var Box2D={}; (function(m,r){function q(){}if(!(Object.prototype.defineProperty instanceof Function)&&Object.prototype.__defineGetter__ instanceof Function&&Object.prototype.__defineSetter__ instanceof Function)Object.defineProperty=function(e,h,l){l.get instanceof Function&&e.__defineGetter__(h,l.get);l.set instanceof Function&&e.__defineSetter__(h,l.set)};m.inherit=function(e,h){q.prototype=h.prototype;e.prototype=new q;e.prototype.constructor=e};m.generateCallback=function(e,h){return function(){h.apply(e,arguments)}}; m.NVector=function(e){e===r&&(e=0);for(var h=Array(e||0),l=0;l=0&&b>=0)&&this.lowerBound.IsValid()&&this.upperBound.IsValid()};p.prototype.GetCenter=function(){return new c((this.lowerBound.x+ this.upperBound.x)/2,(this.lowerBound.y+this.upperBound.y)/2)};p.prototype.GetExtents=function(){return new c((this.upperBound.x-this.lowerBound.x)/2,(this.upperBound.y-this.lowerBound.y)/2)};p.prototype.Contains=function(b){var k;return k=(k=(k=(k=this.lowerBound.x<=b.lowerBound.x)&&this.lowerBound.y<=b.lowerBound.y)&&b.upperBound.x<=this.upperBound.x)&&b.upperBound.y<=this.upperBound.y};p.prototype.RayCast=function(b,k){var a=-Number.MAX_VALUE,u=Number.MAX_VALUE,g=k.p1.x,n=k.p1.y,d=k.p2.x-k.p1.x, o=k.p2.y-k.p1.y,f=Math.abs(d),t=Math.abs(o),c=b.normal,z=0,j=0,e=z=0,e=0;if(fz&&(e=j,j=z,z=e,e=1);if(j>a)c.x=e,c.y=0,a=j;u=Math.min(u,z);if(a>u)return!1}if(tz&&(e=j,j=z,z=e,e=1);if(j>a)c.y=e,c.x=0,a=j;u=Math.min(u,z);if(a>u)return!1}b.fraction= a;return!0};p.prototype.TestOverlap=function(b){var k=b.lowerBound.y-this.upperBound.y,a=this.lowerBound.y-b.upperBound.y;return b.lowerBound.x-this.upperBound.x>0||k>0?!1:this.lowerBound.x-b.upperBound.x>0||a>0?!1:!0};p.Combine=function(b,k){var a=new p;a.Combine(b,k);return a};p.prototype.Combine=function(b,k){this.lowerBound.x=Math.min(b.lowerBound.x,k.lowerBound.x);this.lowerBound.y=Math.min(b.lowerBound.y,k.lowerBound.y);this.upperBound.x=Math.max(b.upperBound.x,k.upperBound.x);this.upperBound.y= Math.max(b.upperBound.y,k.upperBound.y)};H.b2Bound=function(){};H.prototype.IsLower=function(){return(this.value&1)==0};H.prototype.IsUpper=function(){return(this.value&1)==1};H.prototype.Swap=function(b){var k=this.value,a=this.proxy,u=this.stabbingCount;this.value=b.value;this.proxy=b.proxy;this.stabbingCount=b.stabbingCount;b.value=k;b.proxy=a;b.stabbingCount=u};C.b2BoundValues=function(){};C.prototype.b2BoundValues=function(){this.lowerValues=new Vector_a2j_Number;this.lowerValues[0]=0;this.lowerValues[1]= 0;this.upperValues=new Vector_a2j_Number;this.upperValues[0]=0;this.upperValues[1]=0};v.b2Collision=function(){};v.ClipSegmentToLine=function(b,k,a,u){u===void 0&&(u=0);var g,n=0;g=k[0];var d=g.v;g=k[1];var o=g.v,f=a.x*d.x+a.y*d.y-u;g=a.x*o.x+a.y*o.y-u;f<=0&&b[n++].Set(k[0]);g<=0&&b[n++].Set(k[1]);if(f*g<0)a=f/(f-g),g=b[n],g=g.v,g.x=d.x+a*(o.x-d.x),g.y=d.y+a*(o.y-d.y),g=b[n],g.id=(f>0?k[0]:k[1]).id,++n;return n};v.EdgeSeparation=function(b,k,a,g,u){a===void 0&&(a=0);parseInt(b.m_vertexCount);var n= b.m_vertices,b=b.m_normals,d=parseInt(g.m_vertexCount),o=g.m_vertices,f,t;f=k.R;t=b[a];b=f.col1.x*t.x+f.col2.x*t.y;g=f.col1.y*t.x+f.col2.y*t.y;f=u.R;var c=f.col1.x*b+f.col1.y*g;f=f.col2.x*b+f.col2.y*g;for(var z=0,j=Number.MAX_VALUE,e=0;ez&&(z=f,t=j);d=v.EdgeSeparation(k,a,t,g,u);f=parseInt(t-1>=0?t-1: n-1);o=v.EdgeSeparation(k,a,f,g,u);var c=parseInt(t+1d&&o>z)h=-1,j=f,e=o;else if(z>d)h=1,j=c,e=z;else return b[0]=t,d;for(;;)if(t=h==-1?j-1>=0?j-1:n-1:j+1e)j=t,e=d;else break;b[0]=j;return e};v.FindIncidentEdge=function(b,k,a,u,g,n){u===void 0&&(u=0);parseInt(k.m_vertexCount);var f=k.m_normals,o=parseInt(g.m_vertexCount),k=g.m_vertices,g=g.m_normals,d;d=a.R;var a=f[u],f=d.col1.x*a.x+d.col2.x*a.y,t=d.col1.y* a.x+d.col2.y*a.y;d=n.R;a=d.col1.x*f+d.col1.y*t;t=d.col2.x*f+d.col2.y*t;f=a;d=0;for(var c=Number.MAX_VALUE,z=0;zd)){var o;v.s_edgeBO[0]=0;var t=v.FindMaxSeparation(v.s_edgeBO,g,u,k,a);o=v.s_edgeBO[0];if(!(t>d)){var c=0,z=0;t>0.98*f+0.001?(f=g,g=k,k=u,c=o,b.m_type= A.e_faceB,z=1):(f=k,k=a,a=u,c=n,b.m_type=A.e_faceA,z=0);n=v.s_incidentEdge;v.FindIncidentEdge(n,f,k,c,g,a);o=parseInt(f.m_vertexCount);var u=f.m_vertices,f=u[c],j;j=c+1n*n))b.m_type= A.e_circles,b.m_localPoint.SetV(k.m_p),b.m_localPlaneNormal.SetZero(),b.m_pointCount=1,b.m_points[0].m_localPoint.SetV(g.m_p),b.m_points[0].m_id.key=0};v.CollidePolygonAndCircle=function(b,k,a,u,g){var n=b.m_pointCount=0,o=0,f,d;d=g.R;f=u.m_p;var t=g.position.y+(d.col1.y*f.x+d.col2.y*f.y),n=g.position.x+(d.col1.x*f.x+d.col2.x*f.y)-a.position.x,o=t-a.position.y;d=a.R;a=n*d.col1.x+o*d.col1.y;d=n*d.col2.x+o*d.col2.y;for(var c=0,t=-Number.MAX_VALUE,g=k.m_radius+u.m_radius,z=parseInt(k.m_vertexCount), j=k.m_vertices,k=k.m_normals,e=0;eg)return;n>t&&(t=n,c=e)}n=parseInt(c);o=parseInt(n+1g*g)return;b.m_pointCount=1;b.m_type=A.e_faceA;b.m_localPlaneNormal.x= a-f.x;b.m_localPlaneNormal.y=d-f.y;b.m_localPlaneNormal.Normalize();b.m_localPoint.SetV(f)}else if(t<=0){if((a-j.x)*(a-j.x)+(d-j.y)*(d-j.y)>g*g)return;b.m_pointCount=1;b.m_type=A.e_faceA;b.m_localPlaneNormal.x=a-j.x;b.m_localPlaneNormal.y=d-j.y;b.m_localPlaneNormal.Normalize();b.m_localPoint.SetV(j)}else{c=0.5*(f.x+j.x);f=0.5*(f.y+j.y);t=(a-c)*k[n].x+(d-f)*k[n].y;if(t>g)return;b.m_pointCount=1;b.m_type=A.e_faceA;b.m_localPlaneNormal.x=k[n].x;b.m_localPlaneNormal.y=k[n].y;b.m_localPlaneNormal.Normalize(); b.m_localPoint.Set(c,f)}b.m_points[0].m_localPoint.SetV(u.m_p);b.m_points[0].m_id.key=0};v.TestOverlap=function(b,k){var a=k.lowerBound,g=b.upperBound,n=a.x-g.x,u=a.y-g.y,a=b.lowerBound,g=k.upperBound,f=a.y-g.y;return n>0||u>0?!1:a.x-g.x>0||f>0?!1:!0};Box2D.postDefs.push(function(){Box2D.Collision.b2Collision.s_incidentEdge=v.MakeClipPointVector();Box2D.Collision.b2Collision.s_clipPoints1=v.MakeClipPointVector();Box2D.Collision.b2Collision.s_clipPoints2=v.MakeClipPointVector();Box2D.Collision.b2Collision.s_edgeAO= new Vector_a2j_Number(1);Box2D.Collision.b2Collision.s_edgeBO=new Vector_a2j_Number(1);Box2D.Collision.b2Collision.s_localTangent=new c;Box2D.Collision.b2Collision.s_localNormal=new c;Box2D.Collision.b2Collision.s_planePoint=new c;Box2D.Collision.b2Collision.s_normal=new c;Box2D.Collision.b2Collision.s_tangent=new c;Box2D.Collision.b2Collision.s_tangent2=new c;Box2D.Collision.b2Collision.s_v11=new c;Box2D.Collision.b2Collision.s_v12=new c;Box2D.Collision.b2Collision.b2CollidePolyTempVec=new c;Box2D.Collision.b2Collision.b2_nullFeature= 255});y.b2ContactID=function(){this.features=new k};y.prototype.b2ContactID=function(){this.features._m_id=this};y.prototype.Set=function(b){this.key=b._key};y.prototype.Copy=function(){var b=new y;b.key=this.key;return b};Object.defineProperty(y.prototype,"key",{enumerable:!1,configurable:!0,get:function(){return this._key}});Object.defineProperty(y.prototype,"key",{enumerable:!1,configurable:!0,set:function(b){b===void 0&&(b=0);this._key=b;this.features._referenceEdge=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}});s.b2ContactPoint=function(){this.position=new c;this.velocity=new c;this.normal=new c;this.id=new y};J.b2Distance=function(){};J.Distance=function(b,k,a){++J.b2_gjkCalls;var g=a.proxyA,n=a.proxyB,u=a.transformA,f=a.transformB,o=J.s_simplex;o.ReadCache(k,g,u,n,f);var d=o.m_vertices,t=J.s_saveA,z=J.s_saveB,j=0;o.GetClosestPoint().LengthSquared();for(var x=0,p,l=0;l< 20;){j=o.m_count;for(x=0;xk+n&&b.distance>Number.MIN_VALUE?(b.distance-=k+n,a=h.SubtractVV(b.pointB,b.pointA),a.Normalize(),b.pointA.x+=k*a.x,b.pointA.y+=k*a.y,b.pointB.x-=n* a.x,b.pointB.y-=n*a.y):(p=new c,p.x=0.5*(b.pointA.x+b.pointB.x),p.y=0.5*(b.pointA.y+b.pointB.y),b.pointA.x=b.pointB.x=p.x,b.pointA.y=b.pointB.y=p.y,b.distance=0)};Box2D.postDefs.push(function(){Box2D.Collision.b2Distance.s_simplex=new g;Box2D.Collision.b2Distance.s_saveA=new Vector_a2j_Number(3);Box2D.Collision.b2Distance.s_saveB=new Vector_a2j_Number(3)});K.b2DistanceInput=function(){};d.b2DistanceOutput=function(){this.pointA=new c;this.pointB=new c};x.b2DistanceProxy=function(){};x.prototype.Set= function(b){switch(b.GetType()){case q.e_circleShape:b=b instanceof m?b:null;this.m_vertices=new Vector(1,!0);this.m_vertices[0]=b.m_p;this.m_count=1;this.m_radius=b.m_radius;break;case q.e_polygonShape:b=b instanceof r?b:null;this.m_vertices=b.m_vertices;this.m_count=b.m_vertexCount;this.m_radius=b.m_radius;break;default:e.b2Assert(!1)}};x.prototype.GetSupport=function(b){for(var a=0,k=this.m_vertices[0].x*b.x+this.m_vertices[0].y*b.y,g=1;gk&&(a=g,k=n)}return a};x.prototype.GetSupportVertex=function(b){for(var a=0,k=this.m_vertices[0].x*b.x+this.m_vertices[0].y*b.y,g=1;gk&&(a=g,k=n)}return this.m_vertices[a]};x.prototype.GetVertexCount=function(){return this.m_count};x.prototype.GetVertex=function(b){b===void 0&&(b=0);e.b2Assert(0<=b&&b0?a.x:-a.x),a=e.b2_aabbExtension+e.b2_aabbMultiplier*(a.y>0?a.y:-a.y);b.aabb.lowerBound.x=k.lowerBound.x-g;b.aabb.lowerBound.y=k.lowerBound.y-a;b.aabb.upperBound.x=k.upperBound.x+g;b.aabb.upperBound.y=k.upperBound.y+a;this.InsertLeaf(b);return!0};j.prototype.Rebalance=function(b){b===void 0&&(b=0);if(this.m_root!=null)for(var a=0;a>g&1?k.child2:k.child1,g=g+1&31;++this.m_path; this.RemoveLeaf(k);this.InsertLeaf(k)}};j.prototype.GetFatAABB=function(b){return b.aabb};j.prototype.GetUserData=function(b){return b.userData};j.prototype.Query=function(b,k){if(this.m_root!=null){var a=new Vector,g=0;for(a[g++]=this.m_root;g>0;){var n=a[--g];if(n.aabb.TestOverlap(k))if(n.IsLeaf()){if(!b(n))break}else a[g++]=n.child1,a[g++]=n.child2}}};j.prototype.RayCast=function(b,a){if(this.m_root!=null){var k=a.p1,g=a.p2,n=h.SubtractVV(k,g);n.Normalize();var n=h.CrossFV(1,n),u=h.AbsV(n),f=a.maxFraction, o=new p,d=0,t=0,d=k.x+f*(g.x-k.x),t=k.y+f*(g.y-k.y);o.lowerBound.x=Math.min(k.x,d);o.lowerBound.y=Math.min(k.y,t);o.upperBound.x=Math.max(k.x,d);o.upperBound.y=Math.max(k.y,t);var c=new Vector,z=0;for(c[z++]=this.m_root;z>0;)if(f=c[--z],f.aabb.TestOverlap(o)!=!1&&(d=f.aabb.GetCenter(),t=f.aabb.GetExtents(),!(Math.abs(n.x*(k.x-d.x)+n.y*(k.y-d.y))-u.x*t.x-u.y*t.y>0)))if(f.IsLeaf()){d=new F;d.p1=a.p1;d.p2=a.p2;d.maxFraction=a.maxFraction;f=b(d,f);if(f==0)break;if(f>0)d=k.x+f*(g.x-k.x),t=k.y+f*(g.y-k.y), o.lowerBound.x=Math.min(k.x,d),o.lowerBound.y=Math.min(k.y,t),o.upperBound.x=Math.max(k.x,d),o.upperBound.y=Math.max(k.y,t)}else c[z++]=f.child1,c[z++]=f.child2}};j.prototype.AllocateNode=function(){if(this.m_freeList){var b=this.m_freeList;this.m_freeList=b.parent;b.parent=null;b.child1=null;b.child2=null;return b}return new E};j.prototype.FreeNode=function(b){b.parent=this.m_freeList;this.m_freeList=b};j.prototype.InsertLeaf=function(b){++this.m_insertionCount;if(this.m_root==null)this.m_root=b, this.m_root.parent=null;else{var k=b.aabb.GetCenter(),a=this.m_root;if(a.IsLeaf()==!1){do var g=a.child1,a=a.child2,n=Math.abs((g.aabb.lowerBound.x+g.aabb.upperBound.x)/2-k.x)+Math.abs((g.aabb.lowerBound.y+g.aabb.upperBound.y)/2-k.y),u=Math.abs((a.aabb.lowerBound.x+a.aabb.upperBound.x)/2-k.x)+Math.abs((a.aabb.lowerBound.y+a.aabb.upperBound.y)/2-k.y),a=n=g?b:g;++k.m_pairCount;return!0},n)}for(a=k.m_moveBuffer.length=0;ad){var c=n.x-this.p1.x,z=n.y-this.p1.y,n=c*a+z*o;if(0<=n&&n<=g*t&&(g=-u*z+f*c,-d*t<=g&&g<=t*(1+d)))return n/=t,g=Math.sqrt(a*a+o*o),a/=g,o/=g,b[0]=n,k.Set(a,o),!0}return!1};I.prototype.Extend=function(b){this.ExtendForward(b);this.ExtendBackward(b)};I.prototype.ExtendForward=function(b){var k=this.p2.x-this.p1.x,a=this.p2.y-this.p1.y,b=Math.min(k>0?(b.upperBound.x-this.p1.x)/k:k<0?(b.lowerBound.x-this.p1.x)/k:Number.POSITIVE_INFINITY,a>0?(b.upperBound.y-this.p1.y)/a:a<0?(b.lowerBound.y- this.p1.y)/a:Number.POSITIVE_INFINITY);this.p2.x=this.p1.x+k*b;this.p2.y=this.p1.y+a*b};I.prototype.ExtendBackward=function(b){var k=-this.p2.x+this.p1.x,a=-this.p2.y+this.p1.y,b=Math.min(k>0?(b.upperBound.x-this.p2.x)/k:k<0?(b.lowerBound.x-this.p2.x)/k:Number.POSITIVE_INFINITY,a>0?(b.upperBound.y-this.p2.y)/a:a<0?(b.lowerBound.y-this.p2.y)/a:Number.POSITIVE_INFINITY);this.p1.x=this.p2.x+k*b;this.p1.y=this.p2.y+a*b};a.b2SeparationFunction=function(){this.m_localPoint=new c;this.m_axis=new c};a.prototype.Initialize= function(b,k,g,n,u){this.m_proxyA=k;this.m_proxyB=n;var f=parseInt(b.count);e.b2Assert(01&&(b=b.metric,u=this.GetMetric(),u<0.5*b||2*b0?h.CrossFV(1,b):h.CrossVF(b,1);default:return e.b2Assert(!1),new c}};g.prototype.GetClosestPoint=function(){switch(this.m_count){case 0:return e.b2Assert(!1),new c;case 1:return this.m_v1.w;case 2:return new c(this.m_v1.a*this.m_v1.w.x+this.m_v2.a*this.m_v2.w.x,this.m_v1.a*this.m_v1.w.y+this.m_v2.a*this.m_v2.w.y);default:return e.b2Assert(!1),new c}};g.prototype.GetWitnessPoints=function(b,k){switch(this.m_count){case 0:e.b2Assert(!1);break; case 1:b.SetV(this.m_v1.wA);k.SetV(this.m_v1.wB);break;case 2:b.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x;b.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y;k.x=this.m_v1.a*this.m_v1.wB.x+this.m_v2.a*this.m_v2.wB.x;k.y=this.m_v1.a*this.m_v1.wB.y+this.m_v2.a*this.m_v2.wB.y;break;case 3:k.x=b.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x+this.m_v3.a*this.m_v3.wA.x;k.y=b.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y+this.m_v3.a*this.m_v3.wA.y;break;default:e.b2Assert(!1)}}; g.prototype.GetMetric=function(){switch(this.m_count){case 0:return e.b2Assert(!1),0;case 1:return 0;case 2:return h.SubtractVV(this.m_v1.w,this.m_v2.w).Length();case 3:return h.CrossVV(h.SubtractVV(this.m_v2.w,this.m_v1.w),h.SubtractVV(this.m_v3.w,this.m_v1.w));default:return e.b2Assert(!1),0}};g.prototype.Solve2=function(){var b=this.m_v1.w,k=this.m_v2.w,a=h.SubtractVV(k,b),b=-(b.x*a.x+b.y*a.y);b<=0?this.m_count=this.m_v1.a=1:(k=k.x*a.x+k.y*a.y,k<=0?(this.m_count=this.m_v2.a=1,this.m_v1.Set(this.m_v2)): (a=1/(k+b),this.m_v1.a=k*a,this.m_v2.a=b*a,this.m_count=2))};g.prototype.Solve3=function(){var b=this.m_v1.w,k=this.m_v2.w,a=this.m_v3.w,g=h.SubtractVV(k,b),n=h.Dot(b,g),u=h.Dot(k,g),n=-n,f=h.SubtractVV(a,b),o=h.Dot(b,f),d=h.Dot(a,f),o=-o,t=h.SubtractVV(a,k),c=h.Dot(k,t),t=h.Dot(a,t),c=-c,f=h.CrossVV(g,f),g=f*h.CrossVV(k,a),a=f*h.CrossVV(a,b),b=f*h.CrossVV(b,k);n<=0&&o<=0?this.m_count=this.m_v1.a=1:u>0&&n>0&&b<=0?(d=1/(u+n),this.m_v1.a=u*d,this.m_v2.a=n*d,this.m_count=2):d>0&&o>0&&a<=0?(u=1/(d+o), this.m_v1.a=d*u,this.m_v3.a=o*u,this.m_count=2,this.m_v2.Set(this.m_v3)):u<=0&&c<=0?(this.m_count=this.m_v2.a=1,this.m_v1.Set(this.m_v2)):d<=0&&t<=0?(this.m_count=this.m_v3.a=1,this.m_v1.Set(this.m_v3)):t>0&&c>0&&g<=0?(u=1/(t+c),this.m_v2.a=t*u,this.m_v3.a=c*u,this.m_count=2,this.m_v1.Set(this.m_v3)):(u=1/(g+a+b),this.m_v1.a=g*u,this.m_v2.a=a*u,this.m_v3.a=b*u,this.m_count=3)};o.b2SimplexCache=function(){this.indexA=new Vector_a2j_Number(3);this.indexB=new Vector_a2j_Number(3)};n.b2SimplexVertex= function(){};n.prototype.Set=function(b){this.wA.SetV(b.wA);this.wB.SetV(b.wB);this.w.SetV(b.w);this.a=b.a;this.indexA=b.indexA;this.indexB=b.indexB};t.b2TimeOfImpact=function(){};t.TimeOfImpact=function(b){++t.b2_toiCalls;var k=b.proxyA,a=b.proxyB,g=b.sweepA,n=b.sweepB;e.b2Assert(g.t0==n.t0);e.b2Assert(1-g.t0>Number.MIN_VALUE);var u=k.m_radius+a.m_radius,b=b.tolerance,f=0,o=0,d=0;t.s_cache.count=0;for(t.s_distanceInput.useRadii=!1;;){g.GetTransform(t.s_xfA,f);n.GetTransform(t.s_xfB,f);t.s_distanceInput.proxyA= k;t.s_distanceInput.proxyB=a;t.s_distanceInput.transformA=t.s_xfA;t.s_distanceInput.transformB=t.s_xfB;J.Distance(t.s_distanceOutput,t.s_cache,t.s_distanceInput);if(t.s_distanceOutput.distance<=0){f=1;break}t.s_fcn.Initialize(t.s_cache,k,t.s_xfA,a,t.s_xfB);var c=t.s_fcn.Evaluate(t.s_xfA,t.s_xfB);if(c<=0){f=1;break}o==0&&(d=c>u?h.Max(u-b,0.75*u):h.Max(c-b,0.02*u));if(c-d<0.5*b){if(o==0){f=1;break}break}var z=f,j=f,x=1;g.GetTransform(t.s_xfA,x);n.GetTransform(t.s_xfB,x);var p=t.s_fcn.Evaluate(t.s_xfA, t.s_xfB);if(p>=d){f=1;break}for(var l=0;;){var B=0,B=l&1?j+(d-c)*(x-j)/(p-c):0.5*(j+x);g.GetTransform(t.s_xfA,B);n.GetTransform(t.s_xfB,B);var A=t.s_fcn.Evaluate(t.s_xfA,t.s_xfB);if(h.Abs(A-d)<0.025*b){z=B;break}A>d?(j=B,c=A):(x=B,p=A);++l;++t.b2_toiRootIters;if(l==50)break}t.b2_toiMaxRootIters=h.Max(t.b2_toiMaxRootIters,l);if(z<(1+100*Number.MIN_VALUE)*f)break;f=z;o++;++t.b2_toiIters;if(o==1E3)break}t.b2_toiMaxIters=h.Max(t.b2_toiMaxIters,o);return f};Box2D.postDefs.push(function(){Box2D.Collision.b2TimeOfImpact.b2_toiCalls= 0;Box2D.Collision.b2TimeOfImpact.b2_toiIters=0;Box2D.Collision.b2TimeOfImpact.b2_toiMaxIters=0;Box2D.Collision.b2TimeOfImpact.b2_toiRootIters=0;Box2D.Collision.b2TimeOfImpact.b2_toiMaxRootIters=0;Box2D.Collision.b2TimeOfImpact.s_cache=new o;Box2D.Collision.b2TimeOfImpact.s_distanceInput=new K;Box2D.Collision.b2TimeOfImpact.s_xfA=new w;Box2D.Collision.b2TimeOfImpact.s_xfB=new w;Box2D.Collision.b2TimeOfImpact.s_fcn=new a;Box2D.Collision.b2TimeOfImpact.s_distanceOutput=new d});z.b2TOIInput=function(){this.proxyA= new x;this.proxyB=new x;this.sweepA=new l;this.sweepB=new l};f.b2WorldManifold=function(){this.m_normal=new c};f.prototype.b2WorldManifold=function(){this.m_points=new Vector(e.b2_maxManifoldPoints);for(var b=0;bNumber.MIN_VALUE*Number.MIN_VALUE?(d=Math.sqrt(d),this.m_normal.x=f/d,this.m_normal.y=o/d):(this.m_normal.x=1,this.m_normal.y=0);f=k+a*this.m_normal.y;g-=n*this.m_normal.y;this.m_points[0].x=0.5*(u+a*this.m_normal.x+(b-n*this.m_normal.x));this.m_points[0].y=0.5*(f+g);break;case A.e_faceA:o=k.R;f=b.m_localPlaneNormal;d=o.col1.x* f.x+o.col2.x*f.y;t=o.col1.y*f.x+o.col2.y*f.y;o=k.R;f=b.m_localPoint;c=k.position.x+o.col1.x*f.x+o.col2.x*f.y;z=k.position.y+o.col1.y*f.x+o.col2.y*f.y;this.m_normal.x=d;this.m_normal.y=t;for(u=0;uthis.m_radius)return e.SetV(j),Math.PI*this.m_radius*this.m_radius;var c=this.m_radius*this.m_radius,l=h*h,h=c*(Math.asin(h/this.m_radius)+Math.PI/2)+h*Math.sqrt(c-l),c=-2/3*Math.pow(c-l,1.5)/h;e.x=j.x+d.x*c;e.y=j.y+d.y*c;return h};r.prototype.GetLocalPosition=function(){return this.m_p}; r.prototype.SetLocalPosition=function(d){this.m_p.SetV(d)};r.prototype.GetRadius=function(){return this.m_radius};r.prototype.SetRadius=function(d){d===void 0&&(d=0);this.m_radius=d};r.prototype.b2CircleShape=function(d){d===void 0&&(d=0);this.__super.b2Shape.call(this);this.m_type=w.e_circleShape;this.m_radius=d};q.b2EdgeChainDef=function(){};q.prototype.b2EdgeChainDef=function(){this.vertexCount=0;this.isALoop=!0;this.vertices=[]};Box2D.inherit(e,Box2D.Collision.Shapes.b2Shape);e.prototype.__super= Box2D.Collision.Shapes.b2Shape.prototype;e.b2EdgeShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments);this.s_supportVec=new C;this.m_v1=new C;this.m_v2=new C;this.m_coreV1=new C;this.m_coreV2=new C;this.m_normal=new C;this.m_direction=new C;this.m_cornerDir1=new C;this.m_cornerDir2=new C};e.prototype.TestPoint=function(){return!1};e.prototype.RayCast=function(d,c,j){var e,h=c.p2.x-c.p1.x,p=c.p2.y-c.p1.y;e=j.R;var l=j.position.x+(e.col1.x*this.m_v1.x+e.col2.x*this.m_v1.y), m=j.position.y+(e.col1.y*this.m_v1.x+e.col2.y*this.m_v1.y),r=j.position.y+(e.col1.y*this.m_v2.x+e.col2.y*this.m_v2.y)-m,j=-(j.position.x+(e.col1.x*this.m_v2.x+e.col2.x*this.m_v2.y)-l);e=100*Number.MIN_VALUE;var s=-(h*r+p*j);if(s>e){var l=c.p1.x-l,y=c.p1.y-m,m=l*r+y*j;if(0<=m&&m<=c.maxFraction*s&&(c=-h*y+p*l,-e*s<=c&&c<=s*(1+e)))return m/=s,d.fraction=m,c=Math.sqrt(r*r+j*j),d.normal.x=r/c,d.normal.y=j/c,!0}return!1};e.prototype.ComputeAABB=function(d,c){var j=c.R,e=c.position.x+(j.col1.x*this.m_v1.x+ j.col2.x*this.m_v1.y),h=c.position.y+(j.col1.y*this.m_v1.x+j.col2.y*this.m_v1.y),p=c.position.x+(j.col1.x*this.m_v2.x+j.col2.x*this.m_v2.y),j=c.position.y+(j.col1.y*this.m_v2.x+j.col2.y*this.m_v2.y);e0)if(d>0)return 0;else l.x=-d/(m-d)*l.x+m/(m-d)*j.x,l.y=-d/(m-d)*l.y+m/(m-d)*j.y;else if(d>0)j.x=-d/(m-d)*l.x+m/(m-d)*j.x,j.y=-d/(m-d)*l.y+m/(m-d)*j.y;e.x=(h.x+l.x+j.x)/3;e.y=(h.y+l.y+j.y)/3;return 0.5*((l.x-h.x)*(j.y-h.y)-(l.y-h.y)*(j.x-h.x))};e.prototype.GetLength=function(){return this.m_length};e.prototype.GetVertex1=function(){return this.m_v1};e.prototype.GetVertex2=function(){return this.m_v2}; e.prototype.GetCoreVertex1=function(){return this.m_coreV1};e.prototype.GetCoreVertex2=function(){return this.m_coreV2};e.prototype.GetNormalVector=function(){return this.m_normal};e.prototype.GetDirectionVector=function(){return this.m_direction};e.prototype.GetCorner1Vector=function(){return this.m_cornerDir1};e.prototype.GetCorner2Vector=function(){return this.m_cornerDir2};e.prototype.Corner1IsConvex=function(){return this.m_cornerConvex1};e.prototype.Corner2IsConvex=function(){return this.m_cornerConvex2}; e.prototype.GetFirstVertex=function(d){var c=d.R;return new C(d.position.x+(c.col1.x*this.m_coreV1.x+c.col2.x*this.m_coreV1.y),d.position.y+(c.col1.y*this.m_coreV1.x+c.col2.y*this.m_coreV1.y))};e.prototype.GetNextEdge=function(){return this.m_nextEdge};e.prototype.GetPrevEdge=function(){return this.m_prevEdge};e.prototype.Support=function(d,c,j){c===void 0&&(c=0);j===void 0&&(j=0);var e=d.R,h=d.position.x+(e.col1.x*this.m_coreV1.x+e.col2.x*this.m_coreV1.y),p=d.position.y+(e.col1.y*this.m_coreV1.x+ e.col2.y*this.m_coreV1.y),l=d.position.x+(e.col1.x*this.m_coreV2.x+e.col2.x*this.m_coreV2.y),d=d.position.y+(e.col1.y*this.m_coreV2.x+e.col2.y*this.m_coreV2.y);h*c+p*j>l*c+d*j?(this.s_supportVec.x=h,this.s_supportVec.y=p):(this.s_supportVec.x=l,this.s_supportVec.y=d);return this.s_supportVec};e.prototype.b2EdgeShape=function(d,c){this.__super.b2Shape.call(this);this.m_type=w.e_edgeShape;this.m_nextEdge=this.m_prevEdge=null;this.m_v1=d;this.m_v2=c;this.m_direction.Set(this.m_v2.x-this.m_v1.x,this.m_v2.y- this.m_v1.y);this.m_length=this.m_direction.Normalize();this.m_normal.Set(this.m_direction.y,-this.m_direction.x);this.m_coreV1.Set(-m.b2_toiSlop*(this.m_normal.x-this.m_direction.x)+this.m_v1.x,-m.b2_toiSlop*(this.m_normal.y-this.m_direction.y)+this.m_v1.y);this.m_coreV2.Set(-m.b2_toiSlop*(this.m_normal.x+this.m_direction.x)+this.m_v2.x,-m.b2_toiSlop*(this.m_normal.y+this.m_direction.y)+this.m_v2.y);this.m_cornerDir1=this.m_normal;this.m_cornerDir2.Set(-this.m_normal.x,-this.m_normal.y)};e.prototype.SetPrevEdge= function(d,c,j,e){this.m_prevEdge=d;this.m_coreV1=c;this.m_cornerDir1=j;this.m_cornerConvex1=e};e.prototype.SetNextEdge=function(d,c,j,e){this.m_nextEdge=d;this.m_coreV2=c;this.m_cornerDir2=j;this.m_cornerConvex2=e};h.b2MassData=function(){this.mass=0;this.center=new C(0,0);this.I=0};Box2D.inherit(l,Box2D.Collision.Shapes.b2Shape);l.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype;l.b2PolygonShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments)};l.prototype.Copy= function(){var d=new l;d.Set(this);return d};l.prototype.Set=function(d){this.__super.Set.call(this,d);if(Box2D.is(d,l)){d=d instanceof l?d:null;this.m_centroid.SetV(d.m_centroid);this.m_vertexCount=d.m_vertexCount;this.Reserve(this.m_vertexCount);for(var c=0;cNumber.MIN_VALUE);this.m_normals[j].SetV(p.CrossVF(e, 1));this.m_normals[j].Normalize()}this.m_centroid=l.ComputeCentroid(this.m_vertices,this.m_vertexCount)};l.AsVector=function(d,c){c===void 0&&(c=0);var j=new l;j.SetAsVector(d,c);return j};l.prototype.SetAsBox=function(d,c){d===void 0&&(d=0);c===void 0&&(c=0);this.m_vertexCount=4;this.Reserve(4);this.m_vertices[0].Set(-d,-c);this.m_vertices[1].Set(d,-c);this.m_vertices[2].Set(d,c);this.m_vertices[3].Set(-d,c);this.m_normals[0].Set(0,-1);this.m_normals[1].Set(1,0);this.m_normals[2].Set(0,1);this.m_normals[3].Set(-1, 0);this.m_centroid.SetZero()};l.AsBox=function(d,c){d===void 0&&(d=0);c===void 0&&(c=0);var j=new l;j.SetAsBox(d,c);return j};l.prototype.SetAsOrientedBox=function(d,c,j,e){d===void 0&&(d=0);c===void 0&&(c=0);j===void 0&&(j=null);e===void 0&&(e=0);this.m_vertexCount=4;this.Reserve(4);this.m_vertices[0].Set(-d,-c);this.m_vertices[1].Set(d,-c);this.m_vertices[2].Set(d,c);this.m_vertices[3].Set(-d,c);this.m_normals[0].Set(0,-1);this.m_normals[1].Set(1,0);this.m_normals[2].Set(0,1);this.m_normals[3].Set(-1, 0);this.m_centroid=j;d=new H;d.position=j;d.R.Set(e);for(j=0;j0)return!1; return!0};l.prototype.RayCast=function(d,c,j){var e=0,h=c.maxFraction,p=0,l=0,m,r,p=c.p1.x-j.position.x,l=c.p1.y-j.position.y;m=j.R;var s=p*m.col1.x+l*m.col1.y,y=p*m.col2.x+l*m.col2.y,p=c.p2.x-j.position.x,l=c.p2.y-j.position.y;m=j.R;c=p*m.col1.x+l*m.col1.y-s;m=p*m.col2.x+l*m.col2.y-y;for(var q=-1,a=0;a0&&p= 0?(d.fraction=e,m=j.R,r=this.m_normals[q],d.normal.x=m.col1.x*r.x+m.col2.x*r.y,d.normal.y=m.col1.y*r.x+m.col2.y*r.y,!0):!1};l.prototype.ComputeAABB=function(d,c){for(var j=c.R,e=this.m_vertices[0],h=c.position.x+(j.col1.x*e.x+j.col2.x*e.y),p=c.position.y+(j.col1.y*e.x+j.col2.y*e.y),l=h,m=p,r=1;rs?l:s,m=m>e?m:e;d.lowerBound.x=h-this.m_radius; d.lowerBound.y=p-this.m_radius;d.upperBound.x=l+this.m_radius;d.upperBound.y=m+this.m_radius};l.prototype.ComputeMass=function(c,e){e===void 0&&(e=0);if(this.m_vertexCount==2)c.center.x=0.5*(this.m_vertices[0].x+this.m_vertices[1].x),c.center.y=0.5*(this.m_vertices[0].y+this.m_vertices[1].y),c.mass=0,c.I=0;else{for(var j=0,h=0,p=0,l=0,m=1/3,r=0;r0&&(H?v||(q=c-1,y++):v&&(e=c-1,y++));v=H}switch(y){case 0:return v? (c=new h,this.ComputeMass(c,1),l.SetV(p.MulX(j,c.center)),c.mass):0;case 1:q==-1?q=this.m_vertexCount-1:e=this.m_vertexCount-1}c=parseInt((q+1)%this.m_vertexCount);m=parseInt((e+1)%this.m_vertexCount);r=(0-s[q])/(s[c]-s[q]);s=(0-s[e])/(s[m]-s[e]);q=new C(this.m_vertices[q].x*(1-r)+this.m_vertices[c].x*r,this.m_vertices[q].y*(1-r)+this.m_vertices[c].y*r);e=new C(this.m_vertices[e].x*(1-s)+this.m_vertices[m].x*s,this.m_vertices[e].y*(1-s)+this.m_vertices[m].y*s);s=0;r=new C;for(y=this.m_vertices[c];c!= m;)c=(c+1)%this.m_vertexCount,v=c==m?e:this.m_vertices[c],H=0.5*((y.x-q.x)*(v.y-q.y)-(y.y-q.y)*(v.x-q.x)),s+=H,r.x+=H*(q.x+y.x+v.x)/3,r.y+=H*(q.y+y.y+v.y)/3,y=v;r.Multiply(1/s);l.SetV(p.MulX(j,r));return s};l.prototype.GetVertexCount=function(){return this.m_vertexCount};l.prototype.GetVertices=function(){return this.m_vertices};l.prototype.GetNormals=function(){return this.m_normals};l.prototype.GetSupport=function(c){for(var e=0,j=this.m_vertices[0].x*c.x+this.m_vertices[0].y*c.y,h=1;hj&&(e=h,j=p)}return e};l.prototype.GetSupportVertex=function(c){for(var e=0,j=this.m_vertices[0].x*c.x+this.m_vertices[0].y*c.y,h=1;hj&&(e=h,j=p)}return this.m_vertices[e]};l.prototype.Validate=function(){return!1};l.prototype.b2PolygonShape=function(){this.__super.b2Shape.call(this);this.m_type=w.e_polygonShape;this.m_centroid=new C;this.m_vertices=new Vector;this.m_normals= new Vector};l.prototype.Reserve=function(c){c===void 0&&(c=0);for(var e=parseInt(this.m_vertices.length);ea&&(a=z);n>g&&(g=n)}o=(a-s)*(g-v);if(o<0.95*e)e=o,c.R.col1.x=m,c.R.col1.y=r,c.R.col2.x=q,c.R.col2.y=y,m=0.5*(s+a),r=0.5*(v+g),q=c.R,c.center.x=l.x+(q.col1.x*m+q.col2.x*r),c.center.y=l.y+(q.col1.y*m+q.col2.y* r),c.extents.x=0.5*(a-s),c.extents.y=0.5*(g-v)}};Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2PolygonShape.s_mat=new c});w.b2Shape=function(){};w.prototype.Copy=function(){return null};w.prototype.Set=function(c){this.m_radius=c.m_radius};w.prototype.GetType=function(){return this.m_type};w.prototype.TestPoint=function(){return!1};w.prototype.RayCast=function(){return!1};w.prototype.ComputeAABB=function(){};w.prototype.ComputeMass=function(){};w.prototype.ComputeSubmergedArea=function(){return 0}; w.TestOverlap=function(c,e,j,h){var p=new y;p.proxyA=new J;p.proxyA.Set(c);p.proxyB=new J;p.proxyB.Set(j);p.transformA=e;p.transformB=h;p.useRadii=!0;c=new K;c.count=0;e=new s;v.Distance(e,c,p);return e.distance<10*Number.MIN_VALUE};w.prototype.b2Shape=function(){this.m_type=w.e_unknownShape;this.m_radius=m.b2_linearSlop};Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2Shape.e_unknownShape=-1;Box2D.Collision.Shapes.b2Shape.e_circleShape=0;Box2D.Collision.Shapes.b2Shape.e_polygonShape=1;Box2D.Collision.Shapes.b2Shape.e_edgeShape= 2;Box2D.Collision.Shapes.b2Shape.e_shapeTypeCount=3;Box2D.Collision.Shapes.b2Shape.e_hitCollide=1;Box2D.Collision.Shapes.b2Shape.e_missCollide=0;Box2D.Collision.Shapes.b2Shape.e_startsInsideCollide=-1})})(); (function(){var m=Box2D.Common.b2Color,r=Box2D.Common.b2Settings,q=Box2D.Common.Math.b2Math;m.b2Color=function(){this._b=this._g=this._r=0};m.prototype.b2Color=function(e,h,l){e===void 0&&(e=0);h===void 0&&(h=0);l===void 0&&(l=0);this._r=Box2D.parseUInt(255*q.Clamp(e,0,1));this._g=Box2D.parseUInt(255*q.Clamp(h,0,1));this._b=Box2D.parseUInt(255*q.Clamp(l,0,1))};m.prototype.Set=function(e,h,l){e===void 0&&(e=0);h===void 0&&(h=0);l===void 0&&(l=0);this._r=Box2D.parseUInt(255*q.Clamp(e,0,1));this._g= Box2D.parseUInt(255*q.Clamp(h,0,1));this._b=Box2D.parseUInt(255*q.Clamp(l,0,1))};Object.defineProperty(m.prototype,"r",{enumerable:!1,configurable:!0,set:function(e){e===void 0&&(e=0);this._r=Box2D.parseUInt(255*q.Clamp(e,0,1))}});Object.defineProperty(m.prototype,"g",{enumerable:!1,configurable:!0,set:function(e){e===void 0&&(e=0);this._g=Box2D.parseUInt(255*q.Clamp(e,0,1))}});Object.defineProperty(m.prototype,"b",{enumerable:!1,configurable:!0,set:function(e){e===void 0&&(e=0);this._b=Box2D.parseUInt(255* q.Clamp(e,0,1))}});Object.defineProperty(m.prototype,"color",{enumerable:!1,configurable:!0,get:function(){return this._r<<16|this._g<<8|this._b}});r.b2Settings=function(){};r.b2MixFriction=function(e,h){e===void 0&&(e=0);h===void 0&&(h=0);return Math.sqrt(e*h)};r.b2MixRestitution=function(e,h){e===void 0&&(e=0);h===void 0&&(h=0);return e>h?e:h};r.b2Assert=function(e){if(!e)throw"Assertion Failed";};Box2D.postDefs.push(function(){Box2D.Common.b2Settings.VERSION="2.1alpha";Box2D.Common.b2Settings.USHRT_MAX= 65535;Box2D.Common.b2Settings.b2_pi=Math.PI;Box2D.Common.b2Settings.b2_maxManifoldPoints=2;Box2D.Common.b2Settings.b2_aabbExtension=0.1;Box2D.Common.b2Settings.b2_aabbMultiplier=2;Box2D.Common.b2Settings.b2_polygonRadius=2*r.b2_linearSlop;Box2D.Common.b2Settings.b2_linearSlop=0.005;Box2D.Common.b2Settings.b2_angularSlop=2/180*r.b2_pi;Box2D.Common.b2Settings.b2_toiSlop=8*r.b2_linearSlop;Box2D.Common.b2Settings.b2_maxTOIContactsPerIsland=32;Box2D.Common.b2Settings.b2_maxTOIJointsPerIsland=32;Box2D.Common.b2Settings.b2_velocityThreshold= 1;Box2D.Common.b2Settings.b2_maxLinearCorrection=0.2;Box2D.Common.b2Settings.b2_maxAngularCorrection=8/180*r.b2_pi;Box2D.Common.b2Settings.b2_maxTranslation=2;Box2D.Common.b2Settings.b2_maxTranslationSquared=r.b2_maxTranslation*r.b2_maxTranslation;Box2D.Common.b2Settings.b2_maxRotation=0.5*r.b2_pi;Box2D.Common.b2Settings.b2_maxRotationSquared=r.b2_maxRotation*r.b2_maxRotation;Box2D.Common.b2Settings.b2_contactBaumgarte=0.2;Box2D.Common.b2Settings.b2_timeToSleep=0.5;Box2D.Common.b2Settings.b2_linearSleepTolerance= 0.01;Box2D.Common.b2Settings.b2_angularSleepTolerance=2/180*r.b2_pi})})(); (function(){var m=Box2D.Common.Math.b2Mat22,r=Box2D.Common.Math.b2Mat33,q=Box2D.Common.Math.b2Math,e=Box2D.Common.Math.b2Sweep,h=Box2D.Common.Math.b2Transform,l=Box2D.Common.Math.b2Vec2,w=Box2D.Common.Math.b2Vec3;m.b2Mat22=function(){this.col1=new l;this.col2=new l};m.prototype.b2Mat22=function(){this.SetIdentity()};m.FromAngle=function(c){c===void 0&&(c=0);var e=new m;e.Set(c);return e};m.FromVV=function(c,e){var h=new m;h.SetVV(c,e);return h};m.prototype.Set=function(c){c===void 0&&(c=0);var e= Math.cos(c),c=Math.sin(c);this.col1.x=e;this.col2.x=-c;this.col1.y=c;this.col2.y=e};m.prototype.SetVV=function(c,e){this.col1.SetV(c);this.col2.SetV(e)};m.prototype.Copy=function(){var c=new m;c.SetM(this);return c};m.prototype.SetM=function(c){this.col1.SetV(c.col1);this.col2.SetV(c.col2)};m.prototype.AddM=function(c){this.col1.x+=c.col1.x;this.col1.y+=c.col1.y;this.col2.x+=c.col2.x;this.col2.y+=c.col2.y};m.prototype.SetIdentity=function(){this.col1.x=1;this.col2.x=0;this.col1.y=0;this.col2.y=1}; m.prototype.SetZero=function(){this.col1.x=0;this.col2.x=0;this.col1.y=0;this.col2.y=0};m.prototype.GetAngle=function(){return Math.atan2(this.col1.y,this.col1.x)};m.prototype.GetInverse=function(c){var e=this.col1.x,h=this.col2.x,l=this.col1.y,m=this.col2.y,r=e*m-h*l;r!=0&&(r=1/r);c.col1.x=r*m;c.col2.x=-r*h;c.col1.y=-r*l;c.col2.y=r*e;return c};m.prototype.Solve=function(c,e,h){e===void 0&&(e=0);h===void 0&&(h=0);var l=this.col1.x,m=this.col2.x,r=this.col1.y,s=this.col2.y,q=l*s-m*r;q!=0&&(q=1/q); c.x=q*(s*e-m*h);c.y=q*(l*h-r*e);return c};m.prototype.Abs=function(){this.col1.Abs();this.col2.Abs()};r.b2Mat33=function(){this.col1=new w;this.col2=new w;this.col3=new w};r.prototype.b2Mat33=function(c,e,h){c===void 0&&(c=null);e===void 0&&(e=null);h===void 0&&(h=null);!c&&!e&&!h?(this.col1.SetZero(),this.col2.SetZero(),this.col3.SetZero()):(this.col1.SetV(c),this.col2.SetV(e),this.col3.SetV(h))};r.prototype.SetVVV=function(c,e,h){this.col1.SetV(c);this.col2.SetV(e);this.col3.SetV(h)};r.prototype.Copy= function(){return new r(this.col1,this.col2,this.col3)};r.prototype.SetM=function(c){this.col1.SetV(c.col1);this.col2.SetV(c.col2);this.col3.SetV(c.col3)};r.prototype.AddM=function(c){this.col1.x+=c.col1.x;this.col1.y+=c.col1.y;this.col1.z+=c.col1.z;this.col2.x+=c.col2.x;this.col2.y+=c.col2.y;this.col2.z+=c.col2.z;this.col3.x+=c.col3.x;this.col3.y+=c.col3.y;this.col3.z+=c.col3.z};r.prototype.SetIdentity=function(){this.col1.x=1;this.col2.x=0;this.col3.x=0;this.col1.y=0;this.col2.y=1;this.col3.y=0; this.col1.z=0;this.col2.z=0;this.col3.z=1};r.prototype.SetZero=function(){this.col1.x=0;this.col2.x=0;this.col3.x=0;this.col1.y=0;this.col2.y=0;this.col3.y=0;this.col1.z=0;this.col2.z=0;this.col3.z=0};r.prototype.Solve22=function(c,e,h){e===void 0&&(e=0);h===void 0&&(h=0);var l=this.col1.x,m=this.col2.x,r=this.col1.y,s=this.col2.y,q=l*s-m*r;q!=0&&(q=1/q);c.x=q*(s*e-m*h);c.y=q*(l*h-r*e);return c};r.prototype.Solve33=function(c,e,h,l){e===void 0&&(e=0);h===void 0&&(h=0);l===void 0&&(l=0);var m=this.col1.x, r=this.col1.y,s=this.col1.z,q=this.col2.x,w=this.col2.y,d=this.col2.z,x=this.col3.x,j=this.col3.y,B=this.col3.z,E=m*(w*B-d*j)+r*(d*x-q*B)+s*(q*j-w*x);E!=0&&(E=1/E);c.x=E*(e*(w*B-d*j)+h*(d*x-q*B)+l*(q*j-w*x));c.y=E*(m*(h*B-l*j)+r*(l*x-e*B)+s*(e*j-h*x));c.z=E*(m*(w*l-d*h)+r*(d*e-q*l)+s*(q*h-w*e));return c};q.b2Math=function(){};q.IsValid=function(c){c===void 0&&(c=0);return isFinite(c)};q.Dot=function(c,e){return c.x*e.x+c.y*e.y};q.CrossVV=function(c,e){return c.x*e.y-c.y*e.x};q.CrossVF=function(c, e){e===void 0&&(e=0);return new l(e*c.y,-e*c.x)};q.CrossFV=function(c,e){c===void 0&&(c=0);return new l(-c*e.y,c*e.x)};q.MulMV=function(c,e){return new l(c.col1.x*e.x+c.col2.x*e.y,c.col1.y*e.x+c.col2.y*e.y)};q.MulTMV=function(c,e){return new l(q.Dot(e,c.col1),q.Dot(e,c.col2))};q.MulX=function(c,e){var h=q.MulMV(c.R,e);h.x+=c.position.x;h.y+=c.position.y;return h};q.MulXT=function(c,e){var h=q.SubtractVV(e,c.position),l=h.x*c.R.col1.x+h.y*c.R.col1.y;h.y=h.x*c.R.col2.x+h.y*c.R.col2.y;h.x=l;return h}; q.AddVV=function(c,e){return new l(c.x+e.x,c.y+e.y)};q.SubtractVV=function(c,e){return new l(c.x-e.x,c.y-e.y)};q.Distance=function(c,e){var h=c.x-e.x,l=c.y-e.y;return Math.sqrt(h*h+l*l)};q.DistanceSquared=function(c,e){var h=c.x-e.x,l=c.y-e.y;return h*h+l*l};q.MulFV=function(c,e){c===void 0&&(c=0);return new l(c*e.x,c*e.y)};q.AddMM=function(c,e){return m.FromVV(q.AddVV(c.col1,e.col1),q.AddVV(c.col2,e.col2))};q.MulMM=function(c,e){return m.FromVV(q.MulMV(c,e.col1),q.MulMV(c,e.col2))};q.MulTMM=function(c, e){var h=new l(q.Dot(c.col1,e.col1),q.Dot(c.col2,e.col1)),r=new l(q.Dot(c.col1,e.col2),q.Dot(c.col2,e.col2));return m.FromVV(h,r)};q.Abs=function(c){c===void 0&&(c=0);return c>0?c:-c};q.AbsV=function(c){return new l(q.Abs(c.x),q.Abs(c.y))};q.AbsM=function(c){return m.FromVV(q.AbsV(c.col1),q.AbsV(c.col2))};q.Min=function(c,e){c===void 0&&(c=0);e===void 0&&(e=0);return ce?c:e};q.MaxV=function(c,e){return new l(q.Max(c.x,e.x),q.Max(c.y,e.y))};q.Clamp=function(c,e,h){c===void 0&&(c=0);e===void 0&&(e=0);h===void 0&&(h=0);return ch?h:c};q.ClampV=function(c,e,h){return q.MaxV(e,q.MinV(c,h))};q.Swap=function(c,e){var h=c[0];c[0]=e[0];e[0]=h};q.Random=function(){return Math.random()*2-1};q.RandomRange=function(c,e){c===void 0&&(c=0);e===void 0&&(e=0);var h=Math.random();return(e-c)*h+c};q.NextPowerOfTwo=function(c){c===void 0&&(c=0);c|=c>>1&2147483647;c|= c>>2&1073741823;c|=c>>4&268435455;c|=c>>8&16777215;c|=c>>16&65535;return c+1};q.IsPowerOfTwo=function(c){c===void 0&&(c=0);return c>0&&(c&c-1)==0};Box2D.postDefs.push(function(){Box2D.Common.Math.b2Math.b2Vec2_zero=new l(0,0);Box2D.Common.Math.b2Math.b2Mat22_identity=m.FromVV(new l(1,0),new l(0,1));Box2D.Common.Math.b2Math.b2Transform_identity=new h(q.b2Vec2_zero,q.b2Mat22_identity)});e.b2Sweep=function(){this.localCenter=new l;this.c0=new l;this.c=new l};e.prototype.Set=function(c){this.localCenter.SetV(c.localCenter); this.c0.SetV(c.c0);this.c.SetV(c.c);this.a0=c.a0;this.a=c.a;this.t0=c.t0};e.prototype.Copy=function(){var c=new e;c.localCenter.SetV(this.localCenter);c.c0.SetV(this.c0);c.c.SetV(this.c);c.a0=this.a0;c.a=this.a;c.t0=this.t0;return c};e.prototype.GetTransform=function(c,e){e===void 0&&(e=0);c.position.x=(1-e)*this.c0.x+e*this.c.x;c.position.y=(1-e)*this.c0.y+e*this.c.y;c.R.Set((1-e)*this.a0+e*this.a);var h=c.R;c.position.x-=h.col1.x*this.localCenter.x+h.col2.x*this.localCenter.y;c.position.y-=h.col1.y* this.localCenter.x+h.col2.y*this.localCenter.y};e.prototype.Advance=function(c){c===void 0&&(c=0);if(this.t0Number.MIN_VALUE){var e=(c-this.t0)/(1-this.t0);this.c0.x=(1-e)*this.c0.x+e*this.c.x;this.c0.y=(1-e)*this.c0.y+e*this.c.y;this.a0=(1-e)*this.a0+e*this.a;this.t0=c}};h.b2Transform=function(){this.position=new l;this.R=new m};h.prototype.b2Transform=function(c,e){c===void 0&&(c=null);e===void 0&&(e=null);c&&(this.position.SetV(c),this.R.SetM(e))};h.prototype.Initialize=function(c, e){this.position.SetV(c);this.R.SetM(e)};h.prototype.SetIdentity=function(){this.position.SetZero();this.R.SetIdentity()};h.prototype.Set=function(c){this.position.SetV(c.position);this.R.SetM(c.R)};h.prototype.GetAngle=function(){return Math.atan2(this.R.col1.y,this.R.col1.x)};l.b2Vec2=function(){};l.prototype.b2Vec2=function(c,e){c===void 0&&(c=0);e===void 0&&(e=0);this.x=c;this.y=e};l.prototype.SetZero=function(){this.y=this.x=0};l.prototype.Set=function(c,e){c===void 0&&(c=0);e===void 0&&(e=0); this.x=c;this.y=e};l.prototype.SetV=function(c){this.x=c.x;this.y=c.y};l.prototype.GetNegative=function(){return new l(-this.x,-this.y)};l.prototype.NegativeSelf=function(){this.x=-this.x;this.y=-this.y};l.Make=function(c,e){c===void 0&&(c=0);e===void 0&&(e=0);return new l(c,e)};l.prototype.Copy=function(){return new l(this.x,this.y)};l.prototype.Add=function(c){this.x+=c.x;this.y+=c.y};l.prototype.Subtract=function(c){this.x-=c.x;this.y-=c.y};l.prototype.Multiply=function(c){c===void 0&&(c=0);this.x*= c;this.y*=c};l.prototype.MulM=function(c){var e=this.x;this.x=c.col1.x*e+c.col2.x*this.y;this.y=c.col1.y*e+c.col2.y*this.y};l.prototype.MulTM=function(c){var e=q.Dot(this,c.col1);this.y=q.Dot(this,c.col2);this.x=e};l.prototype.CrossVF=function(c){c===void 0&&(c=0);var e=this.x;this.x=c*this.y;this.y=-c*e};l.prototype.CrossFV=function(c){c===void 0&&(c=0);var e=this.x;this.x=-c*this.y;this.y=c*e};l.prototype.MinV=function(c){this.x=this.xc.x?this.x:c.x;this.y=this.y>c.y?this.y:c.y};l.prototype.Abs=function(){if(this.x<0)this.x=-this.x;if(this.y<0)this.y=-this.y};l.prototype.Length=function(){return Math.sqrt(this.x*this.x+this.y*this.y)};l.prototype.LengthSquared=function(){return this.x*this.x+this.y*this.y};l.prototype.Normalize=function(){var c=Math.sqrt(this.x*this.x+this.y*this.y);if(c0;b.SetNextEdge(k,a,n,f);k.SetPrevEdge(b,a,n,f);return g};d.prototype.CreateFixture=function(b){if(this.m_world.IsLocked()==!0)return null;var k=new F;k.Create(this,this.m_xf,b);this.m_flags&d.e_activeFlag&&k.CreateProxy(this.m_world.m_contactManager.m_broadPhase,this.m_xf);k.m_next=this.m_fixtureList;this.m_fixtureList=k;++this.m_fixtureCount;k.m_body=this;k.m_density>0&&this.ResetMassData();this.m_world.m_flags|= g.e_newFixture;return k};d.prototype.CreateFixture2=function(b,k){k===void 0&&(k=0);var a=new M;a.shape=b;a.density=k;return this.CreateFixture(a)};d.prototype.DestroyFixture=function(b){if(this.m_world.IsLocked()!=!0){for(var k=this.m_fixtureList,a=null;k!=null;){if(k==b){a?a.m_next=b.m_next:this.m_fixtureList=b.m_next;break}a=k;k=k.m_next}for(k=this.m_contactList;k;){var a=k.contact,k=k.next,g=a.GetFixtureA(),n=a.GetFixtureB();(b==g||b==n)&&this.m_world.m_contactManager.Destroy(a)}this.m_flags& d.e_activeFlag&&b.DestroyProxy(this.m_world.m_contactManager.m_broadPhase);b.Destroy();b.m_body=null;b.m_next=null;--this.m_fixtureCount;this.ResetMassData()}};d.prototype.SetPositionAndAngle=function(b,k){k===void 0&&(k=0);var a;if(this.m_world.IsLocked()!=!0){this.m_xf.R.Set(k);this.m_xf.position.SetV(b);a=this.m_xf.R;var g=this.m_sweep.localCenter;this.m_sweep.c.x=a.col1.x*g.x+a.col2.x*g.y;this.m_sweep.c.y=a.col1.y*g.x+a.col2.y*g.y;this.m_sweep.c.x+=this.m_xf.position.x;this.m_sweep.c.y+=this.m_xf.position.y; this.m_sweep.c0.SetV(this.m_sweep.c);this.m_sweep.a0=this.m_sweep.a=k;g=this.m_world.m_contactManager.m_broadPhase;for(a=this.m_fixtureList;a;a=a.m_next)a.Synchronize(g,this.m_xf,this.m_xf);this.m_world.m_contactManager.FindNewContacts()}};d.prototype.SetTransform=function(b){this.SetPositionAndAngle(b.position,b.GetAngle())};d.prototype.GetTransform=function(){return this.m_xf};d.prototype.GetPosition=function(){return this.m_xf.position};d.prototype.SetPosition=function(b){this.SetPositionAndAngle(b, this.GetAngle())};d.prototype.GetAngle=function(){return this.m_sweep.a};d.prototype.SetAngle=function(b){b===void 0&&(b=0);this.SetPositionAndAngle(this.GetPosition(),b)};d.prototype.GetWorldCenter=function(){return this.m_sweep.c};d.prototype.GetLocalCenter=function(){return this.m_sweep.localCenter};d.prototype.SetLinearVelocity=function(b){this.m_type!=d.b2_staticBody&&this.m_linearVelocity.SetV(b)};d.prototype.GetLinearVelocity=function(){return this.m_linearVelocity};d.prototype.SetAngularVelocity= function(b){b===void 0&&(b=0);if(this.m_type!=d.b2_staticBody)this.m_angularVelocity=b};d.prototype.GetAngularVelocity=function(){return this.m_angularVelocity};d.prototype.GetDefinition=function(){var b=new x;b.type=this.GetType();b.allowSleep=(this.m_flags&d.e_allowSleepFlag)==d.e_allowSleepFlag;b.angle=this.GetAngle();b.angularDamping=this.m_angularDamping;b.angularVelocity=this.m_angularVelocity;b.fixedRotation=(this.m_flags&d.e_fixedRotationFlag)==d.e_fixedRotationFlag;b.bullet=(this.m_flags& d.e_bulletFlag)==d.e_bulletFlag;b.awake=(this.m_flags&d.e_awakeFlag)==d.e_awakeFlag;b.linearDamping=this.m_linearDamping;b.linearVelocity.SetV(this.GetLinearVelocity());b.position=this.GetPosition();b.userData=this.GetUserData();return b};d.prototype.ApplyForce=function(b,k){this.m_type==d.b2_dynamicBody&&(this.IsAwake()==!1&&this.SetAwake(!0),this.m_force.x+=b.x,this.m_force.y+=b.y,this.m_torque+=(k.x-this.m_sweep.c.x)*b.y-(k.y-this.m_sweep.c.y)*b.x)};d.prototype.ApplyTorque=function(b){b===void 0&& (b=0);this.m_type==d.b2_dynamicBody&&(this.IsAwake()==!1&&this.SetAwake(!0),this.m_torque+=b)};d.prototype.ApplyImpulse=function(b,k){this.m_type==d.b2_dynamicBody&&(this.IsAwake()==!1&&this.SetAwake(!0),this.m_linearVelocity.x+=this.m_invMass*b.x,this.m_linearVelocity.y+=this.m_invMass*b.y,this.m_angularVelocity+=this.m_invI*((k.x-this.m_sweep.c.x)*b.y-(k.y-this.m_sweep.c.y)*b.x))};d.prototype.Split=function(b){for(var k=this.GetLinearVelocity().Copy(),a=this.GetAngularVelocity(),g=this.GetWorldCenter(), n=this.m_world.CreateBody(this.GetDefinition()),f,c=this.m_fixtureList;c;)if(b(c)){var o=c.m_next;f?f.m_next=o:this.m_fixtureList=o;this.m_fixtureCount--;c.m_next=n.m_fixtureList;n.m_fixtureList=c;n.m_fixtureCount++;c.m_body=n;c=o}else f=c,c=c.m_next;this.ResetMassData();n.ResetMassData();f=this.GetWorldCenter();b=n.GetWorldCenter();f=m.AddVV(k,m.CrossFV(a,m.SubtractVV(f,g)));k=m.AddVV(k,m.CrossFV(a,m.SubtractVV(b,g)));this.SetLinearVelocity(f);n.SetLinearVelocity(k);this.SetAngularVelocity(a);n.SetAngularVelocity(a); this.SynchronizeFixtures();n.SynchronizeFixtures();return n};d.prototype.Merge=function(b){var a;for(a=b.m_fixtureList;a;){var g=a.m_next;b.m_fixtureCount--;a.m_next=this.m_fixtureList;this.m_fixtureList=a;this.m_fixtureCount++;a.m_body=f;a=g}n.m_fixtureCount=0;var n=this,f=b;n.GetWorldCenter();f.GetWorldCenter();n.GetLinearVelocity().Copy();f.GetLinearVelocity().Copy();n.GetAngularVelocity();f.GetAngularVelocity();n.ResetMassData();this.SynchronizeFixtures()};d.prototype.GetMass=function(){return this.m_mass}; d.prototype.GetInertia=function(){return this.m_I};d.prototype.GetMassData=function(b){b.mass=this.m_mass;b.I=this.m_I;b.center.SetV(this.m_sweep.localCenter)};d.prototype.SetMassData=function(b){l.b2Assert(this.m_world.IsLocked()==!1);if(this.m_world.IsLocked()!=!0&&this.m_type==d.b2_dynamicBody){this.m_invI=this.m_I=this.m_invMass=0;this.m_mass=b.mass;if(this.m_mass<=0)this.m_mass=1;this.m_invMass=1/this.m_mass;if(b.I>0&&(this.m_flags&d.e_fixedRotationFlag)==0)this.m_I=b.I-this.m_mass*(b.center.x* b.center.x+b.center.y*b.center.y),this.m_invI=1/this.m_I;var a=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(b.center);this.m_sweep.c0.SetV(m.MulX(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.SetV(this.m_sweep.c0);this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-a.y);this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-a.x)}};d.prototype.ResetMassData=function(){this.m_invI=this.m_I=this.m_invMass=this.m_mass=0;this.m_sweep.localCenter.SetZero();if(!(this.m_type== d.b2_staticBody||this.m_type==d.b2_kinematicBody)){for(var b=e.Make(0,0),a=this.m_fixtureList;a;a=a.m_next)if(a.m_density!=0){var g=a.GetMassData();this.m_mass+=g.mass;b.x+=g.center.x*g.mass;b.y+=g.center.y*g.mass;this.m_I+=g.I}this.m_mass>0?(this.m_invMass=1/this.m_mass,b.x*=this.m_invMass,b.y*=this.m_invMass):this.m_invMass=this.m_mass=1;this.m_I>0&&(this.m_flags&d.e_fixedRotationFlag)==0?(this.m_I-=this.m_mass*(b.x*b.x+b.y*b.y),this.m_I*=this.m_inertiaScale,l.b2Assert(this.m_I>0),this.m_invI=1/ this.m_I):this.m_invI=this.m_I=0;a=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(b);this.m_sweep.c0.SetV(m.MulX(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.SetV(this.m_sweep.c0);this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-a.y);this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-a.x)}};d.prototype.GetWorldPoint=function(b){var a=this.m_xf.R,b=new e(a.col1.x*b.x+a.col2.x*b.y,a.col1.y*b.x+a.col2.y*b.y);b.x+=this.m_xf.position.x;b.y+=this.m_xf.position.y; return b};d.prototype.GetWorldVector=function(b){return m.MulMV(this.m_xf.R,b)};d.prototype.GetLocalPoint=function(b){return m.MulXT(this.m_xf,b)};d.prototype.GetLocalVector=function(b){return m.MulTMV(this.m_xf.R,b)};d.prototype.GetLinearVelocityFromWorldPoint=function(b){return new e(this.m_linearVelocity.x-this.m_angularVelocity*(b.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(b.x-this.m_sweep.c.x))};d.prototype.GetLinearVelocityFromLocalPoint=function(b){var a=this.m_xf.R, b=new e(a.col1.x*b.x+a.col2.x*b.y,a.col1.y*b.x+a.col2.y*b.y);b.x+=this.m_xf.position.x;b.y+=this.m_xf.position.y;return new e(this.m_linearVelocity.x-this.m_angularVelocity*(b.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(b.x-this.m_sweep.c.x))};d.prototype.GetLinearDamping=function(){return this.m_linearDamping};d.prototype.SetLinearDamping=function(b){b===void 0&&(b=0);this.m_linearDamping=b};d.prototype.GetAngularDamping=function(){return this.m_angularDamping};d.prototype.SetAngularDamping= function(b){b===void 0&&(b=0);this.m_angularDamping=b};d.prototype.SetType=function(b){b===void 0&&(b=0);if(this.m_type!=b){this.m_type=b;this.ResetMassData();if(this.m_type==d.b2_staticBody)this.m_linearVelocity.SetZero(),this.m_angularVelocity=0;this.SetAwake(!0);this.m_force.SetZero();this.m_torque=0;for(b=this.m_contactList;b;b=b.next)b.contact.FlagForFiltering()}};d.prototype.GetType=function(){return this.m_type};d.prototype.SetBullet=function(b){b?this.m_flags|=d.e_bulletFlag:this.m_flags&= ~d.e_bulletFlag};d.prototype.IsBullet=function(){return(this.m_flags&d.e_bulletFlag)==d.e_bulletFlag};d.prototype.SetSleepingAllowed=function(b){b?this.m_flags|=d.e_allowSleepFlag:(this.m_flags&=~d.e_allowSleepFlag,this.SetAwake(!0))};d.prototype.SetAwake=function(b){b?(this.m_flags|=d.e_awakeFlag,this.m_sleepTime=0):(this.m_flags&=~d.e_awakeFlag,this.m_sleepTime=0,this.m_linearVelocity.SetZero(),this.m_angularVelocity=0,this.m_force.SetZero(),this.m_torque=0)};d.prototype.IsAwake=function(){return(this.m_flags& d.e_awakeFlag)==d.e_awakeFlag};d.prototype.SetFixedRotation=function(b){b?this.m_flags|=d.e_fixedRotationFlag:this.m_flags&=~d.e_fixedRotationFlag;this.ResetMassData()};d.prototype.IsFixedRotation=function(){return(this.m_flags&d.e_fixedRotationFlag)==d.e_fixedRotationFlag};d.prototype.SetActive=function(b){if(b!=this.IsActive()){var a;if(b){this.m_flags|=d.e_activeFlag;b=this.m_world.m_contactManager.m_broadPhase;for(a=this.m_fixtureList;a;a=a.m_next)a.CreateProxy(b,this.m_xf)}else{this.m_flags&= ~d.e_activeFlag;b=this.m_world.m_contactManager.m_broadPhase;for(a=this.m_fixtureList;a;a=a.m_next)a.DestroyProxy(b);for(b=this.m_contactList;b;)a=b,b=b.next,this.m_world.m_contactManager.Destroy(a.contact);this.m_contactList=null}}};d.prototype.IsActive=function(){return(this.m_flags&d.e_activeFlag)==d.e_activeFlag};d.prototype.IsSleepingAllowed=function(){return(this.m_flags&d.e_allowSleepFlag)==d.e_allowSleepFlag};d.prototype.GetFixtureList=function(){return this.m_fixtureList};d.prototype.GetJointList= function(){return this.m_jointList};d.prototype.GetControllerList=function(){return this.m_controllerList};d.prototype.GetContactList=function(){return this.m_contactList};d.prototype.GetNext=function(){return this.m_next};d.prototype.GetUserData=function(){return this.m_userData};d.prototype.SetUserData=function(b){this.m_userData=b};d.prototype.GetWorld=function(){return this.m_world};d.prototype.b2Body=function(b,a){this.m_flags=0;b.bullet&&(this.m_flags|=d.e_bulletFlag);b.fixedRotation&&(this.m_flags|= d.e_fixedRotationFlag);b.allowSleep&&(this.m_flags|=d.e_allowSleepFlag);b.awake&&(this.m_flags|=d.e_awakeFlag);b.active&&(this.m_flags|=d.e_activeFlag);this.m_world=a;this.m_xf.position.SetV(b.position);this.m_xf.R.Set(b.angle);this.m_sweep.localCenter.SetZero();this.m_sweep.t0=1;this.m_sweep.a0=this.m_sweep.a=b.angle;var g=this.m_xf.R,n=this.m_sweep.localCenter;this.m_sweep.c.x=g.col1.x*n.x+g.col2.x*n.y;this.m_sweep.c.y=g.col1.y*n.x+g.col2.y*n.y;this.m_sweep.c.x+=this.m_xf.position.x;this.m_sweep.c.y+= this.m_xf.position.y;this.m_sweep.c0.SetV(this.m_sweep.c);this.m_contactList=this.m_controllerList=this.m_jointList=null;this.m_controllerCount=0;this.m_next=this.m_prev=null;this.m_linearVelocity.SetV(b.linearVelocity);this.m_angularVelocity=b.angularVelocity;this.m_linearDamping=b.linearDamping;this.m_angularDamping=b.angularDamping;this.m_force.Set(0,0);this.m_sleepTime=this.m_torque=0;this.m_type=b.type;this.m_invMass=this.m_type==d.b2_dynamicBody?this.m_mass=1:this.m_mass=0;this.m_invI=this.m_I= 0;this.m_inertiaScale=b.inertiaScale;this.m_userData=b.userData;this.m_fixtureList=null;this.m_fixtureCount=0};d.prototype.SynchronizeFixtures=function(){var b=d.s_xf1;b.R.Set(this.m_sweep.a0);var a=b.R,g=this.m_sweep.localCenter;b.position.x=this.m_sweep.c0.x-(a.col1.x*g.x+a.col2.x*g.y);b.position.y=this.m_sweep.c0.y-(a.col1.y*g.x+a.col2.y*g.y);g=this.m_world.m_contactManager.m_broadPhase;for(a=this.m_fixtureList;a;a=a.m_next)a.Synchronize(g,b,this.m_xf)};d.prototype.SynchronizeTransform=function(){this.m_xf.R.Set(this.m_sweep.a); var b=this.m_xf.R,a=this.m_sweep.localCenter;this.m_xf.position.x=this.m_sweep.c.x-(b.col1.x*a.x+b.col2.x*a.y);this.m_xf.position.y=this.m_sweep.c.y-(b.col1.y*a.x+b.col2.y*a.y)};d.prototype.ShouldCollide=function(b){if(this.m_type!=d.b2_dynamicBody&&b.m_type!=d.b2_dynamicBody)return!1;for(var a=this.m_jointList;a;a=a.next)if(a.other==b&&a.joint.m_collideConnected==!1)return!1;return!0};d.prototype.Advance=function(b){b===void 0&&(b=0);this.m_sweep.Advance(b);this.m_sweep.c.SetV(this.m_sweep.c0);this.m_sweep.a= this.m_sweep.a0;this.SynchronizeTransform()};Box2D.postDefs.push(function(){Box2D.Dynamics.b2Body.s_xf1=new q;Box2D.Dynamics.b2Body.e_islandFlag=1;Box2D.Dynamics.b2Body.e_awakeFlag=2;Box2D.Dynamics.b2Body.e_allowSleepFlag=4;Box2D.Dynamics.b2Body.e_bulletFlag=8;Box2D.Dynamics.b2Body.e_fixedRotationFlag=16;Box2D.Dynamics.b2Body.e_activeFlag=32;Box2D.Dynamics.b2Body.b2_staticBody=0;Box2D.Dynamics.b2Body.b2_kinematicBody=1;Box2D.Dynamics.b2Body.b2_dynamicBody=2});x.b2BodyDef=function(){this.position= new e;this.linearVelocity=new e};x.prototype.b2BodyDef=function(){this.userData=null;this.position.Set(0,0);this.angle=0;this.linearVelocity.Set(0,0);this.angularDamping=this.linearDamping=this.angularVelocity=0;this.awake=this.allowSleep=!0;this.bullet=this.fixedRotation=!1;this.type=d.b2_staticBody;this.active=!0;this.inertiaScale=1};j.b2ContactFilter=function(){};j.prototype.ShouldCollide=function(b,a){var g=b.GetFilterData(),n=a.GetFilterData();return g.groupIndex==n.groupIndex&&g.groupIndex!= 0?g.groupIndex>0:(g.maskBits&n.categoryBits)!=0&&(g.categoryBits&n.maskBits)!=0};j.prototype.RayCollide=function(b,a){return!b?!0:this.ShouldCollide(b instanceof F?b:null,a)};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactFilter.b2_defaultFilter=new j});B.b2ContactImpulse=function(){this.normalImpulses=new Vector_a2j_Number(l.b2_maxManifoldPoints);this.tangentImpulses=new Vector_a2j_Number(l.b2_maxManifoldPoints)};E.b2ContactListener=function(){};E.prototype.BeginContact=function(){};E.prototype.EndContact= function(){};E.prototype.PreSolve=function(){};E.prototype.PostSolve=function(){};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactListener.b2_defaultListener=new E});G.b2ContactManager=function(){};G.prototype.b2ContactManager=function(){this.m_world=null;this.m_contactCount=0;this.m_contactFilter=j.b2_defaultFilter;this.m_contactListener=E.b2_defaultListener;this.m_contactFactory=new n(this.m_allocator);this.m_broadPhase=new p};G.prototype.AddPair=function(b,a){var g=b instanceof F?b:null, n=a instanceof F?a:null,f=g.GetBody(),c=n.GetBody();if(f!=c){for(var o=c.GetContactList();o;){if(o.other==f){var e=o.contact.GetFixtureA(),t=o.contact.GetFixtureB();if(e==g&&t==n)return;if(e==n&&t==g)return}o=o.next}if(c.ShouldCollide(f)!=!1&&this.m_contactFilter.ShouldCollide(g,n)!=!1){o=this.m_contactFactory.Create(g,n);g=o.GetFixtureA();n=o.GetFixtureB();f=g.m_body;c=n.m_body;o.m_prev=null;o.m_next=this.m_world.m_contactList;if(this.m_world.m_contactList!=null)this.m_world.m_contactList.m_prev= o;this.m_world.m_contactList=o;o.m_nodeA.contact=o;o.m_nodeA.other=c;o.m_nodeA.prev=null;o.m_nodeA.next=f.m_contactList;if(f.m_contactList!=null)f.m_contactList.prev=o.m_nodeA;f.m_contactList=o.m_nodeA;o.m_nodeB.contact=o;o.m_nodeB.other=f;o.m_nodeB.prev=null;o.m_nodeB.next=c.m_contactList;if(c.m_contactList!=null)c.m_contactList.prev=o.m_nodeB;c.m_contactList=o.m_nodeB;++this.m_world.m_contactCount}}};G.prototype.FindNewContacts=function(){this.m_broadPhase.UpdatePairs(Box2D.generateCallback(this, this.AddPair))};G.prototype.Destroy=function(b){var a=b.GetFixtureA(),g=b.GetFixtureB(),a=a.GetBody(),g=g.GetBody();b.IsTouching()&&this.m_contactListener.EndContact(b);if(b.m_prev)b.m_prev.m_next=b.m_next;if(b.m_next)b.m_next.m_prev=b.m_prev;if(b==this.m_world.m_contactList)this.m_world.m_contactList=b.m_next;if(b.m_nodeA.prev)b.m_nodeA.prev.next=b.m_nodeA.next;if(b.m_nodeA.next)b.m_nodeA.next.prev=b.m_nodeA.prev;if(b.m_nodeA==a.m_contactList)a.m_contactList=b.m_nodeA.next;if(b.m_nodeB.prev)b.m_nodeB.prev.next= b.m_nodeB.next;if(b.m_nodeB.next)b.m_nodeB.next.prev=b.m_nodeB.prev;if(b.m_nodeB==g.m_contactList)g.m_contactList=b.m_nodeB.next;this.m_contactFactory.Destroy(b);--this.m_contactCount};G.prototype.Collide=function(){for(var b=this.m_world.m_contactList;b;){var a=b.GetFixtureA(),g=b.GetFixtureB(),n=a.GetBody(),f=g.GetBody();if(n.IsAwake()==!1&&f.IsAwake()==!1)b=b.GetNext();else{if(b.m_flags&o.e_filterFlag){if(f.ShouldCollide(n)==!1){a=b;b=a.GetNext();this.Destroy(a);continue}if(this.m_contactFilter.ShouldCollide(a, g)==!1){a=b;b=a.GetNext();this.Destroy(a);continue}b.m_flags&=~o.e_filterFlag}this.m_broadPhase.TestOverlap(a.m_proxy,g.m_proxy)==!1?(a=b,b=a.GetNext(),this.Destroy(a)):(b.Update(this.m_contactListener),b=b.GetNext())}}};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactManager.s_evalCP=new c});A.b2DebugDraw=function(){};A.prototype.b2DebugDraw=function(){};A.prototype.SetFlags=function(){};A.prototype.GetFlags=function(){};A.prototype.AppendFlags=function(){};A.prototype.ClearFlags=function(){}; A.prototype.SetSprite=function(){};A.prototype.GetSprite=function(){};A.prototype.SetDrawScale=function(){};A.prototype.GetDrawScale=function(){};A.prototype.SetLineThickness=function(){};A.prototype.GetLineThickness=function(){};A.prototype.SetAlpha=function(){};A.prototype.GetAlpha=function(){};A.prototype.SetFillAlpha=function(){};A.prototype.GetFillAlpha=function(){};A.prototype.SetXFormScale=function(){};A.prototype.GetXFormScale=function(){};A.prototype.DrawPolygon=function(){};A.prototype.DrawSolidPolygon= function(){};A.prototype.DrawCircle=function(){};A.prototype.DrawSolidCircle=function(){};A.prototype.DrawSegment=function(){};A.prototype.DrawTransform=function(){};Box2D.postDefs.push(function(){Box2D.Dynamics.b2DebugDraw.e_shapeBit=1;Box2D.Dynamics.b2DebugDraw.e_jointBit=2;Box2D.Dynamics.b2DebugDraw.e_aabbBit=4;Box2D.Dynamics.b2DebugDraw.e_pairBit=8;Box2D.Dynamics.b2DebugDraw.e_centerOfMassBit=16;Box2D.Dynamics.b2DebugDraw.e_controllerBit=32});L.b2DestructionListener=function(){};L.prototype.SayGoodbyeJoint= function(){};L.prototype.SayGoodbyeFixture=function(){};D.b2FilterData=function(){this.categoryBits=1;this.maskBits=65535;this.groupIndex=0};D.prototype.Copy=function(){var b=new D;b.categoryBits=this.categoryBits;b.maskBits=this.maskBits;b.groupIndex=this.groupIndex;return b};F.b2Fixture=function(){this.m_filter=new D};F.prototype.GetType=function(){return this.m_shape.GetType()};F.prototype.GetShape=function(){return this.m_shape};F.prototype.SetSensor=function(b){if(this.m_isSensor!=b&&(this.m_isSensor= b,this.m_body!=null))for(b=this.m_body.GetContactList();b;){var a=b.contact,g=a.GetFixtureA(),n=a.GetFixtureB();if(g==this||n==this)a.SetSensor(g.IsSensor()||n.IsSensor());b=b.next}};F.prototype.IsSensor=function(){return this.m_isSensor};F.prototype.SetFilterData=function(b){this.m_filter=b.Copy();if(!this.m_body)for(b=this.m_body.GetContactList();b;){var a=b.contact,g=a.GetFixtureA(),n=a.GetFixtureB();(g==this||n==this)&&a.FlagForFiltering();b=b.next}};F.prototype.GetFilterData=function(){return this.m_filter.Copy()}; F.prototype.GetBody=function(){return this.m_body};F.prototype.GetNext=function(){return this.m_next};F.prototype.GetUserData=function(){return this.m_userData};F.prototype.SetUserData=function(b){this.m_userData=b};F.prototype.TestPoint=function(b){return this.m_shape.TestPoint(this.m_body.GetTransform(),b)};F.prototype.RayCast=function(b,a){return this.m_shape.RayCast(b,a,this.m_body.GetTransform())};F.prototype.GetMassData=function(b){b===void 0&&(b=null);b==null&&(b=new s);this.m_shape.ComputeMass(b, this.m_density);return b};F.prototype.SetDensity=function(b){b===void 0&&(b=0);this.m_density=b};F.prototype.GetDensity=function(){return this.m_density};F.prototype.GetFriction=function(){return this.m_friction};F.prototype.SetFriction=function(b){b===void 0&&(b=0);this.m_friction=b};F.prototype.GetRestitution=function(){return this.m_restitution};F.prototype.SetRestitution=function(b){b===void 0&&(b=0);this.m_restitution=b};F.prototype.GetAABB=function(){return this.m_aabb};F.prototype.b2Fixture= function(){this.m_aabb=new w;this.m_shape=this.m_next=this.m_body=this.m_userData=null;this.m_restitution=this.m_friction=this.m_density=0};F.prototype.Create=function(b,a,g){this.m_userData=g.userData;this.m_friction=g.friction;this.m_restitution=g.restitution;this.m_body=b;this.m_next=null;this.m_filter=g.filter.Copy();this.m_isSensor=g.isSensor;this.m_shape=g.shape.Copy();this.m_density=g.density};F.prototype.Destroy=function(){this.m_shape=null};F.prototype.CreateProxy=function(b,a){this.m_shape.ComputeAABB(this.m_aabb, a);this.m_proxy=b.CreateProxy(this.m_aabb,this)};F.prototype.DestroyProxy=function(b){if(this.m_proxy!=null)b.DestroyProxy(this.m_proxy),this.m_proxy=null};F.prototype.Synchronize=function(b,a,g){if(this.m_proxy){var n=new w,f=new w;this.m_shape.ComputeAABB(n,a);this.m_shape.ComputeAABB(f,g);this.m_aabb.Combine(n,f);a=m.SubtractVV(g.position,a.position);b.MoveProxy(this.m_proxy,this.m_aabb,a)}};M.b2FixtureDef=function(){this.filter=new D};M.prototype.b2FixtureDef=function(){this.userData=this.shape= null;this.friction=0.2;this.density=this.restitution=0;this.filter.categoryBits=1;this.filter.maskBits=65535;this.filter.groupIndex=0;this.isSensor=!1};I.b2Island=function(){};I.prototype.b2Island=function(){this.m_bodies=new Vector;this.m_contacts=new Vector;this.m_joints=new Vector};I.prototype.Initialize=function(b,a,g,n,f,c){b===void 0&&(b=0);a===void 0&&(a=0);g===void 0&&(g=0);var o=0;this.m_bodyCapacity=b;this.m_contactCapacity=a;this.m_jointCapacity=g;this.m_jointCount=this.m_contactCount= this.m_bodyCount=0;this.m_allocator=n;this.m_listener=f;this.m_contactSolver=c;for(o=this.m_bodies.length;ol.b2_maxTranslationSquared&&(f.m_linearVelocity.Normalize(),f.m_linearVelocity.x*=l.b2_maxTranslation*b.inv_dt,f.m_linearVelocity.y*= l.b2_maxTranslation*b.inv_dt);o=b.dt*f.m_angularVelocity;if(o*o>l.b2_maxRotationSquared)f.m_angularVelocity=f.m_angularVelocity<0?-l.b2_maxRotation*b.inv_dt:l.b2_maxRotation*b.inv_dt;f.m_sweep.c0.SetV(f.m_sweep.c);f.m_sweep.a0=f.m_sweep.a;f.m_sweep.c.x+=b.dt*f.m_linearVelocity.x;f.m_sweep.c.y+=b.dt*f.m_linearVelocity.y;f.m_sweep.a+=b.dt*f.m_angularVelocity;f.SynchronizeTransform()}for(n=0;no||m.Dot(f.m_linearVelocity,f.m_linearVelocity)> a?g=f.m_sleepTime=0:(f.m_sleepTime+=b.dt,g=m.Min(g,f.m_sleepTime))}if(g>=l.b2_timeToSleep)for(n=0;nl.b2_maxTranslationSquared&&(g.m_linearVelocity.Normalize(),g.m_linearVelocity.x*=l.b2_maxTranslation*b.inv_dt,g.m_linearVelocity.y*=l.b2_maxTranslation*b.inv_dt);n=b.dt*g.m_angularVelocity;if(n*n>l.b2_maxRotationSquared)g.m_angularVelocity=g.m_angularVelocity<0?-l.b2_maxRotation*b.inv_dt:l.b2_maxRotation*b.inv_dt;g.m_sweep.c0.SetV(g.m_sweep.c);g.m_sweep.a0= g.m_sweep.a;g.m_sweep.c.x+=b.dt*g.m_linearVelocity.x;g.m_sweep.c.y+=b.dt*g.m_linearVelocity.y;g.m_sweep.a+=b.dt*g.m_angularVelocity;g.SynchronizeTransform()}for(a=0;a0?1/b:0;n.dtRatio=this.m_inv_dt0*b;n.warmStarting=g.m_warmStarting;this.m_contactManager.Collide(); n.dt>0&&this.Solve(n);g.m_continuousPhysics&&n.dt>0&&this.SolveTOI(n);if(n.dt>0)this.m_inv_dt0=n.inv_dt;this.m_flags&=~g.e_locked};g.prototype.ClearForces=function(){for(var b=this.m_bodyList;b;b=b.m_next)b.m_force.SetZero(),b.m_torque=0};g.prototype.DrawDebugData=function(){if(this.m_debugDraw!=null){this.m_debugDraw.m_sprite.graphics.clear();var b=this.m_debugDraw.GetFlags(),a,f,n;new e;new e;new e;var c;new w;new w;c=[new e,new e,new e,new e];var o=new h(0,0,0);if(b&A.e_shapeBit)for(a=this.m_bodyList;a;a= a.m_next){c=a.m_xf;for(f=a.GetFixtureList();f;f=f.m_next)n=f.GetShape(),a.IsActive()==!1?o.Set(0,0,0):a.GetType()==d.b2_staticBody?o.Set(0,0,0):a.GetType()==d.b2_kinematicBody?o.Set(0,0,0):(a.IsAwake(),o.Set(0,0.45,0.53)),n.m_radius==0.4&&o.Set(1,0,0),this.DrawShape(n,c,o)}if(b&A.e_jointBit)for(a=this.m_jointList;a;a=a.m_next)this.DrawJoint(a);if(b&A.e_controllerBit)for(a=this.m_controllerList;a;a=a.m_next)a.Draw(this.m_debugDraw);if(b&A.e_pairBit){o.Set(0,0,0);for(a=this.m_contactManager.m_contactList;a;a= a.GetNext())n=a.GetFixtureA(),f=a.GetFixtureB(),n=n.GetAABB().GetCenter(),f=f.GetAABB().GetCenter(),this.m_debugDraw.DrawSegment(n,f,o)}if(b&A.e_aabbBit){n=this.m_contactManager.m_broadPhase;c=[new e,new e,new e,new e];for(a=this.m_bodyList;a;a=a.GetNext())if(a.IsActive()!=!1)for(f=a.GetFixtureList();f;f=f.GetNext()){var t=n.GetFatAABB(f.m_proxy);c[0].Set(t.lowerBound.x,t.lowerBound.y);c[1].Set(t.upperBound.x,t.lowerBound.y);c[2].Set(t.upperBound.x,t.upperBound.y);c[3].Set(t.lowerBound.x,t.upperBound.y); this.m_debugDraw.DrawPolygon(c,4,o)}}if(b&A.e_centerOfMassBit)for(a=this.m_bodyList;a;a=a.m_next)c=g.s_xf,c.R=a.m_xf.R,c.position=a.GetWorldCenter(),this.m_debugDraw.DrawTransform(c)}};g.prototype.QueryAABB=function(b,a){var g=this.m_contactManager.m_broadPhase;g.Query(function(a){return b(g.GetUserData(a))},a)};g.prototype.QueryShape=function(b,a,g){g===void 0&&(g=null);g==null&&(g=new q,g.SetIdentity());var f=this.m_contactManager.m_broadPhase,n=new w;a.ComputeAABB(n,g);f.Query(function(n){n=f.GetUserData(n)instanceof F?f.GetUserData(n):null;return K.TestOverlap(a,g,n.GetShape(),n.GetBody().GetTransform())?b(n):!0},n)};g.prototype.QueryPoint=function(b,a){var g=this.m_contactManager.m_broadPhase,f=new w;f.lowerBound.Set(a.x-l.b2_linearSlop,a.y-l.b2_linearSlop);f.upperBound.Set(a.x+l.b2_linearSlop,a.y+l.b2_linearSlop);g.Query(function(f){f=g.GetUserData(f)instanceof F?g.GetUserData(f):null;return f.TestPoint(a)?b(f):!0},f)};g.prototype.RayCast=function(b,a,g){var f=this.m_contactManager.m_broadPhase,n=new C,c=new H(a, g);f.RayCast(function(c,o){var t=f.GetUserData(o),t=t instanceof F?t:null;if(t.RayCast(n,c)){var d=n.fraction,z=new e((1-d)*a.x+d*g.x,(1-d)*a.y+d*g.y);return b(t,z,n.normal,d)}return c.maxFraction},c)};g.prototype.RayCastOne=function(b,a){var g;this.RayCast(function(b,a,f,n){n===void 0&&(n=0);g=b;return n},b,a);return g};g.prototype.RayCastAll=function(b,a){var g=new Vector;this.RayCast(function(b){g[g.length]=b;return 1},b,a);return g};g.prototype.GetBodyList=function(){return this.m_bodyList};g.prototype.GetJointList= function(){return this.m_jointList};g.prototype.GetContactList=function(){return this.m_contactList};g.prototype.IsLocked=function(){return(this.m_flags&g.e_locked)>0};g.prototype.Solve=function(b){for(var a,g=this.m_controllerList;g;g=g.m_next)g.Step(b);g=this.m_island;g.Initialize(this.m_bodyCount,this.m_contactCount,this.m_jointCount,null,this.m_contactManager.m_contactListener,this.m_contactSolver);for(a=this.m_bodyList;a;a=a.m_next)a.m_flags&=~d.e_islandFlag;for(var f=this.m_contactList;f;f= f.m_next)f.m_flags&=~o.e_islandFlag;for(f=this.m_jointList;f;f=f.m_next)f.m_islandFlag=!1;parseInt(this.m_bodyCount);for(var f=this.s_stack,n=this.m_bodyList;n;n=n.m_next)if(!(n.m_flags&d.e_islandFlag)&&!(n.IsAwake()==!1||n.IsActive()==!1)&&n.GetType()!=d.b2_staticBody){g.Clear();var c=0;f[c++]=n;for(n.m_flags|=d.e_islandFlag;c>0;)if(a=f[--c],g.AddBody(a),a.IsAwake()==!1&&a.SetAwake(!0),a.GetType()!=d.b2_staticBody){for(var e,t=a.m_contactList;t;t=t.next)if(!(t.contact.m_flags&o.e_islandFlag)&&!(t.contact.IsSensor()== !0||t.contact.IsEnabled()==!1||t.contact.IsTouching()==!1))g.AddContact(t.contact),t.contact.m_flags|=o.e_islandFlag,e=t.other,e.m_flags&d.e_islandFlag||(f[c++]=e,e.m_flags|=d.e_islandFlag);for(a=a.m_jointList;a;a=a.next)if(a.joint.m_islandFlag!=!0&&(e=a.other,e.IsActive()!=!1))g.AddJoint(a.joint),a.joint.m_islandFlag=!0,e.m_flags&d.e_islandFlag||(f[c++]=e,e.m_flags|=d.e_islandFlag)}g.Solve(b,this.m_gravity,this.m_allowSleep);for(c=0;c0&&a<1&&(a=(1-a)*h+a,a>1&&(a=1));n.m_toi=a;n.m_flags|=o.e_toiFlag}Number.MIN_VALUE0;)if(a=e[n++],--t,c.AddBody(a),a.IsAwake()==!1&&a.SetAwake(!0),a.GetType()==d.b2_dynamicBody){for(f=a.m_contactList;f;f=f.next){if(c.m_contactCount==c.m_contactCapacity)break;if(!(f.contact.m_flags&o.e_islandFlag)&& !(f.contact.IsSensor()==!0||f.contact.IsEnabled()==!1||f.contact.IsTouching()==!1))c.AddContact(f.contact),f.contact.m_flags|=o.e_islandFlag,h=f.other,h.m_flags&d.e_islandFlag||(h.GetType()!=d.b2_staticBody&&(h.Advance(z),h.SetAwake(!0)),e[n+t]=h,++t,h.m_flags|=d.e_islandFlag)}for(a=a.m_jointList;a;a=a.next)if(c.m_jointCount!=c.m_jointCapacity&&a.joint.m_islandFlag!=!0&&(h=a.other,h.IsActive()!=!1))c.AddJoint(a.joint),a.joint.m_islandFlag=!0,h.m_flags&d.e_islandFlag||(h.GetType()!=d.b2_staticBody&& (h.Advance(z),h.SetAwake(!0)),e[n+t]=h,++t,h.m_flags|=d.e_islandFlag)}n=g.s_timestep;n.warmStarting=!1;n.dt=(1-z)*b.dt;n.inv_dt=1/n.dt;n.dtRatio=0;n.velocityIterations=b.velocityIterations;n.positionIterations=b.positionIterations;c.SolveTOI(n);for(z=z=0;z0;for(o=0;o0&&(a.m_fixtureA.m_body.SetAwake(!0),a.m_fixtureB.m_body.SetAwake(!0));var g=parseInt(a.m_fixtureA.GetType()),c=parseInt(a.m_fixtureB.GetType()),g=this.m_registers[g][c];g.poolCount++;a.m_next=g.pool;g.pool=a;g=g.destroyFcn; g(a,this.m_allocator)};C.b2ContactRegister=function(){};v.b2ContactResult=function(){this.position=new D;this.normal=new D;this.id=new M};y.b2ContactSolver=function(){this.m_step=new E;this.m_constraints=new Vector};y.prototype.b2ContactSolver=function(){};y.prototype.Initialize=function(a,g,c,f){c===void 0&&(c=0);var b;this.m_step.Set(a);this.m_allocator=f;a=0;for(this.m_constraintCount=c;this.m_constraints.length0);y.s_worldManifold.Initialize(l,h.m_xf,e,j.m_xf,d);o=y.s_worldManifold.m_normal.x;b=y.s_worldManifold.m_normal.y; f=this.m_constraints[a];f.bodyA=h;f.bodyB=j;f.manifold=l;f.normal.x=o;f.normal.y=b;f.pointCount=l.m_pointCount;f.friction=m;f.restitution=r;f.localPlaneNormal.x=l.m_localPlaneNormal.x;f.localPlaneNormal.y=l.m_localPlaneNormal.y;f.localPoint.x=l.m_localPoint.x;f.localPoint.y=l.m_localPoint.y;f.radius=e+d;f.type=l.m_type;for(e=0;e0?f:0,c=f-g.normalImpulse,o=c*d,c*=h,p.x-=v*o,p.y-=v*c,s-=x*(g.rA.x*c-g.rA.y*o),y.x+=w*o,y.y+=w*c,q+=A*(g.rB.x*c-g.rB.y*o),g.normalImpulse=f;else{g=b.points[0];var a=b.points[1],c=g.normalImpulse,e=a.normalImpulse,E=(y.x-q*g.rB.y-p.x+s*g.rA.y)*d+(y.y+q*g.rB.x-p.y-s*g.rA.x)*h,C=(y.x-q*a.rB.y-p.x+s*a.rA.y)*d+(y.y+q*a.rB.x-p.y-s*a.rA.x)*h,f=E-g.velocityBias,o=C-a.velocityBias;j=b.K;f-=j.col1.x*c+j.col2.x*e;for(o-=j.col1.y*c+j.col2.y*e;;){j=b.normalMass;B=-(j.col1.x*f+j.col2.x*o);j=-(j.col1.y*f+ j.col2.y*o);if(B>=0&&j>=0){c=B-c;e=j-e;b=c*d;c*=h;d*=e;h*=e;p.x-=v*(b+d);p.y-=v*(c+h);s-=x*(g.rA.x*c-g.rA.y*b+a.rA.x*h-a.rA.y*d);y.x+=w*(b+d);y.y+=w*(c+h);q+=A*(g.rB.x*c-g.rB.y*b+a.rB.x*h-a.rB.y*d);g.normalImpulse=B;a.normalImpulse=j;break}B=-g.normalMass*f;j=0;C=b.K.col1.y*B+o;if(B>=0&&C>=0){c=B-c;e=j-e;b=c*d;c*=h;d*=e;h*=e;p.x-=v*(b+d);p.y-=v*(c+h);s-=x*(g.rA.x*c-g.rA.y*b+a.rA.x*h-a.rA.y*d);y.x+=w*(b+d);y.y+=w*(c+h);q+=A*(g.rB.x*c-g.rB.y*b+a.rB.x*h-a.rB.y*d);g.normalImpulse=B;a.normalImpulse=j; break}B=0;j=-a.normalMass*o;E=b.K.col2.x*j+f;if(j>=0&&E>=0){c=B-c;e=j-e;b=c*d;c*=h;d*=e;h*=e;p.x-=v*(b+d);p.y-=v*(c+h);s-=x*(g.rA.x*c-g.rA.y*b+a.rA.x*h-a.rA.y*d);y.x+=w*(b+d);y.y+=w*(c+h);q+=A*(g.rB.x*c-g.rB.y*b+a.rB.x*h-a.rB.y*d);g.normalImpulse=B;a.normalImpulse=j;break}j=B=0;E=f;C=o;if(E>=0&&C>=0){c=B-c;e=j-e;b=c*d;c*=h;d*=e;h*=e;p.x-=v*(b+d);p.y-=v*(c+h);s-=x*(g.rA.x*c-g.rA.y*b+a.rA.x*h-a.rA.y*d);y.x+=w*(b+d);y.y+=w*(c+h);q+=A*(g.rB.x*c-g.rB.y*b+a.rB.x*h-a.rB.y*d);g.normalImpulse=B;a.normalImpulse= j;break}break}}m.m_angularVelocity=s;r.m_angularVelocity=q}};y.prototype.FinalizeVelocityConstraints=function(){for(var a=0;a-1.5*G.b2_linearSlop};Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2ContactSolver.s_worldManifold=new o;Box2D.Dynamics.Contacts.b2ContactSolver.s_psm=new j});Box2D.inherit(s,Box2D.Dynamics.Contacts.b2Contact);s.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;s.b2EdgeAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};s.Create=function(){return new s};s.Destroy=function(){}; s.prototype.Reset=function(a,g){this.__super.Reset.call(this,a,g)};s.prototype.Evaluate=function(){var a=this.m_fixtureA.GetBody(),g=this.m_fixtureB.GetBody();this.b2CollideEdgeAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof r?this.m_fixtureA.GetShape():null,a.m_xf,this.m_fixtureB.GetShape()instanceof m?this.m_fixtureB.GetShape():null,g.m_xf)};s.prototype.b2CollideEdgeAndCircle=function(){};Box2D.inherit(J,Box2D.Dynamics.Contacts.b2Contact);J.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype; J.b2NullContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};J.prototype.b2NullContact=function(){this.__super.b2Contact.call(this)};J.prototype.Evaluate=function(){};Box2D.inherit(K,Box2D.Dynamics.Contacts.b2Contact);K.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;K.b2PolyAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};K.Create=function(){return new K};K.Destroy=function(){};K.prototype.Reset=function(a, g){this.__super.Reset.call(this,a,g);G.b2Assert(a.GetType()==e.e_polygonShape);G.b2Assert(g.GetType()==e.e_circleShape)};K.prototype.Evaluate=function(){var a=this.m_fixtureA.m_body,g=this.m_fixtureB.m_body;F.CollidePolygonAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof q?this.m_fixtureA.GetShape():null,a.m_xf,this.m_fixtureB.GetShape()instanceof m?this.m_fixtureB.GetShape():null,g.m_xf)};Box2D.inherit(d,Box2D.Dynamics.Contacts.b2Contact);d.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype; d.b2PolyAndEdgeContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};d.Create=function(){return new d};d.Destroy=function(){};d.prototype.Reset=function(a,g){this.__super.Reset.call(this,a,g);G.b2Assert(a.GetType()==e.e_polygonShape);G.b2Assert(g.GetType()==e.e_edgeShape)};d.prototype.Evaluate=function(){var a=this.m_fixtureA.GetBody(),g=this.m_fixtureB.GetBody();this.b2CollidePolyAndEdge(this.m_manifold,this.m_fixtureA.GetShape()instanceof q?this.m_fixtureA.GetShape(): null,a.m_xf,this.m_fixtureB.GetShape()instanceof r?this.m_fixtureB.GetShape():null,g.m_xf)};d.prototype.b2CollidePolyAndEdge=function(){};Box2D.inherit(x,Box2D.Dynamics.Contacts.b2Contact);x.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;x.b2PolygonContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};x.Create=function(){return new x};x.Destroy=function(){};x.prototype.Reset=function(a,g){this.__super.Reset.call(this,a,g)};x.prototype.Evaluate=function(){var a= this.m_fixtureA.GetBody(),g=this.m_fixtureB.GetBody();F.CollidePolygons(this.m_manifold,this.m_fixtureA.GetShape()instanceof q?this.m_fixtureA.GetShape():null,a.m_xf,this.m_fixtureB.GetShape()instanceof q?this.m_fixtureB.GetShape():null,g.m_xf)};j.b2PositionSolverManifold=function(){};j.prototype.b2PositionSolverManifold=function(){this.m_normal=new D;this.m_separations=new Vector_a2j_Number(G.b2_maxManifoldPoints);this.m_points=new Vector(G.b2_maxManifoldPoints);for(var a=0;a0);var g=0,c=0,f=0,b,o=0,e=0;switch(a.type){case I.e_circles:b=a.bodyA.m_xf.R;f=a.localPoint;g=a.bodyA.m_xf.position.x+(b.col1.x*f.x+b.col2.x*f.y);c=a.bodyA.m_xf.position.y+(b.col1.y*f.x+b.col2.y*f.y);b=a.bodyB.m_xf.R;f=a.points[0].localPoint;o=a.bodyB.m_xf.position.x+(b.col1.x*f.x+b.col2.x*f.y);b=a.bodyB.m_xf.position.y+(b.col1.y*f.x+b.col2.y*f.y);var f=o-g,e=b-c,d=f*f+e*e;d>Number.MIN_VALUE*Number.MIN_VALUE?(d=Math.sqrt(d),this.m_normal.x= f/d,this.m_normal.y=e/d):(this.m_normal.x=1,this.m_normal.y=0);this.m_points[0].x=0.5*(g+o);this.m_points[0].y=0.5*(c+b);this.m_separations[0]=f*this.m_normal.x+e*this.m_normal.y-a.radius;break;case I.e_faceA:b=a.bodyA.m_xf.R;f=a.localPlaneNormal;this.m_normal.x=b.col1.x*f.x+b.col2.x*f.y;this.m_normal.y=b.col1.y*f.x+b.col2.y*f.y;b=a.bodyA.m_xf.R;f=a.localPoint;o=a.bodyA.m_xf.position.x+(b.col1.x*f.x+b.col2.x*f.y);e=a.bodyA.m_xf.position.y+(b.col1.y*f.x+b.col2.y*f.y);b=a.bodyB.m_xf.R;for(g=0;g0||e>0?1/Math.max(c,e):0};C.prototype.Step=function(c){c=c.dt;if(!(c<=Number.MIN_VALUE)){if(c>this.maxTimestep&&this.maxTimestep>0)c=this.maxTimestep;for(var e=this.m_bodyList;e;e=e.nextBody){var h= e.body;if(h.IsAwake()){var l=h.GetWorldVector(r.MulMV(this.T,h.GetLocalVector(h.GetLinearVelocity())));h.SetLinearVelocity(new q(h.GetLinearVelocity().x+l.x*c,h.GetLinearVelocity().y+l.y*c))}}}}})(); (function(){var m=Box2D.Common.b2Settings,r=Box2D.Common.Math.b2Mat22,q=Box2D.Common.Math.b2Mat33,e=Box2D.Common.Math.b2Math,h=Box2D.Common.Math.b2Vec2,l=Box2D.Common.Math.b2Vec3,w=Box2D.Dynamics.Joints.b2DistanceJoint,c=Box2D.Dynamics.Joints.b2DistanceJointDef,p=Box2D.Dynamics.Joints.b2FrictionJoint,H=Box2D.Dynamics.Joints.b2FrictionJointDef,C=Box2D.Dynamics.Joints.b2GearJoint,v=Box2D.Dynamics.Joints.b2GearJointDef,y=Box2D.Dynamics.Joints.b2Jacobian,s=Box2D.Dynamics.Joints.b2Joint,J=Box2D.Dynamics.Joints.b2JointDef, K=Box2D.Dynamics.Joints.b2JointEdge,d=Box2D.Dynamics.Joints.b2LineJoint,x=Box2D.Dynamics.Joints.b2LineJointDef,j=Box2D.Dynamics.Joints.b2MouseJoint,B=Box2D.Dynamics.Joints.b2MouseJointDef,E=Box2D.Dynamics.Joints.b2PrismaticJoint,G=Box2D.Dynamics.Joints.b2PrismaticJointDef,A=Box2D.Dynamics.Joints.b2PulleyJoint,L=Box2D.Dynamics.Joints.b2PulleyJointDef,D=Box2D.Dynamics.Joints.b2RevoluteJoint,F=Box2D.Dynamics.Joints.b2RevoluteJointDef,M=Box2D.Dynamics.Joints.b2WeldJoint,I=Box2D.Dynamics.Joints.b2WeldJointDef; Box2D.inherit(w,Box2D.Dynamics.Joints.b2Joint);w.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;w.b2DistanceJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchor1=new h;this.m_localAnchor2=new h;this.m_u=new h};w.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};w.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};w.prototype.GetReactionForce=function(a){a===void 0&&(a=0); return new h(a*this.m_impulse*this.m_u.x,a*this.m_impulse*this.m_u.y)};w.prototype.GetReactionTorque=function(){return 0};w.prototype.GetLength=function(){return this.m_length};w.prototype.SetLength=function(a){a===void 0&&(a=0);this.m_length=a};w.prototype.GetFrequency=function(){return this.m_frequencyHz};w.prototype.SetFrequency=function(a){a===void 0&&(a=0);this.m_frequencyHz=a};w.prototype.GetDampingRatio=function(){return this.m_dampingRatio};w.prototype.SetDampingRatio=function(a){a===void 0&& (a=0);this.m_dampingRatio=a};w.prototype.b2DistanceJoint=function(a){this.__super.b2Joint.call(this,a);this.m_localAnchor1.SetV(a.localAnchorA);this.m_localAnchor2.SetV(a.localAnchorB);this.m_length=a.length;this.m_frequencyHz=a.frequencyHz;this.m_dampingRatio=a.dampingRatio;this.m_bias=this.m_gamma=this.m_impulse=0};w.prototype.InitVelocityConstraints=function(a){var g,c=0,e=this.m_bodyA,d=this.m_bodyB;g=e.m_xf.R;var h=this.m_localAnchor1.x-e.m_sweep.localCenter.x,f=this.m_localAnchor1.y-e.m_sweep.localCenter.y, c=g.col1.x*h+g.col2.x*f,f=g.col1.y*h+g.col2.y*f,h=c;g=d.m_xf.R;var b=this.m_localAnchor2.x-d.m_sweep.localCenter.x,k=this.m_localAnchor2.y-d.m_sweep.localCenter.y,c=g.col1.x*b+g.col2.x*k,k=g.col1.y*b+g.col2.y*k,b=c;this.m_u.x=d.m_sweep.c.x+b-e.m_sweep.c.x-h;this.m_u.y=d.m_sweep.c.y+k-e.m_sweep.c.y-f;c=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);c>m.b2_linearSlop?this.m_u.Multiply(1/c):this.m_u.SetZero();g=h*this.m_u.y-f*this.m_u.x;var j=b*this.m_u.y-k*this.m_u.x;g=e.m_invMass+e.m_invI* g*g+d.m_invMass+d.m_invI*j*j;this.m_mass=g!=0?1/g:0;if(this.m_frequencyHz>0){c-=this.m_length;var j=2*Math.PI*this.m_frequencyHz,l=this.m_mass*j*j;this.m_gamma=a.dt*(2*this.m_mass*this.m_dampingRatio*j+a.dt*l);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_bias=c*a.dt*l*this.m_gamma;this.m_mass=g+this.m_gamma;this.m_mass=this.m_mass!=0?1/this.m_mass:0}a.warmStarting?(this.m_impulse*=a.dtRatio,a=this.m_impulse*this.m_u.x,g=this.m_impulse*this.m_u.y,e.m_linearVelocity.x-=e.m_invMass*a,e.m_linearVelocity.y-= e.m_invMass*g,e.m_angularVelocity-=e.m_invI*(h*g-f*a),d.m_linearVelocity.x+=d.m_invMass*a,d.m_linearVelocity.y+=d.m_invMass*g,d.m_angularVelocity+=d.m_invI*(b*g-k*a)):this.m_impulse=0};w.prototype.SolveVelocityConstraints=function(){var a,g=this.m_bodyA,c=this.m_bodyB;a=g.m_xf.R;var e=this.m_localAnchor1.x-g.m_sweep.localCenter.x,d=this.m_localAnchor1.y-g.m_sweep.localCenter.y,h=a.col1.x*e+a.col2.x*d,d=a.col1.y*e+a.col2.y*d,e=h;a=c.m_xf.R;var f=this.m_localAnchor2.x-c.m_sweep.localCenter.x,b=this.m_localAnchor2.y- c.m_sweep.localCenter.y,h=a.col1.x*f+a.col2.x*b,b=a.col1.y*f+a.col2.y*b,f=h,h=-this.m_mass*(this.m_u.x*(c.m_linearVelocity.x+-c.m_angularVelocity*b-(g.m_linearVelocity.x+-g.m_angularVelocity*d))+this.m_u.y*(c.m_linearVelocity.y+c.m_angularVelocity*f-(g.m_linearVelocity.y+g.m_angularVelocity*e))+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=h;a=h*this.m_u.x;h*=this.m_u.y;g.m_linearVelocity.x-=g.m_invMass*a;g.m_linearVelocity.y-=g.m_invMass*h;g.m_angularVelocity-=g.m_invI*(e*h-d*a);c.m_linearVelocity.x+= c.m_invMass*a;c.m_linearVelocity.y+=c.m_invMass*h;c.m_angularVelocity+=c.m_invI*(f*h-b*a)};w.prototype.SolvePositionConstraints=function(){var a;if(this.m_frequencyHz>0)return!0;var g=this.m_bodyA,c=this.m_bodyB;a=g.m_xf.R;var n=this.m_localAnchor1.x-g.m_sweep.localCenter.x,d=this.m_localAnchor1.y-g.m_sweep.localCenter.y,h=a.col1.x*n+a.col2.x*d,d=a.col1.y*n+a.col2.y*d,n=h;a=c.m_xf.R;var f=this.m_localAnchor2.x-c.m_sweep.localCenter.x,b=this.m_localAnchor2.y-c.m_sweep.localCenter.y,h=a.col1.x*f+a.col2.x* b,b=a.col1.y*f+a.col2.y*b,f=h,h=c.m_sweep.c.x+f-g.m_sweep.c.x-n,k=c.m_sweep.c.y+b-g.m_sweep.c.y-d;a=Math.sqrt(h*h+k*k);h/=a;k/=a;a-=this.m_length;a=e.Clamp(a,-m.b2_maxLinearCorrection,m.b2_maxLinearCorrection);var j=-this.m_mass*a;this.m_u.Set(h,k);h=j*this.m_u.x;k=j*this.m_u.y;g.m_sweep.c.x-=g.m_invMass*h;g.m_sweep.c.y-=g.m_invMass*k;g.m_sweep.a-=g.m_invI*(n*k-d*h);c.m_sweep.c.x+=c.m_invMass*h;c.m_sweep.c.y+=c.m_invMass*k;c.m_sweep.a+=c.m_invI*(f*k-b*h);g.SynchronizeTransform();c.SynchronizeTransform(); return e.Abs(a)0)this.m_angularMass=1/this.m_angularMass;a.warmStarting?(this.m_linearImpulse.x*=a.dtRatio,this.m_linearImpulse.y*=a.dtRatio,this.m_angularImpulse*=a.dtRatio,a=this.m_linearImpulse,e.m_linearVelocity.x-=g*a.x,e.m_linearVelocity.y-=g*a.y,e.m_angularVelocity-=j*(h*a.y-f*a.x+this.m_angularImpulse),d.m_linearVelocity.x+=c*a.x, d.m_linearVelocity.y+=c*a.y,d.m_angularVelocity+=l*(b*a.y-k*a.x+this.m_angularImpulse)):(this.m_linearImpulse.SetZero(),this.m_angularImpulse=0)};p.prototype.SolveVelocityConstraints=function(a){var g,c=0,n=this.m_bodyA,d=this.m_bodyB,j=n.m_linearVelocity,f=n.m_angularVelocity,b=d.m_linearVelocity,k=d.m_angularVelocity,l=n.m_invMass,m=d.m_invMass,r=n.m_invI,q=d.m_invI;g=n.m_xf.R;var p=this.m_localAnchorA.x-n.m_sweep.localCenter.x,s=this.m_localAnchorA.y-n.m_sweep.localCenter.y,c=g.col1.x*p+g.col2.x* s,s=g.col1.y*p+g.col2.y*s,p=c;g=d.m_xf.R;var w=this.m_localAnchorB.x-d.m_sweep.localCenter.x,v=this.m_localAnchorB.y-d.m_sweep.localCenter.y,c=g.col1.x*w+g.col2.x*v,v=g.col1.y*w+g.col2.y*v,w=c;g=0;var c=-this.m_angularMass*(k-f),x=this.m_angularImpulse;g=a.dt*this.m_maxTorque;this.m_angularImpulse=e.Clamp(this.m_angularImpulse+c,-g,g);c=this.m_angularImpulse-x;f-=r*c;k+=q*c;g=e.MulMV(this.m_linearMass,new h(-(b.x-k*v-j.x+f*s),-(b.y+k*w-j.y-f*p)));c=this.m_linearImpulse.Copy();this.m_linearImpulse.Add(g); g=a.dt*this.m_maxForce;this.m_linearImpulse.LengthSquared()>g*g&&(this.m_linearImpulse.Normalize(),this.m_linearImpulse.Multiply(g));g=e.SubtractVV(this.m_linearImpulse,c);j.x-=l*g.x;j.y-=l*g.y;f-=r*(p*g.y-s*g.x);b.x+=m*g.x;b.y+=m*g.y;k+=q*(w*g.y-v*g.x);n.m_angularVelocity=f;d.m_angularVelocity=k};p.prototype.SolvePositionConstraints=function(){return!0};Box2D.inherit(H,Box2D.Dynamics.Joints.b2JointDef);H.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;H.b2FrictionJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);this.localAnchorA=new h;this.localAnchorB=new h};H.prototype.b2FrictionJointDef=function(){this.__super.b2JointDef.call(this);this.type=s.e_frictionJoint;this.maxTorque=this.maxForce=0};H.prototype.Initialize=function(a,g,c){this.bodyA=a;this.bodyB=g;this.localAnchorA.SetV(this.bodyA.GetLocalPoint(c));this.localAnchorB.SetV(this.bodyB.GetLocalPoint(c))};Box2D.inherit(C,Box2D.Dynamics.Joints.b2Joint);C.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;C.b2GearJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);this.m_groundAnchor1=new h;this.m_groundAnchor2=new h;this.m_localAnchor1=new h;this.m_localAnchor2=new h;this.m_J=new y};C.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};C.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};C.prototype.GetReactionForce=function(a){a===void 0&&(a=0);return new h(a*this.m_impulse*this.m_J.linearB.x,a*this.m_impulse*this.m_J.linearB.y)};C.prototype.GetReactionTorque=function(a){a=== void 0&&(a=0);var g=this.m_bodyB.m_xf.R,c=this.m_localAnchor1.x-this.m_bodyB.m_sweep.localCenter.x,e=this.m_localAnchor1.y-this.m_bodyB.m_sweep.localCenter.y,d=g.col1.x*c+g.col2.x*e,e=g.col1.y*c+g.col2.y*e;return a*(this.m_impulse*this.m_J.angularB-d*this.m_impulse*this.m_J.linearB.y+e*this.m_impulse*this.m_J.linearB.x)};C.prototype.GetRatio=function(){return this.m_ratio};C.prototype.SetRatio=function(a){a===void 0&&(a=0);this.m_ratio=a};C.prototype.b2GearJoint=function(a){this.__super.b2Joint.call(this, a);var g=parseInt(a.joint1.m_type),c=parseInt(a.joint2.m_type);this.m_prismatic2=this.m_revolute2=this.m_prismatic1=this.m_revolute1=null;var e=0,d=0;this.m_ground1=a.joint1.GetBodyA();this.m_bodyA=a.joint1.GetBodyB();g==s.e_revoluteJoint?(this.m_revolute1=a.joint1 instanceof D?a.joint1:null,this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1),this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2),e=this.m_revolute1.GetJointAngle()):(this.m_prismatic1=a.joint1 instanceof E?a.joint1:null, this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1),this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2),e=this.m_prismatic1.GetJointTranslation());this.m_ground2=a.joint2.GetBodyA();this.m_bodyB=a.joint2.GetBodyB();c==s.e_revoluteJoint?(this.m_revolute2=a.joint2 instanceof D?a.joint2:null,this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1),this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2),d=this.m_revolute2.GetJointAngle()):(this.m_prismatic2=a.joint2 instanceof E?a.joint2: null,this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1),this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2),d=this.m_prismatic2.GetJointTranslation());this.m_ratio=a.ratio;this.m_constant=e+this.m_ratio*d;this.m_impulse=0};C.prototype.InitVelocityConstraints=function(a){var g=this.m_ground1,c=this.m_ground2,e=this.m_bodyA,d=this.m_bodyB,h=0,f=0,b=0,k=0,j=b=0,l=0;this.m_J.SetZero();this.m_revolute1?(this.m_J.angularA=-1,l+=e.m_invI):(g=g.m_xf.R,f=this.m_prismatic1.m_localXAxis1,h=g.col1.x* f.x+g.col2.x*f.y,f=g.col1.y*f.x+g.col2.y*f.y,g=e.m_xf.R,b=this.m_localAnchor1.x-e.m_sweep.localCenter.x,k=this.m_localAnchor1.y-e.m_sweep.localCenter.y,j=g.col1.x*b+g.col2.x*k,k=g.col1.y*b+g.col2.y*k,b=j*f-k*h,this.m_J.linearA.Set(-h,-f),this.m_J.angularA=-b,l+=e.m_invMass+e.m_invI*b*b);this.m_revolute2?(this.m_J.angularB=-this.m_ratio,l+=this.m_ratio*this.m_ratio*d.m_invI):(g=c.m_xf.R,f=this.m_prismatic2.m_localXAxis1,h=g.col1.x*f.x+g.col2.x*f.y,f=g.col1.y*f.x+g.col2.y*f.y,g=d.m_xf.R,b=this.m_localAnchor2.x- d.m_sweep.localCenter.x,k=this.m_localAnchor2.y-d.m_sweep.localCenter.y,j=g.col1.x*b+g.col2.x*k,k=g.col1.y*b+g.col2.y*k,b=j*f-k*h,this.m_J.linearB.Set(-this.m_ratio*h,-this.m_ratio*f),this.m_J.angularB=-this.m_ratio*b,l+=this.m_ratio*this.m_ratio*(d.m_invMass+d.m_invI*b*b));this.m_mass=l>0?1/l:0;a.warmStarting?(e.m_linearVelocity.x+=e.m_invMass*this.m_impulse*this.m_J.linearA.x,e.m_linearVelocity.y+=e.m_invMass*this.m_impulse*this.m_J.linearA.y,e.m_angularVelocity+=e.m_invI*this.m_impulse*this.m_J.angularA, d.m_linearVelocity.x+=d.m_invMass*this.m_impulse*this.m_J.linearB.x,d.m_linearVelocity.y+=d.m_invMass*this.m_impulse*this.m_J.linearB.y,d.m_angularVelocity+=d.m_invI*this.m_impulse*this.m_J.angularB):this.m_impulse=0};C.prototype.SolveVelocityConstraints=function(){var a=this.m_bodyA,g=this.m_bodyB,c=-this.m_mass*this.m_J.Compute(a.m_linearVelocity,a.m_angularVelocity,g.m_linearVelocity,g.m_angularVelocity);this.m_impulse+=c;a.m_linearVelocity.x+=a.m_invMass*c*this.m_J.linearA.x;a.m_linearVelocity.y+= a.m_invMass*c*this.m_J.linearA.y;a.m_angularVelocity+=a.m_invI*c*this.m_J.angularA;g.m_linearVelocity.x+=g.m_invMass*c*this.m_J.linearB.x;g.m_linearVelocity.y+=g.m_invMass*c*this.m_J.linearB.y;g.m_angularVelocity+=g.m_invI*c*this.m_J.angularB};C.prototype.SolvePositionConstraints=function(){var a=this.m_bodyA,g=this.m_bodyB,c=0,e=0,c=this.m_revolute1?this.m_revolute1.GetJointAngle():this.m_prismatic1.GetJointTranslation(),e=this.m_revolute2?this.m_revolute2.GetJointAngle():this.m_prismatic2.GetJointTranslation(), c=-this.m_mass*(this.m_constant-(c+this.m_ratio*e));a.m_sweep.c.x+=a.m_invMass*c*this.m_J.linearA.x;a.m_sweep.c.y+=a.m_invMass*c*this.m_J.linearA.y;a.m_sweep.a+=a.m_invI*c*this.m_J.angularA;g.m_sweep.c.x+=g.m_invMass*c*this.m_J.linearB.x;g.m_sweep.c.y+=g.m_invMass*c*this.m_J.linearB.y;g.m_sweep.a+=g.m_invI*c*this.m_J.angularB;a.SynchronizeTransform();g.SynchronizeTransform();return 0Number.MIN_VALUE?1/this.m_motorMass:0;this.m_perp.SetV(e.MulMV(j.R,this.m_localYAxis1));this.m_s1=(d+f)*this.m_perp.y-(h+b)*this.m_perp.x;this.m_s2=k*this.m_perp.y-l*this.m_perp.x;j=this.m_invMassA;f=this.m_invMassB;b=this.m_invIA;k=this.m_invIB;this.m_K.col1.x=j+f+b*this.m_s1* this.m_s1+k*this.m_s2*this.m_s2;this.m_K.col1.y=b*this.m_s1*this.m_a1+k*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=j+f+b*this.m_a1*this.m_a1+k*this.m_a2*this.m_a2;if(this.m_enableLimit)if(d=this.m_axis.x*d+this.m_axis.y*h,e.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*m.b2_linearSlop)this.m_limitState=s.e_equalLimits;else if(d<=this.m_lowerTranslation){if(this.m_limitState!=s.e_atLowerLimit)this.m_limitState=s.e_atLowerLimit,this.m_impulse.y=0}else if(d>=this.m_upperTranslation){if(this.m_limitState!= s.e_atUpperLimit)this.m_limitState=s.e_atUpperLimit,this.m_impulse.y=0}else this.m_limitState=s.e_inactiveLimit,this.m_impulse.y=0;else this.m_limitState=s.e_inactiveLimit;if(this.m_enableMotor==!1)this.m_motorImpulse=0;a.warmStarting?(this.m_impulse.x*=a.dtRatio,this.m_impulse.y*=a.dtRatio,this.m_motorImpulse*=a.dtRatio,a=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.x,d=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.y,h=this.m_impulse.x* this.m_s1+(this.m_motorImpulse+this.m_impulse.y)*this.m_a1,j=this.m_impulse.x*this.m_s2+(this.m_motorImpulse+this.m_impulse.y)*this.m_a2,g.m_linearVelocity.x-=this.m_invMassA*a,g.m_linearVelocity.y-=this.m_invMassA*d,g.m_angularVelocity-=this.m_invIA*h,c.m_linearVelocity.x+=this.m_invMassB*a,c.m_linearVelocity.y+=this.m_invMassB*d,c.m_angularVelocity+=this.m_invIB*j):(this.m_impulse.SetZero(),this.m_motorImpulse=0)};d.prototype.SolveVelocityConstraints=function(a){var c=this.m_bodyA,d=this.m_bodyB, n=c.m_linearVelocity,j=c.m_angularVelocity,l=d.m_linearVelocity,f=d.m_angularVelocity,b=0,k=0,m=0,r=0;if(this.m_enableMotor&&this.m_limitState!=s.e_equalLimits)r=this.m_motorMass*(this.m_motorSpeed-(this.m_axis.x*(l.x-n.x)+this.m_axis.y*(l.y-n.y)+this.m_a2*f-this.m_a1*j)),b=this.m_motorImpulse,k=a.dt*this.m_maxMotorForce,this.m_motorImpulse=e.Clamp(this.m_motorImpulse+r,-k,k),r=this.m_motorImpulse-b,b=r*this.m_axis.x,k=r*this.m_axis.y,m=r*this.m_a1,r*=this.m_a2,n.x-=this.m_invMassA*b,n.y-=this.m_invMassA* k,j-=this.m_invIA*m,l.x+=this.m_invMassB*b,l.y+=this.m_invMassB*k,f+=this.m_invIB*r;k=this.m_perp.x*(l.x-n.x)+this.m_perp.y*(l.y-n.y)+this.m_s2*f-this.m_s1*j;if(this.m_enableLimit&&this.m_limitState!=s.e_inactiveLimit){m=this.m_axis.x*(l.x-n.x)+this.m_axis.y*(l.y-n.y)+this.m_a2*f-this.m_a1*j;b=this.m_impulse.Copy();a=this.m_K.Solve(new h,-k,-m);this.m_impulse.Add(a);if(this.m_limitState==s.e_atLowerLimit)this.m_impulse.y=e.Max(this.m_impulse.y,0);else if(this.m_limitState==s.e_atUpperLimit)this.m_impulse.y= e.Min(this.m_impulse.y,0);k=-k-(this.m_impulse.y-b.y)*this.m_K.col2.x;m=0;m=this.m_K.col1.x!=0?k/this.m_K.col1.x+b.x:b.x;this.m_impulse.x=m;a.x=this.m_impulse.x-b.x;a.y=this.m_impulse.y-b.y;b=a.x*this.m_perp.x+a.y*this.m_axis.x;k=a.x*this.m_perp.y+a.y*this.m_axis.y;m=a.x*this.m_s1+a.y*this.m_a1;r=a.x*this.m_s2+a.y*this.m_a2}else a=0,a=this.m_K.col1.x!=0?-k/this.m_K.col1.x:0,this.m_impulse.x+=a,b=a*this.m_perp.x,k=a*this.m_perp.y,m=a*this.m_s1,r=a*this.m_s2;n.x-=this.m_invMassA*b;n.y-=this.m_invMassA* k;j-=this.m_invIA*m;l.x+=this.m_invMassB*b;l.y+=this.m_invMassB*k;f+=this.m_invIB*r;c.m_linearVelocity.SetV(n);c.m_angularVelocity=j;d.m_linearVelocity.SetV(l);d.m_angularVelocity=f};d.prototype.SolvePositionConstraints=function(){var a=this.m_bodyA,c=this.m_bodyB,d=a.m_sweep.c,n=a.m_sweep.a,j=c.m_sweep.c,l=c.m_sweep.a,f,b=0,k=0,u=0,q=0,p=f=0,s=0,k=!1,w=0,v=r.FromAngle(n),u=r.FromAngle(l);f=v;var s=this.m_localAnchor1.x-this.m_localCenterA.x,x=this.m_localAnchor1.y-this.m_localCenterA.y,b=f.col1.x* s+f.col2.x*x,x=f.col1.y*s+f.col2.y*x,s=b;f=u;u=this.m_localAnchor2.x-this.m_localCenterB.x;q=this.m_localAnchor2.y-this.m_localCenterB.y;b=f.col1.x*u+f.col2.x*q;q=f.col1.y*u+f.col2.y*q;u=b;f=j.x+u-d.x-s;b=j.y+q-d.y-x;if(this.m_enableLimit){this.m_axis=e.MulMV(v,this.m_localXAxis1);this.m_a1=(f+s)*this.m_axis.y-(b+x)*this.m_axis.x;this.m_a2=u*this.m_axis.y-q*this.m_axis.x;var y=this.m_axis.x*f+this.m_axis.y*b;e.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*m.b2_linearSlop?(w=e.Clamp(y,-m.b2_maxLinearCorrection, m.b2_maxLinearCorrection),p=e.Abs(y),k=!0):y<=this.m_lowerTranslation?(w=e.Clamp(y-this.m_lowerTranslation+m.b2_linearSlop,-m.b2_maxLinearCorrection,0),p=this.m_lowerTranslation-y,k=!0):y>=this.m_upperTranslation&&(w=e.Clamp(y-this.m_upperTranslation+m.b2_linearSlop,0,m.b2_maxLinearCorrection),p=y-this.m_upperTranslation,k=!0)}this.m_perp=e.MulMV(v,this.m_localYAxis1);this.m_s1=(f+s)*this.m_perp.y-(b+x)*this.m_perp.x;this.m_s2=u*this.m_perp.y-q*this.m_perp.x;v=new h;x=this.m_perp.x*f+this.m_perp.y* b;p=e.Max(p,e.Abs(x));s=0;k?(k=this.m_invMassA,u=this.m_invMassB,q=this.m_invIA,f=this.m_invIB,this.m_K.col1.x=k+u+q*this.m_s1*this.m_s1+f*this.m_s2*this.m_s2,this.m_K.col1.y=q*this.m_s1*this.m_a1+f*this.m_s2*this.m_a2,this.m_K.col2.x=this.m_K.col1.y,this.m_K.col2.y=k+u+q*this.m_a1*this.m_a1+f*this.m_a2*this.m_a2,this.m_K.Solve(v,-x,-w)):(k=this.m_invMassA,u=this.m_invMassB,q=this.m_invIA,f=this.m_invIB,w=k+u+q*this.m_s1*this.m_s1+f*this.m_s2*this.m_s2,k=0,v.x=w!=0?-x/w:0,v.y=0);w=v.x*this.m_perp.x+ v.y*this.m_axis.x;k=v.x*this.m_perp.y+v.y*this.m_axis.y;x=v.x*this.m_s1+v.y*this.m_a1;v=v.x*this.m_s2+v.y*this.m_a2;d.x-=this.m_invMassA*w;d.y-=this.m_invMassA*k;n-=this.m_invIA*x;j.x+=this.m_invMassB*w;j.y+=this.m_invMassB*k;l+=this.m_invIB*v;a.m_sweep.a=n;c.m_sweep.a=l;a.SynchronizeTransform();c.SynchronizeTransform();return p<=m.b2_linearSlop&&s<=m.b2_angularSlop};Box2D.inherit(x,Box2D.Dynamics.Joints.b2JointDef);x.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;x.b2LineJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);this.localAnchorA=new h;this.localAnchorB=new h;this.localAxisA=new h};x.prototype.b2LineJointDef=function(){this.__super.b2JointDef.call(this);this.type=s.e_lineJoint;this.localAxisA.Set(1,0);this.enableLimit=!1;this.upperTranslation=this.lowerTranslation=0;this.enableMotor=!1;this.motorSpeed=this.maxMotorForce=0};x.prototype.Initialize=function(a,c,e,d){this.bodyA=a;this.bodyB=c;this.localAnchorA=this.bodyA.GetLocalPoint(e);this.localAnchorB=this.bodyB.GetLocalPoint(e);this.localAxisA= this.bodyA.GetLocalVector(d)};Box2D.inherit(j,Box2D.Dynamics.Joints.b2Joint);j.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;j.b2MouseJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.K=new r;this.K1=new r;this.K2=new r;this.m_localAnchor=new h;this.m_target=new h;this.m_impulse=new h;this.m_mass=new r;this.m_C=new h};j.prototype.GetAnchorA=function(){return this.m_target};j.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor)}; j.prototype.GetReactionForce=function(a){a===void 0&&(a=0);return new h(a*this.m_impulse.x,a*this.m_impulse.y)};j.prototype.GetReactionTorque=function(){return 0};j.prototype.GetTarget=function(){return this.m_target};j.prototype.SetTarget=function(a){this.m_bodyB.IsAwake()==!1&&this.m_bodyB.SetAwake(!0);this.m_target=a};j.prototype.GetMaxForce=function(){return this.m_maxForce};j.prototype.SetMaxForce=function(a){a===void 0&&(a=0);this.m_maxForce=a};j.prototype.GetFrequency=function(){return this.m_frequencyHz}; j.prototype.SetFrequency=function(a){a===void 0&&(a=0);this.m_frequencyHz=a};j.prototype.GetDampingRatio=function(){return this.m_dampingRatio};j.prototype.SetDampingRatio=function(a){a===void 0&&(a=0);this.m_dampingRatio=a};j.prototype.b2MouseJoint=function(a){this.__super.b2Joint.call(this,a);this.m_target.SetV(a.target);var c=this.m_target.x-this.m_bodyB.m_xf.position.x,e=this.m_target.y-this.m_bodyB.m_xf.position.y,d=this.m_bodyB.m_xf.R;this.m_localAnchor.x=c*d.col1.x+e*d.col1.y;this.m_localAnchor.y= c*d.col2.x+e*d.col2.y;this.m_maxForce=a.maxForce;this.m_impulse.SetZero();this.m_frequencyHz=a.frequencyHz;this.m_dampingRatio=a.dampingRatio;this.m_gamma=this.m_beta=0};j.prototype.InitVelocityConstraints=function(a){var c=this.m_bodyB,e=c.GetMass(),d=2*Math.PI*this.m_frequencyHz,h=e*d*d;this.m_gamma=a.dt*(2*e*this.m_dampingRatio*d+a.dt*h);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_beta=a.dt*h*this.m_gamma;var h=c.m_xf.R,e=this.m_localAnchor.x-c.m_sweep.localCenter.x,d=this.m_localAnchor.y- c.m_sweep.localCenter.y,j=h.col1.x*e+h.col2.x*d,d=h.col1.y*e+h.col2.y*d,e=j,h=c.m_invMass,j=c.m_invI;this.K1.col1.x=h;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=h;this.K2.col1.x=j*d*d;this.K2.col2.x=-j*e*d;this.K2.col1.y=-j*e*d;this.K2.col2.y=j*e*e;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.GetInverse(this.m_mass);this.m_C.x=c.m_sweep.c.x+e-this.m_target.x;this.m_C.y=c.m_sweep.c.y+d-this.m_target.y;c.m_angularVelocity*=0.98;this.m_impulse.x*= a.dtRatio;this.m_impulse.y*=a.dtRatio;c.m_linearVelocity.x+=h*this.m_impulse.x;c.m_linearVelocity.y+=h*this.m_impulse.y;c.m_angularVelocity+=j*(e*this.m_impulse.y-d*this.m_impulse.x)};j.prototype.SolveVelocityConstraints=function(a){var c=this.m_bodyB,e,d=0,h=0;e=c.m_xf.R;var j=this.m_localAnchor.x-c.m_sweep.localCenter.x,f=this.m_localAnchor.y-c.m_sweep.localCenter.y,d=e.col1.x*j+e.col2.x*f,f=e.col1.y*j+e.col2.y*f,j=d,d=c.m_linearVelocity.x+-c.m_angularVelocity*f,b=c.m_linearVelocity.y+c.m_angularVelocity* j;e=this.m_mass;d=d+this.m_beta*this.m_C.x+this.m_gamma*this.m_impulse.x;h=b+this.m_beta*this.m_C.y+this.m_gamma*this.m_impulse.y;b=-(e.col1.x*d+e.col2.x*h);h=-(e.col1.y*d+e.col2.y*h);e=this.m_impulse.x;d=this.m_impulse.y;this.m_impulse.x+=b;this.m_impulse.y+=h;a=a.dt*this.m_maxForce;this.m_impulse.LengthSquared()>a*a&&this.m_impulse.Multiply(a/this.m_impulse.Length());b=this.m_impulse.x-e;h=this.m_impulse.y-d;c.m_linearVelocity.x+=c.m_invMass*b;c.m_linearVelocity.y+=c.m_invMass*h;c.m_angularVelocity+= c.m_invI*(j*h-f*b)};j.prototype.SolvePositionConstraints=function(){return!0};Box2D.inherit(B,Box2D.Dynamics.Joints.b2JointDef);B.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;B.b2MouseJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.target=new h};B.prototype.b2MouseJointDef=function(){this.__super.b2JointDef.call(this);this.type=s.e_mouseJoint;this.maxForce=0;this.frequencyHz=5;this.dampingRatio=0.7};Box2D.inherit(E,Box2D.Dynamics.Joints.b2Joint); E.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;E.b2PrismaticJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchor1=new h;this.m_localAnchor2=new h;this.m_localXAxis1=new h;this.m_localYAxis1=new h;this.m_axis=new h;this.m_perp=new h;this.m_K=new q;this.m_impulse=new l};E.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};E.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)}; E.prototype.GetReactionForce=function(a){a===void 0&&(a=0);return new h(a*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x),a*(this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y))};E.prototype.GetReactionTorque=function(a){a===void 0&&(a=0);return a*this.m_impulse.y};E.prototype.GetJointTranslation=function(){var a=this.m_bodyA,c=this.m_bodyB,e=a.GetWorldPoint(this.m_localAnchor1),d=c.GetWorldPoint(this.m_localAnchor2),c=d.x-e.x, e=d.y-e.y,a=a.GetWorldVector(this.m_localXAxis1);return a.x*c+a.y*e};E.prototype.GetJointSpeed=function(){var a=this.m_bodyA,c=this.m_bodyB,e;e=a.m_xf.R;var d=this.m_localAnchor1.x-a.m_sweep.localCenter.x,h=this.m_localAnchor1.y-a.m_sweep.localCenter.y,j=e.col1.x*d+e.col2.x*h,h=e.col1.y*d+e.col2.y*h,d=j;e=c.m_xf.R;var f=this.m_localAnchor2.x-c.m_sweep.localCenter.x,b=this.m_localAnchor2.y-c.m_sweep.localCenter.y,j=e.col1.x*f+e.col2.x*b,b=e.col1.y*f+e.col2.y*b,f=j;e=c.m_sweep.c.x+f-(a.m_sweep.c.x+ d);var j=c.m_sweep.c.y+b-(a.m_sweep.c.y+h),k=a.GetWorldVector(this.m_localXAxis1),l=a.m_linearVelocity,m=c.m_linearVelocity,a=a.m_angularVelocity,c=c.m_angularVelocity;return e*-a*k.y+j*a*k.x+(k.x*(m.x+-c*b-l.x- -a*h)+k.y*(m.y+c*f-l.y-a*d))};E.prototype.IsLimitEnabled=function(){return this.m_enableLimit};E.prototype.EnableLimit=function(a){this.m_bodyA.SetAwake(!0);this.m_bodyB.SetAwake(!0);this.m_enableLimit=a};E.prototype.GetLowerLimit=function(){return this.m_lowerTranslation};E.prototype.GetUpperLimit= function(){return this.m_upperTranslation};E.prototype.SetLimits=function(a,c){a===void 0&&(a=0);c===void 0&&(c=0);this.m_bodyA.SetAwake(!0);this.m_bodyB.SetAwake(!0);this.m_lowerTranslation=a;this.m_upperTranslation=c};E.prototype.IsMotorEnabled=function(){return this.m_enableMotor};E.prototype.EnableMotor=function(a){this.m_bodyA.SetAwake(!0);this.m_bodyB.SetAwake(!0);this.m_enableMotor=a};E.prototype.SetMotorSpeed=function(a){a===void 0&&(a=0);this.m_bodyA.SetAwake(!0);this.m_bodyB.SetAwake(!0); this.m_motorSpeed=a};E.prototype.GetMotorSpeed=function(){return this.m_motorSpeed};E.prototype.SetMaxMotorForce=function(a){a===void 0&&(a=0);this.m_bodyA.SetAwake(!0);this.m_bodyB.SetAwake(!0);this.m_maxMotorForce=a};E.prototype.GetMotorForce=function(){return this.m_motorImpulse};E.prototype.b2PrismaticJoint=function(a){this.__super.b2Joint.call(this,a);this.m_localAnchor1.SetV(a.localAnchorA);this.m_localAnchor2.SetV(a.localAnchorB);this.m_localXAxis1.SetV(a.localAxisA);this.m_localYAxis1.x=-this.m_localXAxis1.y; this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_refAngle=a.referenceAngle;this.m_impulse.SetZero();this.m_motorImpulse=this.m_motorMass=0;this.m_lowerTranslation=a.lowerTranslation;this.m_upperTranslation=a.upperTranslation;this.m_maxMotorForce=a.maxMotorForce;this.m_motorSpeed=a.motorSpeed;this.m_enableLimit=a.enableLimit;this.m_enableMotor=a.enableMotor;this.m_limitState=s.e_inactiveLimit;this.m_axis.SetZero();this.m_perp.SetZero()};E.prototype.InitVelocityConstraints=function(a){var c=this.m_bodyA, d=this.m_bodyB,h,j=0;this.m_localCenterA.SetV(c.GetLocalCenter());this.m_localCenterB.SetV(d.GetLocalCenter());var l=c.GetTransform();d.GetTransform();h=c.m_xf.R;var f=this.m_localAnchor1.x-this.m_localCenterA.x,b=this.m_localAnchor1.y-this.m_localCenterA.y,j=h.col1.x*f+h.col2.x*b,b=h.col1.y*f+h.col2.y*b,f=j;h=d.m_xf.R;var k=this.m_localAnchor2.x-this.m_localCenterB.x,u=this.m_localAnchor2.y-this.m_localCenterB.y,j=h.col1.x*k+h.col2.x*u,u=h.col1.y*k+h.col2.y*u,k=j;h=d.m_sweep.c.x+k-c.m_sweep.c.x- f;j=d.m_sweep.c.y+u-c.m_sweep.c.y-b;this.m_invMassA=c.m_invMass;this.m_invMassB=d.m_invMass;this.m_invIA=c.m_invI;this.m_invIB=d.m_invI;this.m_axis.SetV(e.MulMV(l.R,this.m_localXAxis1));this.m_a1=(h+f)*this.m_axis.y-(j+b)*this.m_axis.x;this.m_a2=k*this.m_axis.y-u*this.m_axis.x;this.m_motorMass=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_a1*this.m_a1+this.m_invIB*this.m_a2*this.m_a2;if(this.m_motorMass>Number.MIN_VALUE)this.m_motorMass=1/this.m_motorMass;this.m_perp.SetV(e.MulMV(l.R,this.m_localYAxis1)); this.m_s1=(h+f)*this.m_perp.y-(j+b)*this.m_perp.x;this.m_s2=k*this.m_perp.y-u*this.m_perp.x;l=this.m_invMassA;f=this.m_invMassB;b=this.m_invIA;k=this.m_invIB;this.m_K.col1.x=l+f+b*this.m_s1*this.m_s1+k*this.m_s2*this.m_s2;this.m_K.col1.y=b*this.m_s1+k*this.m_s2;this.m_K.col1.z=b*this.m_s1*this.m_a1+k*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=b+k;this.m_K.col2.z=b*this.m_a1+k*this.m_a2;this.m_K.col3.x=this.m_K.col1.z;this.m_K.col3.y=this.m_K.col2.z;this.m_K.col3.z=l+f+b*this.m_a1* this.m_a1+k*this.m_a2*this.m_a2;if(this.m_enableLimit)if(h=this.m_axis.x*h+this.m_axis.y*j,e.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*m.b2_linearSlop)this.m_limitState=s.e_equalLimits;else if(h<=this.m_lowerTranslation){if(this.m_limitState!=s.e_atLowerLimit)this.m_limitState=s.e_atLowerLimit,this.m_impulse.z=0}else if(h>=this.m_upperTranslation){if(this.m_limitState!=s.e_atUpperLimit)this.m_limitState=s.e_atUpperLimit,this.m_impulse.z=0}else this.m_limitState=s.e_inactiveLimit,this.m_impulse.z= 0;else this.m_limitState=s.e_inactiveLimit;if(this.m_enableMotor==!1)this.m_motorImpulse=0;a.warmStarting?(this.m_impulse.x*=a.dtRatio,this.m_impulse.y*=a.dtRatio,this.m_motorImpulse*=a.dtRatio,a=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x,h=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y,j=this.m_impulse.x*this.m_s1+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a1,l=this.m_impulse.x*this.m_s2+this.m_impulse.y+ (this.m_motorImpulse+this.m_impulse.z)*this.m_a2,c.m_linearVelocity.x-=this.m_invMassA*a,c.m_linearVelocity.y-=this.m_invMassA*h,c.m_angularVelocity-=this.m_invIA*j,d.m_linearVelocity.x+=this.m_invMassB*a,d.m_linearVelocity.y+=this.m_invMassB*h,d.m_angularVelocity+=this.m_invIB*l):(this.m_impulse.SetZero(),this.m_motorImpulse=0)};E.prototype.SolveVelocityConstraints=function(a){var c=this.m_bodyA,d=this.m_bodyB,n=c.m_linearVelocity,j=c.m_angularVelocity,m=d.m_linearVelocity,f=d.m_angularVelocity, b=0,k=0,u=0,r=0;if(this.m_enableMotor&&this.m_limitState!=s.e_equalLimits)r=this.m_motorMass*(this.m_motorSpeed-(this.m_axis.x*(m.x-n.x)+this.m_axis.y*(m.y-n.y)+this.m_a2*f-this.m_a1*j)),b=this.m_motorImpulse,a=a.dt*this.m_maxMotorForce,this.m_motorImpulse=e.Clamp(this.m_motorImpulse+r,-a,a),r=this.m_motorImpulse-b,b=r*this.m_axis.x,k=r*this.m_axis.y,u=r*this.m_a1,r*=this.m_a2,n.x-=this.m_invMassA*b,n.y-=this.m_invMassA*k,j-=this.m_invIA*u,m.x+=this.m_invMassB*b,m.y+=this.m_invMassB*k,f+=this.m_invIB* r;u=this.m_perp.x*(m.x-n.x)+this.m_perp.y*(m.y-n.y)+this.m_s2*f-this.m_s1*j;k=f-j;if(this.m_enableLimit&&this.m_limitState!=s.e_inactiveLimit){a=this.m_axis.x*(m.x-n.x)+this.m_axis.y*(m.y-n.y)+this.m_a2*f-this.m_a1*j;b=this.m_impulse.Copy();a=this.m_K.Solve33(new l,-u,-k,-a);this.m_impulse.Add(a);if(this.m_limitState==s.e_atLowerLimit)this.m_impulse.z=e.Max(this.m_impulse.z,0);else if(this.m_limitState==s.e_atUpperLimit)this.m_impulse.z=e.Min(this.m_impulse.z,0);u=-u-(this.m_impulse.z-b.z)*this.m_K.col3.x; k=-k-(this.m_impulse.z-b.z)*this.m_K.col3.y;k=this.m_K.Solve22(new h,u,k);k.x+=b.x;k.y+=b.y;this.m_impulse.x=k.x;this.m_impulse.y=k.y;a.x=this.m_impulse.x-b.x;a.y=this.m_impulse.y-b.y;a.z=this.m_impulse.z-b.z;b=a.x*this.m_perp.x+a.z*this.m_axis.x;k=a.x*this.m_perp.y+a.z*this.m_axis.y;u=a.x*this.m_s1+a.y+a.z*this.m_a1;r=a.x*this.m_s2+a.y+a.z*this.m_a2}else a=this.m_K.Solve22(new h,-u,-k),this.m_impulse.x+=a.x,this.m_impulse.y+=a.y,b=a.x*this.m_perp.x,k=a.x*this.m_perp.y,u=a.x*this.m_s1+a.y,r=a.x*this.m_s2+ a.y;n.x-=this.m_invMassA*b;n.y-=this.m_invMassA*k;j-=this.m_invIA*u;m.x+=this.m_invMassB*b;m.y+=this.m_invMassB*k;f+=this.m_invIB*r;c.m_linearVelocity.SetV(n);c.m_angularVelocity=j;d.m_linearVelocity.SetV(m);d.m_angularVelocity=f};E.prototype.SolvePositionConstraints=function(){var a=this.m_bodyA,c=this.m_bodyB,d=a.m_sweep.c,n=a.m_sweep.a,j=c.m_sweep.c,q=c.m_sweep.a,f,b=0,k=0,u=0,p=b=f=0,s=0,k=!1,v=0,w=r.FromAngle(n),x=r.FromAngle(q);f=w;var s=this.m_localAnchor1.x-this.m_localCenterA.x,y=this.m_localAnchor1.y- this.m_localCenterA.y,b=f.col1.x*s+f.col2.x*y,y=f.col1.y*s+f.col2.y*y,s=b;f=x;x=this.m_localAnchor2.x-this.m_localCenterB.x;u=this.m_localAnchor2.y-this.m_localCenterB.y;b=f.col1.x*x+f.col2.x*u;u=f.col1.y*x+f.col2.y*u;x=b;f=j.x+x-d.x-s;b=j.y+u-d.y-y;if(this.m_enableLimit){this.m_axis=e.MulMV(w,this.m_localXAxis1);this.m_a1=(f+s)*this.m_axis.y-(b+y)*this.m_axis.x;this.m_a2=x*this.m_axis.y-u*this.m_axis.x;var A=this.m_axis.x*f+this.m_axis.y*b;e.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2* m.b2_linearSlop?(v=e.Clamp(A,-m.b2_maxLinearCorrection,m.b2_maxLinearCorrection),p=e.Abs(A),k=!0):A<=this.m_lowerTranslation?(v=e.Clamp(A-this.m_lowerTranslation+m.b2_linearSlop,-m.b2_maxLinearCorrection,0),p=this.m_lowerTranslation-A,k=!0):A>=this.m_upperTranslation&&(v=e.Clamp(A-this.m_upperTranslation+m.b2_linearSlop,0,m.b2_maxLinearCorrection),p=A-this.m_upperTranslation,k=!0)}this.m_perp=e.MulMV(w,this.m_localYAxis1);this.m_s1=(f+s)*this.m_perp.y-(b+y)*this.m_perp.x;this.m_s2=x*this.m_perp.y- u*this.m_perp.x;w=new l;y=this.m_perp.x*f+this.m_perp.y*b;x=q-n-this.m_refAngle;p=e.Max(p,e.Abs(y));s=e.Abs(x);k?(k=this.m_invMassA,u=this.m_invMassB,f=this.m_invIA,b=this.m_invIB,this.m_K.col1.x=k+u+f*this.m_s1*this.m_s1+b*this.m_s2*this.m_s2,this.m_K.col1.y=f*this.m_s1+b*this.m_s2,this.m_K.col1.z=f*this.m_s1*this.m_a1+b*this.m_s2*this.m_a2,this.m_K.col2.x=this.m_K.col1.y,this.m_K.col2.y=f+b,this.m_K.col2.z=f*this.m_a1+b*this.m_a2,this.m_K.col3.x=this.m_K.col1.z,this.m_K.col3.y=this.m_K.col2.z,this.m_K.col3.z= k+u+f*this.m_a1*this.m_a1+b*this.m_a2*this.m_a2,this.m_K.Solve33(w,-y,-x,-v)):(k=this.m_invMassA,u=this.m_invMassB,f=this.m_invIA,b=this.m_invIB,v=f*this.m_s1+b*this.m_s2,A=f+b,this.m_K.col1.Set(k+u+f*this.m_s1*this.m_s1+b*this.m_s2*this.m_s2,v,0),this.m_K.col2.Set(v,A,0),v=this.m_K.Solve22(new h,-y,-x),w.x=v.x,w.y=v.y,w.z=0);v=w.x*this.m_perp.x+w.z*this.m_axis.x;k=w.x*this.m_perp.y+w.z*this.m_axis.y;y=w.x*this.m_s1+w.y+w.z*this.m_a1;w=w.x*this.m_s2+w.y+w.z*this.m_a2;d.x-=this.m_invMassA*v;d.y-=this.m_invMassA* k;n-=this.m_invIA*y;j.x+=this.m_invMassB*v;j.y+=this.m_invMassB*k;q+=this.m_invIB*w;a.m_sweep.a=n;c.m_sweep.a=q;a.SynchronizeTransform();c.SynchronizeTransform();return p<=m.b2_linearSlop&&s<=m.b2_angularSlop};Box2D.inherit(G,Box2D.Dynamics.Joints.b2JointDef);G.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;G.b2PrismaticJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new h;this.localAnchorB=new h;this.localAxisA=new h};G.prototype.b2PrismaticJointDef= function(){this.__super.b2JointDef.call(this);this.type=s.e_prismaticJoint;this.localAxisA.Set(1,0);this.referenceAngle=0;this.enableLimit=!1;this.upperTranslation=this.lowerTranslation=0;this.enableMotor=!1;this.motorSpeed=this.maxMotorForce=0};G.prototype.Initialize=function(a,c,e,d){this.bodyA=a;this.bodyB=c;this.localAnchorA=this.bodyA.GetLocalPoint(e);this.localAnchorB=this.bodyB.GetLocalPoint(e);this.localAxisA=this.bodyA.GetLocalVector(d);this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}; Box2D.inherit(A,Box2D.Dynamics.Joints.b2Joint);A.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;A.b2PulleyJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_groundAnchor1=new h;this.m_groundAnchor2=new h;this.m_localAnchor1=new h;this.m_localAnchor2=new h;this.m_u1=new h;this.m_u2=new h};A.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};A.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)}; A.prototype.GetReactionForce=function(a){a===void 0&&(a=0);return new h(a*this.m_impulse*this.m_u2.x,a*this.m_impulse*this.m_u2.y)};A.prototype.GetReactionTorque=function(){return 0};A.prototype.GetGroundAnchorA=function(){var a=this.m_ground.m_xf.position.Copy();a.Add(this.m_groundAnchor1);return a};A.prototype.GetGroundAnchorB=function(){var a=this.m_ground.m_xf.position.Copy();a.Add(this.m_groundAnchor2);return a};A.prototype.GetLength1=function(){var a=this.m_bodyA.GetWorldPoint(this.m_localAnchor1), c=a.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x),a=a.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y);return Math.sqrt(c*c+a*a)};A.prototype.GetLength2=function(){var a=this.m_bodyB.GetWorldPoint(this.m_localAnchor2),c=a.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor2.x),a=a.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor2.y);return Math.sqrt(c*c+a*a)};A.prototype.GetRatio=function(){return this.m_ratio};A.prototype.b2PulleyJoint=function(a){this.__super.b2Joint.call(this, a);this.m_ground=this.m_bodyA.m_world.m_groundBody;this.m_groundAnchor1.x=a.groundAnchorA.x-this.m_ground.m_xf.position.x;this.m_groundAnchor1.y=a.groundAnchorA.y-this.m_ground.m_xf.position.y;this.m_groundAnchor2.x=a.groundAnchorB.x-this.m_ground.m_xf.position.x;this.m_groundAnchor2.y=a.groundAnchorB.y-this.m_ground.m_xf.position.y;this.m_localAnchor1.SetV(a.localAnchorA);this.m_localAnchor2.SetV(a.localAnchorB);this.m_ratio=a.ratio;this.m_constant=a.lengthA+this.m_ratio*a.lengthB;this.m_maxLength1= e.Min(a.maxLengthA,this.m_constant-this.m_ratio*A.b2_minPulleyLength);this.m_maxLength2=e.Min(a.maxLengthB,(this.m_constant-A.b2_minPulleyLength)/this.m_ratio);this.m_limitImpulse2=this.m_limitImpulse1=this.m_impulse=0};A.prototype.InitVelocityConstraints=function(a){var c=this.m_bodyA,e=this.m_bodyB,d;d=c.m_xf.R;var h=this.m_localAnchor1.x-c.m_sweep.localCenter.x,j=this.m_localAnchor1.y-c.m_sweep.localCenter.y,f=d.col1.x*h+d.col2.x*j,j=d.col1.y*h+d.col2.y*j,h=f;d=e.m_xf.R;var b=this.m_localAnchor2.x- e.m_sweep.localCenter.x,k=this.m_localAnchor2.y-e.m_sweep.localCenter.y,f=d.col1.x*b+d.col2.x*k,k=d.col1.y*b+d.col2.y*k,b=f;d=e.m_sweep.c.x+b;var f=e.m_sweep.c.y+k,l=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,r=this.m_ground.m_xf.position.y+this.m_groundAnchor2.y;this.m_u1.Set(c.m_sweep.c.x+h-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x),c.m_sweep.c.y+j-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y));this.m_u2.Set(d-l,f-r);d=this.m_u1.Length();f=this.m_u2.Length();d>m.b2_linearSlop? this.m_u1.Multiply(1/d):this.m_u1.SetZero();f>m.b2_linearSlop?this.m_u2.Multiply(1/f):this.m_u2.SetZero();this.m_constant-d-this.m_ratio*f>0?(this.m_state=s.e_inactiveLimit,this.m_impulse=0):this.m_state=s.e_atUpperLimit;dm.b2_linearSlop?this.m_u1.Multiply(1/d):this.m_u1.SetZero(),p>m.b2_linearSlop?this.m_u2.Multiply(1/p):this.m_u2.SetZero(),d=this.m_constant-d-this.m_ratio*p,x=e.Max(x,-d),d=e.Clamp(d+m.b2_linearSlop,-m.b2_maxLinearCorrection,0),v=-this.m_pulleyMass*d,d=-v*this.m_u1.x, p=-v*this.m_u1.y,w=-this.m_ratio*v*this.m_u2.x,v=-this.m_ratio*v*this.m_u2.y,a.m_sweep.c.x+=a.m_invMass*d,a.m_sweep.c.y+=a.m_invMass*p,a.m_sweep.a+=a.m_invI*(b*p-k*d),c.m_sweep.c.x+=c.m_invMass*w,c.m_sweep.c.y+=c.m_invMass*v,c.m_sweep.a+=c.m_invI*(r*v-q*w),a.SynchronizeTransform(),c.SynchronizeTransform();if(this.m_limitState1==s.e_atUpperLimit)d=a.m_xf.R,b=this.m_localAnchor1.x-a.m_sweep.localCenter.x,k=this.m_localAnchor1.y-a.m_sweep.localCenter.y,p=d.col1.x*b+d.col2.x*k,k=d.col1.y*b+d.col2.y*k, b=p,d=a.m_sweep.c.x+b,p=a.m_sweep.c.y+k,this.m_u1.Set(d-h,p-j),d=this.m_u1.Length(),d>m.b2_linearSlop?(this.m_u1.x*=1/d,this.m_u1.y*=1/d):this.m_u1.SetZero(),d=this.m_maxLength1-d,x=e.Max(x,-d),d=e.Clamp(d+m.b2_linearSlop,-m.b2_maxLinearCorrection,0),v=-this.m_limitMass1*d,d=-v*this.m_u1.x,p=-v*this.m_u1.y,a.m_sweep.c.x+=a.m_invMass*d,a.m_sweep.c.y+=a.m_invMass*p,a.m_sweep.a+=a.m_invI*(b*p-k*d),a.SynchronizeTransform();if(this.m_limitState2==s.e_atUpperLimit)d=c.m_xf.R,r=this.m_localAnchor2.x-c.m_sweep.localCenter.x, q=this.m_localAnchor2.y-c.m_sweep.localCenter.y,p=d.col1.x*r+d.col2.x*q,q=d.col1.y*r+d.col2.y*q,r=p,w=c.m_sweep.c.x+r,v=c.m_sweep.c.y+q,this.m_u2.Set(w-l,v-f),p=this.m_u2.Length(),p>m.b2_linearSlop?(this.m_u2.x*=1/p,this.m_u2.y*=1/p):this.m_u2.SetZero(),d=this.m_maxLength2-p,x=e.Max(x,-d),d=e.Clamp(d+m.b2_linearSlop,-m.b2_maxLinearCorrection,0),v=-this.m_limitMass2*d,w=-v*this.m_u2.x,v=-v*this.m_u2.y,c.m_sweep.c.x+=c.m_invMass*w,c.m_sweep.c.y+=c.m_invMass*v,c.m_sweep.a+=c.m_invI*(r*v-q*w),c.SynchronizeTransform(); return x=this.m_upperAngle){if(this.m_limitState!=s.e_atUpperLimit)this.m_impulse.z=0;this.m_limitState=s.e_atUpperLimit}else this.m_limitState=s.e_inactiveLimit,this.m_impulse.z=0}else this.m_limitState=s.e_inactiveLimit;a.warmStarting?(this.m_impulse.x*=a.dtRatio,this.m_impulse.y*=a.dtRatio,this.m_motorImpulse*=a.dtRatio,a=this.m_impulse.x,q=this.m_impulse.y, c.m_linearVelocity.x-=h*a,c.m_linearVelocity.y-=h*q,c.m_angularVelocity-=r*(l*q-f*a+this.m_motorImpulse+this.m_impulse.z),d.m_linearVelocity.x+=j*a,d.m_linearVelocity.y+=j*q,d.m_angularVelocity+=p*(b*q-k*a+this.m_motorImpulse+this.m_impulse.z)):(this.m_impulse.SetZero(),this.m_motorImpulse=0)};D.prototype.SolveVelocityConstraints=function(a){var c=this.m_bodyA,d=this.m_bodyB,h=0,j=h=0,l=0,f=0,b=0,k=c.m_linearVelocity,m=c.m_angularVelocity,r=d.m_linearVelocity,p=d.m_angularVelocity,q=c.m_invMass,v= d.m_invMass,w=c.m_invI,x=d.m_invI;if(this.m_enableMotor&&this.m_limitState!=s.e_equalLimits)j=this.m_motorMass*-(p-m-this.m_motorSpeed),l=this.m_motorImpulse,f=a.dt*this.m_maxMotorTorque,this.m_motorImpulse=e.Clamp(this.m_motorImpulse+j,-f,f),j=this.m_motorImpulse-l,m-=w*j,p+=x*j;if(this.m_enableLimit&&this.m_limitState!=s.e_inactiveLimit){var a=c.m_xf.R,j=this.m_localAnchor1.x-c.m_sweep.localCenter.x,l=this.m_localAnchor1.y-c.m_sweep.localCenter.y,h=a.col1.x*j+a.col2.x*l,l=a.col1.y*j+a.col2.y*l, j=h,a=d.m_xf.R,f=this.m_localAnchor2.x-d.m_sweep.localCenter.x,b=this.m_localAnchor2.y-d.m_sweep.localCenter.y,h=a.col1.x*f+a.col2.x*b,b=a.col1.y*f+a.col2.y*b,f=h,a=r.x+-p*b-k.x- -m*l,y=r.y+p*f-k.y-m*j;this.m_mass.Solve33(this.impulse3,-a,-y,-(p-m));if(this.m_limitState==s.e_equalLimits)this.m_impulse.Add(this.impulse3);else if(this.m_limitState==s.e_atLowerLimit){if(h=this.m_impulse.z+this.impulse3.z,h<0)this.m_mass.Solve22(this.reduced,-a,-y),this.impulse3.x=this.reduced.x,this.impulse3.y=this.reduced.y, this.impulse3.z=-this.m_impulse.z,this.m_impulse.x+=this.reduced.x,this.m_impulse.y+=this.reduced.y,this.m_impulse.z=0}else if(this.m_limitState==s.e_atUpperLimit&&(h=this.m_impulse.z+this.impulse3.z,h>0))this.m_mass.Solve22(this.reduced,-a,-y),this.impulse3.x=this.reduced.x,this.impulse3.y=this.reduced.y,this.impulse3.z=-this.m_impulse.z,this.m_impulse.x+=this.reduced.x,this.m_impulse.y+=this.reduced.y,this.m_impulse.z=0;k.x-=q*this.impulse3.x;k.y-=q*this.impulse3.y;m-=w*(j*this.impulse3.y-l*this.impulse3.x+ this.impulse3.z);r.x+=v*this.impulse3.x;r.y+=v*this.impulse3.y;p+=x*(f*this.impulse3.y-b*this.impulse3.x+this.impulse3.z)}else a=c.m_xf.R,j=this.m_localAnchor1.x-c.m_sweep.localCenter.x,l=this.m_localAnchor1.y-c.m_sweep.localCenter.y,h=a.col1.x*j+a.col2.x*l,l=a.col1.y*j+a.col2.y*l,j=h,a=d.m_xf.R,f=this.m_localAnchor2.x-d.m_sweep.localCenter.x,b=this.m_localAnchor2.y-d.m_sweep.localCenter.y,h=a.col1.x*f+a.col2.x*b,b=a.col1.y*f+a.col2.y*b,f=h,this.m_mass.Solve22(this.impulse2,-(r.x+-p*b-k.x- -m*l), -(r.y+p*f-k.y-m*j)),this.m_impulse.x+=this.impulse2.x,this.m_impulse.y+=this.impulse2.y,k.x-=q*this.impulse2.x,k.y-=q*this.impulse2.y,m-=w*(j*this.impulse2.y-l*this.impulse2.x),r.x+=v*this.impulse2.x,r.y+=v*this.impulse2.y,p+=x*(f*this.impulse2.y-b*this.impulse2.x);c.m_linearVelocity.SetV(k);c.m_angularVelocity=m;d.m_linearVelocity.SetV(r);d.m_angularVelocity=p};D.prototype.SolvePositionConstraints=function(){var a=0,c,d=this.m_bodyA,h=this.m_bodyB,j=0,l=c=0,f=0,b=0;if(this.m_enableLimit&&this.m_limitState!= s.e_inactiveLimit){var a=h.m_sweep.a-d.m_sweep.a-this.m_referenceAngle,k=0;this.m_limitState==s.e_equalLimits?(a=e.Clamp(a-this.m_lowerAngle,-m.b2_maxAngularCorrection,m.b2_maxAngularCorrection),k=-this.m_motorMass*a,j=e.Abs(a)):this.m_limitState==s.e_atLowerLimit?(a-=this.m_lowerAngle,j=-a,a=e.Clamp(a+m.b2_angularSlop,-m.b2_maxAngularCorrection,0),k=-this.m_motorMass*a):this.m_limitState==s.e_atUpperLimit&&(a-=this.m_upperAngle,j=a,a=e.Clamp(a-m.b2_angularSlop,0,m.b2_maxAngularCorrection),k=-this.m_motorMass* a);d.m_sweep.a-=d.m_invI*k;h.m_sweep.a+=h.m_invI*k;d.SynchronizeTransform();h.SynchronizeTransform()}c=d.m_xf.R;k=this.m_localAnchor1.x-d.m_sweep.localCenter.x;a=this.m_localAnchor1.y-d.m_sweep.localCenter.y;l=c.col1.x*k+c.col2.x*a;a=c.col1.y*k+c.col2.y*a;k=l;c=h.m_xf.R;var r=this.m_localAnchor2.x-h.m_sweep.localCenter.x,p=this.m_localAnchor2.y-h.m_sweep.localCenter.y,l=c.col1.x*r+c.col2.x*p,p=c.col1.y*r+c.col2.y*p,r=l,f=h.m_sweep.c.x+r-d.m_sweep.c.x-k,b=h.m_sweep.c.y+p-d.m_sweep.c.y-a,q=f*f+b*b; c=Math.sqrt(q);var l=d.m_invMass,v=h.m_invMass,w=d.m_invI,x=h.m_invI,y=10*m.b2_linearSlop;q>y*y&&(q=1/(l+v),f=q*-f,b=q*-b,d.m_sweep.c.x-=0.5*l*f,d.m_sweep.c.y-=0.5*l*b,h.m_sweep.c.x+=0.5*v*f,h.m_sweep.c.y+=0.5*v*b,f=h.m_sweep.c.x+r-d.m_sweep.c.x-k,b=h.m_sweep.c.y+p-d.m_sweep.c.y-a);this.K1.col1.x=l+v;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=l+v;this.K2.col1.x=w*a*a;this.K2.col2.x=-w*k*a;this.K2.col1.y=-w*k*a;this.K2.col2.y=w*k*k;this.K3.col1.x=x*p*p;this.K3.col2.x=-x*r*p;this.K3.col1.y=-x* r*p;this.K3.col2.y=x*r*r;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(D.tImpulse,-f,-b);f=D.tImpulse.x;b=D.tImpulse.y;d.m_sweep.c.x-=d.m_invMass*f;d.m_sweep.c.y-=d.m_invMass*b;d.m_sweep.a-=d.m_invI*(k*b-a*f);h.m_sweep.c.x+=h.m_invMass*f;h.m_sweep.c.y+=h.m_invMass*b;h.m_sweep.a+=h.m_invI*(r*b-p*f);d.SynchronizeTransform();h.SynchronizeTransform();return c<=m.b2_linearSlop&&j<=m.b2_angularSlop};Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2RevoluteJoint.tImpulse= new h});Box2D.inherit(F,Box2D.Dynamics.Joints.b2JointDef);F.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;F.b2RevoluteJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new h;this.localAnchorB=new h};F.prototype.b2RevoluteJointDef=function(){this.__super.b2JointDef.call(this);this.type=s.e_revoluteJoint;this.localAnchorA.Set(0,0);this.localAnchorB.Set(0,0);this.motorSpeed=this.maxMotorTorque=this.upperAngle=this.lowerAngle=this.referenceAngle= 0;this.enableMotor=this.enableLimit=!1};F.prototype.Initialize=function(a,c,d){this.bodyA=a;this.bodyB=c;this.localAnchorA=this.bodyA.GetLocalPoint(d);this.localAnchorB=this.bodyB.GetLocalPoint(d);this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()};Box2D.inherit(M,Box2D.Dynamics.Joints.b2Joint);M.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;M.b2WeldJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchorA=new h;this.m_localAnchorB=new h; this.m_impulse=new l;this.m_mass=new q};M.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)};M.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)};M.prototype.GetReactionForce=function(a){a===void 0&&(a=0);return new h(a*this.m_impulse.x,a*this.m_impulse.y)};M.prototype.GetReactionTorque=function(a){a===void 0&&(a=0);return a*this.m_impulse.z};M.prototype.b2WeldJoint=function(a){this.__super.b2Joint.call(this,a);this.m_localAnchorA.SetV(a.localAnchorA); this.m_localAnchorB.SetV(a.localAnchorB);this.m_referenceAngle=a.referenceAngle;this.m_impulse.SetZero();this.m_mass=new q};M.prototype.InitVelocityConstraints=function(a){var c,d=0,e=this.m_bodyA,h=this.m_bodyB;c=e.m_xf.R;var j=this.m_localAnchorA.x-e.m_sweep.localCenter.x,f=this.m_localAnchorA.y-e.m_sweep.localCenter.y,d=c.col1.x*j+c.col2.x*f,f=c.col1.y*j+c.col2.y*f,j=d;c=h.m_xf.R;var b=this.m_localAnchorB.x-h.m_sweep.localCenter.x,k=this.m_localAnchorB.y-h.m_sweep.localCenter.y,d=c.col1.x*b+c.col2.x* k,k=c.col1.y*b+c.col2.y*k,b=d;c=e.m_invMass;var d=h.m_invMass,l=e.m_invI,m=h.m_invI;this.m_mass.col1.x=c+d+f*f*l+k*k*m;this.m_mass.col2.x=-f*j*l-k*b*m;this.m_mass.col3.x=-f*l-k*m;this.m_mass.col1.y=this.m_mass.col2.x;this.m_mass.col2.y=c+d+j*j*l+b*b*m;this.m_mass.col3.y=j*l+b*m;this.m_mass.col1.z=this.m_mass.col3.x;this.m_mass.col2.z=this.m_mass.col3.y;this.m_mass.col3.z=l+m;a.warmStarting?(this.m_impulse.x*=a.dtRatio,this.m_impulse.y*=a.dtRatio,this.m_impulse.z*=a.dtRatio,e.m_linearVelocity.x-=c* this.m_impulse.x,e.m_linearVelocity.y-=c*this.m_impulse.y,e.m_angularVelocity-=l*(j*this.m_impulse.y-f*this.m_impulse.x+this.m_impulse.z),h.m_linearVelocity.x+=d*this.m_impulse.x,h.m_linearVelocity.y+=d*this.m_impulse.y,h.m_angularVelocity+=m*(b*this.m_impulse.y-k*this.m_impulse.x+this.m_impulse.z)):this.m_impulse.SetZero()};M.prototype.SolveVelocityConstraints=function(){var a,c=0,d=this.m_bodyA,e=this.m_bodyB,h=d.m_linearVelocity,j=d.m_angularVelocity,f=e.m_linearVelocity,b=e.m_angularVelocity, k=d.m_invMass,m=e.m_invMass,r=d.m_invI,p=e.m_invI;a=d.m_xf.R;var q=this.m_localAnchorA.x-d.m_sweep.localCenter.x,s=this.m_localAnchorA.y-d.m_sweep.localCenter.y,c=a.col1.x*q+a.col2.x*s,s=a.col1.y*q+a.col2.y*s,q=c;a=e.m_xf.R;var v=this.m_localAnchorB.x-e.m_sweep.localCenter.x,w=this.m_localAnchorB.y-e.m_sweep.localCenter.y,c=a.col1.x*v+a.col2.x*w,w=a.col1.y*v+a.col2.y*w,v=c;a=f.x-b*w-h.x+j*s;var c=f.y+b*v-h.y-j*q,x=b-j,y=new l;this.m_mass.Solve33(y,-a,-c,-x);this.m_impulse.Add(y);h.x-=k*y.x;h.y-=k* y.y;j-=r*(q*y.y-s*y.x+y.z);f.x+=m*y.x;f.y+=m*y.y;b+=p*(v*y.y-w*y.x+y.z);d.m_angularVelocity=j;e.m_angularVelocity=b};M.prototype.SolvePositionConstraints=function(){var a,c=0,d=this.m_bodyA,h=this.m_bodyB;a=d.m_xf.R;var j=this.m_localAnchorA.x-d.m_sweep.localCenter.x,r=this.m_localAnchorA.y-d.m_sweep.localCenter.y,c=a.col1.x*j+a.col2.x*r,r=a.col1.y*j+a.col2.y*r,j=c;a=h.m_xf.R;var f=this.m_localAnchorB.x-h.m_sweep.localCenter.x,b=this.m_localAnchorB.y-h.m_sweep.localCenter.y,c=a.col1.x*f+a.col2.x* b,b=a.col1.y*f+a.col2.y*b,f=c;a=d.m_invMass;var c=h.m_invMass,k=d.m_invI,p=h.m_invI,q=h.m_sweep.c.x+f-d.m_sweep.c.x-j,s=h.m_sweep.c.y+b-d.m_sweep.c.y-r,v=h.m_sweep.a-d.m_sweep.a-this.m_referenceAngle,w=10*m.b2_linearSlop,x=Math.sqrt(q*q+s*s),y=e.Abs(v);x>w&&(k*=1,p*=1);this.m_mass.col1.x=a+c+r*r*k+b*b*p;this.m_mass.col2.x=-r*j*k-b*f*p;this.m_mass.col3.x=-r*k-b*p;this.m_mass.col1.y=this.m_mass.col2.x;this.m_mass.col2.y=a+c+j*j*k+f*f*p;this.m_mass.col3.y=j*k+f*p;this.m_mass.col1.z=this.m_mass.col3.x; this.m_mass.col2.z=this.m_mass.col3.y;this.m_mass.col3.z=k+p;w=new l;this.m_mass.Solve33(w,-q,-s,-v);d.m_sweep.c.x-=a*w.x;d.m_sweep.c.y-=a*w.y;d.m_sweep.a-=k*(j*w.y-r*w.x+w.z);h.m_sweep.c.x+=c*w.x;h.m_sweep.c.y+=c*w.y;h.m_sweep.a+=p*(f*w.y-b*w.x+w.z);d.SynchronizeTransform();h.SynchronizeTransform();return x<=m.b2_linearSlop&&y<=m.b2_angularSlop};Box2D.inherit(I,Box2D.Dynamics.Joints.b2JointDef);I.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;I.b2WeldJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);this.localAnchorA=new h;this.localAnchorB=new h};I.prototype.b2WeldJointDef=function(){this.__super.b2JointDef.call(this);this.type=s.e_weldJoint;this.referenceAngle=0};I.prototype.Initialize=function(a,c,d){this.bodyA=a;this.bodyB=c;this.localAnchorA.SetV(this.bodyA.GetLocalPoint(d));this.localAnchorB.SetV(this.bodyB.GetLocalPoint(d));this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}})(); (function(){var m=Box2D.Dynamics.b2DebugDraw;m.b2DebugDraw=function(){this.m_xformScale=this.m_fillAlpha=this.m_alpha=this.m_lineThickness=this.m_drawScale=1;var m=this;this.m_sprite={graphics:{clear:function(){m.m_ctx.clearRect(0,0,m.m_ctx.canvas.width,m.m_ctx.canvas.height)}}}};m.prototype._color=function(m,q){return"rgba("+((m&16711680)>>16)+","+((m&65280)>>8)+","+(m&255)+","+q+")"};m.prototype.b2DebugDraw=function(){this.m_drawFlags=0};m.prototype.SetFlags=function(m){m===void 0&&(m=0);this.m_drawFlags= m};m.prototype.GetFlags=function(){return this.m_drawFlags};m.prototype.AppendFlags=function(m){m===void 0&&(m=0);this.m_drawFlags|=m};m.prototype.ClearFlags=function(m){m===void 0&&(m=0);this.m_drawFlags&=~m};m.prototype.SetSprite=function(m){this.m_ctx=m};m.prototype.GetSprite=function(){return this.m_ctx};m.prototype.SetDrawScale=function(m){m===void 0&&(m=0);this.m_drawScale=m};m.prototype.GetDrawScale=function(){return this.m_drawScale};m.prototype.SetLineThickness=function(m){m===void 0&&(m= 0);this.m_lineThickness=m;this.m_ctx.strokeWidth=m};m.prototype.GetLineThickness=function(){return this.m_lineThickness};m.prototype.SetAlpha=function(m){m===void 0&&(m=0);this.m_alpha=m};m.prototype.GetAlpha=function(){return this.m_alpha};m.prototype.SetFillAlpha=function(m){m===void 0&&(m=0);this.m_fillAlpha=m};m.prototype.GetFillAlpha=function(){return this.m_fillAlpha};m.prototype.SetXFormScale=function(m){m===void 0&&(m=0);this.m_xformScale=m};m.prototype.GetXFormScale=function(){return this.m_xformScale}; m.prototype.DrawPolygon=function(m,q,e){if(q){var h=this.m_ctx,l=this.m_drawScale;h.beginPath();h.strokeStyle=this._color(e.color,this.m_alpha);h.moveTo(m[0].x*l,m[0].y*l);for(e=1;e