cannon/build/cannon.min.js

A lightweight 3D physics engine written in JavaScript.

/*
 * Copyright (c) 2015 cannon.js Authors
 *
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use, copy,
 * modify, merge, publish, distribute, sublicense, and/or sell copies
 * of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

!function(e){if("object"==typeof exports&&"undefined"!=typeof module)module.exports=e();else if("function"==typeof define&&false)define([],e);else{var f;"undefined"!=typeof window?f=window:"undefined"!=typeof global?f=global:"undefined"!=typeof self&&(f=self),f.CANNON=e()}}(function(){return function e(f,n,o){function d(t,l){if(!n[t]){if(!f[t]){var u="function"==typeof require&&require;if(!l&&u)return u(t,!0);if(i)return i(t,!0);throw new Error("Cannot find module '"+t+"'")}var p=n[t]={exports:{}};f[t][0].call(p.exports,function(e){var n=f[t][1][e];return d(n?n:e)},p,p.exports,e,f,n,o)}return n[t].exports}for(var i="function"==typeof require&&require,t=0;t<o.length;t++)d(o[t]);return d}({1:[function(e,f){f.exports={name:"cannon",version:"0.6.2",description:"A lightweight 3D physics engine written in JavaScript.",homepage:"https://github.com/schteppe/cannon.js",author:"Stefan Hedman <schteppe@gmail.com> (http://steffe.se)",keywords:["cannon.js","cannon","physics","engine","3d"],main:"./build/cannon.js",engines:{node:"*"},repository:{type:"git",url:"https://github.com/schteppe/cannon.js.git"},bugs:{url:"https://github.com/schteppe/cannon.js/issues"},licenses:[{type:"MIT"}],devDependencies:{jshint:"latest","uglify-js":"latest",nodeunit:"^0.9.0",grunt:"~0.4.0","grunt-contrib-jshint":"~0.1.1","grunt-contrib-nodeunit":"^0.4.1","grunt-contrib-concat":"~0.1.3","grunt-contrib-uglify":"^0.5.1","grunt-browserify":"^2.1.4","grunt-contrib-yuidoc":"^0.5.2",browserify:"*"},dependencies:{}}},{}],2:[function(e,f){f.exports={version:e("../package.json").version,AABB:e("./collision/AABB"),ArrayCollisionMatrix:e("./collision/ArrayCollisionMatrix"),Body:e("./objects/Body"),Box:e("./shapes/Box"),Broadphase:e("./collision/Broadphase"),Constraint:e("./constraints/Constraint"),ContactEquation:e("./equations/ContactEquation"),Narrowphase:e("./world/Narrowphase"),ConeTwistConstraint:e("./constraints/ConeTwistConstraint"),ContactMaterial:e("./material/ContactMaterial"),ConvexPolyhedron:e("./shapes/ConvexPolyhedron"),Cylinder:e("./shapes/Cylinder"),DistanceConstraint:e("./constraints/DistanceConstraint"),Equation:e("./equations/Equation"),EventTarget:e("./utils/EventTarget"),FrictionEquation:e("./equations/FrictionEquation"),GSSolver:e("./solver/GSSolver"),GridBroadphase:e("./collision/GridBroadphase"),Heightfield:e("./shapes/Heightfield"),HingeConstraint:e("./constraints/HingeConstraint"),LockConstraint:e("./constraints/LockConstraint"),Mat3:e("./math/Mat3"),Material:e("./material/Material"),NaiveBroadphase:e("./collision/NaiveBroadphase"),ObjectCollisionMatrix:e("./collision/ObjectCollisionMatrix"),Pool:e("./utils/Pool"),Particle:e("./shapes/Particle"),Plane:e("./shapes/Plane"),PointToPointConstraint:e("./constraints/PointToPointConstraint"),Quaternion:e("./math/Quaternion"),Ray:e("./collision/Ray"),RaycastVehicle:e("./objects/RaycastVehicle"),RaycastResult:e("./collision/RaycastResult"),RigidVehicle:e("./objects/RigidVehicle"),RotationalEquation:e("./equations/RotationalEquation"),RotationalMotorEquation:e("./equations/RotationalMotorEquation"),SAPBroadphase:e("./collision/SAPBroadphase"),SPHSystem:e("./objects/SPHSystem"),Shape:e("./shapes/Shape"),Solver:e("./solver/Solver"),Sphere:e("./shapes/Sphere"),SplitSolver:e("./solver/SplitSolver"),Spring:e("./objects/Spring"),Trimesh:e("./shapes/Trimesh"),Vec3:e("./math/Vec3"),Vec3Pool:e("./utils/Vec3Pool"),World:e("./world/World")}},{"../package.json":1,"./collision/AABB":3,"./collision/ArrayCollisionMatrix":4,"./collision/Broadphase":5,"./collision/GridBroadphase":6,"./collision/NaiveBroadphase":7,"./collision/ObjectCollisionMatrix":8,"./collision/Ray":9,"./collision/RaycastResult":10,"./collision/SAPBroadphase":11,"./constraints/ConeTwistConstraint":12,"./constraints/Constraint":13,"./constraints/DistanceConstraint":14,"./constraints/HingeConstraint":15,"./constraints/LockConstraint":16,"./constraints/PointToPointConstraint":17,"./equations/ContactEquation":19,"./equations/Equation":20,"./equations/FrictionEquation":21,"./equations/RotationalEquation":22,"./equations/RotationalMotorEquation":23,"./material/ContactMaterial":24,"./material/Material":25,"./math/Mat3":27,"./math/Quaternion":28,"./math/Vec3":30,"./objects/Body":31,"./objects/RaycastVehicle":32,"./objects/RigidVehicle":33,"./objects/SPHSystem":34,"./objects/Spring":35,"./shapes/Box":37,"./shapes/ConvexPolyhedron":38,"./shapes/Cylinder":39,"./shapes/Heightfield":40,"./shapes/Particle":41,"./shapes/Plane":42,"./shapes/Shape":43,"./shapes/Sphere":44,"./shapes/Trimesh":45,"./solver/GSSolver":46,"./solver/Solver":47,"./solver/SplitSolver":48,"./utils/EventTarget":49,"./utils/Pool":51,"./utils/Vec3Pool":54,"./world/Narrowphase":55,"./world/World":56}],3:[function(e,f){function n(e){e=e||{},this.lowerBound=new o,e.lowerBound&&this.lowerBound.copy(e.lowerBound),this.upperBound=new o,e.upperBound&&this.upperBound.copy(e.upperBound)}{var o=e("../math/Vec3");e("../utils/Utils")}f.exports=n;var d=new o;n.prototype.setFromPoints=function(e,f,n,o){var i=this.lowerBound,t=this.upperBound,l=n;i.copy(e[0]),l&&l.vmult(i,i),t.copy(i);for(var u=1;u<e.length;u++){var p=e[u];l&&(l.vmult(p,d),p=d),p.x>t.x&&(t.x=p.x),p.x<i.x&&(i.x=p.x),p.y>t.y&&(t.y=p.y),p.y<i.y&&(i.y=p.y),p.z>t.z&&(t.z=p.z),p.z<i.z&&(i.z=p.z)}return f&&(f.vadd(i,i),f.vadd(t,t)),o&&(i.x-=o,i.y-=o,i.z-=o,t.x+=o,t.y+=o,t.z+=o),this},n.prototype.copy=function(e){return this.lowerBound.copy(e.lowerBound),this.upperBound.copy(e.upperBound),this},n.prototype.clone=function(){return(new n).copy(this)},n.prototype.extend=function(e){var f=e.lowerBound.x;this.lowerBound.x>f&&(this.lowerBound.x=f);var n=e.upperBound.x;this.upperBound.x<n&&(this.upperBound.x=n);var f=e.lowerBound.y;this.lowerBound.y>f&&(this.lowerBound.y=f);var n=e.upperBound.y;this.upperBound.y<n&&(this.upperBound.y=n);var f=e.lowerBound.z;this.lowerBound.z>f&&(this.lowerBound.z=f);var n=e.upperBound.z;this.upperBound.z<n&&(this.upperBound.z=n)},n.prototype.overlaps=function(e){var f=this.lowerBound,n=this.upperBound,o=e.lowerBound,d=e.upperBound;return(o.x<=n.x&&n.x<=d.x||f.x<=d.x&&d.x<=n.x)&&(o.y<=n.y&&n.y<=d.y||f.y<=d.y&&d.y<=n.y)&&(o.z<=n.z&&n.z<=d.z||f.z<=d.z&&d.z<=n.z)},n.prototype.contains=function(e){var f=this.lowerBound,n=this.upperBound,o=e.lowerBound,d=e.upperBound;return f.x<=o.x&&n.x>=d.x&&f.y<=o.y&&n.y>=d.y&&f.z<=o.z&&n.z>=d.z},n.prototype.getCorners=function(e,f,n,o,d,i,t,l){var u=this.lowerBound,p=this.upperBound;e.copy(u),f.set(p.x,u.y,u.z),n.set(p.x,p.y,u.z),o.set(u.x,p.y,p.z),d.set(p.x,u.y,u.z),i.set(u.x,p.y,u.z),t.set(u.x,u.y,p.z),l.copy(p)};var i=[new o,new o,new o,new o,new o,new o,new o,new o];n.prototype.toLocalFrame=function(e,f){var n=i,o=n[0],d=n[1],t=n[2],l=n[3],u=n[4],p=n[5],s=n[6],y=n[7];this.getCorners(o,d,t,l,u,p,s,y);for(var c=0;8!==c;c++){var a=n[c];e.pointToLocal(a,a)}return f.setFromPoints(n)},n.prototype.toWorldFrame=function(e,f){var n=i,o=n[0],d=n[1],t=n[2],l=n[3],u=n[4],p=n[5],s=n[6],y=n[7];this.getCorners(o,d,t,l,u,p,s,y);for(var c=0;8!==c;c++){var a=n[c];e.pointToWorld(a,a)}return f.setFromPoints(n)}},{"../math/Vec3":30,"../utils/Utils":53}],4:[function(e,f){function n(){this.matrix=[]}f.exports=n,n.prototype.get=function(e,f){if(e=e.index,f=f.index,f>e){var n=f;f=e,e=n}return this.matrix[(e*(e+1)>>1)+f-1]},n.prototype.set=function(e,f,n){if(e=e.index,f=f.index,f>e){var o=f;f=e,e=o}this.matrix[(e*(e+1)>>1)+f-1]=n?1:0},n.prototype.reset=function(){for(var e=0,f=this.matrix.length;e!==f;e++)this.matrix[e]=0},n.prototype.setNumObjects=function(e){this.matrix.length=e*(e-1)>>1}},{}],5:[function(e,f){function n(){this.world=null,this.useBoundingBoxes=!1,this.dirty=!0}{var o=e("../objects/Body"),d=e("../math/Vec3"),i=e("../math/Quaternion");e("../shapes/Shape"),e("../shapes/Plane")}f.exports=n,n.prototype.collisionPairs=function(){throw new Error("collisionPairs not implemented for this BroadPhase class!")};var t=o.STATIC|o.KINEMATIC;n.prototype.needBroadphaseCollision=function(e,f){return 0===(e.collisionFilterGroup&f.collisionFilterMask)||0===(f.collisionFilterGroup&e.collisionFilterMask)?!1:0===(e.type&t)&&e.sleepState!==o.SLEEPING||0===(f.type&t)&&f.sleepState!==o.SLEEPING?!0:!1},n.prototype.intersectionTest=function(e,f,n,o){this.useBoundingBoxes?this.doBoundingBoxBroadphase(e,f,n,o):this.doBoundingSphereBroadphase(e,f,n,o)};{var l=new d;new d,new i,new d}n.prototype.doBoundingSphereBroadphase=function(e,f,n,o){var d=l;f.position.vsub(e.position,d);var i=Math.pow(e.boundingRadius+f.boundingRadius,2),t=d.norm2();i>t&&(n.push(e),o.push(f))},n.prototype.doBoundingBoxBroadphase=function(e,f,n,o){e.aabbNeedsUpdate&&e.computeAABB(),f.aabbNeedsUpdate&&f.computeAABB(),e.aabb.overlaps(f.aabb)&&(n.push(e),o.push(f))};var u={keys:[]},p=[],s=[];n.prototype.makePairsUnique=function(e,f){for(var n=u,o=p,d=s,i=e.length,t=0;t!==i;t++)o[t]=e[t],d[t]=f[t];e.length=0,f.length=0;for(var t=0;t!==i;t++){var l=o[t].id,y=d[t].id,c=y>l?l+","+y:y+","+l;n[c]=t,n.keys.push(c)}for(var t=0;t!==n.keys.length;t++){var c=n.keys.pop(),a=n[c];e.push(o[a]),f.push(d[a]),delete n[c]}},n.prototype.setWorld=function(){};var y=new d;n.boundingSphereCheck=function(e,f){var n=y;return e.position.vsub(f.position,n),Math.pow(e.shape.boundingSphereRadius+f.shape.boundingSphereRadius,2)>n.norm2()},n.prototype.aabbQuery=function(){return console.warn(".aabbQuery is not implemented in this Broadphase subclass."),[]}},{"../math/Quaternion":28,"../math/Vec3":30,"../objects/Body":31,"../shapes/Plane":42,"../shapes/Shape":43}],6:[function(e,f){function n(e,f,n,i,t){o.apply(this),this.nx=n||10,this.ny=i||10,this.nz=t||10,this.aabbMin=e||new d(100,100,100),this.aabbMax=f||new d(-100,-100,-100);var l=this.nx*this.ny*this.nz;if(0>=l)throw"GridBroadphase: Each dimension's n must be >0";this.bins=[],this.binLengths=[],this.bins.length=l,this.binLengths.length=l;for(var u=0;l>u;u++)this.bins[u]=[],this.binLengths[u]=0}f.exports=n;var o=e("./Broadphase"),d=e("../math/Vec3"),i=e("../shapes/Shape");n.prototype=new o,n.prototype.constructor=n;{var t=new d;new d}n.prototype.collisionPairs=function(e,f,n){function o(e,f,n,o,d,i,t){var l=(e-g)*v|0,u=(f-x)*A|0,p=(n-j)*C|0,b=I((o-g)*v),m=I((d-x)*A),N=I((i-j)*C);0>l?l=0:l>=s&&(l=s-1),0>u?u=0:u>=y&&(u=y-1),0>p?p=0:p>=c&&(p=c-1),0>b?b=0:b>=s&&(b=s-1),0>m?m=0:m>=y&&(m=y-1),0>N?N=0:N>=c&&(N=c-1),l*=a,u*=r,p*=w,b*=a,m*=r,N*=w;for(var O=l;b>=O;O+=a)for(var h=u;m>=h;h+=r)for(var k=p;N>=k;k+=w){var q=O+h+k;E[q][F[q]++]=t}}for(var d=e.numObjects(),l=e.bodies,u=this.aabbMax,p=this.aabbMin,s=this.nx,y=this.ny,c=this.nz,a=y*c,r=c,w=1,b=u.x,m=u.y,N=u.z,g=p.x,x=p.y,j=p.z,v=s/(b-g),A=y/(m-x),C=c/(N-j),O=(b-g)/s,h=(m-x)/y,k=(N-j)/c,q=.5*Math.sqrt(O*O+h*h+k*k),z=i.types,B=z.SPHERE,D=z.PLANE,E=(z.BOX,z.COMPOUND,z.CONVEXPOLYHEDRON,this.bins),F=this.binLengths,G=this.bins.length,H=0;H!==G;H++)F[H]=0;for(var I=Math.ceil,p=Math.min,u=Math.max,H=0;H!==d;H++){var J=l[H],K=J.shape;switch(K.type){case B:var L=J.position.x,M=J.position.y,P=J.position.z,Q=K.radius;o(L-Q,M-Q,P-Q,L+Q,M+Q,P+Q,J);break;case D:K.worldNormalNeedsUpdate&&K.computeWorldNormal(J.quaternion);var R=K.worldNormal,S=g+.5*O-J.position.x,T=x+.5*h-J.position.y,U=j+.5*k-J.position.z,V=t;V.set(S,T,U);for(var W=0,X=0;W!==s;W++,X+=a,V.y=T,V.x+=O)for(var Y=0,Z=0;Y!==y;Y++,Z+=r,V.z=U,V.y+=h)for(var $=0,_=0;$!==c;$++,_+=w,V.z+=k)if(V.dot(R)<q){var ef=X+Z+_;E[ef][F[ef]++]=J}break;default:J.aabbNeedsUpdate&&J.computeAABB(),o(J.aabb.lowerBound.x,J.aabb.lowerBound.y,J.aabb.lowerBound.z,J.aabb.upperBound.x,J.aabb.upperBound.y,J.aabb.upperBound.z,J)}}for(var H=0;H!==G;H++){var ff=F[H];if(ff>1)for(var nf=E[H],W=0;W!==ff;W++)for(var J=nf[W],Y=0;Y!==W;Y++){var of=nf[Y];this.needBroadphaseCollision(J,of)&&this.intersectionTest(J,of,f,n)}}this.makePairsUnique(f,n)}},{"../math/Vec3":30,"../shapes/Shape":43,"./Broadphase":5}],7:[function(e,f){function n(){o.apply(this)}f.exports=n;var o=e("./Broadphase"),d=e("./AABB");n.prototype=new o,n.prototype.constructor=n,n.prototype.collisionPairs=function(e,f,n){var o,d,i,t,l=e.bodies,u=l.length;for(o=0;o!==u;o++)for(d=0;d!==o;d++)i=l[o],t=l[d],this.needBroadphaseCollision(i,t)&&this.intersectionTest(i,t,f,n)};new d;n.prototype.aabbQuery=function(e,f,n){n=n||[];for(var o=0;o<e.bodies.length;o++){var d=e.bodies[o];d.aabbNeedsUpdate&&d.computeAABB(),d.aabb.overlaps(f)&&n.push(d)}return n}},{"./AABB":3,"./Broadphase":5}],8:[function(e,f){function n(){this.matrix={}}f.exports=n,n.prototype.get=function(e,f){if(e=e.id,f=f.id,f>e){var n=f;f=e,e=n}return e+"-"+f in this.matrix},n.prototype.set=function(e,f,n){if(e=e.id,f=f.id,f>e){var o=f;f=e,e=o}n?this.matrix[e+"-"+f]=!0:delete this.matrix[e+"-"+f]},n.prototype.reset=function(){this.matrix={}},n.prototype.setNumObjects=function(){}},{}],9:[function(e,f){function n(e,f){this.from=e?e.clone():new i,this.to=f?f.clone():new i,this._direction=new i,this.precision=1e-4,this.checkCollisionResponse=!0,this.skipBackfaces=!1,this.collisionFilterMask=-1,this.collisionFilterGroup=-1,this.mode=n.ANY,this.result=new u,this.hasHit=!1,this.callback=function(){}}function o(e,f,n,o){o.vsub(f,G),n.vsub(f,a),e.vsub(f,r);var d,i,t=G.dot(G),l=G.dot(a),u=G.dot(r),p=a.dot(a),s=a.dot(r);return(d=p*u-l*s)>=0&&(i=t*s-l*u)>=0&&t*p-l*l>d+i}function d(e,f,n){n.vsub(e,G);var o=G.dot(f);f.mult(o,H),H.vadd(e,H);var d=n.distanceTo(H);return d}f.exports=n;var i=e("../math/Vec3"),t=e("../math/Quaternion"),l=e("../math/Transform"),u=(e("../shapes/ConvexPolyhedron"),e("../shapes/Box"),e("../collision/RaycastResult")),p=e("../shapes/Shape"),s=e("../collision/AABB");n.prototype.constructor=n,n.CLOSEST=1,n.ANY=2,n.ALL=4;var y=new s,c=[];n.prototype.intersectWorld=function(e,f){return this.mode=f.mode||n.ANY,this.result=f.result||new u,this.skipBackfaces=!!f.skipBackfaces,this.collisionFilterMask="undefined"!=typeof f.collisionFilterMask?f.collisionFilterMask:-1,this.collisionFilterGroup="undefined"!=typeof f.collisionFilterGroup?f.collisionFilterGroup:-1,f.from&&this.from.copy(f.from),f.to&&this.to.copy(f.to),this.callback=f.callback||function(){},this.hasHit=!1,this.result.reset(),this._updateDirection(),this.getAABB(y),c.length=0,e.broadphase.aabbQuery(e,y,c),this.intersectBodies(c),this.hasHit};var a=new i,r=new i;n.pointInTriangle=o;var w=new i,b=new t;n.prototype.intersectBody=function(e,f){f&&(this.result=f,this._updateDirection());var n=this.checkCollisionResponse;if((!n||e.collisionResponse)&&0!==(this.collisionFilterGroup&e.collisionFilterMask)&&0!==(e.collisionFilterGroup&this.collisionFilterMask))for(var o=w,d=b,i=0,t=e.shapes.length;t>i;i++){var l=e.shapes[i];if((!n||l.collisionResponse)&&(e.quaternion.mult(e.shapeOrientations[i],d),e.quaternion.vmult(e.shapeOffsets[i],o),o.vadd(e.position,o),this.intersectShape(l,d,o,e),this.result._shouldStop))break}},n.prototype.intersectBodies=function(e,f){f&&(this.result=f,this._updateDirection());for(var n=0,o=e.length;!this.result._shouldStop&&o>n;n++)this.intersectBody(e[n])},n.prototype._updateDirection=function(){this.to.vsub(this.from,this._direction),this._direction.normalize()},n.prototype.intersectShape=function(e,f,n,o){var i=this.from,t=d(i,this._direction,n);if(!(t>e.boundingSphereRadius)){var l=this[e.type];l&&l.call(this,e,f,n,o)}};{var m=(new i,new i,new i),N=new i,g=new i,x=new i;new i,new u}n.prototype.intersectBox=function(e,f,n,o){return this.intersectConvex(e.convexPolyhedronRepresentation,f,n,o)},n.prototype[p.types.BOX]=n.prototype.intersectBox,n.prototype.intersectPlane=function(e,f,n,o){var d=this.from,t=this.to,l=this._direction,u=new i(0,0,1);f.vmult(u,u);var p=new i;d.vsub(n,p);var s=p.dot(u);t.vsub(n,p);var y=p.dot(u);if(!(s*y>0||d.distanceTo(t)<s)){var c=u.dot(l);if(!(Math.abs(c)<this.precision)){var a=new i,r=new i,w=new i;d.vsub(n,a);var b=-u.dot(a)/c;l.scale(b,r),d.vadd(r,w),this.reportIntersection(u,w,e,o,-1)}}},n.prototype[p.types.PLANE]=n.prototype.intersectPlane,n.prototype.getAABB=function(e){var f=this.to,n=this.from;e.lowerBound.x=Math.min(f.x,n.x),e.lowerBound.y=Math.min(f.y,n.y),e.lowerBound.z=Math.min(f.z,n.z),e.upperBound.x=Math.max(f.x,n.x),e.upperBound.y=Math.max(f.y,n.y),e.upperBound.z=Math.max(f.z,n.z)};var j={faceList:[0]};n.prototype.intersectHeightfield=function(e,f,o,d){var t=(e.data,e.elementSize,new i),u=new n(this.from,this.to);l.pointToLocalFrame(o,f,u.from,u.from),l.pointToLocalFrame(o,f,u.to,u.to);var p=[],s=null,y=null,c=null,a=null,r=e.getIndexOfPosition(u.from.x,u.from.y,p,!1);if(r&&(s=p[0],y=p[1],c=p[0],a=p[1]),r=e.getIndexOfPosition(u.to.x,u.to.y,p,!1),r&&((null===s||p[0]<s)&&(s=p[0]),(null===c||p[0]>c)&&(c=p[0]),(null===y||p[1]<y)&&(y=p[1]),(null===a||p[1]>a)&&(a=p[1])),null!==s){var w=[];e.getRectMinMax(s,y,c,a,w);for(var b=(w[0],w[1],s);c>=b;b++)for(var m=y;a>=m;m++){if(this.result._shouldStop)return;if(e.getConvexTrianglePillar(b,m,!1),l.pointToWorldFrame(o,f,e.pillarOffset,t),this.intersectConvex(e.pillarConvex,f,t,d,j),this.result._shouldStop)return;e.getConvexTrianglePillar(b,m,!0),l.pointToWorldFrame(o,f,e.pillarOffset,t),this.intersectConvex(e.pillarConvex,f,t,d,j)}}},n.prototype[p.types.HEIGHTFIELD]=n.prototype.intersectHeightfield;var v=new i,A=new i;n.prototype.intersectSphere=function(e,f,n,o){var d=this.from,i=this.to,t=e.radius,l=Math.pow(i.x-d.x,2)+Math.pow(i.y-d.y,2)+Math.pow(i.z-d.z,2),u=2*((i.x-d.x)*(d.x-n.x)+(i.y-d.y)*(d.y-n.y)+(i.z-d.z)*(d.z-n.z)),p=Math.pow(d.x-n.x,2)+Math.pow(d.y-n.y,2)+Math.pow(d.z-n.z,2)-Math.pow(t,2),s=Math.pow(u,2)-4*l*p,y=v,c=A;if(!(0>s))if(0===s)d.lerp(i,s,y),y.vsub(n,c),c.normalize(),this.reportIntersection(c,y,e,o,-1);else{var a=(-u-Math.sqrt(s))/(2*l),r=(-u+Math.sqrt(s))/(2*l);if(a>=0&&1>=a&&(d.lerp(i,a,y),y.vsub(n,c),c.normalize(),this.reportIntersection(c,y,e,o,-1)),this.result._shouldStop)return;r>=0&&1>=r&&(d.lerp(i,r,y),y.vsub(n,c),c.normalize(),this.reportIntersection(c,y,e,o,-1))}},n.prototype[p.types.SPHERE]=n.prototype.intersectSphere;var C=new i,O=(new i,new i,new i);n.prototype.intersectConvex=function(e,f,n,d,i){for(var t=C,l=O,u=i&&i.faceList||null,p=e.faces,s=e.vertices,y=e.faceNormals,c=this._direction,a=this.from,r=this.to,w=a.distanceTo(r),b=u?u.length:p.length,j=this.result,v=0;!j._shouldStop&&b>v;v++){var A=u?u[v]:v,h=p[A],k=y[A],q=f,z=n;l.copy(s[h[0]]),q.vmult(l,l),l.vadd(z,l),l.vsub(a,l),q.vmult(k,t);var B=c.dot(t);if(!(Math.abs(B)<this.precision)){var D=t.dot(l)/B;if(!(0>D)){c.mult(D,m),m.vadd(a,m),N.copy(s[h[0]]),q.vmult(N,N),z.vadd(N,N);for(var E=1;!j._shouldStop&&E<h.length-1;E++){g.copy(s[h[E]]),x.copy(s[h[E+1]]),q.vmult(g,g),q.vmult(x,x),z.vadd(g,g),z.vadd(x,x);var F=m.distanceTo(a);!o(m,N,g,x)&&!o(m,g,N,x)||F>w||this.reportIntersection(t,m,e,d,A)}}}}},n.prototype[p.types.CONVEXPOLYHEDRON]=n.prototype.intersectConvex;var h=new i,k=new i,q=new i,z=new i,B=new i,D=new i,E=(new s,[]),F=new l;n.prototype.intersectTrimesh=function(e,f,n,d,i){var t=h,u=E,p=F,s=O,y=k,c=q,a=z,r=D,w=B,b=(i&&i.faceList||null,e.indices),j=(e.vertices,e.faceNormals,this.from),v=this.to,A=this._direction;p.position.copy(n),p.quaternion.copy(f),l.vectorToLocalFrame(n,f,A,y),l.pointToLocalFrame(n,f,j,c),l.pointToLocalFrame(n,f,v,a);var C=c.distanceSquared(a);e.tree.rayQuery(this,p,u);for(var G=0,H=u.length;!this.result._shouldStop&&G!==H;G++){var I=u[G];e.getNormal(I,t),e.getVertex(b[3*I],N),N.vsub(c,s);var J=y.dot(t),K=t.dot(s)/J;if(!(0>K)){y.scale(K,m),m.vadd(c,m),e.getVertex(b[3*I+1],g),e.getVertex(b[3*I+2],x);var L=m.distanceSquared(c);!o(m,g,N,x)&&!o(m,N,g,x)||L>C||(l.vectorToWorldFrame(f,t,w),l.pointToWorldFrame(n,f,m,r),this.reportIntersection(w,r,e,d,I))}}u.length=0},n.prototype[p.types.TRIMESH]=n.prototype.intersectTrimesh,n.prototype.reportIntersection=function(e,f,o,d,i){var t=this.from,l=this.to,u=t.distanceTo(f),p=this.result;if(!(this.skipBackfaces&&e.dot(this._direction)>0))switch(p.hitFaceIndex="undefined"!=typeof i?i:-1,this.mode){case n.ALL:this.hasHit=!0,p.set(t,l,e,f,o,d,u),p.hasHit=!0,this.callback(p);break;case n.CLOSEST:(u<p.distance||!p.hasHit)&&(this.hasHit=!0,p.hasHit=!0,p.set(t,l,e,f,o,d,u));break;case n.ANY:this.hasHit=!0,p.hasHit=!0,p.set(t,l,e,f,o,d,u),p._shouldStop=!0}};var G=new i,H=new i},{"../collision/AABB":3,"../collision/RaycastResult":10,"../math/Quaternion":28,"../math/Transform":29,"../math/Vec3":30,"../shapes/Box":37,"../shapes/ConvexPolyhedron":38,"../shapes/Shape":43}],10:[function(e,f){function n(){this.rayFromWorld=new o,this.rayToWorld=new o,this.hitNormalWorld=new o,this.hitPointWorld=new o,this.hasHit=!1,this.shape=null,this.body=null,this.hitFaceIndex=-1,this.distance=-1,this._shouldStop=!1}var o=e("../math/Vec3");f.exports=n,n.prototype.reset=function(){this.rayFromWorld.setZero(),this.rayToWorld.setZero(),this.hitNormalWorld.setZero(),this.hitPointWorld.setZero(),this.hasHit=!1,this.shape=null,this.body=null,this.hitFaceIndex=-1,this.distance=-1,this._shouldStop=!1},n.prototype.abort=function(){this._shouldStop=!0},n.prototype.set=function(e,f,n,o,d,i,t){this.rayFromWorld.copy(e),this.rayToWorld.copy(f),this.hitNormalWorld.copy(n),this.hitPointWorld.copy(o),this.shape=d,this.body=i,this.distance=t}},{"../math/Vec3":30}],11:[function(e,f){function n(e){o.apply(this),this.axisList=[],this.world=null,this.axisIndex=0;var f=this.axisList;this._addBodyHandler=function(e){f.push(e.body)},this._removeBodyHandler=function(e){var n=f.indexOf(e.body);-1!==n&&f.splice(n,1)},e&&this.setWorld(e)}var o=(e("../shapes/Shape"),e("../collision/Broadphase"));f.exports=n,n.prototype=new o,n.prototype.setWorld=function(e){this.axisList.length=0;for(var f=0;f<e.bodies.length;f++)this.axisList.push(e.bodies[f]);e.removeEventListener("addBody",this._addBodyHandler),e.removeEventListener("removeBody",this._removeBodyHandler),e.addEventListener("addBody",this._addBodyHandler),e.addEventListener("removeBody",this._removeBodyHandler),this.world=e,this.dirty=!0},n.insertionSortX=function(e){for(var f=1,n=e.length;n>f;f++){for(var o=e[f],d=f-1;d>=0&&!(e[d].aabb.lowerBound.x<=o.aabb.lowerBound.x);d--)e[d+1]=e[d];e[d+1]=o}return e},n.insertionSortY=function(e){for(var f=1,n=e.length;n>f;f++){for(var o=e[f],d=f-1;d>=0&&!(e[d].aabb.lowerBound.y<=o.aabb.lowerBound.y);d--)e[d+1]=e[d];e[d+1]=o}return e},n.insertionSortZ=function(e){for(var f=1,n=e.length;n>f;f++){for(var o=e[f],d=f-1;d>=0&&!(e[d].aabb.lowerBound.z<=o.aabb.lowerBound.z);d--)e[d+1]=e[d];e[d+1]=o}return e},n.prototype.collisionPairs=function(e,f,o){var d,i,t=this.axisList,l=t.length,u=this.axisIndex;for(this.dirty&&(this.sortList(),this.dirty=!1),d=0;d!==l;d++){var p=t[d];for(i=d+1;l>i;i++){var s=t[i];if(this.needBroadphaseCollision(p,s)){if(!n.checkBounds(p,s,u))break;this.intersectionTest(p,s,f,o)}}}},n.prototype.sortList=function(){for(var e=this.axisList,f=this.axisIndex,o=e.length,d=0;d!==o;d++){var i=e[d];i.aabbNeedsUpdate&&i.computeAABB()}0===f?n.insertionSortX(e):1===f?n.insertionSortY(e):2===f&&n.insertionSortZ(e)},n.checkBounds=function(e,f,n){var o,d;0===n?(o=e.position.x,d=f.position.x):1===n?(o=e.position.y,d=f.position.y):2===n&&(o=e.position.z,d=f.position.z);var i=e.boundingRadius,t=f.boundingRadius,l=o+i,u=d-t;return l>u},n.prototype.autoDetectAxis=function(){for(var e=0,f=0,n=0,o=0,d=0,i=0,t=this.axisList,l=t.length,u=1/l,p=0;p!==l;p++){var s=t[p],y=s.position.x;e+=y,f+=y*y;var c=s.position.y;n+=c,o+=c*c;var a=s.position.z;d+=a,i+=a*a}var r=f-e*e*u,w=o-n*n*u,b=i-d*d*u;this.axisIndex=r>w?r>b?0:2:w>b?1:2},n.prototype.aabbQuery=function(e,f,n){n=n||[],this.dirty&&(this.sortList(),this.dirty=!1);var o=this.axisIndex,d="x";1===o&&(d="y"),2===o&&(d="z");for(var i=this.axisList,t=(f.lowerBound[d],f.upperBound[d],0);t<i.length;t++){var l=i[t];l.aabbNeedsUpdate&&l.computeAABB(),l.aabb.overlaps(f)&&n.push(l)}return n}},{"../collision/Broadphase":5,"../shapes/Shape":43}],12:[function(e,f){function n(e,f,n){n=n||{};var l="undefined"!=typeof n.maxForce?n.maxForce:1e6,u=n.pivotA?n.pivotA.clone():new t,p=n.pivotB?n.pivotB.clone():new t;this.axisA=n.axisA?n.axisA.clone():new t,this.axisB=n.axisB?n.axisB.clone():new t,o.call(this,e,u,f,p,l),this.collideConnected=!!n.collideConnected,this.angle="undefined"!=typeof n.angle?n.angle:0;var s=this.coneEquation=new d(e,f,n),y=this.twistEquation=new i(e,f,n);this.twistAngle="undefined"!=typeof n.twistAngle?n.twistAngle:0,s.maxForce=0,s.minForce=-l,y.maxForce=0,y.minForce=-l,this.equations.push(s,y)}f.exports=n;var o=(e("./Constraint"),e("./PointToPointConstraint")),d=e("../equations/ConeEquation"),i=e("../equations/RotationalEquation"),t=(e("../equations/ContactEquation"),e("../math/Vec3"));n.prototype=new o,n.constructor=n;new t,new t;n.prototype.update=function(){var e=this.bodyA,f=this.bodyB,n=this.coneEquation,d=this.twistEquation;o.prototype.update.call(this),e.vectorToWorldFrame(this.axisA,n.axisA),f.vectorToWorldFrame(this.axisB,n.axisB),this.axisA.tangents(d.axisA,d.axisA),e.vectorToWorldFrame(d.axisA,d.axisA),this.axisB.tangents(d.axisB,d.axisB),f.vectorToWorldFrame(d.axisB,d.axisB),n.angle=this.angle,d.maxAngle=this.twistAngle}},{"../equations/ConeEquation":18,"../equations/ContactEquation":19,"../equations/RotationalEquation":22,"../math/Vec3":30,"./Constraint":13,"./PointToPointConstraint":17}],13:[function(e,f){function n(e,f,d){d=o.defaults(d,{collideConnected:!0,wakeUpBodies:!0}),this.equations=[],this.bodyA=e,this.bodyB=f,this.id=n.idCounter++,this.collideConnected=d.collideConnected,d.wakeUpBodies&&(e&&e.wakeUp(),f&&f.wakeUp())}f.exports=n;var o=e("../utils/Utils");n.prototype.update=function(){throw new Error("method update() not implmemented in this Constraint subclass!")},n.prototype.enable=function(){for(var e=this.equations,f=0;f<e.length;f++)e[f].enabled=!0},n.prototype.disable=function(){for(var e=this.equations,f=0;f<e.length;f++)e[f].enabled=!1},n.idCounter=0},{"../utils/Utils":53}],14:[function(e,f){function n(e,f,n,i){o.call(this,e,f),"undefined"==typeof n&&(n=e.position.distanceTo(f.position)),"undefined"==typeof i&&(i=1e6),this.distance=n;var t=this.distanceEquation=new d(e,f);this.equations.push(t),t.minForce=-i,t.maxForce=i}f.exports=n;var o=e("./Constraint"),d=e("../equations/ContactEquation");n.prototype=new o,n.prototype.update=function(){var e=this.bodyA,f=this.bodyB,n=this.distanceEquation,o=.5*this.distance,d=n.ni;f.position.vsub(e.position,d),d.normalize(),d.mult(o,n.ri),d.mult(-o,n.rj)}},{"../equations/ContactEquation":19,"./Constraint":13}],15:[function(e,f){function n(e,f,n){n=n||{};var l="undefined"!=typeof n.maxForce?n.maxForce:1e6,u=n.pivotA?n.pivotA.clone():new t,p=n.pivotB?n.pivotB.clone():new t;o.call(this,e,u,f,p,l);var s=this.axisA=n.axisA?n.axisA.clone():new t(1,0,0);s.normalize();var y=this.axisB=n.axisB?n.axisB.clone():new t(1,0,0);y.normalize();var c=this.rotationalEquation1=new d(e,f,n),a=this.rotationalEquation2=new d(e,f,n),r=this.motorEquation=new i(e,f,l);r.enabled=!1,this.equations.push(c,a,r)}f.exports=n;var o=(e("./Constraint"),e("./PointToPointConstraint")),d=e("../equations/RotationalEquation"),i=e("../equations/RotationalMotorEquation"),t=(e("../equations/ContactEquation"),e("../math/Vec3"));n.prototype=new o,n.constructor=n,n.prototype.enableMotor=function(){this.motorEquation.enabled=!0},n.prototype.disableMotor=function(){this.motorEquation.enabled=!1},n.prototype.setMotorSpeed=function(e){this.motorEquation.targetVelocity=e},n.prototype.setMotorMaxForce=function(e){this.motorEquation.maxForce=e,this.motorEquation.minForce=-e};var l=new t,u=new t;n.prototype.update=function(){var e=this.bodyA,f=this.bodyB,n=this.motorEquation,d=this.rotationalEquation1,i=this.rotationalEquation2,t=l,p=u,s=this.axisA,y=this.axisB;o.prototype.update.call(this),e.quaternion.vmult(s,t),f.quaternion.vmult(y,p),t.tangents(d.axisA,i.axisA),d.axisB.copy(p),i.axisB.copy(p),this.motorEquation.enabled&&(e.quaternion.vmult(this.axisA,n.axisA),f.quaternion.vmult(this.axisB,n.axisB))}},{"../equations/ContactEquation":19,"../equations/RotationalEquation":22,"../equations/RotationalMotorEquation":23,"../math/Vec3":30,"./Constraint":13,"./PointToPointConstraint":17}],16:[function(e,f){function n(e,f,n){n=n||{};var t="undefined"!=typeof n.maxForce?n.maxForce:1e6,l=new i,u=new i,p=new i;e.position.vadd(f.position,p),p.scale(.5,p),f.pointToLocalFrame(p,u),e.pointToLocalFrame(p,l),o.call(this,e,l,f,u,t);var s=this.rotationalEquation1=new d(e,f,n),y=this.rotationalEquation2=new d(e,f,n),c=this.rotationalEquation3=new d(e,f,n);this.equations.push(s,y,c)}f.exports=n;var o=(e("./Constraint"),e("./PointToPointConstraint")),d=e("../equations/RotationalEquation"),i=(e("../equations/RotationalMotorEquation"),e("../equations/ContactEquation"),e("../math/Vec3"));n.prototype=new o,n.constructor=n;new i,new i;n.prototype.update=function(){var e=this.bodyA,f=this.bodyB,n=(this.motorEquation,this.rotationalEquation1),d=this.rotationalEquation2,t=this.rotationalEquation3;o.prototype.update.call(this),e.vectorToWorldFrame(i.UNIT_X,n.axisA),f.vectorToWorldFrame(i.UNIT_Y,n.axisB),e.vectorToWorldFrame(i.UNIT_Y,d.axisA),f.vectorToWorldFrame(i.UNIT_Z,d.axisB),e.vectorToWorldFrame(i.UNIT_Z,t.axisA),f.vectorToWorldFrame(i.UNIT_X,t.axisB)}},{"../equations/ContactEquation":19,"../equations/RotationalEquation":22,"../equations/RotationalMotorEquation":23,"../math/Vec3":30,"./Constraint":13,"./PointToPointConstraint":17}],17:[function(e,f){function n(e,f,n,t,l){o.call(this,e,n),l="undefined"!=typeof l?l:1e6,this.pivotA=f?f.clone():new i,this.pivotB=t?t.clone():new i;var u=this.equationX=new d(e,n),p=this.equationY=new d(e,n),s=this.equationZ=new d(e,n);this.equations.push(u,p,s),u.minForce=p.minForce=s.minForce=-l,u.maxForce=p.maxForce=s.maxForce=l,u.ni.set(1,0,0),p.ni.set(0,1,0),s.ni.set(0,0,1)}f.exports=n;var o=e("./Constraint"),d=e("../equations/ContactEquation"),i=e("../math/Vec3");n.prototype=new o,n.prototype.update=function(){var e=this.bodyA,f=this.bodyB,n=this.equationX,o=this.equationY,d=this.equationZ;e.quaternion.vmult(this.pivotA,n.ri),f.quaternion.vmult(this.pivotB,n.rj),o.ri.copy(n.ri),o.rj.copy(n.rj),d.ri.copy(n.ri),d.rj.copy(n.rj)}},{"../equations/ContactEquation":19,"../math/Vec3":30,"./Constraint":13}],18:[function(e,f){function n(e,f,n){n=n||{};var i="undefined"!=typeof n.maxForce?n.maxForce:1e6;d.call(this,e,f,-i,i),this.axisA=n.axisA?n.axisA.clone():new o(1,0,0),this.axisB=n.axisB?n.axisB.clone():new o(0,1,0),this.angle="undefined"!=typeof n.angle?n.angle:0}f.exports=n;var o=e("../math/Vec3"),d=(e("../math/Mat3"),e("./Equation"));n.prototype=new d,n.prototype.constructor=n;var i=new o,t=new o;n.prototype.computeB=function(e){var f=this.a,n=this.b,o=this.axisA,d=this.axisB,l=i,u=t,p=this.jacobianElementA,s=this.jacobianElementB;o.cross(d,l),d.cross(o,u),p.rotational.copy(u),s.rotational.copy(l);var y=Math.cos(this.angle)-o.dot(d),c=this.computeGW(),a=this.computeGiMf(),r=-y*f-c*n-e*a;return r}},{"../math/Mat3":27,"../math/Vec3":30,"./Equation":20}],19:[function(e,f){function n(e,f,n){n="undefined"!=typeof n?n:1e6,o.call(this,e,f,0,n),this.restitution=0,this.ri=new d,this.rj=new d,this.ni=new d}f.exports=n;{var o=e("./Equation"),d=e("../math/Vec3");e("../math/Mat3")}n.prototype=new o,n.prototype.constructor=n;var i=new d,t=new d,l=new d;n.prototype.computeB=function(e){var f=this.a,n=this.b,o=this.bi,d=this.bj,u=this.ri,p=this.rj,s=i,y=t,c=o.velocity,a=o.angularVelocity,r=(o.force,o.torque,d.velocity),w=d.angularVelocity,b=(d.force,d.torque,l),m=this.jacobianElementA,N=this.jacobianElementB,g=this.ni;u.cross(g,s),p.cross(g,y),g.negate(m.spatial),s.negate(m.rotational),N.spatial.copy(g),N.rotational.copy(y),b.copy(d.position),b.vadd(p,b),b.vsub(o.position,b),b.vsub(u,b);var x=g.dot(b),j=this.restitution+1,v=j*r.dot(g)-j*c.dot(g)+w.dot(y)-a.dot(s),A=this.computeGiMf(),C=-x*f-v*n-e*A;return C};var u=new d,p=new d,s=new d,y=new d,c=new d;n.prototype.getImpactVelocityAlongNormal=function(){var e=u,f=p,n=s,o=y,d=c;return this.bi.position.vadd(this.ri,n),this.bj.position.vadd(this.rj,o),this.bi.getVelocityAtWorldPoint(n,e),this.bj.getVelocityAtWorldPoint(o,f),e.vsub(f,d),this.ni.dot(d)}},{"../math/Mat3":27,"../math/Vec3":30,"./Equation":20}],20:[function(e,f){function n(e,f,d,i){this.id=n.id++,this.minForce="undefined"==typeof d?-1e6:d,this.maxForce="undefined"==typeof i?1e6:i,this.bi=e,this.bj=f,this.a=0,this.b=0,this.eps=0,this.jacobianElementA=new o,this.jacobianElementB=new o,this.enabled=!0,this.setSpookParams(1e7,4,1/60)
}f.exports=n;var o=e("../math/JacobianElement"),d=e("../math/Vec3");n.prototype.constructor=n,n.id=0,n.prototype.setSpookParams=function(e,f,n){var o=f,d=e,i=n;this.a=4/(i*(1+4*o)),this.b=4*o/(1+4*o),this.eps=4/(i*i*d*(1+4*o))},n.prototype.computeB=function(e,f,n){var o=this.computeGW(),d=this.computeGq(),i=this.computeGiMf();return-d*e-o*f-i*n},n.prototype.computeGq=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.position,i=o.position;return e.spatial.dot(d)+f.spatial.dot(i)};var i=new d;n.prototype.computeGW=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.velocity,t=o.velocity,l=n.angularVelocity||i,u=o.angularVelocity||i;return e.multiplyVectors(d,l)+f.multiplyVectors(t,u)},n.prototype.computeGWlambda=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.vlambda,t=o.vlambda,l=n.wlambda||i,u=o.wlambda||i;return e.multiplyVectors(d,l)+f.multiplyVectors(t,u)};var t=new d,l=new d,u=new d,p=new d;n.prototype.computeGiMf=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.force,i=n.torque,s=o.force,y=o.torque,c=n.invMassSolve,a=o.invMassSolve;return n.invInertiaWorldSolve?n.invInertiaWorldSolve.vmult(i,u):u.set(0,0,0),o.invInertiaWorldSolve?o.invInertiaWorldSolve.vmult(y,p):p.set(0,0,0),d.mult(c,t),s.mult(a,l),e.multiplyVectors(t,u)+f.multiplyVectors(l,p)};var s=new d;n.prototype.computeGiMGt=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.invMassSolve,i=o.invMassSolve,t=n.invInertiaWorldSolve,l=o.invInertiaWorldSolve,u=d+i;return t&&(t.vmult(e.rotational,s),u+=s.dot(e.rotational)),l&&(l.vmult(f.rotational,s),u+=s.dot(f.rotational)),u};{var y=new d;new d,new d,new d,new d,new d}n.prototype.addToWlambda=function(e){var f=this.jacobianElementA,n=this.jacobianElementB,o=this.bi,d=this.bj,i=y;f.spatial.mult(o.invMassSolve*e,i),o.vlambda.vadd(i,o.vlambda),n.spatial.mult(d.invMassSolve*e,i),d.vlambda.vadd(i,d.vlambda),o.invInertiaWorldSolve&&(o.invInertiaWorldSolve.vmult(f.rotational,i),i.mult(e,i),o.wlambda.vadd(i,o.wlambda)),d.invInertiaWorldSolve&&(d.invInertiaWorldSolve.vmult(n.rotational,i),i.mult(e,i),d.wlambda.vadd(i,d.wlambda))},n.prototype.computeC=function(){return this.computeGiMGt()+this.eps}},{"../math/JacobianElement":26,"../math/Vec3":30}],21:[function(e,f){function n(e,f,n){o.call(this,e,f,-n,n),this.ri=new d,this.rj=new d,this.t=new d}f.exports=n;{var o=e("./Equation"),d=e("../math/Vec3");e("../math/Mat3")}n.prototype=new o,n.prototype.constructor=n;var i=new d,t=new d;n.prototype.computeB=function(e){var f=(this.a,this.b),n=(this.bi,this.bj,this.ri),o=this.rj,d=i,l=t,u=this.t;n.cross(u,d),o.cross(u,l);var p=this.jacobianElementA,s=this.jacobianElementB;u.negate(p.spatial),d.negate(p.rotational),s.spatial.copy(u),s.rotational.copy(l);var y=this.computeGW(),c=this.computeGiMf(),a=-y*f-e*c;return a}},{"../math/Mat3":27,"../math/Vec3":30,"./Equation":20}],22:[function(e,f){function n(e,f,n){n=n||{};var i="undefined"!=typeof n.maxForce?n.maxForce:1e6;d.call(this,e,f,-i,i),this.axisA=n.axisA?n.axisA.clone():new o(1,0,0),this.axisB=n.axisB?n.axisB.clone():new o(0,1,0),this.maxAngle=Math.PI/2}f.exports=n;var o=e("../math/Vec3"),d=(e("../math/Mat3"),e("./Equation"));n.prototype=new d,n.prototype.constructor=n;var i=new o,t=new o;n.prototype.computeB=function(e){var f=this.a,n=this.b,o=this.axisA,d=this.axisB,l=i,u=t,p=this.jacobianElementA,s=this.jacobianElementB;o.cross(d,l),d.cross(o,u),p.rotational.copy(u),s.rotational.copy(l);var y=Math.cos(this.maxAngle)-o.dot(d),c=this.computeGW(),a=this.computeGiMf(),r=-y*f-c*n-e*a;return r}},{"../math/Mat3":27,"../math/Vec3":30,"./Equation":20}],23:[function(e,f){function n(e,f,n){n="undefined"!=typeof n?n:1e6,d.call(this,e,f,-n,n),this.axisA=new o,this.axisB=new o,this.targetVelocity=0}f.exports=n;var o=e("../math/Vec3"),d=(e("../math/Mat3"),e("./Equation"));n.prototype=new d,n.prototype.constructor=n,n.prototype.computeB=function(e){var f=(this.a,this.b),n=(this.bi,this.bj,this.axisA),o=this.axisB,d=this.jacobianElementA,i=this.jacobianElementB;d.rotational.copy(n),o.negate(i.rotational);var t=this.computeGW()-this.targetVelocity,l=this.computeGiMf(),u=-t*f-e*l;return u}},{"../math/Mat3":27,"../math/Vec3":30,"./Equation":20}],24:[function(e,f){function n(e,f,d){d=o.defaults(d,{friction:.3,restitution:.3,contactEquationStiffness:1e7,contactEquationRelaxation:3,frictionEquationStiffness:1e7,frictionEquationRelaxation:3}),this.id=n.idCounter++,this.materials=[e,f],this.friction=d.friction,this.restitution=d.restitution,this.contactEquationStiffness=d.contactEquationStiffness,this.contactEquationRelaxation=d.contactEquationRelaxation,this.frictionEquationStiffness=d.frictionEquationStiffness,this.frictionEquationRelaxation=d.frictionEquationRelaxation}var o=e("../utils/Utils");f.exports=n,n.idCounter=0},{"../utils/Utils":53}],25:[function(e,f){function n(e){var f="";e=e||{},"string"==typeof e?(f=e,e={}):"object"==typeof e&&(f=""),this.name=f,this.id=n.idCounter++,this.friction="undefined"!=typeof e.friction?e.friction:-1,this.restitution="undefined"!=typeof e.restitution?e.restitution:-1}f.exports=n,n.idCounter=0},{}],26:[function(e,f){function n(){this.spatial=new o,this.rotational=new o}f.exports=n;var o=e("./Vec3");n.prototype.multiplyElement=function(e){return e.spatial.dot(this.spatial)+e.rotational.dot(this.rotational)},n.prototype.multiplyVectors=function(e,f){return e.dot(this.spatial)+f.dot(this.rotational)}},{"./Vec3":30}],27:[function(e,f){function n(e){this.elements=e?e:[0,0,0,0,0,0,0,0,0]}f.exports=n;var o=e("./Vec3");n.prototype.identity=function(){var e=this.elements;e[0]=1,e[1]=0,e[2]=0,e[3]=0,e[4]=1,e[5]=0,e[6]=0,e[7]=0,e[8]=1},n.prototype.setZero=function(){var e=this.elements;e[0]=0,e[1]=0,e[2]=0,e[3]=0,e[4]=0,e[5]=0,e[6]=0,e[7]=0,e[8]=0},n.prototype.setTrace=function(e){var f=this.elements;f[0]=e.x,f[4]=e.y,f[8]=e.z},n.prototype.getTrace=function(e){var e=e||new o,f=this.elements;e.x=f[0],e.y=f[4],e.z=f[8]},n.prototype.vmult=function(e,f){f=f||new o;var n=this.elements,d=e.x,i=e.y,t=e.z;return f.x=n[0]*d+n[1]*i+n[2]*t,f.y=n[3]*d+n[4]*i+n[5]*t,f.z=n[6]*d+n[7]*i+n[8]*t,f},n.prototype.smult=function(e){for(var f=0;f<this.elements.length;f++)this.elements[f]*=e},n.prototype.mmult=function(e,f){for(var o=f||new n,d=0;3>d;d++)for(var i=0;3>i;i++){for(var t=0,l=0;3>l;l++)t+=e.elements[d+3*l]*this.elements[l+3*i];o.elements[d+3*i]=t}return o},n.prototype.scale=function(e,f){f=f||new n;for(var o=this.elements,d=f.elements,i=0;3!==i;i++)d[3*i+0]=e.x*o[3*i+0],d[3*i+1]=e.y*o[3*i+1],d[3*i+2]=e.z*o[3*i+2];return f},n.prototype.solve=function(e,f){f=f||new o;for(var n=3,d=4,i=[],t=0;n*d>t;t++)i.push(0);var t,l;for(t=0;3>t;t++)for(l=0;3>l;l++)i[t+d*l]=this.elements[t+3*l];i[3]=e.x,i[7]=e.y,i[11]=e.z;var u,p,s=3,y=s,c=4;do{if(t=y-s,0===i[t+d*t])for(l=t+1;y>l;l++)if(0!==i[t+d*l]){u=c;do p=c-u,i[p+d*t]+=i[p+d*l];while(--u);break}if(0!==i[t+d*t])for(l=t+1;y>l;l++){var a=i[t+d*l]/i[t+d*t];u=c;do p=c-u,i[p+d*l]=t>=p?0:i[p+d*l]-i[p+d*t]*a;while(--u)}}while(--s);if(f.z=i[2*d+3]/i[2*d+2],f.y=(i[1*d+3]-i[1*d+2]*f.z)/i[1*d+1],f.x=(i[0*d+3]-i[0*d+2]*f.z-i[0*d+1]*f.y)/i[0*d+0],isNaN(f.x)||isNaN(f.y)||isNaN(f.z)||1/0===f.x||1/0===f.y||1/0===f.z)throw"Could not solve equation! Got x=["+f.toString()+"], b=["+e.toString()+"], A=["+this.toString()+"]";return f},n.prototype.e=function(e,f,n){return void 0===n?this.elements[f+3*e]:void(this.elements[f+3*e]=n)},n.prototype.copy=function(e){for(var f=0;f<e.elements.length;f++)this.elements[f]=e.elements[f];return this},n.prototype.toString=function(){for(var e="",f=",",n=0;9>n;n++)e+=this.elements[n]+f;return e},n.prototype.reverse=function(e){e=e||new n;for(var f=3,o=6,d=[],i=0;f*o>i;i++)d.push(0);var i,t;for(i=0;3>i;i++)for(t=0;3>t;t++)d[i+o*t]=this.elements[i+3*t];d[3]=1,d[9]=0,d[15]=0,d[4]=0,d[10]=1,d[16]=0,d[5]=0,d[11]=0,d[17]=1;var l,u,p=3,s=p,y=o;do{if(i=s-p,0===d[i+o*i])for(t=i+1;s>t;t++)if(0!==d[i+o*t]){l=y;do u=y-l,d[u+o*i]+=d[u+o*t];while(--l);break}if(0!==d[i+o*i])for(t=i+1;s>t;t++){var c=d[i+o*t]/d[i+o*i];l=y;do u=y-l,d[u+o*t]=i>=u?0:d[u+o*t]-d[u+o*i]*c;while(--l)}}while(--p);i=2;do{t=i-1;do{var c=d[i+o*t]/d[i+o*i];l=o;do u=o-l,d[u+o*t]=d[u+o*t]-d[u+o*i]*c;while(--l)}while(t--)}while(--i);i=2;do{var c=1/d[i+o*i];l=o;do u=o-l,d[u+o*i]=d[u+o*i]*c;while(--l)}while(i--);i=2;do{t=2;do{if(u=d[f+t+o*i],isNaN(u)||1/0===u)throw"Could not reverse! A=["+this.toString()+"]";e.e(i,t,u)}while(t--)}while(i--);return e},n.prototype.setRotationFromQuaternion=function(e){var f=e.x,n=e.y,o=e.z,d=e.w,i=f+f,t=n+n,l=o+o,u=f*i,p=f*t,s=f*l,y=n*t,c=n*l,a=o*l,r=d*i,w=d*t,b=d*l,m=this.elements;return m[0]=1-(y+a),m[1]=p-b,m[2]=s+w,m[3]=p+b,m[4]=1-(u+a),m[5]=c-r,m[6]=s-w,m[7]=c+r,m[8]=1-(u+y),this},n.prototype.transpose=function(e){e=e||new n;for(var f=e.elements,o=this.elements,d=0;3!==d;d++)for(var i=0;3!==i;i++)f[3*d+i]=o[3*i+d];return e}},{"./Vec3":30}],28:[function(e,f){function n(e,f,n,o){this.x=void 0!==e?e:0,this.y=void 0!==f?f:0,this.z=void 0!==n?n:0,this.w=void 0!==o?o:1}f.exports=n;var o=e("./Vec3");n.prototype.set=function(e,f,n,o){this.x=e,this.y=f,this.z=n,this.w=o},n.prototype.toString=function(){return this.x+","+this.y+","+this.z+","+this.w},n.prototype.toArray=function(){return[this.x,this.y,this.z,this.w]},n.prototype.setFromAxisAngle=function(e,f){var n=Math.sin(.5*f);this.x=e.x*n,this.y=e.y*n,this.z=e.z*n,this.w=Math.cos(.5*f)},n.prototype.toAxisAngle=function(e){e=e||new o,this.normalize();var f=2*Math.acos(this.w),n=Math.sqrt(1-this.w*this.w);return.001>n?(e.x=this.x,e.y=this.y,e.z=this.z):(e.x=this.x/n,e.y=this.y/n,e.z=this.z/n),[e,f]};var d=new o,i=new o;n.prototype.setFromVectors=function(e,f){if(e.isAntiparallelTo(f)){var n=d,o=i;e.tangents(n,o),this.setFromAxisAngle(n,Math.PI)}else{var t=e.cross(f);this.x=t.x,this.y=t.y,this.z=t.z,this.w=Math.sqrt(Math.pow(e.norm(),2)*Math.pow(f.norm(),2))+e.dot(f),this.normalize()}};var t=new o,l=new o,u=new o;n.prototype.mult=function(e,f){f=f||new n;var o=this.w,d=t,i=l,p=u;return d.set(this.x,this.y,this.z),i.set(e.x,e.y,e.z),f.w=o*e.w-d.dot(i),d.cross(i,p),f.x=o*i.x+e.w*d.x+p.x,f.y=o*i.y+e.w*d.y+p.y,f.z=o*i.z+e.w*d.z+p.z,f},n.prototype.inverse=function(e){var f=this.x,o=this.y,d=this.z,i=this.w;e=e||new n,this.conjugate(e);var t=1/(f*f+o*o+d*d+i*i);return e.x*=t,e.y*=t,e.z*=t,e.w*=t,e},n.prototype.conjugate=function(e){return e=e||new n,e.x=-this.x,e.y=-this.y,e.z=-this.z,e.w=this.w,e},n.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=0):(e=1/e,this.x*=e,this.y*=e,this.z*=e,this.w*=e)},n.prototype.normalizeFast=function(){var e=(3-(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w))/2;0===e?(this.x=0,this.y=0,this.z=0,this.w=0):(this.x*=e,this.y*=e,this.z*=e,this.w*=e)},n.prototype.vmult=function(e,f){f=f||new o;var n=e.x,d=e.y,i=e.z,t=this.x,l=this.y,u=this.z,p=this.w,s=p*n+l*i-u*d,y=p*d+u*n-t*i,c=p*i+t*d-l*n,a=-t*n-l*d-u*i;return f.x=s*p+a*-t+y*-u-c*-l,f.y=y*p+a*-l+c*-t-s*-u,f.z=c*p+a*-u+s*-l-y*-t,f},n.prototype.copy=function(e){return this.x=e.x,this.y=e.y,this.z=e.z,this.w=e.w,this},n.prototype.toEuler=function(e,f){f=f||"YZX";var n,o,d,i=this.x,t=this.y,l=this.z,u=this.w;switch(f){case"YZX":var p=i*t+l*u;if(p>.499&&(n=2*Math.atan2(i,u),o=Math.PI/2,d=0),-.499>p&&(n=-2*Math.atan2(i,u),o=-Math.PI/2,d=0),isNaN(n)){var s=i*i,y=t*t,c=l*l;n=Math.atan2(2*t*u-2*i*l,1-2*y-2*c),o=Math.asin(2*p),d=Math.atan2(2*i*u-2*t*l,1-2*s-2*c)}break;default:throw new Error("Euler order "+f+" not supported yet.")}e.y=n,e.z=o,e.x=d},n.prototype.setFromEuler=function(e,f,n,o){o=o||"XYZ";var d=Math.cos(e/2),i=Math.cos(f/2),t=Math.cos(n/2),l=Math.sin(e/2),u=Math.sin(f/2),p=Math.sin(n/2);return"XYZ"===o?(this.x=l*i*t+d*u*p,this.y=d*u*t-l*i*p,this.z=d*i*p+l*u*t,this.w=d*i*t-l*u*p):"YXZ"===o?(this.x=l*i*t+d*u*p,this.y=d*u*t-l*i*p,this.z=d*i*p-l*u*t,this.w=d*i*t+l*u*p):"ZXY"===o?(this.x=l*i*t-d*u*p,this.y=d*u*t+l*i*p,this.z=d*i*p+l*u*t,this.w=d*i*t-l*u*p):"ZYX"===o?(this.x=l*i*t-d*u*p,this.y=d*u*t+l*i*p,this.z=d*i*p-l*u*t,this.w=d*i*t+l*u*p):"YZX"===o?(this.x=l*i*t+d*u*p,this.y=d*u*t+l*i*p,this.z=d*i*p-l*u*t,this.w=d*i*t-l*u*p):"XZY"===o&&(this.x=l*i*t-d*u*p,this.y=d*u*t-l*i*p,this.z=d*i*p+l*u*t,this.w=d*i*t+l*u*p),this},n.prototype.clone=function(){return new n(this.x,this.y,this.z,this.w)}},{"./Vec3":30}],29:[function(e,f){function n(e){e=e||{},this.position=new o,e.position&&this.position.copy(e.position),this.quaternion=new d,e.quaternion&&this.quaternion.copy(e.quaternion)}var o=e("./Vec3"),d=e("./Quaternion");f.exports=n;var i=new d;n.pointToLocalFrame=function(e,f,n,d){var d=d||new o;return n.vsub(e,d),f.conjugate(i),i.vmult(d,d),d},n.prototype.pointToLocal=function(e,f){return n.pointToLocalFrame(this.position,this.quaternion,e,f)},n.pointToWorldFrame=function(e,f,n,d){var d=d||new o;return f.vmult(n,d),d.vadd(e,d),d},n.prototype.pointToWorld=function(e,f){return n.pointToWorldFrame(this.position,this.quaternion,e,f)},n.prototype.vectorToWorldFrame=function(e,f){var f=f||new o;return this.quaternion.vmult(e,f),f},n.vectorToWorldFrame=function(e,f,n){return e.vmult(f,n),n},n.vectorToLocalFrame=function(e,f,n,d){var d=d||new o;return f.w*=-1,f.vmult(n,d),f.w*=-1,d}},{"./Quaternion":28,"./Vec3":30}],30:[function(e,f){function n(e,f,n){this.x=e||0,this.y=f||0,this.z=n||0}f.exports=n;var o=e("./Mat3");n.ZERO=new n(0,0,0),n.UNIT_X=new n(1,0,0),n.UNIT_Y=new n(0,1,0),n.UNIT_Z=new n(0,0,1),n.prototype.cross=function(e,f){var o=e.x,d=e.y,i=e.z,t=this.x,l=this.y,u=this.z;return f=f||new n,f.x=l*i-u*d,f.y=u*o-t*i,f.z=t*d-l*o,f},n.prototype.set=function(e,f,n){return this.x=e,this.y=f,this.z=n,this},n.prototype.setZero=function(){this.x=this.y=this.z=0},n.prototype.vadd=function(e,f){return f?(f.x=e.x+this.x,f.y=e.y+this.y,f.z=e.z+this.z,void 0):new n(this.x+e.x,this.y+e.y,this.z+e.z)},n.prototype.vsub=function(e,f){return f?(f.x=this.x-e.x,f.y=this.y-e.y,f.z=this.z-e.z,void 0):new n(this.x-e.x,this.y-e.y,this.z-e.z)},n.prototype.crossmat=function(){return new o([0,-this.z,this.y,this.z,0,-this.x,-this.y,this.x,0])},n.prototype.normalize=function(){var e=this.x,f=this.y,n=this.z,o=Math.sqrt(e*e+f*f+n*n);if(o>0){var d=1/o;this.x*=d,this.y*=d,this.z*=d}else this.x=0,this.y=0,this.z=0;return o},n.prototype.unit=function(e){e=e||new n;var f=this.x,o=this.y,d=this.z,i=Math.sqrt(f*f+o*o+d*d);return i>0?(i=1/i,e.x=f*i,e.y=o*i,e.z=d*i):(e.x=1,e.y=0,e.z=0),e},n.prototype.norm=function(){var e=this.x,f=this.y,n=this.z;return Math.sqrt(e*e+f*f+n*n)},n.prototype.length=n.prototype.norm,n.prototype.norm2=function(){return this.dot(this)},n.prototype.lengthSquared=n.prototype.norm2,n.prototype.distanceTo=function(e){var f=this.x,n=this.y,o=this.z,d=e.x,i=e.y,t=e.z;return Math.sqrt((d-f)*(d-f)+(i-n)*(i-n)+(t-o)*(t-o))},n.prototype.distanceSquared=function(e){var f=this.x,n=this.y,o=this.z,d=e.x,i=e.y,t=e.z;return(d-f)*(d-f)+(i-n)*(i-n)+(t-o)*(t-o)},n.prototype.mult=function(e,f){f=f||new n;var o=this.x,d=this.y,i=this.z;return f.x=e*o,f.y=e*d,f.z=e*i,f},n.prototype.scale=n.prototype.mult,n.prototype.dot=function(e){return this.x*e.x+this.y*e.y+this.z*e.z},n.prototype.isZero=function(){return 0===this.x&&0===this.y&&0===this.z},n.prototype.negate=function(e){return e=e||new n,e.x=-this.x,e.y=-this.y,e.z=-this.z,e};var d=new n,i=new n;n.prototype.tangents=function(e,f){var n=this.norm();if(n>0){var o=d,t=1/n;o.set(this.x*t,this.y*t,this.z*t);var l=i;Math.abs(o.x)<.9?(l.set(1,0,0),o.cross(l,e)):(l.set(0,1,0),o.cross(l,e)),o.cross(e,f)}else e.set(1,0,0),f.set(0,1,0)},n.prototype.toString=function(){return this.x+","+this.y+","+this.z},n.prototype.toArray=function(){return[this.x,this.y,this.z]},n.prototype.copy=function(e){return this.x=e.x,this.y=e.y,this.z=e.z,this},n.prototype.lerp=function(e,f,n){var o=this.x,d=this.y,i=this.z;n.x=o+(e.x-o)*f,n.y=d+(e.y-d)*f,n.z=i+(e.z-i)*f},n.prototype.almostEquals=function(e,f){return void 0===f&&(f=1e-6),Math.abs(this.x-e.x)>f||Math.abs(this.y-e.y)>f||Math.abs(this.z-e.z)>f?!1:!0},n.prototype.almostZero=function(e){return void 0===e&&(e=1e-6),Math.abs(this.x)>e||Math.abs(this.y)>e||Math.abs(this.z)>e?!1:!0};var t=new n;n.prototype.isAntiparallelTo=function(e,f){return this.negate(t),t.almostEquals(e,f)},n.prototype.clone=function(){return new n(this.x,this.y,this.z)}},{"./Mat3":27}],31:[function(e,f){function n(e){e=e||{},o.apply(this),this.id=n.idCounter++,this.world=null,this.preStep=null,this.postStep=null,this.vlambda=new d,this.collisionFilterGroup="number"==typeof e.collisionFilterGroup?e.collisionFilterGroup:1,this.collisionFilterMask="n