*o;p=b2Math.b2Max(p,b2Math.b2Abs(A))}else{if(this.m_limitState==b2Joint.e_atLowerLimit){o=n-this.m_lowerTranslation;
p=b2Math.b2Max(p,-o);o=b2Math.b2Clamp(o+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);w=-this.m_motorMass*o;y=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+w,0);w=this.m_limitPositionImpulse-y}else{if(this.m_limitState==b2Joint.e_atUpperLimit){o=n-this.m_upperTranslation;p=b2Math.b2Max(p,o);o=b2Math.b2Clamp(o-b2Settings.b2_linearSlop,0,b2Settings.b2_maxLinearCorrection);w=-this.m_motorMass*o;y=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+w,0);w=this.m_limitPositionImpulse-y}}}m.m_position.x+=(t*w)*this.m_motorJacobian.linear1.x;m.m_position.y+=(t*w)*this.m_motorJacobian.linear1.y;m.m_rotation+=j*w*this.m_motorJacobian.angular1;m.m_R.Set(m.m_rotation);k.m_position.x+=(s*w)*this.m_motorJacobian.linear2.x;k.m_position.y+=(s*w)*this.m_motorJacobian.linear2.y;k.m_rotation+=i*w*this.m_motorJacobian.angular2;k.m_R.Set(k.m_rotation)}return p<=b2Settings.b2_linearSlop&&C<=b2Settings.b2_angularSlop
},m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_localXAxis1:new b2Vec2(),m_localYAxis1:new b2Vec2(),m_initialAngle:null,m_linearJacobian:new b2Jacobian(),m_linearMass:null,m_linearImpulse:null,m_angularMass:null,m_angularImpulse:null,m_motorJacobian:new b2Jacobian(),m_motorMass:null,m_motorImpulse:null,m_limitImpulse:null,m_limitPositionImpulse:null,m_lowerTranslation:null,m_upperTranslation:null,m_maxMotorForce:null,m_motorSpeed:null,m_enableLimit:null,m_enableMotor:null,m_limitState:0});var b2PrismaticJointDef=function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.type=b2Joint.e_prismaticJoint;this.anchorPoint=new b2Vec2(0,0);this.axis=new b2Vec2(0,0);this.lowerTranslation=0;this.upperTranslation=0;this.motorForce=0;this.motorSpeed=0;this.enableLimit=false;this.enableMotor=false};Object.extend(b2PrismaticJointDef.prototype,b2JointDef.prototype);Object.extend(b2PrismaticJointDef.prototype,{anchorPoint:null,axis:null,lowerTranslation:null,upperTranslation:null,motorForce:null,motorSpeed:null,enableLimit:null,enableMotor:null,Initialize:function(b,a,d,c){this.body1=b;this.body2=a;this.anchorPoint=d;this.axis=c}});var b2PulleyJoint=function(d){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=d.type;this.m_prev=null;this.m_next=null;this.m_body1=d.body1;this.m_body2=d.body2;this.m_collideConnected=d.collideConnected;this.m_islandFlag=false;this.m_userData=d.userData;this.m_groundAnchor1=new b2Vec2();this.m_groundAnchor2=new b2Vec2();this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_u1=new b2Vec2();this.m_u2=new b2Vec2();var b;var a;var h;this.m_ground=this.m_body1.m_world.m_groundBody;this.m_groundAnchor1.x=d.groundPoint1.x-this.m_ground.m_position.x;this.m_groundAnchor1.y=d.groundPoint1.y-this.m_ground.m_position.y;this.m_groundAnchor2.x=d.groundPoint2.x-this.m_ground.m_position.x;this.m_groundAnchor2.y=d.groundPoint2.y-this.m_ground.m_position.y;b=this.m_body1.m_R;a=d.anchorPoint1.x-this.m_body1.m_position.x;h=d.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=a*b.col1.x+h*b.col1.y;this.m_localAnchor1.y=a*b.col2.x+h*b.col2.y;b=this.m_body2.m_R;
a=d.anchorPoint2.x-this.m_body2.m_position.x;h=d.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=a*b.col1.x+h*b.col1.y;this.m_localAnchor2.y=a*b.col2.x+h*b.col2.y;this.m_ratio=d.ratio;a=d.groundPoint1.x-d.anchorPoint1.x;h=d.groundPoint1.y-d.anchorPoint1.y;var f=Math.sqrt(a*a+h*h);a=d.groundPoint2.x-d.anchorPoint2.x;h=d.groundPoint2.y-d.anchorPoint2.y;var c=Math.sqrt(a*a+h*h);var g=b2Math.b2Max(0.5*b2PulleyJoint.b2_minPulleyLength,f);var e=b2Math.b2Max(0.5*b2PulleyJoint.b2_minPulleyLength,c);this.m_constant=g+this.m_ratio*e;this.m_maxLength1=b2Math.b2Clamp(d.maxLength1,g,this.m_constant-this.m_ratio*b2PulleyJoint.b2_minPulleyLength);this.m_maxLength2=b2Math.b2Clamp(d.maxLength2,e,(this.m_constant-b2PulleyJoint.b2_minPulleyLength)/this.m_ratio);this.m_pulleyImpulse=0;this.m_limitImpulse1=0;this.m_limitImpulse2=0};Object.extend(b2PulleyJoint.prototype,b2Joint.prototype);Object.extend(b2PulleyJoint.prototype,{GetAnchor1:function(){var a=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y))
},GetAnchor2:function(){var a=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y))},GetGroundPoint1:function(){return new b2Vec2(this.m_ground.m_position.x+this.m_groundAnchor1.x,this.m_ground.m_position.y+this.m_groundAnchor1.y)},GetGroundPoint2:function(){return new b2Vec2(this.m_ground.m_position.x+this.m_groundAnchor2.x,this.m_ground.m_position.y+this.m_groundAnchor2.y)},GetReactionForce:function(a){return new b2Vec2()},GetReactionTorque:function(a){return 0},GetLength1:function(){var e;e=this.m_body1.m_R;var d=this.m_body1.m_position.x+(e.col1.x*this.m_localAnchor1.x+e.col2.x*this.m_localAnchor1.y);var c=this.m_body1.m_position.y+(e.col1.y*this.m_localAnchor1.x+e.col2.y*this.m_localAnchor1.y);var b=d-(this.m_ground.m_position.x+this.m_groundAnchor1.x);var a=c-(this.m_ground.m_position.y+this.m_groundAnchor1.y);return Math.sqrt(b*b+a*a)
},GetLength2:function(){var e;e=this.m_body2.m_R;var d=this.m_body2.m_position.x+(e.col1.x*this.m_localAnchor2.x+e.col2.x*this.m_localAnchor2.y);var c=this.m_body2.m_position.y+(e.col1.y*this.m_localAnchor2.x+e.col2.y*this.m_localAnchor2.y);var b=d-(this.m_ground.m_position.x+this.m_groundAnchor2.x);var a=c-(this.m_ground.m_position.y+this.m_groundAnchor2.y);return Math.sqrt(b*b+a*a)},GetRatio:function(){return this.m_ratio},PrepareVelocitySolver:function(){var h=this.m_body1;var g=this.m_body2;var l;l=h.m_R;var v=l.col1.x*this.m_localAnchor1.x+l.col2.x*this.m_localAnchor1.y;var u=l.col1.y*this.m_localAnchor1.x+l.col2.y*this.m_localAnchor1.y;l=g.m_R;var f=l.col1.x*this.m_localAnchor2.x+l.col2.x*this.m_localAnchor2.y;var e=l.col1.y*this.m_localAnchor2.x+l.col2.y*this.m_localAnchor2.y;var t=h.m_position.x+v;var r=h.m_position.y+u;var d=g.m_position.x+f;var c=g.m_position.y+e;var m=this.m_ground.m_position.x+this.m_groundAnchor1.x;var k=this.m_ground.m_position.y+this.m_groundAnchor1.y;var s=this.m_ground.m_position.x+this.m_groundAnchor2.x;
var q=this.m_ground.m_position.y+this.m_groundAnchor2.y;this.m_u1.Set(t-m,r-k);this.m_u2.Set(d-s,c-q);var p=this.m_u1.Length();var o=this.m_u2.Length();if(p>b2Settings.b2_linearSlop){this.m_u1.Multiply(1/p)}else{this.m_u1.SetZero()}if(o>b2Settings.b2_linearSlop){this.m_u2.Multiply(1/o)}else{this.m_u2.SetZero()}if(p<this.m_maxLength1){this.m_limitState1=b2Joint.e_inactiveLimit;this.m_limitImpulse1=0}else{this.m_limitState1=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse1=0}if(o<this.m_maxLength2){this.m_limitState2=b2Joint.e_inactiveLimit;this.m_limitImpulse2=0}else{this.m_limitState2=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse2=0}var w=v*this.m_u1.y-u*this.m_u1.x;var n=f*this.m_u2.y-e*this.m_u2.x;this.m_limitMass1=h.m_invMass+h.m_invI*w*w;this.m_limitMass2=g.m_invMass+g.m_invI*n*n;this.m_pulleyMass=this.m_limitMass1+this.m_ratio*this.m_ratio*this.m_limitMass2;this.m_limitMass1=1/this.m_limitMass1;this.m_limitMass2=1/this.m_limitMass2;this.m_pulleyMass=1/this.m_pulleyMass;var b=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.x;
var a=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.y;var j=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.x;var i=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.y;h.m_linearVelocity.x+=h.m_invMass*b;h.m_linearVelocity.y+=h.m_invMass*a;h.m_angularVelocity+=h.m_invI*(v*a-u*b);g.m_linearVelocity.x+=g.m_invMass*j;g.m_linearVelocity.y+=g.m_invMass*i;g.m_angularVelocity+=g.m_invI*(f*i-e*j)},SolveVelocityConstraints:function(h){var i=this.m_body1;var g=this.m_body2;var n;n=i.m_R;var s=n.col1.x*this.m_localAnchor1.x+n.col2.x*this.m_localAnchor1.y;var r=n.col1.y*this.m_localAnchor1.x+n.col2.y*this.m_localAnchor1.y;n=g.m_R;var f=n.col1.x*this.m_localAnchor2.x+n.col2.x*this.m_localAnchor2.y;var e=n.col1.y*this.m_localAnchor2.x+n.col2.y*this.m_localAnchor2.y;var d;var b;var o;var l;var c;var a;var m;var k;var p;var j;var q;d=i.m_linearVelocity.x+(-i.m_angularVelocity*r);b=i.m_linearVelocity.y+(i.m_angularVelocity*s);o=g.m_linearVelocity.x+(-g.m_angularVelocity*e);
l=g.m_linearVelocity.y+(g.m_angularVelocity*f);p=-(this.m_u1.x*d+this.m_u1.y*b)-this.m_ratio*(this.m_u2.x*o+this.m_u2.y*l);j=-this.m_pulleyMass*p;this.m_pulleyImpulse+=j;c=-j*this.m_u1.x;a=-j*this.m_u1.y;m=-this.m_ratio*j*this.m_u2.x;k=-this.m_ratio*j*this.m_u2.y;i.m_linearVelocity.x+=i.m_invMass*c;i.m_linearVelocity.y+=i.m_invMass*a;i.m_angularVelocity+=i.m_invI*(s*a-r*c);g.m_linearVelocity.x+=g.m_invMass*m;g.m_linearVelocity.y+=g.m_invMass*k;g.m_angularVelocity+=g.m_invI*(f*k-e*m);if(this.m_limitState1==b2Joint.e_atUpperLimit){d=i.m_linearVelocity.x+(-i.m_angularVelocity*r);b=i.m_linearVelocity.y+(i.m_angularVelocity*s);p=-(this.m_u1.x*d+this.m_u1.y*b);j=-this.m_limitMass1*p;q=this.m_limitImpulse1;this.m_limitImpulse1=b2Math.b2Max(0,this.m_limitImpulse1+j);j=this.m_limitImpulse1-q;c=-j*this.m_u1.x;a=-j*this.m_u1.y;i.m_linearVelocity.x+=i.m_invMass*c;i.m_linearVelocity.y+=i.m_invMass*a;i.m_angularVelocity+=i.m_invI*(s*a-r*c)}if(this.m_limitState2==b2Joint.e_atUpperLimit){o=g.m_linearVelocity.x+(-g.m_angularVelocity*e);
l=g.m_linearVelocity.y+(g.m_angularVelocity*f);p=-(this.m_u2.x*o+this.m_u2.y*l);j=-this.m_limitMass2*p;q=this.m_limitImpulse2;this.m_limitImpulse2=b2Math.b2Max(0,this.m_limitImpulse2+j);j=this.m_limitImpulse2-q;m=-j*this.m_u2.x;k=-j*this.m_u2.y;g.m_linearVelocity.x+=g.m_invMass*m;g.m_linearVelocity.y+=g.m_invMass*k;g.m_angularVelocity+=g.m_invI*(f*k-e*m)}},SolvePositionConstraints:function(){var g=this.m_body1;var f=this.m_body2;var j;var k=this.m_ground.m_position.x+this.m_groundAnchor1.x;var i=this.m_ground.m_position.y+this.m_groundAnchor1.y;var q=this.m_ground.m_position.x+this.m_groundAnchor2.x;var o=this.m_ground.m_position.y+this.m_groundAnchor2.y;var u;var t;var d;var c;var r;var p;var b;var a;var n;var m;var l;var h;var s;var e=0;j=g.m_R;u=j.col1.x*this.m_localAnchor1.x+j.col2.x*this.m_localAnchor1.y;t=j.col1.y*this.m_localAnchor1.x+j.col2.y*this.m_localAnchor1.y;j=f.m_R;d=j.col1.x*this.m_localAnchor2.x+j.col2.x*this.m_localAnchor2.y;c=j.col1.y*this.m_localAnchor2.x+j.col2.y*this.m_localAnchor2.y;
r=g.m_position.x+u;p=g.m_position.y+t;b=f.m_position.x+d;a=f.m_position.y+c;this.m_u1.Set(r-k,p-i);this.m_u2.Set(b-q,a-o);n=this.m_u1.Length();m=this.m_u2.Length();if(n>b2Settings.b2_linearSlop){this.m_u1.Multiply(1/n)}else{this.m_u1.SetZero()}if(m>b2Settings.b2_linearSlop){this.m_u2.Multiply(1/m)}else{this.m_u2.SetZero()}l=this.m_constant-n-this.m_ratio*m;e=b2Math.b2Max(e,Math.abs(l));l=b2Math.b2Clamp(l,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);h=-this.m_pulleyMass*l;r=-h*this.m_u1.x;p=-h*this.m_u1.y;b=-this.m_ratio*h*this.m_u2.x;a=-this.m_ratio*h*this.m_u2.y;g.m_position.x+=g.m_invMass*r;g.m_position.y+=g.m_invMass*p;g.m_rotation+=g.m_invI*(u*p-t*r);f.m_position.x+=f.m_invMass*b;f.m_position.y+=f.m_invMass*a;f.m_rotation+=f.m_invI*(d*a-c*b);g.m_R.Set(g.m_rotation);f.m_R.Set(f.m_rotation);if(this.m_limitState1==b2Joint.e_atUpperLimit){j=g.m_R;u=j.col1.x*this.m_localAnchor1.x+j.col2.x*this.m_localAnchor1.y;t=j.col1.y*this.m_localAnchor1.x+j.col2.y*this.m_localAnchor1.y;
r=g.m_position.x+u;p=g.m_position.y+t;this.m_u1.Set(r-k,p-i);n=this.m_u1.Length();if(n>b2Settings.b2_linearSlop){this.m_u1.x*=1/n;this.m_u1.y*=1/n}else{this.m_u1.SetZero()}l=this.m_maxLength1-n;e=b2Math.b2Max(e,-l);l=b2Math.b2Clamp(l+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);h=-this.m_limitMass1*l;s=this.m_limitPositionImpulse1;this.m_limitPositionImpulse1=b2Math.b2Max(0,this.m_limitPositionImpulse1+h);h=this.m_limitPositionImpulse1-s;r=-h*this.m_u1.x;p=-h*this.m_u1.y;g.m_position.x+=g.m_invMass*r;g.m_position.y+=g.m_invMass*p;g.m_rotation+=g.m_invI*(u*p-t*r);g.m_R.Set(g.m_rotation)}if(this.m_limitState2==b2Joint.e_atUpperLimit){j=f.m_R;d=j.col1.x*this.m_localAnchor2.x+j.col2.x*this.m_localAnchor2.y;c=j.col1.y*this.m_localAnchor2.x+j.col2.y*this.m_localAnchor2.y;b=f.m_position.x+d;a=f.m_position.y+c;this.m_u2.Set(b-q,a-o);m=this.m_u2.Length();if(m>b2Settings.b2_linearSlop){this.m_u2.x*=1/m;this.m_u2.y*=1/m}else{this.m_u2.SetZero()}l=this.m_maxLength2-m;e=b2Math.b2Max(e,-l);
l=b2Math.b2Clamp(l+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);h=-this.m_limitMass2*l;s=this.m_limitPositionImpulse2;this.m_limitPositionImpulse2=b2Math.b2Max(0,this.m_limitPositionImpulse2+h);h=this.m_limitPositionImpulse2-s;b=-h*this.m_u2.x;a=-h*this.m_u2.y;f.m_position.x+=f.m_invMass*b;f.m_position.y+=f.m_invMass*a;f.m_rotation+=f.m_invI*(d*a-c*b);f.m_R.Set(f.m_rotation)}return e<b2Settings.b2_linearSlop},m_ground:null,m_groundAnchor1:new b2Vec2(),m_groundAnchor2:new b2Vec2(),m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_u1:new b2Vec2(),m_u2:new b2Vec2(),m_constant:null,m_ratio:null,m_maxLength1:null,m_maxLength2:null,m_pulleyMass:null,m_limitMass1:null,m_limitMass2:null,m_pulleyImpulse:null,m_limitImpulse1:null,m_limitImpulse2:null,m_limitPositionImpulse1:null,m_limitPositionImpulse2:null,m_limitState1:0,m_limitState2:0});b2PulleyJoint.b2_minPulleyLength=b2Settings.b2_lengthUnitsPerMeter;var b2PulleyJointDef=function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.groundPoint1=new b2Vec2();this.groundPoint2=new b2Vec2();this.anchorPoint1=new b2Vec2();this.anchorPoint2=new b2Vec2();this.type=b2Joint.e_pulleyJoint;this.groundPoint1.Set(-1,1);this.groundPoint2.Set(1,1);this.anchorPoint1.Set(-1,0);this.anchorPoint2.Set(1,0);this.maxLength1=0.5*b2PulleyJoint.b2_minPulleyLength;this.maxLength2=0.5*b2PulleyJoint.b2_minPulleyLength;this.ratio=1;this.collideConnected=true};Object.extend(b2PulleyJointDef.prototype,b2JointDef.prototype);Object.extend(b2PulleyJointDef.prototype,{groundPoint1:new b2Vec2(),groundPoint2:new b2Vec2(),anchorPoint1:new b2Vec2(),anchorPoint2:new b2Vec2(),maxLength1:null,maxLength2:null,ratio:null,Initialize:function(f,d,c,a,e,b,g){this.body1=f;this.body2=d;this.groundPoint1=c;this.groundPoint2=a;this.anchorPoint1=e;this.anchorPoint2=b;this.ratio=g}});var b2RevoluteJoint=function(c){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=c.type;this.m_prev=null;this.m_next=null;this.m_body1=c.body1;this.m_body2=c.body2;this.m_collideConnected=c.collideConnected;this.m_islandFlag=false;this.m_userData=c.userData;this.K=new b2Mat22();this.K1=new b2Mat22();this.K2=new b2Mat22();this.K3=new b2Mat22();this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_ptpImpulse=new b2Vec2();this.m_ptpMass=new b2Mat22();var b;var a;var d;b=this.m_body1.m_R;a=c.anchorPoint.x-this.m_body1.m_position.x;d=c.anchorPoint.y-this.m_body1.m_position.y;this.m_localAnchor1.x=a*b.col1.x+d*b.col1.y;this.m_localAnchor1.y=a*b.col2.x+d*b.col2.y;b=this.m_body2.m_R;a=c.anchorPoint.x-this.m_body2.m_position.x;d=c.anchorPoint.y-this.m_body2.m_position.y;this.m_localAnchor2.x=a*b.col1.x+d*b.col1.y;this.m_localAnchor2.y=a*b.col2.x+d*b.col2.y;this.m_intialAngle=this.m_body2.m_rotation-this.m_body1.m_rotation;this.m_ptpImpulse.Set(0,0);this.m_motorImpulse=0;
this.m_limitImpulse=0;this.m_limitPositionImpulse=0;this.m_lowerAngle=c.lowerAngle;this.m_upperAngle=c.upperAngle;this.m_maxMotorTorque=c.motorTorque;this.m_motorSpeed=c.motorSpeed;this.m_enableLimit=c.enableLimit;this.m_enableMotor=c.enableMotor};Object.extend(b2RevoluteJoint.prototype,b2Joint.prototype);Object.extend(b2RevoluteJoint.prototype,{GetAnchor1:function(){var a=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y))},GetAnchor2:function(){var a=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y))},GetJointAngle:function(){return this.m_body2.m_rotation-this.m_body1.m_rotation},GetJointSpeed:function(){return this.m_body2.m_angularVelocity-this.m_body1.m_angularVelocity
},GetMotorTorque:function(a){return a*this.m_motorImpulse},SetMotorSpeed:function(a){this.m_motorSpeed=a},SetMotorTorque:function(a){this.m_maxMotorTorque=a},GetReactionForce:function(a){var b=this.m_ptpImpulse.Copy();b.Multiply(a);return b},GetReactionTorque:function(a){return a*this.m_limitImpulse},K:new b2Mat22(),K1:new b2Mat22(),K2:new b2Mat22(),K3:new b2Mat22(),PrepareVelocitySolver:function(){var h=this.m_body1;var g=this.m_body2;var f;f=h.m_R;var k=f.col1.x*this.m_localAnchor1.x+f.col2.x*this.m_localAnchor1.y;var i=f.col1.y*this.m_localAnchor1.x+f.col2.y*this.m_localAnchor1.y;f=g.m_R;var e=f.col1.x*this.m_localAnchor2.x+f.col2.x*this.m_localAnchor2.y;var d=f.col1.y*this.m_localAnchor2.x+f.col2.y*this.m_localAnchor2.y;var l=h.m_invMass;var j=g.m_invMass;var c=h.m_invI;var b=g.m_invI;this.K1.col1.x=l+j;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=l+j;this.K2.col1.x=c*i*i;this.K2.col2.x=-c*k*i;this.K2.col1.y=-c*k*i;this.K2.col2.y=c*k*k;this.K3.col1.x=b*d*d;this.K3.col2.x=-b*e*d;
this.K3.col1.y=-b*e*d;this.K3.col2.y=b*e*e;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Invert(this.m_ptpMass);this.m_motorMass=1/(c+b);if(this.m_enableMotor==false){this.m_motorImpulse=0}if(this.m_enableLimit){var a=g.m_rotation-h.m_rotation-this.m_intialAngle;if(b2Math.b2Abs(this.m_upperAngle-this.m_lowerAngle)<2*b2Settings.b2_angularSlop){this.m_limitState=b2Joint.e_equalLimits}else{if(a<=this.m_lowerAngle){if(this.m_limitState!=b2Joint.e_atLowerLimit){this.m_limitImpulse=0}this.m_limitState=b2Joint.e_atLowerLimit}else{if(a>=this.m_upperAngle){if(this.m_limitState!=b2Joint.e_atUpperLimit){this.m_limitImpulse=0}this.m_limitState=b2Joint.e_atUpperLimit}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0}}}}else{this.m_limitImpulse=0}if(b2World.s_enableWarmStarting){h.m_linearVelocity.x-=l*this.m_ptpImpulse.x;h.m_linearVelocity.y-=l*this.m_ptpImpulse.y;h.m_angularVelocity-=c*((k*this.m_ptpImpulse.y-i*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse);
g.m_linearVelocity.x+=j*this.m_ptpImpulse.x;g.m_linearVelocity.y+=j*this.m_ptpImpulse.y;g.m_angularVelocity+=b*((e*this.m_ptpImpulse.y-d*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse)}else{this.m_ptpImpulse.SetZero();this.m_motorImpulse=0;this.m_limitImpulse=0}this.m_limitPositionImpulse=0},SolveVelocityConstraints:function(f){var g=this.m_body1;var e=this.m_body2;var i;i=g.m_R;var o=i.col1.x*this.m_localAnchor1.x+i.col2.x*this.m_localAnchor1.y;var n=i.col1.y*this.m_localAnchor1.x+i.col2.y*this.m_localAnchor1.y;i=e.m_R;var b=i.col1.x*this.m_localAnchor2.x+i.col2.x*this.m_localAnchor2.y;var a=i.col1.y*this.m_localAnchor2.x+i.col2.y*this.m_localAnchor2.y;var k;var q=e.m_linearVelocity.x+(-e.m_angularVelocity*a)-g.m_linearVelocity.x-(-g.m_angularVelocity*n);var p=e.m_linearVelocity.y+(e.m_angularVelocity*b)-g.m_linearVelocity.y-(g.m_angularVelocity*o);var m=-(this.m_ptpMass.col1.x*q+this.m_ptpMass.col2.x*p);var l=-(this.m_ptpMass.col1.y*q+this.m_ptpMass.col2.y*p);this.m_ptpImpulse.x+=m;
this.m_ptpImpulse.y+=l;g.m_linearVelocity.x-=g.m_invMass*m;g.m_linearVelocity.y-=g.m_invMass*l;g.m_angularVelocity-=g.m_invI*(o*l-n*m);e.m_linearVelocity.x+=e.m_invMass*m;e.m_linearVelocity.y+=e.m_invMass*l;e.m_angularVelocity+=e.m_invI*(b*l-a*m);if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits){var r=e.m_angularVelocity-g.m_angularVelocity-this.m_motorSpeed;var c=-this.m_motorMass*r;var d=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+c,-f.dt*this.m_maxMotorTorque,f.dt*this.m_maxMotorTorque);c=this.m_motorImpulse-d;g.m_angularVelocity-=g.m_invI*c;e.m_angularVelocity+=e.m_invI*c}if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){var h=e.m_angularVelocity-g.m_angularVelocity;var j=-this.m_motorMass*h;if(this.m_limitState==b2Joint.e_equalLimits){this.m_limitImpulse+=j}else{if(this.m_limitState==b2Joint.e_atLowerLimit){k=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+j,0);j=this.m_limitImpulse-k}else{if(this.m_limitState==b2Joint.e_atUpperLimit){k=this.m_limitImpulse;
this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+j,0);j=this.m_limitImpulse-k}}}g.m_angularVelocity-=g.m_invI*j;e.m_angularVelocity+=e.m_invI*j}},SolvePositionConstraints:function(){var s;var m;var l=this.m_body1;var k=this.m_body2;var o=0;var n;n=l.m_R;var y=n.col1.x*this.m_localAnchor1.x+n.col2.x*this.m_localAnchor1.y;var x=n.col1.y*this.m_localAnchor1.x+n.col2.y*this.m_localAnchor1.y;n=k.m_R;var f=n.col1.x*this.m_localAnchor2.x+n.col2.x*this.m_localAnchor2.y;var e=n.col1.y*this.m_localAnchor2.x+n.col2.y*this.m_localAnchor2.y;var u=l.m_position.x+y;var t=l.m_position.y+x;var d=k.m_position.x+f;var c=k.m_position.y+e;var j=d-u;var i=c-t;o=Math.sqrt(j*j+i*i);var q=l.m_invMass;var p=k.m_invMass;var h=l.m_invI;var g=k.m_invI;this.K1.col1.x=q+p;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=q+p;this.K2.col1.x=h*x*x;this.K2.col2.x=-h*y*x;this.K2.col1.y=-h*y*x;this.K2.col2.y=h*y*y;this.K3.col1.x=g*e*e;this.K3.col2.x=-g*f*e;this.K3.col1.y=-g*f*e;this.K3.col2.y=g*f*f;this.K.SetM(this.K1);
this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(b2RevoluteJoint.tImpulse,-j,-i);var b=b2RevoluteJoint.tImpulse.x;var a=b2RevoluteJoint.tImpulse.y;l.m_position.x-=l.m_invMass*b;l.m_position.y-=l.m_invMass*a;l.m_rotation-=l.m_invI*(y*a-x*b);l.m_R.Set(l.m_rotation);k.m_position.x+=k.m_invMass*b;k.m_position.y+=k.m_invMass*a;k.m_rotation+=k.m_invI*(f*a-e*b);k.m_R.Set(k.m_rotation);var w=0;if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){var v=k.m_rotation-l.m_rotation-this.m_intialAngle;var r=0;if(this.m_limitState==b2Joint.e_equalLimits){m=b2Math.b2Clamp(v,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);r=-this.m_motorMass*m;w=b2Math.b2Abs(m)}else{if(this.m_limitState==b2Joint.e_atLowerLimit){m=v-this.m_lowerAngle;w=b2Math.b2Max(0,-m);m=b2Math.b2Clamp(m+b2Settings.b2_angularSlop,-b2Settings.b2_maxAngularCorrection,0);r=-this.m_motorMass*m;s=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+r,0);
r=this.m_limitPositionImpulse-s}else{if(this.m_limitState==b2Joint.e_atUpperLimit){m=v-this.m_upperAngle;w=b2Math.b2Max(0,m);m=b2Math.b2Clamp(m-b2Settings.b2_angularSlop,0,b2Settings.b2_maxAngularCorrection);r=-this.m_motorMass*m;s=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+r,0);r=this.m_limitPositionImpulse-s}}}l.m_rotation-=l.m_invI*r;l.m_R.Set(l.m_rotation);k.m_rotation+=k.m_invI*r;k.m_R.Set(k.m_rotation)}return o<=b2Settings.b2_linearSlop&&w<=b2Settings.b2_angularSlop},m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_ptpImpulse:new b2Vec2(),m_motorImpulse:null,m_limitImpulse:null,m_limitPositionImpulse:null,m_ptpMass:new b2Mat22(),m_motorMass:null,m_intialAngle:null,m_lowerAngle:null,m_upperAngle:null,m_maxMotorTorque:null,m_motorSpeed:null,m_enableLimit:null,m_enableMotor:null,m_limitState:0});b2RevoluteJoint.tImpulse=new b2Vec2();var b2RevoluteJointDef=function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.type=b2Joint.e_revoluteJoint;this.anchorPoint=new b2Vec2(0,0);this.lowerAngle=0;this.upperAngle=0;this.motorTorque=0;this.motorSpeed=0;this.enableLimit=false;this.enableMotor=false};Object.extend(b2RevoluteJointDef.prototype,b2JointDef.prototype);Object.extend(b2RevoluteJointDef.prototype,{anchorPoint:null,lowerAngle:null,upperAngle:null,motorTorque:null,motorSpeed:null,enableLimit:null,enableMotor:null,Initialize:function(b,a,c){this.body1=b;this.body2=a;this.anchorPoint=c}});