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jolt-physics

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A WebAssembly port of JoltPhysics, a rigid body physics and collision detection library, suitable for games and VR applications

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// SPDX-FileCopyrightText: 2022-2024 Jorrit Rouwe // SPDX-License-Identifier: MIT // This is Web Assembly version of Jolt Physics, see: https://github.com/jrouwe/JoltPhysics.js async function Jolt(moduleArg={}){var Module=moduleArg;var aa=!!globalThis.window,ba=!!globalThis.WorkerGlobalScope,ca=globalThis.process?.versions?.node&&globalThis.process?.type!="renderer",da=ba&&globalThis.name=="em-pthread";if(ca){let {createRequire:a}=await import("node:module");var ea=a(import.meta.url),fa=ea("node:worker_threads");globalThis.Worker=fa.Worker;da=(ba=!fa.isMainThread)&&fa.workerData=="em-pthread"}var ha="./this.program",ia=(a,b)=>{throw b;},ja=import.meta.url;if(ca){var ka=ea("node:fs");ja.startsWith("file:")&&ea("node:path").dirname(ea("node:url").fileURLToPath(ja)); process.argv.length>1&&(ha=process.argv[1].replace(/\\/g,"/"));process.argv.slice(2);ia=(a,b)=>{process.exitCode=a;throw b;}}else if(aa||ba)try{new URL(".",ja)}catch{}var la=console.log.bind(console),ma=console.error.bind(console);if(ca){var aaa=ea("node:util"),na=a=>typeof a=="object"?aaa.inspect(a):a;la=(...a)=>ka.writeSync(1,a.map(na).join(" ")+"\n");ma=(...a)=>ka.writeSync(2,a.map(na).join(" ")+"\n")}var oa=la,pa=ma,ra,sa=!1,ta;function baa(a){for(var b=0,d=a.length,f=new Uint8Array(d),c;b<d;++b)c= a.charCodeAt(b),f[b]=~c>>8&c;return f}if(ca&&da){globalThis.self=globalThis;var ua=fa.parentPort;globalThis.postMessage||(ua.on("message",a=>globalThis.onmessage?.({data:a})),globalThis.postMessage=a=>ua.postMessage(a));process.on("uncaughtException",a=>{postMessage({$Ea:8,error:a});process.exit(1)})}var va;if(da){var wa=!1;self.onunhandledrejection=b=>{throw b.reason||b;};function a(b){try{var d=b.data,f=d.$Ea;if(f==1){let c=[];self.onmessage=h=>c.push(h);va=()=>{postMessage({$Ea:3});for(let h of c)a(h); self.onmessage=a};for(let h of d.pOa)if(!Module[h]||Module[h].proxy)Module[h]=(...q)=>{postMessage({$Ea:9,oOa:h,args:q})},h=="print"&&(oa=Module[h]),h=="printErr"&&(pa=Module[h]);xa=d.CSa;ya();ra=d.DSa;za();Aa()}else if(f==2){caa(d.aFa);Ba(d.aFa,0,0,1,0,0);Ca();Da(d.aFa);wa||=!0;try{Ea(d.ySa,d.AFa)}catch(c){if(c!="unwind")throw c;}}else f==4?wa&&Fa():f&&(pa(`worker: received unknown command ${f}`),pa(d))}catch(c){throw Ga&&Ha(),c;}}self.onmessage=a}var Ga=!1;function ya(){var a=xa.buffer;Module.HEAP8= Ia=new Int8Array(a);Module.HEAP16=new Int16Array(a);Module.HEAPU8=Ja=new Uint8Array(a);Module.HEAPU16=new Uint16Array(a);Module.HEAP32=Ka=new Int32Array(a);Module.HEAPU32=La=new Uint32Array(a);Module.HEAPF32=new Float32Array(a);Module.HEAPF64=Ma=new Float64Array(a)}function daa(){var a=Module.preRun;a&&(typeof a=="function"&&(a=[a]),Na.push(...a));for(a=Na;a.length>0;)a.shift()(Module)}function Oa(){Ga=!0;if(da)va();else{for(var a=Pa;a.length>0;)a.shift()(Module);Qa.A()}}function eaa(){var a=Module.postRun; a&&(typeof a=="function"&&(a=[a]),Ra.push(...a));for(a=Ra;a.length>0;)a.shift()(Module)}function Sa(a){Module.onAbort?.(a);a=`Aborted(${a})`;pa(a);sa=!0;throw new WebAssembly.RuntimeError(a+". 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c.Dj;ul=Module._emscripten_bind_CharacterBase_RestoreState_1=c.Ej;vl=Module._emscripten_bind_CharacterBase___destroy___0=c.Fj;wl=Module._emscripten_bind_VehicleCollisionTester_GetRefCount_0=c.Gj;xl=Module._emscripten_bind_VehicleCollisionTester_AddRef_0=c.Hj;yl=Module._emscripten_bind_VehicleCollisionTester_Release_0=c.Ij;zl=Module._emscripten_bind_VehicleCollisionTester___destroy___0=c.Jj;Al=Module._emscripten_bind_VehicleConstraintCallbacksEm_SetVehicleConstraint_1=c.Kj;Bl=Module._emscripten_bind_VehicleConstraintCallbacksEm___destroy___0= c.Lj;Cl=Module._emscripten_bind_WheeledVehicleControllerCallbacksEm_SetWheeledVehicleController_1=c.Mj;Dl=Module._emscripten_bind_WheeledVehicleControllerCallbacksEm___destroy___0=c.Nj;El=Module._emscripten_bind_WheelSettings_WheelSettings_0=c.Oj;Fl=Module._emscripten_bind_WheelSettings_GetRefCount_0=c.Pj;Gl=Module._emscripten_bind_WheelSettings_AddRef_0=c.Qj;Hl=Module._emscripten_bind_WheelSettings_Release_0=c.Rj;Il=Module._emscripten_bind_WheelSettings_get_mPosition_0=c.Sj;Jl=Module._emscripten_bind_WheelSettings_set_mPosition_1= c.Tj;Kl=Module._emscripten_bind_WheelSettings_get_mSuspensionForcePoint_0=c.Uj;Ll=Module._emscripten_bind_WheelSettings_set_mSuspensionForcePoint_1=c.Vj;Ml=Module._emscripten_bind_WheelSettings_get_mSuspensionDirection_0=c.Wj;Nl=Module._emscripten_bind_WheelSettings_set_mSuspensionDirection_1=c.Xj;Ol=Module._emscripten_bind_WheelSettings_get_mSteeringAxis_0=c.Yj;Pl=Module._emscripten_bind_WheelSettings_set_mSteeringAxis_1=c.Zj;Ql=Module._emscripten_bind_WheelSettings_get_mWheelUp_0=c._j;Rl=Module._emscripten_bind_WheelSettings_set_mWheelUp_1= c.$j;Sl=Module._emscripten_bind_WheelSettings_get_mWheelForward_0=c.ak;Tl=Module._emscripten_bind_WheelSettings_set_mWheelForward_1=c.bk;Ul=Module._emscripten_bind_WheelSettings_get_mSuspensionSpring_0=c.ck;Vl=Module._emscripten_bind_WheelSettings_set_mSuspensionSpring_1=c.dk;Wl=Module._emscripten_bind_WheelSettings_get_mSuspensionMinLength_0=c.ek;Xl=Module._emscripten_bind_WheelSettings_set_mSuspensionMinLength_1=c.fk;Yl=Module._emscripten_bind_WheelSettings_get_mSuspensionMaxLength_0=c.gk;Zl=Module._emscripten_bind_WheelSettings_set_mSuspensionMaxLength_1= c.hk;$l=Module._emscripten_bind_WheelSettings_get_mSuspensionPreloadLength_0=c.ik;am=Module._emscripten_bind_WheelSettings_set_mSuspensionPreloadLength_1=c.jk;bm=Module._emscripten_bind_WheelSettings_get_mRadius_0=c.kk;cm=Module._emscripten_bind_WheelSettings_set_mRadius_1=c.lk;dm=Module._emscripten_bind_WheelSettings_get_mWidth_0=c.mk;em=Module._emscripten_bind_WheelSettings_set_mWidth_1=c.nk;fm=Module._emscripten_bind_WheelSettings_get_mEnableSuspensionForcePoint_0=c.ok;gm=Module._emscripten_bind_WheelSettings_set_mEnableSuspensionForcePoint_1= c.pk;hm=Module._emscripten_bind_WheelSettings___destroy___0=c.qk;im=Module._emscripten_bind_Wheel_Wheel_1=c.rk;jm=Module._emscripten_bind_Wheel_GetSettings_0=c.sk;km=Module._emscripten_bind_Wheel_GetAngularVelocity_0=c.tk;lm=Module._emscripten_bind_Wheel_SetAngularVelocity_1=c.uk;mm=Module._emscripten_bind_Wheel_GetRotationAngle_0=c.vk;nm=Module._emscripten_bind_Wheel_SetRotationAngle_1=c.wk;om=Module._emscripten_bind_Wheel_GetSteerAngle_0=c.xk;pm=Module._emscripten_bind_Wheel_SetSteerAngle_1=c.yk; qm=Module._emscripten_bind_Wheel_HasContact_0=c.zk;rm=Module._emscripten_bind_Wheel_GetContactBodyID_0=c.Ak;sm=Module._emscripten_bind_Wheel_GetContactPosition_0=c.Bk;tm=Module._emscripten_bind_Wheel_GetContactPointVelocity_0=c.Ck;um=Module._emscripten_bind_Wheel_GetContactNormal_0=c.Dk;wm=Module._emscripten_bind_Wheel_GetContactLongitudinal_0=c.Ek;xm=Module._emscripten_bind_Wheel_GetContactLateral_0=c.Fk;ym=Module._emscripten_bind_Wheel_GetSuspensionLength_0=c.Gk;zm=Module._emscripten_bind_Wheel_HasHitHardPoint_0= c.Hk;Am=Module._emscripten_bind_Wheel_GetSuspensionLambda_0=c.Ik;Bm=Module._emscripten_bind_Wheel_GetLongitudinalLambda_0=c.Jk;Cm=Module._emscripten_bind_Wheel_GetLateralLambda_0=c.Kk;Dm=Module._emscripten_bind_Wheel___destroy___0=c.Lk;Em=Module._emscripten_bind_VehicleTrackSettings_get_mDrivenWheel_0=c.Mk;Fm=Module._emscripten_bind_VehicleTrackSettings_set_mDrivenWheel_1=c.Nk;Gm=Module._emscripten_bind_VehicleTrackSettings_get_mWheels_0=c.Ok;Hm=Module._emscripten_bind_VehicleTrackSettings_set_mWheels_1= c.Pk;Im=Module._emscripten_bind_VehicleTrackSettings_get_mInertia_0=c.Qk;Jm=Module._emscripten_bind_VehicleTrackSettings_set_mInertia_1=c.Rk;Km=Module._emscripten_bind_VehicleTrackSettings_get_mAngularDamping_0=c.Sk;Lm=Module._emscripten_bind_VehicleTrackSettings_set_mAngularDamping_1=c.Tk;Mm=Module._emscripten_bind_VehicleTrackSettings_get_mMaxBrakeTorque_0=c.Uk;Nm=Module._emscripten_bind_VehicleTrackSettings_set_mMaxBrakeTorque_1=c.Vk;Om=Module._emscripten_bind_VehicleTrackSettings_get_mDifferentialRatio_0= c.Wk;Pm=Module._emscripten_bind_VehicleTrackSettings_set_mDifferentialRatio_1=c.Xk;Qm=Module._emscripten_bind_VehicleTrackSettings___destroy___0=c.Yk;Rm=Module._emscripten_bind_WheeledVehicleControllerSettings_WheeledVehicleControllerSettings_0=c.Zk;Sm=Module._emscripten_bind_WheeledVehicleControllerSettings_get_mEngine_0=c._k;Tm=Module._emscripten_bind_WheeledVehicleControllerSettings_set_mEngine_1=c.$k;Um=Module._emscripten_bind_WheeledVehicleControllerSettings_get_mTransmission_0=c.al;Vm=Module._emscripten_bind_WheeledVehicleControllerSettings_set_mTransmission_1= c.bl;Wm=Module._emscripten_bind_WheeledVehicleControllerSettings_get_mDifferentials_0=c.cl;Xm=Module._emscripten_bind_WheeledVehicleControllerSettings_set_mDifferentials_1=c.dl;Ym=Module._emscripten_bind_WheeledVehicleControllerSettings_get_mDifferentialLimitedSlipRatio_0=c.el;Zm=Module._emscripten_bind_WheeledVehicleControllerSettings_set_mDifferentialLimitedSlipRatio_1=c.fl;$m=Module._emscripten_bind_WheeledVehicleControllerSettings___destroy___0=c.gl;an=Module._emscripten_bind_VehicleEngineSettings_get_mMaxTorque_0= c.hl;bn=Module._emscripten_bind_VehicleEngineSettings_set_mMaxTorque_1=c.il;cn=Module._emscripten_bind_VehicleEngineSettings_get_mMinRPM_0=c.jl;dn=Module._emscripten_bind_VehicleEngineSettings_set_mMinRPM_1=c.kl;en=Module._emscripten_bind_VehicleEngineSettings_get_mMaxRPM_0=c.ll;fn=Module._emscripten_bind_VehicleEngineSettings_set_mMaxRPM_1=c.ml;gn=Module._emscripten_bind_VehicleEngineSettings_get_mNormalizedTorque_0=c.nl;hn=Module._emscripten_bind_VehicleEngineSettings_set_mNormalizedTorque_1=c.ol; jn=Module._emscripten_bind_VehicleEngineSettings_get_mInertia_0=c.pl;kn=Module._emscripten_bind_VehicleEngineSettings_set_mInertia_1=c.ql;ln=Module._emscripten_bind_VehicleEngineSettings_get_mAngularDamping_0=c.rl;mn=Module._emscripten_bind_VehicleEngineSettings_set_mAngularDamping_1=c.sl;nn=Module._emscripten_bind_VehicleEngineSettings___destroy___0=c.tl;on=Module._emscripten_bind_VehicleTransmissionSettings_get_mMode_0=c.ul;pn=Module._emscripten_bind_VehicleTransmissionSettings_set_mMode_1=c.vl; qn=Module._emscripten_bind_VehicleTransmissionSettings_get_mGearRatios_0=c.wl;rn=Module._emscripten_bind_VehicleTransmissionSettings_set_mGearRatios_1=c.xl;sn=Module._emscripten_bind_VehicleTransmissionSettings_get_mReverseGearRatios_0=c.yl;tn=Module._emscripten_bind_VehicleTransmissionSettings_set_mReverseGearRatios_1=c.zl;un=Module._emscripten_bind_VehicleTransmissionSettings_get_mSwitchTime_0=c.Al;vn=Module._emscripten_bind_VehicleTransmissionSettings_set_mSwitchTime_1=c.Bl;wn=Module._emscripten_bind_VehicleTransmissionSettings_get_mClutchReleaseTime_0= c.Cl;xn=Module._emscripten_bind_VehicleTransmissionSettings_set_mClutchReleaseTime_1=c.Dl;yn=Module._emscripten_bind_VehicleTransmissionSettings_get_mSwitchLatency_0=c.El;zn=Module._emscripten_bind_VehicleTransmissionSettings_set_mSwitchLatency_1=c.Fl;An=Module._emscripten_bind_VehicleTransmissionSettings_get_mShiftUpRPM_0=c.Gl;Bn=Module._emscripten_bind_VehicleTransmissionSettings_set_mShiftUpRPM_1=c.Hl;Cn=Module._emscripten_bind_VehicleTransmissionSettings_get_mShiftDownRPM_0=c.Il;Dn=Module._emscripten_bind_VehicleTransmissionSettings_set_mShiftDownRPM_1= c.Jl;En=Module._emscripten_bind_VehicleTransmissionSettings_get_mClutchStrength_0=c.Kl;Fn=Module._emscripten_bind_VehicleTransmissionSettings_set_mClutchStrength_1=c.Ll;Gn=Module._emscripten_bind_VehicleTransmissionSettings___destroy___0=c.Ml;Hn=Module._emscripten_bind_WheeledVehicleController_WheeledVehicleController_2=c.Nl;In=Module._emscripten_bind_WheeledVehicleController_SetDriverInput_4=c.Ol;Jn=Module._emscripten_bind_WheeledVehicleController_SetForwardInput_1=c.Pl;Kn=Module._emscripten_bind_WheeledVehicleController_GetForwardInput_0= c.Ql;Ln=Module._emscripten_bind_WheeledVehicleController_SetRightInput_1=c.Rl;Mn=Module._emscripten_bind_WheeledVehicleController_GetRightInput_0=c.Sl;Nn=Module._emscripten_bind_WheeledVehicleController_SetBrakeInput_1=c.Tl;On=Module._emscripten_bind_WheeledVehicleController_GetBrakeInput_0=c.Ul;Pn=Module._emscripten_bind_WheeledVehicleController_SetHandBrakeInput_1=c.Vl;Qn=Module._emscripten_bind_WheeledVehicleController_GetHandBrakeInput_0=c.Wl;Rn=Module._emscripten_bind_WheeledVehicleController_GetEngine_0= c.Xl;Sn=Module._emscripten_bind_WheeledVehicleController_GetTransmission_0=c.Yl;Tn=Module._emscripten_bind_WheeledVehicleController_GetDifferentials_0=c.Zl;Un=Module._emscripten_bind_WheeledVehicleController_GetDifferentialLimitedSlipRatio_0=c._l;Vn=Module._emscripten_bind_WheeledVehicleController_SetDifferentialLimitedSlipRatio_1=c.$l;Wn=Module._emscripten_bind_WheeledVehicleController_GetWheelSpeedAtClutch_0=c.am;Xn=Module._emscripten_bind_WheeledVehicleContro