phaser/dist/p2.min.js

A fast, free and fun HTML5 Game Framework for Desktop and Mobile web browsers.

/* p2.js custom build for Phaser v2.1.2 - http://phaser.io - @photonstorm - (c) 2014 Photon Storm Ltd. */
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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},c.prototype.getCutEdges=function(){for(var a=[],b=[],d=[],e=new c,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(),d=this.copy(h,g,e).getCutEdges();for(var i=0;i<d.length;i++)b.push(d[i]);b.length<f&&(a=b,f=b.length,a.push([this.at(g),this.at(h)]))}return a},c.prototype.decomp=function(){var a=this.getCutEdges();return a.length>0?this.slice(a):[this]},c.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},c.prototype.isSimple=function(){for(var a=this.vertices,b=0;b<a.length-1;b++)for(var c=0;b-1>c;c++)if(e.segmentsIntersect(a[b],a[b+1],a[c],a[c+1]))return!1;for(var b=1;b<a.length-2;b++)if(e.segmentsIntersect(a[0],a[a.length-1],a[b],a[b+1]))return!1;return!0},c.prototype.quickDecomp=function(a,b,e,g,h,i){h=h||100,i=i||0,g=g||25,a="undefined"!=typeof a?a:[],b=b||[],e=e||[];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 c,u=new c,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)f.left(v.at(x-1),v.at(x),v.at(y))&&f.rightOn(v.at(x-1),v.at(x),v.at(y-1))&&(l=d(v.at(x-1),v.at(x),v.at(y),v.at(y-1)),f.right(v.at(x+1),v.at(x),l)&&(o=f.sqdist(v.vertices[x],l),n>o&&(n=o,k=l,r=y))),f.left(v.at(x+1),v.at(x),v.at(y+1))&&f.rightOn(v.at(x+1),v.at(x),v.at(y))&&(l=d(v.at(x+1),v.at(x),v.at(y),v.at(y+1)),f.left(v.at(x-1),v.at(x),l)&&(o=f.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,e.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)f.leftOn(v.at(x-1),v.at(x),v.at(y))&&f.rightOn(v.at(x+1),v.at(x),v.at(y))&&(o=f.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,e,g,h,i),u.quickDecomp(a,b,e,g,h,i)):(u.quickDecomp(a,b,e,g,h,i),t.quickDecomp(a,b,e,g,h,i)),a}return a.push(this),a},c.prototype.removeCollinearPoints=function(a){for(var b=0,c=this.vertices.length-1;this.vertices.length>3&&c>=0;--c)f.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":3,"./Point":4,"./Scalar":6,__browserify_Buffer:1,__browserify_process:2}],6:[function(a,b){function c(){}a("__browserify_process"),a("__browserify_Buffer");b.exports=c,c.eq=function(a,b,c){return c=c||0,Math.abs(a-b)<c}},{__browserify_Buffer:1,__browserify_process:2}],7:[function(a,b){a("__browserify_process"),a("__browserify_Buffer");b.exports={Polygon:a("./Polygon"),Point:a("./Point")}},{"./Point":4,"./Polygon":5,__browserify_Buffer:1,__browserify_process:2}],8:[function(a,b){a("__browserify_process"),a("__browserify_Buffer");b.exports={name:"p2",version:"0.6.0",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:"~0.4.0","grunt-contrib-jshint":"~0.9.2","grunt-contrib-nodeunit":"~0.1.2","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":"0.1.0"}}},{__browserify_Buffer:1,__browserify_process:2}],9:[function(a,b){function c(a){this.lowerBound=d.create(),a&&a.lowerBound&&d.copy(this.lowerBound,a.lowerBound),this.upperBound=d.create(),a&&a.upperBound&&d.copy(this.upperBound,a.upperBound)}{var d=(a("__browserify_process"),a("__browserify_Buffer"),a("../math/vec2"));a("../utils/Utils")}b.exports=c;var e=d.create();c.prototype.setFromPoints=function(a,b,c,f){var g=this.lowerBound,h=this.upperBound;"number"!=typeof c&&(c=0),0!==c?d.rotate(g,a[0],c):d.copy(g,a[0]),d.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];e[0]=i*m-j*n,e[1]=j*m+i*n,l=e}for(var o=0;2>o;o++)l[o]>h[o]&&(h[o]=l[o]),l[o]<g[o]&&(g[o]=l[o])}b&&(d.add(this.lowerBound,this.lowerBound,b),d.add(this.upperBound,this.upperBound,b)),f&&(this.lowerBound[0]-=f,this.lowerBound[1]-=f,this.upperBound[0]+=f,this.upperBound[1]+=f)},c.prototype.copy=function(a){d.copy(this.lowerBound,a.lowerBound),d.copy(this.upperBound,a.upperBound)},c.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)}},c.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])}},{"../math/vec2":31,"../utils/Utils":50,__browserify_Buffer:1,__browserify_process:2}],10:[function(a,b){function c(a){this.type=a,this.result=[],this.world=null,this.boundingVolumeType=c.AABB}var d=(a("__browserify_process"),a("__browserify_Buffer"),a("../math/vec2")),e=a("../objects/Body");b.exports=c,c.AABB=1,c.BOUNDING_CIRCLE=2,c.prototype.setWorld=function(a){this.world=a},c.prototype.getCollisionPairs=function(){throw new Error("getCollisionPairs must be implemented in a subclass!")};var f=d.create();c.boundingRadiusCheck=function(a,b){d.sub(f,a.position,b.position);var c=d.squaredLength(f),e=a.boundingRadius+b.boundingRadius;return e*e>=c},c.aabbCheck=function(a,b){return a.getAABB().overlaps(b.getAABB())},c.prototype.boundingVolumeCheck=function(a,b){var d;switch(this.boundingVolumeType){case c.BOUNDING_CIRCLE:d=c.boundingRadiusCheck(a,b);break;case c.AABB:d=c.aabbCheck(a,b);break;default:throw new Error("Bounding volume type not recognized: "+this.boundingVolumeType)}return d},c.canCollide=function(a,b){return a.type===e.STATIC&&b.type===e.STATIC?!1:a.type===e.KINEMATIC&&b.type===e.STATIC||a.type===e.STATIC&&b.type===e.KINEMATIC?!1:a.type===e.KINEMATIC&&b.type===e.KINEMATIC?!1:a.sleepState===e.SLEEPING&&b.sleepState===e.SLEEPING?!1:a.sleepState===e.SLEEPING&&b.type===e.STATIC||b.sleepState===e.SLEEPING&&a.type===e.STATIC?!1:!0},c.NAIVE=1,c.SAP=2},{"../math/vec2":31,"../objects/Body":32,__browserify_Buffer:1,__browserify_process:2}],11:[function(a,b){function c(a){d.apply(this),a=e.defaults(a,{xmin:-100,xmax:100,ymin:-100,ymax:100,nx:10,ny:10}),this.xmin=a.xmin,this.ymin=a.ymin,this.xmax=a.xmax,this.ymax=a.ymax,this.nx=a.nx,this.ny=a.ny,this.binsizeX=(this.xmax-this.xmin)/this.nx,this.binsizeY=(this.ymax-this.ymin)/this.ny}var d=(a("__browserify_process"),a("__browserify_Buffer"),a("../shapes/Circle"),a("../shapes/Plane"),a("../shapes/Particle"),a("../collision/Broadphase")),e=(a("../math/vec2"),a("../utils/Utils"));b.exports=c,c.prototype=new d,c.prototype.getCollisionPairs=function(a){for(var b=[],c=a.bodies,e=c.length,f=(this.binsizeX,this.binsizeY,this.nx),g=this.ny,h=this.xmin,i=this.ymin,j=this.xmax,k=this.ymax,l=[],m=f*g,n=0;m>n;n++)l.push([]);for(var o=f/(j-h),p=g/(k-i),n=0;n!==e;n++)for(var q=c[n],r=q.aabb,s=Math.max(r.lowerBound[0],h),t=Math.max(r.lowerBound[1],i),u=Math.min(r.upperBound[0],j),v=Math.min(r.upperBound[1],k),w=Math.floor(o*(s-h)),x=Math.floor(p*(t-i)),y=Math.floor(o*(u-h)),z=Math.floor(p*(v-i)),A=w;y>=A;A++)for(var B=x;z>=B;B++){var C=A,D=B,E=C*(g-1)+D;E>=0&&m>E&&l[E].push(q)}for(var n=0;n!==m;n++)for(var F=l[n],A=0,G=F.length;A!==G;A++)for(var q=F[A],B=0;B!==A;B++){var H=F[B];d.canCollide(q,H)&&this.boundingVolumeCheck(q,H)&&b.push(q,H)}return b}},{"../collision/Broadphase":10,"../math/vec2":31,"../shapes/Circle":38,"../shapes/Particle":42,"../shapes/Plane":43,"../utils/Utils":50,__browserify_Buffer:1,__browserify_process:2}],12:[function(a,b){function c(){d.call(this,d.NAIVE)}{var d=(a("__browserify_process"),a("__browserify_Buffer"),a("../shapes/Circle"),a("../shapes/Plane"),a("../shapes/Shape"),a("../shapes/Particle"),a("../collision/Broadphase"));a("../math/vec2")}b.exports=c,c.prototype=new d,c.prototype.getCollisionPairs=function(a){var b=a.bodies,c=this.result;c.length=0;for(var e=0,f=b.length;e!==f;e++)for(var g=b[e],h=0;e>h;h++){var i=b[h];d.canCollide(g,i)&&this.boundingVolumeCheck(g,i)&&c.push(g,i)}return c}},{"../collision/Broadphase":10,"../math/vec2":31,"../shapes/Circle":38,"../shapes/Particle":42,"../shapes/Plane":43,"../shapes/Shape":45,__browserify_Buffer:1,__browserify_process:2}],13:[function(a,b){function c(){this.contactEquations=[],this.frictionEquations=[],this.enableFriction=!0,this.slipForce=10,this.frictionCoefficient=.3,this.surfaceVelocity=0,this.reuseObjects=!0,this.reusableContactEquations=[],this.reusableFrictionEquations=[],this.restitution=0,this.stiffness=l.DEFAULT_STIFFNESS,this.relaxation=l.DEFAULT_RELAXATION,this.frictionStiffness=l.DEFAULT_STIFFNESS,this.frictionRelaxation=l.DEFAULT_RELAXATION,this.enableFrictionReduction=!0,this.collidingBodiesLastStep=new k,this.contactSkinSize=.01}function d(a,b){f.set(a.vertices[0],.5*-b.length,-b.radius),f.set(a.vertices[1],.5*b.length,-b.radius),f.set(a.vertices[2],.5*b.length,b.radius),f.set(a.vertices[3],.5*-b.length,b.radius)}function e(a,b,c,d){for(var e=R,i=S,j=T,k=U,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];f.rotate(e,p,d),f.rotate(i,q,d),h(e,e,c),h(i,i,c),g(j,e,l),g(k,i,l);var r=f.crossLength(j,k);if(null===n&&(n=r),0>=r*n)return!1;n=r}return!0}var f=(a("__browserify_process"),a("__browserify_Buffer"),a("../math/vec2")),g=f.sub,h=f.add,i=f.dot,j=a("../utils/Utils"),k=a("../utils/TupleDictionary"),l=a("../equations/Equation"),m=a("../equations/ContactEquation"),n=a("../equations/FrictionEquation"),o=a("../shapes/Circle"),p=a("../shapes/Convex"),q=a("../shapes/Shape"),r=(a("../objects/Body"),a("../shapes/Rectangle"));b.exports=c;var s=f.fromValues(0,1),t=f.fromValues(0,0),u=f.fromValues(0,0),v=f.fromValues(0,0),w=f.fromValues(0,0),x=f.fromValues(0,0),y=f.fromValues(0,0),z=f.fromValues(0,0),A=f.fromValues(0,0),B=f.fromValues(0,0),C=f.fromValues(0,0),D=f.fromValues(0,0),E=f.fromValues(0,0),F=f.fromValues(0,0),G=f.fromValues(0,0),H=f.fromValues(0,0),I=f.fromValues(0,0),J=f.fromValues(0,0),K=f.fromValues(0,0),L=[];c.prototype.collidedLastStep=function(a,b){var c=0|a.id,d=0|b.id;return!!this.collidingBodiesLastStep.get(c,d)},c.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)}if(this.reuseObjects){var f=this.contactEquations,g=this.frictionEquations,h=this.reusableFrictionEquations,i=this.reusableContactEquations;j.appendArray(i,f),j.appendArray(h,g)}this.contactEquations.length=this.frictionEquations.length=0},c.prototype.createContactEquation=function(a,b,c,d){var e=this.reusableContactEquations.length?this.reusableContactEquations.pop():new m(a,b);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=!0,e.offset=this.contactSkinSize,e},c.prototype.createFrictionEquation=function(a,b,c,d){var e=this.reusableFrictionEquations.length?this.reusableFrictionEquations.pop():new n(a,b);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=!0,e.needsUpdate=!0,e.stiffness=this.frictionStiffness,e.relaxation=this.frictionRelaxation,e.contactEquations.length=0,e},c.prototype.createFrictionFromContact=function(a){var b=this.createFrictionEquation(a.bodyA,a.bodyB,a.shapeA,a.shapeB);return f.copy(b.contactPointA,a.contactPointA),f.copy(b.contactPointB,a.contactPointB),f.rotate90cw(b.t,a.normalA),b.contactEquations.push(a),b},c.prototype.createFrictionFromAverage=function(a){if(!a)throw new Error("numContacts == 0!");{var b=this.contactEquations[this.contactEquations.length-1],c=this.createFrictionEquation(b.bodyA,b.bodyB,b.shapeA,b.shapeB),d=b.bodyA;b.bodyB}f.set(c.contactPointA,0,0),f.set(c.contactPointB,0,0),f.set(c.t,0,0);for(var e=0;e!==a;e++)b=this.contactEquations[this.contactEquations.length-1-e],b.bodyA===d?(f.add(c.t,c.t,b.normalA),f.add(c.contactPointA,c.contactPointA,b.contactPointA),f.add(c.contactPointB,c.contactPointB,b.contactPointB)):(f.sub(c.t,c.t,b.normalA),f.add(c.contactPointA,c.contactPointA,b.contactPointB),f.add(c.contactPointB,c.contactPointB,b.contactPointA)),c.contactEquations.push(b);var g=1/a;return f.scale(c.contactPointA,c.contactPointA,g),f.scale(c.contactPointB,c.contactPointB,g),f.normalize(c.t,c.t),f.rotate90cw(c.t,c.t),c},c.prototype[q.LINE|q.CONVEX]=c.prototype.convexLine=function(a,b,c,d,e,f,g,h,i){return i?!1:0},c.prototype[q.LINE|q.RECTANGLE]=c.prototype.lineRectangle=function(a,b,c,d,e,f,g,h,i){return i?!1:0};var M=new r(1,1),N=f.create();c.prototype[q.CAPSULE|q.CONVEX]=c.prototype[q.CAPSULE|q.RECTANGLE]=c.prototype.convexCapsule=function(a,b,c,e,g,h,i,j,k){var l=N;f.set(l,h.length/2,0),f.rotate(l,l,j),f.add(l,l,i);var m=this.circleConvex(g,h,l,j,a,b,c,e,k,h.radius);f.set(l,-h.length/2,0),f.rotate(l,l,j),f.add(l,l,i);var n=this.circleConvex(g,h,l,j,a,b,c,e,k,h.radius);if(k&&(m||n))return!0;var o=M;d(o,h);var p=this.convexConvex(a,b,c,e,g,o,i,j,k);return p+m+n},c.prototype[q.CAPSULE|q.LINE]=c.prototype.lineCapsule=function(a,b,c,d,e,f,g,h,i){return i?!1:0};var O=f.create(),P=f.create(),Q=new r(1,1);c.prototype[q.CAPSULE|q.CAPSULE]=c.prototype.capsuleCapsule=function(a,b,c,e,g,h,i,j,k){for(var l,m=O,n=P,o=0,p=0;2>p;p++){f.set(m,(0===p?-1:1)*b.length/2,0),f.rotate(m,m,e),f.add(m,m,c);for(var q=0;2>q;q++){f.set(n,(0===q?-1:1)*h.length/2,0),f.rotate(n,n,j),f.add(n,n,i),this.enableFrictionReduction&&(l=this.enableFriction,this.enableFriction=!1);var r=this.circleCircle(a,b,m,e,g,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=Q;d(s,b);var t=this.convexCapsule(a,s,c,e,g,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}d(s,h);var u=this.convexCapsule(g,s,i,j,a,b,c,e,k);return this.enableFrictionReduction&&(this.enableFriction=l),k&&u?!0:(o+=u,this.enableFrictionReduction&&o&&this.enableFriction&&this.frictionEquations.push(this.createFrictionFromAverage(o)),o)},c.prototype[q.LINE|q.LINE]=c.prototype.lineLine=function(a,b,c,d,e,f,g,h,i){return i?!1:0},c.prototype[q.PLANE|q.LINE]=c.prototype.planeLine=function(a,b,c,d,e,j,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;f.set(n,-j.length/2,0),f.set(o,j.length/2,0),f.rotate(p,n,l),f.rotate(q,o,l),h(p,p,k),h(q,q,k),f.copy(n,p),f.copy(o,q),g(r,o,n),f.normalize(C,r),f.rotate90cw(F,C),f.rotate(E,s,d),G[0]=n,G[1]=o;for(var I=0;I<G.length;I++){var J=G[I];g(D,J,c);var K=i(D,E);if(0>K){if(m)return!0;var M=this.createContactEquation(a,e,b,j);H++,f.copy(M.normalA,E),f.normalize(M.normalA,M.normalA),f.scale(D,E,K),g(M.contactPointA,J,D),g(M.contactPointA,M.contactPointA,a.position),g(M.contactPointB,J,k),h(M.contactPointB,M.contactPointB,k),g(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)},c.prototype[q.PARTICLE|q.CAPSULE]=c.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)},c.prototype[q.CIRCLE|q.LINE]=c.prototype.circleLine=function(a,b,c,d,e,j,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;f.set(K,-j.length/2,0),f.set(M,j.length/2,0),f.rotate(N,K,l),f.rotate(O,M,l),h(N,N,k),h(O,O,k),f.copy(K,N),f.copy(M,O),g(I,M,K),f.normalize(J,I),f.rotate90cw(H,J),g(P,c,K);var T=i(P,H);g(s,K,k),g(Q,c,k);var U=o+n;if(Math.abs(T)<U){f.scale(p,H,T),g(r,c,p),f.scale(q,H,i(H,Q)),f.normalize(q,q),f.scale(q,q,n),h(r,r,q);var V=i(J,r),W=i(J,K),X=i(J,M);if(V>W&&X>V){if(m)return!0;var Y=this.createContactEquation(a,e,b,j);return f.scale(Y.normalA,p,-1),f.normalize(Y.normalA,Y.normalA),f.scale(Y.contactPointA,Y.normalA,o),h(Y.contactPointA,Y.contactPointA,c),g(Y.contactPointA,Y.contactPointA,a.position),g(Y.contactPointB,r,k),h(Y.contactPointB,Y.contactPointB,k),g(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 $=S[Z];if(g(P,$,c),f.squaredLength(P)<Math.pow(U,2)){if(m)return!0;var Y=this.createContactEquation(a,e,b,j);return f.copy(Y.normalA,P),f.normalize(Y.normalA,Y.normalA),f.scale(Y.contactPointA,Y.normalA,o),h(Y.contactPointA,Y.contactPointA,c),g(Y.contactPointA,Y.contactPointA,a.position),g(Y.contactPointB,$,k),f.scale(R,Y.normalA,-n),h(Y.contactPointB,Y.contactPointB,R),h(Y.contactPointB,Y.contactPointB,k),g(Y.contactPointB,Y.contactPointB,e.position),this.contactEquations.push(Y),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(Y)),1}}return 0},c.prototype[q.CIRCLE|q.CAPSULE]=c.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)},c.prototype[q.CIRCLE|q.CONVEX]=c.prototype[q.CIRCLE|q.RECTANGLE]=c.prototype.circleConvex=function(a,b,c,d,i,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(f.rotate(o,O,l),f.rotate(p,P,l),h(o,o,k),h(p,p,k),g(q,p,o),f.normalize(r,q),f.rotate90cw(s,r),f.scale(B,s,-b.radius),h(B,B,c),e(B,j,k,l)){f.sub(E,o,B);var Q=Math.abs(f.dot(E,s));L>Q&&(f.copy(J,B),L=Q,f.scale(A,s,Q),f.add(A,A,B),K=!0)}}if(K){if(m)return!0;var R=this.createContactEquation(a,i,b,j);return f.sub(R.normalA,J,c),f.normalize(R.normalA,R.normalA),f.scale(R.contactPointA,R.normalA,n),h(R.contactPointA,R.contactPointA,c),g(R.contactPointA,R.contactPointA,a.position),g(R.contactPointB,A,k),h(R.contactPointB,R.contactPointB,k),g(R.contactPointB,R.contactPointB,i.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this