meta-client/.cache/bfa4892f111ccf4c6633fc809981ee2b.json

Meta.js (Client)

{"id":"node_modules\\oimo\\build\\oimo.module.js","dependencies":[{"name":"C:\\Users\\florianmaxim\\work\\meta\\node_modules\\oimo\\package.json","includedInParent":true,"mtime":1531738247433},{"name":"C:\\Users\\florianmaxim\\work\\meta\\package.json","includedInParent":true,"mtime":1531759463299},{"name":"C:\\Users\\florianmaxim\\work\\meta\\.babelrc","includedInParent":true,"mtime":1531746256699}],"generated":{"js":"'use strict';\n\nObject.defineProperty(exports, \"__esModule\", {\n    value: true\n});\n// Polyfills\n\nif (Number.EPSILON === undefined) {\n\n    Number.EPSILON = Math.pow(2, -52);\n}\n\n//\n\nif (Math.sign === undefined) {\n\n    // https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Math/sign\n\n    Math.sign = function (x) {\n\n        return x < 0 ? -1 : x > 0 ? 1 : +x;\n    };\n}\n\nif (Function.prototype.name === undefined) {\n\n    // Missing in IE9-11.\n    // https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Function/name\n\n    Object.defineProperty(Function.prototype, 'name', {\n\n        get: function () {\n\n            return this.toString().match(/^\\s*function\\s*([^\\(\\s]*)/)[1];\n        }\n\n    });\n}\n\nif (Object.assign === undefined) {\n\n    // Missing in IE.\n    // https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Object/assign\n\n    (function () {\n\n        Object.assign = function (target) {\n\n            'use strict';\n\n            if (target === undefined || target === null) {\n\n                throw new TypeError('Cannot convert undefined or null to object');\n            }\n\n            var output = Object(target);\n\n            for (var index = 1; index < arguments.length; index++) {\n\n                var source = arguments[index];\n\n                if (source !== undefined && source !== null) {\n\n                    for (var nextKey in source) {\n\n                        if (Object.prototype.hasOwnProperty.call(source, nextKey)) {\n\n                            output[nextKey] = source[nextKey];\n                        }\n                    }\n                }\n            }\n\n            return output;\n        };\n    })();\n}\n\n/*\r\n * A list of constants built-in for\r\n * the physics engine.\r\n */\n\nvar REVISION = '1.0.9';\n\n// BroadPhase\nvar BR_NULL = 0;\nvar BR_BRUTE_FORCE = 1;\nvar BR_SWEEP_AND_PRUNE = 2;\nvar BR_BOUNDING_VOLUME_TREE = 3;\n\n// Body type\nvar BODY_NULL = 0;\nvar BODY_DYNAMIC = 1;\nvar BODY_STATIC = 2;\nvar BODY_KINEMATIC = 3;\nvar BODY_GHOST = 4;\n\n// Shape type\nvar SHAPE_NULL = 0;\nvar SHAPE_SPHERE = 1;\nvar SHAPE_BOX = 2;\nvar SHAPE_CYLINDER = 3;\nvar SHAPE_PLANE = 4;\nvar SHAPE_PARTICLE = 5;\nvar SHAPE_TETRA = 6;\n\n// Joint type\nvar JOINT_NULL = 0;\nvar JOINT_DISTANCE = 1;\nvar JOINT_BALL_AND_SOCKET = 2;\nvar JOINT_HINGE = 3;\nvar JOINT_WHEEL = 4;\nvar JOINT_SLIDER = 5;\nvar JOINT_PRISMATIC = 6;\n\n// AABB aproximation\nvar AABB_PROX = 0.005;\n\nvar _Math = {\n\n    sqrt: Math.sqrt,\n    abs: Math.abs,\n    floor: Math.floor,\n    cos: Math.cos,\n    sin: Math.sin,\n    acos: Math.acos,\n    asin: Math.asin,\n    atan2: Math.atan2,\n    round: Math.round,\n    pow: Math.pow,\n    max: Math.max,\n    min: Math.min,\n    random: Math.random,\n\n    degtorad: 0.0174532925199432957,\n    radtodeg: 57.295779513082320876,\n    PI: 3.141592653589793,\n    TwoPI: 6.283185307179586,\n    PI90: 1.570796326794896,\n    PI270: 4.712388980384689,\n\n    INF: Infinity,\n    EPZ: 0.00001,\n    EPZ2: 0.000001,\n\n    lerp: function (x, y, t) {\n\n        return (1 - t) * x + t * y;\n    },\n\n    randInt: function (low, high) {\n\n        return low + _Math.floor(_Math.random() * (high - low + 1));\n    },\n\n    rand: function (low, high) {\n\n        return low + _Math.random() * (high - low);\n    },\n\n    generateUUID: function () {\n\n        // http://www.broofa.com/Tools/Math.uuid.htm\n\n        var chars = '0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz'.split('');\n        var uuid = new Array(36);\n        var rnd = 0,\n            r;\n\n        return function generateUUID() {\n\n            for (var i = 0; i < 36; i++) {\n\n                if (i === 8 || i === 13 || i === 18 || i === 23) {\n\n                    uuid[i] = '-';\n                } else if (i === 14) {\n\n                    uuid[i] = '4';\n                } else {\n\n                    if (rnd <= 0x02) rnd = 0x2000000 + Math.random() * 0x1000000 | 0;\n                    r = rnd & 0xf;\n                    rnd = rnd >> 4;\n                    uuid[i] = chars[i === 19 ? r & 0x3 | 0x8 : r];\n                }\n            }\n\n            return uuid.join('');\n        };\n    }(),\n\n    int: function (x) {\n\n        return _Math.floor(x);\n    },\n\n    fix: function (x, n) {\n\n        return x.toFixed(n || 3, 10);\n    },\n\n    clamp: function (value, min, max) {\n\n        return _Math.max(min, _Math.min(max, value));\n    },\n\n    //clamp: function ( x, a, b ) { return ( x < a ) ? a : ( ( x > b ) ? b : x ); },\n\n\n    distance: function (p1, p2) {\n\n        var xd = p2[0] - p1[0];\n        var yd = p2[1] - p1[1];\n        var zd = p2[2] - p1[2];\n        return _Math.sqrt(xd * xd + yd * yd + zd * zd);\n    },\n\n    /*unwrapDegrees: function ( r ) {\r\n          r = r % 360;\r\n        if (r > 180) r -= 360;\r\n        if (r < -180) r += 360;\r\n        return r;\r\n      },\r\n      unwrapRadian: function( r ){\r\n          r = r % _Math.TwoPI;\r\n        if (r > _Math.PI) r -= _Math.TwoPI;\r\n        if (r < -_Math.PI) r += _Math.TwoPI;\r\n        return r;\r\n      },*/\n\n    acosClamp: function (cos) {\n\n        if (cos > 1) return 0;else if (cos < -1) return _Math.PI;else return _Math.acos(cos);\n    },\n\n    distanceVector: function (v1, v2) {\n\n        var xd = v1.x - v2.x;\n        var yd = v1.y - v2.y;\n        var zd = v1.z - v2.z;\n        return xd * xd + yd * yd + zd * zd;\n    },\n\n    dotVectors: function (a, b) {\n\n        return a.x * b.x + a.y * b.y + a.z * b.z;\n    }\n\n};\n\nfunction printError(clazz, msg) {\n    console.error(\"[OIMO] \" + clazz + \": \" + msg);\n}\n\n// A performance evaluator\n\nfunction InfoDisplay(world) {\n\n    this.parent = world;\n\n    this.infos = new Float32Array(13);\n    this.f = [0, 0, 0];\n\n    this.times = [0, 0, 0, 0];\n\n    this.broadPhase = this.parent.broadPhaseType;\n\n    this.version = REVISION;\n\n    this.fps = 0;\n\n    this.tt = 0;\n\n    this.broadPhaseTime = 0;\n    this.narrowPhaseTime = 0;\n    this.solvingTime = 0;\n    this.totalTime = 0;\n    this.updateTime = 0;\n\n    this.MaxBroadPhaseTime = 0;\n    this.MaxNarrowPhaseTime = 0;\n    this.MaxSolvingTime = 0;\n    this.MaxTotalTime = 0;\n    this.MaxUpdateTime = 0;\n}\n\nObject.assign(InfoDisplay.prototype, {\n\n    setTime: function (n) {\n        this.times[n || 0] = performance.now();\n    },\n\n    resetMax: function () {\n\n        this.MaxBroadPhaseTime = 0;\n        this.MaxNarrowPhaseTime = 0;\n        this.MaxSolvingTime = 0;\n        this.MaxTotalTime = 0;\n        this.MaxUpdateTime = 0;\n    },\n\n    calcBroadPhase: function () {\n\n        this.setTime(2);\n        this.broadPhaseTime = this.times[2] - this.times[1];\n    },\n\n    calcNarrowPhase: function () {\n\n        this.setTime(3);\n        this.narrowPhaseTime = this.times[3] - this.times[2];\n    },\n\n    calcEnd: function () {\n\n        this.setTime(2);\n        this.solvingTime = this.times[2] - this.times[1];\n        this.totalTime = this.times[2] - this.times[0];\n        this.updateTime = this.totalTime - (this.broadPhaseTime + this.narrowPhaseTime + this.solvingTime);\n\n        if (this.tt === 100) this.resetMax();\n\n        if (this.tt > 100) {\n            if (this.broadPhaseTime > this.MaxBroadPhaseTime) this.MaxBroadPhaseTime = this.broadPhaseTime;\n            if (this.narrowPhaseTime > this.MaxNarrowPhaseTime) this.MaxNarrowPhaseTime = this.narrowPhaseTime;\n            if (this.solvingTime > this.MaxSolvingTime) this.MaxSolvingTime = this.solvingTime;\n            if (this.totalTime > this.MaxTotalTime) this.MaxTotalTime = this.totalTime;\n            if (this.updateTime > this.MaxUpdateTime) this.MaxUpdateTime = this.updateTime;\n        }\n\n        this.upfps();\n\n        this.tt++;\n        if (this.tt > 500) this.tt = 0;\n    },\n\n    upfps: function () {\n        this.f[1] = Date.now();\n        if (this.f[1] - 1000 > this.f[0]) {\n            this.f[0] = this.f[1];this.fps = this.f[2];this.f[2] = 0;\n        }this.f[2]++;\n    },\n\n    show: function () {\n        var info = [\"Oimo.js \" + this.version + \"<br>\", this.broadPhase + \"<br><br>\", \"FPS: \" + this.fps + \" fps<br><br>\", \"rigidbody \" + this.parent.numRigidBodies + \"<br>\", \"contact &nbsp;&nbsp;\" + this.parent.numContacts + \"<br>\", \"ct-point &nbsp;\" + this.parent.numContactPoints + \"<br>\", \"paircheck \" + this.parent.broadPhase.numPairChecks + \"<br>\", \"island &nbsp;&nbsp;&nbsp;\" + this.parent.numIslands + \"<br><br>\", \"Time in milliseconds<br><br>\", \"broadphase &nbsp;\" + _Math.fix(this.broadPhaseTime) + \" | \" + _Math.fix(this.MaxBroadPhaseTime) + \"<br>\", \"narrowphase \" + _Math.fix(this.narrowPhaseTime) + \" | \" + _Math.fix(this.MaxNarrowPhaseTime) + \"<br>\", \"solving &nbsp;&nbsp;&nbsp;&nbsp;\" + _Math.fix(this.solvingTime) + \" | \" + _Math.fix(this.MaxSolvingTime) + \"<br>\", \"total &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;\" + _Math.fix(this.totalTime) + \" | \" + _Math.fix(this.MaxTotalTime) + \"<br>\", \"updating &nbsp;&nbsp;&nbsp;\" + _Math.fix(this.updateTime) + \" | \" + _Math.fix(this.MaxUpdateTime) + \"<br>\"].join(\"\\n\");\n        return info;\n    },\n\n    toArray: function () {\n        this.infos[0] = this.parent.broadPhase.types;\n        this.infos[1] = this.parent.numRigidBodies;\n        this.infos[2] = this.parent.numContacts;\n        this.infos[3] = this.parent.broadPhase.numPairChecks;\n        this.infos[4] = this.parent.numContactPoints;\n        this.infos[5] = this.parent.numIslands;\n        this.infos[6] = this.broadPhaseTime;\n        this.infos[7] = this.narrowPhaseTime;\n        this.infos[8] = this.solvingTime;\n        this.infos[9] = this.updateTime;\n        this.infos[10] = this.totalTime;\n        this.infos[11] = this.fps;\n        return this.infos;\n    }\n\n});\n\nfunction Vec3(x, y, z) {\n\n    this.x = x || 0;\n    this.y = y || 0;\n    this.z = z || 0;\n}\n\nObject.assign(Vec3.prototype, {\n\n    Vec3: true,\n\n    set: function (x, y, z) {\n\n        this.x = x;\n        this.y = y;\n        this.z = z;\n        return this;\n    },\n\n    add: function (a, b) {\n\n        if (b !== undefined) return this.addVectors(a, b);\n\n        this.x += a.x;\n        this.y += a.y;\n        this.z += a.z;\n        return this;\n    },\n\n    addVectors: function (a, b) {\n\n        this.x = a.x + b.x;\n        this.y = a.y + b.y;\n        this.z = a.z + b.z;\n        return this;\n    },\n\n    addEqual: function (v) {\n\n        this.x += v.x;\n        this.y += v.y;\n        this.z += v.z;\n        return this;\n    },\n\n    sub: function (a, b) {\n\n        if (b !== undefined) return this.subVectors(a, b);\n\n        this.x -= a.x;\n        this.y -= a.y;\n        this.z -= a.z;\n        return this;\n    },\n\n    subVectors: function (a, b) {\n\n        this.x = a.x - b.x;\n        this.y = a.y - b.y;\n        this.z = a.z - b.z;\n        return this;\n    },\n\n    subEqual: function (v) {\n\n        this.x -= v.x;\n        this.y -= v.y;\n        this.z -= v.z;\n        return this;\n    },\n\n    scale: function (v, s) {\n\n        this.x = v.x * s;\n        this.y = v.y * s;\n        this.z = v.z * s;\n        return this;\n    },\n\n    scaleEqual: function (s) {\n\n        this.x *= s;\n        this.y *= s;\n        this.z *= s;\n        return this;\n    },\n\n    multiply: function (v) {\n\n        this.x *= v.x;\n        this.y *= v.y;\n        this.z *= v.z;\n        return this;\n    },\n\n    multiplyScalar: function (s) {\n\n        this.x *= s;\n        this.y *= s;\n        this.z *= s;\n        return this;\n    },\n\n    /*scaleV: function( v ){\n         this.x *= v.x;\n        this.y *= v.y;\n        this.z *= v.z;\n        return this;\n     },\n     scaleVectorEqual: function( v ){\n         this.x *= v.x;\n        this.y *= v.y;\n        this.z *= v.z;\n        return this;\n     },*/\n\n    addScaledVector: function (v, s) {\n\n        this.x += v.x * s;\n        this.y += v.y * s;\n        this.z += v.z * s;\n\n        return this;\n    },\n\n    subScaledVector: function (v, s) {\n\n        this.x -= v.x * s;\n        this.y -= v.y * s;\n        this.z -= v.z * s;\n\n        return this;\n    },\n\n    /*addTime: function ( v, t ) {\n         this.x += v.x * t;\n        this.y += v.y * t;\n        this.z += v.z * t;\n        return this;\n     },\n    \n    addScale: function ( v, s ) {\n         this.x += v.x * s;\n        this.y += v.y * s;\n        this.z += v.z * s;\n        return this;\n     },\n     subScale: function ( v, s ) {\n         this.x -= v.x * s;\n        this.y -= v.y * s;\n        this.z -= v.z * s;\n        return this;\n     },*/\n\n    cross: function (a, b) {\n\n        if (b !== undefined) return this.crossVectors(a, b);\n\n        var x = this.x,\n            y = this.y,\n            z = this.z;\n\n        this.x = y * a.z - z * a.y;\n        this.y = z * a.x - x * a.z;\n        this.z = x * a.y - y * a.x;\n\n        return this;\n    },\n\n    crossVectors: function (a, b) {\n\n        var ax = a.x,\n            ay = a.y,\n            az = a.z;\n        var bx = b.x,\n            by = b.y,\n            bz = b.z;\n\n        this.x = ay * bz - az * by;\n        this.y = az * bx - ax * bz;\n        this.z = ax * by - ay * bx;\n\n        return this;\n    },\n\n    tangent: function (a) {\n\n        var ax = a.x,\n            ay = a.y,\n            az = a.z;\n\n        this.x = ay * ax - az * az;\n        this.y = -az * ay - ax * ax;\n        this.z = ax * az + ay * ay;\n\n        return this;\n    },\n\n    invert: function (v) {\n\n        this.x = -v.x;\n        this.y = -v.y;\n        this.z = -v.z;\n        return this;\n    },\n\n    negate: function () {\n\n        this.x = -this.x;\n        this.y = -this.y;\n        this.z = -this.z;\n\n        return this;\n    },\n\n    dot: function (v) {\n\n        return this.x * v.x + this.y * v.y + this.z * v.z;\n    },\n\n    addition: function () {\n\n        return this.x + this.y + this.z;\n    },\n\n    lengthSq: function () {\n\n        return this.x * this.x + this.y * this.y + this.z * this.z;\n    },\n\n    length: function () {\n\n        return _Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);\n    },\n\n    copy: function (v) {\n\n        this.x = v.x;\n        this.y = v.y;\n        this.z = v.z;\n        return this;\n    },\n\n    /*mul: function( b, a, m ){\n         return this.mulMat( m, a ).add( b );\n     },\n     mulMat: function( m, a ){\n         var e = m.elements;\n        var x = a.x, y = a.y, z = a.z;\n         this.x = e[ 0 ] * x + e[ 1 ] * y + e[ 2 ] * z;\n        this.y = e[ 3 ] * x + e[ 4 ] * y + e[ 5 ] * z;\n        this.z = e[ 6 ] * x + e[ 7 ] * y + e[ 8 ] * z;\n        return this;\n     },*/\n\n    applyMatrix3: function (m, transpose) {\n\n        //if( transpose ) m = m.clone().transpose();\n        var x = this.x,\n            y = this.y,\n            z = this.z;\n        var e = m.elements;\n\n        if (transpose) {\n\n            this.x = e[0] * x + e[1] * y + e[2] * z;\n            this.y = e[3] * x + e[4] * y + e[5] * z;\n            this.z = e[6] * x + e[7] * y + e[8] * z;\n        } else {\n\n            this.x = e[0] * x + e[3] * y + e[6] * z;\n            this.y = e[1] * x + e[4] * y + e[7] * z;\n            this.z = e[2] * x + e[5] * y + e[8] * z;\n        }\n\n        return this;\n    },\n\n    applyQuaternion: function (q) {\n\n        var x = this.x;\n        var y = this.y;\n        var z = this.z;\n\n        var qx = q.x;\n        var qy = q.y;\n        var qz = q.z;\n        var qw = q.w;\n\n        // calculate quat * vector\n\n        var ix = qw * x + qy * z - qz * y;\n        var iy = qw * y + qz * x - qx * z;\n        var iz = qw * z + qx * y - qy * x;\n        var iw = -qx * x - qy * y - qz * z;\n\n        // calculate result * inverse quat\n\n        this.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;\n        this.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;\n        this.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;\n\n        return this;\n    },\n\n    testZero: function () {\n\n        if (this.x !== 0 || this.y !== 0 || this.z !== 0) return true;else return false;\n    },\n\n    testDiff: function (v) {\n\n        return this.equals(v) ? false : true;\n    },\n\n    equals: function (v) {\n\n        return v.x === this.x && v.y === this.y && v.z === this.z;\n    },\n\n    clone: function () {\n\n        return new this.constructor(this.x, this.y, this.z);\n    },\n\n    toString: function () {\n\n        return \"Vec3[\" + this.x.toFixed(4) + \", \" + this.y.toFixed(4) + \", \" + this.z.toFixed(4) + \"]\";\n    },\n\n    multiplyScalar: function (scalar) {\n\n        if (isFinite(scalar)) {\n            this.x *= scalar;\n            this.y *= scalar;\n            this.z *= scalar;\n        } else {\n            this.x = 0;\n            this.y = 0;\n            this.z = 0;\n        }\n\n        return this;\n    },\n\n    divideScalar: function (scalar) {\n\n        return this.multiplyScalar(1 / scalar);\n    },\n\n    normalize: function () {\n\n        return this.divideScalar(this.length());\n    },\n\n    toArray: function (array, offset) {\n\n        if (offset === undefined) offset = 0;\n\n        array[offset] = this.x;\n        array[offset + 1] = this.y;\n        array[offset + 2] = this.z;\n    },\n\n    fromArray: function (array, offset) {\n\n        if (offset === undefined) offset = 0;\n\n        this.x = array[offset];\n        this.y = array[offset + 1];\n        this.z = array[offset + 2];\n        return this;\n    }\n\n});\n\nfunction Quat(x, y, z, w) {\n\n    this.x = x || 0;\n    this.y = y || 0;\n    this.z = z || 0;\n    this.w = w !== undefined ? w : 1;\n}\n\nObject.assign(Quat.prototype, {\n\n    Quat: true,\n\n    set: function (x, y, z, w) {\n\n        this.x = x;\n        this.y = y;\n        this.z = z;\n        this.w = w;\n\n        return this;\n    },\n\n    addTime: function (v, t) {\n\n        var ax = v.x,\n            ay = v.y,\n            az = v.z;\n        var qw = this.w,\n            qx = this.x,\n            qy = this.y,\n            qz = this.z;\n        t *= 0.5;\n        this.x += t * (ax * qw + ay * qz - az * qy);\n        this.y += t * (ay * qw + az * qx - ax * qz);\n        this.z += t * (az * qw + ax * qy - ay * qx);\n        this.w += t * (-ax * qx - ay * qy - az * qz);\n        this.normalize();\n        return this;\n    },\n\n    /*mul: function( q1, q2 ){\n         var ax = q1.x, ay = q1.y, az = q1.z, as = q1.w,\n        bx = q2.x, by = q2.y, bz = q2.z, bs = q2.w;\n        this.x = ax * bs + as * bx + ay * bz - az * by;\n        this.y = ay * bs + as * by + az * bx - ax * bz;\n        this.z = az * bs + as * bz + ax * by - ay * bx;\n        this.w = as * bs - ax * bx - ay * by - az * bz;\n        return this;\n     },*/\n\n    multiply: function (q, p) {\n\n        if (p !== undefined) return this.multiplyQuaternions(q, p);\n        return this.multiplyQuaternions(this, q);\n    },\n\n    multiplyQuaternions: function (a, b) {\n\n        var qax = a.x,\n            qay = a.y,\n            qaz = a.z,\n            qaw = a.w;\n        var qbx = b.x,\n            qby = b.y,\n            qbz = b.z,\n            qbw = b.w;\n\n        this.x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;\n        this.y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;\n        this.z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;\n        this.w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;\n        return this;\n    },\n\n    setFromUnitVectors: function (v1, v2) {\n\n        var vx = new Vec3();\n        var r = v1.dot(v2) + 1;\n\n        if (r < _Math.EPS2) {\n\n            r = 0;\n            if (_Math.abs(v1.x) > _Math.abs(v1.z)) vx.set(-v1.y, v1.x, 0);else vx.set(0, -v1.z, v1.y);\n        } else {\n\n            vx.crossVectors(v1, v2);\n        }\n\n        this._x = vx.x;\n        this._y = vx.y;\n        this._z = vx.z;\n        this._w = r;\n\n        return this.normalize();\n    },\n\n    arc: function (v1, v2) {\n\n        var x1 = v1.x;\n        var y1 = v1.y;\n        var z1 = v1.z;\n        var x2 = v2.x;\n        var y2 = v2.y;\n        var z2 = v2.z;\n        var d = x1 * x2 + y1 * y2 + z1 * z2;\n        if (d == -1) {\n            x2 = y1 * x1 - z1 * z1;\n            y2 = -z1 * y1 - x1 * x1;\n            z2 = x1 * z1 + y1 * y1;\n            d = 1 / _Math.sqrt(x2 * x2 + y2 * y2 + z2 * z2);\n            this.w = 0;\n            this.x = x2 * d;\n            this.y = y2 * d;\n            this.z = z2 * d;\n            return this;\n        }\n        var cx = y1 * z2 - z1 * y2;\n        var cy = z1 * x2 - x1 * z2;\n        var cz = x1 * y2 - y1 * x2;\n        this.w = _Math.sqrt((1 + d) * 0.5);\n        d = 0.5 / this.w;\n        this.x = cx * d;\n        this.y = cy * d;\n        this.z = cz * d;\n        return this;\n    },\n\n    normalize: function () {\n\n        var l = this.length();\n        if (l === 0) {\n            this.set(0, 0, 0, 1);\n        } else {\n            l = 1 / l;\n            this.x = this.x * l;\n            this.y = this.y * l;\n            this.z = this.z * l;\n            this.w = this.w * l;\n        }\n        return this;\n    },\n\n    inverse: function () {\n\n        return this.conjugate().normalize();\n    },\n\n    invert: function (q) {\n\n        this.x = q.x;\n        this.y = q.y;\n        this.z = q.z;\n        this.w = q.w;\n        this.conjugate().normalize();\n        return this;\n    },\n\n    conjugate: function () {\n\n        this.x *= -1;\n        this.y *= -1;\n        this.z *= -1;\n        return this;\n    },\n\n    length: function () {\n\n        return _Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);\n    },\n\n    lengthSq: function () {\n\n        return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;\n    },\n\n    copy: function (q) {\n\n        this.x = q.x;\n        this.y = q.y;\n        this.z = q.z;\n        this.w = q.w;\n        return this;\n    },\n\n    clone: function (q) {\n\n        return new Quat(this.x, this.y, this.z, this.w);\n    },\n\n    testDiff: function (q) {\n\n        return this.equals(q) ? false : true;\n    },\n\n    equals: function (q) {\n\n        return this.x === q.x && this.y === q.y && this.z === q.z && this.w === q.w;\n    },\n\n    toString: function () {\n\n        return \"Quat[\" + this.x.toFixed(4) + \", (\" + this.y.toFixed(4) + \", \" + this.z.toFixed(4) + \", \" + this.w.toFixed(4) + \")]\";\n    },\n\n    setFromEuler: function (x, y, z) {\n\n        var c1 = Math.cos(x * 0.5);\n        var c2 = Math.cos(y * 0.5);\n        var c3 = Math.cos(z * 0.5);\n        var s1 = Math.sin(x * 0.5);\n        var s2 = Math.sin(y * 0.5);\n        var s3 = Math.sin(z * 0.5);\n\n        // XYZ\n        this.x = s1 * c2 * c3 + c1 * s2 * s3;\n        this.y = c1 * s2 * c3 - s1 * c2 * s3;\n        this.z = c1 * c2 * s3 + s1 * s2 * c3;\n        this.w = c1 * c2 * c3 - s1 * s2 * s3;\n\n        return this;\n    },\n\n    setFromAxis: function (axis, rad) {\n\n        axis.normalize();\n        rad = rad * 0.5;\n        var s = _Math.sin(rad);\n        this.x = s * axis.x;\n        this.y = s * axis.y;\n        this.z = s * axis.z;\n        this.w = _Math.cos(rad);\n        return this;\n    },\n\n    setFromMat33: function (m) {\n\n        var trace = m[0] + m[4] + m[8];\n        var s;\n\n        if (trace > 0) {\n\n            s = _Math.sqrt(trace + 1.0);\n            this.w = 0.5 / s;\n            s = 0.5 / s;\n            this.x = (m[5] - m[7]) * s;\n            this.y = (m[6] - m[2]) * s;\n            this.z = (m[1] - m[3]) * s;\n        } else {\n\n            var out = [];\n            var i = 0;\n            if (m[4] > m[0]) i = 1;\n            if (m[8] > m[i * 3 + i]) i = 2;\n\n            var j = (i + 1) % 3;\n            var k = (i + 2) % 3;\n\n            s = _Math.sqrt(m[i * 3 + i] - m[j * 3 + j] - m[k * 3 + k] + 1.0);\n            out[i] = 0.5 * fRoot;\n            s = 0.5 / fRoot;\n            this.w = (m[j * 3 + k] - m[k * 3 + j]) * s;\n            out[j] = (m[j * 3 + i] + m[i * 3 + j]) * s;\n            out[k] = (m[k * 3 + i] + m[i * 3 + k]) * s;\n\n            this.x = out[1];\n            this.y = out[2];\n            this.z = out[3];\n        }\n\n        return this;\n    },\n\n    toArray: function (array, offset) {\n\n        offset = offset || 0;\n\n        array[offset] = this.x;\n        array[offset + 1] = this.y;\n        array[offset + 2] = this.z;\n        array[offset + 3] = this.w;\n    },\n\n    fromArray: function (array, offset) {\n\n        offset = offset || 0;\n        this.set(array[offset], array[offset + 1], array[offset + 2], array[offset + 3]);\n        return this;\n    }\n\n});\n\nfunction Mat33(e00, e01, e02, e10, e11, e12, e20, e21, e22) {\n\n    this.elements = [1, 0, 0, 0, 1, 0, 0, 0, 1];\n\n    if (arguments.length > 0) {\n\n        console.error('OIMO.Mat33: the constructor no longer reads arguments. use .set() instead.');\n    }\n}\n\nObject.assign(Mat33.prototype, {\n\n    Mat33: true,\n\n    set: function (e00, e01, e02, e10, e11, e12, e20, e21, e22) {\n\n        var te = this.elements;\n        te[0] = e00;te[1] = e01;te[2] = e02;\n        te[3] = e10;te[4] = e11;te[5] = e12;\n        te[6] = e20;te[7] = e21;te[8] = e22;\n        return this;\n    },\n\n    add: function (a, b) {\n\n        if (b !== undefined) return this.addMatrixs(a, b);\n\n        var e = this.elements,\n            te = a.elements;\n        e[0] += te[0];e[1] += te[1];e[2] += te[2];\n        e[3] += te[3];e[4] += te[4];e[5] += te[5];\n        e[6] += te[6];e[7] += te[7];e[8] += te[8];\n        return this;\n    },\n\n    addMatrixs: function (a, b) {\n\n        var te = this.elements,\n            tem1 = a.elements,\n            tem2 = b.elements;\n        te[0] = tem1[0] + tem2[0];te[1] = tem1[1] + tem2[1];te[2] = tem1[2] + tem2[2];\n        te[3] = tem1[3] + tem2[3];te[4] = tem1[4] + tem2[4];te[5] = tem1[5] + tem2[5];\n        te[6] = tem1[6] + tem2[6];te[7] = tem1[7] + tem2[7];te[8] = tem1[8] + tem2[8];\n        return this;\n    },\n\n    addEqual: function (m) {\n\n        var te = this.elements,\n            tem = m.elements;\n        te[0] += tem[0];te[1] += tem[1];te[2] += tem[2];\n        te[3] += tem[3];te[4] += tem[4];te[5] += tem[5];\n        te[6] += tem[6];te[7] += tem[7];te[8] += tem[8];\n        return this;\n    },\n\n    sub: function (a, b) {\n\n        if (b !== undefined) return this.subMatrixs(a, b);\n\n        var e = this.elements,\n            te = a.elements;\n        e[0] -= te[0];e[1] -= te[1];e[2] -= te[2];\n        e[3] -= te[3];e[4] -= te[4];e[5] -= te[5];\n        e[6] -= te[6];e[7] -= te[7];e[8] -= te[8];\n        return this;\n    },\n\n    subMatrixs: function (a, b) {\n\n        var te = this.elements,\n            tem1 = a.elements,\n            tem2 = b.elements;\n        te[0] = tem1[0] - tem2[0];te[1] = tem1[1] - tem2[1];te[2] = tem1[2] - tem2[2];\n        te[3] = tem1[3] - tem2[3];te[4] = tem1[4] - tem2[4];te[5] = tem1[5] - tem2[5];\n        te[6] = tem1[6] - tem2[6];te[7] = tem1[7] - tem2[7];te[8] = tem1[8] - tem2[8];\n        return this;\n    },\n\n    subEqual: function (m) {\n\n        var te = this.elements,\n            tem = m.elements;\n        te[0] -= tem[0];te[1] -= tem[1];te[2] -= tem[2];\n        te[3] -= tem[3];te[4] -= tem[4];te[5] -= tem[5];\n        te[6] -= tem[6];te[7] -= tem[7];te[8] -= tem[8];\n        return this;\n    },\n\n    scale: function (m, s) {\n\n        var te = this.elements,\n            tm = m.elements;\n        te[0] = tm[0] * s;te[1] = tm[1] * s;te[2] = tm[2] * s;\n        te[3] = tm[3] * s;te[4] = tm[4] * s;te[5] = tm[5] * s;\n        te[6] = tm[6] * s;te[7] = tm[7] * s;te[8] = tm[8] * s;\n        return this;\n    },\n\n    scaleEqual: function (s) {\n        // multiplyScalar\n\n        var te = this.elements;\n        te[0] *= s;te[1] *= s;te[2] *= s;\n        te[3] *= s;te[4] *= s;te[5] *= s;\n        te[6] *= s;te[7] *= s;te[8] *= s;\n        return this;\n    },\n\n    multiplyMatrices: function (m1, m2, transpose) {\n\n        if (transpose) m2 = m2.clone().transpose();\n\n        var te = this.elements;\n        var tm1 = m1.elements;\n        var tm2 = m2.elements;\n\n        var a0 = tm1[0],\n            a3 = tm1[3],\n            a6 = tm1[6];\n        var a1 = tm1[1],\n            a4 = tm1[4],\n            a7 = tm1[7];\n        var a2 = tm1[2],\n            a5 = tm1[5],\n            a8 = tm1[8];\n\n        var b0 = tm2[0],\n            b3 = tm2[3],\n            b6 = tm2[6];\n        var b1 = tm2[1],\n            b4 = tm2[4],\n            b7 = tm2[7];\n        var b2 = tm2[2],\n            b5 = tm2[5],\n            b8 = tm2[8];\n\n        te[0] = a0 * b0 + a1 * b3 + a2 * b6;\n        te[1] = a0 * b1 + a1 * b4 + a2 * b7;\n        te[2] = a0 * b2 + a1 * b5 + a2 * b8;\n        te[3] = a3 * b0 + a4 * b3 + a5 * b6;\n        te[4] = a3 * b1 + a4 * b4 + a5 * b7;\n        te[5] = a3 * b2 + a4 * b5 + a5 * b8;\n        te[6] = a6 * b0 + a7 * b3 + a8 * b6;\n        te[7] = a6 * b1 + a7 * b4 + a8 * b7;\n        te[8] = a6 * b2 + a7 * b5 + a8 * b8;\n\n        return this;\n    },\n\n    /*mul: function ( m1, m2, transpose ) {\r\n          if( transpose ) m2 = m2.clone().transpose();\r\n          var te = this.elements;\r\n        var tm1 = m1.elements;\r\n        var tm2 = m2.elements;\r\n        //var tmp;\r\n          var a0 = tm1[0], a3 = tm1[3], a6 = tm1[6];\r\n        var a1 = tm1[1], a4 = tm1[4], a7 = tm1[7];\r\n        var a2 = tm1[2], a5 = tm1[5], a8 = tm1[8];\r\n          var b0 = tm2[0], b3 = tm2[3], b6 = tm2[6];\r\n        var b1 = tm2[1], b4 = tm2[4], b7 = tm2[7];\r\n        var b2 = tm2[2], b5 = tm2[5], b8 = tm2[8];\r\n          /*if( transpose ){\r\n              tmp = b1; b1 = b3; b3 = tmp;\r\n            tmp = b2; b2 = b6; b6 = tmp;\r\n            tmp = b5; b5 = b7; b7 = tmp;\r\n          }\r\n          te[0] = a0*b0 + a1*b3 + a2*b6;\r\n        te[1] = a0*b1 + a1*b4 + a2*b7;\r\n        te[2] = a0*b2 + a1*b5 + a2*b8;\r\n        te[3] = a3*b0 + a4*b3 + a5*b6;\r\n        te[4] = a3*b1 + a4*b4 + a5*b7;\r\n        te[5] = a3*b2 + a4*b5 + a5*b8;\r\n        te[6] = a6*b0 + a7*b3 + a8*b6;\r\n        te[7] = a6*b1 + a7*b4 + a8*b7;\r\n        te[8] = a6*b2 + a7*b5 + a8*b8;\r\n          return this;\r\n      },*/\n\n    transpose: function (m) {\n\n        if (m !== undefined) {\n            var a = m.elements;\n            this.set(a[0], a[3], a[6], a[1], a[4], a[7], a[2], a[5], a[8]);\n            return this;\n        }\n\n        var te = this.elements;\n        var a01 = te[1],\n            a02 = te[2],\n            a12 = te[5];\n        te[1] = te[3];\n        te[2] = te[6];\n        te[3] = a01;\n        te[5] = te[7];\n        te[6] = a02;\n        te[7] = a12;\n        return this;\n    },\n\n    /*mulScale: function ( m, sx, sy, sz, Prepend ) {\r\n          var prepend = Prepend || false;\r\n        var te = this.elements, tm = m.elements;\r\n        if(prepend){\r\n            te[0] = sx*tm[0]; te[1] = sx*tm[1]; te[2] = sx*tm[2];\r\n            te[3] = sy*tm[3]; te[4] = sy*tm[4]; te[5] = sy*tm[5];\r\n            te[6] = sz*tm[6]; te[7] = sz*tm[7]; te[8] = sz*tm[8];\r\n        }else{\r\n            te[0] = tm[0]*sx; te[1] = tm[1]*sy; te[2] = tm[2]*sz;\r\n            te[3] = tm[3]*sx; te[4] = tm[4]*sy; te[5] = tm[5]*sz;\r\n            te[6] = tm[6]*sx; te[7] = tm[7]*sy; te[8] = tm[8]*sz;\r\n        }\r\n        return this;\r\n      },\r\n      transpose: function ( m ) {\r\n          var te = this.elements, tm = m.elements;\r\n        te[0] = tm[0]; te[1] = tm[3]; te[2] = tm[6];\r\n        te[3] = tm[1]; te[4] = tm[4]; te[5] = tm[7];\r\n        te[6] = tm[2]; te[7] = tm[5]; te[8] = tm[8];\r\n        return this;\r\n      },*/\n\n    setQuat: function (q) {\n\n        var te = this.elements;\n        var x = q.x,\n            y = q.y,\n            z = q.z,\n            w = q.w;\n        var x2 = x + x,\n            y2 = y + y,\n            z2 = z + z;\n        var xx = x * x2,\n            xy = x * y2,\n            xz = x * z2;\n        var yy = y * y2,\n            yz = y * z2,\n            zz = z * z2;\n        var wx = w * x2,\n            wy = w * y2,\n            wz = w * z2;\n\n        te[0] = 1 - (yy + zz);\n        te[1] = xy - wz;\n        te[2] = xz + wy;\n\n        te[3] = xy + wz;\n        te[4] = 1 - (xx + zz);\n        te[5] = yz - wx;\n\n        te[6] = xz - wy;\n        te[7] = yz + wx;\n        te[8] = 1 - (xx + yy);\n\n        return this;\n    },\n\n    invert: function (m) {\n\n        var te = this.elements,\n            tm = m.elements,\n            a00 = tm[0],\n            a10 = tm[3],\n            a20 = tm[6],\n            a01 = tm[1],\n            a11 = tm[4],\n            a21 = tm[7],\n            a02 = tm[2],\n            a12 = tm[5],\n            a22 = tm[8],\n            b01 = a22 * a11 - a12 * a21,\n            b11 = -a22 * a10 + a12 * a20,\n            b21 = a21 * a10 - a11 * a20,\n            det = a00 * b01 + a01 * b11 + a02 * b21;\n\n        if (det === 0) {\n            console.log(\"can't invert matrix, determinant is 0\");\n            return this.identity();\n        }\n\n        det = 1.0 / det;\n        te[0] = b01 * det;\n        te[1] = (-a22 * a01 + a02 * a21) * det;\n        te[2] = (a12 * a01 - a02 * a11) * det;\n        te[3] = b11 * det;\n        te[4] = (a22 * a00 - a02 * a20) * det;\n        te[5] = (-a12 * a00 + a02 * a10) * det;\n        te[6] = b21 * det;\n        te[7] = (-a21 * a00 + a01 * a20) * det;\n        te[8] = (a11 * a00 - a01 * a10) * det;\n        return this;\n    },\n\n    addOffset: function (m, v) {\n\n        var relX = v.x;\n        var relY = v.y;\n        var relZ = v.z;\n\n        var te = this.elements;\n        te[0] += m * (relY * relY + relZ * relZ);\n        te[4] += m * (relX * relX + relZ * relZ);\n        te[8] += m * (relX * relX + relY * relY);\n        var xy = m * relX * relY;\n        var yz = m * relY * relZ;\n        var zx = m * relZ * relX;\n        te[1] -= xy;\n        te[3] -= xy;\n        te[2] -= yz;\n        te[6] -= yz;\n        te[5] -= zx;\n        te[7] -= zx;\n        return this;\n    },\n\n    subOffset: function (m, v) {\n\n        var relX = v.x;\n        var relY = v.y;\n        var relZ = v.z;\n\n        var te = this.elements;\n        te[0] -= m * (relY * relY + relZ * relZ);\n        te[4] -= m * (relX * relX + relZ * relZ);\n        te[8] -= m * (relX * relX + relY * relY);\n        var xy = m * relX * relY;\n        var yz = m * relY * relZ;\n        var zx = m * relZ * relX;\n        te[1] += xy;\n        te[3] += xy;\n        te[2] += yz;\n        te[6] += yz;\n        te[5] += zx;\n        te[7] += zx;\n        return this;\n    },\n\n    // OK \n\n    multiplyScalar: function (s) {\n\n        var te = this.elements;\n\n        te[0] *= s;te[3] *= s;te[6] *= s;\n        te[1] *= s;te[4] *= s;te[7] *= s;\n        te[2] *= s;te[5] *= s;te[8] *= s;\n\n        return this;\n    },\n\n    identity: function () {\n\n        this.set(1, 0, 0, 0, 1, 0, 0, 0, 1);\n        return this;\n    },\n\n    clone: function () {\n\n        return new Mat33().fromArray(this.elements);\n    },\n\n    copy: function (m) {\n\n        for (var i = 0; i < 9; i++) this.elements[i] = m.elements[i];\n        return this;\n    },\n\n    determinant: function () {\n\n        var te = this.elements;\n        var a = te[0],\n            b = te[1],\n            c = te[2],\n            d = te[3],\n            e = te[4],\n            f = te[5],\n            g = te[6],\n            h = te[7],\n            i = te[8];\n\n        return a * e * i - a * f * h - b * d * i + b * f * g + c * d * h - c * e * g;\n    },\n\n    fromArray: function (array, offset) {\n\n        if (offset === undefined) offset = 0;\n\n        for (var i = 0; i < 9; i++) {\n\n            this.elements[i] = array[i + offset];\n        }\n\n        return this;\n    },\n\n    toArray: function (array, offset) {\n\n        if (array === undefined) array = [];\n        if (offset === undefined) offset = 0;\n\n        var te = this.elements;\n\n        array[offset] = te[0];\n        array[offset + 1] = te[1];\n        array[offset + 2] = te[2];\n\n        array[offset + 3] = te[3];\n        array[offset + 4] = te[4];\n        array[offset + 5] = te[5];\n\n        array[offset + 6] = te[6];\n        array[offset + 7] = te[7];\n        array[offset + 8] = te[8];\n\n        return array;\n    }\n\n});\n\n/**\r\n * An axis-aligned bounding box.\r\n *\r\n * @author saharan\r\n * @author lo-th\r\n */\n\nfunction AABB(minX, maxX, minY, maxY, minZ, maxZ) {\n\n    this.elements = new Float32Array(6);\n    var te = this.elements;\n\n    te[0] = minX || 0;te[1] = minY || 0;te[2] = minZ || 0;\n    te[3] = maxX || 0;te[4] = maxY || 0;te[5] = maxZ || 0;\n}\n\nObject.assign(AABB.prototype, {\n\n    AABB: true,\n\n    set: function (minX, maxX, minY, maxY, minZ, maxZ) {\n\n        var te = this.elements;\n        te[0] = minX;\n        te[3] = maxX;\n        te[1] = minY;\n        te[4] = maxY;\n        te[2] = minZ;\n        te[5] = maxZ;\n        return this;\n    },\n\n    intersectTest: function (aabb) {\n\n        var te = this.elements;\n        var ue = aabb.elements;\n        return te[0] > ue[3] || te[1] > ue[4] || te[2] > ue[5] || te[3] < ue[0] || te[4] < ue[1] || te[5] < ue[2] ? true : false;\n    },\n\n    intersectTestTwo: function (aabb) {\n\n        var te = this.elements;\n        var ue = aabb.elements;\n        return te[0] < ue[0] || te[1] < ue[1] || te[2] < ue[2] || te[3] > ue[3] || te[4] > ue[4] || te[5] > ue[5] ? true : false;\n    },\n\n    clone: function () {\n\n        return new this.constructor().fromArray(this.elements);\n    },\n\n    copy: function (aabb, margin) {\n\n        var m = margin || 0;\n        var me = aabb.elements;\n        this.set(me[0] - m, me[3] + m, me[1] - m, me[4] + m, me[2] - m, me[5] + m);\n        return this;\n    },\n\n    fromArray: function (array) {\n\n        this.elements.set(array);\n        return this;\n    },\n\n    // Set this AABB to the combined AABB of aabb1 and aabb2.\n\n    combine: function (aabb1, aabb2) {\n\n        var a = aabb1.elements;\n        var b = aabb2.elements;\n        var te = this.elements;\n\n        te[0] = a[0] < b[0] ? a[0] : b[0];\n        te[1] = a[1] < b[1] ? a[1] : b[1];\n        te[2] = a[2] < b[2] ? a[2] : b[2];\n\n        te[3] = a[3] > b[3] ? a[3] : b[3];\n        te[4] = a[4] > b[4] ? a[4] : b[4];\n        te[5] = a[5] > b[5] ? a[5] : b[5];\n\n        return this;\n    },\n\n    // Get the surface area.\n\n    surfaceArea: function () {\n\n        var te = this.elements;\n        var a = te[3] - te[0];\n        var h = te[4] - te[1];\n        var d = te[5] - te[2];\n        return 2 * (a * (h + d) + h * d);\n    },\n\n    // Get whether the AABB intersects with the point or not.\n\n    intersectsWithPoint: function (x, y, z) {\n\n        var te = this.elements;\n        return x >= te[0] && x <= te[3] && y >= te[1] && y <= te[4] && z >= te[2] && z <= te[5];\n    },\n\n    /**\r\n     * Set the AABB from an array\r\n     * of vertices. From THREE.\r\n     * @author WestLangley\r\n     * @author xprogram\r\n     */\n\n    setFromPoints: function (arr) {\n        this.makeEmpty();\n        for (var i = 0; i < arr.length; i++) {\n            this.expandByPoint(arr[i]);\n        }\n    },\n\n    makeEmpty: function () {\n        this.set(-Infinity, -Infinity, -Infinity, Infinity, Infinity, Infinity);\n    },\n\n    expandByPoint: function (pt) {\n        var te = this.elements;\n        this.set(_Math.min(te[0], pt.x), _Math.min(te[1], pt.y), _Math.min(te[2], pt.z), _Math.max(te[3], pt.x), _Math.max(te[4], pt.y), _Math.max(te[5], pt.z));\n    },\n\n    expandByScalar: function (s) {\n\n        var te = this.elements;\n        te[0] += -s;\n        te[1] += -s;\n        te[2] += -s;\n        te[3] += s;\n        te[4] += s;\n        te[5] += s;\n    }\n\n});\n\nvar count = 0;\nfunction ShapeIdCount() {\n    return count++;\n}\n\n/**\r\n * A shape is used to detect collisions of rigid bodies.\r\n *\r\n * @author saharan\r\n * @author lo-th\r\n */\n\nfunction Shape(config) {\n\n    this.type = SHAPE_NULL;\n\n    // global identification of the shape should be unique to the shape.\n    this.id = ShapeIdCount();\n\n    // previous shape in parent rigid body. Used for fast interations.\n    this.prev = null;\n\n    // next shape in parent rigid body. Used for fast interations.\n    this.next = null;\n\n    // proxy of the shape used for broad-phase collision detection.\n    this.proxy = null;\n\n    // parent rigid body of the shape.\n    this.parent = null;\n\n    // linked list of the contacts with the shape.\n    this.contactLink = null;\n\n    // number of the contacts with the shape.\n    this.numContacts = 0;\n\n    // center of gravity of the shape in world coordinate system.\n    this.position = new Vec3();\n\n    // rotation matrix of the shape in world coordinate system.\n    this.rotation = new Mat33();\n\n    // position of the shape in parent's coordinate system.\n    this.relativePosition = new Vec3().copy(config.relativePosition);\n\n    // rotation matrix of the shape in parent's coordinate system.\n    this.relativeRotation = new Mat33().copy(config.relativeRotation);\n\n    // axis-aligned bounding box of the shape.\n    this.aabb = new AABB();\n\n    // density of the shape.\n    this.density = config.density;\n\n    // coefficient of friction of the shape.\n    this.friction = config.friction;\n\n    // coefficient of restitution of the shape.\n    this.restitution = config.restitution;\n\n    // bits of the collision groups to which the shape belongs.\n    this.belongsTo = config.belongsTo;\n\n    // bits of the collision groups with which the shape collides.\n    this.collidesWith = config.collidesWith;\n}\n\nObject.assign(Shape.prototype, {\n\n    Shape: true,\n\n    // Calculate the mass information of the shape.\n\n    calculateMassInfo: function (out) {\n\n        printError(\"Shape\", \"Inheritance error.\");\n    },\n\n    // Update the proxy of the shape.\n\n    updateProxy: function () {\n\n        printError(\"Shape\", \"Inheritance error.\");\n    }\n\n});\n\n/**\r\n * Box shape.\r\n * @author saharan\r\n * @author lo-th\r\n */\n\nfunction Box(config, Width, Height, Depth) {\n\n    Shape.call(this, config);\n\n    this.type = SHAPE_BOX;\n\n    this.width = Width;\n    this.height = Height;\n    this.depth = Depth;\n\n    this.halfWidth = Width * 0.5;\n    this.halfHeight = Height * 0.5;\n    this.halfDepth = Depth * 0.5;\n\n    this.dimentions = new Float32Array(18);\n    this.elements = new Float32Array(24);\n}\n\nBox.prototype = Object.assign(Object.create(Shape.prototype), {\n\n    constructor: Box,\n\n    calculateMassInfo: function (out) {\n\n        var mass = this.width * this.height * this.depth * this.density;\n        var divid = 1 / 12;\n        out.mass = mass;\n        out.inertia.set(mass * (this.height * this.height + this.depth * this.depth) * divid, 0, 0, 0, mass * (this.width * this.width + this.depth * this.depth) * divid, 0, 0, 0, mass * (this.width * this.width + this.height * this.height) * divid);\n    },\n\n    updateProxy: function () {\n\n        var te = this.rotation.elements;\n        var di = this.dimentions;\n        // Width\n        di[0] = te[0];\n        di[1] = te[3];\n        di[2] = te[6];\n        // Height\n        di[3] = te[1];\n        di[4] = te[4];\n        di[5] = te[7];\n        // Depth\n        di[6] = te[2];\n        di[7] = te[5];\n        di[8] = te[8];\n        // half Width\n        di[9] = te[0] * this.halfWidth;\n        di[10] = te[3] * this.halfWidth;\n        di[11] = te[6] * this.halfWidth;\n        // half Height\n        di[12] = te[1] * this.halfHeight;\n        di[13] = te[4] * this.halfHeight;\n        di[14] = te[7] * this.halfHeight;\n        // half Depth\n        di[15] = te[2] * this.halfDepth;\n        di[16] = te[5] * this.halfDepth;\n        di[17] = te[8] * this.halfDepth;\n\n        var wx = di[9];\n        var wy = di[10];\n        var wz = di[11];\n        var hx = di[12];\n        var hy = di[13];\n        var hz = di[14];\n        var dx = di[15];\n        var dy = di[16];\n        var dz = di[17];\n\n        var x = this.position.x;\n        var y = this.position.y;\n        var z = this.position.z;\n\n        var v = this.elements;\n        //v1\n        v[0] = x + wx + hx + dx;\n        v[1] = y + wy + hy + dy;\n        v[2] = z + wz + hz + dz;\n        //v2\n        v[3] = x + wx + hx - dx;\n        v[4] = y + wy + hy - dy;\n        v[5] = z + wz + hz - dz;\n        //v3\n        v[6] = x + wx - hx + dx;\n        v[7] = y + wy - hy + dy;\n        v[8] = z + wz - hz + dz;\n        //v4\n        v[9] = x + wx - hx - dx;\n        v[10] = y + wy - hy - dy;\n        v[11] = z + wz - hz - dz;\n        //v5\n        v[12] = x - wx + hx + dx;\n        v[13] = y - wy + hy + dy;\n        v[14] = z - wz + hz + dz;\n        //v6\n        v[15] = x - wx + hx - dx;\n        v[16] = y - wy + hy - dy;\n        v[17] = z - wz + hz - dz;\n        //v7\n        v[18] = x - wx - hx + dx;\n        v[19] = y - wy - hy + dy;\n        v[20] = z - wz - hz + dz;\n        //v8\n        v[21] = x - wx - hx - dx;\n        v[22] = y - wy - hy - dy;\n        v[23] = z - wz - hz - dz;\n\n        var w = di[9] < 0 ? -di[9] : di[9];\n        var h = di[10] < 0 ? -di[10] : di[10];\n        var d = di[11] < 0 ? -di[11] : di[11];\n\n        w = di[12] < 0 ? w - di[12] : w + di[12];\n        h = di[13] < 0 ? h - di[13] : h + di[13];\n        d = di[14] < 0 ? d - di[14] : d + di[14];\n\n        w = di[15] < 0 ? w - di[15] : w + di[15];\n        h = di[16] < 0 ? h - di[16] : h + di[16];\n        d = di[17] < 0 ? d - di[17] : d + di[17];\n\n        var p = AABB_PROX;\n\n        this.aabb.set(this.position.x - w - p, this.position.x + w + p, this.position.y - h - p, this.position.y + h + p, this.position.z - d - p, this.position.z + d + p);\n\n        if (this.proxy != null) this.proxy.update();\n    }\n});\n\n/**\r\n * Sphere shape\r\n * @author saharan\r\n * @author lo-th\r\n */\n\nfunction Sphere(config, radius) {\n\n    Shape.call(this, config);\n\n    this.type = SHAPE_SPHERE;\n\n    // radius of the shape.\n    this.radius = radius;\n}\n\nSphere.prototype = Object.assign(Object.create(Shape.prototype), {\n\n    constructor: Sphere,\n\n    volume: function () {\n\n        return _Math.PI * this.radius * 1.333333;\n    },\n\n    calculateMassInfo: function (out) {\n\n        var mass = this.volume() * this.radius * this.radius * this.density; //1.333 * _Math.PI * this.radius * this.radius * this.radius * this.density;\n        out.mass = mass;\n        var inertia = mass * this.radius * this.radius * 0.4;\n        out.inertia.set(inertia, 0, 0, 0, inertia, 0, 0, 0, inertia);\n    },\n\n    updateProxy: function () {\n\n        var p = AABB_PROX;\n\n        this.aabb.set(this.position.x - this.radius - p, this.position.x + this.radius + p, this.position.y - this.radius - p, this.position.y + this.radius + p, this.position.z - this.radius - p, this.position.z + this.radius + p);\n\n        if (this.proxy != null) this.proxy.update();\n    }\n\n});\n\n/**\r\n * Cylinder shape\r\n * @author saharan\r\n * @author lo-th\r\n */\n\nfunction Cylinder(config, radius, height) {\n\n    Shape.call(this, config);\n\n    this.type = SHAPE_CYLINDER;\n\n    this.radius = radius;\n    this.height = height;\n    this.halfHeight = height * 0.5;\n\n    this.normalDirection = new Vec3();\n    this.halfDirection = new Vec3();\n}\n\nCylinder.prototype = Object.assign(Object.create(Shape.prototype), {\n\n    constructor: Cylinder,\n\n    calculateMassInfo: function (out) {\n\n        var rsq = this.radius * this.radius;\n        var mass = _Math.PI * rsq * this.height * this.density;\n        var inertiaXZ = (0.25 * rsq + 0.0833 * this.height * this.height) * mass;\n        var inertiaY = 0.5 * rsq;\n        out.mass = mass;\n        out.inertia.set(inertiaXZ, 0, 0, 0, inertiaY, 0, 0, 0, inertiaXZ);\n    },\n\n    updateProxy: function () {\n\n        var te = this.rotation.elements;\n        var len, wx, hy, dz, xx, yy, zz, w, h, d, p;\n\n        xx = te[1] * te[1];\n        yy = te[4] * te[4];\n        zz = te[7] * te[7];\n\n        this.normalDirection.set(te[1], te[4], te[7]);\n        this.halfDirection.scale(this.normalDirection, this.halfHeight);\n\n        wx = 1 - xx;\n        len = _Math.sqrt(wx * wx + xx * yy + xx * zz);\n        if (len > 0) len = this.radius / len;\n        wx *= len;\n        hy = 1 - yy;\n        len = _Math.sqrt(yy * xx + hy * hy + yy * zz);\n        if (len > 0) len = this.radius / len;\n        hy *= len;\n        dz = 1 - zz;\n        len = _Math.sqrt(zz * xx + zz * yy + dz * dz);\n        if (len > 0) len = this.radius / len;\n        dz *= len;\n\n        w = this.halfDirection.x < 0 ? -this.halfDirection.x : this.halfDirection.x;\n        h = this.halfDirection.y < 0 ? -this.halfDirection.y : this.halfDirection.y;\n        d = this.halfDirection.z < 0 ? -this.halfDirection.z : this.halfDirection.z;\n\n        w = wx < 0 ? w - wx : w + wx;\n        h = hy < 0 ? h - hy : h + hy;\n