p2s/build/p2.min.js

A JavaScript 2D physics engine.

/**
 * The MIT License (MIT)
 *
 * Copyright (c) 2015 p2.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(a){if("object"==typeof exports)module.exports=a();else if("function"==typeof define&&false)define(a);else{var b;"undefined"!=typeof window?b=window:"undefined"!=typeof global?b=global:"undefined"!=typeof self&&(b=self),b.p2=a()}}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(a,b,c){function d(){}var e=a("./Scalar");b.exports=d,d.lineInt=function(a,b,c){c=c||0;var d,f,g,h,i,j,k,l=[0,0];return d=a[1][1]-a[0][1],f=a[0][0]-a[1][0],g=d*a[0][0]+f*a[0][1],h=b[1][1]-b[0][1],i=b[0][0]-b[1][0],j=h*b[0][0]+i*b[0][1],k=d*i-h*f,e.eq(k,0,c)||(l[0]=(i*g-f*j)/k,l[1]=(d*j-h*g)/k),l},d.segmentsIntersect=function(a,b,c,d){var e=b[0]-a[0],f=b[1]-a[1],g=d[0]-c[0],h=d[1]-c[1];if(g*f-h*e==0)return!1;var i=(e*(c[1]-a[1])+f*(a[0]-c[0]))/(g*f-h*e),j=(g*(a[1]-c[1])+h*(c[0]-a[0]))/(h*e-g*f);return i>=0&&1>=i&&j>=0&&1>=j}},{"./Scalar":4}],2:[function(a,b,c){function d(){}b.exports=d,d.area=function(a,b,c){return(b[0]-a[0])*(c[1]-a[1])-(c[0]-a[0])*(b[1]-a[1])},d.left=function(a,b,c){return d.area(a,b,c)>0},d.leftOn=function(a,b,c){return d.area(a,b,c)>=0},d.right=function(a,b,c){return d.area(a,b,c)<0},d.rightOn=function(a,b,c){return d.area(a,b,c)<=0};var e=[],f=[];d.collinear=function(a,b,c,g){if(g){var h=e,i=f;h[0]=b[0]-a[0],h[1]=b[1]-a[1],i[0]=c[0]-b[0],i[1]=c[1]-b[1];var j=h[0]*i[0]+h[1]*i[1],k=Math.sqrt(h[0]*h[0]+h[1]*h[1]),l=Math.sqrt(i[0]*i[0]+i[1]*i[1]),m=Math.acos(j/(k*l));return g>m}return 0==d.area(a,b,c)},d.sqdist=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return c*c+d*d}},{}],3:[function(a,b,c){function d(){this.vertices=[]}function e(a,b,c,d,e){e=e||0;var f=b[1]-a[1],g=a[0]-b[0],i=f*a[0]+g*a[1],j=d[1]-c[1],k=c[0]-d[0],l=j*c[0]+k*c[1],m=f*k-j*g;return h.eq(m,0,e)?[0,0]:[(k*i-g*l)/m,(f*l-j*i)/m]}var f=a("./Line"),g=a("./Point"),h=a("./Scalar");b.exports=d,d.prototype.at=function(a){var b=this.vertices,c=b.length;return b[0>a?a%c+c:a%c]},d.prototype.first=function(){return this.vertices[0]},d.prototype.last=function(){return this.vertices[this.vertices.length-1]},d.prototype.clear=function(){this.vertices.length=0},d.prototype.append=function(a,b,c){if("undefined"==typeof b)throw new Error("From is not given!");if("undefined"==typeof c)throw new Error("To is not given!");if(b>c-1)throw new Error("lol1");if(c>a.vertices.length)throw new Error("lol2");if(0>b)throw new Error("lol3");for(var d=b;c>d;d++)this.vertices.push(a.vertices[d])},d.prototype.makeCCW=function(){for(var a=0,b=this.vertices,c=1;c<this.vertices.length;++c)(b[c][1]<b[a][1]||b[c][1]==b[a][1]&&b[c][0]>b[a][0])&&(a=c);g.left(this.at(a-1),this.at(a),this.at(a+1))||this.reverse()},d.prototype.reverse=function(){for(var a=[],b=0,c=this.vertices.length;b!==c;b++)a.push(this.vertices.pop());this.vertices=a},d.prototype.isReflex=function(a){return g.right(this.at(a-1),this.at(a),this.at(a+1))};var i=[],j=[];d.prototype.canSee=function(a,b){var c,d,e=i,h=j;if(g.leftOn(this.at(a+1),this.at(a),this.at(b))&&g.rightOn(this.at(a-1),this.at(a),this.at(b)))return!1;d=g.sqdist(this.at(a),this.at(b));for(var k=0;k!==this.vertices.length;++k)if((k+1)%this.vertices.length!==a&&k!==a&&g.leftOn(this.at(a),this.at(b),this.at(k+1))&&g.rightOn(this.at(a),this.at(b),this.at(k))&&(e[0]=this.at(a),e[1]=this.at(b),h[0]=this.at(k),h[1]=this.at(k+1),c=f.lineInt(e,h),g.sqdist(this.at(a),c)<d))return!1;return!0},d.prototype.copy=function(a,b,c){var e=c||new d;if(e.clear(),b>a)for(var f=a;b>=f;f++)e.vertices.push(this.vertices[f]);else{for(var f=0;b>=f;f++)e.vertices.push(this.vertices[f]);for(var f=a;f<this.vertices.length;f++)e.vertices.push(this.vertices[f])}return e},d.prototype.getCutEdges=function(){for(var a=[],b=[],c=[],e=new d,f=Number.MAX_VALUE,g=0;g<this.vertices.length;++g)if(this.isReflex(g))for(var h=0;h<this.vertices.length;++h)if(this.canSee(g,h)){b=this.copy(g,h,e).getCutEdges(),c=this.copy(h,g,e).getCutEdges();for(var i=0;i<c.length;i++)b.push(c[i]);b.length<f&&(a=b,f=b.length,a.push([this.at(g),this.at(h)]))}return a},d.prototype.decomp=function(){var a=this.getCutEdges();return a.length>0?this.slice(a):[this]},d.prototype.slice=function(a){if(0==a.length)return[this];if(a instanceof Array&&a.length&&a[0]instanceof Array&&2==a[0].length&&a[0][0]instanceof Array){for(var b=[this],c=0;c<a.length;c++)for(var d=a[c],e=0;e<b.length;e++){var f=b[e],g=f.slice(d);if(g){b.splice(e,1),b.push(g[0],g[1]);break}}return b}var d=a,c=this.vertices.indexOf(d[0]),e=this.vertices.indexOf(d[1]);return-1!=c&&-1!=e?[this.copy(c,e),this.copy(e,c)]:!1},d.prototype.isSimple=function(){for(var a=this.vertices,b=0;b<a.length-1;b++)for(var c=0;b-1>c;c++)if(f.segmentsIntersect(a[b],a[b+1],a[c],a[c+1]))return!1;for(var b=1;b<a.length-2;b++)if(f.segmentsIntersect(a[0],a[a.length-1],a[b],a[b+1]))return!1;return!0},d.prototype.quickDecomp=function(a,b,c,f,h,i){h=h||100,i=i||0,f=f||25,a="undefined"!=typeof a?a:[],b=b||[],c=c||[];var j=[0,0],k=[0,0],l=[0,0],m=0,n=0,o=0,p=0,q=0,r=0,s=0,t=new d,u=new d,v=this,w=this.vertices;if(w.length<3)return a;if(i++,i>h)return console.warn("quickDecomp: max level ("+h+") reached."),a;for(var x=0;x<this.vertices.length;++x)if(v.isReflex(x)){b.push(v.vertices[x]),m=n=Number.MAX_VALUE;for(var y=0;y<this.vertices.length;++y)g.left(v.at(x-1),v.at(x),v.at(y))&&g.rightOn(v.at(x-1),v.at(x),v.at(y-1))&&(l=e(v.at(x-1),v.at(x),v.at(y),v.at(y-1)),g.right(v.at(x+1),v.at(x),l)&&(o=g.sqdist(v.vertices[x],l),n>o&&(n=o,k=l,r=y))),g.left(v.at(x+1),v.at(x),v.at(y+1))&&g.rightOn(v.at(x+1),v.at(x),v.at(y))&&(l=e(v.at(x+1),v.at(x),v.at(y),v.at(y+1)),g.left(v.at(x-1),v.at(x),l)&&(o=g.sqdist(v.vertices[x],l),m>o&&(m=o,j=l,q=y)));if(r==(q+1)%this.vertices.length)l[0]=(k[0]+j[0])/2,l[1]=(k[1]+j[1])/2,c.push(l),q>x?(t.append(v,x,q+1),t.vertices.push(l),u.vertices.push(l),0!=r&&u.append(v,r,v.vertices.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,v.vertices.length),t.append(v,0,q+1),t.vertices.push(l),u.vertices.push(l),u.append(v,r,x+1));else{if(r>q&&(q+=this.vertices.length),p=Number.MAX_VALUE,r>q)return a;for(var y=r;q>=y;++y)g.leftOn(v.at(x-1),v.at(x),v.at(y))&&g.rightOn(v.at(x+1),v.at(x),v.at(y))&&(o=g.sqdist(v.at(x),v.at(y)),p>o&&(p=o,s=y%this.vertices.length));s>x?(t.append(v,x,s+1),0!=s&&u.append(v,s,w.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,w.length),t.append(v,0,s+1),u.append(v,s,x+1))}return t.vertices.length<u.vertices.length?(t.quickDecomp(a,b,c,f,h,i),u.quickDecomp(a,b,c,f,h,i)):(u.quickDecomp(a,b,c,f,h,i),t.quickDecomp(a,b,c,f,h,i)),a}return a.push(this),a},d.prototype.removeCollinearPoints=function(a){for(var b=0,c=this.vertices.length-1;this.vertices.length>3&&c>=0;--c)g.collinear(this.at(c-1),this.at(c),this.at(c+1),a)&&(this.vertices.splice(c%this.vertices.length,1),c--,b++);return b}},{"./Line":1,"./Point":2,"./Scalar":4}],4:[function(a,b,c){function d(){}b.exports=d,d.eq=function(a,b,c){return c=c||0,Math.abs(a-b)<c}},{}],5:[function(a,b,c){b.exports={Polygon:a("./Polygon"),Point:a("./Point")}},{"./Point":2,"./Polygon":3}],6:[function(a,b,c){b.exports={name:"p2",version:"0.7.1",description:"A JavaScript 2D physics engine.",author:"Stefan Hedman <schteppe@gmail.com> (http://steffe.se)",keywords:["p2.js","p2","physics","engine","2d"],main:"./src/p2.js",engines:{node:"*"},repository:{type:"git",url:"https://github.com/schteppe/p2.js.git"},bugs:{url:"https://github.com/schteppe/p2.js/issues"},licenses:[{type:"MIT"}],devDependencies:{grunt:"^0.4.5","grunt-contrib-jshint":"^0.11.2","grunt-contrib-nodeunit":"^0.4.1","grunt-contrib-uglify":"~0.4.0","grunt-contrib-watch":"~0.5.0","grunt-browserify":"~2.0.1","grunt-contrib-concat":"^0.4.0"},dependencies:{"poly-decomp":"0.1.1"}}},{}],7:[function(a,b,c){function d(a){this.lowerBound=e.create(),a&&a.lowerBound&&e.copy(this.lowerBound,a.lowerBound),this.upperBound=e.create(),a&&a.upperBound&&e.copy(this.upperBound,a.upperBound)}var e=a("../math/vec2");a("../utils/Utils");b.exports=d;var f=e.create();d.prototype.setFromPoints=function(a,b,c,d){var g=this.lowerBound,h=this.upperBound;"number"!=typeof c&&(c=0),0!==c?e.rotate(g,a[0],c):e.copy(g,a[0]),e.copy(h,g);for(var i=Math.cos(c),j=Math.sin(c),k=1;k<a.length;k++){var l=a[k];if(0!==c){var m=l[0],n=l[1];f[0]=i*m-j*n,f[1]=j*m+i*n,l=f}for(var o=0;2>o;o++)l[o]>h[o]&&(h[o]=l[o]),l[o]<g[o]&&(g[o]=l[o])}b&&(e.add(this.lowerBound,this.lowerBound,b),e.add(this.upperBound,this.upperBound,b)),d&&(this.lowerBound[0]-=d,this.lowerBound[1]-=d,this.upperBound[0]+=d,this.upperBound[1]+=d)},d.prototype.copy=function(a){e.copy(this.lowerBound,a.lowerBound),e.copy(this.upperBound,a.upperBound)},d.prototype.extend=function(a){for(var b=2;b--;){var c=a.lowerBound[b];this.lowerBound[b]>c&&(this.lowerBound[b]=c);var d=a.upperBound[b];this.upperBound[b]<d&&(this.upperBound[b]=d)}},d.prototype.overlaps=function(a){var b=this.lowerBound,c=this.upperBound,d=a.lowerBound,e=a.upperBound;return(d[0]<=c[0]&&c[0]<=e[0]||b[0]<=e[0]&&e[0]<=c[0])&&(d[1]<=c[1]&&c[1]<=e[1]||b[1]<=e[1]&&e[1]<=c[1])},d.prototype.containsPoint=function(a){var b=this.lowerBound,c=this.upperBound;return b[0]<=a[0]&&a[0]<=c[0]&&b[1]<=a[1]&&a[1]<=c[1]},d.prototype.overlapsRay=function(a){var b=1/a.direction[0],c=1/a.direction[1],d=(this.lowerBound[0]-a.from[0])*b,e=(this.upperBound[0]-a.from[0])*b,f=(this.lowerBound[1]-a.from[1])*c,g=(this.upperBound[1]-a.from[1])*c,h=Math.max(Math.max(Math.min(d,e),Math.min(f,g))),i=Math.min(Math.min(Math.max(d,e),Math.max(f,g)));return 0>i?-1:h>i?-1:h}},{"../math/vec2":30,"../utils/Utils":57}],8:[function(a,b,c){function d(a){this.type=a,this.result=[],this.world=null,this.boundingVolumeType=d.AABB}var e=a("../math/vec2"),f=a("../objects/Body");b.exports=d,d.AABB=1,d.BOUNDING_CIRCLE=2,d.prototype.setWorld=function(a){this.world=a},d.prototype.getCollisionPairs=function(a){};var g=e.create();d.boundingRadiusCheck=function(a,b){e.sub(g,a.position,b.position);var c=e.squaredLength(g),d=a.boundingRadius+b.boundingRadius;return d*d>=c},d.aabbCheck=function(a,b){return a.getAABB().overlaps(b.getAABB())},d.prototype.boundingVolumeCheck=function(a,b){var c;switch(this.boundingVolumeType){case d.BOUNDING_CIRCLE:c=d.boundingRadiusCheck(a,b);break;case d.AABB:c=d.aabbCheck(a,b);break;default:throw new Error("Bounding volume type not recognized: "+this.boundingVolumeType)}return c},d.canCollide=function(a,b){var c=f.KINEMATIC,d=f.STATIC;return a.type===d&&b.type===d?!1:a.type===c&&b.type===d||a.type===d&&b.type===c?!1:a.type===c&&b.type===c?!1:a.sleepState===f.SLEEPING&&b.sleepState===f.SLEEPING?!1:a.sleepState===f.SLEEPING&&b.type===d||b.sleepState===f.SLEEPING&&a.type===d?!1:!0},d.NAIVE=1,d.SAP=2},{"../math/vec2":30,"../objects/Body":31}],9:[function(a,b,c){function d(){e.call(this,e.NAIVE)}var e=(a("../shapes/Circle"),a("../shapes/Plane"),a("../shapes/Shape"),a("../shapes/Particle"),a("../collision/Broadphase"));a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.getCollisionPairs=function(a){var b=a.bodies,c=this.result;c.length=0;for(var d=0,f=b.length;d!==f;d++)for(var g=b[d],h=0;d>h;h++){var i=b[h];e.canCollide(g,i)&&this.boundingVolumeCheck(g,i)&&c.push(g,i)}return c},d.prototype.aabbQuery=function(a,b,c){c=c||[];for(var d=a.bodies,e=0;e<d.length;e++){var f=d[e];f.aabbNeedsUpdate&&f.updateAABB(),f.aabb.overlaps(b)&&c.push(f)}return c}},{"../collision/Broadphase":8,"../math/vec2":30,"../shapes/Circle":39,"../shapes/Particle":43,"../shapes/Plane":44,"../shapes/Shape":45}],10:[function(a,b,c){function d(){this.contactEquations=[],this.frictionEquations=[],this.enableFriction=!0,this.enabledEquations=!0,this.slipForce=10,this.frictionCoefficient=.3,this.surfaceVelocity=0,this.contactEquationPool=new k({size:32}),this.frictionEquationPool=new l({size:64}),this.restitution=0,this.stiffness=n.DEFAULT_STIFFNESS,this.relaxation=n.DEFAULT_RELAXATION,this.frictionStiffness=n.DEFAULT_STIFFNESS,this.frictionRelaxation=n.DEFAULT_RELAXATION,this.enableFrictionReduction=!0,this.collidingBodiesLastStep=new m,this.contactSkinSize=.01}function e(a,b){g.set(a.vertices[0],.5*-b.length,-b.radius),g.set(a.vertices[1],.5*b.length,-b.radius),g.set(a.vertices[2],.5*b.length,b.radius),g.set(a.vertices[3],.5*-b.length,b.radius)}function f(a,b,c,d){for(var e=T,f=U,j=V,k=W,l=a,m=b.vertices,n=null,o=0;o!==m.length+1;o++){var p=m[o%m.length],q=m[(o+1)%m.length];g.rotate(e,p,d),g.rotate(f,q,d),i(e,e,c),i(f,f,c),h(j,e,l),h(k,f,l);var r=g.crossLength(j,k);if(null===n&&(n=r),0>=r*n)return!1;n=r}return!0}var g=a("../math/vec2"),h=g.sub,i=g.add,j=g.dot,k=(a("../utils/Utils"),a("../utils/ContactEquationPool")),l=a("../utils/FrictionEquationPool"),m=a("../utils/TupleDictionary"),n=a("../equations/Equation"),o=(a("../equations/ContactEquation"),a("../equations/FrictionEquation"),a("../shapes/Circle")),p=a("../shapes/Convex"),q=a("../shapes/Shape"),r=(a("../objects/Body"),a("../shapes/Box"));b.exports=d;var s=g.fromValues(0,1),t=g.fromValues(0,0),u=g.fromValues(0,0),v=g.fromValues(0,0),w=g.fromValues(0,0),x=g.fromValues(0,0),y=g.fromValues(0,0),z=g.fromValues(0,0),A=g.fromValues(0,0),B=g.fromValues(0,0),C=g.fromValues(0,0),D=g.fromValues(0,0),E=g.fromValues(0,0),F=g.fromValues(0,0),G=g.fromValues(0,0),H=g.fromValues(0,0),I=g.fromValues(0,0),J=g.fromValues(0,0),K=g.fromValues(0,0),L=[],M=g.create(),N=g.create();d.prototype.bodiesOverlap=function(a,b){for(var c=M,d=N,e=0,f=a.shapes.length;e!==f;e++){var g=a.shapes[e];a.toWorldFrame(c,g.position);for(var h=0,i=b.shapes.length;h!==i;h++){var j=b.shapes[h];if(b.toWorldFrame(d,j.position),this[g.type|j.type](a,g,c,g.angle+a.angle,b,j,d,j.angle+b.angle,!0))return!0}}return!1},d.prototype.collidedLastStep=function(a,b){var c=0|a.id,d=0|b.id;return!!this.collidingBodiesLastStep.get(c,d)},d.prototype.reset=function(){this.collidingBodiesLastStep.reset();for(var a=this.contactEquations,b=a.length;b--;){var c=a[b],d=c.bodyA.id,e=c.bodyB.id;this.collidingBodiesLastStep.set(d,e,!0)}for(var f=this.contactEquations,g=this.frictionEquations,h=0;h<f.length;h++)this.contactEquationPool.release(f[h]);for(var h=0;h<g.length;h++)this.frictionEquationPool.release(g[h]);this.contactEquations.length=this.frictionEquations.length=0},d.prototype.createContactEquation=function(a,b,c,d){var e=this.contactEquationPool.get();return e.bodyA=a,e.bodyB=b,e.shapeA=c,e.shapeB=d,e.restitution=this.restitution,e.firstImpact=!this.collidedLastStep(a,b),e.stiffness=this.stiffness,e.relaxation=this.relaxation,e.needsUpdate=!0,e.enabled=this.enabledEquations,e.offset=this.contactSkinSize,e},d.prototype.createFrictionEquation=function(a,b,c,d){var e=this.frictionEquationPool.get();return e.bodyA=a,e.bodyB=b,e.shapeA=c,e.shapeB=d,e.setSlipForce(this.slipForce),e.frictionCoefficient=this.frictionCoefficient,e.relativeVelocity=this.surfaceVelocity,e.enabled=this.enabledEquations,e.needsUpdate=!0,e.stiffness=this.frictionStiffness,e.relaxation=this.frictionRelaxation,e.contactEquations.length=0,e},d.prototype.createFrictionFromContact=function(a){var b=this.createFrictionEquation(a.bodyA,a.bodyB,a.shapeA,a.shapeB);return g.copy(b.contactPointA,a.contactPointA),g.copy(b.contactPointB,a.contactPointB),g.rotate90cw(b.t,a.normalA),b.contactEquations.push(a),b},d.prototype.createFrictionFromAverage=function(a){var b=this.contactEquations[this.contactEquations.length-1],c=this.createFrictionEquation(b.bodyA,b.bodyB,b.shapeA,b.shapeB),d=b.bodyA;b.bodyB;g.set(c.contactPointA,0,0),g.set(c.contactPointB,0,0),g.set(c.t,0,0);for(var e=0;e!==a;e++)b=this.contactEquations[this.contactEquations.length-1-e],b.bodyA===d?(g.add(c.t,c.t,b.normalA),g.add(c.contactPointA,c.contactPointA,b.contactPointA),g.add(c.contactPointB,c.contactPointB,b.contactPointB)):(g.sub(c.t,c.t,b.normalA),g.add(c.contactPointA,c.contactPointA,b.contactPointB),g.add(c.contactPointB,c.contactPointB,b.contactPointA)),c.contactEquations.push(b);var f=1/a;return g.scale(c.contactPointA,c.contactPointA,f),g.scale(c.contactPointB,c.contactPointB,f),g.normalize(c.t,c.t),g.rotate90cw(c.t,c.t),c},d.prototype[q.LINE|q.CONVEX]=d.prototype.convexLine=function(a,b,c,d,e,f,g,h,i){return i?!1:0},d.prototype[q.LINE|q.BOX]=d.prototype.lineBox=function(a,b,c,d,e,f,g,h,i){return i?!1:0};var O=new r({width:1,height:1}),P=g.create();d.prototype[q.CAPSULE|q.CONVEX]=d.prototype[q.CAPSULE|q.BOX]=d.prototype.convexCapsule=function(a,b,c,d,f,h,i,j,k){var l=P;g.set(l,h.length/2,0),g.rotate(l,l,j),g.add(l,l,i);var m=this.circleConvex(f,h,l,j,a,b,c,d,k,h.radius);g.set(l,-h.length/2,0),g.rotate(l,l,j),g.add(l,l,i);var n=this.circleConvex(f,h,l,j,a,b,c,d,k,h.radius);if(k&&(m||n))return!0;var o=O;e(o,h);var p=this.convexConvex(a,b,c,d,f,o,i,j,k);return p+m+n},d.prototype[q.CAPSULE|q.LINE]=d.prototype.lineCapsule=function(a,b,c,d,e,f,g,h,i){return i?!1:0};var Q=g.create(),R=g.create(),S=new r({width:1,height:1});d.prototype[q.CAPSULE|q.CAPSULE]=d.prototype.capsuleCapsule=function(a,b,c,d,f,h,i,j,k){for(var l,m=Q,n=R,o=0,p=0;2>p;p++){g.set(m,(0===p?-1:1)*b.length/2,0),g.rotate(m,m,d),g.add(m,m,c);for(var q=0;2>q;q++){g.set(n,(0===q?-1:1)*h.length/2,0),g.rotate(n,n,j),g.add(n,n,i),this.enableFrictionReduction&&(l=this.enableFriction,this.enableFriction=!1);var r=this.circleCircle(a,b,m,d,f,h,n,j,k,b.radius,h.radius);if(this.enableFrictionReduction&&(this.enableFriction=l),k&&r)return!0;o+=r}}this.enableFrictionReduction&&(l=this.enableFriction,this.enableFriction=!1);var s=S;e(s,b);var t=this.convexCapsule(a,s,c,d,f,h,i,j,k);if(this.enableFrictionReduction&&(this.enableFriction=l),k&&t)return!0;if(o+=t,this.enableFrictionReduction){var l=this.enableFriction;this.enableFriction=!1}e(s,h);var u=this.convexCapsule(f,s,i,j,a,b,c,d,k);return this.enableFrictionReduction&&(this.enableFriction=l),k&&u?!0:(o+=u,this.enableFrictionReduction&&o&&this.enableFriction&&this.frictionEquations.push(this.createFrictionFromAverage(o)),o)},d.prototype[q.LINE|q.LINE]=d.prototype.lineLine=function(a,b,c,d,e,f,g,h,i){return i?!1:0},d.prototype[q.PLANE|q.LINE]=d.prototype.planeLine=function(a,b,c,d,e,f,k,l,m){var n=t,o=u,p=v,q=w,r=x,C=y,D=z,E=A,F=B,G=L,H=0;g.set(n,-f.length/2,0),g.set(o,f.length/2,0),g.rotate(p,n,l),g.rotate(q,o,l),i(p,p,k),i(q,q,k),g.copy(n,p),g.copy(o,q),h(r,o,n),g.normalize(C,r),g.rotate90cw(F,C),g.rotate(E,s,d),G[0]=n,G[1]=o;for(var I=0;I<G.length;I++){var J=G[I];h(D,J,c);var K=j(D,E);if(0>K){if(m)return!0;var M=this.createContactEquation(a,e,b,f);H++,g.copy(M.normalA,E),g.normalize(M.normalA,M.normalA),g.scale(D,E,K),h(M.contactPointA,J,D),h(M.contactPointA,M.contactPointA,a.position),h(M.contactPointB,J,k),i(M.contactPointB,M.contactPointB,k),h(M.contactPointB,M.contactPointB,e.position),this.contactEquations.push(M),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(M))}}return m?!1:(this.enableFrictionReduction||H&&this.enableFriction&&this.frictionEquations.push(this.createFrictionFromAverage(H)),H)},d.prototype[q.PARTICLE|q.CAPSULE]=d.prototype.particleCapsule=function(a,b,c,d,e,f,g,h,i){return this.circleLine(a,b,c,d,e,f,g,h,i,f.radius,0)},d.prototype[q.CIRCLE|q.LINE]=d.prototype.circleLine=function(a,b,c,d,e,f,k,l,m,n,o){var n=n||0,o="undefined"!=typeof o?o:b.radius,p=t,q=u,r=v,s=w,H=x,I=y,J=z,K=A,M=B,N=C,O=D,P=E,Q=F,R=G,S=L;g.set(K,-f.length/2,0),g.set(M,f.length/2,0),g.rotate(N,K,l),g.rotate(O,M,l),i(N,N,k),i(O,O,k),g.copy(K,N),g.copy(M,O),h(I,M,K),g.normalize(J,I),g.rotate90cw(H,J),h(P,c,K);var T=j(P,H);h(s,K,k),h(Q,c,k);var U=o+n;if(Math.abs(T)<U){g.scale(p,H,T),h(r,c,p),g.scale(q,H,j(H,Q)),g.normalize(q,q),g.scale(q,q,n),i(r,r,q);var V=j(J,r),W=j(J,K),X=j(J,M);if(V>W&&X>V){if(m)return!0;var Y=this.createContactEquation(a,e,b,f);return g.scale(Y.normalA,p,-1),g.normalize(Y.normalA,Y.normalA),g.scale(Y.contactPointA,Y.normalA,o),i(Y.contactPointA,Y.contactPointA,c),h(Y.contactPointA,Y.contactPointA,a.position),h(Y.contactPointB,r,k),i(Y.contactPointB,Y.contactPointB,k),h(Y.contactPointB,Y.contactPointB,e.position),this.contactEquations.push(Y),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(Y)),1}}S[0]=K,S[1]=M;for(var Z=0;Z<S.length;Z++){var $=S[Z];if(h(P,$,c),g.squaredLength(P)<Math.pow(U,2)){if(m)return!0;var Y=this.createContactEquation(a,e,b,f);return g.copy(Y.normalA,P),g.normalize(Y.normalA,Y.normalA),g.scale(Y.contactPointA,Y.normalA,o),i(Y.contactPointA,Y.contactPointA,c),h(Y.contactPointA,Y.contactPointA,a.position),h(Y.contactPointB,$,k),g.scale(R,Y.normalA,-n),i(Y.contactPointB,Y.contactPointB,R),i(Y.contactPointB,Y.contactPointB,k),h(Y.contactPointB,Y.contactPointB,e.position),this.contactEquations.push(Y),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(Y)),1}}return 0},d.prototype[q.CIRCLE|q.CAPSULE]=d.prototype.circleCapsule=function(a,b,c,d,e,f,g,h,i){return this.circleLine(a,b,c,d,e,f,g,h,i,f.radius)},d.prototype[q.CIRCLE|q.CONVEX]=d.prototype[q.CIRCLE|q.BOX]=d.prototype.circleConvex=function(a,b,c,d,e,j,k,l,m,n){for(var n="number"==typeof n?n:b.radius,o=t,p=u,q=v,r=w,s=x,y=C,z=D,A=F,B=G,E=H,J=I,K=!1,L=Number.MAX_VALUE,M=j.vertices,N=0;N!==M.length+1;N++){var O=M[N%M.length],P=M[(N+1)%M.length];if(g.rotate(o,O,l),g.rotate(p,P,l),i(o,o,k),i(p,p,k),h(q,p,o),g.normalize(r,q),g.rotate90cw(s,r),g.scale(B,s,-b.radius),i(B,B,c),f(B,j,k,l)){g.sub(E,o,B);var Q=Math.abs(g.dot(E,s));L>Q&&(g.copy(J,B),L=Q,g.scale(A,s,Q),g.add(A,A,B),K=!0)}}if(K){if(m)return!0;var R=this.createContactEquation(a,e,b,j);return g.sub(R.normalA,J,c),g.normalize(R.normalA,R.normalA),g.scale(R.contactPointA,R.normalA,n),i(R.contactPointA,R.contactPointA,c),h(R.contactPointA,R.contactPointA,a.position),h(R.contactPointB,A,k),i(R.contactPointB,R.contactPointB,k),h(R.contactPointB,R.contactPointB,e.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(R)),1}if(n>0)for(var N=0;N<M.length;N++){var S=M[N];if(g.rotate(z,S,l),i(z,z,k),h(y,z,c),g.squaredLength(y)<Math.pow(n,2)){if(m)return!0;var R=this.createContactEquation(a,e,b,j);return g.copy(R.normalA,y),g.normalize(R.normalA,R.normalA),g.scale(R.contactPointA,R.normalA,n),i(R.contactPointA,R.contactPointA,c),h(R.contactPointA,R.contactPointA,a.position),h(R.contactPointB,z,k),i(R.contactPointB,R.contactPointB,k),h(R.contactPointB,R.contactPointB,e.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(R)),1}}return 0};var T=g.create(),U=g.create(),V=g.create(),W=g.create();d.prototype[q.PARTICLE|q.CONVEX]=d.prototype[q.PARTICLE|q.BOX]=d.prototype.particleConvex=function(a,b,c,d,e,k,l,m,n){var o=t,p=u,q=v,r=w,s=x,A=y,B=z,D=C,E=F,G=J,H=K,I=Number.MAX_VALUE,L=!1,M=k.vertices;if(!f(c,k,l,m))return 0;if(n)return!0;for(var N=0;N!==M.length+1;N++){var O=M[N%M.length],P=M[(N+1)%M.length];g.rotate(o,O,m),g.rotate(p,P,m),i(o,o,l),i(p,p,l),h(q,p,o),g.normalize(r,q),g.rotate90cw(s,r),h(D,c,o);j(D,s);h(A,o,l),h(B,c,l),g.sub(G,o,c);var Q=Math.abs(g.dot(G,s));I>Q&&(I=Q,g.scale(E,s,Q),g.add(E,E,c),g.copy(H,s),L=!0)}if(L){var R=this.createContactEquation(a,e,b,k);return g.scale(R.normalA,H,-1),g.normalize(R.normalA,R.normalA),g.set(R.contactPointA,0,0),i(R.contactPointA,R.contactPointA,c),h(R.contactPointA,R.contactPointA,a.position),h(R.contactPointB,E,l),i(R.contactPointB,R.contactPointB,l),h(R.contactPointB,R.contactPointB,e.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(R)),1}return 0},d.prototype[q.CIRCLE]=d.prototype.circleCircle=function(a,b,c,d,e,f,j,k,l,m,n){var o=t,m=m||b.radius,n=n||f.radius;h(o,c,j);var p=m+n;if(g.squaredLength(o)>Math.pow(p,2))return 0;if(l)return!0;var q=this.createContactEquation(a,e,b,f);return h(q.normalA,j,c),g.normalize(q.normalA,q.normalA),g.scale(q.contactPointA,q.normalA,m),g.scale(q.contactPointB,q.normalA,-n),i(q.contactPointA,q.contactPointA,c),h(q.contactPointA,q.contactPointA,a.position),i(q.contactPointB,q.contactPointB,j),h(q.contactPointB,q.contactPointB,e.position),this.contactEquations.push(q),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(q)),1},d.prototype[q.PLANE|q.CONVEX]=d.prototype[q.PLANE|q.BOX]=d.prototype.planeConvex=function(a,b,c,d,e,f,k,l,m){var n=t,o=u,p=v,q=0;g.rotate(o,s,d);for(var r=0;r!==f.vertices.length;r++){var w=f.vertices[r];if(g.rotate(n,w,l),i(n,n,k),h(p,n,c),j(p,o)<=0){if(m)return!0;q++;var x=this.createContactEquation(a,e,b,f);h(p,n,c),g.copy(x.normalA,o);var y=j(p,x.normalA);g.scale(p,x.normalA,y),h(x.contactPointB,n,e.position),h(x.contactPointA,n,p),h(x.contactPointA,x.contactPointA,a.position),this.contactEquations.push(x),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(x))}}return this.enableFrictionReduction&&this.enableFriction&&q&&this.frictionEquations.push(this.createFrictionFromAverage(q)),q},d.prototype[q.PARTICLE|q.PLANE]=d.prototype.particlePlane=function(a,b,c,d,e,f,i,k,l){var m=t,n=u;k=k||0,h(m,c,i),g.rotate(n,s,k);var o=j(m,n);if(o>0)return 0;if(l)return!0;var p=this.createContactEquation(e,a,f,b);return g.copy(p.normalA,n),g.scale(m,p.normalA,o),h(p.contactPointA,c,m),h(p.contactPointA,p.contactPointA,e.position),h(p.contactPointB,c,a.position),this.contactEquations.push(p),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(p)),1},d.prototype[q.CIRCLE|q.PARTICLE]=d.prototype.circleParticle=function(a,b,c,d,e,f,j,k,l){var m=t;if(h(m,j,c),g.squaredLength(m)>Math.pow(b.radius,2))return 0;if(l)return!0;var n=this.createContactEquation(a,e,b,f);return g.copy(n.normalA,m),g.normalize(n.normalA,n.normalA),g.scale(n.contactPointA,n.normalA,b.radius),i(n.contactPointA,n.contactPointA,c),h(n.contactPointA,n.contactPointA,a.position),h(n.contactPointB,j,e.position),this.contactEquations.push(n),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(n)),1};var X=new o({radius:1}),Y=g.create(),Z=g.create();g.create();d.prototype[q.PLANE|q.CAPSULE]=d.prototype.planeCapsule=function(a,b,c,d,e,f,h,j,k){var l=Y,m=Z,n=X;g.set(l,-f.length/2,0),g.rotate(l,l,j),i(l,l,h),g.set(m,f.length/2,0),g.rotate(m,m,j),i(m,m,h),n.radius=f.radius;var o;this.enableFrictionReduction&&(o=this.enableFriction,this.enableFriction=!1);var p=this.circlePlane(e,n,l,0,a,b,c,d,k),q=this.circlePlane(e,n,m,0,a,b,c,d,k);if(this.enableFrictionReduction&&(this.enableFriction=o),k)return p||q;var r=p+q;return this.enableFrictionReduction&&r&&this.frictionEquations.push(this.createFrictionFromAverage(r)),r},d.prototype[q.CIRCLE|q.PLANE]=d.prototype.circlePlane=function(a,b,c,d,e,f,k,l,m){var n=a,o=b,p=c,q=e,r=k,w=l;w=w||0;var x=t,y=u,z=v;h(x,p,r),g.rotate(y,s,w);var A=j(y,x);if(A>o.radius)return 0;if(m)return!0;var B=this.createContactEquation(q,n,f,b);return g.copy(B.normalA,y),g.scale(B.contactPointB,B.normalA,-o.radius),i(B.contactPointB,B.contactPointB,p),h(B.contactPointB,B.contactPointB,n.position),g.scale(z,B.normalA,A),h(B.contactPointA,x,z),i(B.contactPointA,B.contactPointA,r),h(B.contactPointA,B.contactPointA,q.position),this.contactEquations.push(B),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(B)),1},d.prototype[q.CONVEX]=d.prototype[q.CONVEX|q.BOX]=d.prototype[q.BOX]=d.prototype.convexConvex=function(a,b,c,e,f,k,l,m,n,o){var p=t,q=u,r=v,s=w,y=x,C=z,D=A,E=B,F=0,o="number"==typeof o?o:0,G=d.findSeparatingAxis(b,c,e,k,l,m,p);if(!G)return 0;h(D,l,c),j(p,D)>0&&g.scale(p,p,-1);var H=d.getClosestEdge(b,e,p,!0),I=d.getClosestEdge(k,m,p);if(-1===H||-1===I)return 0;for(var J=0;2>J;J++){var K=H,L=I,M=b,N=k,O=c,P=l,Q=e,R=m,S=a,T=f;if(0===J){var U;U=K,K=L,L=U,U=M,M=N,N=U,U=O,O=P,P=U,U=Q,Q=R,R=U,U=S,S=T,T=U}for(var V=L;L+2>V;V++){var W=N.vertices[(V+N.vertices.length)%N.vertices.length];g.rotate(q,W,R),i(q,q,P);for(var X=0,Y=K-1;K+2>Y;Y++){var Z=M.vertices[(Y+M.vertices.length)%M.vertices.length],$=M.vertices[(Y+1+M.vertices.length)%M.vertices.length];g.rotate(r,Z,Q),g.rotate(s,$,Q),i(r,r,O),i(s,s,O),h(y,s,r),g.rotate90cw(E,y),g.normalize(E,E),h(D,q,r);var _=j(E,D);(Y===K&&o>=_||Y!==K&&0>=_)&&X++}if(X>=3){if(n)return!0;var aa=this.createContactEquation(S,T,M,N);F++;var Z=M.vertices[K%M.vertices.length],$=M.vertices[(K+1)%M.vertices.length];g.rotate(r,Z,Q),g.rotate(s,$,Q),i(r,r,O),i(s,s,O),h(y,s,r),g.rotate90cw(aa.normalA,y),g.normalize(aa.normalA,aa.normalA),h(D,q,r);var _=j(aa.normalA,D);g.scale(C,aa.normalA,_),h(aa.contactPointA,q,O),h(aa.contactPointA,aa.contactPointA,C),i(aa.contactPointA,aa.contactPointA,O),h(aa.contactPointA,aa.contactPointA,S.position),h(aa.contactPointB,q,P),i(aa.contactPointB,aa.contactPointB,P),h(aa.contactPointB,aa.contactPointB,T.position),this.contactEquations.push(aa),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(aa))}}}return this.enableFrictionReduction&&this.enableFriction&&F&&this.frictionEquations.push(this.createFrictionFromAverage(F)),F};var $=g.fromValues(0,0);d.projectConvexOntoAxis=function(a,b,c,d,e){var f,h,i=null,k=null,l=$;g.rotate(l,d,-c);for(var m=0;m<a.vertices.length;m++)f=a.vertices[m],h=j(f,l),(null===i||h>i)&&(i=h),(null===k||k>h)&&(k=h);if(k>i){var n=k;k=i,i=n}var o=j(b,d);g.set(e,k+o,i+o)};var _=g.fromValues(0,0),aa=g.fromValues(0,0),ba=g.fromValues(0,0),ca=g.fromValues(0,0),da=g.fromValues(0,0),ea=g.fromValues(0,0);d.findSeparatingAxis=function(a,b,c,e,f,i,j){var k=null,l=!1,m=!1,n=_,o=aa,p=ba,q=ca,s=da,t=ea;if(a instanceof r&&e instanceof r)for(var u=0;2!==u;u++){var v=a,w=c;1===u&&(v=e,w=i);for(var x=0;2!==x;x++){0===x?g.set(q,0,1):1===x&&g.set(q,1,0),0!==w&&g.rotate(q,q,w),d.projectConvexOntoAxis(a,b,c,q,s),d.projectConvexOntoAxis(e,f,i,q,t);var y=s,z=t,A=!1;s[0]>t[0]&&(z=s,y=t,A=!0);var B=z[0]-y[1];l=0>=B,(null===k||B>k)&&(g.copy(j,q),k=B,m=l)}}else for(var u=0;2!==u;u++){var v=a,w=c;1===u&&(v=e,w=i);for(var x=0;x!==v.vertices.length;x++){g.rotate(o,v.vertices[x],w),g.rotate(p,v.vertices[(x+1)%v.vertices.length],w),h(n,p,o),g.rotate90cw(q,n),g.normalize(q,q),d.projectConvexOntoAxis(a,b,c,q,s),d.projectConvexOntoAxis(e,f,i,q,t);var y=s,z=t,A=!1;s[0]>t[0]&&(z=s,y=t,A=!0);var B=z[0]-y[1];l=0>=B,(null===k||B>k)&&(g.copy(j,q),k=B,m=l)}}return m};var fa=g.fromValues(0,0),ga=g.fromValues(0,0),ha=g.fromValues(0,0);d.getClosestEdge=function(a,b,c,d){var e=fa,f=ga,i=ha;g.rotate(e,c,-b),d&&g.scale(e,e,-1);for(var k=-1,l=a.vertices.length,m=-1,n=0;n!==l;n++){h(f,a.vertices[(n+1)%l],a.vertices[n%l]),g.rotate90cw(i,f),g.normalize(i,i);var o=j(i,e);(-1===k||o>m)&&(k=n%l,m=o)}return k};var ia=g.create(),ja=g.create(),ka=g.create(),la=g.create(),ma=g.create(),na=g.create(),oa=g.create();d.prototype[q.CIRCLE|q.HEIGHTFIELD]=d.prototype.circleHeightfield=function(a,b,c,d,e,f,j,k,l,m){var n=f.heights,m=m||b.radius,o=f.elementWidth,p=ja,q=ia,r=ma,s=oa,t=na,u=ka,v=la,w=Math.floor((c[0]-m-j[0])/o),x=Math.ceil((c[0]+m-j[0])/o);0>w&&(w=0),x>=n.length&&(x=n.length-1);for(var y=n[w],z=n[x],A=w;x>A;A++)n[A]<z&&(z=n[A]),n[A]>y&&(y=n[A]);if(c[1]-m>y)return l?!1:0;for(var B=!1,A=w;x>A;A++){g.set(u,A*o,n[A]),g.set(v,(A+1)*o,n[A+1]),g.add(u,u,j),g.add(v,v,j),g.sub(t,v,u),g.rotate(t,t,Math.PI/2),g.normalize(t,t),g.scale(q,t,-m),g.add(q,q,c),g.sub(p,q,u);var C=g.dot(p,t);if(q[0]>=u[0]&&q[0]<v[0]&&0>=C){if(l)return!0;B=!0,g.scale(p,t,-C),g.add(r,q,p),g.copy(s,t);var D=this.createContactEquation(e,a,f,b);g.copy(D.normalA,s),g.scale(D.contactPointB,D.normalA,-m),i(D.contactPointB,D.contactPointB,c),h(D.contactPointB,D.contactPointB,a.position),g.copy(D.contactPointA,r),g.sub(D.contactPointA,D.contactPointA,e.position),this.contactEquations.push(D),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(D))}}if(B=!1,m>0)for(var A=w;x>=A;A++)if(g.set(u,A*o,n[A]),g.add(u,u,j),g.sub(p,c,u),g.squaredLength(p)<Math.pow(m,2)){
if(l)return!0;B=!0;var D=this.createContactEquation(e,a,f,b);g.copy(D.normalA,p),g.normalize(D.normalA,D.normalA),g.scale(D.contactPointB,D.normalA,-m),i(D.contactPointB,D.contactPointB,c),h(D.contactPointB,D.contactPointB,a.position),h(D.contactPointA,u,j),i(D.contactPointA,D.contactPointA,j),h(D.contactPointA,D.contactPointA,e.position),this.contactEquations.push(D),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(D))}return B?1:0};var pa=g.create(),qa=g.create(),ra=g.create(),sa=new p({vertices:[g.create(),g.create(),g.create(),g.create()]});d.prototype[q.BOX|q.HEIGHTFIELD]=d.prototype[q.CONVEX|q.HEIGHTFIELD]=d.prototype.convexHeightfield=function(a,b,c,d,e,f,h,i,j){var k=f.heights,l=f.elementWidth,m=pa,n=qa,o=ra,p=sa,q=Math.floor((a.aabb.lowerBound[0]-h[0])/l),r=Math.ceil((a.aabb.upperBound[0]-h[0])/l);0>q&&(q=0),r>=k.length&&(r=k.length-1);for(var s=k[q],t=k[r],u=q;r>u;u++)k[u]<t&&(t=k[u]),k[u]>s&&(s=k[u]);if(a.aabb.lowerBound[1]>s)return j?!1:0;for(var v=0,u=q;r>u;u++){g.set(m,u*l,k[u]),g.set(n,(u+1)*l,k[u+1]),g.add(m,m,h),g.add(n,n,h);var w=100;g.set(o,.5*(n[0]+m[0]),.5*(n[1]+m[1]-w)),g.sub(p.vertices[0],n,o),g.sub(p.vertices[1],m,o),g.copy(p.vertices[2],p.vertices[1]),g.copy(p.vertices[3],p.vertices[0]),p.vertices[2][1]-=w,p.vertices[3][1]-=w,v+=this.convexConvex(a,b,c,d,e,p,o,0,j)}return v}},{"../equations/ContactEquation":21,"../equations/Equation":22,"../equations/FrictionEquation":23,"../math/vec2":30,"../objects/Body":31,"../shapes/Box":37,"../shapes/Circle":39,"../shapes/Convex":40,"../shapes/Shape":45,"../utils/ContactEquationPool":48,"../utils/FrictionEquationPool":49,"../utils/TupleDictionary":56,"../utils/Utils":57}],11:[function(a,b,c){function d(a){a=a||{},this.from=a.from?f.fromValues(a.from[0],a.from[1]):f.create(),this.to=a.to?f.fromValues(a.to[0],a.to[1]):f.create(),this.checkCollisionResponse=void 0!==a.checkCollisionResponse?a.checkCollisionResponse:!0,this.skipBackfaces=!!a.skipBackfaces,this.collisionMask=void 0!==a.collisionMask?a.collisionMask:-1,this.collisionGroup=void 0!==a.collisionGroup?a.collisionGroup:-1,this.mode=void 0!==a.mode?a.mode:d.ANY,this.callback=a.callback||function(a){},this.direction=f.create(),this.length=1,this.update()}function e(a,b,c){f.sub(h,c,a);var d=f.dot(h,b);return f.scale(i,b,d),f.add(i,i,a),f.squaredDistance(c,i)}b.exports=d;var f=a("../math/vec2");a("../collision/RaycastResult"),a("../shapes/Shape"),a("../collision/AABB");d.prototype.constructor=d,d.CLOSEST=1,d.ANY=2,d.ALL=4,d.prototype.update=function(){var a=this.direction;f.sub(a,this.to,this.from),this.length=f.length(a),f.normalize(a,a)},d.prototype.intersectBodies=function(a,b){for(var c=0,d=b.length;!a.shouldStop(this)&&d>c;c++){var e=b[c],f=e.getAABB();(f.overlapsRay(this)>=0||f.containsPoint(this.from))&&this.intersectBody(a,e)}};var g=f.create();d.prototype.intersectBody=function(a,b){var c=this.checkCollisionResponse;if(!c||b.collisionResponse)for(var d=g,e=0,h=b.shapes.length;h>e;e++){var i=b.shapes[e];if((!c||i.collisionResponse)&&0!==(this.collisionGroup&i.collisionMask)&&0!==(i.collisionGroup&this.collisionMask)){f.rotate(d,i.position,b.angle),f.add(d,d,b.position);var j=i.angle+b.angle;if(this.intersectShape(a,i,j,d,b),a.shouldStop(this))break}}},d.prototype.intersectShape=function(a,b,c,d,f){var g=this.from,h=e(g,this.direction,d);h>b.boundingRadius*b.boundingRadius||(this._currentBody=f,this._currentShape=b,b.raycast(a,this,d,c),this._currentBody=this._currentShape=null)},d.prototype.getAABB=function(a){var b=this.to,c=this.from;f.set(a.lowerBound,Math.min(b[0],c[0]),Math.min(b[1],c[1])),f.set(a.upperBound,Math.max(b[0],c[0]),Math.max(b[1],c[1]))};f.create();d.prototype.reportIntersection=function(a,b,c,e){var g=(this.from,this.to,this._currentShape),h=this._currentBody;if(!(this.skipBackfaces&&f.dot(c,this.direction)>0))switch(this.mode){case d.ALL:a.set(c,g,h,b,e),this.callback(a);break;case d.CLOSEST:(b<a.fraction||!a.hasHit())&&a.set(c,g,h,b,e);break;case d.ANY:a.set(c,g,h,b,e)}};var h=f.create(),i=f.create()},{"../collision/AABB":7,"../collision/RaycastResult":12,"../math/vec2":30,"../shapes/Shape":45}],12:[function(a,b,c){function d(){this.normal=e.create(),this.shape=null,this.body=null,this.faceIndex=-1,this.fraction=-1,this.isStopped=!1}var e=a("../math/vec2"),f=a("../collision/Ray");b.exports=d,d.prototype.reset=function(){e.set(this.normal,0,0),this.shape=null,this.body=null,this.faceIndex=-1,this.fraction=-1,this.isStopped=!1},d.prototype.getHitDistance=function(a){return e.distance(a.from,a.to)*this.fraction},d.prototype.hasHit=function(){return-1!==this.fraction},d.prototype.getHitPoint=function(a,b){e.lerp(a,b.from,b.to,this.fraction)},d.prototype.stop=function(){this.isStopped=!0},d.prototype.shouldStop=function(a){return this.isStopped||-1!==this.fraction&&a.mode===f.ANY},d.prototype.set=function(a,b,c,d,f){e.copy(this.normal,a),this.shape=b,this.body=c,this.fraction=d,this.faceIndex=f}},{"../collision/Ray":11,"../math/vec2":30}],13:[function(a,b,c){function d(){f.call(this,f.SAP),this.axisList=[],this.axisIndex=0;var a=this;this._addBodyHandler=function(b){a.axisList.push(b.body)},this._removeBodyHandler=function(b){var c=a.axisList.indexOf(b.body);-1!==c&&a.axisList.splice(c,1)}}var e=a("../utils/Utils"),f=a("../collision/Broadphase");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.setWorld=function(a){this.axisList.length=0,e.appendArray(this.axisList,a.bodies),a.off("addBody",this._addBodyHandler).off("removeBody",this._removeBodyHandler),a.on("addBody",this._addBodyHandler).on("removeBody",this._removeBodyHandler),this.world=a},d.sortAxisList=function(a,b){b=0|b;for(var c=1,d=a.length;d>c;c++){for(var e=a[c],f=c-1;f>=0&&!(a[f].aabb.lowerBound[b]<=e.aabb.lowerBound[b]);f--)a[f+1]=a[f];a[f+1]=e}return a},d.prototype.sortList=function(){var a=this.axisList,b=this.axisIndex;d.sortAxisList(a,b)},d.prototype.getCollisionPairs=function(a){var b=this.axisList,c=this.result,d=this.axisIndex;c.length=0;for(var e=b.length;e--;){var g=b[e];g.aabbNeedsUpdate&&g.updateAABB()}this.sortList();for(var h=0,i=0|b.length;h!==i;h++)for(var j=b[h],k=h+1;i>k;k++){var l=b[k],m=l.aabb.lowerBound[d]<=j.aabb.upperBound[d];if(!m)break;f.canCollide(j,l)&&this.boundingVolumeCheck(j,l)&&c.push(j,l)}return c},d.prototype.aabbQuery=function(a,b,c){c=c||[],this.sortList();var d=this.axisIndex,e="x";1===d&&(e="y"),2===d&&(e="z");for(var f=this.axisList,g=(b.lowerBound[e],b.upperBound[e],0);g<f.length;g++){var h=f[g];h.aabbNeedsUpdate&&h.updateAABB(),h.aabb.overlaps(b)&&c.push(h)}return c}},{"../collision/Broadphase":8,"../utils/Utils":57}],14:[function(a,b,c){function d(a,b,c,d){this.type=c,d=e.defaults(d,{collideConnected:!0,wakeUpBodies:!0}),this.equations=[],this.bodyA=a,this.bodyB=b,this.collideConnected=d.collideConnected,d.wakeUpBodies&&(a&&a.wakeUp(),b&&b.wakeUp())}b.exports=d;var e=a("../utils/Utils");d.prototype.update=function(){throw new Error("method update() not implmemented in this Constraint subclass!")},d.DISTANCE=1,d.GEAR=2,d.LOCK=3,d.PRISMATIC=4,d.REVOLUTE=5,d.prototype.setStiffness=function(a){for(var b=this.equations,c=0;c!==b.length;c++){var d=b[c];d.stiffness=a,d.needsUpdate=!0}},d.prototype.setRelaxation=function(a){for(var b=this.equations,c=0;c!==b.length;c++){var d=b[c];d.relaxation=a,d.needsUpdate=!0}}},{"../utils/Utils":57}],15:[function(a,b,c){function d(a,b,c){c=h.defaults(c,{localAnchorA:[0,0],localAnchorB:[0,0]}),e.call(this,a,b,e.DISTANCE,c),this.localAnchorA=g.fromValues(c.localAnchorA[0],c.localAnchorA[1]),this.localAnchorB=g.fromValues(c.localAnchorB[0],c.localAnchorB[1]);var d=this.localAnchorA,i=this.localAnchorB;if(this.distance=0,"number"==typeof c.distance)this.distance=c.distance;else{var j=g.create(),k=g.create(),l=g.create();g.rotate(j,d,a.angle),g.rotate(k,i,b.angle),g.add(l,b.position,k),g.sub(l,l,j),g.sub(l,l,a.position),this.distance=g.length(l)}var m;m="undefined"==typeof c.maxForce?Number.MAX_VALUE:c.maxForce;var n=new f(a,b,-m,m);this.equations=[n],this.maxForce=m;var l=g.create(),o=g.create(),p=g.create(),q=this;n.computeGq=function(){var a=this.bodyA,b=this.bodyB,c=a.position,e=b.position;return g.rotate(o,d,a.angle),g.rotate(p,i,b.angle),g.add(l,e,p),g.sub(l,l,o),g.sub(l,l,c),g.length(l)-q.distance},this.setMaxForce(m),this.upperLimitEnabled=!1,this.upperLimit=1,this.lowerLimitEnabled=!1,this.lowerLimit=0,this.position=0}var e=a("./Constraint"),f=a("../equations/Equation"),g=a("../math/vec2"),h=a("../utils/Utils");b.exports=d,d.prototype=new e,d.prototype.constructor=d;var i=g.create(),j=g.create(),k=g.create();d.prototype.update=function(){var a=this.equations[0],b=this.bodyA,c=this.bodyB,d=(this.distance,b.position),e=c.position,f=this.equations[0],h=a.G;g.rotate(j,this.localAnchorA,b.angle),g.rotate(k,this.localAnchorB,c.angle),g.add(i,e,k),g.sub(i,i,j),g.sub(i,i,d),this.position=g.length(i);var l=!1;if(this.upperLimitEnabled&&this.position>this.upperLimit&&(f.maxForce=0,f.minForce=-this.maxForce,this.distance=this.upperLimit,l=!0),this.lowerLimitEnabled&&this.position<this.lowerLimit&&(f.maxForce=this.maxForce,f.minForce=0,this.distance=this.lowerLimit,l=!0),(this.lowerLimitEnabled||this.upperLimitEnabled)&&!l)return void(f.enabled=!1);f.enabled=!0,g.normalize(i,i);var m=g.crossLength(j,i),n=g.crossLength(k,i);h[0]=-i[0],h[1]=-i[1],h[2]=-m,h[3]=i[0],h[4]=i[1],h[5]=n},d.prototype.setMaxForce=function(a){var b=this.equations[0];b.minForce=-a,b.maxForce=a},d.prototype.getMaxForce=function(){var a=this.equations[0];return a.maxForce}},{"../equations/Equation":22,"../math/vec2":30,"../utils/Utils":57,"./Constraint":14}],16:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,e.GEAR,c),this.ratio=void 0!==c.ratio?c.ratio:1,this.angle=void 0!==c.angle?c.angle:b.angle-this.ratio*a.angle,c.angle=this.angle,c.ratio=this.ratio,this.equations=[new f(a,b,c)],void 0!==c.maxTorque&&this.setMaxTorque(c.maxTorque)}var e=a("./Constraint"),f=(a("../equations/Equation"),a("../equations/AngleLockEquation"));a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.update=function(){var a=this.equations[0];a.ratio!==this.ratio&&a.setRatio(this.ratio),a.angle=this.angle},d.prototype.setMaxTorque=function(a){this.equations[0].setMaxTorque(a)},d.prototype.getMaxTorque=function(a){return this.equations[0].maxForce}},{"../equations/AngleLockEquation":20,"../equations/Equation":22,"../math/vec2":30,"./Constraint":14}],17:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,e.LOCK,c);var d="undefined"==typeof c.maxForce?Number.MAX_VALUE:c.maxForce,h=(c.localAngleB||0,new g(a,b,-d,d)),i=new g(a,b,-d,d),j=new g(a,b,-d,d),k=f.create(),l=f.create(),m=this;h.computeGq=function(){return f.rotate(k,m.localOffsetB,a.angle),f.sub(l,b.position,a.position),f.sub(l,l,k),l[0]},i.computeGq=function(){return f.rotate(k,m.localOffsetB,a.angle),f.sub(l,b.position,a.position),f.sub(l,l,k),l[1]};var n=f.create(),o=f.create();j.computeGq=function(){return f.rotate(n,m.localOffsetB,b.angle-m.localAngleB),f.scale(n,n,-1),f.sub(l,a.position,b.position),f.add(l,l,n),f.rotate(o,n,-Math.PI/2),f.normalize(o,o),f.dot(l,o)},this.localOffsetB=f.create(),c.localOffsetB?f.copy(this.localOffsetB,c.localOffsetB):(f.sub(this.localOffsetB,b.position,a.position),f.rotate(this.localOffsetB,this.localOffsetB,-a.angle)),this.localAngleB=0,"number"==typeof c.localAngleB?this.localAngleB=c.localAngleB:this.localAngleB=b.angle-a.angle,this.equations.push(h,i,j),this.setMaxForce(d)}var e=a("./Constraint"),f=a("../math/vec2"),g=a("../equations/Equation");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.setMaxForce=function(a){for(var b=this.equations,c=0;c<this.equations.length;c++)b[c].maxForce=a,b[c].minForce=-a},d.prototype.getMaxForce=function(){return this.equations[0].maxForce};var h=f.create(),i=f.create(),j=f.create(),k=f.fromValues(1,0),l=f.fromValues(0,1);d.prototype.update=function(){var a=this.equations[0],b=this.equations[1],c=this.equations[2],d=this.bodyA,e=this.bodyB;f.rotate(h,this.localOffsetB,d.angle),f.rotate(i,this.localOffsetB,e.angle-this.localAngleB),f.scale(i,i,-1),f.rotate(j,i,Math.PI/2),f.normalize(j,j),a.G[0]=-1,a.G[1]=0,a.G[2]=-f.crossLength(h,k),a.G[3]=1,b.G[0]=0,b.G[1]=-1,b.G[2]=-f.crossLength(h,l),b.G[4]=1,c.G[0]=-j[0],c.G[1]=-j[1],c.G[3]=j[0],c.G[4]=j[1],c.G[5]=f.crossLength(i,j)}},{"../equations/Equation":22,"../math/vec2":30,"./Constraint":14}],18:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,e.PRISMATIC,c);var d=h.fromValues(0,0),j=h.fromValues(1,0),k=h.fromValues(0,0);c.localAnchorA&&h.copy(d,c.localAnchorA),c.localAxisA&&h.copy(j,c.localAxisA),c.localAnchorB&&h.copy(k,c.localAnchorB),this.localAnchorA=d,this.localAnchorB=k,this.localAxisA=j;var l=this.maxForce="undefined"!=typeof c.maxForce?c.maxForce:Number.MAX_VALUE,m=new g(a,b,-l,l),n=new h.create,o=new h.create,p=new h.create,q=new h.create;if(m.computeGq=function(){return h.dot(p,q)},m.updateJacobian=function(){var c=this.G,e=a.position,f=b.position;h.rotate(n,d,a.angle),h.rotate(o,k,b.angle),h.add(p,f,o),h.sub(p,p,e),h.sub(p,p,n),h.rotate(q,j,a.angle+Math.PI/2),c[0]=-q[0],c[1]=-q[1],c[2]=-h.crossLength(n,q)+h.crossLength(q,p),c[3]=q[0],c[4]=q[1],c[5]=h.crossLength(o,q)},this.equations.push(m),!c.disableRotationalLock){var r=new i(a,b,-l,l);this.equations.push(r)}this.position=0,this.velocity=0,this.lowerLimitEnabled="undefined"!=typeof c.lowerLimit?!0:!1,this.upperLimitEnabled="undefined"!=typeof c.upperLimit?!0:!1,this.lowerLimit="undefined"!=typeof c.lowerLimit?c.lowerLimit:0,this.upperLimit="undefined"!=typeof c.upperLimit?c.upperLimit:1,this.upperLimitEquation=new f(a,b),this.lowerLimitEquation=new f(a,b),this.upperLimitEquation.minForce=this.lowerLimitEquation.minForce=0,this.upperLimitEquation.maxForce=this.lowerLimitEquation.maxForce=l,this.motorEquation=new g(a,b),this.motorEnabled=!1,this.motorSpeed=0;var s=this,t=this.motorEquation;t.computeGW;t.computeGq=function(){return 0},t.computeGW=function(){var a=this.G,b=this.bodyA,c=this.bodyB,d=b.velocity,e=c.velocity,f=b.angularVelocity,g=c.angularVelocity;return this.gmult(a,d,f,e,g)+s.motorSpeed}}var e=a("./Constraint"),f=a("../equations/ContactEquation"),g=a("../equations/Equation"),h=a("../math/vec2"),i=a("../equations/RotationalLockEquation");b.exports=d,d.prototype=new e,d.prototype.constructor=d;var j=h.create(),k=h.create(),l=h.create(),m=h.create(),n=h.create(),o=h.create();d.prototype.update=function(){var a=this.equations,b=a[0],c=this.upperLimit,d=this.lowerLimit,e=this.upperLimitEquation,f=this.lowerLimitEquation,g=this.bodyA,i=this.bodyB,p=this.localAxisA,q=this.localAnchorA,r=this.localAnchorB;b.updateJacobian(),h.rotate(j,p,g.angle),h.rotate(m,q,g.angle),h.add(k,m,g.position),h.rotate(n,r,i.angle),h.add(l,n,i.position);var s=this.position=h.dot(l,j)-h.dot(k,j);if(this.motorEnabled){var t=this.motorEquation.G;t[0]=j[0],t[1]=j[1],t[2]=h.crossLength(j,n),t[3]=-j[0],t[4]=-j[1],t[5]=-h.crossLength(j,m)}if(this.upperLimitEnabled&&s>c)h.scale(e.normalA,j,-1),h.sub(e.contactPointA,k,g.position),h.sub(e.contactPointB,l,i.position),h.scale(o,j,c),h.add(e.contactPointA,e.contactPointA,o),-1===a.indexOf(e)&&a.push(e);else{var u=a.indexOf(e);-1!==u&&a.splice(u,1)}if(this.lowerLimitEnabled&&d>s)h.scale(f.normalA,j,1),h.sub(f.contactPointA,k,g.position),h.sub(f.contactPointB,l,i.position),h.scale(o,j,d),h.sub(f.contactPointB,f.contactPointB,o),-1===a.indexOf(f)&&a.push(f);else{var u=a.indexOf(f);-1!==u&&a.splice(u,1)}},d.prototype.enableMotor=function(){this.motorEnabled||(this.equations.push(this.motorEquation),this.motorEnabled=!0)},d.prototype.disableMotor=function(){if(this.motorEnabled){var a=this.equations.indexOf(this.motorEquation);this.equations.splice(a,1),this.motorEnabled=!1}},d.prototype.setLimits=function(a,b){"number"==typeof a?(this.lowerLimit=a,this.lowerLimitEnabled=!0):(this.lowerLimit=a,this.lowerLimitEnabled=!1),"number"==typeof b?(this.upperLimit=b,this.upperLimitEnabled=!0):(this.upperLimit=b,this.upperLimitEnabled=!1)}},{"../equations/ContactEquation":21,"../equations/Equation":22,"../equations/RotationalLockEquation":24,"../math/vec2":30,"./Constraint":14}],19:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,e.REVOLUTE,c);var d=this.maxForce="undefined"!=typeof c.maxForce?c.maxForce:Number.MAX_VALUE;this.pivotA=i.create(),this.pivotB=i.create(),c.worldPivot?(i.sub(this.pivotA,c.worldPivot,a.position),i.sub(this.pivotB,c.worldPivot,b.position),i.rotate(this.pivotA,this.pivotA,-a.angle),i.rotate(this.pivotB,this.pivotB,-b.angle)):(i.copy(this.pivotA,c.localPivotA),i.copy(this.pivotB,c.localPivotB));var o=this.equations=[new f(a,b,-d,d),new f(a,b,-d,d)],p=o[0],q=o[1],r=this;p.computeGq=function(){return i.rotate(j,r.pivotA,a.angle),i.rotate(k,r.pivotB,b.angle),i.add(n,b.position,k),i.sub(n,n,a.position),i.sub(n,n,j