planck-js/dist/planck.min.js

2D JavaScript/TypeScript physics engine for cross-platform HTML5 game development

(function(global,factory){typeof exports==="object"&&typeof module!=="undefined"?factory(exports):typeof define==="function"&&define.amd?define(["exports"],factory):(global=typeof globalThis!=="undefined"?globalThis:global||self,factory(global.planck={}))})(this,(function(exports2){"use strict";
/**
 * Planck.js v1.3.0
 * @license The MIT license
 * @copyright Copyright (c) 2024 Erin Catto, Ali Shakiba
 *
 * 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.
 */
/*! *****************************************************************************
      Copyright (c) Microsoft Corporation.
  
      Permission to use, copy, modify, and/or distribute this software for any
      purpose with or without fee is hereby granted.
  
      THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
      REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
      AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
      INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
      LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
      OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
      PERFORMANCE OF THIS SOFTWARE.
      ***************************************************************************** */var extendStatics=function(d2,b2){extendStatics=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(d3,b3){d3.__proto__=b3}||function(d3,b3){for(var p in b3)if(Object.prototype.hasOwnProperty.call(b3,p))d3[p]=b3[p]};return extendStatics(d2,b2)};function __extends(d2,b2){if(typeof b2!=="function"&&b2!==null)throw new TypeError("Class extends value "+String(b2)+" is not a constructor or null");extendStatics(d2,b2);function __(){this.constructor=d2}d2.prototype=b2===null?Object.create(b2):(__.prototype=b2.prototype,new __)}var __assign=function(){__assign=Object.assign||function __assign2(t){for(var s2,i=1,n2=arguments.length;i<n2;i++){s2=arguments[i];for(var p in s2)if(Object.prototype.hasOwnProperty.call(s2,p))t[p]=s2[p]}return t};return __assign.apply(this,arguments)};var options=function(input2,defaults){if(input2===null||typeof input2==="undefined"){input2={}}var output2=__assign({},input2);for(var key in defaults){if(defaults.hasOwnProperty(key)&&typeof input2[key]==="undefined"){output2[key]=defaults[key]}}if(typeof Object.getOwnPropertySymbols==="function"){var symbols=Object.getOwnPropertySymbols(defaults);for(var i=0;i<symbols.length;i++){var symbol=symbols[i];if(defaults.propertyIsEnumerable(symbol)&&typeof input2[symbol]==="undefined"){output2[symbol]=defaults[symbol]}}}return output2};var math_random=Math.random;var EPSILON=1e-9;var isFinite=Number.isFinite;function nextPowerOfTwo(x2){x2|=x2>>1;x2|=x2>>2;x2|=x2>>4;x2|=x2>>8;x2|=x2>>16;return x2+1}function isPowerOfTwo(x2){return x2>0&&(x2&x2-1)===0}function mod(num,min,max){if(typeof min==="undefined"){max=1;min=0}else if(typeof max==="undefined"){max=min;min=0}if(max>min){num=(num-min)%(max-min);return num+(num<0?max:min)}else{num=(num-max)%(min-max);return num+(num<=0?min:max)}}function clamp(num,min,max){if(num<min){return min}else if(num>max){return max}else{return num}}function random(min,max){if(typeof min==="undefined"){max=1;min=0}else if(typeof max==="undefined"){max=min;min=0}return min===max?min:math_random()*(max-min)+min}var math=Object.create(Math);math.EPSILON=EPSILON;math.isFinite=isFinite;math.nextPowerOfTwo=nextPowerOfTwo;math.isPowerOfTwo=isPowerOfTwo;math.mod=mod;math.clamp=clamp;math.random=random;var math_abs$9=Math.abs;var math_sqrt$5=Math.sqrt;var math_max$8=Math.max;var math_min$8=Math.min;var Vec2=function(){function Vec22(x2,y){if(!(this instanceof Vec22)){return new Vec22(x2,y)}if(typeof x2==="undefined"){this.x=0;this.y=0}else if(typeof x2==="object"){this.x=x2.x;this.y=x2.y}else{this.x=x2;this.y=y}}Vec22.prototype._serialize=function(){return{x:this.x,y:this.y}};Vec22._deserialize=function(data){var obj=Object.create(Vec22.prototype);obj.x=data.x;obj.y=data.y;return obj};Vec22.zero=function(){var obj=Object.create(Vec22.prototype);obj.x=0;obj.y=0;return obj};Vec22.neo=function(x2,y){var obj=Object.create(Vec22.prototype);obj.x=x2;obj.y=y;return obj};Vec22.clone=function(v3){return Vec22.neo(v3.x,v3.y)};Vec22.prototype.toString=function(){return JSON.stringify(this)};Vec22.isValid=function(obj){if(obj===null||typeof obj==="undefined"){return false}return Number.isFinite(obj.x)&&Number.isFinite(obj.y)};Vec22.assert=function(o){};Vec22.prototype.clone=function(){return Vec22.clone(this)};Vec22.prototype.setZero=function(){this.x=0;this.y=0;return this};Vec22.prototype.set=function(x2,y){if(typeof x2==="object"){this.x=x2.x;this.y=x2.y}else{this.x=x2;this.y=y}return this};Vec22.prototype.setNum=function(x2,y){this.x=x2;this.y=y;return this};Vec22.prototype.setVec2=function(value){this.x=value.x;this.y=value.y;return this};Vec22.prototype.wSet=function(a2,v3,b2,w){if(typeof b2!=="undefined"||typeof w!=="undefined"){return this.setCombine(a2,v3,b2,w)}else{return this.setMul(a2,v3)}};Vec22.prototype.setCombine=function(a2,v3,b2,w){var x2=a2*v3.x+b2*w.x;var y=a2*v3.y+b2*w.y;this.x=x2;this.y=y;return this};Vec22.prototype.setMul=function(a2,v3){var x2=a2*v3.x;var y=a2*v3.y;this.x=x2;this.y=y;return this};Vec22.prototype.add=function(w){this.x+=w.x;this.y+=w.y;return this};Vec22.prototype.wAdd=function(a2,v3,b2,w){if(typeof b2!=="undefined"||typeof w!=="undefined"){return this.addCombine(a2,v3,b2,w)}else{return this.addMul(a2,v3)}};Vec22.prototype.addCombine=function(a2,v3,b2,w){var x2=a2*v3.x+b2*w.x;var y=a2*v3.y+b2*w.y;this.x+=x2;this.y+=y;return this};Vec22.prototype.addMul=function(a2,v3){var x2=a2*v3.x;var y=a2*v3.y;this.x+=x2;this.y+=y;return this};Vec22.prototype.wSub=function(a2,v3,b2,w){if(typeof b2!=="undefined"||typeof w!=="undefined"){return this.subCombine(a2,v3,b2,w)}else{return this.subMul(a2,v3)}};Vec22.prototype.subCombine=function(a2,v3,b2,w){var x2=a2*v3.x+b2*w.x;var y=a2*v3.y+b2*w.y;this.x-=x2;this.y-=y;return this};Vec22.prototype.subMul=function(a2,v3){var x2=a2*v3.x;var y=a2*v3.y;this.x-=x2;this.y-=y;return this};Vec22.prototype.sub=function(w){this.x-=w.x;this.y-=w.y;return this};Vec22.prototype.mul=function(m){this.x*=m;this.y*=m;return this};Vec22.prototype.length=function(){return Vec22.lengthOf(this)};Vec22.prototype.lengthSquared=function(){return Vec22.lengthSquared(this)};Vec22.prototype.normalize=function(){var length=this.length();if(length<EPSILON){return 0}var invLength=1/length;this.x*=invLength;this.y*=invLength;return length};Vec22.normalize=function(v3){var length=Vec22.lengthOf(v3);if(length<EPSILON){return Vec22.zero()}var invLength=1/length;return Vec22.neo(v3.x*invLength,v3.y*invLength)};Vec22.lengthOf=function(v3){return math_sqrt$5(v3.x*v3.x+v3.y*v3.y)};Vec22.lengthSquared=function(v3){return v3.x*v3.x+v3.y*v3.y};Vec22.distance=function(v3,w){var dx=v3.x-w.x;var dy=v3.y-w.y;return math_sqrt$5(dx*dx+dy*dy)};Vec22.distanceSquared=function(v3,w){var dx=v3.x-w.x;var dy=v3.y-w.y;return dx*dx+dy*dy};Vec22.areEqual=function(v3,w){return v3===w||typeof w==="object"&&w!==null&&v3.x===w.x&&v3.y===w.y};Vec22.skew=function(v3){return Vec22.neo(-v3.y,v3.x)};Vec22.dot=function(v3,w){return v3.x*w.x+v3.y*w.y};Vec22.cross=function(v3,w){if(typeof w==="number"){return Vec22.neo(w*v3.y,-w*v3.x)}else if(typeof v3==="number"){return Vec22.neo(-v3*w.y,v3*w.x)}else{return v3.x*w.y-v3.y*w.x}};Vec22.crossVec2Vec2=function(v3,w){return v3.x*w.y-v3.y*w.x};Vec22.crossVec2Num=function(v3,w){return Vec22.neo(w*v3.y,-w*v3.x)};Vec22.crossNumVec2=function(v3,w){return Vec22.neo(-v3*w.y,v3*w.x)};Vec22.addCross=function(a2,v3,w){if(typeof w==="number"){return Vec22.neo(w*v3.y+a2.x,-w*v3.x+a2.y)}else if(typeof v3==="number"){return Vec22.neo(-v3*w.y+a2.x,v3*w.x+a2.y)}};Vec22.addCrossVec2Num=function(a2,v3,w){return Vec22.neo(w*v3.y+a2.x,-w*v3.x+a2.y)};Vec22.addCrossNumVec2=function(a2,v3,w){return Vec22.neo(-v3*w.y+a2.x,v3*w.x+a2.y)};Vec22.add=function(v3,w){return Vec22.neo(v3.x+w.x,v3.y+w.y)};Vec22.wAdd=function(a2,v3,b2,w){if(typeof b2!=="undefined"||typeof w!=="undefined"){return Vec22.combine(a2,v3,b2,w)}else{return Vec22.mulNumVec2(a2,v3)}};Vec22.combine=function(a2,v3,b2,w){return Vec22.zero().setCombine(a2,v3,b2,w)};Vec22.sub=function(v3,w){return Vec22.neo(v3.x-w.x,v3.y-w.y)};Vec22.mul=function(a2,b2){if(typeof a2==="object"){return Vec22.neo(a2.x*b2,a2.y*b2)}else if(typeof b2==="object"){return Vec22.neo(a2*b2.x,a2*b2.y)}};Vec22.mulVec2Num=function(a2,b2){return Vec22.neo(a2.x*b2,a2.y*b2)};Vec22.mulNumVec2=function(a2,b2){return Vec22.neo(a2*b2.x,a2*b2.y)};Vec22.prototype.neg=function(){this.x=-this.x;this.y=-this.y;return this};Vec22.neg=function(v3){return Vec22.neo(-v3.x,-v3.y)};Vec22.abs=function(v3){return Vec22.neo(math_abs$9(v3.x),math_abs$9(v3.y))};Vec22.mid=function(v3,w){return Vec22.neo((v3.x+w.x)*.5,(v3.y+w.y)*.5)};Vec22.upper=function(v3,w){return Vec22.neo(math_max$8(v3.x,w.x),math_max$8(v3.y,w.y))};Vec22.lower=function(v3,w){return Vec22.neo(math_min$8(v3.x,w.x),math_min$8(v3.y,w.y))};Vec22.prototype.clamp=function(max){var lengthSqr=this.x*this.x+this.y*this.y;if(lengthSqr>max*max){var scale=max/math_sqrt$5(lengthSqr);this.x*=scale;this.y*=scale}return this};Vec22.clamp=function(v3,max){var r=Vec22.neo(v3.x,v3.y);r.clamp(max);return r};Vec22.clampVec2=function(v3,min,max){return{x:clamp(v3.x,min===null||min===void 0?void 0:min.x,max===null||max===void 0?void 0:max.x),y:clamp(v3.y,min===null||min===void 0?void 0:min.y,max===null||max===void 0?void 0:max.y)}};Vec22.scaleFn=function(x2,y){return function(v3){return Vec22.neo(v3.x*x2,v3.y*y)}};Vec22.translateFn=function(x2,y){return function(v3){return Vec22.neo(v3.x+x2,v3.y+y)}};return Vec22}();var math_max$7=Math.max;var math_min$7=Math.min;var AABB=function(){function AABB2(lower,upper){if(!(this instanceof AABB2)){return new AABB2(lower,upper)}this.lowerBound=Vec2.zero();this.upperBound=Vec2.zero();if(typeof lower==="object"){this.lowerBound.setVec2(lower)}if(typeof upper==="object"){this.upperBound.setVec2(upper)}else if(typeof lower==="object"){this.upperBound.setVec2(lower)}}AABB2.prototype.isValid=function(){return AABB2.isValid(this)};AABB2.isValid=function(obj){if(obj===null||typeof obj==="undefined"){return false}return Vec2.isValid(obj.lowerBound)&&Vec2.isValid(obj.upperBound)&&Vec2.sub(obj.upperBound,obj.lowerBound).lengthSquared()>=0};AABB2.assert=function(o){};AABB2.prototype.getCenter=function(){return Vec2.neo((this.lowerBound.x+this.upperBound.x)*.5,(this.lowerBound.y+this.upperBound.y)*.5)};AABB2.prototype.getExtents=function(){return Vec2.neo((this.upperBound.x-this.lowerBound.x)*.5,(this.upperBound.y-this.lowerBound.y)*.5)};AABB2.prototype.getPerimeter=function(){return 2*(this.upperBound.x-this.lowerBound.x+this.upperBound.y-this.lowerBound.y)};AABB2.prototype.combine=function(a2,b2){b2=b2||this;var lowerA=a2.lowerBound;var upperA=a2.upperBound;var lowerB=b2.lowerBound;var upperB=b2.upperBound;var lowerX=math_min$7(lowerA.x,lowerB.x);var lowerY=math_min$7(lowerA.y,lowerB.y);var upperX=math_max$7(upperB.x,upperA.x);var upperY=math_max$7(upperB.y,upperA.y);this.lowerBound.setNum(lowerX,lowerY);this.upperBound.setNum(upperX,upperY)};AABB2.prototype.combinePoints=function(a2,b2){this.lowerBound.setNum(math_min$7(a2.x,b2.x),math_min$7(a2.y,b2.y));this.upperBound.setNum(math_max$7(a2.x,b2.x),math_max$7(a2.y,b2.y))};AABB2.prototype.set=function(aabb){this.lowerBound.setNum(aabb.lowerBound.x,aabb.lowerBound.y);this.upperBound.setNum(aabb.upperBound.x,aabb.upperBound.y)};AABB2.prototype.contains=function(aabb){var result=true;result=result&&this.lowerBound.x<=aabb.lowerBound.x;result=result&&this.lowerBound.y<=aabb.lowerBound.y;result=result&&aabb.upperBound.x<=this.upperBound.x;result=result&&aabb.upperBound.y<=this.upperBound.y;return result};AABB2.prototype.extend=function(value){AABB2.extend(this,value);return this};AABB2.extend=function(out,value){out.lowerBound.x-=value;out.lowerBound.y-=value;out.upperBound.x+=value;out.upperBound.y+=value;return out};AABB2.testOverlap=function(a2,b2){var d1x=b2.lowerBound.x-a2.upperBound.x;var d2x=a2.lowerBound.x-b2.upperBound.x;var d1y=b2.lowerBound.y-a2.upperBound.y;var d2y=a2.lowerBound.y-b2.upperBound.y;if(d1x>0||d1y>0||d2x>0||d2y>0){return false}return true};AABB2.areEqual=function(a2,b2){return Vec2.areEqual(a2.lowerBound,b2.lowerBound)&&Vec2.areEqual(a2.upperBound,b2.upperBound)};AABB2.diff=function(a2,b2){var wD=math_max$7(0,math_min$7(a2.upperBound.x,b2.upperBound.x)-math_max$7(b2.lowerBound.x,a2.lowerBound.x));var hD=math_max$7(0,math_min$7(a2.upperBound.y,b2.upperBound.y)-math_max$7(b2.lowerBound.y,a2.lowerBound.y));var wA=a2.upperBound.x-a2.lowerBound.x;var hA=a2.upperBound.y-a2.lowerBound.y;var wB=b2.upperBound.x-b2.lowerBound.x;var hB=b2.upperBound.y-b2.lowerBound.y;return wA*hA+wB*hB-wD*hD};AABB2.prototype.rayCast=function(output2,input2){var tmin=-Infinity;var tmax=Infinity;var p=input2.p1;var d2=Vec2.sub(input2.p2,input2.p1);var absD=Vec2.abs(d2);var normal3=Vec2.zero();for(var f="x";f!==null;f=f==="x"?"y":null){if(absD.x<EPSILON){if(p[f]<this.lowerBound[f]||this.upperBound[f]<p[f]){return false}}else{var inv_d=1/d2[f];var t1=(this.lowerBound[f]-p[f])*inv_d;var t2=(this.upperBound[f]-p[f])*inv_d;var s2=-1;if(t1>t2){var temp3=t1;t1=t2;t2=temp3;s2=1}if(t1>tmin){normal3.setZero();normal3[f]=s2;tmin=t1}tmax=math_min$7(tmax,t2);if(tmin>tmax){return false}}}if(tmin<0||input2.maxFraction<tmin){return false}output2.fraction=tmin;output2.normal=normal3;return true};AABB2.prototype.toString=function(){return JSON.stringify(this)};AABB2.combinePoints=function(out,a2,b2){out.lowerBound.x=math_min$7(a2.x,b2.x);out.lowerBound.y=math_min$7(a2.y,b2.y);out.upperBound.x=math_max$7(a2.x,b2.x);out.upperBound.y=math_max$7(a2.y,b2.y);return out};AABB2.combinedPerimeter=function(a2,b2){var lx=math_min$7(a2.lowerBound.x,b2.lowerBound.x);var ly=math_min$7(a2.lowerBound.y,b2.lowerBound.y);var ux=math_max$7(a2.upperBound.x,b2.upperBound.x);var uy=math_max$7(a2.upperBound.y,b2.upperBound.y);return 2*(ux-lx+uy-ly)};return AABB2}();var math_PI$6=Math.PI;var Settings=function(){function Settings2(){}Object.defineProperty(Settings2,"polygonRadius",{get:function(){return 2*Settings2.linearSlop},enumerable:false,configurable:true});Settings2.lengthUnitsPerMeter=1;Settings2.maxManifoldPoints=2;Settings2.maxPolygonVertices=12;Settings2.aabbExtension=.1;Settings2.aabbMultiplier=2;Settings2.linearSlop=.005;Settings2.angularSlop=2/180*math_PI$6;Settings2.maxSubSteps=8;Settings2.maxTOIContacts=32;Settings2.maxTOIIterations=20;Settings2.maxDistanceIterations=20;Settings2.velocityThreshold=1;Settings2.maxLinearCorrection=.2;Settings2.maxAngularCorrection=8/180*math_PI$6;Settings2.maxTranslation=2;Settings2.maxRotation=.5*math_PI$6;Settings2.baumgarte=.2;Settings2.toiBaugarte=.75;Settings2.timeToSleep=.5;Settings2.linearSleepTolerance=.01;Settings2.angularSleepTolerance=2/180*math_PI$6;return Settings2}();var SettingsInternal=function(){function SettingsInternal2(){}Object.defineProperty(SettingsInternal2,"maxManifoldPoints",{get:function(){return Settings.maxManifoldPoints},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxPolygonVertices",{get:function(){return Settings.maxPolygonVertices},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"aabbExtension",{get:function(){return Settings.aabbExtension*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"aabbMultiplier",{get:function(){return Settings.aabbMultiplier},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"linearSlop",{get:function(){return Settings.linearSlop*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"linearSlopSquared",{get:function(){return Settings.linearSlop*Settings.lengthUnitsPerMeter*Settings.linearSlop*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"angularSlop",{get:function(){return Settings.angularSlop},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"polygonRadius",{get:function(){return 2*Settings.linearSlop},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxSubSteps",{get:function(){return Settings.maxSubSteps},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxTOIContacts",{get:function(){return Settings.maxTOIContacts},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxTOIIterations",{get:function(){return Settings.maxTOIIterations},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxDistanceIterations",{get:function(){return Settings.maxDistanceIterations},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"velocityThreshold",{get:function(){return Settings.velocityThreshold*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxLinearCorrection",{get:function(){return Settings.maxLinearCorrection*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxAngularCorrection",{get:function(){return Settings.maxAngularCorrection},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxTranslation",{get:function(){return Settings.maxTranslation*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxTranslationSquared",{get:function(){return Settings.maxTranslation*Settings.lengthUnitsPerMeter*Settings.maxTranslation*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxRotation",{get:function(){return Settings.maxRotation},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"maxRotationSquared",{get:function(){return Settings.maxRotation*Settings.maxRotation},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"baumgarte",{get:function(){return Settings.baumgarte},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"toiBaugarte",{get:function(){return Settings.toiBaugarte},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"timeToSleep",{get:function(){return Settings.timeToSleep},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"linearSleepTolerance",{get:function(){return Settings.linearSleepTolerance*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"linearSleepToleranceSqr",{get:function(){return Settings.linearSleepTolerance*Settings.lengthUnitsPerMeter*Settings.linearSleepTolerance*Settings.lengthUnitsPerMeter},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"angularSleepTolerance",{get:function(){return Settings.angularSleepTolerance},enumerable:false,configurable:true});Object.defineProperty(SettingsInternal2,"angularSleepToleranceSqr",{get:function(){return Settings.angularSleepTolerance*Settings.angularSleepTolerance},enumerable:false,configurable:true});return SettingsInternal2}();var Pool=function(){function Pool2(opts){this._list=[];this._max=Infinity;this._hasCreateFn=false;this._createCount=0;this._hasAllocateFn=false;this._allocateCount=0;this._hasReleaseFn=false;this._releaseCount=0;this._hasDisposeFn=false;this._disposeCount=0;this._list=[];this._max=opts.max||this._max;this._createFn=opts.create;this._hasCreateFn=typeof this._createFn==="function";this._allocateFn=opts.allocate;this._hasAllocateFn=typeof this._allocateFn==="function";this._releaseFn=opts.release;this._hasReleaseFn=typeof this._releaseFn==="function";this._disposeFn=opts.dispose;this._hasDisposeFn=typeof this._disposeFn==="function"}Pool2.prototype.max=function(n2){if(typeof n2==="number"){this._max=n2;return this}return this._max};Pool2.prototype.size=function(){return this._list.length};Pool2.prototype.allocate=function(){var item;if(this._list.length>0){item=this._list.shift()}else{this._createCount++;if(this._hasCreateFn){item=this._createFn()}else{item={}}}this._allocateCount++;if(this._hasAllocateFn){this._allocateFn(item)}return item};Pool2.prototype.release=function(item){if(this._list.length<this._max){this._releaseCount++;if(this._hasReleaseFn){this._releaseFn(item)}this._list.push(item)}else{this._disposeCount++;if(this._hasDisposeFn){item=this._disposeFn(item)}}};Pool2.prototype.toString=function(){return" +"+this._createCount+" >"+this._allocateCount+" <"+this._releaseCount+" -"+this._disposeCount+" ="+this._list.length+"/"+this._max};return Pool2}();var math_abs$8=Math.abs;var math_max$6=Math.max;var TreeNode=function(){function TreeNode2(id){this.aabb=new AABB;this.userData=null;this.parent=null;this.child1=null;this.child2=null;this.height=-1;this.id=id}TreeNode2.prototype.toString=function(){return this.id+": "+this.userData};TreeNode2.prototype.isLeaf=function(){return this.child1==null};return TreeNode2}();var poolTreeNode=new Pool({create:function(){return new TreeNode},release:function(node){node.userData=null;node.parent=null;node.child1=null;node.child2=null;node.height=-1;node.id=void 0}});var DynamicTree=function(){function DynamicTree2(){this.inputPool=new Pool({create:function(){return{}},release:function(stack){}});this.stackPool=new Pool({create:function(){return[]},release:function(stack){stack.length=0}});this.iteratorPool=new Pool({create:function(){return new Iterator},release:function(iterator){iterator.close()}});this.m_root=null;this.m_nodes={};this.m_lastProxyId=0}DynamicTree2.prototype.getUserData=function(id){var node=this.m_nodes[id];return node.userData};DynamicTree2.prototype.getFatAABB=function(id){var node=this.m_nodes[id];return node.aabb};DynamicTree2.prototype.allocateNode=function(){var node=poolTreeNode.allocate();node.id=++this.m_lastProxyId;this.m_nodes[node.id]=node;return node};DynamicTree2.prototype.freeNode=function(node){delete this.m_nodes[node.id];poolTreeNode.release(node)};DynamicTree2.prototype.createProxy=function(aabb,userData){var node=this.allocateNode();node.aabb.set(aabb);AABB.extend(node.aabb,SettingsInternal.aabbExtension);node.userData=userData;node.height=0;this.insertLeaf(node);return node.id};DynamicTree2.prototype.destroyProxy=function(id){var node=this.m_nodes[id];this.removeLeaf(node);this.freeNode(node)};DynamicTree2.prototype.moveProxy=function(id,aabb,d2){var node=this.m_nodes[id];if(node.aabb.contains(aabb)){return false}this.removeLeaf(node);node.aabb.set(aabb);aabb=node.aabb;AABB.extend(aabb,SettingsInternal.aabbExtension);if(d2.x<0){aabb.lowerBound.x+=d2.x*SettingsInternal.aabbMultiplier}else{aabb.upperBound.x+=d2.x*SettingsInternal.aabbMultiplier}if(d2.y<0){aabb.lowerBound.y+=d2.y*SettingsInternal.aabbMultiplier}else{aabb.upperBound.y+=d2.y*SettingsInternal.aabbMultiplier}this.insertLeaf(node);return true};DynamicTree2.prototype.insertLeaf=function(leaf){if(this.m_root==null){this.m_root=leaf;this.m_root.parent=null;return}var leafAABB=leaf.aabb;var index=this.m_root;while(!index.isLeaf()){var child1=index.child1;var child2=index.child2;var area=index.aabb.getPerimeter();var combinedArea=AABB.combinedPerimeter(index.aabb,leafAABB);var cost=2*combinedArea;var inheritanceCost=2*(combinedArea-area);var newArea1=AABB.combinedPerimeter(leafAABB,child1.aabb);var cost1=newArea1+inheritanceCost;if(!child1.isLeaf()){var oldArea=child1.aabb.getPerimeter();cost1-=oldArea}var newArea2=AABB.combinedPerimeter(leafAABB,child2.aabb);var cost2=newArea2+inheritanceCost;if(!child2.isLeaf()){var oldArea=child2.aabb.getPerimeter();cost2-=oldArea}if(cost<cost1&&cost<cost2){break}if(cost1<cost2){index=child1}else{index=child2}}var sibling=index;var oldParent=sibling.parent;var newParent=this.allocateNode();newParent.parent=oldParent;newParent.userData=null;newParent.aabb.combine(leafAABB,sibling.aabb);newParent.height=sibling.height+1;if(oldParent!=null){if(oldParent.child1===sibling){oldParent.child1=newParent}else{oldParent.child2=newParent}newParent.child1=sibling;newParent.child2=leaf;sibling.parent=newParent;leaf.parent=newParent}else{newParent.child1=sibling;newParent.child2=leaf;sibling.parent=newParent;leaf.parent=newParent;this.m_root=newParent}index=leaf.parent;while(index!=null){index=this.balance(index);var child1=index.child1;var child2=index.child2;index.height=1+math_max$6(child1.height,child2.height);index.aabb.combine(child1.aabb,child2.aabb);index=index.parent}};DynamicTree2.prototype.removeLeaf=function(leaf){if(leaf===this.m_root){this.m_root=null;return}var parent=leaf.parent;var grandParent=parent.parent;var sibling;if(parent.child1===leaf){sibling=parent.child2}else{sibling=parent.child1}if(grandParent!=null){if(grandParent.child1===parent){grandParent.child1=sibling}else{grandParent.child2=sibling}sibling.parent=grandParent;this.freeNode(parent);var index=grandParent;while(index!=null){index=this.balance(index);var child1=index.child1;var child2=index.child2;index.aabb.combine(child1.aabb,child2.aabb);index.height=1+math_max$6(child1.height,child2.height);index=index.parent}}else{this.m_root=sibling;sibling.parent=null;this.freeNode(parent)}};DynamicTree2.prototype.balance=function(iA){var A=iA;if(A.isLeaf()||A.height<2){return iA}var B=A.child1;var C=A.child2;var balance=C.height-B.height;if(balance>1){var F=C.child1;var G=C.child2;C.child1=A;C.parent=A.parent;A.parent=C;if(C.parent!=null){if(C.parent.child1===iA){C.parent.child1=C}else{C.parent.child2=C}}else{this.m_root=C}if(F.height>G.height){C.child2=F;A.child2=G;G.parent=A;A.aabb.combine(B.aabb,G.aabb);C.aabb.combine(A.aabb,F.aabb);A.height=1+math_max$6(B.height,G.height);C.height=1+math_max$6(A.height,F.height)}else{C.child2=G;A.child2=F;F.parent=A;A.aabb.combine(B.aabb,F.aabb);C.aabb.combine(A.aabb,G.aabb);A.height=1+math_max$6(B.height,F.height);C.height=1+math_max$6(A.height,G.height)}return C}if(balance<-1){var D=B.child1;var E=B.child2;B.child1=A;B.parent=A.parent;A.parent=B;if(B.parent!=null){if(B.parent.child1===A){B.parent.child1=B}else{B.parent.child2=B}}else{this.m_root=B}if(D.height>E.height){B.child2=D;A.child1=E;E.parent=A;A.aabb.combine(C.aabb,E.aabb);B.aabb.combine(A.aabb,D.aabb);A.height=1+math_max$6(C.height,E.height);B.height=1+math_max$6(A.height,D.height)}else{B.child2=E;A.child1=D;D.parent=A;A.aabb.combine(C.aabb,D.aabb);B.aabb.combine(A.aabb,E.aabb);A.height=1+math_max$6(C.height,D.height);B.height=1+math_max$6(A.height,E.height)}return B}return A};DynamicTree2.prototype.getHeight=function(){if(this.m_root==null){return 0}return this.m_root.height};DynamicTree2.prototype.getAreaRatio=function(){if(this.m_root==null){return 0}var root=this.m_root;var rootArea=root.aabb.getPerimeter();var totalArea=0;var node;var it=this.iteratorPool.allocate().preorder(this.m_root);while(node=it.next()){if(node.height<0){continue}totalArea+=node.aabb.getPerimeter()}this.iteratorPool.release(it);return totalArea/rootArea};DynamicTree2.prototype.computeHeight=function(id){var node;if(typeof id!=="undefined"){node=this.m_nodes[id]}else{node=this.m_root}if(node.isLeaf()){return 0}var height1=this.computeHeight(node.child1.id);var height2=this.computeHeight(node.child2.id);return 1+math_max$6(height1,height2)};DynamicTree2.prototype.validateStructure=function(node){if(node==null){return}if(node===this.m_root);var child1=node.child1;var child2=node.child2;if(node.isLeaf()){return}this.validateStructure(child1);this.validateStructure(child2)};DynamicTree2.prototype.validateMetrics=function(node){if(node==null){return}var child1=node.child1;var child2=node.child2;if(node.isLeaf()){return}child1.height;child2.height;var aabb=new AABB;aabb.combine(child1.aabb,child2.aabb);this.validateMetrics(child1);this.validateMetrics(child2)};DynamicTree2.prototype.validate=function(){return};DynamicTree2.prototype.getMaxBalance=function(){var maxBalance=0;var node;var it=this.iteratorPool.allocate().preorder(this.m_root);while(node=it.next()){if(node.height<=1){continue}var balance=math_abs$8(node.child2.height-node.child1.height);maxBalance=math_max$6(maxBalance,balance)}this.iteratorPool.release(it);return maxBalance};DynamicTree2.prototype.rebuildBottomUp=function(){var nodes=[];var count=0;var node;var it=this.iteratorPool.allocate().preorder(this.m_root);while(node=it.next()){if(node.height<0){continue}if(node.isLeaf()){node.parent=null;nodes[count]=node;++count}else{this.freeNode(node)}}this.iteratorPool.release(it);while(count>1){var minCost=Infinity;var iMin=-1;var jMin=-1;for(var i=0;i<count;++i){var aabbi=nodes[i].aabb;for(var j=i+1;j<count;++j){var aabbj=nodes[j].aabb;var cost=AABB.combinedPerimeter(aabbi,aabbj);if(cost<minCost){iMin=i;jMin=j;minCost=cost}}}var child1=nodes[iMin];var child2=nodes[jMin];var parent_1=this.allocateNode();parent_1.child1=child1;parent_1.child2=child2;parent_1.height=1+math_max$6(child1.height,child2.height);parent_1.aabb.combine(child1.aabb,child2.aabb);parent_1.parent=null;child1.parent=parent_1;child2.parent=parent_1;nodes[jMin]=nodes[count-1];nodes[iMin]=parent_1;--count}this.m_root=nodes[0]};DynamicTree2.prototype.shiftOrigin=function(newOrigin){var node;var it=this.iteratorPool.allocate().preorder(this.m_root);while(node=it.next()){var aabb=node.aabb;aabb.lowerBound.x-=newOrigin.x;aabb.lowerBound.y-=newOrigin.y;aabb.upperBound.x-=newOrigin.x;aabb.upperBound.y-=newOrigin.y}this.iteratorPool.release(it)};DynamicTree2.prototype.query=function(aabb,queryCallback){var stack=this.stackPool.allocate();stack.push(this.m_root);while(stack.length>0){var node=stack.pop();if(node==null){continue}if(AABB.testOverlap(node.aabb,aabb)){if(node.isLeaf()){var proceed=queryCallback(node.id);if(proceed===false){return}}else{stack.push(node.child1);stack.push(node.child2)}}}this.stackPool.release(stack)};DynamicTree2.prototype.rayCast=function(input2,rayCastCallback){var p1=input2.p1;var p2=input2.p2;var r=Vec2.sub(p2,p1);r.normalize();var v3=Vec2.crossNumVec2(1,r);var abs_v=Vec2.abs(v3);var maxFraction=input2.maxFraction;var segmentAABB=new AABB;var t=Vec2.combine(1-maxFraction,p1,maxFraction,p2);segmentAABB.combinePoints(p1,t);var stack=this.stackPool.allocate();var subInput=this.inputPool.allocate();stack.push(this.m_root);while(stack.length>0){var node=stack.pop();if(node==null){continue}if(AABB.testOverlap(node.aabb,segmentAABB)===false){continue}var c2=node.aabb.getCenter();var h=node.aabb.getExtents();var separation=math_abs$8(Vec2.dot(v3,Vec2.sub(p1,c2)))-Vec2.dot(abs_v,h);if(separation>0){continue}if(node.isLeaf()){subInput.p1=Vec2.clone(input2.p1);subInput.p2=Vec2.clone(input2.p2);subInput.maxFraction=maxFraction;var value=rayCastCallback(subInput,node.id);if(value===0){break}else if(value>0){maxFraction=value;t=Vec2.combine(1-maxFraction,p1,maxFraction,p2);segmentAABB.combinePoints(p1,t)}}else{stack.push(node.child1);stack.push(node.child2)}}this.stackPool.release(stack);this.inputPool.release(subInput)};return DynamicTree2}();var Iterator=function(){function Iterator2(){this.parents=[];this.states=[]}Iterator2.prototype.preorder=function(root){this.parents.length=0;this.parents.push(root);this.states.length=0;this.states.push(0);return this};Iterator2.prototype.next=function(){while(this.parents.length>0){var i=this.parents.length-1;var node=this.parents[i];if(this.states[i]===0){this.states[i]=1;return node}if(this.states[i]===1){this.states[i]=2;if(node.child1){this.parents.push(node.child1);this.states.push(1);return node.child1}}if(this.states[i]===2){this.states[i]=3;if(node.child2){this.parents.push(node.child2);this.states.push(1);return node.child2}}this.parents.pop();this.states.pop()}};Iterator2.prototype.close=function(){this.parents.length=0};return Iterator2}();var math_max$5=Math.max;var math_min$6=Math.min;var BroadPhase=function(){function BroadPhase2(){var _this=this;this.m_tree=new DynamicTree;this.m_moveBuffer=[];this.query=function(aabb,queryCallback){_this.m_tree.query(aabb,queryCallback)};this.queryCallback=function(proxyId){if(proxyId===_this.m_queryProxyId){return true}var proxyIdA=math_min$6(proxyId,_this.m_queryProxyId);var proxyIdB=math_max$5(proxyId,_this.m_queryProxyId);var userDataA=_this.m_tree.getUserData(proxyIdA);var userDataB=_this.m_tree.getUserData(proxyIdB);_this.m_callback(userDataA,userDataB);return true}}BroadPhase2.prototype.getUserData=function(proxyId){return this.m_tree.getUserData(proxyId)};BroadPhase2.prototype.testOverlap=function(proxyIdA,proxyIdB){var aabbA=this.m_tree.getFatAABB(proxyIdA);var aabbB=this.m_tree.getFatAABB(proxyIdB);return AABB.testOverlap(aabbA,aabbB)};BroadPhase2.prototype.getFatAABB=function(proxyId){return this.m_tree.getFatAABB(proxyId)};BroadPhase2.prototype.getProxyCount=function(){return this.m_moveBuffer.length};BroadPhase2.prototype.getTreeHeight=function(){return this.m_tree.getHeight()};BroadPhase2.prototype.getTreeBalance=function(){return this.m_tree.getMaxBalance()};BroadPhase2.prototype.getTreeQuality=function(){return this.m_tree.getAreaRatio()};BroadPhase2.prototype.rayCast=function(input2,rayCastCallback){this.m_tree.rayCast(input2,rayCastCallback)};BroadPhase2.prototype.shiftOrigin=function(newOrigin){this.m_tree.shiftOrigin(newOrigin)};BroadPhase2.prototype.createProxy=function(aabb,userData){var proxyId=this.m_tree.createProxy(aabb,userData);this.bufferMove(proxyId);return proxyId};BroadPhase2.prototype.destroyProxy=function(proxyId){this.unbufferMove(proxyId);this.m_tree.destroyProxy(proxyId)};BroadPhase2.prototype.moveProxy=function(proxyId,aabb,displacement2){var changed=this.m_tree.moveProxy(proxyId,aabb,displacement2);if(changed){this.bufferMove(proxyId)}};BroadPhase2.prototype.touchProxy=function(proxyId){this.bufferMove(proxyId)};BroadPhase2.prototype.bufferMove=function(proxyId){this.m_moveBuffer.push(proxyId)};BroadPhase2.prototype.unbufferMove=function(proxyId){for(var i=0;i<this.m_moveBuffer.length;++i){if(this.m_moveBuffer[i]===proxyId){this.m_moveBuffer[i]=null}}};BroadPhase2.prototype.updatePairs=function(addPairCallback){this.m_callback=addPairCallback;while(this.m_moveBuffer.length>0){this.m_queryProxyId=this.m_moveBuffer.pop();if(this.m_queryProxyId===null){continue}var fatAABB=this.m_tree.getFatAABB(this.m_queryProxyId);this.m_tree.query(fatAABB,this.queryCallback)}};return BroadPhase2}();var math_sin$2=Math.sin;var math_cos$2=Math.cos;var math_sqrt$4=Math.sqrt;function vec2(x2,y){return{x:x2,y:y}}function rotation(angle){return{s:math_sin$2(angle),c:math_cos$2(angle)}}function setVec2(out,x2,y){out.x=x2;out.y=y;return out}function copyVec2(out,w){out.x=w.x;out.y=w.y;return out}function zeroVec2(out){out.x=0;out.y=0;return out}function negVec2(out){out.x=-out.x;out.y=-out.y;return out}function plusVec2(out,w){out.x+=w.x;out.y+=w.y;return out}function addVec2(out,v3,w){out.x=v3.x+w.x;out.y=v3.x+w.y;return out}function minusVec2(out,w){out.x-=w.x;out.y-=w.y;return out}function subVec2(out,v3,w){out.x=v3.x-w.x;out.y=v3.y-w.y;return out}function mulVec2(out,m){out.x*=m;out.y*=m;return out}function scaleVec2(out,m,w){out.x=m*w.x;out.y=m*w.y;return out}function plusScaleVec2(out,m,w){out.x+=m*w.x;out.y+=m*w.y;return out}function minusScaleVec2(out,m,w){out.x-=m*w.x;out.y-=m*w.y;return out}function combine2Vec2(out,am,a2,bm,b2){out.x=am*a2.x+bm*b2.x;out.y=am*a2.y+bm*b2.y;return out}function combine3Vec2(out,am,a2,bm,b2,cm,c2){out.x=am*a2.x+bm*b2.x+cm*c2.x;out.y=am*a2.y+bm*b2.y+cm*c2.y;return out}function normalizeVec2Length(out){var length=math_sqrt$4(out.x*out.x+out.y*out.y);if(length!==0){var invLength=1/length;out.x*=invLength;out.y*=invLength}return length}function normalizeVec2(out){var length=math_sqrt$4(out.x*out.x+out.y*out.y);if(length>0){var invLength=1/length;out.x*=invLength;out.y*=invLength}return out}function crossVec2Num(out,v3,w){var x2=w*v3.y;var y=-w*v3.x;out.x=x2;out.y=y;return out}function crossNumVec2(out,w,v3){var x2=-w*v3.y;var y=w*v3.x;out.x=x2;out.y=y;return out}function crossVec2Vec2(a2,b2){return a2.x*b2.y-a2.y*b2.x}function dotVec2(a2,b2){return a2.x*b2.x+a2.y*b2.y}function lengthSqrVec2(a2){return a2.x*a2.x+a2.y*a2.y}function distVec2(a2,b2){var dx=a2.x-b2.x;var dy=a2.y-b2.y;return math_sqrt$4(dx*dx+dy*dy)}function distSqrVec2(a2,b2){var dx=a2.x-b2.x;var dy=a2.y-b2.y;return dx*dx+dy*dy}function setRotAngle(out,a2){out.c=math_cos$2(a2);out.s=math_sin$2(a2);return out}function rotVec2(out,q,v3){out.x=q.c*v3.x-q.s*v3.y;out.y=q.s*v3.x+q.c*v3.y;return out}function derotVec2(out,q,v3){var x2=q.c*v3.x+q.s*v3.y;var y=-q.s*v3.x+q.c*v3.y;out.x=x2;out.y=y;return out}function rerotVec2(out,before,after,v3){var x0=before.c*v3.x+before.s*v3.y;var y0=-before.s*v3.x+before.c*v3.y;var x2=after.c*x0-after.s*y0;var y=after.s*x0+after.c*y0;out.x=x2;out.y=y;return out}function transform(x2,y,a2){return{p:vec2(x2,y),q:rotation(a2)}}function copyTransform(out,transform2){out.p.x=transform2.p.x;out.p.y=transform2.p.y;out.q.s=transform2.q.s;out.q.c=transform2.q.c;return out}function transformVec2(out,xf2,v3){var x2=xf2.q.c*v3.x-xf2.q.s*v3.y+xf2.p.x;var y=xf2.q.s*v3.x+xf2.q.c*v3.y+xf2.p.y;out.x=x2;out.y=y;return out}function detransformVec2(out,xf2,v3){var px=v3.x-xf2.p.x;var py=v3.y-xf2.p.y;var x2=xf2.q.c*px+xf2.q.s*py;var y=-xf2.q.s*px+xf2.q.c*py;out.x=x2;out.y=y;return out}function retransformVec2(out,from,to,v3){var x0=from.q.c*v3.x-from.q.s*v3.y+from.p.x;var y0=from.q.s*v3.x+from.q.c*v3.y+from.p.y;var px=x0-to.p.x;var py=y0-to.p.y;var x2=to.q.c*px+to.q.s*py;var y=-to.q.s*px+to.q.c*py;out.x=x2;out.y=y;return out}function detransformTransform(out,a2,b2){var c2=a2.q.c*b2.q.c+a2.q.s*b2.q.s;var s2=a2.q.c*b2.q.s-a2.q.s*b2.q.c;var x2=a2.q.c*(b2.p.x-a2.p.x)+a2.q.s*(b2.p.y-a2.p.y);var y=-a2.q.s*(b2.p.x-a2.p.x)+a2.q.c*(b2.p.y-a2.p.y);out.q.c=c2;out.q.s=s2;out.p.x=x2;out.p.y=y;return out}var math_sin$1=Math.sin;var math_cos$1=Math.cos;var math_atan2$1=Math.atan2;var Rot=function(){function Rot2(angle){if(!(this instanceof Rot2)){return new Rot2(angle)}if(typeof angle==="number"){this.setAngle(angle)}else if(typeof angle==="object"){this.setRot(angle)}else{this.setIdentity()}}Rot2.neo=function(angle){var obj=Object.create(Rot2.prototype);obj.setAngle(angle);return obj};Rot2.clone=function(rot){var obj=Object.create(Rot2.prototype);obj.s=rot.s;obj.c=rot.c;return obj};Rot2.identity=function(){var obj=Object.create(Rot2.prototype);obj.s=0;obj.c=1;return obj};Rot2.isValid=function(obj){if(obj===null||typeof obj==="undefined"){return false}return Number.isFinite(obj.s)&&Number.isFinite(obj.c)};Rot2.assert=function(o){};Rot2.prototype.setIdentity=function(){this.s=0;this.c=1};Rot2.prototype.set=function(angle){if(typeof angle==="object"){this.s=angle.s;this.c=angle.c}else{this.s=math_sin$1(angle);this.c=math_cos$1(angle)}};Rot2.prototype.setRot=function(angle){this.s=angle.s;this.c=angle.c};Rot2.prototype.setAngle=function(angle){this.s=math_sin$1(angle);this.c=math_cos$1(angle)};Rot2.prototype.getAngle=function(){return math_atan2$1(this.s,this.c)};Rot2.prototype.getXAxis=function(){return Vec2.neo(this.c,this.s)};Rot2.prototype.getYAxis=function(){return Vec2.neo(-this.s,this.c)};Rot2.mul=function(rot,m){if("c"in m&&"s"in m){var qr=Rot2.identity();qr.s=rot.s*m.c+rot.c*m.s;qr.c=rot.c*m.c-rot.s*m.s;return qr}else if("x"in m&&"y"in m){return Vec2.neo(rot.c*m.x-rot.s*m.y,rot.s*m.x+rot.c*m.y)}};Rot2.mulRot=function(rot,m){var qr=Rot2.identity();qr.s=rot.s*m.c+rot.c*m.s;qr.c=rot.c*m.c-rot.s*m.s;return qr};Rot2.mulVec2=function(rot,m){return Vec2.neo(rot.c*m.x-rot.s*m.y,rot.s*m.x+rot.c*m.y)};Rot2.mulSub=function(rot,v3,w){var x2=rot.c*(v3.x-w.x)-rot.s*(v3.y-w.y);var y=rot.s*(v3.x-w.x)+rot.c*(v3.y-w.y);return Vec2.neo(x2,y)};Rot2.mulT=function(rot,m){if("c"in m&&"s"in m){var qr=Rot2.identity();qr.s=rot.c*m.s-rot.s*m.c;qr.c=rot.c*m.c+rot.s*m.s;return qr}else if("x"in m&&"y"in m){return Vec2.neo(rot.c*m.x+rot.s*m.y,-rot.s*m.x+rot.c*m.y)}};Rot2.mulTRot=function(rot,m){var qr=Rot2.identity();qr.s=rot.c*m.s-rot.s*m.c;qr.c=rot.c*m.c+rot.s*m.s;return qr};Rot2.mulTVec2=function(rot,m){return Vec2.neo(rot.c*m.x+rot.s*m.y,-rot.s*m.x+rot.c*m.y)};return Rot2}();var math_atan2=Math.atan2;var math_PI$5=Math.PI;var temp$7=vec2(0,0);var Sweep=function(){function Sweep2(){this.localCenter=Vec2.zero();this.c=Vec2.zero();this.a=0;this.alpha0=0;this.c0=Vec2.zero();this.a0=0}Sweep2.prototype.recycle=function(){zeroVec2(this.localCenter);zeroVec2(this.c);this.a=0;this.alpha0=0;zeroVec2(this.c0);this.a0=0};Sweep2.prototype.setTransform=function(xf2){transformVec2(temp$7,xf2,this.localCenter);copyVec2(this.c,temp$7);copyVec2(this.c0,temp$7);this.a=this.a0=math_atan2(xf2.q.s,xf2.q.c)};Sweep2.prototype.setLocalCenter=function(localCenter2,xf2){copyVec2(this.localCenter,localCenter2);transformVec2(temp$7,xf2,this.localCenter);copyVec2(this.c,temp$7);copyVec2(this.c0,temp$7)};Sweep2.prototype.getTransform=function(xf2,beta){if(beta===void 0){beta=0}setRotAngle(xf2.q,(1-beta)*this.a0+beta*this.a);combine2Vec2(xf2.p,1-beta,this.c0,beta,this.c);minusVec2(xf2.p,rotVec2(temp$7,xf2.q,this.localCenter))};Sweep2.prototype.advance=function(alpha){var beta=(alpha-this.alpha0)/(1-this.alpha0);combine2Vec2(this.c0,beta,this.c,1-beta,this.c0);this.a0=beta*this.a+(1-beta)*this.a0;this.alpha0=alpha};Sweep2.prototype.forward=function(){this.a0=this.a;copyVec2(this.c0,this.c)};Sweep2.prototype.normalize=function(){var a0=mod(this.a0,-math_PI$5,+math_PI$5);this.a-=this.a0-a0;this.a0=a0};Sweep2.prototype.set=function(that){copyVec2(this.localCenter,that.localCenter);copyVec2(this.c,that.c);this.a=that.a;this.alpha0=that.alpha0;copyVec2(this.c0,that.c0);this.a0=that.a0};return Sweep2}();var Transform=function(){function Transform2(position,rotation2){if(!(this instanceof Transform2)){return new Transform2(position,rotation2)}this.p=Vec2.zero();this.q=Rot.identity();if(typeof position!=="undefined"){this.p.setVec2(position)}if(typeof rotation2!=="undefined"){this.q.setAngle(rotation2)}}Transform2.clone=function(xf2){var obj=Object.create(Transform2.prototype);obj.p=Vec2.clone(xf2.p);obj.q=Rot.clone(xf2.q);return obj};Transform2.neo=function(position,rotation2){var obj=Object.create(Transform2.prototype);obj.p=Vec2.clone(position);obj.q=Rot.clone(rotation2);return obj};Transform2.identity=function(){var obj=Object.create(Transform2.prototype);obj.p=Vec2.zero();obj.q=Rot.identity();return obj};Transform2.prototype.setIdentity=function(){this.p.setZero();this.q.setIdentity()};Transform2.prototype.set=function(a2,b2){if(typeof b2==="undefined"){this.p.set(a2.p);this.q.set(a2.q)}else{this.p.set(a2);this.q.set(b2)}};Transform2.prototype.setNum=function(position,rotation2){this.p.setVec2(position);this.q.setAngle(rotation2)};Transform2.prototype.setTransform=function(xf2){this.p.setVec2(xf2.p);this.q.setRot(xf2.q)};Transform2.isValid=function(obj){if(obj===null||typeof obj==="undefined"){return false}return Vec2.isValid(obj.p)&&Rot.isValid(obj.q)};Transform2.assert=function(o){};Transform2.mul=function(a2,b2){if(Array.isArray(b2)){var arr=[];for(var i=0;i<b2.length;i++){arr[i]=Transform2.mul(a2,b2[i])}return arr}else if("x"in b2&&"y"in b2){return Transform2.mulVec2(a2,b2)}else if("p"in b2&&"q"in b2){return Transform2.mulXf(a2,b2)}};Transform2.mulAll=function(a2,b2){var arr=[];for(var i=0;i<b2.length;i++){arr[i]=Transform2.mul(a2,b2[i])}return arr};Transform2.mulFn=function(a2){return function(b2){return Transform2.mul(a2,b2)}};Transform2.mulVec2=function(a2,b2){var x2=a2.q.c*b2.x-a2.q.s*b2.y+a2.p.x;var y=a2.q.s*b2.x+a2.q.c*b2.y+a2.p.y;return Vec2.neo(x2,y)};Transform2.mulXf=function(a2,b2){var xf2=Transform2.identity();xf2.q=Rot.mulRot(a2.q,b2.q);xf2.p=Vec2.add(Rot.mulVec2(a2.q,b2.p),a2.p);return xf2};Transform2.mulT=function(a2,b2){if("x"in b2&&"y"in b2){return Transform2.mulTVec2(a2,b2)}else if("p"in b2&&"q"in b2){return Transform2.mulTXf(a2,b2)}};Transform2.mulTVec2=function(a2,b2){var px=b2.x-a2.p.x;var py=b2.y-a2.p.y;var x2=a2.q.c*px+a2.q.s*py;var y=-a2.q.s*px+a2.q.c*py;return Vec2.neo(x2,y)};Transform2.mulTXf=function(a2,b2){var xf2=Transform2.identity();xf2.q.setRot(Rot.mulTRot(a2.q,b2.q));xf2.p.setVec2(Rot.mulTVec2(a2.q,Vec2.sub(b2.p,a2.p)));return xf2};return Transform2}();var Velocity=function(){function Velocity2(){this.v=Vec2.zero();this.w=0}return Velocity2}();var math_sin=Math.sin;var math_cos=Math.cos;var Position=function(){function Position2(){this.c=Vec2.zero();this.a=0}Position2.prototype.getTransform=function(xf2,p){xf2.q.c=math_cos(this.a);xf2.q.s=math_sin(this.a);xf2.p.x=this.c.x-(xf2.q.c*p.x-xf2.q.s*p.y);xf2.p.y=this.c.y-(xf2.q.s*p.x+xf2.q.c*p.y);return xf2};return Position2}();function getTransform(xf2,p,c2,a2){xf2.q.c=math_cos(a2);xf2.q.s=math_sin(a2);xf2.p.x=c2.x-(xf2.q.c*p.x-xf2.q.s*p.y);xf2.p.y=c2.y-(xf2.q.s*p.x+xf2.q.c*p.y);return xf2}var Shape=function(){function Shape2(){this.style={};this.appData={}}Shape2.isValid=function(obj){if(obj===null||typeof obj==="undefined"){return false}return typeof obj.m_type==="string"&&typeof obj.m_radius==="number"};return Shape2}();var synchronize_aabb1=new AABB;var synchronize_aabb2=new AABB;var displacement=vec2(0,0);var FixtureDefDefault={userData:null,friction:.2,restitution:0,density:0,isSensor:false,filterGroupIndex:0,filterCategoryBits:1,filterMaskBits:65535};var FixtureProxy=function(){function FixtureProxy2(fixture,childIndex){this.aabb=new AABB;this.fixture=fixture;this.childIndex=childIndex}return FixtureProxy2}();var Fixture=function(){function Fixture2(body,shape,def){this.style={};this.appData={};if(shape.shape){def=shape;shape=shape.shape}else if(typeof def==="number"){def={density:def}}def=options(def,FixtureDefDefault);this.m_body=body;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_density=def.density;this.m_isSensor=def.isSensor;this.m_filterGroupIndex=def.filterGroupIndex;this.m_filterCategoryBits=def.filterCategoryBits;this.m_filterMaskBits=def.filterMaskBits;this.m_shape=shape;this.m_next=null;this.m_proxies=[];this.m_proxyCount=0;var childCount=this.m_shape.getChildCount();for(var i=0;i<childCount;++i){this.m_proxies[i]=new FixtureProxy(this,i)}this.m_userData=def.userData;if(typeof def.style==="object"&&def.style!==null){this.style=def.style}}Fixture2.prototype._reset=function(){var body=this.getBody();var broadPhase=body.m_world.m_broadPhase;this.destroyProxies(broadPhase);if(this.m_shape._reset){this.m_shape._reset()}var childCount=this.m_shape.getChildCount();for(var i=0;i<childCount;++i){this.m_proxies[i]=new FixtureProxy(this,i)}this.createProxies(broadPhase,body.m_xf);body.resetMassData()};Fixture2.prototype._serialize=function(){return{friction:this.m_friction,restitution:this.m_restitution,density:this.m_density,isSensor:this.m_isSensor,filterGroupIndex:this.m_filterGroupIndex,filterCategoryBits:this.m_filterCategoryBits,filterMaskBits:this.m_filterMaskBits,shape:this.m_shape}};Fixture2._deserialize=function(data,body,restore){var shape=restore(Shape,data.shape);var fixture=shape&&new Fixture2(body,shape,data);return fixture};Fixture2.prototype.getType=function(){return this.m_shape.m_type};Fixture2.prototype.getShape=function(){return this.m_shape};Fixture2.prototype.isSensor=function(){return this.m_isSensor};Fixture2.prototype.setSensor=function(sensor){if(sensor!=this.m_isSensor){this.m_body.setAwake(true);this.m_isSensor=sensor}};Fixture2.prototype.getUserData=function(){return this.m_userData};Fixture2.prototype.setUserData=function(data){this.m_userData=data};Fixture2.prototype.getBody=function(){return this.m_body};Fixture2.prototype.getNext=function(){return this.m_next};Fixture2.prototype.getDensity=function(){return this.m_density};Fixture2.prototype.setDensity=function(density){this.m_density=density};Fixture2.prototype.getFriction=function(){return this.m_friction};Fixture2.prototype.setFriction=function(friction){this.m_friction=friction};Fixture2.prototype.getRestitution=function(){return this.m_restitution};Fixture2.prototype.setRestitution=function(restitution){this.m_restitution=restitution};Fixture2.prototype.testPoint=function(p){return this.m_shape.testPoint(this.m_body.getTransform(),p)};Fixture2.prototype.rayCast=function(output2,input2,childIndex){return this.m_shape.rayCast(output2,input2,this.m_body.getTransform(),childIndex)};Fixture2.prototype.getMassData=function(massData){this.m_shape.computeMass(massData,this.m_density)};Fixture2.prototype.getAABB=function(childIndex){return this.m_proxies[childIndex].aabb};Fixture2.prototype.createProxies=function(broadPhase,xf2){this.m_proxyCount=this.m_shape.getChildCount();for(var i=0;i<this.m_proxyCount;++i){var proxy=this.m_proxies[i];this.m_shape.computeAABB(proxy.aabb,xf2,i);proxy.proxyId=broadPhase.createProxy(proxy.aabb,proxy)}};Fixture2.prototype.destroyProxies=function(broadPhase){for(var i=0;i<this.m_proxyCount;++i){var proxy=this.m_proxies[i];broadPhase.destroyProxy(proxy.proxyId);prox