From 86d30c4b31c685ed3765a2dcea0889a262ec7149 Mon Sep 17 00:00:00 2001 From: acidvegas Date: Thu, 8 Jun 2023 18:52:33 -0400 Subject: [PATCH] Added worms --- worms | 1 - worms/css/bootstrap.min.css | 9 + worms/css/custom.css | 249 + worms/data/images/README.md | 1 + worms/data/images/levels/level2.png | Bin 0 -> 1008217 bytes worms/data/images/menu/xbox360controls.png | Bin 0 -> 99421 bytes worms/data/sounds/boring.wav | Bin 0 -> 22618 bytes worms/data/sounds/explosion1.wav | Bin 0 -> 11992 bytes worms/data/sounds/explosion2.wav | Bin 0 -> 43032 bytes worms/data/sounds/explosion3.wav | Bin 0 -> 10488 bytes worms/external/Box2dWeb-2.1.a.3.js | 10869 +++++++++++++++++++ worms/external/Box2dWeb-2.1.a.3.min.js | 445 + worms/external/Stats.js | 7 + worms/external/bootstrap.min.js | 6 + worms/external/jquery.1.8.2.min.js | 2 + worms/external/test/qunit.css | 242 + worms/index.html | 175 + 17 files changed, 12005 insertions(+), 1 deletion(-) delete mode 160000 worms create mode 100644 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p{line-height:20px;color:#fff}.carousel-caption h4{margin:0 0 5px}.carousel-caption p{margin-bottom:0}.hero-unit{padding:60px;margin-bottom:30px;font-size:18px;font-weight:200;line-height:30px;color:inherit;background-color:#eee;-webkit-border-radius:6px;-moz-border-radius:6px;border-radius:6px}.hero-unit h1{margin-bottom:0;font-size:60px;line-height:1;letter-spacing:-1px;color:inherit}.hero-unit li{line-height:30px}.pull-right{float:right}.pull-left{float:left}.hide{display:none}.show{display:block}.invisible{visibility:hidden}.affix{position:fixed} diff --git a/worms/css/custom.css b/worms/css/custom.css new file mode 100644 index 0000000..db37785 --- /dev/null +++ b/worms/css/custom.css @@ -0,0 +1,249 @@ +body, html { + overflow: hidden; + margin: 0; + padding: 0; + background: #fff; + -moz-user-select: none; + -khtml-user-select: none; + -webkit-user-select: none; + -ms-user-select: none; + user-select: none; +} + +#action { + background: #242a4a; /* Old browsers */ + background: -moz-linear-gradient(top, #242a4a 0%, #201610 100%); /* FF3.6+ */ + background: -webkit-gradient(linear, left top, left bottom, color-stop(0%,#242a4a), color-stop(100%,#201610)); /* Chrome,Safari4+ */ + background: -webkit-linear-gradient(top, #242a4a 0%,#201610 100%); /* Chrome10+,Safari5.1+ */ + background: -o-linear-gradient(top, #242a4a 0%,#201610 100%); /* Opera 11.10+ */ + background: -ms-linear-gradient(top, #242a4a 0%,#201610 100%); /* IE10+ */ + background: linear-gradient(to bottom, #242a4a 0%,#201610 100%); /* W3C */ + filter: progid:DXImageTransform.Microsoft.gradient( startColorstr='#242a4a', endColorstr='#201610',GradientType=0 ); /* IE6-9 */ +} + + +#startMenu { + position: absolute; + left: 50%; + top: 50%; + margin-left: -360px; + margin-top: -280px; + width: 600px; + height: 490px; + z-index: 1; +} + + +.btn-large { + margin-left: 10px; + margin-right: 10px; +} + +.thumbnail { + padding: 5px; +} + +#weaponsMenu .thumbnail { + padding: 17px; +} + + + +.thumbnails { + margin-left: auto; + list-style: none; +} + +#weaponsMenu { + position: absolute; + left: 100%; + top: 100%; + width: 275px; + height: 350px; + margin-top: -350px; + z-index: 9999999; + background: black; + border: 1px white solid; + padding: 10px; + padding-left: 2px; + padding-right: 2px; + border-radius: 3px; + cursor: default; +} + +#weaponsMenuBtn { + -webkit-transform: rotate(90deg); + -moz-transform: rotate(90deg); + -ms-transform: rotate(90deg); + -o-transform: rotate(90deg); + transform: rotate(90deg); + cursor: pointer; + position: absolute; + left: -42.5%; + top: 20%; + padding: 20px; + font-style: bold; + background: black; + color: white; + border: white 1px solid; + border-radius: 3px; + z-index: 1; + font-size: 20px; + border-top: none; +} + + #weaponsMenuBtn:hover { + color: #08c; + } + +#weaponsMenu .thumbnail:active { + -ms-transform: scale(0.9,0.9); /* IE 9 */ + -webkit-transform: scale(0.9,0.9); /* Safari and Chrome */ + -o-transform: scale(0.9,0.9); /* Opera */ + -moz-transform: scale(0.9,0.9); + transform: scale(0.9,0.9); /* Firefox */ + cursor: pointer; +} + +#weaponsMenu .noAmmo { + -moz-opacity: 0.4; + opacity: 0.4; +} + +a.noAmmo:hover { + border-color: none; + cursor: pointer; +} + + +.span1 { + width: auto; +} + +a.thumbnail.ammo { + background: black; + cursor: pointer; +} + +.ammoCount { + position: absolute; + font-size: 11.5px; + margin-left: 26px; + margin-top: -7px; + font-weight: bold; + color: white; +} + +#turnTimeCounter { + background: black; + border: white 1px solid; + width: 70px; + height: 70px; + position: absolute; + top: 100%; + margin-top: -78px; + margin-left: 10px; + color: white; + font-size: 40px; + display: -webkit-box; + box-align: center; + -webkit-box-orient: horizontal; + -webkit-box-pack: center; + -moz-box-align: center; + -webkit-box-align: center; + border-radius: 3px; + z-index: 1; +} + +kbd { + white-space: nowrap; + color: black; + background: #EEE; + border-style: solid; + border-color: #CCC #AAA #888 #BBB; + padding: 2px 4px; + border-width: 1px 3px 3px 1px; +} + +.healthMenu { + position: absolute; + left: 50%; + bottom: 1%; + width: 150px; + z-index: 1; + margin-left: -200px; +} + + .healthMenu li { + list-style: none; + padding: 5px; + } + + .healthMenu li span { + margin-left: 10px; + margin-right: 10px; + background: black; + color: white; + font-size: 14px; + padding: 5px; + border-radius: 3px; + border: 1px white solid; + } + + + + .healthMenu span.health { + position: absolute; + height: 15px; + } + + +.modal-body h1 { + font-size: 18.5px; + line-height: normal; +} + + +.touchButton { + position: absolute; + left: 100%; + top: 100%; + width: 80px; + height: 50px; + margin-top: -78px; + margin-left: -100px; + z-index: 1; + background: black; + border: 1px white solid; + padding: 10px; + padding-left: 2px; + padding-right: 2px; + border-radius: 3px; + cursor: default; + color: white; + font-size: 30px; + display: -webkit-box; + -webkit-box-orient: horizontal; + -webkit-box-pack: center; + -webkit-box-align: center; +} + +#touchJump { + margin-left: -200px; +} + +#touchFire { + margin-left: -100px; +} + +#notifaction { + text-align: center; + z-index: 99; + position: absolute; + top: -50px; + left: 50%; + margin-left: -250px; + width: 500px; + font-size: 17px; + border-color: black; +} diff --git a/worms/data/images/README.md b/worms/data/images/README.md new file mode 100644 index 0000000..da888b9 --- /dev/null +++ b/worms/data/images/README.md @@ -0,0 +1 @@ +Game Assets are not in the git repo due to the fact I don't own the copyright to them. \ No newline at end of file diff --git a/worms/data/images/levels/level2.png b/worms/data/images/levels/level2.png new file mode 100644 index 0000000000000000000000000000000000000000..ac8b851f678f49c85aa5ce96cbf323e807ab40e4 GIT binary patch literal 1008217 zcmaI7XH-+$_cctBfDnq(yXZw!iWKQh0NgQWIL}5C}~= zQWAPXix5fxfd~i>_kzFw`{_MnFv!S&Wigj9{LM{8jhn^R253*Ps0(s23|3SGN7; zr%cjQ$rz-lFIcgy=s 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#D2E0E6; + + border-bottom: 1px solid white; +} +#qunit-testresult .module-name { + font-weight: bold; +} + +/** Fixture */ + +#qunit-fixture { + position: absolute; + top: -10000px; + left: -10000px; + width: 1000px; + height: 1000px; +} + + +#qunit{ + position:absolute; + z-index: 1; + +} diff --git a/worms/index.html b/worms/index.html new file mode 100644 index 0000000..14484ce --- /dev/null +++ b/worms/index.html @@ -0,0 +1,175 @@ + + + + + + + + Worms Armageddon HTML5 Clone + + + + + + + + + + + + + + + + + + + +
    +

    +
    + + + + +
    +
    +

    Worms Armageddon HTML5 Clone

    +
    +

    + Welcome to a recreation of Team17's turn-based artillery strategy worms armageddon. + All copyright and credit for the art/sound assets belongs to Team17 + and for making such an awesome game in the first place. This clone is currently under development by Ciarán McCann as part of his final year on the IT Carlow Games Development course. + Read more.. +

    +
    + +

    + + Noobs tutorial + Local two player + Online multiplayer +

    +
    +
    + +
    + +
    + +
    +
    +
    + + +
    +
    + + +
    + + +
    + + +
    +
    +
    + +
    +
      +
      + +
      + \ No newline at end of file

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zu0qCy;cmw&055o3xvSE(qAfxXfoO2to_yeb;SibxTNP`!4GYs?#dpE`Pw^J;5UvUk zR}N^ewEgwM?VkUkzhJR)cjeaGorQ5Kj@$<3FBU4T|LLUC@@Y>2#s90v?eK*WD);>- icm87O|M>q?o5Fv8y#ho0hvv$azn=fK)BpR+hW`!7{X$Xz literal 0 HcmV?d00001 diff --git a/worms/external/Box2dWeb-2.1.a.3.js b/worms/external/Box2dWeb-2.1.a.3.js new file mode 100644 index 0000000..aa6ed21 --- /dev/null +++ b/worms/external/Box2dWeb-2.1.a.3.js @@ -0,0 +1,10869 @@ +/* +* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com +* +* This software is provided 'as-is', without any express or implied +* warranty. In no event will the authors be held liable for any damages +* arising from the use of this software. +* Permission is granted to anyone to use this software for any purpose, +* including commercial applications, and to alter it and redistribute it +* freely, subject to the following restrictions: +* 1. The origin of this software must not be misrepresented; you must not +* claim that you wrote the original software. If you use this software +* in a product, an acknowledgment in the product documentation would be +* appreciated but is not required. +* 2. Altered source versions must be plainly marked as such, and must not be +* misrepresented as being the original software. +* 3. This notice may not be removed or altered from any source distribution. +*/ +var Box2D = {}; + +(function (a2j, undefined) { + + if(!(Object.prototype.defineProperty instanceof Function) + && Object.prototype.__defineGetter__ instanceof Function + && Object.prototype.__defineSetter__ instanceof Function) + { + Object.defineProperty = function(obj, p, cfg) { + if(cfg.get instanceof Function) + obj.__defineGetter__(p, cfg.get); + if(cfg.set instanceof Function) + obj.__defineSetter__(p, cfg.set); + } + } + + function emptyFn() {}; + a2j.inherit = function(cls, base) { + var tmpCtr = cls; + emptyFn.prototype = base.prototype; + cls.prototype = new emptyFn; + cls.prototype.constructor = tmpCtr; + }; + + a2j.generateCallback = function generateCallback(context, cb) { + return function () { + cb.apply(context, arguments); + }; + }; + + a2j.NVector = function NVector(length) { + if (length === undefined) length = 0; + var tmp = new Array(length || 0); + for (var i = 0; i < length; ++i) + tmp[i] = 0; + return tmp; + }; + + a2j.is = function is(o1, o2) { + if (o1 === null) return false; + if ((o2 instanceof Function) && (o1 instanceof o2)) return true; + if ((o1.constructor.__implements != undefined) && (o1.constructor.__implements[o2])) return true; + return false; + }; + + a2j.parseUInt = function(v) { + return Math.abs(parseInt(v)); + } + +})(Box2D); + +//#TODO remove assignments from global namespace +var Vector = Array; +var Vector_a2j_Number = Box2D.NVector; +//package structure +if (typeof(Box2D) === "undefined") Box2D = {}; +if (typeof(Box2D.Collision) === "undefined") Box2D.Collision = {}; +if (typeof(Box2D.Collision.Shapes) === "undefined") Box2D.Collision.Shapes = {}; +if (typeof(Box2D.Common) === "undefined") Box2D.Common = {}; +if (typeof(Box2D.Common.Math) === "undefined") Box2D.Common.Math = {}; +if (typeof(Box2D.Dynamics) === "undefined") Box2D.Dynamics = {}; +if (typeof(Box2D.Dynamics.Contacts) === "undefined") Box2D.Dynamics.Contacts = {}; +if (typeof(Box2D.Dynamics.Controllers) === "undefined") Box2D.Dynamics.Controllers = {}; +if (typeof(Box2D.Dynamics.Joints) === "undefined") Box2D.Dynamics.Joints = {}; +//pre-definitions +(function () { + Box2D.Collision.IBroadPhase = 'Box2D.Collision.IBroadPhase'; + + function b2AABB() { + b2AABB.b2AABB.apply(this, arguments); + }; + Box2D.Collision.b2AABB = b2AABB; + + function b2Bound() { + b2Bound.b2Bound.apply(this, arguments); + }; + Box2D.Collision.b2Bound = b2Bound; + + function b2BoundValues() { + b2BoundValues.b2BoundValues.apply(this, arguments); + if (this.constructor === b2BoundValues) this.b2BoundValues.apply(this, arguments); + }; + Box2D.Collision.b2BoundValues = b2BoundValues; + + function b2Collision() { + b2Collision.b2Collision.apply(this, arguments); + }; + Box2D.Collision.b2Collision = b2Collision; + + function b2ContactID() { + b2ContactID.b2ContactID.apply(this, arguments); + if (this.constructor === b2ContactID) this.b2ContactID.apply(this, arguments); + }; + Box2D.Collision.b2ContactID = b2ContactID; + + function b2ContactPoint() { + b2ContactPoint.b2ContactPoint.apply(this, arguments); + }; + Box2D.Collision.b2ContactPoint = b2ContactPoint; + + function b2Distance() { + b2Distance.b2Distance.apply(this, arguments); + }; + Box2D.Collision.b2Distance = b2Distance; + + function b2DistanceInput() { + b2DistanceInput.b2DistanceInput.apply(this, arguments); + }; + Box2D.Collision.b2DistanceInput = b2DistanceInput; + + function b2DistanceOutput() { + b2DistanceOutput.b2DistanceOutput.apply(this, arguments); + }; + Box2D.Collision.b2DistanceOutput = b2DistanceOutput; + + function b2DistanceProxy() { + b2DistanceProxy.b2DistanceProxy.apply(this, arguments); + }; + Box2D.Collision.b2DistanceProxy = b2DistanceProxy; + + function b2DynamicTree() { + b2DynamicTree.b2DynamicTree.apply(this, arguments); + if (this.constructor === b2DynamicTree) this.b2DynamicTree.apply(this, arguments); + }; + Box2D.Collision.b2DynamicTree = b2DynamicTree; + + function b2DynamicTreeBroadPhase() { + b2DynamicTreeBroadPhase.b2DynamicTreeBroadPhase.apply(this, arguments); + }; + Box2D.Collision.b2DynamicTreeBroadPhase = b2DynamicTreeBroadPhase; + + function b2DynamicTreeNode() { + b2DynamicTreeNode.b2DynamicTreeNode.apply(this, arguments); + }; + Box2D.Collision.b2DynamicTreeNode = b2DynamicTreeNode; + + function b2DynamicTreePair() { + b2DynamicTreePair.b2DynamicTreePair.apply(this, arguments); + }; + Box2D.Collision.b2DynamicTreePair = b2DynamicTreePair; + + function b2Manifold() { + b2Manifold.b2Manifold.apply(this, arguments); + if (this.constructor === b2Manifold) this.b2Manifold.apply(this, arguments); + }; + Box2D.Collision.b2Manifold = b2Manifold; + + function b2ManifoldPoint() { + b2ManifoldPoint.b2ManifoldPoint.apply(this, arguments); + if (this.constructor === b2ManifoldPoint) this.b2ManifoldPoint.apply(this, arguments); + }; + Box2D.Collision.b2ManifoldPoint = b2ManifoldPoint; + + function b2Point() { + b2Point.b2Point.apply(this, arguments); + }; + Box2D.Collision.b2Point = b2Point; + + function b2RayCastInput() { + b2RayCastInput.b2RayCastInput.apply(this, arguments); + if (this.constructor === b2RayCastInput) this.b2RayCastInput.apply(this, arguments); + }; + Box2D.Collision.b2RayCastInput = b2RayCastInput; + + function b2RayCastOutput() { + b2RayCastOutput.b2RayCastOutput.apply(this, arguments); + }; + Box2D.Collision.b2RayCastOutput = b2RayCastOutput; + + function b2Segment() { + b2Segment.b2Segment.apply(this, arguments); + }; + Box2D.Collision.b2Segment = b2Segment; + + function b2SeparationFunction() { + b2SeparationFunction.b2SeparationFunction.apply(this, arguments); + }; + Box2D.Collision.b2SeparationFunction = b2SeparationFunction; + + function b2Simplex() { + b2Simplex.b2Simplex.apply(this, arguments); + if (this.constructor === b2Simplex) this.b2Simplex.apply(this, arguments); + }; + Box2D.Collision.b2Simplex = b2Simplex; + + function b2SimplexCache() { + b2SimplexCache.b2SimplexCache.apply(this, arguments); + }; + Box2D.Collision.b2SimplexCache = b2SimplexCache; + + function b2SimplexVertex() { + b2SimplexVertex.b2SimplexVertex.apply(this, arguments); + }; + Box2D.Collision.b2SimplexVertex = b2SimplexVertex; + + function b2TimeOfImpact() { + b2TimeOfImpact.b2TimeOfImpact.apply(this, arguments); + }; + Box2D.Collision.b2TimeOfImpact = b2TimeOfImpact; + + function b2TOIInput() { + b2TOIInput.b2TOIInput.apply(this, arguments); + }; + Box2D.Collision.b2TOIInput = b2TOIInput; + + function b2WorldManifold() { + b2WorldManifold.b2WorldManifold.apply(this, arguments); + if (this.constructor === b2WorldManifold) this.b2WorldManifold.apply(this, arguments); + }; + Box2D.Collision.b2WorldManifold = b2WorldManifold; + + function ClipVertex() { + ClipVertex.ClipVertex.apply(this, arguments); + }; + Box2D.Collision.ClipVertex = ClipVertex; + + function Features() { + Features.Features.apply(this, arguments); + }; + Box2D.Collision.Features = Features; + + function b2CircleShape() { + b2CircleShape.b2CircleShape.apply(this, arguments); + if (this.constructor === b2CircleShape) this.b2CircleShape.apply(this, arguments); + }; + Box2D.Collision.Shapes.b2CircleShape = b2CircleShape; + + function b2EdgeChainDef() { + b2EdgeChainDef.b2EdgeChainDef.apply(this, arguments); + if (this.constructor === b2EdgeChainDef) this.b2EdgeChainDef.apply(this, arguments); + }; + Box2D.Collision.Shapes.b2EdgeChainDef = b2EdgeChainDef; + + function b2EdgeShape() { + b2EdgeShape.b2EdgeShape.apply(this, arguments); + if (this.constructor === b2EdgeShape) this.b2EdgeShape.apply(this, arguments); + }; + Box2D.Collision.Shapes.b2EdgeShape = b2EdgeShape; + + function b2MassData() { + b2MassData.b2MassData.apply(this, arguments); + }; + Box2D.Collision.Shapes.b2MassData = b2MassData; + + function b2PolygonShape() { + b2PolygonShape.b2PolygonShape.apply(this, arguments); + if (this.constructor === b2PolygonShape) this.b2PolygonShape.apply(this, arguments); + }; + Box2D.Collision.Shapes.b2PolygonShape = b2PolygonShape; + + function b2Shape() { + b2Shape.b2Shape.apply(this, arguments); + if (this.constructor === b2Shape) this.b2Shape.apply(this, arguments); + }; + Box2D.Collision.Shapes.b2Shape = b2Shape; + Box2D.Common.b2internal = 'Box2D.Common.b2internal'; + + function b2Color() { + b2Color.b2Color.apply(this, arguments); + if (this.constructor === b2Color) this.b2Color.apply(this, arguments); + }; + Box2D.Common.b2Color = b2Color; + + function b2Settings() { + b2Settings.b2Settings.apply(this, arguments); + }; + Box2D.Common.b2Settings = b2Settings; + + function b2Mat22() { + b2Mat22.b2Mat22.apply(this, arguments); + if (this.constructor === b2Mat22) this.b2Mat22.apply(this, arguments); + }; + Box2D.Common.Math.b2Mat22 = b2Mat22; + + function b2Mat33() { + b2Mat33.b2Mat33.apply(this, arguments); + if (this.constructor === b2Mat33) this.b2Mat33.apply(this, arguments); + }; + Box2D.Common.Math.b2Mat33 = b2Mat33; + + function b2Math() { + b2Math.b2Math.apply(this, arguments); + }; + Box2D.Common.Math.b2Math = b2Math; + + function b2Sweep() { + b2Sweep.b2Sweep.apply(this, arguments); + }; + Box2D.Common.Math.b2Sweep = b2Sweep; + + function b2Transform() { + b2Transform.b2Transform.apply(this, arguments); + if (this.constructor === b2Transform) this.b2Transform.apply(this, arguments); + }; + Box2D.Common.Math.b2Transform = b2Transform; + + function b2Vec2() { + b2Vec2.b2Vec2.apply(this, arguments); + if (this.constructor === b2Vec2) this.b2Vec2.apply(this, arguments); + }; + Box2D.Common.Math.b2Vec2 = b2Vec2; + + function b2Vec3() { + b2Vec3.b2Vec3.apply(this, arguments); + if (this.constructor === b2Vec3) this.b2Vec3.apply(this, arguments); + }; + Box2D.Common.Math.b2Vec3 = b2Vec3; + + function b2Body() { + b2Body.b2Body.apply(this, arguments); + if (this.constructor === b2Body) this.b2Body.apply(this, arguments); + }; + Box2D.Dynamics.b2Body = b2Body; + + function b2BodyDef() { + b2BodyDef.b2BodyDef.apply(this, arguments); + if (this.constructor === b2BodyDef) this.b2BodyDef.apply(this, arguments); + }; + Box2D.Dynamics.b2BodyDef = b2BodyDef; + + function b2ContactFilter() { + b2ContactFilter.b2ContactFilter.apply(this, arguments); + }; + Box2D.Dynamics.b2ContactFilter = b2ContactFilter; + + function b2ContactImpulse() { + b2ContactImpulse.b2ContactImpulse.apply(this, arguments); + }; + Box2D.Dynamics.b2ContactImpulse = b2ContactImpulse; + + function b2ContactListener() { + b2ContactListener.b2ContactListener.apply(this, arguments); + }; + Box2D.Dynamics.b2ContactListener = b2ContactListener; + + function b2ContactManager() { + b2ContactManager.b2ContactManager.apply(this, arguments); + if (this.constructor === b2ContactManager) this.b2ContactManager.apply(this, arguments); + }; + Box2D.Dynamics.b2ContactManager = b2ContactManager; + + function b2DebugDraw() { + b2DebugDraw.b2DebugDraw.apply(this, arguments); + if (this.constructor === b2DebugDraw) this.b2DebugDraw.apply(this, arguments); + }; + Box2D.Dynamics.b2DebugDraw = b2DebugDraw; + + function b2DestructionListener() { + b2DestructionListener.b2DestructionListener.apply(this, arguments); + }; + Box2D.Dynamics.b2DestructionListener = b2DestructionListener; + + function b2FilterData() { + b2FilterData.b2FilterData.apply(this, arguments); + }; + Box2D.Dynamics.b2FilterData = b2FilterData; + + function b2Fixture() { + b2Fixture.b2Fixture.apply(this, arguments); + if (this.constructor === b2Fixture) this.b2Fixture.apply(this, arguments); + }; + Box2D.Dynamics.b2Fixture = b2Fixture; + + function b2FixtureDef() { + b2FixtureDef.b2FixtureDef.apply(this, arguments); + if (this.constructor === b2FixtureDef) this.b2FixtureDef.apply(this, arguments); + }; + Box2D.Dynamics.b2FixtureDef = b2FixtureDef; + + function b2Island() { + b2Island.b2Island.apply(this, arguments); + if (this.constructor === b2Island) this.b2Island.apply(this, arguments); + }; + Box2D.Dynamics.b2Island = b2Island; + + function b2TimeStep() { + b2TimeStep.b2TimeStep.apply(this, arguments); + }; + Box2D.Dynamics.b2TimeStep = b2TimeStep; + + function b2World() { + b2World.b2World.apply(this, arguments); + if (this.constructor === b2World) this.b2World.apply(this, arguments); + }; + Box2D.Dynamics.b2World = b2World; + + function b2CircleContact() { + b2CircleContact.b2CircleContact.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2CircleContact = b2CircleContact; + + function b2Contact() { + b2Contact.b2Contact.apply(this, arguments); + if (this.constructor === b2Contact) this.b2Contact.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2Contact = b2Contact; + + function b2ContactConstraint() { + b2ContactConstraint.b2ContactConstraint.apply(this, arguments); + if (this.constructor === b2ContactConstraint) this.b2ContactConstraint.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2ContactConstraint = b2ContactConstraint; + + function b2ContactConstraintPoint() { + b2ContactConstraintPoint.b2ContactConstraintPoint.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2ContactConstraintPoint = b2ContactConstraintPoint; + + function b2ContactEdge() { + b2ContactEdge.b2ContactEdge.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2ContactEdge = b2ContactEdge; + + function b2ContactFactory() { + b2ContactFactory.b2ContactFactory.apply(this, arguments); + if (this.constructor === b2ContactFactory) this.b2ContactFactory.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2ContactFactory = b2ContactFactory; + + function b2ContactRegister() { + b2ContactRegister.b2ContactRegister.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2ContactRegister = b2ContactRegister; + + function b2ContactResult() { + b2ContactResult.b2ContactResult.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2ContactResult = b2ContactResult; + + function b2ContactSolver() { + b2ContactSolver.b2ContactSolver.apply(this, arguments); + if (this.constructor === b2ContactSolver) this.b2ContactSolver.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2ContactSolver = b2ContactSolver; + + function b2EdgeAndCircleContact() { + b2EdgeAndCircleContact.b2EdgeAndCircleContact.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2EdgeAndCircleContact = b2EdgeAndCircleContact; + + function b2NullContact() { + b2NullContact.b2NullContact.apply(this, arguments); + if (this.constructor === b2NullContact) this.b2NullContact.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2NullContact = b2NullContact; + + function b2PolyAndCircleContact() { + b2PolyAndCircleContact.b2PolyAndCircleContact.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2PolyAndCircleContact = b2PolyAndCircleContact; + + function b2PolyAndEdgeContact() { + b2PolyAndEdgeContact.b2PolyAndEdgeContact.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2PolyAndEdgeContact = b2PolyAndEdgeContact; + + function b2PolygonContact() { + b2PolygonContact.b2PolygonContact.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2PolygonContact = b2PolygonContact; + + function b2PositionSolverManifold() { + b2PositionSolverManifold.b2PositionSolverManifold.apply(this, arguments); + if (this.constructor === b2PositionSolverManifold) this.b2PositionSolverManifold.apply(this, arguments); + }; + Box2D.Dynamics.Contacts.b2PositionSolverManifold = b2PositionSolverManifold; + + function b2BuoyancyController() { + b2BuoyancyController.b2BuoyancyController.apply(this, arguments); + }; + Box2D.Dynamics.Controllers.b2BuoyancyController = b2BuoyancyController; + + function b2ConstantAccelController() { + b2ConstantAccelController.b2ConstantAccelController.apply(this, arguments); + }; + Box2D.Dynamics.Controllers.b2ConstantAccelController = b2ConstantAccelController; + + function b2ConstantForceController() { + b2ConstantForceController.b2ConstantForceController.apply(this, arguments); + }; + Box2D.Dynamics.Controllers.b2ConstantForceController = b2ConstantForceController; + + function b2Controller() { + b2Controller.b2Controller.apply(this, arguments); + }; + Box2D.Dynamics.Controllers.b2Controller = b2Controller; + + function b2ControllerEdge() { + b2ControllerEdge.b2ControllerEdge.apply(this, arguments); + }; + Box2D.Dynamics.Controllers.b2ControllerEdge = b2ControllerEdge; + + function b2GravityController() { + b2GravityController.b2GravityController.apply(this, arguments); + }; + Box2D.Dynamics.Controllers.b2GravityController = b2GravityController; + + function b2TensorDampingController() { + b2TensorDampingController.b2TensorDampingController.apply(this, arguments); + }; + Box2D.Dynamics.Controllers.b2TensorDampingController = b2TensorDampingController; + + function b2DistanceJoint() { + b2DistanceJoint.b2DistanceJoint.apply(this, arguments); + if (this.constructor === b2DistanceJoint) this.b2DistanceJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2DistanceJoint = b2DistanceJoint; + + function b2DistanceJointDef() { + b2DistanceJointDef.b2DistanceJointDef.apply(this, arguments); + if (this.constructor === b2DistanceJointDef) this.b2DistanceJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2DistanceJointDef = b2DistanceJointDef; + + function b2FrictionJoint() { + b2FrictionJoint.b2FrictionJoint.apply(this, arguments); + if (this.constructor === b2FrictionJoint) this.b2FrictionJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2FrictionJoint = b2FrictionJoint; + + function b2FrictionJointDef() { + b2FrictionJointDef.b2FrictionJointDef.apply(this, arguments); + if (this.constructor === b2FrictionJointDef) this.b2FrictionJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2FrictionJointDef = b2FrictionJointDef; + + function b2GearJoint() { + b2GearJoint.b2GearJoint.apply(this, arguments); + if (this.constructor === b2GearJoint) this.b2GearJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2GearJoint = b2GearJoint; + + function b2GearJointDef() { + b2GearJointDef.b2GearJointDef.apply(this, arguments); + if (this.constructor === b2GearJointDef) this.b2GearJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2GearJointDef = b2GearJointDef; + + function b2Jacobian() { + b2Jacobian.b2Jacobian.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2Jacobian = b2Jacobian; + + function b2Joint() { + b2Joint.b2Joint.apply(this, arguments); + if (this.constructor === b2Joint) this.b2Joint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2Joint = b2Joint; + + function b2JointDef() { + b2JointDef.b2JointDef.apply(this, arguments); + if (this.constructor === b2JointDef) this.b2JointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2JointDef = b2JointDef; + + function b2JointEdge() { + b2JointEdge.b2JointEdge.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2JointEdge = b2JointEdge; + + function b2LineJoint() { + b2LineJoint.b2LineJoint.apply(this, arguments); + if (this.constructor === b2LineJoint) this.b2LineJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2LineJoint = b2LineJoint; + + function b2LineJointDef() { + b2LineJointDef.b2LineJointDef.apply(this, arguments); + if (this.constructor === b2LineJointDef) this.b2LineJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2LineJointDef = b2LineJointDef; + + function b2MouseJoint() { + b2MouseJoint.b2MouseJoint.apply(this, arguments); + if (this.constructor === b2MouseJoint) this.b2MouseJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2MouseJoint = b2MouseJoint; + + function b2MouseJointDef() { + b2MouseJointDef.b2MouseJointDef.apply(this, arguments); + if (this.constructor === b2MouseJointDef) this.b2MouseJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2MouseJointDef = b2MouseJointDef; + + function b2PrismaticJoint() { + b2PrismaticJoint.b2PrismaticJoint.apply(this, arguments); + if (this.constructor === b2PrismaticJoint) this.b2PrismaticJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2PrismaticJoint = b2PrismaticJoint; + + function b2PrismaticJointDef() { + b2PrismaticJointDef.b2PrismaticJointDef.apply(this, arguments); + if (this.constructor === b2PrismaticJointDef) this.b2PrismaticJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2PrismaticJointDef = b2PrismaticJointDef; + + function b2PulleyJoint() { + b2PulleyJoint.b2PulleyJoint.apply(this, arguments); + if (this.constructor === b2PulleyJoint) this.b2PulleyJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2PulleyJoint = b2PulleyJoint; + + function b2PulleyJointDef() { + b2PulleyJointDef.b2PulleyJointDef.apply(this, arguments); + if (this.constructor === b2PulleyJointDef) this.b2PulleyJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2PulleyJointDef = b2PulleyJointDef; + + function b2RevoluteJoint() { + b2RevoluteJoint.b2RevoluteJoint.apply(this, arguments); + if (this.constructor === b2RevoluteJoint) this.b2RevoluteJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2RevoluteJoint = b2RevoluteJoint; + + function b2RevoluteJointDef() { + b2RevoluteJointDef.b2RevoluteJointDef.apply(this, arguments); + if (this.constructor === b2RevoluteJointDef) this.b2RevoluteJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2RevoluteJointDef = b2RevoluteJointDef; + + function b2WeldJoint() { + b2WeldJoint.b2WeldJoint.apply(this, arguments); + if (this.constructor === b2WeldJoint) this.b2WeldJoint.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2WeldJoint = b2WeldJoint; + + function b2WeldJointDef() { + b2WeldJointDef.b2WeldJointDef.apply(this, arguments); + if (this.constructor === b2WeldJointDef) this.b2WeldJointDef.apply(this, arguments); + }; + Box2D.Dynamics.Joints.b2WeldJointDef = b2WeldJointDef; +})(); //definitions +Box2D.postDefs = []; +(function () { + var b2CircleShape = Box2D.Collision.Shapes.b2CircleShape, + b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef, + b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape, + b2MassData = Box2D.Collision.Shapes.b2MassData, + b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape, + b2Shape = Box2D.Collision.Shapes.b2Shape, + b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3, + b2AABB = Box2D.Collision.b2AABB, + b2Bound = Box2D.Collision.b2Bound, + b2BoundValues = Box2D.Collision.b2BoundValues, + b2Collision = Box2D.Collision.b2Collision, + b2ContactID = Box2D.Collision.b2ContactID, + b2ContactPoint = Box2D.Collision.b2ContactPoint, + b2Distance = Box2D.Collision.b2Distance, + b2DistanceInput = Box2D.Collision.b2DistanceInput, + b2DistanceOutput = Box2D.Collision.b2DistanceOutput, + b2DistanceProxy = Box2D.Collision.b2DistanceProxy, + b2DynamicTree = Box2D.Collision.b2DynamicTree, + b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase, + b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode, + b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair, + b2Manifold = Box2D.Collision.b2Manifold, + b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint, + b2Point = Box2D.Collision.b2Point, + b2RayCastInput = Box2D.Collision.b2RayCastInput, + b2RayCastOutput = Box2D.Collision.b2RayCastOutput, + b2Segment = Box2D.Collision.b2Segment, + b2SeparationFunction = Box2D.Collision.b2SeparationFunction, + b2Simplex = Box2D.Collision.b2Simplex, + b2SimplexCache = Box2D.Collision.b2SimplexCache, + b2SimplexVertex = Box2D.Collision.b2SimplexVertex, + b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact, + b2TOIInput = Box2D.Collision.b2TOIInput, + b2WorldManifold = Box2D.Collision.b2WorldManifold, + ClipVertex = Box2D.Collision.ClipVertex, + Features = Box2D.Collision.Features, + IBroadPhase = Box2D.Collision.IBroadPhase; + + b2AABB.b2AABB = function () { + this.lowerBound = new b2Vec2(); + this.upperBound = new b2Vec2(); + }; + b2AABB.prototype.IsValid = function () { + var dX = this.upperBound.x - this.lowerBound.x; + var dY = this.upperBound.y - this.lowerBound.y; + var valid = dX >= 0.0 && dY >= 0.0; + valid = valid && this.lowerBound.IsValid() && this.upperBound.IsValid(); + return valid; + } + b2AABB.prototype.GetCenter = function () { + return new b2Vec2((this.lowerBound.x + this.upperBound.x) / 2, (this.lowerBound.y + this.upperBound.y) / 2); + } + b2AABB.prototype.GetExtents = function () { + return new b2Vec2((this.upperBound.x - this.lowerBound.x) / 2, (this.upperBound.y - this.lowerBound.y) / 2); + } + b2AABB.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; + } + b2AABB.prototype.RayCast = function (output, input) { + var tmin = (-Number.MAX_VALUE); + var tmax = Number.MAX_VALUE; + var pX = input.p1.x; + var pY = input.p1.y; + var dX = input.p2.x - input.p1.x; + var dY = input.p2.y - input.p1.y; + var absDX = Math.abs(dX); + var absDY = Math.abs(dY); + var normal = output.normal; + var inv_d = 0; + var t1 = 0; + var t2 = 0; + var t3 = 0; + var s = 0; { + if (absDX < Number.MIN_VALUE) { + if (pX < this.lowerBound.x || this.upperBound.x < pX) return false; + } + else { + inv_d = 1.0 / dX; + t1 = (this.lowerBound.x - pX) * inv_d; + t2 = (this.upperBound.x - pX) * inv_d; + s = (-1.0); + if (t1 > t2) { + t3 = t1; + t1 = t2; + t2 = t3; + s = 1.0; + } + if (t1 > tmin) { + normal.x = s; + normal.y = 0; + tmin = t1; + } + tmax = Math.min(tmax, t2); + if (tmin > tmax) return false; + } + } { + if (absDY < Number.MIN_VALUE) { + if (pY < this.lowerBound.y || this.upperBound.y < pY) return false; + } + else { + inv_d = 1.0 / dY; + t1 = (this.lowerBound.y - pY) * inv_d; + t2 = (this.upperBound.y - pY) * inv_d; + s = (-1.0); + if (t1 > t2) { + t3 = t1; + t1 = t2; + t2 = t3; + s = 1.0; + } + if (t1 > tmin) { + normal.y = s; + normal.x = 0; + tmin = t1; + } + tmax = Math.min(tmax, t2); + if (tmin > tmax) return false; + } + } + output.fraction = tmin; + return true; + } + b2AABB.prototype.TestOverlap = function (other) { + var d1X = other.lowerBound.x - this.upperBound.x; + var d1Y = other.lowerBound.y - this.upperBound.y; + var d2X = this.lowerBound.x - other.upperBound.x; + var d2Y = this.lowerBound.y - other.upperBound.y; + if (d1X > 0.0 || d1Y > 0.0) return false; + if (d2X > 0.0 || d2Y > 0.0) return false; + return true; + } + b2AABB.Combine = function (aabb1, aabb2) { + var aabb = new b2AABB(); + aabb.Combine(aabb1, aabb2); + return aabb; + } + b2AABB.prototype.Combine = function (aabb1, aabb2) { + this.lowerBound.x = Math.min(aabb1.lowerBound.x, aabb2.lowerBound.x); + this.lowerBound.y = Math.min(aabb1.lowerBound.y, aabb2.lowerBound.y); + this.upperBound.x = Math.max(aabb1.upperBound.x, aabb2.upperBound.x); + this.upperBound.y = Math.max(aabb1.upperBound.y, aabb2.upperBound.y); + } + b2Bound.b2Bound = function () {}; + b2Bound.prototype.IsLower = function () { + return (this.value & 1) == 0; + } + b2Bound.prototype.IsUpper = function () { + return (this.value & 1) == 1; + } + b2Bound.prototype.Swap = function (b) { + var tempValue = this.value; + var tempProxy = this.proxy; + var tempStabbingCount = this.stabbingCount; + this.value = b.value; + this.proxy = b.proxy; + this.stabbingCount = b.stabbingCount; + b.value = tempValue; + b.proxy = tempProxy; + b.stabbingCount = tempStabbingCount; + } + b2BoundValues.b2BoundValues = function () {}; + b2BoundValues.prototype.b2BoundValues = function () { + this.lowerValues = new Vector_a2j_Number(); + this.lowerValues[0] = 0.0; + this.lowerValues[1] = 0.0; + this.upperValues = new Vector_a2j_Number(); + this.upperValues[0] = 0.0; + this.upperValues[1] = 0.0; + } + b2Collision.b2Collision = function () {}; + b2Collision.ClipSegmentToLine = function (vOut, vIn, normal, offset) { + if (offset === undefined) offset = 0; + var cv; + var numOut = 0; + cv = vIn[0]; + var vIn0 = cv.v; + cv = vIn[1]; + var vIn1 = cv.v; + var distance0 = normal.x * vIn0.x + normal.y * vIn0.y - offset; + var distance1 = normal.x * vIn1.x + normal.y * vIn1.y - offset; + if (distance0 <= 0.0) vOut[numOut++].Set(vIn[0]); + if (distance1 <= 0.0) vOut[numOut++].Set(vIn[1]); + if (distance0 * distance1 < 0.0) { + var interp = distance0 / (distance0 - distance1); + cv = vOut[numOut]; + var tVec = cv.v; + tVec.x = vIn0.x + interp * (vIn1.x - vIn0.x); + tVec.y = vIn0.y + interp * (vIn1.y - vIn0.y); + cv = vOut[numOut]; + var cv2; + if (distance0 > 0.0) { + cv2 = vIn[0]; + cv.id = cv2.id; + } + else { + cv2 = vIn[1]; + cv.id = cv2.id; + }++numOut; + } + return numOut; + } + b2Collision.EdgeSeparation = function (poly1, xf1, edge1, poly2, xf2) { + if (edge1 === undefined) edge1 = 0; + var count1 = parseInt(poly1.m_vertexCount); + var vertices1 = poly1.m_vertices; + var normals1 = poly1.m_normals; + var count2 = parseInt(poly2.m_vertexCount); + var vertices2 = poly2.m_vertices; + var tMat; + var tVec; + tMat = xf1.R; + tVec = normals1[edge1]; + var normal1WorldX = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var normal1WorldY = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tMat = xf2.R; + var normal1X = (tMat.col1.x * normal1WorldX + tMat.col1.y * normal1WorldY); + var normal1Y = (tMat.col2.x * normal1WorldX + tMat.col2.y * normal1WorldY); + var index = 0; + var minDot = Number.MAX_VALUE; + for (var i = 0; i < count2; ++i) { + tVec = vertices2[i]; + var dot = tVec.x * normal1X + tVec.y * normal1Y; + if (dot < minDot) { + minDot = dot; + index = i; + } + } + tVec = vertices1[edge1]; + tMat = xf1.R; + var v1X = xf1.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var v1Y = xf1.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tVec = vertices2[index]; + tMat = xf2.R; + var v2X = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var v2Y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + v2X -= v1X; + v2Y -= v1Y; + var separation = v2X * normal1WorldX + v2Y * normal1WorldY; + return separation; + } + b2Collision.FindMaxSeparation = function (edgeIndex, poly1, xf1, poly2, xf2) { + var count1 = parseInt(poly1.m_vertexCount); + var normals1 = poly1.m_normals; + var tVec; + var tMat; + tMat = xf2.R; + tVec = poly2.m_centroid; + var dX = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var dY = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tMat = xf1.R; + tVec = poly1.m_centroid; + dX -= xf1.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + dY -= xf1.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + var dLocal1X = (dX * xf1.R.col1.x + dY * xf1.R.col1.y); + var dLocal1Y = (dX * xf1.R.col2.x + dY * xf1.R.col2.y); + var edge = 0; + var maxDot = (-Number.MAX_VALUE); + for (var i = 0; i < count1; ++i) { + tVec = normals1[i]; + var dot = (tVec.x * dLocal1X + tVec.y * dLocal1Y); + if (dot > maxDot) { + maxDot = dot; + edge = i; + } + } + var s = b2Collision.EdgeSeparation(poly1, xf1, edge, poly2, xf2); + var prevEdge = parseInt(edge - 1 >= 0 ? edge - 1 : count1 - 1); + var sPrev = b2Collision.EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2); + var nextEdge = parseInt(edge + 1 < count1 ? edge + 1 : 0); + var sNext = b2Collision.EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2); + var bestEdge = 0; + var bestSeparation = 0; + var increment = 0; + if (sPrev > s && sPrev > sNext) { + increment = (-1); + bestEdge = prevEdge; + bestSeparation = sPrev; + } + else if (sNext > s) { + increment = 1; + bestEdge = nextEdge; + bestSeparation = sNext; + } + else { + edgeIndex[0] = edge; + return s; + } + while (true) { + if (increment == (-1)) edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1; + else edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;s = b2Collision.EdgeSeparation(poly1, xf1, edge, poly2, xf2); + if (s > bestSeparation) { + bestEdge = edge; + bestSeparation = s; + } + else { + break; + } + } + edgeIndex[0] = bestEdge; + return bestSeparation; + } + b2Collision.FindIncidentEdge = function (c, poly1, xf1, edge1, poly2, xf2) { + if (edge1 === undefined) edge1 = 0; + var count1 = parseInt(poly1.m_vertexCount); + var normals1 = poly1.m_normals; + var count2 = parseInt(poly2.m_vertexCount); + var vertices2 = poly2.m_vertices; + var normals2 = poly2.m_normals; + var tMat; + var tVec; + tMat = xf1.R; + tVec = normals1[edge1]; + var normal1X = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var normal1Y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tMat = xf2.R; + var tX = (tMat.col1.x * normal1X + tMat.col1.y * normal1Y); + normal1Y = (tMat.col2.x * normal1X + tMat.col2.y * normal1Y); + normal1X = tX; + var index = 0; + var minDot = Number.MAX_VALUE; + for (var i = 0; i < count2; ++i) { + tVec = normals2[i]; + var dot = (normal1X * tVec.x + normal1Y * tVec.y); + if (dot < minDot) { + minDot = dot; + index = i; + } + } + var tClip; + var i1 = parseInt(index); + var i2 = parseInt(i1 + 1 < count2 ? i1 + 1 : 0); + tClip = c[0]; + tVec = vertices2[i1]; + tMat = xf2.R; + tClip.v.x = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + tClip.v.y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tClip.id.features.referenceEdge = edge1; + tClip.id.features.incidentEdge = i1; + tClip.id.features.incidentVertex = 0; + tClip = c[1]; + tVec = vertices2[i2]; + tMat = xf2.R; + tClip.v.x = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + tClip.v.y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tClip.id.features.referenceEdge = edge1; + tClip.id.features.incidentEdge = i2; + tClip.id.features.incidentVertex = 1; + } + b2Collision.MakeClipPointVector = function () { + var r = new Vector(2); + r[0] = new ClipVertex(); + r[1] = new ClipVertex(); + return r; + } + b2Collision.CollidePolygons = function (manifold, polyA, xfA, polyB, xfB) { + var cv; + manifold.m_pointCount = 0; + var totalRadius = polyA.m_radius + polyB.m_radius; + var edgeA = 0; + b2Collision.s_edgeAO[0] = edgeA; + var separationA = b2Collision.FindMaxSeparation(b2Collision.s_edgeAO, polyA, xfA, polyB, xfB); + edgeA = b2Collision.s_edgeAO[0]; + if (separationA > totalRadius) return; + var edgeB = 0; + b2Collision.s_edgeBO[0] = edgeB; + var separationB = b2Collision.FindMaxSeparation(b2Collision.s_edgeBO, polyB, xfB, polyA, xfA); + edgeB = b2Collision.s_edgeBO[0]; + if (separationB > totalRadius) return; + var poly1; + var poly2; + var xf1; + var xf2; + var edge1 = 0; + var flip = 0; + var k_relativeTol = 0.98; + var k_absoluteTol = 0.001; + var tMat; + if (separationB > k_relativeTol * separationA + k_absoluteTol) { + poly1 = polyB; + poly2 = polyA; + xf1 = xfB; + xf2 = xfA; + edge1 = edgeB; + manifold.m_type = b2Manifold.e_faceB; + flip = 1; + } + else { + poly1 = polyA; + poly2 = polyB; + xf1 = xfA; + xf2 = xfB; + edge1 = edgeA; + manifold.m_type = b2Manifold.e_faceA; + flip = 0; + } + var incidentEdge = b2Collision.s_incidentEdge; + b2Collision.FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2); + var count1 = parseInt(poly1.m_vertexCount); + var vertices1 = poly1.m_vertices; + var local_v11 = vertices1[edge1]; + var local_v12; + if (edge1 + 1 < count1) { + local_v12 = vertices1[parseInt(edge1 + 1)]; + } + else { + local_v12 = vertices1[0]; + } + var localTangent = b2Collision.s_localTangent; + localTangent.Set(local_v12.x - local_v11.x, local_v12.y - local_v11.y); + localTangent.Normalize(); + var localNormal = b2Collision.s_localNormal; + localNormal.x = localTangent.y; + localNormal.y = (-localTangent.x); + var planePoint = b2Collision.s_planePoint; + planePoint.Set(0.5 * (local_v11.x + local_v12.x), 0.5 * (local_v11.y + local_v12.y)); + var tangent = b2Collision.s_tangent; + tMat = xf1.R; + tangent.x = (tMat.col1.x * localTangent.x + tMat.col2.x * localTangent.y); + tangent.y = (tMat.col1.y * localTangent.x + tMat.col2.y * localTangent.y); + var tangent2 = b2Collision.s_tangent2; + tangent2.x = (-tangent.x); + tangent2.y = (-tangent.y); + var normal = b2Collision.s_normal; + normal.x = tangent.y; + normal.y = (-tangent.x); + var v11 = b2Collision.s_v11; + var v12 = b2Collision.s_v12; + v11.x = xf1.position.x + (tMat.col1.x * local_v11.x + tMat.col2.x * local_v11.y); + v11.y = xf1.position.y + (tMat.col1.y * local_v11.x + tMat.col2.y * local_v11.y); + v12.x = xf1.position.x + (tMat.col1.x * local_v12.x + tMat.col2.x * local_v12.y); + v12.y = xf1.position.y + (tMat.col1.y * local_v12.x + tMat.col2.y * local_v12.y); + var frontOffset = normal.x * v11.x + normal.y * v11.y; + var sideOffset1 = (-tangent.x * v11.x) - tangent.y * v11.y + totalRadius; + var sideOffset2 = tangent.x * v12.x + tangent.y * v12.y + totalRadius; + var clipPoints1 = b2Collision.s_clipPoints1; + var clipPoints2 = b2Collision.s_clipPoints2; + var np = 0; + np = b2Collision.ClipSegmentToLine(clipPoints1, incidentEdge, tangent2, sideOffset1); + if (np < 2) return; + np = b2Collision.ClipSegmentToLine(clipPoints2, clipPoints1, tangent, sideOffset2); + if (np < 2) return; + manifold.m_localPlaneNormal.SetV(localNormal); + manifold.m_localPoint.SetV(planePoint); + var pointCount = 0; + for (var i = 0; i < b2Settings.b2_maxManifoldPoints; ++i) { + cv = clipPoints2[i]; + var separation = normal.x * cv.v.x + normal.y * cv.v.y - frontOffset; + if (separation <= totalRadius) { + var cp = manifold.m_points[pointCount]; + tMat = xf2.R; + var tX = cv.v.x - xf2.position.x; + var tY = cv.v.y - xf2.position.y; + cp.m_localPoint.x = (tX * tMat.col1.x + tY * tMat.col1.y); + cp.m_localPoint.y = (tX * tMat.col2.x + tY * tMat.col2.y); + cp.m_id.Set(cv.id); + cp.m_id.features.flip = flip; + ++pointCount; + } + } + manifold.m_pointCount = pointCount; + } + b2Collision.CollideCircles = function (manifold, circle1, xf1, circle2, xf2) { + manifold.m_pointCount = 0; + var tMat; + var tVec; + tMat = xf1.R; + tVec = circle1.m_p; + var p1X = xf1.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var p1Y = xf1.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tMat = xf2.R; + tVec = circle2.m_p; + var p2X = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var p2Y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + var dX = p2X - p1X; + var dY = p2Y - p1Y; + var distSqr = dX * dX + dY * dY; + var radius = circle1.m_radius + circle2.m_radius; + if (distSqr > radius * radius) { + return; + } + manifold.m_type = b2Manifold.e_circles; + manifold.m_localPoint.SetV(circle1.m_p); + manifold.m_localPlaneNormal.SetZero(); + manifold.m_pointCount = 1; + manifold.m_points[0].m_localPoint.SetV(circle2.m_p); + manifold.m_points[0].m_id.key = 0; + } + b2Collision.CollidePolygonAndCircle = function (manifold, polygon, xf1, circle, xf2) { + manifold.m_pointCount = 0; + var tPoint; + var dX = 0; + var dY = 0; + var positionX = 0; + var positionY = 0; + var tVec; + var tMat; + tMat = xf2.R; + tVec = circle.m_p; + var cX = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var cY = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + dX = cX - xf1.position.x; + dY = cY - xf1.position.y; + tMat = xf1.R; + var cLocalX = (dX * tMat.col1.x + dY * tMat.col1.y); + var cLocalY = (dX * tMat.col2.x + dY * tMat.col2.y); + var dist = 0; + var normalIndex = 0; + var separation = (-Number.MAX_VALUE); + var radius = polygon.m_radius + circle.m_radius; + var vertexCount = parseInt(polygon.m_vertexCount); + var vertices = polygon.m_vertices; + var normals = polygon.m_normals; + for (var i = 0; i < vertexCount; ++i) { + tVec = vertices[i]; + dX = cLocalX - tVec.x; + dY = cLocalY - tVec.y; + tVec = normals[i]; + var s = tVec.x * dX + tVec.y * dY; + if (s > radius) { + return; + } + if (s > separation) { + separation = s; + normalIndex = i; + } + } + var vertIndex1 = parseInt(normalIndex); + var vertIndex2 = parseInt(vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0); + var v1 = vertices[vertIndex1]; + var v2 = vertices[vertIndex2]; + if (separation < Number.MIN_VALUE) { + manifold.m_pointCount = 1; + manifold.m_type = b2Manifold.e_faceA; + manifold.m_localPlaneNormal.SetV(normals[normalIndex]); + manifold.m_localPoint.x = 0.5 * (v1.x + v2.x); + manifold.m_localPoint.y = 0.5 * (v1.y + v2.y); + manifold.m_points[0].m_localPoint.SetV(circle.m_p); + manifold.m_points[0].m_id.key = 0; + return; + } + var u1 = (cLocalX - v1.x) * (v2.x - v1.x) + (cLocalY - v1.y) * (v2.y - v1.y); + var u2 = (cLocalX - v2.x) * (v1.x - v2.x) + (cLocalY - v2.y) * (v1.y - v2.y); + if (u1 <= 0.0) { + if ((cLocalX - v1.x) * (cLocalX - v1.x) + (cLocalY - v1.y) * (cLocalY - v1.y) > radius * radius) return; + manifold.m_pointCount = 1; + manifold.m_type = b2Manifold.e_faceA; + manifold.m_localPlaneNormal.x = cLocalX - v1.x; + manifold.m_localPlaneNormal.y = cLocalY - v1.y; + manifold.m_localPlaneNormal.Normalize(); + manifold.m_localPoint.SetV(v1); + manifold.m_points[0].m_localPoint.SetV(circle.m_p); + manifold.m_points[0].m_id.key = 0; + } + else if (u2 <= 0) { + if ((cLocalX - v2.x) * (cLocalX - v2.x) + (cLocalY - v2.y) * (cLocalY - v2.y) > radius * radius) return; + manifold.m_pointCount = 1; + manifold.m_type = b2Manifold.e_faceA; + manifold.m_localPlaneNormal.x = cLocalX - v2.x; + manifold.m_localPlaneNormal.y = cLocalY - v2.y; + manifold.m_localPlaneNormal.Normalize(); + manifold.m_localPoint.SetV(v2); + manifold.m_points[0].m_localPoint.SetV(circle.m_p); + manifold.m_points[0].m_id.key = 0; + } + else { + var faceCenterX = 0.5 * (v1.x + v2.x); + var faceCenterY = 0.5 * (v1.y + v2.y); + separation = (cLocalX - faceCenterX) * normals[vertIndex1].x + (cLocalY - faceCenterY) * normals[vertIndex1].y; + if (separation > radius) return; + manifold.m_pointCount = 1; + manifold.m_type = b2Manifold.e_faceA; + manifold.m_localPlaneNormal.x = normals[vertIndex1].x; + manifold.m_localPlaneNormal.y = normals[vertIndex1].y; + manifold.m_localPlaneNormal.Normalize(); + manifold.m_localPoint.Set(faceCenterX, faceCenterY); + manifold.m_points[0].m_localPoint.SetV(circle.m_p); + manifold.m_points[0].m_id.key = 0; + } + } + b2Collision.TestOverlap = function (a, b) { + var t1 = b.lowerBound; + var t2 = a.upperBound; + var d1X = t1.x - t2.x; + var d1Y = t1.y - t2.y; + t1 = a.lowerBound; + t2 = b.upperBound; + var d2X = t1.x - t2.x; + var d2Y = t1.y - t2.y; + if (d1X > 0.0 || d1Y > 0.0) return false; + if (d2X > 0.0 || d2Y > 0.0) return false; + return true; + } + Box2D.postDefs.push(function () { + Box2D.Collision.b2Collision.s_incidentEdge = b2Collision.MakeClipPointVector(); + Box2D.Collision.b2Collision.s_clipPoints1 = b2Collision.MakeClipPointVector(); + Box2D.Collision.b2Collision.s_clipPoints2 = b2Collision.MakeClipPointVector(); + Box2D.Collision.b2Collision.s_edgeAO = new Vector_a2j_Number(1); + Box2D.Collision.b2Collision.s_edgeBO = new Vector_a2j_Number(1); + Box2D.Collision.b2Collision.s_localTangent = new b2Vec2(); + Box2D.Collision.b2Collision.s_localNormal = new b2Vec2(); + Box2D.Collision.b2Collision.s_planePoint = new b2Vec2(); + Box2D.Collision.b2Collision.s_normal = new b2Vec2(); + Box2D.Collision.b2Collision.s_tangent = new b2Vec2(); + Box2D.Collision.b2Collision.s_tangent2 = new b2Vec2(); + Box2D.Collision.b2Collision.s_v11 = new b2Vec2(); + Box2D.Collision.b2Collision.s_v12 = new b2Vec2(); + Box2D.Collision.b2Collision.b2CollidePolyTempVec = new b2Vec2(); + Box2D.Collision.b2Collision.b2_nullFeature = 0x000000ff; + }); + b2ContactID.b2ContactID = function () { + this.features = new Features(); + }; + b2ContactID.prototype.b2ContactID = function () { + this.features._m_id = this; + } + b2ContactID.prototype.Set = function (id) { + this.key = id._key; + } + b2ContactID.prototype.Copy = function () { + var id = new b2ContactID(); + id.key = this.key; + return id; + } + Object.defineProperty(b2ContactID.prototype, 'key', { + enumerable: false, + configurable: true, + get: function () { + return this._key; + } + }); + Object.defineProperty(b2ContactID.prototype, 'key', { + enumerable: false, + configurable: true, + set: function (value) { + if (value === undefined) value = 0; + this._key = value; + this.features._referenceEdge = this._key & 0x000000ff; + this.features._incidentEdge = ((this._key & 0x0000ff00) >> 8) & 0x000000ff; + this.features._incidentVertex = ((this._key & 0x00ff0000) >> 16) & 0x000000ff; + this.features._flip = ((this._key & 0xff000000) >> 24) & 0x000000ff; + } + }); + b2ContactPoint.b2ContactPoint = function () { + this.position = new b2Vec2(); + this.velocity = new b2Vec2(); + this.normal = new b2Vec2(); + this.id = new b2ContactID(); + }; + b2Distance.b2Distance = function () {}; + b2Distance.Distance = function (output, cache, input) { + ++b2Distance.b2_gjkCalls; + var proxyA = input.proxyA; + var proxyB = input.proxyB; + var transformA = input.transformA; + var transformB = input.transformB; + var simplex = b2Distance.s_simplex; + simplex.ReadCache(cache, proxyA, transformA, proxyB, transformB); + var vertices = simplex.m_vertices; + var k_maxIters = 20; + var saveA = b2Distance.s_saveA; + var saveB = b2Distance.s_saveB; + var saveCount = 0; + var closestPoint = simplex.GetClosestPoint(); + var distanceSqr1 = closestPoint.LengthSquared(); + var distanceSqr2 = distanceSqr1; + var i = 0; + var p; + var iter = 0; + while (iter < k_maxIters) { + saveCount = simplex.m_count; + for (i = 0; + i < saveCount; i++) { + saveA[i] = vertices[i].indexA; + saveB[i] = vertices[i].indexB; + } + switch (simplex.m_count) { + case 1: + break; + case 2: + simplex.Solve2(); + break; + case 3: + simplex.Solve3(); + break; + default: + b2Settings.b2Assert(false); + } + if (simplex.m_count == 3) { + break; + } + p = simplex.GetClosestPoint(); + distanceSqr2 = p.LengthSquared(); + if (distanceSqr2 > distanceSqr1) {} + distanceSqr1 = distanceSqr2; + var d = simplex.GetSearchDirection(); + if (d.LengthSquared() < Number.MIN_VALUE * Number.MIN_VALUE) { + break; + } + var vertex = vertices[simplex.m_count]; + vertex.indexA = proxyA.GetSupport(b2Math.MulTMV(transformA.R, d.GetNegative())); + vertex.wA = b2Math.MulX(transformA, proxyA.GetVertex(vertex.indexA)); + vertex.indexB = proxyB.GetSupport(b2Math.MulTMV(transformB.R, d)); + vertex.wB = b2Math.MulX(transformB, proxyB.GetVertex(vertex.indexB)); + vertex.w = b2Math.SubtractVV(vertex.wB, vertex.wA); + ++iter; + ++b2Distance.b2_gjkIters; + var duplicate = false; + for (i = 0; + i < saveCount; i++) { + if (vertex.indexA == saveA[i] && vertex.indexB == saveB[i]) { + duplicate = true; + break; + } + } + if (duplicate) { + break; + }++simplex.m_count; + } + b2Distance.b2_gjkMaxIters = b2Math.Max(b2Distance.b2_gjkMaxIters, iter); + simplex.GetWitnessPoints(output.pointA, output.pointB); + output.distance = b2Math.SubtractVV(output.pointA, output.pointB).Length(); + output.iterations = iter; + simplex.WriteCache(cache); + if (input.useRadii) { + var rA = proxyA.m_radius; + var rB = proxyB.m_radius; + if (output.distance > rA + rB && output.distance > Number.MIN_VALUE) { + output.distance -= rA + rB; + var normal = b2Math.SubtractVV(output.pointB, output.pointA); + normal.Normalize(); + output.pointA.x += rA * normal.x; + output.pointA.y += rA * normal.y; + output.pointB.x -= rB * normal.x; + output.pointB.y -= rB * normal.y; + } + else { + p = new b2Vec2(); + p.x = .5 * (output.pointA.x + output.pointB.x); + p.y = .5 * (output.pointA.y + output.pointB.y); + output.pointA.x = output.pointB.x = p.x; + output.pointA.y = output.pointB.y = p.y; + output.distance = 0.0; + } + } + } + Box2D.postDefs.push(function () { + Box2D.Collision.b2Distance.s_simplex = new b2Simplex(); + Box2D.Collision.b2Distance.s_saveA = new Vector_a2j_Number(3); + Box2D.Collision.b2Distance.s_saveB = new Vector_a2j_Number(3); + }); + b2DistanceInput.b2DistanceInput = function () {}; + b2DistanceOutput.b2DistanceOutput = function () { + this.pointA = new b2Vec2(); + this.pointB = new b2Vec2(); + }; + b2DistanceProxy.b2DistanceProxy = function () {}; + b2DistanceProxy.prototype.Set = function (shape) { + switch (shape.GetType()) { + case b2Shape.e_circleShape: + { + var circle = (shape instanceof b2CircleShape ? shape : null); + this.m_vertices = new Vector(1, true); + this.m_vertices[0] = circle.m_p; + this.m_count = 1; + this.m_radius = circle.m_radius; + } + break; + case b2Shape.e_polygonShape: + { + var polygon = (shape instanceof b2PolygonShape ? shape : null); + this.m_vertices = polygon.m_vertices; + this.m_count = polygon.m_vertexCount; + this.m_radius = polygon.m_radius; + } + break; + default: + b2Settings.b2Assert(false); + } + } + b2DistanceProxy.prototype.GetSupport = function (d) { + var bestIndex = 0; + var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y; + for (var i = 1; i < this.m_count; ++i) { + var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y; + if (value > bestValue) { + bestIndex = i; + bestValue = value; + } + } + return bestIndex; + } + b2DistanceProxy.prototype.GetSupportVertex = function (d) { + var bestIndex = 0; + var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y; + for (var i = 1; i < this.m_count; ++i) { + var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y; + if (value > bestValue) { + bestIndex = i; + bestValue = value; + } + } + return this.m_vertices[bestIndex]; + } + b2DistanceProxy.prototype.GetVertexCount = function () { + return this.m_count; + } + b2DistanceProxy.prototype.GetVertex = function (index) { + if (index === undefined) index = 0; + b2Settings.b2Assert(0 <= index && index < this.m_count); + return this.m_vertices[index]; + } + b2DynamicTree.b2DynamicTree = function () {}; + b2DynamicTree.prototype.b2DynamicTree = function () { + this.m_root = null; + this.m_freeList = null; + this.m_path = 0; + this.m_insertionCount = 0; + } + b2DynamicTree.prototype.CreateProxy = function (aabb, userData) { + var node = this.AllocateNode(); + var extendX = b2Settings.b2_aabbExtension; + var extendY = b2Settings.b2_aabbExtension; + node.aabb.lowerBound.x = aabb.lowerBound.x - extendX; + node.aabb.lowerBound.y = aabb.lowerBound.y - extendY; + node.aabb.upperBound.x = aabb.upperBound.x + extendX; + node.aabb.upperBound.y = aabb.upperBound.y + extendY; + node.userData = userData; + this.InsertLeaf(node); + return node; + } + b2DynamicTree.prototype.DestroyProxy = function (proxy) { + this.RemoveLeaf(proxy); + this.FreeNode(proxy); + } + b2DynamicTree.prototype.MoveProxy = function (proxy, aabb, displacement) { + b2Settings.b2Assert(proxy.IsLeaf()); + if (proxy.aabb.Contains(aabb)) { + return false; + } + this.RemoveLeaf(proxy); + var extendX = b2Settings.b2_aabbExtension + b2Settings.b2_aabbMultiplier * (displacement.x > 0 ? displacement.x : (-displacement.x)); + var extendY = b2Settings.b2_aabbExtension + b2Settings.b2_aabbMultiplier * (displacement.y > 0 ? displacement.y : (-displacement.y)); + proxy.aabb.lowerBound.x = aabb.lowerBound.x - extendX; + proxy.aabb.lowerBound.y = aabb.lowerBound.y - extendY; + proxy.aabb.upperBound.x = aabb.upperBound.x + extendX; + proxy.aabb.upperBound.y = aabb.upperBound.y + extendY; + this.InsertLeaf(proxy); + return true; + } + b2DynamicTree.prototype.Rebalance = function (iterations) { + if (iterations === undefined) iterations = 0; + if (this.m_root == null) return; + for (var i = 0; i < iterations; i++) { + var node = this.m_root; + var bit = 0; + while (node.IsLeaf() == false) { + node = (this.m_path >> bit) & 1 ? node.child2 : node.child1; + bit = (bit + 1) & 31; + }++this.m_path; + this.RemoveLeaf(node); + this.InsertLeaf(node); + } + } + b2DynamicTree.prototype.GetFatAABB = function (proxy) { + return proxy.aabb; + } + b2DynamicTree.prototype.GetUserData = function (proxy) { + return proxy.userData; + } + b2DynamicTree.prototype.Query = function (callback, aabb) { + if (this.m_root == null) return; + var stack = new Vector(); + var count = 0; + stack[count++] = this.m_root; + while (count > 0) { + var node = stack[--count]; + if (node.aabb.TestOverlap(aabb)) { + if (node.IsLeaf()) { + var proceed = callback(node); + if (!proceed) return; + } + else { + stack[count++] = node.child1; + stack[count++] = node.child2; + } + } + } + } + b2DynamicTree.prototype.RayCast = function (callback, input) { + if (this.m_root == null) return; + var p1 = input.p1; + var p2 = input.p2; + var r = b2Math.SubtractVV(p1, p2); + r.Normalize(); + var v = b2Math.CrossFV(1.0, r); + var abs_v = b2Math.AbsV(v); + var maxFraction = input.maxFraction; + var segmentAABB = new b2AABB(); + var tX = 0; + var tY = 0; { + tX = p1.x + maxFraction * (p2.x - p1.x); + tY = p1.y + maxFraction * (p2.y - p1.y); + segmentAABB.lowerBound.x = Math.min(p1.x, tX); + segmentAABB.lowerBound.y = Math.min(p1.y, tY); + segmentAABB.upperBound.x = Math.max(p1.x, tX); + segmentAABB.upperBound.y = Math.max(p1.y, tY); + } + var stack = new Vector(); + var count = 0; + stack[count++] = this.m_root; + while (count > 0) { + var node = stack[--count]; + if (node.aabb.TestOverlap(segmentAABB) == false) { + continue; + } + var c = node.aabb.GetCenter(); + var h = node.aabb.GetExtents(); + var separation = Math.abs(v.x * (p1.x - c.x) + v.y * (p1.y - c.y)) - abs_v.x * h.x - abs_v.y * h.y; + if (separation > 0.0) continue; + if (node.IsLeaf()) { + var subInput = new b2RayCastInput(); + subInput.p1 = input.p1; + subInput.p2 = input.p2; + subInput.maxFraction = input.maxFraction; + maxFraction = callback(subInput, node); + if (maxFraction == 0.0) return; + if (maxFraction > 0.0) { + tX = p1.x + maxFraction * (p2.x - p1.x); + tY = p1.y + maxFraction * (p2.y - p1.y); + segmentAABB.lowerBound.x = Math.min(p1.x, tX); + segmentAABB.lowerBound.y = Math.min(p1.y, tY); + segmentAABB.upperBound.x = Math.max(p1.x, tX); + segmentAABB.upperBound.y = Math.max(p1.y, tY); + } + } + else { + stack[count++] = node.child1; + stack[count++] = node.child2; + } + } + } + b2DynamicTree.prototype.AllocateNode = function () { + if (this.m_freeList) { + var node = this.m_freeList; + this.m_freeList = node.parent; + node.parent = null; + node.child1 = null; + node.child2 = null; + return node; + } + return new b2DynamicTreeNode(); + } + b2DynamicTree.prototype.FreeNode = function (node) { + node.parent = this.m_freeList; + this.m_freeList = node; + } + b2DynamicTree.prototype.InsertLeaf = function (leaf) { + ++this.m_insertionCount; + if (this.m_root == null) { + this.m_root = leaf; + this.m_root.parent = null; + return; + } + var center = leaf.aabb.GetCenter(); + var sibling = this.m_root; + if (sibling.IsLeaf() == false) { + do { + var child1 = sibling.child1; + var child2 = sibling.child2; + var norm1 = Math.abs((child1.aabb.lowerBound.x + child1.aabb.upperBound.x) / 2 - center.x) + Math.abs((child1.aabb.lowerBound.y + child1.aabb.upperBound.y) / 2 - center.y); + var norm2 = Math.abs((child2.aabb.lowerBound.x + child2.aabb.upperBound.x) / 2 - center.x) + Math.abs((child2.aabb.lowerBound.y + child2.aabb.upperBound.y) / 2 - center.y); + if (norm1 < norm2) { + sibling = child1; + } + else { + sibling = child2; + } + } + while (sibling.IsLeaf() == false) + } + var node1 = sibling.parent; + var node2 = this.AllocateNode(); + node2.parent = node1; + node2.userData = null; + node2.aabb.Combine(leaf.aabb, sibling.aabb); + if (node1) { + if (sibling.parent.child1 == sibling) { + node1.child1 = node2; + } + else { + node1.child2 = node2; + } + node2.child1 = sibling; + node2.child2 = leaf; + sibling.parent = node2; + leaf.parent = node2; + do { + if (node1.aabb.Contains(node2.aabb)) break; + node1.aabb.Combine(node1.child1.aabb, node1.child2.aabb); + node2 = node1; + node1 = node1.parent; + } + while (node1) + } + else { + node2.child1 = sibling; + node2.child2 = leaf; + sibling.parent = node2; + leaf.parent = node2; + this.m_root = node2; + } + } + b2DynamicTree.prototype.RemoveLeaf = function (leaf) { + if (leaf == this.m_root) { + this.m_root = null; + return; + } + var node2 = leaf.parent; + var node1 = node2.parent; + var sibling; + if (node2.child1 == leaf) { + sibling = node2.child2; + } + else { + sibling = node2.child1; + } + if (node1) { + if (node1.child1 == node2) { + node1.child1 = sibling; + } + else { + node1.child2 = sibling; + } + sibling.parent = node1; + this.FreeNode(node2); + while (node1) { + var oldAABB = node1.aabb; + node1.aabb = b2AABB.Combine(node1.child1.aabb, node1.child2.aabb); + if (oldAABB.Contains(node1.aabb)) break; + node1 = node1.parent; + } + } + else { + this.m_root = sibling; + sibling.parent = null; + this.FreeNode(node2); + } + } + b2DynamicTreeBroadPhase.b2DynamicTreeBroadPhase = function () { + this.m_tree = new b2DynamicTree(); + this.m_moveBuffer = new Vector(); + this.m_pairBuffer = new Vector(); + this.m_pairCount = 0; + }; + b2DynamicTreeBroadPhase.prototype.CreateProxy = function (aabb, userData) { + var proxy = this.m_tree.CreateProxy(aabb, userData); + ++this.m_proxyCount; + this.BufferMove(proxy); + return proxy; + } + b2DynamicTreeBroadPhase.prototype.DestroyProxy = function (proxy) { + this.UnBufferMove(proxy); + --this.m_proxyCount; + this.m_tree.DestroyProxy(proxy); + } + b2DynamicTreeBroadPhase.prototype.MoveProxy = function (proxy, aabb, displacement) { + var buffer = this.m_tree.MoveProxy(proxy, aabb, displacement); + if (buffer) { + this.BufferMove(proxy); + } + } + b2DynamicTreeBroadPhase.prototype.TestOverlap = function (proxyA, proxyB) { + var aabbA = this.m_tree.GetFatAABB(proxyA); + var aabbB = this.m_tree.GetFatAABB(proxyB); + return aabbA.TestOverlap(aabbB); + } + b2DynamicTreeBroadPhase.prototype.GetUserData = function (proxy) { + return this.m_tree.GetUserData(proxy); + } + b2DynamicTreeBroadPhase.prototype.GetFatAABB = function (proxy) { + return this.m_tree.GetFatAABB(proxy); + } + b2DynamicTreeBroadPhase.prototype.GetProxyCount = function () { + return this.m_proxyCount; + } + b2DynamicTreeBroadPhase.prototype.UpdatePairs = function (callback) { + var __this = this; + __this.m_pairCount = 0; + var i = 0, + queryProxy; + for (i = 0; + i < __this.m_moveBuffer.length; ++i) { + queryProxy = __this.m_moveBuffer[i]; + + function QueryCallback(proxy) { + if (proxy == queryProxy) return true; + if (__this.m_pairCount == __this.m_pairBuffer.length) { + __this.m_pairBuffer[__this.m_pairCount] = new b2DynamicTreePair(); + } + var pair = __this.m_pairBuffer[__this.m_pairCount]; + pair.proxyA = proxy < queryProxy ? proxy : queryProxy; + pair.proxyB = proxy >= queryProxy ? proxy : queryProxy;++__this.m_pairCount; + return true; + }; + var fatAABB = __this.m_tree.GetFatAABB(queryProxy); + __this.m_tree.Query(QueryCallback, fatAABB); + } + __this.m_moveBuffer.length = 0; + for (var i = 0; i < __this.m_pairCount;) { + var primaryPair = __this.m_pairBuffer[i]; + var userDataA = __this.m_tree.GetUserData(primaryPair.proxyA); + var userDataB = __this.m_tree.GetUserData(primaryPair.proxyB); + callback(userDataA, userDataB); + ++i; + while (i < __this.m_pairCount) { + var pair = __this.m_pairBuffer[i]; + if (pair.proxyA != primaryPair.proxyA || pair.proxyB != primaryPair.proxyB) { + break; + }++i; + } + } + } + b2DynamicTreeBroadPhase.prototype.Query = function (callback, aabb) { + this.m_tree.Query(callback, aabb); + } + b2DynamicTreeBroadPhase.prototype.RayCast = function (callback, input) { + this.m_tree.RayCast(callback, input); + } + b2DynamicTreeBroadPhase.prototype.Validate = function () {} + b2DynamicTreeBroadPhase.prototype.Rebalance = function (iterations) { + if (iterations === undefined) iterations = 0; + this.m_tree.Rebalance(iterations); + } + b2DynamicTreeBroadPhase.prototype.BufferMove = function (proxy) { + this.m_moveBuffer[this.m_moveBuffer.length] = proxy; + } + b2DynamicTreeBroadPhase.prototype.UnBufferMove = function (proxy) { + var i = parseInt(this.m_moveBuffer.indexOf(proxy)); + this.m_moveBuffer.splice(i, 1); + } + b2DynamicTreeBroadPhase.prototype.ComparePairs = function (pair1, pair2) { + return 0; + } + b2DynamicTreeBroadPhase.__implements = {}; + b2DynamicTreeBroadPhase.__implements[IBroadPhase] = true; + b2DynamicTreeNode.b2DynamicTreeNode = function () { + this.aabb = new b2AABB(); + }; + b2DynamicTreeNode.prototype.IsLeaf = function () { + return this.child1 == null; + } + b2DynamicTreePair.b2DynamicTreePair = function () {}; + b2Manifold.b2Manifold = function () { + this.m_pointCount = 0; + }; + b2Manifold.prototype.b2Manifold = function () { + this.m_points = new Vector(b2Settings.b2_maxManifoldPoints); + for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) { + this.m_points[i] = new b2ManifoldPoint(); + } + this.m_localPlaneNormal = new b2Vec2(); + this.m_localPoint = new b2Vec2(); + } + b2Manifold.prototype.Reset = function () { + for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) { + ((this.m_points[i] instanceof b2ManifoldPoint ? this.m_points[i] : null)).Reset(); + } + this.m_localPlaneNormal.SetZero(); + this.m_localPoint.SetZero(); + this.m_type = 0; + this.m_pointCount = 0; + } + b2Manifold.prototype.Set = function (m) { + this.m_pointCount = m.m_pointCount; + for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) { + ((this.m_points[i] instanceof b2ManifoldPoint ? this.m_points[i] : null)).Set(m.m_points[i]); + } + this.m_localPlaneNormal.SetV(m.m_localPlaneNormal); + this.m_localPoint.SetV(m.m_localPoint); + this.m_type = m.m_type; + } + b2Manifold.prototype.Copy = function () { + var copy = new b2Manifold(); + copy.Set(this); + return copy; + } + Box2D.postDefs.push(function () { + Box2D.Collision.b2Manifold.e_circles = 0x0001; + Box2D.Collision.b2Manifold.e_faceA = 0x0002; + Box2D.Collision.b2Manifold.e_faceB = 0x0004; + }); + b2ManifoldPoint.b2ManifoldPoint = function () { + this.m_localPoint = new b2Vec2(); + this.m_id = new b2ContactID(); + }; + b2ManifoldPoint.prototype.b2ManifoldPoint = function () { + this.Reset(); + } + b2ManifoldPoint.prototype.Reset = function () { + this.m_localPoint.SetZero(); + this.m_normalImpulse = 0.0; + this.m_tangentImpulse = 0.0; + this.m_id.key = 0; + } + b2ManifoldPoint.prototype.Set = function (m) { + this.m_localPoint.SetV(m.m_localPoint); + this.m_normalImpulse = m.m_normalImpulse; + this.m_tangentImpulse = m.m_tangentImpulse; + this.m_id.Set(m.m_id); + } + b2Point.b2Point = function () { + this.p = new b2Vec2(); + }; + b2Point.prototype.Support = function (xf, vX, vY) { + if (vX === undefined) vX = 0; + if (vY === undefined) vY = 0; + return this.p; + } + b2Point.prototype.GetFirstVertex = function (xf) { + return this.p; + } + b2RayCastInput.b2RayCastInput = function () { + this.p1 = new b2Vec2(); + this.p2 = new b2Vec2(); + }; + b2RayCastInput.prototype.b2RayCastInput = function (p1, p2, maxFraction) { + if (p1 === undefined) p1 = null; + if (p2 === undefined) p2 = null; + if (maxFraction === undefined) maxFraction = 1; + if (p1) this.p1.SetV(p1); + if (p2) this.p2.SetV(p2); + this.maxFraction = maxFraction; + } + b2RayCastOutput.b2RayCastOutput = function () { + this.normal = new b2Vec2(); + }; + b2Segment.b2Segment = function () { + this.p1 = new b2Vec2(); + this.p2 = new b2Vec2(); + }; + b2Segment.prototype.TestSegment = function (lambda, normal, segment, maxLambda) { + if (maxLambda === undefined) maxLambda = 0; + var s = segment.p1; + var rX = segment.p2.x - s.x; + var rY = segment.p2.y - s.y; + var dX = this.p2.x - this.p1.x; + var dY = this.p2.y - this.p1.y; + var nX = dY; + var nY = (-dX); + var k_slop = 100.0 * Number.MIN_VALUE; + var denom = (-(rX * nX + rY * nY)); + if (denom > k_slop) { + var bX = s.x - this.p1.x; + var bY = s.y - this.p1.y; + var a = (bX * nX + bY * nY); + if (0.0 <= a && a <= maxLambda * denom) { + var mu2 = (-rX * bY) + rY * bX; + if ((-k_slop * denom) <= mu2 && mu2 <= denom * (1.0 + k_slop)) { + a /= denom; + var nLen = Math.sqrt(nX * nX + nY * nY); + nX /= nLen; + nY /= nLen; + lambda[0] = a; + normal.Set(nX, nY); + return true; + } + } + } + return false; + } + b2Segment.prototype.Extend = function (aabb) { + this.ExtendForward(aabb); + this.ExtendBackward(aabb); + } + b2Segment.prototype.ExtendForward = function (aabb) { + var dX = this.p2.x - this.p1.x; + var dY = this.p2.y - this.p1.y; + var lambda = Math.min(dX > 0 ? (aabb.upperBound.x - this.p1.x) / dX : dX < 0 ? (aabb.lowerBound.x - this.p1.x) / dX : Number.POSITIVE_INFINITY, + dY > 0 ? (aabb.upperBound.y - this.p1.y) / dY : dY < 0 ? (aabb.lowerBound.y - this.p1.y) / dY : Number.POSITIVE_INFINITY); + this.p2.x = this.p1.x + dX * lambda; + this.p2.y = this.p1.y + dY * lambda; + } + b2Segment.prototype.ExtendBackward = function (aabb) { + var dX = (-this.p2.x) + this.p1.x; + var dY = (-this.p2.y) + this.p1.y; + var lambda = Math.min(dX > 0 ? (aabb.upperBound.x - this.p2.x) / dX : dX < 0 ? (aabb.lowerBound.x - this.p2.x) / dX : Number.POSITIVE_INFINITY, + dY > 0 ? (aabb.upperBound.y - this.p2.y) / dY : dY < 0 ? (aabb.lowerBound.y - this.p2.y) / dY : Number.POSITIVE_INFINITY); + this.p1.x = this.p2.x + dX * lambda; + this.p1.y = this.p2.y + dY * lambda; + } + b2SeparationFunction.b2SeparationFunction = function () { + this.m_localPoint = new b2Vec2(); + this.m_axis = new b2Vec2(); + }; + b2SeparationFunction.prototype.Initialize = function (cache, proxyA, transformA, proxyB, transformB) { + this.m_proxyA = proxyA; + this.m_proxyB = proxyB; + var count = parseInt(cache.count); + b2Settings.b2Assert(0 < count && count < 3); + var localPointA; + var localPointA1; + var localPointA2; + var localPointB; + var localPointB1; + var localPointB2; + var pointAX = 0; + var pointAY = 0; + var pointBX = 0; + var pointBY = 0; + var normalX = 0; + var normalY = 0; + var tMat; + var tVec; + var s = 0; + var sgn = 0; + if (count == 1) { + this.m_type = b2SeparationFunction.e_points; + localPointA = this.m_proxyA.GetVertex(cache.indexA[0]); + localPointB = this.m_proxyB.GetVertex(cache.indexB[0]); + tVec = localPointA; + tMat = transformA.R; + pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tVec = localPointB; + tMat = transformB.R; + pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + this.m_axis.x = pointBX - pointAX; + this.m_axis.y = pointBY - pointAY; + this.m_axis.Normalize(); + } + else if (cache.indexB[0] == cache.indexB[1]) { + this.m_type = b2SeparationFunction.e_faceA; + localPointA1 = this.m_proxyA.GetVertex(cache.indexA[0]); + localPointA2 = this.m_proxyA.GetVertex(cache.indexA[1]); + localPointB = this.m_proxyB.GetVertex(cache.indexB[0]); + this.m_localPoint.x = 0.5 * (localPointA1.x + localPointA2.x); + this.m_localPoint.y = 0.5 * (localPointA1.y + localPointA2.y); + this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointA2, localPointA1), 1.0); + this.m_axis.Normalize(); + tVec = this.m_axis; + tMat = transformA.R; + normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tVec = this.m_localPoint; + tMat = transformA.R; + pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tVec = localPointB; + tMat = transformB.R; + pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + s = (pointBX - pointAX) * normalX + (pointBY - pointAY) * normalY; + if (s < 0.0) { + this.m_axis.NegativeSelf(); + } + } + else if (cache.indexA[0] == cache.indexA[0]) { + this.m_type = b2SeparationFunction.e_faceB; + localPointB1 = this.m_proxyB.GetVertex(cache.indexB[0]); + localPointB2 = this.m_proxyB.GetVertex(cache.indexB[1]); + localPointA = this.m_proxyA.GetVertex(cache.indexA[0]); + this.m_localPoint.x = 0.5 * (localPointB1.x + localPointB2.x); + this.m_localPoint.y = 0.5 * (localPointB1.y + localPointB2.y); + this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointB2, localPointB1), 1.0); + this.m_axis.Normalize(); + tVec = this.m_axis; + tMat = transformB.R; + normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tVec = this.m_localPoint; + tMat = transformB.R; + pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tVec = localPointA; + tMat = transformA.R; + pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + s = (pointAX - pointBX) * normalX + (pointAY - pointBY) * normalY; + if (s < 0.0) { + this.m_axis.NegativeSelf(); + } + } + else { + localPointA1 = this.m_proxyA.GetVertex(cache.indexA[0]); + localPointA2 = this.m_proxyA.GetVertex(cache.indexA[1]); + localPointB1 = this.m_proxyB.GetVertex(cache.indexB[0]); + localPointB2 = this.m_proxyB.GetVertex(cache.indexB[1]); + var pA = b2Math.MulX(transformA, localPointA); + var dA = b2Math.MulMV(transformA.R, b2Math.SubtractVV(localPointA2, localPointA1)); + var pB = b2Math.MulX(transformB, localPointB); + var dB = b2Math.MulMV(transformB.R, b2Math.SubtractVV(localPointB2, localPointB1)); + var a = dA.x * dA.x + dA.y * dA.y; + var e = dB.x * dB.x + dB.y * dB.y; + var r = b2Math.SubtractVV(dB, dA); + var c = dA.x * r.x + dA.y * r.y; + var f = dB.x * r.x + dB.y * r.y; + var b = dA.x * dB.x + dA.y * dB.y; + var denom = a * e - b * b; + s = 0.0; + if (denom != 0.0) { + s = b2Math.Clamp((b * f - c * e) / denom, 0.0, 1.0); + } + var t = (b * s + f) / e; + if (t < 0.0) { + t = 0.0; + s = b2Math.Clamp((b - c) / a, 0.0, 1.0); + } + localPointA = new b2Vec2(); + localPointA.x = localPointA1.x + s * (localPointA2.x - localPointA1.x); + localPointA.y = localPointA1.y + s * (localPointA2.y - localPointA1.y); + localPointB = new b2Vec2(); + localPointB.x = localPointB1.x + s * (localPointB2.x - localPointB1.x); + localPointB.y = localPointB1.y + s * (localPointB2.y - localPointB1.y); + if (s == 0.0 || s == 1.0) { + this.m_type = b2SeparationFunction.e_faceB; + this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointB2, localPointB1), 1.0); + this.m_axis.Normalize(); + this.m_localPoint = localPointB; + tVec = this.m_axis; + tMat = transformB.R; + normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tVec = this.m_localPoint; + tMat = transformB.R; + pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tVec = localPointA; + tMat = transformA.R; + pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + sgn = (pointAX - pointBX) * normalX + (pointAY - pointBY) * normalY; + if (s < 0.0) { + this.m_axis.NegativeSelf(); + } + } + else { + this.m_type = b2SeparationFunction.e_faceA; + this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointA2, localPointA1), 1.0); + this.m_localPoint = localPointA; + tVec = this.m_axis; + tMat = transformA.R; + normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tVec = this.m_localPoint; + tMat = transformA.R; + pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tVec = localPointB; + tMat = transformB.R; + pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + sgn = (pointBX - pointAX) * normalX + (pointBY - pointAY) * normalY; + if (s < 0.0) { + this.m_axis.NegativeSelf(); + } + } + } + } + b2SeparationFunction.prototype.Evaluate = function (transformA, transformB) { + var axisA; + var axisB; + var localPointA; + var localPointB; + var pointA; + var pointB; + var seperation = 0; + var normal; + switch (this.m_type) { + case b2SeparationFunction.e_points: + { + axisA = b2Math.MulTMV(transformA.R, this.m_axis); + axisB = b2Math.MulTMV(transformB.R, this.m_axis.GetNegative()); + localPointA = this.m_proxyA.GetSupportVertex(axisA); + localPointB = this.m_proxyB.GetSupportVertex(axisB); + pointA = b2Math.MulX(transformA, localPointA); + pointB = b2Math.MulX(transformB, localPointB); + seperation = (pointB.x - pointA.x) * this.m_axis.x + (pointB.y - pointA.y) * this.m_axis.y; + return seperation; + } + case b2SeparationFunction.e_faceA: + { + normal = b2Math.MulMV(transformA.R, this.m_axis); + pointA = b2Math.MulX(transformA, this.m_localPoint); + axisB = b2Math.MulTMV(transformB.R, normal.GetNegative()); + localPointB = this.m_proxyB.GetSupportVertex(axisB); + pointB = b2Math.MulX(transformB, localPointB); + seperation = (pointB.x - pointA.x) * normal.x + (pointB.y - pointA.y) * normal.y; + return seperation; + } + case b2SeparationFunction.e_faceB: + { + normal = b2Math.MulMV(transformB.R, this.m_axis); + pointB = b2Math.MulX(transformB, this.m_localPoint); + axisA = b2Math.MulTMV(transformA.R, normal.GetNegative()); + localPointA = this.m_proxyA.GetSupportVertex(axisA); + pointA = b2Math.MulX(transformA, localPointA); + seperation = (pointA.x - pointB.x) * normal.x + (pointA.y - pointB.y) * normal.y; + return seperation; + } + default: + b2Settings.b2Assert(false); + return 0.0; + } + } + Box2D.postDefs.push(function () { + Box2D.Collision.b2SeparationFunction.e_points = 0x01; + Box2D.Collision.b2SeparationFunction.e_faceA = 0x02; + Box2D.Collision.b2SeparationFunction.e_faceB = 0x04; + }); + b2Simplex.b2Simplex = function () { + this.m_v1 = new b2SimplexVertex(); + this.m_v2 = new b2SimplexVertex(); + this.m_v3 = new b2SimplexVertex(); + this.m_vertices = new Vector(3); + }; + b2Simplex.prototype.b2Simplex = function () { + this.m_vertices[0] = this.m_v1; + this.m_vertices[1] = this.m_v2; + this.m_vertices[2] = this.m_v3; + } + b2Simplex.prototype.ReadCache = function (cache, proxyA, transformA, proxyB, transformB) { + b2Settings.b2Assert(0 <= cache.count && cache.count <= 3); + var wALocal; + var wBLocal; + this.m_count = cache.count; + var vertices = this.m_vertices; + for (var i = 0; i < this.m_count; i++) { + var v = vertices[i]; + v.indexA = cache.indexA[i]; + v.indexB = cache.indexB[i]; + wALocal = proxyA.GetVertex(v.indexA); + wBLocal = proxyB.GetVertex(v.indexB); + v.wA = b2Math.MulX(transformA, wALocal); + v.wB = b2Math.MulX(transformB, wBLocal); + v.w = b2Math.SubtractVV(v.wB, v.wA); + v.a = 0; + } + if (this.m_count > 1) { + var metric1 = cache.metric; + var metric2 = this.GetMetric(); + if (metric2 < .5 * metric1 || 2.0 * metric1 < metric2 || metric2 < Number.MIN_VALUE) { + this.m_count = 0; + } + } + if (this.m_count == 0) { + v = vertices[0]; + v.indexA = 0; + v.indexB = 0; + wALocal = proxyA.GetVertex(0); + wBLocal = proxyB.GetVertex(0); + v.wA = b2Math.MulX(transformA, wALocal); + v.wB = b2Math.MulX(transformB, wBLocal); + v.w = b2Math.SubtractVV(v.wB, v.wA); + this.m_count = 1; + } + } + b2Simplex.prototype.WriteCache = function (cache) { + cache.metric = this.GetMetric(); + cache.count = Box2D.parseUInt(this.m_count); + var vertices = this.m_vertices; + for (var i = 0; i < this.m_count; i++) { + cache.indexA[i] = Box2D.parseUInt(vertices[i].indexA); + cache.indexB[i] = Box2D.parseUInt(vertices[i].indexB); + } + } + b2Simplex.prototype.GetSearchDirection = function () { + switch (this.m_count) { + case 1: + return this.m_v1.w.GetNegative(); + case 2: + { + var e12 = b2Math.SubtractVV(this.m_v2.w, this.m_v1.w); + var sgn = b2Math.CrossVV(e12, this.m_v1.w.GetNegative()); + if (sgn > 0.0) { + return b2Math.CrossFV(1.0, e12); + } + else { + return b2Math.CrossVF(e12, 1.0); + } + } + default: + b2Settings.b2Assert(false); + return new b2Vec2(); + } + } + b2Simplex.prototype.GetClosestPoint = function () { + switch (this.m_count) { + case 0: + b2Settings.b2Assert(false); + return new b2Vec2(); + case 1: + return this.m_v1.w; + case 2: + return new b2Vec2(this.m_v1.a * this.m_v1.w.x + this.m_v2.a * this.m_v2.w.x, this.m_v1.a * this.m_v1.w.y + this.m_v2.a * this.m_v2.w.y); + default: + b2Settings.b2Assert(false); + return new b2Vec2(); + } + } + b2Simplex.prototype.GetWitnessPoints = function (pA, pB) { + switch (this.m_count) { + case 0: + b2Settings.b2Assert(false); + break; + case 1: + pA.SetV(this.m_v1.wA); + pB.SetV(this.m_v1.wB); + break; + case 2: + pA.x = this.m_v1.a * this.m_v1.wA.x + this.m_v2.a * this.m_v2.wA.x; + pA.y = this.m_v1.a * this.m_v1.wA.y + this.m_v2.a * this.m_v2.wA.y; + pB.x = this.m_v1.a * this.m_v1.wB.x + this.m_v2.a * this.m_v2.wB.x; + pB.y = this.m_v1.a * this.m_v1.wB.y + this.m_v2.a * this.m_v2.wB.y; + break; + case 3: + pB.x = pA.x = this.m_v1.a * this.m_v1.wA.x + this.m_v2.a * this.m_v2.wA.x + this.m_v3.a * this.m_v3.wA.x; + pB.y = pA.y = this.m_v1.a * this.m_v1.wA.y + this.m_v2.a * this.m_v2.wA.y + this.m_v3.a * this.m_v3.wA.y; + break; + default: + b2Settings.b2Assert(false); + break; + } + } + b2Simplex.prototype.GetMetric = function () { + switch (this.m_count) { + case 0: + b2Settings.b2Assert(false); + return 0.0; + case 1: + return 0.0; + case 2: + return b2Math.SubtractVV(this.m_v1.w, this.m_v2.w).Length(); + case 3: + return b2Math.CrossVV(b2Math.SubtractVV(this.m_v2.w, this.m_v1.w), b2Math.SubtractVV(this.m_v3.w, this.m_v1.w)); + default: + b2Settings.b2Assert(false); + return 0.0; + } + } + b2Simplex.prototype.Solve2 = function () { + var w1 = this.m_v1.w; + var w2 = this.m_v2.w; + var e12 = b2Math.SubtractVV(w2, w1); + var d12_2 = (-(w1.x * e12.x + w1.y * e12.y)); + if (d12_2 <= 0.0) { + this.m_v1.a = 1.0; + this.m_count = 1; + return; + } + var d12_1 = (w2.x * e12.x + w2.y * e12.y); + if (d12_1 <= 0.0) { + this.m_v2.a = 1.0; + this.m_count = 1; + this.m_v1.Set(this.m_v2); + return; + } + var inv_d12 = 1.0 / (d12_1 + d12_2); + this.m_v1.a = d12_1 * inv_d12; + this.m_v2.a = d12_2 * inv_d12; + this.m_count = 2; + } + b2Simplex.prototype.Solve3 = function () { + var w1 = this.m_v1.w; + var w2 = this.m_v2.w; + var w3 = this.m_v3.w; + var e12 = b2Math.SubtractVV(w2, w1); + var w1e12 = b2Math.Dot(w1, e12); + var w2e12 = b2Math.Dot(w2, e12); + var d12_1 = w2e12; + var d12_2 = (-w1e12); + var e13 = b2Math.SubtractVV(w3, w1); + var w1e13 = b2Math.Dot(w1, e13); + var w3e13 = b2Math.Dot(w3, e13); + var d13_1 = w3e13; + var d13_2 = (-w1e13); + var e23 = b2Math.SubtractVV(w3, w2); + var w2e23 = b2Math.Dot(w2, e23); + var w3e23 = b2Math.Dot(w3, e23); + var d23_1 = w3e23; + var d23_2 = (-w2e23); + var n123 = b2Math.CrossVV(e12, e13); + var d123_1 = n123 * b2Math.CrossVV(w2, w3); + var d123_2 = n123 * b2Math.CrossVV(w3, w1); + var d123_3 = n123 * b2Math.CrossVV(w1, w2); + if (d12_2 <= 0.0 && d13_2 <= 0.0) { + this.m_v1.a = 1.0; + this.m_count = 1; + return; + } + if (d12_1 > 0.0 && d12_2 > 0.0 && d123_3 <= 0.0) { + var inv_d12 = 1.0 / (d12_1 + d12_2); + this.m_v1.a = d12_1 * inv_d12; + this.m_v2.a = d12_2 * inv_d12; + this.m_count = 2; + return; + } + if (d13_1 > 0.0 && d13_2 > 0.0 && d123_2 <= 0.0) { + var inv_d13 = 1.0 / (d13_1 + d13_2); + this.m_v1.a = d13_1 * inv_d13; + this.m_v3.a = d13_2 * inv_d13; + this.m_count = 2; + this.m_v2.Set(this.m_v3); + return; + } + if (d12_1 <= 0.0 && d23_2 <= 0.0) { + this.m_v2.a = 1.0; + this.m_count = 1; + this.m_v1.Set(this.m_v2); + return; + } + if (d13_1 <= 0.0 && d23_1 <= 0.0) { + this.m_v3.a = 1.0; + this.m_count = 1; + this.m_v1.Set(this.m_v3); + return; + } + if (d23_1 > 0.0 && d23_2 > 0.0 && d123_1 <= 0.0) { + var inv_d23 = 1.0 / (d23_1 + d23_2); + this.m_v2.a = d23_1 * inv_d23; + this.m_v3.a = d23_2 * inv_d23; + this.m_count = 2; + this.m_v1.Set(this.m_v3); + return; + } + var inv_d123 = 1.0 / (d123_1 + d123_2 + d123_3); + this.m_v1.a = d123_1 * inv_d123; + this.m_v2.a = d123_2 * inv_d123; + this.m_v3.a = d123_3 * inv_d123; + this.m_count = 3; + } + b2SimplexCache.b2SimplexCache = function () { + this.indexA = new Vector_a2j_Number(3); + this.indexB = new Vector_a2j_Number(3); + }; + b2SimplexVertex.b2SimplexVertex = function () {}; + b2SimplexVertex.prototype.Set = function (other) { + this.wA.SetV(other.wA); + this.wB.SetV(other.wB); + this.w.SetV(other.w); + this.a = other.a; + this.indexA = other.indexA; + this.indexB = other.indexB; + } + b2TimeOfImpact.b2TimeOfImpact = function () {}; + b2TimeOfImpact.TimeOfImpact = function (input) { + ++b2TimeOfImpact.b2_toiCalls; + var proxyA = input.proxyA; + var proxyB = input.proxyB; + var sweepA = input.sweepA; + var sweepB = input.sweepB; + b2Settings.b2Assert(sweepA.t0 == sweepB.t0); + b2Settings.b2Assert(1.0 - sweepA.t0 > Number.MIN_VALUE); + var radius = proxyA.m_radius + proxyB.m_radius; + var tolerance = input.tolerance; + var alpha = 0.0; + var k_maxIterations = 1000; + var iter = 0; + var target = 0.0; + b2TimeOfImpact.s_cache.count = 0; + b2TimeOfImpact.s_distanceInput.useRadii = false; + for (;;) { + sweepA.GetTransform(b2TimeOfImpact.s_xfA, alpha); + sweepB.GetTransform(b2TimeOfImpact.s_xfB, alpha); + b2TimeOfImpact.s_distanceInput.proxyA = proxyA; + b2TimeOfImpact.s_distanceInput.proxyB = proxyB; + b2TimeOfImpact.s_distanceInput.transformA = b2TimeOfImpact.s_xfA; + b2TimeOfImpact.s_distanceInput.transformB = b2TimeOfImpact.s_xfB; + b2Distance.Distance(b2TimeOfImpact.s_distanceOutput, b2TimeOfImpact.s_cache, b2TimeOfImpact.s_distanceInput); + if (b2TimeOfImpact.s_distanceOutput.distance <= 0.0) { + alpha = 1.0; + break; + } + b2TimeOfImpact.s_fcn.Initialize(b2TimeOfImpact.s_cache, proxyA, b2TimeOfImpact.s_xfA, proxyB, b2TimeOfImpact.s_xfB); + var separation = b2TimeOfImpact.s_fcn.Evaluate(b2TimeOfImpact.s_xfA, b2TimeOfImpact.s_xfB); + if (separation <= 0.0) { + alpha = 1.0; + break; + } + if (iter == 0) { + if (separation > radius) { + target = b2Math.Max(radius - tolerance, 0.75 * radius); + } + else { + target = b2Math.Max(separation - tolerance, 0.02 * radius); + } + } + if (separation - target < 0.5 * tolerance) { + if (iter == 0) { + alpha = 1.0; + break; + } + break; + } + var newAlpha = alpha; { + var x1 = alpha; + var x2 = 1.0; + var f1 = separation; + sweepA.GetTransform(b2TimeOfImpact.s_xfA, x2); + sweepB.GetTransform(b2TimeOfImpact.s_xfB, x2); + var f2 = b2TimeOfImpact.s_fcn.Evaluate(b2TimeOfImpact.s_xfA, b2TimeOfImpact.s_xfB); + if (f2 >= target) { + alpha = 1.0; + break; + } + var rootIterCount = 0; + for (;;) { + var x = 0; + if (rootIterCount & 1) { + x = x1 + (target - f1) * (x2 - x1) / (f2 - f1); + } + else { + x = 0.5 * (x1 + x2); + } + sweepA.GetTransform(b2TimeOfImpact.s_xfA, x); + sweepB.GetTransform(b2TimeOfImpact.s_xfB, x); + var f = b2TimeOfImpact.s_fcn.Evaluate(b2TimeOfImpact.s_xfA, b2TimeOfImpact.s_xfB); + if (b2Math.Abs(f - target) < 0.025 * tolerance) { + newAlpha = x; + break; + } + if (f > target) { + x1 = x; + f1 = f; + } + else { + x2 = x; + f2 = f; + }++rootIterCount; + ++b2TimeOfImpact.b2_toiRootIters; + if (rootIterCount == 50) { + break; + } + } + b2TimeOfImpact.b2_toiMaxRootIters = b2Math.Max(b2TimeOfImpact.b2_toiMaxRootIters, rootIterCount); + } + if (newAlpha < (1.0 + 100.0 * Number.MIN_VALUE) * alpha) { + break; + } + alpha = newAlpha; + iter++; + ++b2TimeOfImpact.b2_toiIters; + if (iter == k_maxIterations) { + break; + } + } + b2TimeOfImpact.b2_toiMaxIters = b2Math.Max(b2TimeOfImpact.b2_toiMaxIters, iter); + return alpha; + } + Box2D.postDefs.push(function () { + Box2D.Collision.b2TimeOfImpact.b2_toiCalls = 0; + Box2D.Collision.b2TimeOfImpact.b2_toiIters = 0; + Box2D.Collision.b2TimeOfImpact.b2_toiMaxIters = 0; + Box2D.Collision.b2TimeOfImpact.b2_toiRootIters = 0; + Box2D.Collision.b2TimeOfImpact.b2_toiMaxRootIters = 0; + Box2D.Collision.b2TimeOfImpact.s_cache = new b2SimplexCache(); + Box2D.Collision.b2TimeOfImpact.s_distanceInput = new b2DistanceInput(); + Box2D.Collision.b2TimeOfImpact.s_xfA = new b2Transform(); + Box2D.Collision.b2TimeOfImpact.s_xfB = new b2Transform(); + Box2D.Collision.b2TimeOfImpact.s_fcn = new b2SeparationFunction(); + Box2D.Collision.b2TimeOfImpact.s_distanceOutput = new b2DistanceOutput(); + }); + b2TOIInput.b2TOIInput = function () { + this.proxyA = new b2DistanceProxy(); + this.proxyB = new b2DistanceProxy(); + this.sweepA = new b2Sweep(); + this.sweepB = new b2Sweep(); + }; + b2WorldManifold.b2WorldManifold = function () { + this.m_normal = new b2Vec2(); + }; + b2WorldManifold.prototype.b2WorldManifold = function () { + this.m_points = new Vector(b2Settings.b2_maxManifoldPoints); + for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) { + this.m_points[i] = new b2Vec2(); + } + } + b2WorldManifold.prototype.Initialize = function (manifold, xfA, radiusA, xfB, radiusB) { + if (radiusA === undefined) radiusA = 0; + if (radiusB === undefined) radiusB = 0; + if (manifold.m_pointCount == 0) { + return; + } + var i = 0; + var tVec; + var tMat; + var normalX = 0; + var normalY = 0; + var planePointX = 0; + var planePointY = 0; + var clipPointX = 0; + var clipPointY = 0; + switch (manifold.m_type) { + case b2Manifold.e_circles: + { + tMat = xfA.R; + tVec = manifold.m_localPoint; + var pointAX = xfA.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + var pointAY = xfA.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tMat = xfB.R; + tVec = manifold.m_points[0].m_localPoint; + var pointBX = xfB.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + var pointBY = xfB.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + var dX = pointBX - pointAX; + var dY = pointBY - pointAY; + var d2 = dX * dX + dY * dY; + if (d2 > Number.MIN_VALUE * Number.MIN_VALUE) { + var d = Math.sqrt(d2); + this.m_normal.x = dX / d; + this.m_normal.y = dY / d; + } + else { + this.m_normal.x = 1; + this.m_normal.y = 0; + } + var cAX = pointAX + radiusA * this.m_normal.x; + var cAY = pointAY + radiusA * this.m_normal.y; + var cBX = pointBX - radiusB * this.m_normal.x; + var cBY = pointBY - radiusB * this.m_normal.y; + this.m_points[0].x = 0.5 * (cAX + cBX); + this.m_points[0].y = 0.5 * (cAY + cBY); + } + break; + case b2Manifold.e_faceA: + { + tMat = xfA.R; + tVec = manifold.m_localPlaneNormal; + normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tMat = xfA.R; + tVec = manifold.m_localPoint; + planePointX = xfA.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + planePointY = xfA.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + this.m_normal.x = normalX; + this.m_normal.y = normalY; + for (i = 0; + i < manifold.m_pointCount; i++) { + tMat = xfB.R; + tVec = manifold.m_points[i].m_localPoint; + clipPointX = xfB.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + clipPointY = xfB.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + this.m_points[i].x = clipPointX + 0.5 * (radiusA - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusB) * normalX; + this.m_points[i].y = clipPointY + 0.5 * (radiusA - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusB) * normalY; + } + } + break; + case b2Manifold.e_faceB: + { + tMat = xfB.R; + tVec = manifold.m_localPlaneNormal; + normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tMat = xfB.R; + tVec = manifold.m_localPoint; + planePointX = xfB.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + planePointY = xfB.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + this.m_normal.x = (-normalX); + this.m_normal.y = (-normalY); + for (i = 0; + i < manifold.m_pointCount; i++) { + tMat = xfA.R; + tVec = manifold.m_points[i].m_localPoint; + clipPointX = xfA.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + clipPointY = xfA.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + this.m_points[i].x = clipPointX + 0.5 * (radiusB - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusA) * normalX; + this.m_points[i].y = clipPointY + 0.5 * (radiusB - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusA) * normalY; + } + } + break; + } + } + ClipVertex.ClipVertex = function () { + this.v = new b2Vec2(); + this.id = new b2ContactID(); + }; + ClipVertex.prototype.Set = function (other) { + this.v.SetV(other.v); + this.id.Set(other.id); + } + Features.Features = function () {}; + Object.defineProperty(Features.prototype, 'referenceEdge', { + enumerable: false, + configurable: true, + get: function () { + return this._referenceEdge; + } + }); + Object.defineProperty(Features.prototype, 'referenceEdge', { + enumerable: false, + configurable: true, + set: function (value) { + if (value === undefined) value = 0; + this._referenceEdge = value; + this._m_id._key = (this._m_id._key & 0xffffff00) | (this._referenceEdge & 0x000000ff); + } + }); + Object.defineProperty(Features.prototype, 'incidentEdge', { + enumerable: false, + configurable: true, + get: function () { + return this._incidentEdge; + } + }); + Object.defineProperty(Features.prototype, 'incidentEdge', { + enumerable: false, + configurable: true, + set: function (value) { + if (value === undefined) value = 0; + this._incidentEdge = value; + this._m_id._key = (this._m_id._key & 0xffff00ff) | ((this._incidentEdge << 8) & 0x0000ff00); + } + }); + Object.defineProperty(Features.prototype, 'incidentVertex', { + enumerable: false, + configurable: true, + get: function () { + return this._incidentVertex; + } + }); + Object.defineProperty(Features.prototype, 'incidentVertex', { + enumerable: false, + configurable: true, + set: function (value) { + if (value === undefined) value = 0; + this._incidentVertex = value; + this._m_id._key = (this._m_id._key & 0xff00ffff) | ((this._incidentVertex << 16) & 0x00ff0000); + } + }); + Object.defineProperty(Features.prototype, 'flip', { + enumerable: false, + configurable: true, + get: function () { + return this._flip; + } + }); + Object.defineProperty(Features.prototype, 'flip', { + enumerable: false, + configurable: true, + set: function (value) { + if (value === undefined) value = 0; + this._flip = value; + this._m_id._key = (this._m_id._key & 0x00ffffff) | ((this._flip << 24) & 0xff000000); + } + }); +})(); +(function () { + var b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2CircleShape = Box2D.Collision.Shapes.b2CircleShape, + b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef, + b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape, + b2MassData = Box2D.Collision.Shapes.b2MassData, + b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape, + b2Shape = Box2D.Collision.Shapes.b2Shape, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3, + b2Body = Box2D.Dynamics.b2Body, + b2BodyDef = Box2D.Dynamics.b2BodyDef, + b2ContactFilter = Box2D.Dynamics.b2ContactFilter, + b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse, + b2ContactListener = Box2D.Dynamics.b2ContactListener, + b2ContactManager = Box2D.Dynamics.b2ContactManager, + b2DebugDraw = Box2D.Dynamics.b2DebugDraw, + b2DestructionListener = Box2D.Dynamics.b2DestructionListener, + b2FilterData = Box2D.Dynamics.b2FilterData, + b2Fixture = Box2D.Dynamics.b2Fixture, + b2FixtureDef = Box2D.Dynamics.b2FixtureDef, + b2Island = Box2D.Dynamics.b2Island, + b2TimeStep = Box2D.Dynamics.b2TimeStep, + b2World = Box2D.Dynamics.b2World, + b2AABB = Box2D.Collision.b2AABB, + b2Bound = Box2D.Collision.b2Bound, + b2BoundValues = Box2D.Collision.b2BoundValues, + b2Collision = Box2D.Collision.b2Collision, + b2ContactID = Box2D.Collision.b2ContactID, + b2ContactPoint = Box2D.Collision.b2ContactPoint, + b2Distance = Box2D.Collision.b2Distance, + b2DistanceInput = Box2D.Collision.b2DistanceInput, + b2DistanceOutput = Box2D.Collision.b2DistanceOutput, + b2DistanceProxy = Box2D.Collision.b2DistanceProxy, + b2DynamicTree = Box2D.Collision.b2DynamicTree, + b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase, + b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode, + b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair, + b2Manifold = Box2D.Collision.b2Manifold, + b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint, + b2Point = Box2D.Collision.b2Point, + b2RayCastInput = Box2D.Collision.b2RayCastInput, + b2RayCastOutput = Box2D.Collision.b2RayCastOutput, + b2Segment = Box2D.Collision.b2Segment, + b2SeparationFunction = Box2D.Collision.b2SeparationFunction, + b2Simplex = Box2D.Collision.b2Simplex, + b2SimplexCache = Box2D.Collision.b2SimplexCache, + b2SimplexVertex = Box2D.Collision.b2SimplexVertex, + b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact, + b2TOIInput = Box2D.Collision.b2TOIInput, + b2WorldManifold = Box2D.Collision.b2WorldManifold, + ClipVertex = Box2D.Collision.ClipVertex, + Features = Box2D.Collision.Features, + IBroadPhase = Box2D.Collision.IBroadPhase; + + Box2D.inherit(b2CircleShape, Box2D.Collision.Shapes.b2Shape); + b2CircleShape.prototype.__super = Box2D.Collision.Shapes.b2Shape.prototype; + b2CircleShape.b2CircleShape = function () { + Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this, arguments); + this.m_p = new b2Vec2(); + }; + b2CircleShape.prototype.Copy = function () { + var s = new b2CircleShape(); + s.Set(this); + return s; + } + b2CircleShape.prototype.Set = function (other) { + this.__super.Set.call(this, other); + if (Box2D.is(other, b2CircleShape)) { + var other2 = (other instanceof b2CircleShape ? other : null); + this.m_p.SetV(other2.m_p); + } + } + b2CircleShape.prototype.TestPoint = function (transform, p) { + var tMat = transform.R; + var dX = transform.position.x + (tMat.col1.x * this.m_p.x + tMat.col2.x * this.m_p.y); + var dY = transform.position.y + (tMat.col1.y * this.m_p.x + tMat.col2.y * this.m_p.y); + dX = p.x - dX; + dY = p.y - dY; + return (dX * dX + dY * dY) <= this.m_radius * this.m_radius; + } + b2CircleShape.prototype.RayCast = function (output, input, transform) { + var tMat = transform.R; + var positionX = transform.position.x + (tMat.col1.x * this.m_p.x + tMat.col2.x * this.m_p.y); + var positionY = transform.position.y + (tMat.col1.y * this.m_p.x + tMat.col2.y * this.m_p.y); + var sX = input.p1.x - positionX; + var sY = input.p1.y - positionY; + var b = (sX * sX + sY * sY) - this.m_radius * this.m_radius; + var rX = input.p2.x - input.p1.x; + var rY = input.p2.y - input.p1.y; + var c = (sX * rX + sY * rY); + var rr = (rX * rX + rY * rY); + var sigma = c * c - rr * b; + if (sigma < 0.0 || rr < Number.MIN_VALUE) { + return false; + } + var a = (-(c + Math.sqrt(sigma))); + if (0.0 <= a && a <= input.maxFraction * rr) { + a /= rr; + output.fraction = a; + output.normal.x = sX + a * rX; + output.normal.y = sY + a * rY; + output.normal.Normalize(); + return true; + } + return false; + } + b2CircleShape.prototype.ComputeAABB = function (aabb, transform) { + var tMat = transform.R; + var pX = transform.position.x + (tMat.col1.x * this.m_p.x + tMat.col2.x * this.m_p.y); + var pY = transform.position.y + (tMat.col1.y * this.m_p.x + tMat.col2.y * this.m_p.y); + aabb.lowerBound.Set(pX - this.m_radius, pY - this.m_radius); + aabb.upperBound.Set(pX + this.m_radius, pY + this.m_radius); + } + b2CircleShape.prototype.ComputeMass = function (massData, density) { + if (density === undefined) density = 0; + massData.mass = density * b2Settings.b2_pi * this.m_radius * this.m_radius; + massData.center.SetV(this.m_p); + massData.I = massData.mass * (0.5 * this.m_radius * this.m_radius + (this.m_p.x * this.m_p.x + this.m_p.y * this.m_p.y)); + } + b2CircleShape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) { + if (offset === undefined) offset = 0; + var p = b2Math.MulX(xf, this.m_p); + var l = (-(b2Math.Dot(normal, p) - offset)); + if (l < (-this.m_radius) + Number.MIN_VALUE) { + return 0; + } + if (l > this.m_radius) { + c.SetV(p); + return Math.PI * this.m_radius * this.m_radius; + } + var r2 = this.m_radius * this.m_radius; + var l2 = l * l; + var area = r2 * (Math.asin(l / this.m_radius) + Math.PI / 2) + l * Math.sqrt(r2 - l2); + var com = (-2 / 3 * Math.pow(r2 - l2, 1.5) / area); + c.x = p.x + normal.x * com; + c.y = p.y + normal.y * com; + return area; + } + b2CircleShape.prototype.GetLocalPosition = function () { + return this.m_p; + } + b2CircleShape.prototype.SetLocalPosition = function (position) { + this.m_p.SetV(position); + } + b2CircleShape.prototype.GetRadius = function () { + return this.m_radius; + } + b2CircleShape.prototype.SetRadius = function (radius) { + if (radius === undefined) radius = 0; + this.m_radius = radius; + } + b2CircleShape.prototype.b2CircleShape = function (radius) { + if (radius === undefined) radius = 0; + this.__super.b2Shape.call(this); + this.m_type = b2Shape.e_circleShape; + this.m_radius = radius; + } + b2EdgeChainDef.b2EdgeChainDef = function () {}; + b2EdgeChainDef.prototype.b2EdgeChainDef = function () { + this.vertexCount = 0; + this.isALoop = true; + this.vertices = []; + } + Box2D.inherit(b2EdgeShape, Box2D.Collision.Shapes.b2Shape); + b2EdgeShape.prototype.__super = Box2D.Collision.Shapes.b2Shape.prototype; + b2EdgeShape.b2EdgeShape = function () { + Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this, arguments); + this.s_supportVec = new b2Vec2(); + this.m_v1 = new b2Vec2(); + this.m_v2 = new b2Vec2(); + this.m_coreV1 = new b2Vec2(); + this.m_coreV2 = new b2Vec2(); + this.m_normal = new b2Vec2(); + this.m_direction = new b2Vec2(); + this.m_cornerDir1 = new b2Vec2(); + this.m_cornerDir2 = new b2Vec2(); + }; + b2EdgeShape.prototype.TestPoint = function (transform, p) { + return false; + } + b2EdgeShape.prototype.RayCast = function (output, input, transform) { + var tMat; + var rX = input.p2.x - input.p1.x; + var rY = input.p2.y - input.p1.y; + tMat = transform.R; + var v1X = transform.position.x + (tMat.col1.x * this.m_v1.x + tMat.col2.x * this.m_v1.y); + var v1Y = transform.position.y + (tMat.col1.y * this.m_v1.x + tMat.col2.y * this.m_v1.y); + var nX = transform.position.y + (tMat.col1.y * this.m_v2.x + tMat.col2.y * this.m_v2.y) - v1Y; + var nY = (-(transform.position.x + (tMat.col1.x * this.m_v2.x + tMat.col2.x * this.m_v2.y) - v1X)); + var k_slop = 100.0 * Number.MIN_VALUE; + var denom = (-(rX * nX + rY * nY)); + if (denom > k_slop) { + var bX = input.p1.x - v1X; + var bY = input.p1.y - v1Y; + var a = (bX * nX + bY * nY); + if (0.0 <= a && a <= input.maxFraction * denom) { + var mu2 = (-rX * bY) + rY * bX; + if ((-k_slop * denom) <= mu2 && mu2 <= denom * (1.0 + k_slop)) { + a /= denom; + output.fraction = a; + var nLen = Math.sqrt(nX * nX + nY * nY); + output.normal.x = nX / nLen; + output.normal.y = nY / nLen; + return true; + } + } + } + return false; + } + b2EdgeShape.prototype.ComputeAABB = function (aabb, transform) { + var tMat = transform.R; + var v1X = transform.position.x + (tMat.col1.x * this.m_v1.x + tMat.col2.x * this.m_v1.y); + var v1Y = transform.position.y + (tMat.col1.y * this.m_v1.x + tMat.col2.y * this.m_v1.y); + var v2X = transform.position.x + (tMat.col1.x * this.m_v2.x + tMat.col2.x * this.m_v2.y); + var v2Y = transform.position.y + (tMat.col1.y * this.m_v2.x + tMat.col2.y * this.m_v2.y); + if (v1X < v2X) { + aabb.lowerBound.x = v1X; + aabb.upperBound.x = v2X; + } + else { + aabb.lowerBound.x = v2X; + aabb.upperBound.x = v1X; + } + if (v1Y < v2Y) { + aabb.lowerBound.y = v1Y; + aabb.upperBound.y = v2Y; + } + else { + aabb.lowerBound.y = v2Y; + aabb.upperBound.y = v1Y; + } + } + b2EdgeShape.prototype.ComputeMass = function (massData, density) { + if (density === undefined) density = 0; + massData.mass = 0; + massData.center.SetV(this.m_v1); + massData.I = 0; + } + b2EdgeShape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) { + if (offset === undefined) offset = 0; + var v0 = new b2Vec2(normal.x * offset, normal.y * offset); + var v1 = b2Math.MulX(xf, this.m_v1); + var v2 = b2Math.MulX(xf, this.m_v2); + var d1 = b2Math.Dot(normal, v1) - offset; + var d2 = b2Math.Dot(normal, v2) - offset; + if (d1 > 0) { + if (d2 > 0) { + return 0; + } + else { + v1.x = (-d2 / (d1 - d2) * v1.x) + d1 / (d1 - d2) * v2.x; + v1.y = (-d2 / (d1 - d2) * v1.y) + d1 / (d1 - d2) * v2.y; + } + } + else { + if (d2 > 0) { + v2.x = (-d2 / (d1 - d2) * v1.x) + d1 / (d1 - d2) * v2.x; + v2.y = (-d2 / (d1 - d2) * v1.y) + d1 / (d1 - d2) * v2.y; + } + else {} + } + c.x = (v0.x + v1.x + v2.x) / 3; + c.y = (v0.y + v1.y + v2.y) / 3; + return 0.5 * ((v1.x - v0.x) * (v2.y - v0.y) - (v1.y - v0.y) * (v2.x - v0.x)); + } + b2EdgeShape.prototype.GetLength = function () { + return this.m_length; + } + b2EdgeShape.prototype.GetVertex1 = function () { + return this.m_v1; + } + b2EdgeShape.prototype.GetVertex2 = function () { + return this.m_v2; + } + b2EdgeShape.prototype.GetCoreVertex1 = function () { + return this.m_coreV1; + } + b2EdgeShape.prototype.GetCoreVertex2 = function () { + return this.m_coreV2; + } + b2EdgeShape.prototype.GetNormalVector = function () { + return this.m_normal; + } + b2EdgeShape.prototype.GetDirectionVector = function () { + return this.m_direction; + } + b2EdgeShape.prototype.GetCorner1Vector = function () { + return this.m_cornerDir1; + } + b2EdgeShape.prototype.GetCorner2Vector = function () { + return this.m_cornerDir2; + } + b2EdgeShape.prototype.Corner1IsConvex = function () { + return this.m_cornerConvex1; + } + b2EdgeShape.prototype.Corner2IsConvex = function () { + return this.m_cornerConvex2; + } + b2EdgeShape.prototype.GetFirstVertex = function (xf) { + var tMat = xf.R; + return new b2Vec2(xf.position.x + (tMat.col1.x * this.m_coreV1.x + tMat.col2.x * this.m_coreV1.y), xf.position.y + (tMat.col1.y * this.m_coreV1.x + tMat.col2.y * this.m_coreV1.y)); + } + b2EdgeShape.prototype.GetNextEdge = function () { + return this.m_nextEdge; + } + b2EdgeShape.prototype.GetPrevEdge = function () { + return this.m_prevEdge; + } + b2EdgeShape.prototype.Support = function (xf, dX, dY) { + if (dX === undefined) dX = 0; + if (dY === undefined) dY = 0; + var tMat = xf.R; + var v1X = xf.position.x + (tMat.col1.x * this.m_coreV1.x + tMat.col2.x * this.m_coreV1.y); + var v1Y = xf.position.y + (tMat.col1.y * this.m_coreV1.x + tMat.col2.y * this.m_coreV1.y); + var v2X = xf.position.x + (tMat.col1.x * this.m_coreV2.x + tMat.col2.x * this.m_coreV2.y); + var v2Y = xf.position.y + (tMat.col1.y * this.m_coreV2.x + tMat.col2.y * this.m_coreV2.y); + if ((v1X * dX + v1Y * dY) > (v2X * dX + v2Y * dY)) { + this.s_supportVec.x = v1X; + this.s_supportVec.y = v1Y; + } + else { + this.s_supportVec.x = v2X; + this.s_supportVec.y = v2Y; + } + return this.s_supportVec; + } + b2EdgeShape.prototype.b2EdgeShape = function (v1, v2) { + this.__super.b2Shape.call(this); + this.m_type = b2Shape.e_edgeShape; + this.m_prevEdge = null; + this.m_nextEdge = null; + this.m_v1 = v1; + this.m_v2 = v2; + this.m_direction.Set(this.m_v2.x - this.m_v1.x, this.m_v2.y - this.m_v1.y); + this.m_length = this.m_direction.Normalize(); + this.m_normal.Set(this.m_direction.y, (-this.m_direction.x)); + this.m_coreV1.Set((-b2Settings.b2_toiSlop * (this.m_normal.x - this.m_direction.x)) + this.m_v1.x, (-b2Settings.b2_toiSlop * (this.m_normal.y - this.m_direction.y)) + this.m_v1.y); + this.m_coreV2.Set((-b2Settings.b2_toiSlop * (this.m_normal.x + this.m_direction.x)) + this.m_v2.x, (-b2Settings.b2_toiSlop * (this.m_normal.y + this.m_direction.y)) + this.m_v2.y); + this.m_cornerDir1 = this.m_normal; + this.m_cornerDir2.Set((-this.m_normal.x), (-this.m_normal.y)); + } + b2EdgeShape.prototype.SetPrevEdge = function (edge, core, cornerDir, convex) { + this.m_prevEdge = edge; + this.m_coreV1 = core; + this.m_cornerDir1 = cornerDir; + this.m_cornerConvex1 = convex; + } + b2EdgeShape.prototype.SetNextEdge = function (edge, core, cornerDir, convex) { + this.m_nextEdge = edge; + this.m_coreV2 = core; + this.m_cornerDir2 = cornerDir; + this.m_cornerConvex2 = convex; + } + b2MassData.b2MassData = function () { + this.mass = 0.0; + this.center = new b2Vec2(0, 0); + this.I = 0.0; + }; + Box2D.inherit(b2PolygonShape, Box2D.Collision.Shapes.b2Shape); + b2PolygonShape.prototype.__super = Box2D.Collision.Shapes.b2Shape.prototype; + b2PolygonShape.b2PolygonShape = function () { + Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this, arguments); + }; + b2PolygonShape.prototype.Copy = function () { + var s = new b2PolygonShape(); + s.Set(this); + return s; + } + b2PolygonShape.prototype.Set = function (other) { + this.__super.Set.call(this, other); + if (Box2D.is(other, b2PolygonShape)) { + var other2 = (other instanceof b2PolygonShape ? other : null); + this.m_centroid.SetV(other2.m_centroid); + this.m_vertexCount = other2.m_vertexCount; + this.Reserve(this.m_vertexCount); + for (var i = 0; i < this.m_vertexCount; i++) { + this.m_vertices[i].SetV(other2.m_vertices[i]); + this.m_normals[i].SetV(other2.m_normals[i]); + } + } + } + b2PolygonShape.prototype.SetAsArray = function (vertices, vertexCount) { + if (vertexCount === undefined) vertexCount = 0; + var v = new Vector(); + var i = 0, + tVec; + for (i = 0; + i < vertices.length; ++i) { + tVec = vertices[i]; + v.push(tVec); + } + this.SetAsVector(v, vertexCount); + } + b2PolygonShape.AsArray = function (vertices, vertexCount) { + if (vertexCount === undefined) vertexCount = 0; + var polygonShape = new b2PolygonShape(); + polygonShape.SetAsArray(vertices, vertexCount); + return polygonShape; + } + b2PolygonShape.prototype.SetAsVector = function (vertices, vertexCount) { + if (vertexCount === undefined) vertexCount = 0; + if (vertexCount == 0) vertexCount = vertices.length; + b2Settings.b2Assert(2 <= vertexCount); + this.m_vertexCount = vertexCount; + this.Reserve(vertexCount); + var i = 0; + for (i = 0; + i < this.m_vertexCount; i++) { + this.m_vertices[i].SetV(vertices[i]); + } + for (i = 0; + i < this.m_vertexCount; ++i) { + var i1 = parseInt(i); + var i2 = parseInt(i + 1 < this.m_vertexCount ? i + 1 : 0); + var edge = b2Math.SubtractVV(this.m_vertices[i2], this.m_vertices[i1]); + b2Settings.b2Assert(edge.LengthSquared() > Number.MIN_VALUE); + this.m_normals[i].SetV(b2Math.CrossVF(edge, 1.0)); + this.m_normals[i].Normalize(); + } + this.m_centroid = b2PolygonShape.ComputeCentroid(this.m_vertices, this.m_vertexCount); + } + b2PolygonShape.AsVector = function (vertices, vertexCount) { + if (vertexCount === undefined) vertexCount = 0; + var polygonShape = new b2PolygonShape(); + polygonShape.SetAsVector(vertices, vertexCount); + return polygonShape; + } + b2PolygonShape.prototype.SetAsBox = function (hx, hy) { + if (hx === undefined) hx = 0; + if (hy === undefined) hy = 0; + this.m_vertexCount = 4; + this.Reserve(4); + this.m_vertices[0].Set((-hx), (-hy)); + this.m_vertices[1].Set(hx, (-hy)); + this.m_vertices[2].Set(hx, hy); + this.m_vertices[3].Set((-hx), hy); + this.m_normals[0].Set(0.0, (-1.0)); + this.m_normals[1].Set(1.0, 0.0); + this.m_normals[2].Set(0.0, 1.0); + this.m_normals[3].Set((-1.0), 0.0); + this.m_centroid.SetZero(); + } + b2PolygonShape.AsBox = function (hx, hy) { + if (hx === undefined) hx = 0; + if (hy === undefined) hy = 0; + var polygonShape = new b2PolygonShape(); + polygonShape.SetAsBox(hx, hy); + return polygonShape; + } + b2PolygonShape.prototype.SetAsOrientedBox = function (hx, hy, center, angle) { + if (hx === undefined) hx = 0; + if (hy === undefined) hy = 0; + if (center === undefined) center = null; + if (angle === undefined) angle = 0.0; + this.m_vertexCount = 4; + this.Reserve(4); + this.m_vertices[0].Set((-hx), (-hy)); + this.m_vertices[1].Set(hx, (-hy)); + this.m_vertices[2].Set(hx, hy); + this.m_vertices[3].Set((-hx), hy); + this.m_normals[0].Set(0.0, (-1.0)); + this.m_normals[1].Set(1.0, 0.0); + this.m_normals[2].Set(0.0, 1.0); + this.m_normals[3].Set((-1.0), 0.0); + this.m_centroid = center; + var xf = new b2Transform(); + xf.position = center; + xf.R.Set(angle); + for (var i = 0; i < this.m_vertexCount; ++i) { + this.m_vertices[i] = b2Math.MulX(xf, this.m_vertices[i]); + this.m_normals[i] = b2Math.MulMV(xf.R, this.m_normals[i]); + } + } + b2PolygonShape.AsOrientedBox = function (hx, hy, center, angle) { + if (hx === undefined) hx = 0; + if (hy === undefined) hy = 0; + if (center === undefined) center = null; + if (angle === undefined) angle = 0.0; + var polygonShape = new b2PolygonShape(); + polygonShape.SetAsOrientedBox(hx, hy, center, angle); + return polygonShape; + } + b2PolygonShape.prototype.SetAsEdge = function (v1, v2) { + this.m_vertexCount = 2; + this.Reserve(2); + this.m_vertices[0].SetV(v1); + this.m_vertices[1].SetV(v2); + this.m_centroid.x = 0.5 * (v1.x + v2.x); + this.m_centroid.y = 0.5 * (v1.y + v2.y); + this.m_normals[0] = b2Math.CrossVF(b2Math.SubtractVV(v2, v1), 1.0); + this.m_normals[0].Normalize(); + this.m_normals[1].x = (-this.m_normals[0].x); + this.m_normals[1].y = (-this.m_normals[0].y); + } + b2PolygonShape.AsEdge = function (v1, v2) { + var polygonShape = new b2PolygonShape(); + polygonShape.SetAsEdge(v1, v2); + return polygonShape; + } + b2PolygonShape.prototype.TestPoint = function (xf, p) { + var tVec; + var tMat = xf.R; + var tX = p.x - xf.position.x; + var tY = p.y - xf.position.y; + var pLocalX = (tX * tMat.col1.x + tY * tMat.col1.y); + var pLocalY = (tX * tMat.col2.x + tY * tMat.col2.y); + for (var i = 0; i < this.m_vertexCount; ++i) { + tVec = this.m_vertices[i]; + tX = pLocalX - tVec.x; + tY = pLocalY - tVec.y; + tVec = this.m_normals[i]; + var dot = (tVec.x * tX + tVec.y * tY); + if (dot > 0.0) { + return false; + } + } + return true; + } + b2PolygonShape.prototype.RayCast = function (output, input, transform) { + var lower = 0.0; + var upper = input.maxFraction; + var tX = 0; + var tY = 0; + var tMat; + var tVec; + tX = input.p1.x - transform.position.x; + tY = input.p1.y - transform.position.y; + tMat = transform.R; + var p1X = (tX * tMat.col1.x + tY * tMat.col1.y); + var p1Y = (tX * tMat.col2.x + tY * tMat.col2.y); + tX = input.p2.x - transform.position.x; + tY = input.p2.y - transform.position.y; + tMat = transform.R; + var p2X = (tX * tMat.col1.x + tY * tMat.col1.y); + var p2Y = (tX * tMat.col2.x + tY * tMat.col2.y); + var dX = p2X - p1X; + var dY = p2Y - p1Y; + var index = parseInt((-1)); + for (var i = 0; i < this.m_vertexCount; ++i) { + tVec = this.m_vertices[i]; + tX = tVec.x - p1X; + tY = tVec.y - p1Y; + tVec = this.m_normals[i]; + var numerator = (tVec.x * tX + tVec.y * tY); + var denominator = (tVec.x * dX + tVec.y * dY); + if (denominator == 0.0) { + if (numerator < 0.0) { + return false; + } + } + else { + if (denominator < 0.0 && numerator < lower * denominator) { + lower = numerator / denominator; + index = i; + } + else if (denominator > 0.0 && numerator < upper * denominator) { + upper = numerator / denominator; + } + } + if (upper < lower - Number.MIN_VALUE) { + return false; + } + } + if (index >= 0) { + output.fraction = lower; + tMat = transform.R; + tVec = this.m_normals[index]; + output.normal.x = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + output.normal.y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + return true; + } + return false; + } + b2PolygonShape.prototype.ComputeAABB = function (aabb, xf) { + var tMat = xf.R; + var tVec = this.m_vertices[0]; + var lowerX = xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var lowerY = xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + var upperX = lowerX; + var upperY = lowerY; + for (var i = 1; i < this.m_vertexCount; ++i) { + tVec = this.m_vertices[i]; + var vX = xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var vY = xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + lowerX = lowerX < vX ? lowerX : vX; + lowerY = lowerY < vY ? lowerY : vY; + upperX = upperX > vX ? upperX : vX; + upperY = upperY > vY ? upperY : vY; + } + aabb.lowerBound.x = lowerX - this.m_radius; + aabb.lowerBound.y = lowerY - this.m_radius; + aabb.upperBound.x = upperX + this.m_radius; + aabb.upperBound.y = upperY + this.m_radius; + } + b2PolygonShape.prototype.ComputeMass = function (massData, density) { + if (density === undefined) density = 0; + if (this.m_vertexCount == 2) { + massData.center.x = 0.5 * (this.m_vertices[0].x + this.m_vertices[1].x); + massData.center.y = 0.5 * (this.m_vertices[0].y + this.m_vertices[1].y); + massData.mass = 0.0; + massData.I = 0.0; + return; + } + var centerX = 0.0; + var centerY = 0.0; + var area = 0.0; + var I = 0.0; + var p1X = 0.0; + var p1Y = 0.0; + var k_inv3 = 1.0 / 3.0; + for (var i = 0; i < this.m_vertexCount; ++i) { + var p2 = this.m_vertices[i]; + var p3 = i + 1 < this.m_vertexCount ? this.m_vertices[parseInt(i + 1)] : this.m_vertices[0]; + var e1X = p2.x - p1X; + var e1Y = p2.y - p1Y; + var e2X = p3.x - p1X; + var e2Y = p3.y - p1Y; + var D = e1X * e2Y - e1Y * e2X; + var triangleArea = 0.5 * D;area += triangleArea; + centerX += triangleArea * k_inv3 * (p1X + p2.x + p3.x); + centerY += triangleArea * k_inv3 * (p1Y + p2.y + p3.y); + var px = p1X; + var py = p1Y; + var ex1 = e1X; + var ey1 = e1Y; + var ex2 = e2X; + var ey2 = e2Y; + var intx2 = k_inv3 * (0.25 * (ex1 * ex1 + ex2 * ex1 + ex2 * ex2) + (px * ex1 + px * ex2)) + 0.5 * px * px; + var inty2 = k_inv3 * (0.25 * (ey1 * ey1 + ey2 * ey1 + ey2 * ey2) + (py * ey1 + py * ey2)) + 0.5 * py * py;I += D * (intx2 + inty2); + } + massData.mass = density * area; + centerX *= 1.0 / area; + centerY *= 1.0 / area; + massData.center.Set(centerX, centerY); + massData.I = density * I; + } + b2PolygonShape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) { + if (offset === undefined) offset = 0; + var normalL = b2Math.MulTMV(xf.R, normal); + var offsetL = offset - b2Math.Dot(normal, xf.position); + var depths = new Vector_a2j_Number(); + var diveCount = 0; + var intoIndex = parseInt((-1)); + var outoIndex = parseInt((-1)); + var lastSubmerged = false; + var i = 0; + for (i = 0; + i < this.m_vertexCount; ++i) { + depths[i] = b2Math.Dot(normalL, this.m_vertices[i]) - offsetL; + var isSubmerged = depths[i] < (-Number.MIN_VALUE); + if (i > 0) { + if (isSubmerged) { + if (!lastSubmerged) { + intoIndex = i - 1; + diveCount++; + } + } + else { + if (lastSubmerged) { + outoIndex = i - 1; + diveCount++; + } + } + } + lastSubmerged = isSubmerged; + } + switch (diveCount) { + case 0: + if (lastSubmerged) { + var md = new b2MassData(); + this.ComputeMass(md, 1); + c.SetV(b2Math.MulX(xf, md.center)); + return md.mass; + } + else { + return 0; + } + break; + case 1: + if (intoIndex == (-1)) { + intoIndex = this.m_vertexCount - 1; + } + else { + outoIndex = this.m_vertexCount - 1; + } + break; + } + var intoIndex2 = parseInt((intoIndex + 1) % this.m_vertexCount); + var outoIndex2 = parseInt((outoIndex + 1) % this.m_vertexCount); + var intoLamdda = (0 - depths[intoIndex]) / (depths[intoIndex2] - depths[intoIndex]); + var outoLamdda = (0 - depths[outoIndex]) / (depths[outoIndex2] - depths[outoIndex]); + var intoVec = new b2Vec2(this.m_vertices[intoIndex].x * (1 - intoLamdda) + this.m_vertices[intoIndex2].x * intoLamdda, this.m_vertices[intoIndex].y * (1 - intoLamdda) + this.m_vertices[intoIndex2].y * intoLamdda); + var outoVec = new b2Vec2(this.m_vertices[outoIndex].x * (1 - outoLamdda) + this.m_vertices[outoIndex2].x * outoLamdda, this.m_vertices[outoIndex].y * (1 - outoLamdda) + this.m_vertices[outoIndex2].y * outoLamdda); + var area = 0; + var center = new b2Vec2(); + var p2 = this.m_vertices[intoIndex2]; + var p3; + i = intoIndex2; + while (i != outoIndex2) { + i = (i + 1) % this.m_vertexCount; + if (i == outoIndex2) p3 = outoVec; + else p3 = this.m_vertices[i]; + var triangleArea = 0.5 * ((p2.x - intoVec.x) * (p3.y - intoVec.y) - (p2.y - intoVec.y) * (p3.x - intoVec.x)); + area += triangleArea; + center.x += triangleArea * (intoVec.x + p2.x + p3.x) / 3; + center.y += triangleArea * (intoVec.y + p2.y + p3.y) / 3; + p2 = p3; + } + center.Multiply(1 / area); + c.SetV(b2Math.MulX(xf, center)); + return area; + } + b2PolygonShape.prototype.GetVertexCount = function () { + return this.m_vertexCount; + } + b2PolygonShape.prototype.GetVertices = function () { + return this.m_vertices; + } + b2PolygonShape.prototype.GetNormals = function () { + return this.m_normals; + } + b2PolygonShape.prototype.GetSupport = function (d) { + var bestIndex = 0; + var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y; + for (var i = 1; i < this.m_vertexCount; ++i) { + var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y; + if (value > bestValue) { + bestIndex = i; + bestValue = value; + } + } + return bestIndex; + } + b2PolygonShape.prototype.GetSupportVertex = function (d) { + var bestIndex = 0; + var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y; + for (var i = 1; i < this.m_vertexCount; ++i) { + var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y; + if (value > bestValue) { + bestIndex = i; + bestValue = value; + } + } + return this.m_vertices[bestIndex]; + } + b2PolygonShape.prototype.Validate = function () { + return false; + } + b2PolygonShape.prototype.b2PolygonShape = function () { + this.__super.b2Shape.call(this); + this.m_type = b2Shape.e_polygonShape; + this.m_centroid = new b2Vec2(); + this.m_vertices = new Vector(); + this.m_normals = new Vector(); + } + b2PolygonShape.prototype.Reserve = function (count) { + if (count === undefined) count = 0; + for (var i = parseInt(this.m_vertices.length); i < count; i++) { + this.m_vertices[i] = new b2Vec2(); + this.m_normals[i] = new b2Vec2(); + } + } + b2PolygonShape.ComputeCentroid = function (vs, count) { + if (count === undefined) count = 0; + var c = new b2Vec2(); + var area = 0.0; + var p1X = 0.0; + var p1Y = 0.0; + var inv3 = 1.0 / 3.0; + for (var i = 0; i < count; ++i) { + var p2 = vs[i]; + var p3 = i + 1 < count ? vs[parseInt(i + 1)] : vs[0]; + var e1X = p2.x - p1X; + var e1Y = p2.y - p1Y; + var e2X = p3.x - p1X; + var e2Y = p3.y - p1Y; + var D = (e1X * e2Y - e1Y * e2X); + var triangleArea = 0.5 * D;area += triangleArea; + c.x += triangleArea * inv3 * (p1X + p2.x + p3.x); + c.y += triangleArea * inv3 * (p1Y + p2.y + p3.y); + } + c.x *= 1.0 / area; + c.y *= 1.0 / area; + return c; + } + b2PolygonShape.ComputeOBB = function (obb, vs, count) { + if (count === undefined) count = 0; + var i = 0; + var p = new Vector(count + 1); + for (i = 0; + i < count; ++i) { + p[i] = vs[i]; + } + p[count] = p[0]; + var minArea = Number.MAX_VALUE; + for (i = 1; + i <= count; ++i) { + var root = p[parseInt(i - 1)]; + var uxX = p[i].x - root.x; + var uxY = p[i].y - root.y; + var length = Math.sqrt(uxX * uxX + uxY * uxY); + uxX /= length; + uxY /= length; + var uyX = (-uxY); + var uyY = uxX; + var lowerX = Number.MAX_VALUE; + var lowerY = Number.MAX_VALUE; + var upperX = (-Number.MAX_VALUE); + var upperY = (-Number.MAX_VALUE); + for (var j = 0; j < count; ++j) { + var dX = p[j].x - root.x; + var dY = p[j].y - root.y; + var rX = (uxX * dX + uxY * dY); + var rY = (uyX * dX + uyY * dY); + if (rX < lowerX) lowerX = rX; + if (rY < lowerY) lowerY = rY; + if (rX > upperX) upperX = rX; + if (rY > upperY) upperY = rY; + } + var area = (upperX - lowerX) * (upperY - lowerY); + if (area < 0.95 * minArea) { + minArea = area; + obb.R.col1.x = uxX; + obb.R.col1.y = uxY; + obb.R.col2.x = uyX; + obb.R.col2.y = uyY; + var centerX = 0.5 * (lowerX + upperX); + var centerY = 0.5 * (lowerY + upperY); + var tMat = obb.R; + obb.center.x = root.x + (tMat.col1.x * centerX + tMat.col2.x * centerY); + obb.center.y = root.y + (tMat.col1.y * centerX + tMat.col2.y * centerY); + obb.extents.x = 0.5 * (upperX - lowerX); + obb.extents.y = 0.5 * (upperY - lowerY); + } + } + } + Box2D.postDefs.push(function () { + Box2D.Collision.Shapes.b2PolygonShape.s_mat = new b2Mat22(); + }); + b2Shape.b2Shape = function () {}; + b2Shape.prototype.Copy = function () { + return null; + } + b2Shape.prototype.Set = function (other) { + this.m_radius = other.m_radius; + } + b2Shape.prototype.GetType = function () { + return this.m_type; + } + b2Shape.prototype.TestPoint = function (xf, p) { + return false; + } + b2Shape.prototype.RayCast = function (output, input, transform) { + return false; + } + b2Shape.prototype.ComputeAABB = function (aabb, xf) {} + b2Shape.prototype.ComputeMass = function (massData, density) { + if (density === undefined) density = 0; + } + b2Shape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) { + if (offset === undefined) offset = 0; + return 0; + } + b2Shape.TestOverlap = function (shape1, transform1, shape2, transform2) { + var input = new b2DistanceInput(); + input.proxyA = new b2DistanceProxy(); + input.proxyA.Set(shape1); + input.proxyB = new b2DistanceProxy(); + input.proxyB.Set(shape2); + input.transformA = transform1; + input.transformB = transform2; + input.useRadii = true; + var simplexCache = new b2SimplexCache(); + simplexCache.count = 0; + var output = new b2DistanceOutput(); + b2Distance.Distance(output, simplexCache, input); + return output.distance < 10.0 * Number.MIN_VALUE; + } + b2Shape.prototype.b2Shape = function () { + this.m_type = b2Shape.e_unknownShape; + this.m_radius = b2Settings.b2_linearSlop; + } + Box2D.postDefs.push(function () { + Box2D.Collision.Shapes.b2Shape.e_unknownShape = parseInt((-1)); + Box2D.Collision.Shapes.b2Shape.e_circleShape = 0; + Box2D.Collision.Shapes.b2Shape.e_polygonShape = 1; + Box2D.Collision.Shapes.b2Shape.e_edgeShape = 2; + Box2D.Collision.Shapes.b2Shape.e_shapeTypeCount = 3; + Box2D.Collision.Shapes.b2Shape.e_hitCollide = 1; + Box2D.Collision.Shapes.b2Shape.e_missCollide = 0; + Box2D.Collision.Shapes.b2Shape.e_startsInsideCollide = parseInt((-1)); + }); +})(); +(function () { + var b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3; + + b2Color.b2Color = function () { + this._r = 0; + this._g = 0; + this._b = 0; + }; + b2Color.prototype.b2Color = function (rr, gg, bb) { + if (rr === undefined) rr = 0; + if (gg === undefined) gg = 0; + if (bb === undefined) bb = 0; + this._r = Box2D.parseUInt(255 * b2Math.Clamp(rr, 0.0, 1.0)); + this._g = Box2D.parseUInt(255 * b2Math.Clamp(gg, 0.0, 1.0)); + this._b = Box2D.parseUInt(255 * b2Math.Clamp(bb, 0.0, 1.0)); + } + b2Color.prototype.Set = function (rr, gg, bb) { + if (rr === undefined) rr = 0; + if (gg === undefined) gg = 0; + if (bb === undefined) bb = 0; + this._r = Box2D.parseUInt(255 * b2Math.Clamp(rr, 0.0, 1.0)); + this._g = Box2D.parseUInt(255 * b2Math.Clamp(gg, 0.0, 1.0)); + this._b = Box2D.parseUInt(255 * b2Math.Clamp(bb, 0.0, 1.0)); + } + Object.defineProperty(b2Color.prototype, 'r', { + enumerable: false, + configurable: true, + set: function (rr) { + if (rr === undefined) rr = 0; + this._r = Box2D.parseUInt(255 * b2Math.Clamp(rr, 0.0, 1.0)); + } + }); + Object.defineProperty(b2Color.prototype, 'g', { + enumerable: false, + configurable: true, + set: function (gg) { + if (gg === undefined) gg = 0; + this._g = Box2D.parseUInt(255 * b2Math.Clamp(gg, 0.0, 1.0)); + } + }); + Object.defineProperty(b2Color.prototype, 'b', { + enumerable: false, + configurable: true, + set: function (bb) { + if (bb === undefined) bb = 0; + this._b = Box2D.parseUInt(255 * b2Math.Clamp(bb, 0.0, 1.0)); + } + }); + Object.defineProperty(b2Color.prototype, 'color', { + enumerable: false, + configurable: true, + get: function () { + return (this._r << 16) | (this._g << 8) | (this._b); + } + }); + b2Settings.b2Settings = function () {}; + b2Settings.b2MixFriction = function (friction1, friction2) { + if (friction1 === undefined) friction1 = 0; + if (friction2 === undefined) friction2 = 0; + return Math.sqrt(friction1 * friction2); + } + b2Settings.b2MixRestitution = function (restitution1, restitution2) { + if (restitution1 === undefined) restitution1 = 0; + if (restitution2 === undefined) restitution2 = 0; + return restitution1 > restitution2 ? restitution1 : restitution2; + } + b2Settings.b2Assert = function (a) { + if (!a) { + throw "Assertion Failed"; + } + } + Box2D.postDefs.push(function () { + Box2D.Common.b2Settings.VERSION = "2.1alpha"; + Box2D.Common.b2Settings.USHRT_MAX = 0x0000ffff; + Box2D.Common.b2Settings.b2_pi = Math.PI; + Box2D.Common.b2Settings.b2_maxManifoldPoints = 2; + Box2D.Common.b2Settings.b2_aabbExtension = 0.1; + Box2D.Common.b2Settings.b2_aabbMultiplier = 2.0; + Box2D.Common.b2Settings.b2_polygonRadius = 2.0 * b2Settings.b2_linearSlop; + Box2D.Common.b2Settings.b2_linearSlop = 0.005; + Box2D.Common.b2Settings.b2_angularSlop = 2.0 / 180.0 * b2Settings.b2_pi; + Box2D.Common.b2Settings.b2_toiSlop = 8.0 * b2Settings.b2_linearSlop; + Box2D.Common.b2Settings.b2_maxTOIContactsPerIsland = 32; + Box2D.Common.b2Settings.b2_maxTOIJointsPerIsland = 32; + Box2D.Common.b2Settings.b2_velocityThreshold = 1.0; + Box2D.Common.b2Settings.b2_maxLinearCorrection = 0.2; + Box2D.Common.b2Settings.b2_maxAngularCorrection = 8.0 / 180.0 * b2Settings.b2_pi; + Box2D.Common.b2Settings.b2_maxTranslation = 2.0; + Box2D.Common.b2Settings.b2_maxTranslationSquared = b2Settings.b2_maxTranslation * b2Settings.b2_maxTranslation; + Box2D.Common.b2Settings.b2_maxRotation = 0.5 * b2Settings.b2_pi; + Box2D.Common.b2Settings.b2_maxRotationSquared = b2Settings.b2_maxRotation * b2Settings.b2_maxRotation; + Box2D.Common.b2Settings.b2_contactBaumgarte = 0.2; + Box2D.Common.b2Settings.b2_timeToSleep = 0.5; + Box2D.Common.b2Settings.b2_linearSleepTolerance = 0.01; + Box2D.Common.b2Settings.b2_angularSleepTolerance = 2.0 / 180.0 * b2Settings.b2_pi; + }); +})(); +(function () { + var b2AABB = Box2D.Collision.b2AABB, + b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3; + + b2Mat22.b2Mat22 = function () { + this.col1 = new b2Vec2(); + this.col2 = new b2Vec2(); + }; + b2Mat22.prototype.b2Mat22 = function () { + this.SetIdentity(); + } + b2Mat22.FromAngle = function (angle) { + if (angle === undefined) angle = 0; + var mat = new b2Mat22(); + mat.Set(angle); + return mat; + } + b2Mat22.FromVV = function (c1, c2) { + var mat = new b2Mat22(); + mat.SetVV(c1, c2); + return mat; + } + b2Mat22.prototype.Set = function (angle) { + if (angle === undefined) angle = 0; + var c = Math.cos(angle); + var s = Math.sin(angle); + this.col1.x = c; + this.col2.x = (-s); + this.col1.y = s; + this.col2.y = c; + } + b2Mat22.prototype.SetVV = function (c1, c2) { + this.col1.SetV(c1); + this.col2.SetV(c2); + } + b2Mat22.prototype.Copy = function () { + var mat = new b2Mat22(); + mat.SetM(this); + return mat; + } + b2Mat22.prototype.SetM = function (m) { + this.col1.SetV(m.col1); + this.col2.SetV(m.col2); + } + b2Mat22.prototype.AddM = function (m) { + this.col1.x += m.col1.x; + this.col1.y += m.col1.y; + this.col2.x += m.col2.x; + this.col2.y += m.col2.y; + } + b2Mat22.prototype.SetIdentity = function () { + this.col1.x = 1.0; + this.col2.x = 0.0; + this.col1.y = 0.0; + this.col2.y = 1.0; + } + b2Mat22.prototype.SetZero = function () { + this.col1.x = 0.0; + this.col2.x = 0.0; + this.col1.y = 0.0; + this.col2.y = 0.0; + } + b2Mat22.prototype.GetAngle = function () { + return Math.atan2(this.col1.y, this.col1.x); + } + b2Mat22.prototype.GetInverse = function (out) { + var a = this.col1.x; + var b = this.col2.x; + var c = this.col1.y; + var d = this.col2.y; + var det = a * d - b * c; + if (det != 0.0) { + det = 1.0 / det; + } + out.col1.x = det * d; + out.col2.x = (-det * b); + out.col1.y = (-det * c); + out.col2.y = det * a; + return out; + } + b2Mat22.prototype.Solve = function (out, bX, bY) { + if (bX === undefined) bX = 0; + if (bY === undefined) bY = 0; + var a11 = this.col1.x; + var a12 = this.col2.x; + var a21 = this.col1.y; + var a22 = this.col2.y; + var det = a11 * a22 - a12 * a21; + if (det != 0.0) { + det = 1.0 / det; + } + out.x = det * (a22 * bX - a12 * bY); + out.y = det * (a11 * bY - a21 * bX); + return out; + } + b2Mat22.prototype.Abs = function () { + this.col1.Abs(); + this.col2.Abs(); + } + b2Mat33.b2Mat33 = function () { + this.col1 = new b2Vec3(); + this.col2 = new b2Vec3(); + this.col3 = new b2Vec3(); + }; + b2Mat33.prototype.b2Mat33 = function (c1, c2, c3) { + if (c1 === undefined) c1 = null; + if (c2 === undefined) c2 = null; + if (c3 === undefined) c3 = null; + if (!c1 && !c2 && !c3) { + this.col1.SetZero(); + this.col2.SetZero(); + this.col3.SetZero(); + } + else { + this.col1.SetV(c1); + this.col2.SetV(c2); + this.col3.SetV(c3); + } + } + b2Mat33.prototype.SetVVV = function (c1, c2, c3) { + this.col1.SetV(c1); + this.col2.SetV(c2); + this.col3.SetV(c3); + } + b2Mat33.prototype.Copy = function () { + return new b2Mat33(this.col1, this.col2, this.col3); + } + b2Mat33.prototype.SetM = function (m) { + this.col1.SetV(m.col1); + this.col2.SetV(m.col2); + this.col3.SetV(m.col3); + } + b2Mat33.prototype.AddM = function (m) { + this.col1.x += m.col1.x; + this.col1.y += m.col1.y; + this.col1.z += m.col1.z; + this.col2.x += m.col2.x; + this.col2.y += m.col2.y; + this.col2.z += m.col2.z; + this.col3.x += m.col3.x; + this.col3.y += m.col3.y; + this.col3.z += m.col3.z; + } + b2Mat33.prototype.SetIdentity = function () { + this.col1.x = 1.0; + this.col2.x = 0.0; + this.col3.x = 0.0; + this.col1.y = 0.0; + this.col2.y = 1.0; + this.col3.y = 0.0; + this.col1.z = 0.0; + this.col2.z = 0.0; + this.col3.z = 1.0; + } + b2Mat33.prototype.SetZero = function () { + this.col1.x = 0.0; + this.col2.x = 0.0; + this.col3.x = 0.0; + this.col1.y = 0.0; + this.col2.y = 0.0; + this.col3.y = 0.0; + this.col1.z = 0.0; + this.col2.z = 0.0; + this.col3.z = 0.0; + } + b2Mat33.prototype.Solve22 = function (out, bX, bY) { + if (bX === undefined) bX = 0; + if (bY === undefined) bY = 0; + var a11 = this.col1.x; + var a12 = this.col2.x; + var a21 = this.col1.y; + var a22 = this.col2.y; + var det = a11 * a22 - a12 * a21; + if (det != 0.0) { + det = 1.0 / det; + } + out.x = det * (a22 * bX - a12 * bY); + out.y = det * (a11 * bY - a21 * bX); + return out; + } + b2Mat33.prototype.Solve33 = function (out, bX, bY, bZ) { + if (bX === undefined) bX = 0; + if (bY === undefined) bY = 0; + if (bZ === undefined) bZ = 0; + var a11 = this.col1.x; + var a21 = this.col1.y; + var a31 = this.col1.z; + var a12 = this.col2.x; + var a22 = this.col2.y; + var a32 = this.col2.z; + var a13 = this.col3.x; + var a23 = this.col3.y; + var a33 = this.col3.z; + var det = a11 * (a22 * a33 - a32 * a23) + a21 * (a32 * a13 - a12 * a33) + a31 * (a12 * a23 - a22 * a13); + if (det != 0.0) { + det = 1.0 / det; + } + out.x = det * (bX * (a22 * a33 - a32 * a23) + bY * (a32 * a13 - a12 * a33) + bZ * (a12 * a23 - a22 * a13)); + out.y = det * (a11 * (bY * a33 - bZ * a23) + a21 * (bZ * a13 - bX * a33) + a31 * (bX * a23 - bY * a13)); + out.z = det * (a11 * (a22 * bZ - a32 * bY) + a21 * (a32 * bX - a12 * bZ) + a31 * (a12 * bY - a22 * bX)); + return out; + } + b2Math.b2Math = function () {}; + b2Math.IsValid = function (x) { + if (x === undefined) x = 0; + return isFinite(x); + } + b2Math.Dot = function (a, b) { + return a.x * b.x + a.y * b.y; + } + b2Math.CrossVV = function (a, b) { + return a.x * b.y - a.y * b.x; + } + b2Math.CrossVF = function (a, s) { + if (s === undefined) s = 0; + var v = new b2Vec2(s * a.y, (-s * a.x)); + return v; + } + b2Math.CrossFV = function (s, a) { + if (s === undefined) s = 0; + var v = new b2Vec2((-s * a.y), s * a.x); + return v; + } + b2Math.MulMV = function (A, v) { + var u = new b2Vec2(A.col1.x * v.x + A.col2.x * v.y, A.col1.y * v.x + A.col2.y * v.y); + return u; + } + b2Math.MulTMV = function (A, v) { + var u = new b2Vec2(b2Math.Dot(v, A.col1), b2Math.Dot(v, A.col2)); + return u; + } + b2Math.MulX = function (T, v) { + var a = b2Math.MulMV(T.R, v); + a.x += T.position.x; + a.y += T.position.y; + return a; + } + b2Math.MulXT = function (T, v) { + var a = b2Math.SubtractVV(v, T.position); + var tX = (a.x * T.R.col1.x + a.y * T.R.col1.y); + a.y = (a.x * T.R.col2.x + a.y * T.R.col2.y); + a.x = tX; + return a; + } + b2Math.AddVV = function (a, b) { + var v = new b2Vec2(a.x + b.x, a.y + b.y); + return v; + } + b2Math.SubtractVV = function (a, b) { + var v = new b2Vec2(a.x - b.x, a.y - b.y); + return v; + } + b2Math.Distance = function (a, b) { + var cX = a.x - b.x; + var cY = a.y - b.y; + return Math.sqrt(cX * cX + cY * cY); + } + b2Math.DistanceSquared = function (a, b) { + var cX = a.x - b.x; + var cY = a.y - b.y; + return (cX * cX + cY * cY); + } + b2Math.MulFV = function (s, a) { + if (s === undefined) s = 0; + var v = new b2Vec2(s * a.x, s * a.y); + return v; + } + b2Math.AddMM = function (A, B) { + var C = b2Mat22.FromVV(b2Math.AddVV(A.col1, B.col1), b2Math.AddVV(A.col2, B.col2)); + return C; + } + b2Math.MulMM = function (A, B) { + var C = b2Mat22.FromVV(b2Math.MulMV(A, B.col1), b2Math.MulMV(A, B.col2)); + return C; + } + b2Math.MulTMM = function (A, B) { + var c1 = new b2Vec2(b2Math.Dot(A.col1, B.col1), b2Math.Dot(A.col2, B.col1)); + var c2 = new b2Vec2(b2Math.Dot(A.col1, B.col2), b2Math.Dot(A.col2, B.col2)); + var C = b2Mat22.FromVV(c1, c2); + return C; + } + b2Math.Abs = function (a) { + if (a === undefined) a = 0; + return a > 0.0 ? a : (-a); + } + b2Math.AbsV = function (a) { + var b = new b2Vec2(b2Math.Abs(a.x), b2Math.Abs(a.y)); + return b; + } + b2Math.AbsM = function (A) { + var B = b2Mat22.FromVV(b2Math.AbsV(A.col1), b2Math.AbsV(A.col2)); + return B; + } + b2Math.Min = function (a, b) { + if (a === undefined) a = 0; + if (b === undefined) b = 0; + return a < b ? a : b; + } + b2Math.MinV = function (a, b) { + var c = new b2Vec2(b2Math.Min(a.x, b.x), b2Math.Min(a.y, b.y)); + return c; + } + b2Math.Max = function (a, b) { + if (a === undefined) a = 0; + if (b === undefined) b = 0; + return a > b ? a : b; + } + b2Math.MaxV = function (a, b) { + var c = new b2Vec2(b2Math.Max(a.x, b.x), b2Math.Max(a.y, b.y)); + return c; + } + b2Math.Clamp = function (a, low, high) { + if (a === undefined) a = 0; + if (low === undefined) low = 0; + if (high === undefined) high = 0; + return a < low ? low : a > high ? high : a; + } + b2Math.ClampV = function (a, low, high) { + return b2Math.MaxV(low, b2Math.MinV(a, high)); + } + b2Math.Swap = function (a, b) { + var tmp = a[0]; + a[0] = b[0]; + b[0] = tmp; + } + b2Math.Random = function () { + return Math.random() * 2 - 1; + } + b2Math.RandomRange = function (lo, hi) { + if (lo === undefined) lo = 0; + if (hi === undefined) hi = 0; + var r = Math.random(); + r = (hi - lo) * r + lo; + return r; + } + b2Math.NextPowerOfTwo = function (x) { + if (x === undefined) x = 0; + x |= (x >> 1) & 0x7FFFFFFF; + x |= (x >> 2) & 0x3FFFFFFF; + x |= (x >> 4) & 0x0FFFFFFF; + x |= (x >> 8) & 0x00FFFFFF; + x |= (x >> 16) & 0x0000FFFF; + return x + 1; + } + b2Math.IsPowerOfTwo = function (x) { + if (x === undefined) x = 0; + var result = x > 0 && (x & (x - 1)) == 0; + return result; + } + Box2D.postDefs.push(function () { + Box2D.Common.Math.b2Math.b2Vec2_zero = new b2Vec2(0.0, 0.0); + Box2D.Common.Math.b2Math.b2Mat22_identity = b2Mat22.FromVV(new b2Vec2(1.0, 0.0), new b2Vec2(0.0, 1.0)); + Box2D.Common.Math.b2Math.b2Transform_identity = new b2Transform(b2Math.b2Vec2_zero, b2Math.b2Mat22_identity); + }); + b2Sweep.b2Sweep = function () { + this.localCenter = new b2Vec2(); + this.c0 = new b2Vec2; + this.c = new b2Vec2(); + }; + b2Sweep.prototype.Set = function (other) { + this.localCenter.SetV(other.localCenter); + this.c0.SetV(other.c0); + this.c.SetV(other.c); + this.a0 = other.a0; + this.a = other.a; + this.t0 = other.t0; + } + b2Sweep.prototype.Copy = function () { + var copy = new b2Sweep(); + copy.localCenter.SetV(this.localCenter); + copy.c0.SetV(this.c0); + copy.c.SetV(this.c); + copy.a0 = this.a0; + copy.a = this.a; + copy.t0 = this.t0; + return copy; + } + b2Sweep.prototype.GetTransform = function (xf, alpha) { + if (alpha === undefined) alpha = 0; + xf.position.x = (1.0 - alpha) * this.c0.x + alpha * this.c.x; + xf.position.y = (1.0 - alpha) * this.c0.y + alpha * this.c.y; + var angle = (1.0 - alpha) * this.a0 + alpha * this.a; + xf.R.Set(angle); + var tMat = xf.R; + xf.position.x -= (tMat.col1.x * this.localCenter.x + tMat.col2.x * this.localCenter.y); + xf.position.y -= (tMat.col1.y * this.localCenter.x + tMat.col2.y * this.localCenter.y); + } + b2Sweep.prototype.Advance = function (t) { + if (t === undefined) t = 0; + if (this.t0 < t && 1.0 - this.t0 > Number.MIN_VALUE) { + var alpha = (t - this.t0) / (1.0 - this.t0); + this.c0.x = (1.0 - alpha) * this.c0.x + alpha * this.c.x; + this.c0.y = (1.0 - alpha) * this.c0.y + alpha * this.c.y; + this.a0 = (1.0 - alpha) * this.a0 + alpha * this.a; + this.t0 = t; + } + } + b2Transform.b2Transform = function () { + this.position = new b2Vec2; + this.R = new b2Mat22(); + }; + b2Transform.prototype.b2Transform = function (pos, r) { + if (pos === undefined) pos = null; + if (r === undefined) r = null; + if (pos) { + this.position.SetV(pos); + this.R.SetM(r); + } + } + b2Transform.prototype.Initialize = function (pos, r) { + this.position.SetV(pos); + this.R.SetM(r); + } + b2Transform.prototype.SetIdentity = function () { + this.position.SetZero(); + this.R.SetIdentity(); + } + b2Transform.prototype.Set = function (x) { + this.position.SetV(x.position); + this.R.SetM(x.R); + } + b2Transform.prototype.GetAngle = function () { + return Math.atan2(this.R.col1.y, this.R.col1.x); + } + b2Vec2.b2Vec2 = function () {}; + b2Vec2.prototype.b2Vec2 = function (x_, y_) { + if (x_ === undefined) x_ = 0; + if (y_ === undefined) y_ = 0; + this.x = x_; + this.y = y_; + } + b2Vec2.prototype.SetZero = function () { + this.x = 0.0; + this.y = 0.0; + } + b2Vec2.prototype.Set = function (x_, y_) { + if (x_ === undefined) x_ = 0; + if (y_ === undefined) y_ = 0; + this.x = x_; + this.y = y_; + } + b2Vec2.prototype.SetV = function (v) { + this.x = v.x; + this.y = v.y; + } + b2Vec2.prototype.GetNegative = function () { + return new b2Vec2((-this.x), (-this.y)); + } + b2Vec2.prototype.NegativeSelf = function () { + this.x = (-this.x); + this.y = (-this.y); + } + b2Vec2.Make = function (x_, y_) { + if (x_ === undefined) x_ = 0; + if (y_ === undefined) y_ = 0; + return new b2Vec2(x_, y_); + } + b2Vec2.prototype.Copy = function () { + return new b2Vec2(this.x, this.y); + } + b2Vec2.prototype.Add = function (v) { + this.x += v.x; + this.y += v.y; + } + b2Vec2.prototype.Subtract = function (v) { + this.x -= v.x; + this.y -= v.y; + } + b2Vec2.prototype.Multiply = function (a) { + if (a === undefined) a = 0; + this.x *= a; + this.y *= a; + } + b2Vec2.prototype.MulM = function (A) { + var tX = this.x; + this.x = A.col1.x * tX + A.col2.x * this.y; + this.y = A.col1.y * tX + A.col2.y * this.y; + } + b2Vec2.prototype.MulTM = function (A) { + var tX = b2Math.Dot(this, A.col1); + this.y = b2Math.Dot(this, A.col2); + this.x = tX; + } + b2Vec2.prototype.CrossVF = function (s) { + if (s === undefined) s = 0; + var tX = this.x; + this.x = s * this.y; + this.y = (-s * tX); + } + b2Vec2.prototype.CrossFV = function (s) { + if (s === undefined) s = 0; + var tX = this.x; + this.x = (-s * this.y); + this.y = s * tX; + } + b2Vec2.prototype.MinV = function (b) { + this.x = this.x < b.x ? this.x : b.x; + this.y = this.y < b.y ? this.y : b.y; + } + b2Vec2.prototype.MaxV = function (b) { + this.x = this.x > b.x ? this.x : b.x; + this.y = this.y > b.y ? this.y : b.y; + } + b2Vec2.prototype.Abs = function () { + if (this.x < 0) this.x = (-this.x); + if (this.y < 0) this.y = (-this.y); + } + b2Vec2.prototype.Length = function () { + return Math.sqrt(this.x * this.x + this.y * this.y); + } + b2Vec2.prototype.LengthSquared = function () { + return (this.x * this.x + this.y * this.y); + } + b2Vec2.prototype.Normalize = function () { + var length = Math.sqrt(this.x * this.x + this.y * this.y); + if (length < Number.MIN_VALUE) { + return 0.0; + } + var invLength = 1.0 / length; + this.x *= invLength; + this.y *= invLength; + return length; + } + b2Vec2.prototype.IsValid = function () { + return b2Math.IsValid(this.x) && b2Math.IsValid(this.y); + } + b2Vec3.b2Vec3 = function () {}; + b2Vec3.prototype.b2Vec3 = function (x, y, z) { + if (x === undefined) x = 0; + if (y === undefined) y = 0; + if (z === undefined) z = 0; + this.x = x; + this.y = y; + this.z = z; + } + b2Vec3.prototype.SetZero = function () { + this.x = this.y = this.z = 0.0; + } + b2Vec3.prototype.Set = function (x, y, z) { + if (x === undefined) x = 0; + if (y === undefined) y = 0; + if (z === undefined) z = 0; + this.x = x; + this.y = y; + this.z = z; + } + b2Vec3.prototype.SetV = function (v) { + this.x = v.x; + this.y = v.y; + this.z = v.z; + } + b2Vec3.prototype.GetNegative = function () { + return new b2Vec3((-this.x), (-this.y), (-this.z)); + } + b2Vec3.prototype.NegativeSelf = function () { + this.x = (-this.x); + this.y = (-this.y); + this.z = (-this.z); + } + b2Vec3.prototype.Copy = function () { + return new b2Vec3(this.x, this.y, this.z); + } + b2Vec3.prototype.Add = function (v) { + this.x += v.x; + this.y += v.y; + this.z += v.z; + } + b2Vec3.prototype.Subtract = function (v) { + this.x -= v.x; + this.y -= v.y; + this.z -= v.z; + } + b2Vec3.prototype.Multiply = function (a) { + if (a === undefined) a = 0; + this.x *= a; + this.y *= a; + this.z *= a; + } +})(); +(function () { + var b2ControllerEdge = Box2D.Dynamics.Controllers.b2ControllerEdge, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3, + b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2AABB = Box2D.Collision.b2AABB, + b2Bound = Box2D.Collision.b2Bound, + b2BoundValues = Box2D.Collision.b2BoundValues, + b2Collision = Box2D.Collision.b2Collision, + b2ContactID = Box2D.Collision.b2ContactID, + b2ContactPoint = Box2D.Collision.b2ContactPoint, + b2Distance = Box2D.Collision.b2Distance, + b2DistanceInput = Box2D.Collision.b2DistanceInput, + b2DistanceOutput = Box2D.Collision.b2DistanceOutput, + b2DistanceProxy = Box2D.Collision.b2DistanceProxy, + b2DynamicTree = Box2D.Collision.b2DynamicTree, + b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase, + b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode, + b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair, + b2Manifold = Box2D.Collision.b2Manifold, + b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint, + b2Point = Box2D.Collision.b2Point, + b2RayCastInput = Box2D.Collision.b2RayCastInput, + b2RayCastOutput = Box2D.Collision.b2RayCastOutput, + b2Segment = Box2D.Collision.b2Segment, + b2SeparationFunction = Box2D.Collision.b2SeparationFunction, + b2Simplex = Box2D.Collision.b2Simplex, + b2SimplexCache = Box2D.Collision.b2SimplexCache, + b2SimplexVertex = Box2D.Collision.b2SimplexVertex, + b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact, + b2TOIInput = Box2D.Collision.b2TOIInput, + b2WorldManifold = Box2D.Collision.b2WorldManifold, + ClipVertex = Box2D.Collision.ClipVertex, + Features = Box2D.Collision.Features, + IBroadPhase = Box2D.Collision.IBroadPhase, + b2CircleShape = Box2D.Collision.Shapes.b2CircleShape, + b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef, + b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape, + b2MassData = Box2D.Collision.Shapes.b2MassData, + b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape, + b2Shape = Box2D.Collision.Shapes.b2Shape, + b2Body = Box2D.Dynamics.b2Body, + b2BodyDef = Box2D.Dynamics.b2BodyDef, + b2ContactFilter = Box2D.Dynamics.b2ContactFilter, + b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse, + b2ContactListener = Box2D.Dynamics.b2ContactListener, + b2ContactManager = Box2D.Dynamics.b2ContactManager, + b2DebugDraw = Box2D.Dynamics.b2DebugDraw, + b2DestructionListener = Box2D.Dynamics.b2DestructionListener, + b2FilterData = Box2D.Dynamics.b2FilterData, + b2Fixture = Box2D.Dynamics.b2Fixture, + b2FixtureDef = Box2D.Dynamics.b2FixtureDef, + b2Island = Box2D.Dynamics.b2Island, + b2TimeStep = Box2D.Dynamics.b2TimeStep, + b2World = Box2D.Dynamics.b2World, + b2CircleContact = Box2D.Dynamics.Contacts.b2CircleContact, + b2Contact = Box2D.Dynamics.Contacts.b2Contact, + b2ContactConstraint = Box2D.Dynamics.Contacts.b2ContactConstraint, + b2ContactConstraintPoint = Box2D.Dynamics.Contacts.b2ContactConstraintPoint, + b2ContactEdge = Box2D.Dynamics.Contacts.b2ContactEdge, + b2ContactFactory = Box2D.Dynamics.Contacts.b2ContactFactory, + b2ContactRegister = Box2D.Dynamics.Contacts.b2ContactRegister, + b2ContactResult = Box2D.Dynamics.Contacts.b2ContactResult, + b2ContactSolver = Box2D.Dynamics.Contacts.b2ContactSolver, + b2EdgeAndCircleContact = Box2D.Dynamics.Contacts.b2EdgeAndCircleContact, + b2NullContact = Box2D.Dynamics.Contacts.b2NullContact, + b2PolyAndCircleContact = Box2D.Dynamics.Contacts.b2PolyAndCircleContact, + b2PolyAndEdgeContact = Box2D.Dynamics.Contacts.b2PolyAndEdgeContact, + b2PolygonContact = Box2D.Dynamics.Contacts.b2PolygonContact, + b2PositionSolverManifold = Box2D.Dynamics.Contacts.b2PositionSolverManifold, + b2Controller = Box2D.Dynamics.Controllers.b2Controller, + b2DistanceJoint = Box2D.Dynamics.Joints.b2DistanceJoint, + b2DistanceJointDef = Box2D.Dynamics.Joints.b2DistanceJointDef, + b2FrictionJoint = Box2D.Dynamics.Joints.b2FrictionJoint, + b2FrictionJointDef = Box2D.Dynamics.Joints.b2FrictionJointDef, + b2GearJoint = Box2D.Dynamics.Joints.b2GearJoint, + b2GearJointDef = Box2D.Dynamics.Joints.b2GearJointDef, + b2Jacobian = Box2D.Dynamics.Joints.b2Jacobian, + b2Joint = Box2D.Dynamics.Joints.b2Joint, + b2JointDef = Box2D.Dynamics.Joints.b2JointDef, + b2JointEdge = Box2D.Dynamics.Joints.b2JointEdge, + b2LineJoint = Box2D.Dynamics.Joints.b2LineJoint, + b2LineJointDef = Box2D.Dynamics.Joints.b2LineJointDef, + b2MouseJoint = Box2D.Dynamics.Joints.b2MouseJoint, + b2MouseJointDef = Box2D.Dynamics.Joints.b2MouseJointDef, + b2PrismaticJoint = Box2D.Dynamics.Joints.b2PrismaticJoint, + b2PrismaticJointDef = Box2D.Dynamics.Joints.b2PrismaticJointDef, + b2PulleyJoint = Box2D.Dynamics.Joints.b2PulleyJoint, + b2PulleyJointDef = Box2D.Dynamics.Joints.b2PulleyJointDef, + b2RevoluteJoint = Box2D.Dynamics.Joints.b2RevoluteJoint, + b2RevoluteJointDef = Box2D.Dynamics.Joints.b2RevoluteJointDef, + b2WeldJoint = Box2D.Dynamics.Joints.b2WeldJoint, + b2WeldJointDef = Box2D.Dynamics.Joints.b2WeldJointDef; + + b2Body.b2Body = function () { + this.m_xf = new b2Transform(); + this.m_sweep = new b2Sweep(); + this.m_linearVelocity = new b2Vec2(); + this.m_force = new b2Vec2(); + }; + b2Body.prototype.connectEdges = function (s1, s2, angle1) { + if (angle1 === undefined) angle1 = 0; + var angle2 = Math.atan2(s2.GetDirectionVector().y, s2.GetDirectionVector().x); + var coreOffset = Math.tan((angle2 - angle1) * 0.5); + var core = b2Math.MulFV(coreOffset, s2.GetDirectionVector()); + core = b2Math.SubtractVV(core, s2.GetNormalVector()); + core = b2Math.MulFV(b2Settings.b2_toiSlop, core); + core = b2Math.AddVV(core, s2.GetVertex1()); + var cornerDir = b2Math.AddVV(s1.GetDirectionVector(), s2.GetDirectionVector()); + cornerDir.Normalize(); + var convex = b2Math.Dot(s1.GetDirectionVector(), s2.GetNormalVector()) > 0.0; + s1.SetNextEdge(s2, core, cornerDir, convex); + s2.SetPrevEdge(s1, core, cornerDir, convex); + return angle2; + } + b2Body.prototype.CreateFixture = function (def) { + if (this.m_world.IsLocked() == true) { + return null; + } + var fixture = new b2Fixture(); + fixture.Create(this, this.m_xf, def); + if (this.m_flags & b2Body.e_activeFlag) { + var broadPhase = this.m_world.m_contactManager.m_broadPhase; + fixture.CreateProxy(broadPhase, this.m_xf); + } + fixture.m_next = this.m_fixtureList; + this.m_fixtureList = fixture; + ++this.m_fixtureCount; + fixture.m_body = this; + if (fixture.m_density > 0.0) { + this.ResetMassData(); + } + this.m_world.m_flags |= b2World.e_newFixture; + return fixture; + } + b2Body.prototype.CreateFixture2 = function (shape, density) { + if (density === undefined) density = 0.0; + var def = new b2FixtureDef(); + def.shape = shape; + def.density = density; + return this.CreateFixture(def); + } + b2Body.prototype.DestroyFixture = function (fixture) { + if (this.m_world.IsLocked() == true) { + return; + } + var node = this.m_fixtureList; + var ppF = null; + var found = false; + while (node != null) { + if (node == fixture) { + if (ppF) ppF.m_next = fixture.m_next; + else this.m_fixtureList = fixture.m_next; + found = true; + break; + } + ppF = node; + node = node.m_next; + } + var edge = this.m_contactList; + while (edge) { + var c = edge.contact; + edge = edge.next; + var fixtureA = c.GetFixtureA(); + var fixtureB = c.GetFixtureB(); + if (fixture == fixtureA || fixture == fixtureB) { + this.m_world.m_contactManager.Destroy(c); + } + } + if (this.m_flags & b2Body.e_activeFlag) { + var broadPhase = this.m_world.m_contactManager.m_broadPhase; + fixture.DestroyProxy(broadPhase); + } + else {} + fixture.Destroy(); + fixture.m_body = null; + fixture.m_next = null; + --this.m_fixtureCount; + this.ResetMassData(); + } + b2Body.prototype.SetPositionAndAngle = function (position, angle) { + if (angle === undefined) angle = 0; + var f; + if (this.m_world.IsLocked() == true) { + return; + } + this.m_xf.R.Set(angle); + this.m_xf.position.SetV(position); + var tMat = this.m_xf.R; + var tVec = this.m_sweep.localCenter; + this.m_sweep.c.x = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + this.m_sweep.c.y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + this.m_sweep.c.x += this.m_xf.position.x; + this.m_sweep.c.y += this.m_xf.position.y; + this.m_sweep.c0.SetV(this.m_sweep.c); + this.m_sweep.a0 = this.m_sweep.a = angle; + var broadPhase = this.m_world.m_contactManager.m_broadPhase; + for (f = this.m_fixtureList; + f; f = f.m_next) { + f.Synchronize(broadPhase, this.m_xf, this.m_xf); + } + this.m_world.m_contactManager.FindNewContacts(); + } + b2Body.prototype.SetTransform = function (xf) { + this.SetPositionAndAngle(xf.position, xf.GetAngle()); + } + b2Body.prototype.GetTransform = function () { + return this.m_xf; + } + b2Body.prototype.GetPosition = function () { + return this.m_xf.position; + } + b2Body.prototype.SetPosition = function (position) { + this.SetPositionAndAngle(position, this.GetAngle()); + } + b2Body.prototype.GetAngle = function () { + return this.m_sweep.a; + } + b2Body.prototype.SetAngle = function (angle) { + if (angle === undefined) angle = 0; + this.SetPositionAndAngle(this.GetPosition(), angle); + } + b2Body.prototype.GetWorldCenter = function () { + return this.m_sweep.c; + } + b2Body.prototype.GetLocalCenter = function () { + return this.m_sweep.localCenter; + } + b2Body.prototype.SetLinearVelocity = function (v) { + if (this.m_type == b2Body.b2_staticBody) { + return; + } + this.m_linearVelocity.SetV(v); + } + b2Body.prototype.GetLinearVelocity = function () { + return this.m_linearVelocity; + } + b2Body.prototype.SetAngularVelocity = function (omega) { + if (omega === undefined) omega = 0; + if (this.m_type == b2Body.b2_staticBody) { + return; + } + this.m_angularVelocity = omega; + } + b2Body.prototype.GetAngularVelocity = function () { + return this.m_angularVelocity; + } + b2Body.prototype.GetDefinition = function () { + var bd = new b2BodyDef(); + bd.type = this.GetType(); + bd.allowSleep = (this.m_flags & b2Body.e_allowSleepFlag) == b2Body.e_allowSleepFlag; + bd.angle = this.GetAngle(); + bd.angularDamping = this.m_angularDamping; + bd.angularVelocity = this.m_angularVelocity; + bd.fixedRotation = (this.m_flags & b2Body.e_fixedRotationFlag) == b2Body.e_fixedRotationFlag; + bd.bullet = (this.m_flags & b2Body.e_bulletFlag) == b2Body.e_bulletFlag; + bd.awake = (this.m_flags & b2Body.e_awakeFlag) == b2Body.e_awakeFlag; + bd.linearDamping = this.m_linearDamping; + bd.linearVelocity.SetV(this.GetLinearVelocity()); + bd.position = this.GetPosition(); + bd.userData = this.GetUserData(); + return bd; + } + b2Body.prototype.ApplyForce = function (force, point) { + if (this.m_type != b2Body.b2_dynamicBody) { + return; + } + if (this.IsAwake() == false) { + this.SetAwake(true); + } + this.m_force.x += force.x; + this.m_force.y += force.y; + this.m_torque += ((point.x - this.m_sweep.c.x) * force.y - (point.y - this.m_sweep.c.y) * force.x); + } + b2Body.prototype.ApplyTorque = function (torque) { + if (torque === undefined) torque = 0; + if (this.m_type != b2Body.b2_dynamicBody) { + return; + } + if (this.IsAwake() == false) { + this.SetAwake(true); + } + this.m_torque += torque; + } + b2Body.prototype.ApplyImpulse = function (impulse, point) { + if (this.m_type != b2Body.b2_dynamicBody) { + return; + } + if (this.IsAwake() == false) { + this.SetAwake(true); + } + this.m_linearVelocity.x += this.m_invMass * impulse.x; + this.m_linearVelocity.y += this.m_invMass * impulse.y; + this.m_angularVelocity += this.m_invI * ((point.x - this.m_sweep.c.x) * impulse.y - (point.y - this.m_sweep.c.y) * impulse.x); + } + b2Body.prototype.Split = function (callback) { + var linearVelocity = this.GetLinearVelocity().Copy(); + var angularVelocity = this.GetAngularVelocity(); + var center = this.GetWorldCenter(); + var body1 = this; + var body2 = this.m_world.CreateBody(this.GetDefinition()); + var prev; + for (var f = body1.m_fixtureList; f;) { + if (callback(f)) { + var next = f.m_next; + if (prev) { + prev.m_next = next; + } + else { + body1.m_fixtureList = next; + } + body1.m_fixtureCount--; + f.m_next = body2.m_fixtureList; + body2.m_fixtureList = f; + body2.m_fixtureCount++; + f.m_body = body2; + f = next; + } + else { + prev = f; + f = f.m_next; + } + } + body1.ResetMassData(); + body2.ResetMassData(); + var center1 = body1.GetWorldCenter(); + var center2 = body2.GetWorldCenter(); + var velocity1 = b2Math.AddVV(linearVelocity, b2Math.CrossFV(angularVelocity, b2Math.SubtractVV(center1, center))); + var velocity2 = b2Math.AddVV(linearVelocity, b2Math.CrossFV(angularVelocity, b2Math.SubtractVV(center2, center))); + body1.SetLinearVelocity(velocity1); + body2.SetLinearVelocity(velocity2); + body1.SetAngularVelocity(angularVelocity); + body2.SetAngularVelocity(angularVelocity); + body1.SynchronizeFixtures(); + body2.SynchronizeFixtures(); + return body2; + } + b2Body.prototype.Merge = function (other) { + var f; + for (f = other.m_fixtureList; + f;) { + var next = f.m_next; + other.m_fixtureCount--; + f.m_next = this.m_fixtureList; + this.m_fixtureList = f; + this.m_fixtureCount++; + f.m_body = body2; + f = next; + } + body1.m_fixtureCount = 0; + var body1 = this; + var body2 = other; + var center1 = body1.GetWorldCenter(); + var center2 = body2.GetWorldCenter(); + var velocity1 = body1.GetLinearVelocity().Copy(); + var velocity2 = body2.GetLinearVelocity().Copy(); + var angular1 = body1.GetAngularVelocity(); + var angular = body2.GetAngularVelocity(); + body1.ResetMassData(); + this.SynchronizeFixtures(); + } + b2Body.prototype.GetMass = function () { + return this.m_mass; + } + b2Body.prototype.GetInertia = function () { + return this.m_I; + } + b2Body.prototype.GetMassData = function (data) { + data.mass = this.m_mass; + data.I = this.m_I; + data.center.SetV(this.m_sweep.localCenter); + } + b2Body.prototype.SetMassData = function (massData) { + b2Settings.b2Assert(this.m_world.IsLocked() == false); + if (this.m_world.IsLocked() == true) { + return; + } + if (this.m_type != b2Body.b2_dynamicBody) { + return; + } + this.m_invMass = 0.0; + this.m_I = 0.0; + this.m_invI = 0.0; + this.m_mass = massData.mass; + if (this.m_mass <= 0.0) { + this.m_mass = 1.0; + } + this.m_invMass = 1.0 / this.m_mass; + if (massData.I > 0.0 && (this.m_flags & b2Body.e_fixedRotationFlag) == 0) { + this.m_I = massData.I - this.m_mass * (massData.center.x * massData.center.x + massData.center.y * massData.center.y); + this.m_invI = 1.0 / this.m_I; + } + var oldCenter = this.m_sweep.c.Copy(); + this.m_sweep.localCenter.SetV(massData.center); + this.m_sweep.c0.SetV(b2Math.MulX(this.m_xf, this.m_sweep.localCenter)); + this.m_sweep.c.SetV(this.m_sweep.c0); + this.m_linearVelocity.x += this.m_angularVelocity * (-(this.m_sweep.c.y - oldCenter.y)); + this.m_linearVelocity.y += this.m_angularVelocity * (+(this.m_sweep.c.x - oldCenter.x)); + } + b2Body.prototype.ResetMassData = function () { + this.m_mass = 0.0; + this.m_invMass = 0.0; + this.m_I = 0.0; + this.m_invI = 0.0; + this.m_sweep.localCenter.SetZero(); + if (this.m_type == b2Body.b2_staticBody || this.m_type == b2Body.b2_kinematicBody) { + return; + } + var center = b2Vec2.Make(0, 0); + for (var f = this.m_fixtureList; f; f = f.m_next) { + if (f.m_density == 0.0) { + continue; + } + var massData = f.GetMassData(); + this.m_mass += massData.mass; + center.x += massData.center.x * massData.mass; + center.y += massData.center.y * massData.mass; + this.m_I += massData.I; + } + if (this.m_mass > 0.0) { + this.m_invMass = 1.0 / this.m_mass; + center.x *= this.m_invMass; + center.y *= this.m_invMass; + } + else { + this.m_mass = 1.0; + this.m_invMass = 1.0; + } + if (this.m_I > 0.0 && (this.m_flags & b2Body.e_fixedRotationFlag) == 0) { + this.m_I -= this.m_mass * (center.x * center.x + center.y * center.y); + this.m_I *= this.m_inertiaScale; + b2Settings.b2Assert(this.m_I > 0); + this.m_invI = 1.0 / this.m_I; + } + else { + this.m_I = 0.0; + this.m_invI = 0.0; + } + var oldCenter = this.m_sweep.c.Copy(); + this.m_sweep.localCenter.SetV(center); + this.m_sweep.c0.SetV(b2Math.MulX(this.m_xf, this.m_sweep.localCenter)); + this.m_sweep.c.SetV(this.m_sweep.c0); + this.m_linearVelocity.x += this.m_angularVelocity * (-(this.m_sweep.c.y - oldCenter.y)); + this.m_linearVelocity.y += this.m_angularVelocity * (+(this.m_sweep.c.x - oldCenter.x)); + } + b2Body.prototype.GetWorldPoint = function (localPoint) { + var A = this.m_xf.R; + var u = new b2Vec2(A.col1.x * localPoint.x + A.col2.x * localPoint.y, A.col1.y * localPoint.x + A.col2.y * localPoint.y); + u.x += this.m_xf.position.x; + u.y += this.m_xf.position.y; + return u; + } + b2Body.prototype.GetWorldVector = function (localVector) { + return b2Math.MulMV(this.m_xf.R, localVector); + } + b2Body.prototype.GetLocalPoint = function (worldPoint) { + return b2Math.MulXT(this.m_xf, worldPoint); + } + b2Body.prototype.GetLocalVector = function (worldVector) { + return b2Math.MulTMV(this.m_xf.R, worldVector); + } + b2Body.prototype.GetLinearVelocityFromWorldPoint = function (worldPoint) { + return new b2Vec2(this.m_linearVelocity.x - this.m_angularVelocity * (worldPoint.y - this.m_sweep.c.y), this.m_linearVelocity.y + this.m_angularVelocity * (worldPoint.x - this.m_sweep.c.x)); + } + b2Body.prototype.GetLinearVelocityFromLocalPoint = function (localPoint) { + var A = this.m_xf.R; + var worldPoint = new b2Vec2(A.col1.x * localPoint.x + A.col2.x * localPoint.y, A.col1.y * localPoint.x + A.col2.y * localPoint.y); + worldPoint.x += this.m_xf.position.x; + worldPoint.y += this.m_xf.position.y; + return new b2Vec2(this.m_linearVelocity.x - this.m_angularVelocity * (worldPoint.y - this.m_sweep.c.y), this.m_linearVelocity.y + this.m_angularVelocity * (worldPoint.x - this.m_sweep.c.x)); + } + b2Body.prototype.GetLinearDamping = function () { + return this.m_linearDamping; + } + b2Body.prototype.SetLinearDamping = function (linearDamping) { + if (linearDamping === undefined) linearDamping = 0; + this.m_linearDamping = linearDamping; + } + b2Body.prototype.GetAngularDamping = function () { + return this.m_angularDamping; + } + b2Body.prototype.SetAngularDamping = function (angularDamping) { + if (angularDamping === undefined) angularDamping = 0; + this.m_angularDamping = angularDamping; + } + b2Body.prototype.SetType = function (type) { + if (type === undefined) type = 0; + if (this.m_type == type) { + return; + } + this.m_type = type; + this.ResetMassData(); + if (this.m_type == b2Body.b2_staticBody) { + this.m_linearVelocity.SetZero(); + this.m_angularVelocity = 0.0; + } + this.SetAwake(true); + this.m_force.SetZero(); + this.m_torque = 0.0; + for (var ce = this.m_contactList; ce; ce = ce.next) { + ce.contact.FlagForFiltering(); + } + } + b2Body.prototype.GetType = function () { + return this.m_type; + } + b2Body.prototype.SetBullet = function (flag) { + if (flag) { + this.m_flags |= b2Body.e_bulletFlag; + } + else { + this.m_flags &= ~b2Body.e_bulletFlag; + } + } + b2Body.prototype.IsBullet = function () { + return (this.m_flags & b2Body.e_bulletFlag) == b2Body.e_bulletFlag; + } + b2Body.prototype.SetSleepingAllowed = function (flag) { + if (flag) { + this.m_flags |= b2Body.e_allowSleepFlag; + } + else { + this.m_flags &= ~b2Body.e_allowSleepFlag; + this.SetAwake(true); + } + } + b2Body.prototype.SetAwake = function (flag) { + if (flag) { + this.m_flags |= b2Body.e_awakeFlag; + this.m_sleepTime = 0.0; + } + else { + this.m_flags &= ~b2Body.e_awakeFlag; + this.m_sleepTime = 0.0; + this.m_linearVelocity.SetZero(); + this.m_angularVelocity = 0.0; + this.m_force.SetZero(); + this.m_torque = 0.0; + } + } + b2Body.prototype.IsAwake = function () { + return (this.m_flags & b2Body.e_awakeFlag) == b2Body.e_awakeFlag; + } + b2Body.prototype.SetFixedRotation = function (fixed) { + if (fixed) { + this.m_flags |= b2Body.e_fixedRotationFlag; + } + else { + this.m_flags &= ~b2Body.e_fixedRotationFlag; + } + this.ResetMassData(); + } + b2Body.prototype.IsFixedRotation = function () { + return (this.m_flags & b2Body.e_fixedRotationFlag) == b2Body.e_fixedRotationFlag; + } + b2Body.prototype.SetActive = function (flag) { + if (flag == this.IsActive()) { + return; + } + var broadPhase; + var f; + if (flag) { + this.m_flags |= b2Body.e_activeFlag; + broadPhase = this.m_world.m_contactManager.m_broadPhase; + for (f = this.m_fixtureList; + f; f = f.m_next) { + f.CreateProxy(broadPhase, this.m_xf); + } + } + else { + this.m_flags &= ~b2Body.e_activeFlag; + broadPhase = this.m_world.m_contactManager.m_broadPhase; + for (f = this.m_fixtureList; + f; f = f.m_next) { + f.DestroyProxy(broadPhase); + } + var ce = this.m_contactList; + while (ce) { + var ce0 = ce; + ce = ce.next; + this.m_world.m_contactManager.Destroy(ce0.contact); + } + this.m_contactList = null; + } + } + b2Body.prototype.IsActive = function () { + return (this.m_flags & b2Body.e_activeFlag) == b2Body.e_activeFlag; + } + b2Body.prototype.IsSleepingAllowed = function () { + return (this.m_flags & b2Body.e_allowSleepFlag) == b2Body.e_allowSleepFlag; + } + b2Body.prototype.GetFixtureList = function () { + return this.m_fixtureList; + } + b2Body.prototype.GetJointList = function () { + return this.m_jointList; + } + b2Body.prototype.GetControllerList = function () { + return this.m_controllerList; + } + b2Body.prototype.GetContactList = function () { + return this.m_contactList; + } + b2Body.prototype.GetNext = function () { + return this.m_next; + } + b2Body.prototype.GetUserData = function () { + return this.m_userData; + } + b2Body.prototype.SetUserData = function (data) { + this.m_userData = data; + } + b2Body.prototype.GetWorld = function () { + return this.m_world; + } + b2Body.prototype.b2Body = function (bd, world) { + this.m_flags = 0; + if (bd.bullet) { + this.m_flags |= b2Body.e_bulletFlag; + } + if (bd.fixedRotation) { + this.m_flags |= b2Body.e_fixedRotationFlag; + } + if (bd.allowSleep) { + this.m_flags |= b2Body.e_allowSleepFlag; + } + if (bd.awake) { + this.m_flags |= b2Body.e_awakeFlag; + } + if (bd.active) { + this.m_flags |= b2Body.e_activeFlag; + } + this.m_world = world; + this.m_xf.position.SetV(bd.position); + this.m_xf.R.Set(bd.angle); + this.m_sweep.localCenter.SetZero(); + this.m_sweep.t0 = 1.0; + this.m_sweep.a0 = this.m_sweep.a = bd.angle; + var tMat = this.m_xf.R; + var tVec = this.m_sweep.localCenter; + this.m_sweep.c.x = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + this.m_sweep.c.y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + this.m_sweep.c.x += this.m_xf.position.x; + this.m_sweep.c.y += this.m_xf.position.y; + this.m_sweep.c0.SetV(this.m_sweep.c); + this.m_jointList = null; + this.m_controllerList = null; + this.m_contactList = null; + this.m_controllerCount = 0; + this.m_prev = null; + this.m_next = null; + this.m_linearVelocity.SetV(bd.linearVelocity); + this.m_angularVelocity = bd.angularVelocity; + this.m_linearDamping = bd.linearDamping; + this.m_angularDamping = bd.angularDamping; + this.m_force.Set(0.0, 0.0); + this.m_torque = 0.0; + this.m_sleepTime = 0.0; + this.m_type = bd.type; + if (this.m_type == b2Body.b2_dynamicBody) { + this.m_mass = 1.0; + this.m_invMass = 1.0; + } + else { + this.m_mass = 0.0; + this.m_invMass = 0.0; + } + this.m_I = 0.0; + this.m_invI = 0.0; + this.m_inertiaScale = bd.inertiaScale; + this.m_userData = bd.userData; + this.m_fixtureList = null; + this.m_fixtureCount = 0; + } + b2Body.prototype.SynchronizeFixtures = function () { + var xf1 = b2Body.s_xf1; + xf1.R.Set(this.m_sweep.a0); + var tMat = xf1.R; + var tVec = this.m_sweep.localCenter; + xf1.position.x = this.m_sweep.c0.x - (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + xf1.position.y = this.m_sweep.c0.y - (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + var f; + var broadPhase = this.m_world.m_contactManager.m_broadPhase; + for (f = this.m_fixtureList; + f; f = f.m_next) { + f.Synchronize(broadPhase, xf1, this.m_xf); + } + } + b2Body.prototype.SynchronizeTransform = function () { + this.m_xf.R.Set(this.m_sweep.a); + var tMat = this.m_xf.R; + var tVec = this.m_sweep.localCenter; + this.m_xf.position.x = this.m_sweep.c.x - (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + this.m_xf.position.y = this.m_sweep.c.y - (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + } + b2Body.prototype.ShouldCollide = function (other) { + if (this.m_type != b2Body.b2_dynamicBody && other.m_type != b2Body.b2_dynamicBody) { + return false; + } + for (var jn = this.m_jointList; jn; jn = jn.next) { + if (jn.other == other) if (jn.joint.m_collideConnected == false) { + return false; + } + } + return true; + } + b2Body.prototype.Advance = function (t) { + if (t === undefined) t = 0; + this.m_sweep.Advance(t); + this.m_sweep.c.SetV(this.m_sweep.c0); + this.m_sweep.a = this.m_sweep.a0; + this.SynchronizeTransform(); + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.b2Body.s_xf1 = new b2Transform(); + Box2D.Dynamics.b2Body.e_islandFlag = 0x0001; + Box2D.Dynamics.b2Body.e_awakeFlag = 0x0002; + Box2D.Dynamics.b2Body.e_allowSleepFlag = 0x0004; + Box2D.Dynamics.b2Body.e_bulletFlag = 0x0008; + Box2D.Dynamics.b2Body.e_fixedRotationFlag = 0x0010; + Box2D.Dynamics.b2Body.e_activeFlag = 0x0020; + Box2D.Dynamics.b2Body.b2_staticBody = 0; + Box2D.Dynamics.b2Body.b2_kinematicBody = 1; + Box2D.Dynamics.b2Body.b2_dynamicBody = 2; + }); + b2BodyDef.b2BodyDef = function () { + this.position = new b2Vec2(); + this.linearVelocity = new b2Vec2(); + }; + b2BodyDef.prototype.b2BodyDef = function () { + this.userData = null; + this.position.Set(0.0, 0.0); + this.angle = 0.0; + this.linearVelocity.Set(0, 0); + this.angularVelocity = 0.0; + this.linearDamping = 0.0; + this.angularDamping = 0.0; + this.allowSleep = true; + this.awake = true; + this.fixedRotation = false; + this.bullet = false; + this.type = b2Body.b2_staticBody; + this.active = true; + this.inertiaScale = 1.0; + } + b2ContactFilter.b2ContactFilter = function () {}; + b2ContactFilter.prototype.ShouldCollide = function (fixtureA, fixtureB) { + var filter1 = fixtureA.GetFilterData(); + var filter2 = fixtureB.GetFilterData(); + if (filter1.groupIndex == filter2.groupIndex && filter1.groupIndex != 0) { + return filter1.groupIndex > 0; + } + var collide = (filter1.maskBits & filter2.categoryBits) != 0 && (filter1.categoryBits & filter2.maskBits) != 0; + return collide; + } + b2ContactFilter.prototype.RayCollide = function (userData, fixture) { + if (!userData) return true; + return this.ShouldCollide((userData instanceof b2Fixture ? userData : null), fixture); + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.b2ContactFilter.b2_defaultFilter = new b2ContactFilter(); + }); + b2ContactImpulse.b2ContactImpulse = function () { + this.normalImpulses = new Vector_a2j_Number(b2Settings.b2_maxManifoldPoints); + this.tangentImpulses = new Vector_a2j_Number(b2Settings.b2_maxManifoldPoints); + }; + b2ContactListener.b2ContactListener = function () {}; + b2ContactListener.prototype.BeginContact = function (contact) {} + b2ContactListener.prototype.EndContact = function (contact) {} + b2ContactListener.prototype.PreSolve = function (contact, oldManifold) {} + b2ContactListener.prototype.PostSolve = function (contact, impulse) {} + Box2D.postDefs.push(function () { + Box2D.Dynamics.b2ContactListener.b2_defaultListener = new b2ContactListener(); + }); + b2ContactManager.b2ContactManager = function () {}; + b2ContactManager.prototype.b2ContactManager = function () { + this.m_world = null; + this.m_contactCount = 0; + this.m_contactFilter = b2ContactFilter.b2_defaultFilter; + this.m_contactListener = b2ContactListener.b2_defaultListener; + this.m_contactFactory = new b2ContactFactory(this.m_allocator); + this.m_broadPhase = new b2DynamicTreeBroadPhase(); + } + b2ContactManager.prototype.AddPair = function (proxyUserDataA, proxyUserDataB) { + var fixtureA = (proxyUserDataA instanceof b2Fixture ? proxyUserDataA : null); + var fixtureB = (proxyUserDataB instanceof b2Fixture ? proxyUserDataB : null); + var bodyA = fixtureA.GetBody(); + var bodyB = fixtureB.GetBody(); + if (bodyA == bodyB) return; + var edge = bodyB.GetContactList(); + while (edge) { + if (edge.other == bodyA) { + var fA = edge.contact.GetFixtureA(); + var fB = edge.contact.GetFixtureB(); + if (fA == fixtureA && fB == fixtureB) return; + if (fA == fixtureB && fB == fixtureA) return; + } + edge = edge.next; + } + if (bodyB.ShouldCollide(bodyA) == false) { + return; + } + if (this.m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false) { + return; + } + var c = this.m_contactFactory.Create(fixtureA, fixtureB); + fixtureA = c.GetFixtureA(); + fixtureB = c.GetFixtureB(); + bodyA = fixtureA.m_body; + bodyB = fixtureB.m_body; + c.m_prev = null; + c.m_next = this.m_world.m_contactList; + if (this.m_world.m_contactList != null) { + this.m_world.m_contactList.m_prev = c; + } + this.m_world.m_contactList = c; + c.m_nodeA.contact = c; + c.m_nodeA.other = bodyB; + c.m_nodeA.prev = null; + c.m_nodeA.next = bodyA.m_contactList; + if (bodyA.m_contactList != null) { + bodyA.m_contactList.prev = c.m_nodeA; + } + bodyA.m_contactList = c.m_nodeA; + c.m_nodeB.contact = c; + c.m_nodeB.other = bodyA; + c.m_nodeB.prev = null; + c.m_nodeB.next = bodyB.m_contactList; + if (bodyB.m_contactList != null) { + bodyB.m_contactList.prev = c.m_nodeB; + } + bodyB.m_contactList = c.m_nodeB; + ++this.m_world.m_contactCount; + return; + } + b2ContactManager.prototype.FindNewContacts = function () { + this.m_broadPhase.UpdatePairs(Box2D.generateCallback(this, this.AddPair)); + } + b2ContactManager.prototype.Destroy = function (c) { + var fixtureA = c.GetFixtureA(); + var fixtureB = c.GetFixtureB(); + var bodyA = fixtureA.GetBody(); + var bodyB = fixtureB.GetBody(); + if (c.IsTouching()) { + this.m_contactListener.EndContact(c); + } + if (c.m_prev) { + c.m_prev.m_next = c.m_next; + } + if (c.m_next) { + c.m_next.m_prev = c.m_prev; + } + if (c == this.m_world.m_contactList) { + this.m_world.m_contactList = c.m_next; + } + if (c.m_nodeA.prev) { + c.m_nodeA.prev.next = c.m_nodeA.next; + } + if (c.m_nodeA.next) { + c.m_nodeA.next.prev = c.m_nodeA.prev; + } + if (c.m_nodeA == bodyA.m_contactList) { + bodyA.m_contactList = c.m_nodeA.next; + } + if (c.m_nodeB.prev) { + c.m_nodeB.prev.next = c.m_nodeB.next; + } + if (c.m_nodeB.next) { + c.m_nodeB.next.prev = c.m_nodeB.prev; + } + if (c.m_nodeB == bodyB.m_contactList) { + bodyB.m_contactList = c.m_nodeB.next; + } + this.m_contactFactory.Destroy(c); + --this.m_contactCount; + } + b2ContactManager.prototype.Collide = function () { + var c = this.m_world.m_contactList; + while (c) { + var fixtureA = c.GetFixtureA(); + var fixtureB = c.GetFixtureB(); + var bodyA = fixtureA.GetBody(); + var bodyB = fixtureB.GetBody(); + if (bodyA.IsAwake() == false && bodyB.IsAwake() == false) { + c = c.GetNext(); + continue; + } + if (c.m_flags & b2Contact.e_filterFlag) { + if (bodyB.ShouldCollide(bodyA) == false) { + var cNuke = c; + c = cNuke.GetNext(); + this.Destroy(cNuke); + continue; + } + if (this.m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false) { + cNuke = c; + c = cNuke.GetNext(); + this.Destroy(cNuke); + continue; + } + c.m_flags &= ~b2Contact.e_filterFlag; + } + var proxyA = fixtureA.m_proxy; + var proxyB = fixtureB.m_proxy; + var overlap = this.m_broadPhase.TestOverlap(proxyA, proxyB); + if (overlap == false) { + cNuke = c; + c = cNuke.GetNext(); + this.Destroy(cNuke); + continue; + } + c.Update(this.m_contactListener); + c = c.GetNext(); + } + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.b2ContactManager.s_evalCP = new b2ContactPoint(); + }); + b2DebugDraw.b2DebugDraw = function () {}; + b2DebugDraw.prototype.b2DebugDraw = function () {} + b2DebugDraw.prototype.SetFlags = function (flags) { + if (flags === undefined) flags = 0; + } + b2DebugDraw.prototype.GetFlags = function () {} + b2DebugDraw.prototype.AppendFlags = function (flags) { + if (flags === undefined) flags = 0; + } + b2DebugDraw.prototype.ClearFlags = function (flags) { + if (flags === undefined) flags = 0; + } + b2DebugDraw.prototype.SetSprite = function (sprite) {} + b2DebugDraw.prototype.GetSprite = function () {} + b2DebugDraw.prototype.SetDrawScale = function (drawScale) { + if (drawScale === undefined) drawScale = 0; + } + b2DebugDraw.prototype.GetDrawScale = function () {} + b2DebugDraw.prototype.SetLineThickness = function (lineThickness) { + if (lineThickness === undefined) lineThickness = 0; + } + b2DebugDraw.prototype.GetLineThickness = function () {} + b2DebugDraw.prototype.SetAlpha = function (alpha) { + if (alpha === undefined) alpha = 0; + } + b2DebugDraw.prototype.GetAlpha = function () {} + b2DebugDraw.prototype.SetFillAlpha = function (alpha) { + if (alpha === undefined) alpha = 0; + } + b2DebugDraw.prototype.GetFillAlpha = function () {} + b2DebugDraw.prototype.SetXFormScale = function (xformScale) { + if (xformScale === undefined) xformScale = 0; + } + b2DebugDraw.prototype.GetXFormScale = function () {} + b2DebugDraw.prototype.DrawPolygon = function (vertices, vertexCount, color) { + if (vertexCount === undefined) vertexCount = 0; + } + b2DebugDraw.prototype.DrawSolidPolygon = function (vertices, vertexCount, color) { + if (vertexCount === undefined) vertexCount = 0; + } + b2DebugDraw.prototype.DrawCircle = function (center, radius, color) { + if (radius === undefined) radius = 0; + } + b2DebugDraw.prototype.DrawSolidCircle = function (center, radius, axis, color) { + if (radius === undefined) radius = 0; + } + b2DebugDraw.prototype.DrawSegment = function (p1, p2, color) {} + b2DebugDraw.prototype.DrawTransform = function (xf) {} + Box2D.postDefs.push(function () { + Box2D.Dynamics.b2DebugDraw.e_shapeBit = 0x0001; + Box2D.Dynamics.b2DebugDraw.e_jointBit = 0x0002; + Box2D.Dynamics.b2DebugDraw.e_aabbBit = 0x0004; + Box2D.Dynamics.b2DebugDraw.e_pairBit = 0x0008; + Box2D.Dynamics.b2DebugDraw.e_centerOfMassBit = 0x0010; + Box2D.Dynamics.b2DebugDraw.e_controllerBit = 0x0020; + }); + b2DestructionListener.b2DestructionListener = function () {}; + b2DestructionListener.prototype.SayGoodbyeJoint = function (joint) {} + b2DestructionListener.prototype.SayGoodbyeFixture = function (fixture) {} + b2FilterData.b2FilterData = function () { + this.categoryBits = 0x0001; + this.maskBits = 0xFFFF; + this.groupIndex = 0; + }; + b2FilterData.prototype.Copy = function () { + var copy = new b2FilterData(); + copy.categoryBits = this.categoryBits; + copy.maskBits = this.maskBits; + copy.groupIndex = this.groupIndex; + return copy; + } + b2Fixture.b2Fixture = function () { + this.m_filter = new b2FilterData(); + }; + b2Fixture.prototype.GetType = function () { + return this.m_shape.GetType(); + } + b2Fixture.prototype.GetShape = function () { + return this.m_shape; + } + b2Fixture.prototype.SetSensor = function (sensor) { + if (this.m_isSensor == sensor) return; + this.m_isSensor = sensor; + if (this.m_body == null) return; + var edge = this.m_body.GetContactList(); + while (edge) { + var contact = edge.contact; + var fixtureA = contact.GetFixtureA(); + var fixtureB = contact.GetFixtureB(); + if (fixtureA == this || fixtureB == this) contact.SetSensor(fixtureA.IsSensor() || fixtureB.IsSensor()); + edge = edge.next; + } + } + b2Fixture.prototype.IsSensor = function () { + return this.m_isSensor; + } + b2Fixture.prototype.SetFilterData = function (filter) { + this.m_filter = filter.Copy(); + if (this.m_body) return; + var edge = this.m_body.GetContactList(); + while (edge) { + var contact = edge.contact; + var fixtureA = contact.GetFixtureA(); + var fixtureB = contact.GetFixtureB(); + if (fixtureA == this || fixtureB == this) contact.FlagForFiltering(); + edge = edge.next; + } + } + b2Fixture.prototype.GetFilterData = function () { + return this.m_filter.Copy(); + } + b2Fixture.prototype.GetBody = function () { + return this.m_body; + } + b2Fixture.prototype.GetNext = function () { + return this.m_next; + } + b2Fixture.prototype.GetUserData = function () { + return this.m_userData; + } + b2Fixture.prototype.SetUserData = function (data) { + this.m_userData = data; + } + b2Fixture.prototype.TestPoint = function (p) { + return this.m_shape.TestPoint(this.m_body.GetTransform(), p); + } + b2Fixture.prototype.RayCast = function (output, input) { + return this.m_shape.RayCast(output, input, this.m_body.GetTransform()); + } + b2Fixture.prototype.GetMassData = function (massData) { + if (massData === undefined) massData = null; + if (massData == null) { + massData = new b2MassData(); + } + this.m_shape.ComputeMass(massData, this.m_density); + return massData; + } + b2Fixture.prototype.SetDensity = function (density) { + if (density === undefined) density = 0; + this.m_density = density; + } + b2Fixture.prototype.GetDensity = function () { + return this.m_density; + } + b2Fixture.prototype.GetFriction = function () { + return this.m_friction; + } + b2Fixture.prototype.SetFriction = function (friction) { + if (friction === undefined) friction = 0; + this.m_friction = friction; + } + b2Fixture.prototype.GetRestitution = function () { + return this.m_restitution; + } + b2Fixture.prototype.SetRestitution = function (restitution) { + if (restitution === undefined) restitution = 0; + this.m_restitution = restitution; + } + b2Fixture.prototype.GetAABB = function () { + return this.m_aabb; + } + b2Fixture.prototype.b2Fixture = function () { + this.m_aabb = new b2AABB(); + this.m_userData = null; + this.m_body = null; + this.m_next = null; + this.m_shape = null; + this.m_density = 0.0; + this.m_friction = 0.0; + this.m_restitution = 0.0; + } + b2Fixture.prototype.Create = function (body, xf, def) { + this.m_userData = def.userData; + this.m_friction = def.friction; + this.m_restitution = def.restitution; + this.m_body = body; + this.m_next = null; + this.m_filter = def.filter.Copy(); + this.m_isSensor = def.isSensor; + this.m_shape = def.shape.Copy(); + this.m_density = def.density; + } + b2Fixture.prototype.Destroy = function () { + this.m_shape = null; + } + b2Fixture.prototype.CreateProxy = function (broadPhase, xf) { + this.m_shape.ComputeAABB(this.m_aabb, xf); + this.m_proxy = broadPhase.CreateProxy(this.m_aabb, this); + } + b2Fixture.prototype.DestroyProxy = function (broadPhase) { + if (this.m_proxy == null) { + return; + } + broadPhase.DestroyProxy(this.m_proxy); + this.m_proxy = null; + } + b2Fixture.prototype.Synchronize = function (broadPhase, transform1, transform2) { + if (!this.m_proxy) return; + var aabb1 = new b2AABB(); + var aabb2 = new b2AABB(); + this.m_shape.ComputeAABB(aabb1, transform1); + this.m_shape.ComputeAABB(aabb2, transform2); + this.m_aabb.Combine(aabb1, aabb2); + var displacement = b2Math.SubtractVV(transform2.position, transform1.position); + broadPhase.MoveProxy(this.m_proxy, this.m_aabb, displacement); + } + b2FixtureDef.b2FixtureDef = function () { + this.filter = new b2FilterData(); + }; + b2FixtureDef.prototype.b2FixtureDef = function () { + this.shape = null; + this.userData = null; + this.friction = 0.2; + this.restitution = 0.0; + this.density = 0.0; + this.filter.categoryBits = 0x0001; + this.filter.maskBits = 0xFFFF; + this.filter.groupIndex = 0; + this.isSensor = false; + } + b2Island.b2Island = function () {}; + b2Island.prototype.b2Island = function () { + this.m_bodies = new Vector(); + this.m_contacts = new Vector(); + this.m_joints = new Vector(); + } + b2Island.prototype.Initialize = function (bodyCapacity, contactCapacity, jointCapacity, allocator, listener, contactSolver) { + if (bodyCapacity === undefined) bodyCapacity = 0; + if (contactCapacity === undefined) contactCapacity = 0; + if (jointCapacity === undefined) jointCapacity = 0; + var i = 0; + this.m_bodyCapacity = bodyCapacity; + this.m_contactCapacity = contactCapacity; + this.m_jointCapacity = jointCapacity; + this.m_bodyCount = 0; + this.m_contactCount = 0; + this.m_jointCount = 0; + this.m_allocator = allocator; + this.m_listener = listener; + this.m_contactSolver = contactSolver; + for (i = this.m_bodies.length; + i < bodyCapacity; i++) + this.m_bodies[i] = null; + for (i = this.m_contacts.length; + i < contactCapacity; i++) + this.m_contacts[i] = null; + for (i = this.m_joints.length; + i < jointCapacity; i++) + this.m_joints[i] = null; + } + b2Island.prototype.Clear = function () { + this.m_bodyCount = 0; + this.m_contactCount = 0; + this.m_jointCount = 0; + } + b2Island.prototype.Solve = function (step, gravity, allowSleep) { + var i = 0; + var j = 0; + var b; + var joint; + for (i = 0; + i < this.m_bodyCount; ++i) { + b = this.m_bodies[i]; + if (b.GetType() != b2Body.b2_dynamicBody) continue; + b.m_linearVelocity.x += step.dt * (gravity.x + b.m_invMass * b.m_force.x); + b.m_linearVelocity.y += step.dt * (gravity.y + b.m_invMass * b.m_force.y); + b.m_angularVelocity += step.dt * b.m_invI * b.m_torque; + b.m_linearVelocity.Multiply(b2Math.Clamp(1.0 - step.dt * b.m_linearDamping, 0.0, 1.0)); + b.m_angularVelocity *= b2Math.Clamp(1.0 - step.dt * b.m_angularDamping, 0.0, 1.0); + } + this.m_contactSolver.Initialize(step, this.m_contacts, this.m_contactCount, this.m_allocator); + var contactSolver = this.m_contactSolver; + contactSolver.InitVelocityConstraints(step); + for (i = 0; + i < this.m_jointCount; ++i) { + joint = this.m_joints[i]; + joint.InitVelocityConstraints(step); + } + for (i = 0; + i < step.velocityIterations; ++i) { + for (j = 0; + j < this.m_jointCount; ++j) { + joint = this.m_joints[j]; + joint.SolveVelocityConstraints(step); + } + contactSolver.SolveVelocityConstraints(); + } + for (i = 0; + i < this.m_jointCount; ++i) { + joint = this.m_joints[i]; + joint.FinalizeVelocityConstraints(); + } + contactSolver.FinalizeVelocityConstraints(); + for (i = 0; + i < this.m_bodyCount; ++i) { + b = this.m_bodies[i]; + if (b.GetType() == b2Body.b2_staticBody) continue; + var translationX = step.dt * b.m_linearVelocity.x; + var translationY = step.dt * b.m_linearVelocity.y; + if ((translationX * translationX + translationY * translationY) > b2Settings.b2_maxTranslationSquared) { + b.m_linearVelocity.Normalize(); + b.m_linearVelocity.x *= b2Settings.b2_maxTranslation * step.inv_dt; + b.m_linearVelocity.y *= b2Settings.b2_maxTranslation * step.inv_dt; + } + var rotation = step.dt * b.m_angularVelocity; + if (rotation * rotation > b2Settings.b2_maxRotationSquared) { + if (b.m_angularVelocity < 0.0) { + b.m_angularVelocity = (-b2Settings.b2_maxRotation * step.inv_dt); + } + else { + b.m_angularVelocity = b2Settings.b2_maxRotation * step.inv_dt; + } + } + b.m_sweep.c0.SetV(b.m_sweep.c); + b.m_sweep.a0 = b.m_sweep.a; + b.m_sweep.c.x += step.dt * b.m_linearVelocity.x; + b.m_sweep.c.y += step.dt * b.m_linearVelocity.y; + b.m_sweep.a += step.dt * b.m_angularVelocity; + b.SynchronizeTransform(); + } + for (i = 0; + i < step.positionIterations; ++i) { + var contactsOkay = contactSolver.SolvePositionConstraints(b2Settings.b2_contactBaumgarte); + var jointsOkay = true; + for (j = 0; + j < this.m_jointCount; ++j) { + joint = this.m_joints[j]; + var jointOkay = joint.SolvePositionConstraints(b2Settings.b2_contactBaumgarte); + jointsOkay = jointsOkay && jointOkay; + } + if (contactsOkay && jointsOkay) { + break; + } + } + this.Report(contactSolver.m_constraints); + if (allowSleep) { + var minSleepTime = Number.MAX_VALUE; + var linTolSqr = b2Settings.b2_linearSleepTolerance * b2Settings.b2_linearSleepTolerance; + var angTolSqr = b2Settings.b2_angularSleepTolerance * b2Settings.b2_angularSleepTolerance; + for (i = 0; + i < this.m_bodyCount; ++i) { + b = this.m_bodies[i]; + if (b.GetType() == b2Body.b2_staticBody) { + continue; + } + if ((b.m_flags & b2Body.e_allowSleepFlag) == 0) { + b.m_sleepTime = 0.0; + minSleepTime = 0.0; + } + if ((b.m_flags & b2Body.e_allowSleepFlag) == 0 || b.m_angularVelocity * b.m_angularVelocity > angTolSqr || b2Math.Dot(b.m_linearVelocity, b.m_linearVelocity) > linTolSqr) { + b.m_sleepTime = 0.0; + minSleepTime = 0.0; + } + else { + b.m_sleepTime += step.dt; + minSleepTime = b2Math.Min(minSleepTime, b.m_sleepTime); + } + } + if (minSleepTime >= b2Settings.b2_timeToSleep) { + for (i = 0; + i < this.m_bodyCount; ++i) { + b = this.m_bodies[i]; + b.SetAwake(false); + } + } + } + } + b2Island.prototype.SolveTOI = function (subStep) { + var i = 0; + var j = 0; + this.m_contactSolver.Initialize(subStep, this.m_contacts, this.m_contactCount, this.m_allocator); + var contactSolver = this.m_contactSolver; + for (i = 0; + i < this.m_jointCount; ++i) { + this.m_joints[i].InitVelocityConstraints(subStep); + } + for (i = 0; + i < subStep.velocityIterations; ++i) { + contactSolver.SolveVelocityConstraints(); + for (j = 0; + j < this.m_jointCount; ++j) { + this.m_joints[j].SolveVelocityConstraints(subStep); + } + } + for (i = 0; + i < this.m_bodyCount; ++i) { + var b = this.m_bodies[i]; + if (b.GetType() == b2Body.b2_staticBody) continue; + var translationX = subStep.dt * b.m_linearVelocity.x; + var translationY = subStep.dt * b.m_linearVelocity.y; + if ((translationX * translationX + translationY * translationY) > b2Settings.b2_maxTranslationSquared) { + b.m_linearVelocity.Normalize(); + b.m_linearVelocity.x *= b2Settings.b2_maxTranslation * subStep.inv_dt; + b.m_linearVelocity.y *= b2Settings.b2_maxTranslation * subStep.inv_dt; + } + var rotation = subStep.dt * b.m_angularVelocity; + if (rotation * rotation > b2Settings.b2_maxRotationSquared) { + if (b.m_angularVelocity < 0.0) { + b.m_angularVelocity = (-b2Settings.b2_maxRotation * subStep.inv_dt); + } + else { + b.m_angularVelocity = b2Settings.b2_maxRotation * subStep.inv_dt; + } + } + b.m_sweep.c0.SetV(b.m_sweep.c); + b.m_sweep.a0 = b.m_sweep.a; + b.m_sweep.c.x += subStep.dt * b.m_linearVelocity.x; + b.m_sweep.c.y += subStep.dt * b.m_linearVelocity.y; + b.m_sweep.a += subStep.dt * b.m_angularVelocity; + b.SynchronizeTransform(); + } + var k_toiBaumgarte = 0.75; + for (i = 0; + i < subStep.positionIterations; ++i) { + var contactsOkay = contactSolver.SolvePositionConstraints(k_toiBaumgarte); + var jointsOkay = true; + for (j = 0; + j < this.m_jointCount; ++j) { + var jointOkay = this.m_joints[j].SolvePositionConstraints(b2Settings.b2_contactBaumgarte); + jointsOkay = jointsOkay && jointOkay; + } + if (contactsOkay && jointsOkay) { + break; + } + } + this.Report(contactSolver.m_constraints); + } + b2Island.prototype.Report = function (constraints) { + if (this.m_listener == null) { + return; + } + for (var i = 0; i < this.m_contactCount; ++i) { + var c = this.m_contacts[i]; + var cc = constraints[i]; + for (var j = 0; j < cc.pointCount; ++j) { + b2Island.s_impulse.normalImpulses[j] = cc.points[j].normalImpulse; + b2Island.s_impulse.tangentImpulses[j] = cc.points[j].tangentImpulse; + } + this.m_listener.PostSolve(c, b2Island.s_impulse); + } + } + b2Island.prototype.AddBody = function (body) { + body.m_islandIndex = this.m_bodyCount; + this.m_bodies[this.m_bodyCount++] = body; + } + b2Island.prototype.AddContact = function (contact) { + this.m_contacts[this.m_contactCount++] = contact; + } + b2Island.prototype.AddJoint = function (joint) { + this.m_joints[this.m_jointCount++] = joint; + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.b2Island.s_impulse = new b2ContactImpulse(); + }); + b2TimeStep.b2TimeStep = function () {}; + b2TimeStep.prototype.Set = function (step) { + this.dt = step.dt; + this.inv_dt = step.inv_dt; + this.positionIterations = step.positionIterations; + this.velocityIterations = step.velocityIterations; + this.warmStarting = step.warmStarting; + } + b2World.b2World = function () { + this.s_stack = new Vector(); + this.m_contactManager = new b2ContactManager(); + this.m_contactSolver = new b2ContactSolver(); + this.m_island = new b2Island(); + }; + b2World.prototype.b2World = function (gravity, doSleep) { + this.m_destructionListener = null; + this.m_debugDraw = null; + this.m_bodyList = null; + this.m_contactList = null; + this.m_jointList = null; + this.m_controllerList = null; + this.m_bodyCount = 0; + this.m_contactCount = 0; + this.m_jointCount = 0; + this.m_controllerCount = 0; + b2World.m_warmStarting = true; + b2World.m_continuousPhysics = true; + this.m_allowSleep = doSleep; + this.m_gravity = gravity; + this.m_inv_dt0 = 0.0; + this.m_contactManager.m_world = this; + var bd = new b2BodyDef(); + this.m_groundBody = this.CreateBody(bd); + } + b2World.prototype.SetDestructionListener = function (listener) { + this.m_destructionListener = listener; + } + b2World.prototype.SetContactFilter = function (filter) { + this.m_contactManager.m_contactFilter = filter; + } + b2World.prototype.SetContactListener = function (listener) { + this.m_contactManager.m_contactListener = listener; + } + b2World.prototype.SetDebugDraw = function (debugDraw) { + this.m_debugDraw = debugDraw; + } + b2World.prototype.SetBroadPhase = function (broadPhase) { + var oldBroadPhase = this.m_contactManager.m_broadPhase; + this.m_contactManager.m_broadPhase = broadPhase; + for (var b = this.m_bodyList; b; b = b.m_next) { + for (var f = b.m_fixtureList; f; f = f.m_next) { + f.m_proxy = broadPhase.CreateProxy(oldBroadPhase.GetFatAABB(f.m_proxy), f); + } + } + } + b2World.prototype.Validate = function () { + this.m_contactManager.m_broadPhase.Validate(); + } + b2World.prototype.GetProxyCount = function () { + return this.m_contactManager.m_broadPhase.GetProxyCount(); + } + b2World.prototype.CreateBody = function (def) { + if (this.IsLocked() == true) { + return null; + } + var b = new b2Body(def, this); + b.m_prev = null; + b.m_next = this.m_bodyList; + if (this.m_bodyList) { + this.m_bodyList.m_prev = b; + } + this.m_bodyList = b; + ++this.m_bodyCount; + return b; + } + b2World.prototype.DestroyBody = function (b) { + if (this.IsLocked() == true) { + return; + } + var jn = b.m_jointList; + while (jn) { + var jn0 = jn; + jn = jn.next; + if (this.m_destructionListener) { + this.m_destructionListener.SayGoodbyeJoint(jn0.joint); + } + this.DestroyJoint(jn0.joint); + } + var coe = b.m_controllerList; + while (coe) { + var coe0 = coe; + coe = coe.nextController; + coe0.controller.RemoveBody(b); + } + var ce = b.m_contactList; + while (ce) { + var ce0 = ce; + ce = ce.next; + this.m_contactManager.Destroy(ce0.contact); + } + b.m_contactList = null; + var f = b.m_fixtureList; + while (f) { + var f0 = f; + f = f.m_next; + if (this.m_destructionListener) { + this.m_destructionListener.SayGoodbyeFixture(f0); + } + f0.DestroyProxy(this.m_contactManager.m_broadPhase); + f0.Destroy(); + } + b.m_fixtureList = null; + b.m_fixtureCount = 0; + if (b.m_prev) { + b.m_prev.m_next = b.m_next; + } + if (b.m_next) { + b.m_next.m_prev = b.m_prev; + } + if (b == this.m_bodyList) { + this.m_bodyList = b.m_next; + }--this.m_bodyCount; + } + b2World.prototype.CreateJoint = function (def) { + var j = b2Joint.Create(def, null); + j.m_prev = null; + j.m_next = this.m_jointList; + if (this.m_jointList) { + this.m_jointList.m_prev = j; + } + this.m_jointList = j; + ++this.m_jointCount; + j.m_edgeA.joint = j; + j.m_edgeA.other = j.m_bodyB; + j.m_edgeA.prev = null; + j.m_edgeA.next = j.m_bodyA.m_jointList; + if (j.m_bodyA.m_jointList) j.m_bodyA.m_jointList.prev = j.m_edgeA; + j.m_bodyA.m_jointList = j.m_edgeA; + j.m_edgeB.joint = j; + j.m_edgeB.other = j.m_bodyA; + j.m_edgeB.prev = null; + j.m_edgeB.next = j.m_bodyB.m_jointList; + if (j.m_bodyB.m_jointList) j.m_bodyB.m_jointList.prev = j.m_edgeB; + j.m_bodyB.m_jointList = j.m_edgeB; + var bodyA = def.bodyA; + var bodyB = def.bodyB; + if (def.collideConnected == false) { + var edge = bodyB.GetContactList(); + while (edge) { + if (edge.other == bodyA) { + edge.contact.FlagForFiltering(); + } + edge = edge.next; + } + } + return j; + } + b2World.prototype.DestroyJoint = function (j) { + var collideConnected = j.m_collideConnected; + if (j.m_prev) { + j.m_prev.m_next = j.m_next; + } + if (j.m_next) { + j.m_next.m_prev = j.m_prev; + } + if (j == this.m_jointList) { + this.m_jointList = j.m_next; + } + var bodyA = j.m_bodyA; + var bodyB = j.m_bodyB; + bodyA.SetAwake(true); + bodyB.SetAwake(true); + if (j.m_edgeA.prev) { + j.m_edgeA.prev.next = j.m_edgeA.next; + } + if (j.m_edgeA.next) { + j.m_edgeA.next.prev = j.m_edgeA.prev; + } + if (j.m_edgeA == bodyA.m_jointList) { + bodyA.m_jointList = j.m_edgeA.next; + } + j.m_edgeA.prev = null; + j.m_edgeA.next = null; + if (j.m_edgeB.prev) { + j.m_edgeB.prev.next = j.m_edgeB.next; + } + if (j.m_edgeB.next) { + j.m_edgeB.next.prev = j.m_edgeB.prev; + } + if (j.m_edgeB == bodyB.m_jointList) { + bodyB.m_jointList = j.m_edgeB.next; + } + j.m_edgeB.prev = null; + j.m_edgeB.next = null; + b2Joint.Destroy(j, null); + --this.m_jointCount; + if (collideConnected == false) { + var edge = bodyB.GetContactList(); + while (edge) { + if (edge.other == bodyA) { + edge.contact.FlagForFiltering(); + } + edge = edge.next; + } + } + } + b2World.prototype.AddController = function (c) { + c.m_next = this.m_controllerList; + c.m_prev = null; + this.m_controllerList = c; + c.m_world = this; + this.m_controllerCount++; + return c; + } + b2World.prototype.RemoveController = function (c) { + if (c.m_prev) c.m_prev.m_next = c.m_next; + if (c.m_next) c.m_next.m_prev = c.m_prev; + if (this.m_controllerList == c) this.m_controllerList = c.m_next; + this.m_controllerCount--; + } + b2World.prototype.CreateController = function (controller) { + if (controller.m_world != this) throw new Error("Controller can only be a member of one world"); + controller.m_next = this.m_controllerList; + controller.m_prev = null; + if (this.m_controllerList) this.m_controllerList.m_prev = controller; + this.m_controllerList = controller; + ++this.m_controllerCount; + controller.m_world = this; + return controller; + } + b2World.prototype.DestroyController = function (controller) { + controller.Clear(); + if (controller.m_next) controller.m_next.m_prev = controller.m_prev; + if (controller.m_prev) controller.m_prev.m_next = controller.m_next; + if (controller == this.m_controllerList) this.m_controllerList = controller.m_next; + --this.m_controllerCount; + } + b2World.prototype.SetWarmStarting = function (flag) { + b2World.m_warmStarting = flag; + } + b2World.prototype.SetContinuousPhysics = function (flag) { + b2World.m_continuousPhysics = flag; + } + b2World.prototype.GetBodyCount = function () { + return this.m_bodyCount; + } + b2World.prototype.GetJointCount = function () { + return this.m_jointCount; + } + b2World.prototype.GetContactCount = function () { + return this.m_contactCount; + } + b2World.prototype.SetGravity = function (gravity) { + this.m_gravity = gravity; + } + b2World.prototype.GetGravity = function () { + return this.m_gravity; + } + b2World.prototype.GetGroundBody = function () { + return this.m_groundBody; + } + b2World.prototype.Step = function (dt, velocityIterations, positionIterations) { + if (dt === undefined) dt = 0; + if (velocityIterations === undefined) velocityIterations = 0; + if (positionIterations === undefined) positionIterations = 0; + if (this.m_flags & b2World.e_newFixture) { + this.m_contactManager.FindNewContacts(); + this.m_flags &= ~b2World.e_newFixture; + } + this.m_flags |= b2World.e_locked; + var step = b2World.s_timestep2; + step.dt = dt; + step.velocityIterations = velocityIterations; + step.positionIterations = positionIterations; + if (dt > 0.0) { + step.inv_dt = 1.0 / dt; + } + else { + step.inv_dt = 0.0; + } + step.dtRatio = this.m_inv_dt0 * dt; + step.warmStarting = b2World.m_warmStarting; + this.m_contactManager.Collide(); + if (step.dt > 0.0) { + this.Solve(step); + } + if (b2World.m_continuousPhysics && step.dt > 0.0) { + this.SolveTOI(step); + } + if (step.dt > 0.0) { + this.m_inv_dt0 = step.inv_dt; + } + this.m_flags &= ~b2World.e_locked; + } + b2World.prototype.ClearForces = function () { + for (var body = this.m_bodyList; body; body = body.m_next) { + body.m_force.SetZero(); + body.m_torque = 0.0; + } + } + b2World.prototype.DrawDebugData = function () { + if (this.m_debugDraw == null) { + return; + } + this.m_debugDraw.m_sprite.graphics.clear(); + var flags = this.m_debugDraw.GetFlags(); + var i = 0; + var b; + var f; + var s; + var j; + var bp; + var invQ = new b2Vec2; + var x1 = new b2Vec2; + var x2 = new b2Vec2; + var xf; + var b1 = new b2AABB(); + var b2 = new b2AABB(); + var vs = [new b2Vec2(), new b2Vec2(), new b2Vec2(), new b2Vec2()]; + var color = new b2Color(0, 0, 0); + if (flags & b2DebugDraw.e_shapeBit) { + for (b = this.m_bodyList; + b; b = b.m_next) { + xf = b.m_xf; + for (f = b.GetFixtureList(); + f; f = f.m_next) { + s = f.GetShape(); + if (b.IsActive() == false) { + color.Set(0.5, 0.5, 0.3); + this.DrawShape(s, xf, color); + } + else if (b.GetType() == b2Body.b2_staticBody) { + color.Set(0.5, 0.9, 0.5); + this.DrawShape(s, xf, color); + } + else if (b.GetType() == b2Body.b2_kinematicBody) { + color.Set(0.5, 0.5, 0.9); + this.DrawShape(s, xf, color); + } + else if (b.IsAwake() == false) { + color.Set(0.6, 0.6, 0.6); + this.DrawShape(s, xf, color); + } + else { + color.Set(0.9, 0.7, 0.7); + this.DrawShape(s, xf, color); + } + } + } + } + if (flags & b2DebugDraw.e_jointBit) { + for (j = this.m_jointList; + j; j = j.m_next) { + this.DrawJoint(j); + } + } + if (flags & b2DebugDraw.e_controllerBit) { + for (var c = this.m_controllerList; c; c = c.m_next) { + c.Draw(this.m_debugDraw); + } + } + if (flags & b2DebugDraw.e_pairBit) { + color.Set(0.3, 0.9, 0.9); + for (var contact = this.m_contactManager.m_contactList; contact; contact = contact.GetNext()) { + var fixtureA = contact.GetFixtureA(); + var fixtureB = contact.GetFixtureB(); + var cA = fixtureA.GetAABB().GetCenter(); + var cB = fixtureB.GetAABB().GetCenter(); + this.m_debugDraw.DrawSegment(cA, cB, color); + } + } + if (flags & b2DebugDraw.e_aabbBit) { + bp = this.m_contactManager.m_broadPhase; + vs = [new b2Vec2(), new b2Vec2(), new b2Vec2(), new b2Vec2()]; + for (b = this.m_bodyList; + b; b = b.GetNext()) { + if (b.IsActive() == false) { + continue; + } + for (f = b.GetFixtureList(); + f; f = f.GetNext()) { + var aabb = bp.GetFatAABB(f.m_proxy); + vs[0].Set(aabb.lowerBound.x, aabb.lowerBound.y); + vs[1].Set(aabb.upperBound.x, aabb.lowerBound.y); + vs[2].Set(aabb.upperBound.x, aabb.upperBound.y); + vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y); + this.m_debugDraw.DrawPolygon(vs, 4, color); + } + } + } + if (flags & b2DebugDraw.e_centerOfMassBit) { + for (b = this.m_bodyList; + b; b = b.m_next) { + xf = b2World.s_xf; + xf.R = b.m_xf.R; + xf.position = b.GetWorldCenter(); + this.m_debugDraw.DrawTransform(xf); + } + } + } + b2World.prototype.QueryAABB = function (callback, aabb) { + var __this = this; + var broadPhase = __this.m_contactManager.m_broadPhase; + + function WorldQueryWrapper(proxy) { + return callback(broadPhase.GetUserData(proxy)); + }; + broadPhase.Query(WorldQueryWrapper, aabb); + } + b2World.prototype.QueryShape = function (callback, shape, transform) { + var __this = this; + if (transform === undefined) transform = null; + if (transform == null) { + transform = new b2Transform(); + transform.SetIdentity(); + } + var broadPhase = __this.m_contactManager.m_broadPhase; + + function WorldQueryWrapper(proxy) { + var fixture = (broadPhase.GetUserData(proxy) instanceof b2Fixture ? broadPhase.GetUserData(proxy) : null); + if (b2Shape.TestOverlap(shape, transform, fixture.GetShape(), fixture.GetBody().GetTransform())) return callback(fixture); + return true; + }; + var aabb = new b2AABB(); + shape.ComputeAABB(aabb, transform); + broadPhase.Query(WorldQueryWrapper, aabb); + } + b2World.prototype.QueryPoint = function (callback, p) { + var __this = this; + var broadPhase = __this.m_contactManager.m_broadPhase; + + function WorldQueryWrapper(proxy) { + var fixture = (broadPhase.GetUserData(proxy) instanceof b2Fixture ? broadPhase.GetUserData(proxy) : null); + if (fixture.TestPoint(p)) return callback(fixture); + return true; + }; + var aabb = new b2AABB(); + aabb.lowerBound.Set(p.x - b2Settings.b2_linearSlop, p.y - b2Settings.b2_linearSlop); + aabb.upperBound.Set(p.x + b2Settings.b2_linearSlop, p.y + b2Settings.b2_linearSlop); + broadPhase.Query(WorldQueryWrapper, aabb); + } + b2World.prototype.RayCast = function (callback, point1, point2) { + var __this = this; + var broadPhase = __this.m_contactManager.m_broadPhase; + var output = new b2RayCastOutput; + + function RayCastWrapper(input, proxy) { + var userData = broadPhase.GetUserData(proxy); + var fixture = (userData instanceof b2Fixture ? userData : null); + var hit = fixture.RayCast(output, input); + if (hit) { + var fraction = output.fraction; + var point = new b2Vec2((1.0 - fraction) * point1.x + fraction * point2.x, (1.0 - fraction) * point1.y + fraction * point2.y); + return callback(fixture, point, output.normal, fraction); + } + return input.maxFraction; + }; + var input = new b2RayCastInput(point1, point2); + broadPhase.RayCast(RayCastWrapper, input); + } + b2World.prototype.RayCastOne = function (point1, point2) { + var __this = this; + var result; + + function RayCastOneWrapper(fixture, point, normal, fraction) { + if (fraction === undefined) fraction = 0; + result = fixture; + return fraction; + }; + __this.RayCast(RayCastOneWrapper, point1, point2); + return result; + } + b2World.prototype.RayCastAll = function (point1, point2) { + var __this = this; + var result = new Vector(); + + function RayCastAllWrapper(fixture, point, normal, fraction) { + if (fraction === undefined) fraction = 0; + result[result.length] = fixture; + return 1; + }; + __this.RayCast(RayCastAllWrapper, point1, point2); + return result; + } + b2World.prototype.GetBodyList = function () { + return this.m_bodyList; + } + b2World.prototype.GetJointList = function () { + return this.m_jointList; + } + b2World.prototype.GetContactList = function () { + return this.m_contactList; + } + b2World.prototype.IsLocked = function () { + return (this.m_flags & b2World.e_locked) > 0; + } + b2World.prototype.Solve = function (step) { + var b; + for (var controller = this.m_controllerList; controller; controller = controller.m_next) { + controller.Step(step); + } + var island = this.m_island; + island.Initialize(this.m_bodyCount, this.m_contactCount, this.m_jointCount, null, this.m_contactManager.m_contactListener, this.m_contactSolver); + for (b = this.m_bodyList; + b; b = b.m_next) { + b.m_flags &= ~b2Body.e_islandFlag; + } + for (var c = this.m_contactList; c; c = c.m_next) { + c.m_flags &= ~b2Contact.e_islandFlag; + } + for (var j = this.m_jointList; j; j = j.m_next) { + j.m_islandFlag = false; + } + var stackSize = parseInt(this.m_bodyCount); + var stack = this.s_stack; + for (var seed = this.m_bodyList; seed; seed = seed.m_next) { + if (seed.m_flags & b2Body.e_islandFlag) { + continue; + } + if (seed.IsAwake() == false || seed.IsActive() == false) { + continue; + } + if (seed.GetType() == b2Body.b2_staticBody) { + continue; + } + island.Clear(); + var stackCount = 0; + stack[stackCount++] = seed; + seed.m_flags |= b2Body.e_islandFlag; + while (stackCount > 0) { + b = stack[--stackCount]; + island.AddBody(b); + if (b.IsAwake() == false) { + b.SetAwake(true); + } + if (b.GetType() == b2Body.b2_staticBody) { + continue; + } + var other; + for (var ce = b.m_contactList; ce; ce = ce.next) { + if (ce.contact.m_flags & b2Contact.e_islandFlag) { + continue; + } + if (ce.contact.IsSensor() == true || ce.contact.IsEnabled() == false || ce.contact.IsTouching() == false) { + continue; + } + island.AddContact(ce.contact); + ce.contact.m_flags |= b2Contact.e_islandFlag; + other = ce.other; + if (other.m_flags & b2Body.e_islandFlag) { + continue; + } + stack[stackCount++] = other; + other.m_flags |= b2Body.e_islandFlag; + } + for (var jn = b.m_jointList; jn; jn = jn.next) { + if (jn.joint.m_islandFlag == true) { + continue; + } + other = jn.other; + if (other.IsActive() == false) { + continue; + } + island.AddJoint(jn.joint); + jn.joint.m_islandFlag = true; + if (other.m_flags & b2Body.e_islandFlag) { + continue; + } + stack[stackCount++] = other; + other.m_flags |= b2Body.e_islandFlag; + } + } + island.Solve(step, this.m_gravity, this.m_allowSleep); + for (var i = 0; i < island.m_bodyCount; ++i) { + b = island.m_bodies[i]; + if (b.GetType() == b2Body.b2_staticBody) { + b.m_flags &= ~b2Body.e_islandFlag; + } + } + } + for (i = 0; + i < stack.length; ++i) { + if (!stack[i]) break; + stack[i] = null; + } + for (b = this.m_bodyList; + b; b = b.m_next) { + if (b.IsAwake() == false || b.IsActive() == false) { + continue; + } + if (b.GetType() == b2Body.b2_staticBody) { + continue; + } + b.SynchronizeFixtures(); + } + this.m_contactManager.FindNewContacts(); + } + b2World.prototype.SolveTOI = function (step) { + var b; + var fA; + var fB; + var bA; + var bB; + var cEdge; + var j; + var island = this.m_island; + island.Initialize(this.m_bodyCount, b2Settings.b2_maxTOIContactsPerIsland, b2Settings.b2_maxTOIJointsPerIsland, null, this.m_contactManager.m_contactListener, this.m_contactSolver); + var queue = b2World.s_queue; + for (b = this.m_bodyList; + b; b = b.m_next) { + b.m_flags &= ~b2Body.e_islandFlag; + b.m_sweep.t0 = 0.0; + } + var c; + for (c = this.m_contactList; + c; c = c.m_next) { + c.m_flags &= ~ (b2Contact.e_toiFlag | b2Contact.e_islandFlag); + } + for (j = this.m_jointList; + j; j = j.m_next) { + j.m_islandFlag = false; + } + for (;;) { + var minContact = null; + var minTOI = 1.0; + for (c = this.m_contactList; + c; c = c.m_next) { + if (c.IsSensor() == true || c.IsEnabled() == false || c.IsContinuous() == false) { + continue; + } + var toi = 1.0; + if (c.m_flags & b2Contact.e_toiFlag) { + toi = c.m_toi; + } + else { + fA = c.m_fixtureA; + fB = c.m_fixtureB; + bA = fA.m_body; + bB = fB.m_body; + if ((bA.GetType() != b2Body.b2_dynamicBody || bA.IsAwake() == false) && (bB.GetType() != b2Body.b2_dynamicBody || bB.IsAwake() == false)) { + continue; + } + var t0 = bA.m_sweep.t0; + if (bA.m_sweep.t0 < bB.m_sweep.t0) { + t0 = bB.m_sweep.t0; + bA.m_sweep.Advance(t0); + } + else if (bB.m_sweep.t0 < bA.m_sweep.t0) { + t0 = bA.m_sweep.t0; + bB.m_sweep.Advance(t0); + } + toi = c.ComputeTOI(bA.m_sweep, bB.m_sweep); + b2Settings.b2Assert(0.0 <= toi && toi <= 1.0); + if (toi > 0.0 && toi < 1.0) { + toi = (1.0 - toi) * t0 + toi; + if (toi > 1) toi = 1; + } + c.m_toi = toi; + c.m_flags |= b2Contact.e_toiFlag; + } + if (Number.MIN_VALUE < toi && toi < minTOI) { + minContact = c; + minTOI = toi; + } + } + if (minContact == null || 1.0 - 100.0 * Number.MIN_VALUE < minTOI) { + break; + } + fA = minContact.m_fixtureA; + fB = minContact.m_fixtureB; + bA = fA.m_body; + bB = fB.m_body; + b2World.s_backupA.Set(bA.m_sweep); + b2World.s_backupB.Set(bB.m_sweep); + bA.Advance(minTOI); + bB.Advance(minTOI); + minContact.Update(this.m_contactManager.m_contactListener); + minContact.m_flags &= ~b2Contact.e_toiFlag; + if (minContact.IsSensor() == true || minContact.IsEnabled() == false) { + bA.m_sweep.Set(b2World.s_backupA); + bB.m_sweep.Set(b2World.s_backupB); + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + continue; + } + if (minContact.IsTouching() == false) { + continue; + } + var seed = bA; + if (seed.GetType() != b2Body.b2_dynamicBody) { + seed = bB; + } + island.Clear(); + var queueStart = 0; + var queueSize = 0; + queue[queueStart + queueSize++] = seed; + seed.m_flags |= b2Body.e_islandFlag; + while (queueSize > 0) { + b = queue[queueStart++]; + --queueSize; + island.AddBody(b); + if (b.IsAwake() == false) { + b.SetAwake(true); + } + if (b.GetType() != b2Body.b2_dynamicBody) { + continue; + } + for (cEdge = b.m_contactList; + cEdge; cEdge = cEdge.next) { + if (island.m_contactCount == island.m_contactCapacity) { + break; + } + if (cEdge.contact.m_flags & b2Contact.e_islandFlag) { + continue; + } + if (cEdge.contact.IsSensor() == true || cEdge.contact.IsEnabled() == false || cEdge.contact.IsTouching() == false) { + continue; + } + island.AddContact(cEdge.contact); + cEdge.contact.m_flags |= b2Contact.e_islandFlag; + var other = cEdge.other; + if (other.m_flags & b2Body.e_islandFlag) { + continue; + } + if (other.GetType() != b2Body.b2_staticBody) { + other.Advance(minTOI); + other.SetAwake(true); + } + queue[queueStart + queueSize] = other; + ++queueSize; + other.m_flags |= b2Body.e_islandFlag; + } + for (var jEdge = b.m_jointList; jEdge; jEdge = jEdge.next) { + if (island.m_jointCount == island.m_jointCapacity) continue; + if (jEdge.joint.m_islandFlag == true) continue; + other = jEdge.other; + if (other.IsActive() == false) { + continue; + } + island.AddJoint(jEdge.joint); + jEdge.joint.m_islandFlag = true; + if (other.m_flags & b2Body.e_islandFlag) continue; + if (other.GetType() != b2Body.b2_staticBody) { + other.Advance(minTOI); + other.SetAwake(true); + } + queue[queueStart + queueSize] = other; + ++queueSize; + other.m_flags |= b2Body.e_islandFlag; + } + } + var subStep = b2World.s_timestep; + subStep.warmStarting = false; + subStep.dt = (1.0 - minTOI) * step.dt; + subStep.inv_dt = 1.0 / subStep.dt; + subStep.dtRatio = 0.0; + subStep.velocityIterations = step.velocityIterations; + subStep.positionIterations = step.positionIterations; + island.SolveTOI(subStep); + var i = 0; + for (i = 0; + i < island.m_bodyCount; ++i) { + b = island.m_bodies[i]; + b.m_flags &= ~b2Body.e_islandFlag; + if (b.IsAwake() == false) { + continue; + } + if (b.GetType() != b2Body.b2_dynamicBody) { + continue; + } + b.SynchronizeFixtures(); + for (cEdge = b.m_contactList; + cEdge; cEdge = cEdge.next) { + cEdge.contact.m_flags &= ~b2Contact.e_toiFlag; + } + } + for (i = 0; + i < island.m_contactCount; ++i) { + c = island.m_contacts[i]; + c.m_flags &= ~ (b2Contact.e_toiFlag | b2Contact.e_islandFlag); + } + for (i = 0; + i < island.m_jointCount; ++i) { + j = island.m_joints[i]; + j.m_islandFlag = false; + } + this.m_contactManager.FindNewContacts(); + } + } + b2World.prototype.DrawJoint = function (joint) { + var b1 = joint.GetBodyA(); + var b2 = joint.GetBodyB(); + var xf1 = b1.m_xf; + var xf2 = b2.m_xf; + var x1 = xf1.position; + var x2 = xf2.position; + var p1 = joint.GetAnchorA(); + var p2 = joint.GetAnchorB(); + var color = b2World.s_jointColor; + switch (joint.m_type) { + case b2Joint.e_distanceJoint: + this.m_debugDraw.DrawSegment(p1, p2, color); + break; + case b2Joint.e_pulleyJoint: + { + var pulley = ((joint instanceof b2PulleyJoint ? joint : null)); + var s1 = pulley.GetGroundAnchorA(); + var s2 = pulley.GetGroundAnchorB(); + this.m_debugDraw.DrawSegment(s1, p1, color); + this.m_debugDraw.DrawSegment(s2, p2, color); + this.m_debugDraw.DrawSegment(s1, s2, color); + } + break; + case b2Joint.e_mouseJoint: + this.m_debugDraw.DrawSegment(p1, p2, color); + break; + default: + if (b1 != this.m_groundBody) this.m_debugDraw.DrawSegment(x1, p1, color); + this.m_debugDraw.DrawSegment(p1, p2, color); + if (b2 != this.m_groundBody) this.m_debugDraw.DrawSegment(x2, p2, color); + } + } + b2World.prototype.DrawShape = function (shape, xf, color) { + switch (shape.m_type) { + case b2Shape.e_circleShape: + { + var circle = ((shape instanceof b2CircleShape ? shape : null)); + var center = b2Math.MulX(xf, circle.m_p); + var radius = circle.m_radius; + var axis = xf.R.col1; + this.m_debugDraw.DrawSolidCircle(center, radius, axis, color); + } + break; + case b2Shape.e_polygonShape: + { + var i = 0; + var poly = ((shape instanceof b2PolygonShape ? shape : null)); + var vertexCount = parseInt(poly.GetVertexCount()); + var localVertices = poly.GetVertices(); + var vertices = new Vector(vertexCount); + for (i = 0; + i < vertexCount; ++i) { + vertices[i] = b2Math.MulX(xf, localVertices[i]); + } + this.m_debugDraw.DrawSolidPolygon(vertices, vertexCount, color); + } + break; + case b2Shape.e_edgeShape: + { + var edge = (shape instanceof b2EdgeShape ? shape : null); + this.m_debugDraw.DrawSegment(b2Math.MulX(xf, edge.GetVertex1()), b2Math.MulX(xf, edge.GetVertex2()), color); + } + break; + } + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.b2World.s_timestep2 = new b2TimeStep(); + Box2D.Dynamics.b2World.s_xf = new b2Transform(); + Box2D.Dynamics.b2World.s_backupA = new b2Sweep(); + Box2D.Dynamics.b2World.s_backupB = new b2Sweep(); + Box2D.Dynamics.b2World.s_timestep = new b2TimeStep(); + Box2D.Dynamics.b2World.s_queue = new Vector(); + Box2D.Dynamics.b2World.s_jointColor = new b2Color(0.5, 0.8, 0.8); + Box2D.Dynamics.b2World.e_newFixture = 0x0001; + Box2D.Dynamics.b2World.e_locked = 0x0002; + }); +})(); +(function () { + var b2CircleShape = Box2D.Collision.Shapes.b2CircleShape, + b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef, + b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape, + b2MassData = Box2D.Collision.Shapes.b2MassData, + b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape, + b2Shape = Box2D.Collision.Shapes.b2Shape, + b2CircleContact = Box2D.Dynamics.Contacts.b2CircleContact, + b2Contact = Box2D.Dynamics.Contacts.b2Contact, + b2ContactConstraint = Box2D.Dynamics.Contacts.b2ContactConstraint, + b2ContactConstraintPoint = Box2D.Dynamics.Contacts.b2ContactConstraintPoint, + b2ContactEdge = Box2D.Dynamics.Contacts.b2ContactEdge, + b2ContactFactory = Box2D.Dynamics.Contacts.b2ContactFactory, + b2ContactRegister = Box2D.Dynamics.Contacts.b2ContactRegister, + b2ContactResult = Box2D.Dynamics.Contacts.b2ContactResult, + b2ContactSolver = Box2D.Dynamics.Contacts.b2ContactSolver, + b2EdgeAndCircleContact = Box2D.Dynamics.Contacts.b2EdgeAndCircleContact, + b2NullContact = Box2D.Dynamics.Contacts.b2NullContact, + b2PolyAndCircleContact = Box2D.Dynamics.Contacts.b2PolyAndCircleContact, + b2PolyAndEdgeContact = Box2D.Dynamics.Contacts.b2PolyAndEdgeContact, + b2PolygonContact = Box2D.Dynamics.Contacts.b2PolygonContact, + b2PositionSolverManifold = Box2D.Dynamics.Contacts.b2PositionSolverManifold, + b2Body = Box2D.Dynamics.b2Body, + b2BodyDef = Box2D.Dynamics.b2BodyDef, + b2ContactFilter = Box2D.Dynamics.b2ContactFilter, + b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse, + b2ContactListener = Box2D.Dynamics.b2ContactListener, + b2ContactManager = Box2D.Dynamics.b2ContactManager, + b2DebugDraw = Box2D.Dynamics.b2DebugDraw, + b2DestructionListener = Box2D.Dynamics.b2DestructionListener, + b2FilterData = Box2D.Dynamics.b2FilterData, + b2Fixture = Box2D.Dynamics.b2Fixture, + b2FixtureDef = Box2D.Dynamics.b2FixtureDef, + b2Island = Box2D.Dynamics.b2Island, + b2TimeStep = Box2D.Dynamics.b2TimeStep, + b2World = Box2D.Dynamics.b2World, + b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3, + b2AABB = Box2D.Collision.b2AABB, + b2Bound = Box2D.Collision.b2Bound, + b2BoundValues = Box2D.Collision.b2BoundValues, + b2Collision = Box2D.Collision.b2Collision, + b2ContactID = Box2D.Collision.b2ContactID, + b2ContactPoint = Box2D.Collision.b2ContactPoint, + b2Distance = Box2D.Collision.b2Distance, + b2DistanceInput = Box2D.Collision.b2DistanceInput, + b2DistanceOutput = Box2D.Collision.b2DistanceOutput, + b2DistanceProxy = Box2D.Collision.b2DistanceProxy, + b2DynamicTree = Box2D.Collision.b2DynamicTree, + b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase, + b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode, + b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair, + b2Manifold = Box2D.Collision.b2Manifold, + b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint, + b2Point = Box2D.Collision.b2Point, + b2RayCastInput = Box2D.Collision.b2RayCastInput, + b2RayCastOutput = Box2D.Collision.b2RayCastOutput, + b2Segment = Box2D.Collision.b2Segment, + b2SeparationFunction = Box2D.Collision.b2SeparationFunction, + b2Simplex = Box2D.Collision.b2Simplex, + b2SimplexCache = Box2D.Collision.b2SimplexCache, + b2SimplexVertex = Box2D.Collision.b2SimplexVertex, + b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact, + b2TOIInput = Box2D.Collision.b2TOIInput, + b2WorldManifold = Box2D.Collision.b2WorldManifold, + ClipVertex = Box2D.Collision.ClipVertex, + Features = Box2D.Collision.Features, + IBroadPhase = Box2D.Collision.IBroadPhase; + + Box2D.inherit(b2CircleContact, Box2D.Dynamics.Contacts.b2Contact); + b2CircleContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype; + b2CircleContact.b2CircleContact = function () { + Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments); + }; + b2CircleContact.Create = function (allocator) { + return new b2CircleContact(); + } + b2CircleContact.Destroy = function (contact, allocator) {} + b2CircleContact.prototype.Reset = function (fixtureA, fixtureB) { + this.__super.Reset.call(this, fixtureA, fixtureB); + } + b2CircleContact.prototype.Evaluate = function () { + var bA = this.m_fixtureA.GetBody(); + var bB = this.m_fixtureB.GetBody(); + b2Collision.CollideCircles(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2CircleShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2CircleShape ? this.m_fixtureB.GetShape() : null), bB.m_xf); + } + b2Contact.b2Contact = function () { + this.m_nodeA = new b2ContactEdge(); + this.m_nodeB = new b2ContactEdge(); + this.m_manifold = new b2Manifold(); + this.m_oldManifold = new b2Manifold(); + }; + b2Contact.prototype.GetManifold = function () { + return this.m_manifold; + } + b2Contact.prototype.GetWorldManifold = function (worldManifold) { + var bodyA = this.m_fixtureA.GetBody(); + var bodyB = this.m_fixtureB.GetBody(); + var shapeA = this.m_fixtureA.GetShape(); + var shapeB = this.m_fixtureB.GetShape(); + worldManifold.Initialize(this.m_manifold, bodyA.GetTransform(), shapeA.m_radius, bodyB.GetTransform(), shapeB.m_radius); + } + b2Contact.prototype.IsTouching = function () { + return (this.m_flags & b2Contact.e_touchingFlag) == b2Contact.e_touchingFlag; + } + b2Contact.prototype.IsContinuous = function () { + return (this.m_flags & b2Contact.e_continuousFlag) == b2Contact.e_continuousFlag; + } + b2Contact.prototype.SetSensor = function (sensor) { + if (sensor) { + this.m_flags |= b2Contact.e_sensorFlag; + } + else { + this.m_flags &= ~b2Contact.e_sensorFlag; + } + } + b2Contact.prototype.IsSensor = function () { + return (this.m_flags & b2Contact.e_sensorFlag) == b2Contact.e_sensorFlag; + } + b2Contact.prototype.SetEnabled = function (flag) { + if (flag) { + this.m_flags |= b2Contact.e_enabledFlag; + } + else { + this.m_flags &= ~b2Contact.e_enabledFlag; + } + } + b2Contact.prototype.IsEnabled = function () { + return (this.m_flags & b2Contact.e_enabledFlag) == b2Contact.e_enabledFlag; + } + b2Contact.prototype.GetNext = function () { + return this.m_next; + } + b2Contact.prototype.GetFixtureA = function () { + return this.m_fixtureA; + } + b2Contact.prototype.GetFixtureB = function () { + return this.m_fixtureB; + } + b2Contact.prototype.FlagForFiltering = function () { + this.m_flags |= b2Contact.e_filterFlag; + } + b2Contact.prototype.b2Contact = function () {} + b2Contact.prototype.Reset = function (fixtureA, fixtureB) { + if (fixtureA === undefined) fixtureA = null; + if (fixtureB === undefined) fixtureB = null; + this.m_flags = b2Contact.e_enabledFlag; + if (!fixtureA || !fixtureB) { + this.m_fixtureA = null; + this.m_fixtureB = null; + return; + } + if (fixtureA.IsSensor() || fixtureB.IsSensor()) { + this.m_flags |= b2Contact.e_sensorFlag; + } + var bodyA = fixtureA.GetBody(); + var bodyB = fixtureB.GetBody(); + if (bodyA.GetType() != b2Body.b2_dynamicBody || bodyA.IsBullet() || bodyB.GetType() != b2Body.b2_dynamicBody || bodyB.IsBullet()) { + this.m_flags |= b2Contact.e_continuousFlag; + } + this.m_fixtureA = fixtureA; + this.m_fixtureB = fixtureB; + this.m_manifold.m_pointCount = 0; + this.m_prev = null; + this.m_next = null; + this.m_nodeA.contact = null; + this.m_nodeA.prev = null; + this.m_nodeA.next = null; + this.m_nodeA.other = null; + this.m_nodeB.contact = null; + this.m_nodeB.prev = null; + this.m_nodeB.next = null; + this.m_nodeB.other = null; + } + b2Contact.prototype.Update = function (listener) { + var tManifold = this.m_oldManifold; + this.m_oldManifold = this.m_manifold; + this.m_manifold = tManifold; + this.m_flags |= b2Contact.e_enabledFlag; + var touching = false; + var wasTouching = (this.m_flags & b2Contact.e_touchingFlag) == b2Contact.e_touchingFlag; + var bodyA = this.m_fixtureA.m_body; + var bodyB = this.m_fixtureB.m_body; + var aabbOverlap = this.m_fixtureA.m_aabb.TestOverlap(this.m_fixtureB.m_aabb); + if (this.m_flags & b2Contact.e_sensorFlag) { + if (aabbOverlap) { + var shapeA = this.m_fixtureA.GetShape(); + var shapeB = this.m_fixtureB.GetShape(); + var xfA = bodyA.GetTransform(); + var xfB = bodyB.GetTransform(); + touching = b2Shape.TestOverlap(shapeA, xfA, shapeB, xfB); + } + this.m_manifold.m_pointCount = 0; + } + else { + if (bodyA.GetType() != b2Body.b2_dynamicBody || bodyA.IsBullet() || bodyB.GetType() != b2Body.b2_dynamicBody || bodyB.IsBullet()) { + this.m_flags |= b2Contact.e_continuousFlag; + } + else { + this.m_flags &= ~b2Contact.e_continuousFlag; + } + if (aabbOverlap) { + this.Evaluate(); + touching = this.m_manifold.m_pointCount > 0; + for (var i = 0; i < this.m_manifold.m_pointCount; ++i) { + var mp2 = this.m_manifold.m_points[i]; + mp2.m_normalImpulse = 0.0; + mp2.m_tangentImpulse = 0.0; + var id2 = mp2.m_id; + for (var j = 0; j < this.m_oldManifold.m_pointCount; ++j) { + var mp1 = this.m_oldManifold.m_points[j]; + if (mp1.m_id.key == id2.key) { + mp2.m_normalImpulse = mp1.m_normalImpulse; + mp2.m_tangentImpulse = mp1.m_tangentImpulse; + break; + } + } + } + } + else { + this.m_manifold.m_pointCount = 0; + } + if (touching != wasTouching) { + bodyA.SetAwake(true); + bodyB.SetAwake(true); + } + } + if (touching) { + this.m_flags |= b2Contact.e_touchingFlag; + } + else { + this.m_flags &= ~b2Contact.e_touchingFlag; + } + if (wasTouching == false && touching == true) { + listener.BeginContact(this); + } + if (wasTouching == true && touching == false) { + listener.EndContact(this); + } + if ((this.m_flags & b2Contact.e_sensorFlag) == 0) { + listener.PreSolve(this, this.m_oldManifold); + } + } + b2Contact.prototype.Evaluate = function () {} + b2Contact.prototype.ComputeTOI = function (sweepA, sweepB) { + b2Contact.s_input.proxyA.Set(this.m_fixtureA.GetShape()); + b2Contact.s_input.proxyB.Set(this.m_fixtureB.GetShape()); + b2Contact.s_input.sweepA = sweepA; + b2Contact.s_input.sweepB = sweepB; + b2Contact.s_input.tolerance = b2Settings.b2_linearSlop; + return b2TimeOfImpact.TimeOfImpact(b2Contact.s_input); + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.Contacts.b2Contact.e_sensorFlag = 0x0001; + Box2D.Dynamics.Contacts.b2Contact.e_continuousFlag = 0x0002; + Box2D.Dynamics.Contacts.b2Contact.e_islandFlag = 0x0004; + Box2D.Dynamics.Contacts.b2Contact.e_toiFlag = 0x0008; + Box2D.Dynamics.Contacts.b2Contact.e_touchingFlag = 0x0010; + Box2D.Dynamics.Contacts.b2Contact.e_enabledFlag = 0x0020; + Box2D.Dynamics.Contacts.b2Contact.e_filterFlag = 0x0040; + Box2D.Dynamics.Contacts.b2Contact.s_input = new b2TOIInput(); + }); + b2ContactConstraint.b2ContactConstraint = function () { + this.localPlaneNormal = new b2Vec2(); + this.localPoint = new b2Vec2(); + this.normal = new b2Vec2(); + this.normalMass = new b2Mat22(); + this.K = new b2Mat22(); + }; + b2ContactConstraint.prototype.b2ContactConstraint = function () { + this.points = new Vector(b2Settings.b2_maxManifoldPoints); + for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) { + this.points[i] = new b2ContactConstraintPoint(); + } + } + b2ContactConstraintPoint.b2ContactConstraintPoint = function () { + this.localPoint = new b2Vec2(); + this.rA = new b2Vec2(); + this.rB = new b2Vec2(); + }; + b2ContactEdge.b2ContactEdge = function () {}; + b2ContactFactory.b2ContactFactory = function () {}; + b2ContactFactory.prototype.b2ContactFactory = function (allocator) { + this.m_allocator = allocator; + this.InitializeRegisters(); + } + b2ContactFactory.prototype.AddType = function (createFcn, destroyFcn, type1, type2) { + if (type1 === undefined) type1 = 0; + if (type2 === undefined) type2 = 0; + this.m_registers[type1][type2].createFcn = createFcn; + this.m_registers[type1][type2].destroyFcn = destroyFcn; + this.m_registers[type1][type2].primary = true; + if (type1 != type2) { + this.m_registers[type2][type1].createFcn = createFcn; + this.m_registers[type2][type1].destroyFcn = destroyFcn; + this.m_registers[type2][type1].primary = false; + } + } + b2ContactFactory.prototype.InitializeRegisters = function () { + this.m_registers = new Vector(b2Shape.e_shapeTypeCount); + for (var i = 0; i < b2Shape.e_shapeTypeCount; i++) { + this.m_registers[i] = new Vector(b2Shape.e_shapeTypeCount); + for (var j = 0; j < b2Shape.e_shapeTypeCount; j++) { + this.m_registers[i][j] = new b2ContactRegister(); + } + } + this.AddType(b2CircleContact.Create, b2CircleContact.Destroy, b2Shape.e_circleShape, b2Shape.e_circleShape); + this.AddType(b2PolyAndCircleContact.Create, b2PolyAndCircleContact.Destroy, b2Shape.e_polygonShape, b2Shape.e_circleShape); + this.AddType(b2PolygonContact.Create, b2PolygonContact.Destroy, b2Shape.e_polygonShape, b2Shape.e_polygonShape); + this.AddType(b2EdgeAndCircleContact.Create, b2EdgeAndCircleContact.Destroy, b2Shape.e_edgeShape, b2Shape.e_circleShape); + this.AddType(b2PolyAndEdgeContact.Create, b2PolyAndEdgeContact.Destroy, b2Shape.e_polygonShape, b2Shape.e_edgeShape); + } + b2ContactFactory.prototype.Create = function (fixtureA, fixtureB) { + var type1 = parseInt(fixtureA.GetType()); + var type2 = parseInt(fixtureB.GetType()); + var reg = this.m_registers[type1][type2]; + var c; + if (reg.pool) { + c = reg.pool; + reg.pool = c.m_next; + reg.poolCount--; + c.Reset(fixtureA, fixtureB); + return c; + } + var createFcn = reg.createFcn; + if (createFcn != null) { + if (reg.primary) { + c = createFcn(this.m_allocator); + c.Reset(fixtureA, fixtureB); + return c; + } + else { + c = createFcn(this.m_allocator); + c.Reset(fixtureB, fixtureA); + return c; + } + } + else { + return null; + } + } + b2ContactFactory.prototype.Destroy = function (contact) { + if (contact.m_manifold.m_pointCount > 0) { + contact.m_fixtureA.m_body.SetAwake(true); + contact.m_fixtureB.m_body.SetAwake(true); + } + var type1 = parseInt(contact.m_fixtureA.GetType()); + var type2 = parseInt(contact.m_fixtureB.GetType()); + var reg = this.m_registers[type1][type2]; + if (true) { + reg.poolCount++; + contact.m_next = reg.pool; + reg.pool = contact; + } + var destroyFcn = reg.destroyFcn; + destroyFcn(contact, this.m_allocator); + } + b2ContactRegister.b2ContactRegister = function () {}; + b2ContactResult.b2ContactResult = function () { + this.position = new b2Vec2(); + this.normal = new b2Vec2(); + this.id = new b2ContactID(); + }; + b2ContactSolver.b2ContactSolver = function () { + this.m_step = new b2TimeStep(); + this.m_constraints = new Vector(); + }; + b2ContactSolver.prototype.b2ContactSolver = function () {} + b2ContactSolver.prototype.Initialize = function (step, contacts, contactCount, allocator) { + if (contactCount === undefined) contactCount = 0; + var contact; + this.m_step.Set(step); + this.m_allocator = allocator; + var i = 0; + var tVec; + var tMat; + this.m_constraintCount = contactCount; + while (this.m_constraints.length < this.m_constraintCount) { + this.m_constraints[this.m_constraints.length] = new b2ContactConstraint(); + } + for (i = 0; + i < contactCount; ++i) { + contact = contacts[i]; + var fixtureA = contact.m_fixtureA; + var fixtureB = contact.m_fixtureB; + var shapeA = fixtureA.m_shape; + var shapeB = fixtureB.m_shape; + var radiusA = shapeA.m_radius; + var radiusB = shapeB.m_radius; + var bodyA = fixtureA.m_body; + var bodyB = fixtureB.m_body; + var manifold = contact.GetManifold(); + var friction = b2Settings.b2MixFriction(fixtureA.GetFriction(), fixtureB.GetFriction()); + var restitution = b2Settings.b2MixRestitution(fixtureA.GetRestitution(), fixtureB.GetRestitution()); + var vAX = bodyA.m_linearVelocity.x; + var vAY = bodyA.m_linearVelocity.y; + var vBX = bodyB.m_linearVelocity.x; + var vBY = bodyB.m_linearVelocity.y; + var wA = bodyA.m_angularVelocity; + var wB = bodyB.m_angularVelocity; + b2Settings.b2Assert(manifold.m_pointCount > 0); + b2ContactSolver.s_worldManifold.Initialize(manifold, bodyA.m_xf, radiusA, bodyB.m_xf, radiusB); + var normalX = b2ContactSolver.s_worldManifold.m_normal.x; + var normalY = b2ContactSolver.s_worldManifold.m_normal.y; + var cc = this.m_constraints[i]; + cc.bodyA = bodyA; + cc.bodyB = bodyB; + cc.manifold = manifold; + cc.normal.x = normalX; + cc.normal.y = normalY; + cc.pointCount = manifold.m_pointCount; + cc.friction = friction; + cc.restitution = restitution; + cc.localPlaneNormal.x = manifold.m_localPlaneNormal.x; + cc.localPlaneNormal.y = manifold.m_localPlaneNormal.y; + cc.localPoint.x = manifold.m_localPoint.x; + cc.localPoint.y = manifold.m_localPoint.y; + cc.radius = radiusA + radiusB; + cc.type = manifold.m_type; + for (var k = 0; k < cc.pointCount; ++k) { + var cp = manifold.m_points[k]; + var ccp = cc.points[k]; + ccp.normalImpulse = cp.m_normalImpulse; + ccp.tangentImpulse = cp.m_tangentImpulse; + ccp.localPoint.SetV(cp.m_localPoint); + var rAX = ccp.rA.x = b2ContactSolver.s_worldManifold.m_points[k].x - bodyA.m_sweep.c.x; + var rAY = ccp.rA.y = b2ContactSolver.s_worldManifold.m_points[k].y - bodyA.m_sweep.c.y; + var rBX = ccp.rB.x = b2ContactSolver.s_worldManifold.m_points[k].x - bodyB.m_sweep.c.x; + var rBY = ccp.rB.y = b2ContactSolver.s_worldManifold.m_points[k].y - bodyB.m_sweep.c.y; + var rnA = rAX * normalY - rAY * normalX; + var rnB = rBX * normalY - rBY * normalX; + rnA *= rnA; + rnB *= rnB; + var kNormal = bodyA.m_invMass + bodyB.m_invMass + bodyA.m_invI * rnA + bodyB.m_invI * rnB; + ccp.normalMass = 1.0 / kNormal; + var kEqualized = bodyA.m_mass * bodyA.m_invMass + bodyB.m_mass * bodyB.m_invMass; + kEqualized += bodyA.m_mass * bodyA.m_invI * rnA + bodyB.m_mass * bodyB.m_invI * rnB; + ccp.equalizedMass = 1.0 / kEqualized; + var tangentX = normalY; + var tangentY = (-normalX); + var rtA = rAX * tangentY - rAY * tangentX; + var rtB = rBX * tangentY - rBY * tangentX; + rtA *= rtA; + rtB *= rtB; + var kTangent = bodyA.m_invMass + bodyB.m_invMass + bodyA.m_invI * rtA + bodyB.m_invI * rtB; + ccp.tangentMass = 1.0 / kTangent; + ccp.velocityBias = 0.0; + var tX = vBX + ((-wB * rBY)) - vAX - ((-wA * rAY)); + var tY = vBY + (wB * rBX) - vAY - (wA * rAX); + var vRel = cc.normal.x * tX + cc.normal.y * tY; + if (vRel < (-b2Settings.b2_velocityThreshold)) { + ccp.velocityBias += (-cc.restitution * vRel); + } + } + if (cc.pointCount == 2) { + var ccp1 = cc.points[0]; + var ccp2 = cc.points[1]; + var invMassA = bodyA.m_invMass; + var invIA = bodyA.m_invI; + var invMassB = bodyB.m_invMass; + var invIB = bodyB.m_invI; + var rn1A = ccp1.rA.x * normalY - ccp1.rA.y * normalX; + var rn1B = ccp1.rB.x * normalY - ccp1.rB.y * normalX; + var rn2A = ccp2.rA.x * normalY - ccp2.rA.y * normalX; + var rn2B = ccp2.rB.x * normalY - ccp2.rB.y * normalX; + var k11 = invMassA + invMassB + invIA * rn1A * rn1A + invIB * rn1B * rn1B; + var k22 = invMassA + invMassB + invIA * rn2A * rn2A + invIB * rn2B * rn2B; + var k12 = invMassA + invMassB + invIA * rn1A * rn2A + invIB * rn1B * rn2B; + var k_maxConditionNumber = 100.0; + if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12)) { + cc.K.col1.Set(k11, k12); + cc.K.col2.Set(k12, k22); + cc.K.GetInverse(cc.normalMass); + } + else { + cc.pointCount = 1; + } + } + } + } + b2ContactSolver.prototype.InitVelocityConstraints = function (step) { + var tVec; + var tVec2; + var tMat; + for (var i = 0; i < this.m_constraintCount; ++i) { + var c = this.m_constraints[i]; + var bodyA = c.bodyA; + var bodyB = c.bodyB; + var invMassA = bodyA.m_invMass; + var invIA = bodyA.m_invI; + var invMassB = bodyB.m_invMass; + var invIB = bodyB.m_invI; + var normalX = c.normal.x; + var normalY = c.normal.y; + var tangentX = normalY; + var tangentY = (-normalX); + var tX = 0; + var j = 0; + var tCount = 0; + if (step.warmStarting) { + tCount = c.pointCount; + for (j = 0; + j < tCount; ++j) { + var ccp = c.points[j]; + ccp.normalImpulse *= step.dtRatio; + ccp.tangentImpulse *= step.dtRatio; + var PX = ccp.normalImpulse * normalX + ccp.tangentImpulse * tangentX; + var PY = ccp.normalImpulse * normalY + ccp.tangentImpulse * tangentY; + bodyA.m_angularVelocity -= invIA * (ccp.rA.x * PY - ccp.rA.y * PX); + bodyA.m_linearVelocity.x -= invMassA * PX; + bodyA.m_linearVelocity.y -= invMassA * PY; + bodyB.m_angularVelocity += invIB * (ccp.rB.x * PY - ccp.rB.y * PX); + bodyB.m_linearVelocity.x += invMassB * PX; + bodyB.m_linearVelocity.y += invMassB * PY; + } + } + else { + tCount = c.pointCount; + for (j = 0; + j < tCount; ++j) { + var ccp2 = c.points[j]; + ccp2.normalImpulse = 0.0; + ccp2.tangentImpulse = 0.0; + } + } + } + } + b2ContactSolver.prototype.SolveVelocityConstraints = function () { + var j = 0; + var ccp; + var rAX = 0; + var rAY = 0; + var rBX = 0; + var rBY = 0; + var dvX = 0; + var dvY = 0; + var vn = 0; + var vt = 0; + var lambda = 0; + var maxFriction = 0; + var newImpulse = 0; + var PX = 0; + var PY = 0; + var dX = 0; + var dY = 0; + var P1X = 0; + var P1Y = 0; + var P2X = 0; + var P2Y = 0; + var tMat; + var tVec; + for (var i = 0; i < this.m_constraintCount; ++i) { + var c = this.m_constraints[i]; + var bodyA = c.bodyA; + var bodyB = c.bodyB; + var wA = bodyA.m_angularVelocity; + var wB = bodyB.m_angularVelocity; + var vA = bodyA.m_linearVelocity; + var vB = bodyB.m_linearVelocity; + var invMassA = bodyA.m_invMass; + var invIA = bodyA.m_invI; + var invMassB = bodyB.m_invMass; + var invIB = bodyB.m_invI; + var normalX = c.normal.x; + var normalY = c.normal.y; + var tangentX = normalY; + var tangentY = (-normalX); + var friction = c.friction; + var tX = 0; + for (j = 0; + j < c.pointCount; j++) { + ccp = c.points[j]; + dvX = vB.x - wB * ccp.rB.y - vA.x + wA * ccp.rA.y; + dvY = vB.y + wB * ccp.rB.x - vA.y - wA * ccp.rA.x; + vt = dvX * tangentX + dvY * tangentY; + lambda = ccp.tangentMass * (-vt); + maxFriction = friction * ccp.normalImpulse; + newImpulse = b2Math.Clamp(ccp.tangentImpulse + lambda, (-maxFriction), maxFriction); + lambda = newImpulse - ccp.tangentImpulse; + PX = lambda * tangentX; + PY = lambda * tangentY; + vA.x -= invMassA * PX; + vA.y -= invMassA * PY; + wA -= invIA * (ccp.rA.x * PY - ccp.rA.y * PX); + vB.x += invMassB * PX; + vB.y += invMassB * PY; + wB += invIB * (ccp.rB.x * PY - ccp.rB.y * PX); + ccp.tangentImpulse = newImpulse; + } + var tCount = parseInt(c.pointCount); + if (c.pointCount == 1) { + ccp = c.points[0]; + dvX = vB.x + ((-wB * ccp.rB.y)) - vA.x - ((-wA * ccp.rA.y)); + dvY = vB.y + (wB * ccp.rB.x) - vA.y - (wA * ccp.rA.x); + vn = dvX * normalX + dvY * normalY; + lambda = (-ccp.normalMass * (vn - ccp.velocityBias)); + newImpulse = ccp.normalImpulse + lambda; + newImpulse = newImpulse > 0 ? newImpulse : 0.0; + lambda = newImpulse - ccp.normalImpulse; + PX = lambda * normalX; + PY = lambda * normalY; + vA.x -= invMassA * PX; + vA.y -= invMassA * PY; + wA -= invIA * (ccp.rA.x * PY - ccp.rA.y * PX); + vB.x += invMassB * PX; + vB.y += invMassB * PY; + wB += invIB * (ccp.rB.x * PY - ccp.rB.y * PX); + ccp.normalImpulse = newImpulse; + } + else { + var cp1 = c.points[0]; + var cp2 = c.points[1]; + var aX = cp1.normalImpulse; + var aY = cp2.normalImpulse; + var dv1X = vB.x - wB * cp1.rB.y - vA.x + wA * cp1.rA.y; + var dv1Y = vB.y + wB * cp1.rB.x - vA.y - wA * cp1.rA.x; + var dv2X = vB.x - wB * cp2.rB.y - vA.x + wA * cp2.rA.y; + var dv2Y = vB.y + wB * cp2.rB.x - vA.y - wA * cp2.rA.x; + var vn1 = dv1X * normalX + dv1Y * normalY; + var vn2 = dv2X * normalX + dv2Y * normalY; + var bX = vn1 - cp1.velocityBias; + var bY = vn2 - cp2.velocityBias; + tMat = c.K; + bX -= tMat.col1.x * aX + tMat.col2.x * aY; + bY -= tMat.col1.y * aX + tMat.col2.y * aY; + var k_errorTol = 0.001; + for (;;) { + tMat = c.normalMass; + var xX = (-(tMat.col1.x * bX + tMat.col2.x * bY)); + var xY = (-(tMat.col1.y * bX + tMat.col2.y * bY)); + if (xX >= 0.0 && xY >= 0.0) { + dX = xX - aX; + dY = xY - aY; + P1X = dX * normalX; + P1Y = dX * normalY; + P2X = dY * normalX; + P2Y = dY * normalY; + vA.x -= invMassA * (P1X + P2X); + vA.y -= invMassA * (P1Y + P2Y); + wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X); + vB.x += invMassB * (P1X + P2X); + vB.y += invMassB * (P1Y + P2Y); + wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X); + cp1.normalImpulse = xX; + cp2.normalImpulse = xY; + break; + } + xX = (-cp1.normalMass * bX); + xY = 0.0; + vn1 = 0.0; + vn2 = c.K.col1.y * xX + bY; + if (xX >= 0.0 && vn2 >= 0.0) { + dX = xX - aX; + dY = xY - aY; + P1X = dX * normalX; + P1Y = dX * normalY; + P2X = dY * normalX; + P2Y = dY * normalY; + vA.x -= invMassA * (P1X + P2X); + vA.y -= invMassA * (P1Y + P2Y); + wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X); + vB.x += invMassB * (P1X + P2X); + vB.y += invMassB * (P1Y + P2Y); + wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X); + cp1.normalImpulse = xX; + cp2.normalImpulse = xY; + break; + } + xX = 0.0; + xY = (-cp2.normalMass * bY); + vn1 = c.K.col2.x * xY + bX; + vn2 = 0.0; + if (xY >= 0.0 && vn1 >= 0.0) { + dX = xX - aX; + dY = xY - aY; + P1X = dX * normalX; + P1Y = dX * normalY; + P2X = dY * normalX; + P2Y = dY * normalY; + vA.x -= invMassA * (P1X + P2X); + vA.y -= invMassA * (P1Y + P2Y); + wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X); + vB.x += invMassB * (P1X + P2X); + vB.y += invMassB * (P1Y + P2Y); + wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X); + cp1.normalImpulse = xX; + cp2.normalImpulse = xY; + break; + } + xX = 0.0; + xY = 0.0; + vn1 = bX; + vn2 = bY; + if (vn1 >= 0.0 && vn2 >= 0.0) { + dX = xX - aX; + dY = xY - aY; + P1X = dX * normalX; + P1Y = dX * normalY; + P2X = dY * normalX; + P2Y = dY * normalY; + vA.x -= invMassA * (P1X + P2X); + vA.y -= invMassA * (P1Y + P2Y); + wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X); + vB.x += invMassB * (P1X + P2X); + vB.y += invMassB * (P1Y + P2Y); + wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X); + cp1.normalImpulse = xX; + cp2.normalImpulse = xY; + break; + } + break; + } + } + bodyA.m_angularVelocity = wA; + bodyB.m_angularVelocity = wB; + } + } + b2ContactSolver.prototype.FinalizeVelocityConstraints = function () { + for (var i = 0; i < this.m_constraintCount; ++i) { + var c = this.m_constraints[i]; + var m = c.manifold; + for (var j = 0; j < c.pointCount; ++j) { + var point1 = m.m_points[j]; + var point2 = c.points[j]; + point1.m_normalImpulse = point2.normalImpulse; + point1.m_tangentImpulse = point2.tangentImpulse; + } + } + } + b2ContactSolver.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var minSeparation = 0.0; + for (var i = 0; i < this.m_constraintCount; i++) { + var c = this.m_constraints[i]; + var bodyA = c.bodyA; + var bodyB = c.bodyB; + var invMassA = bodyA.m_mass * bodyA.m_invMass; + var invIA = bodyA.m_mass * bodyA.m_invI; + var invMassB = bodyB.m_mass * bodyB.m_invMass; + var invIB = bodyB.m_mass * bodyB.m_invI; + b2ContactSolver.s_psm.Initialize(c); + var normal = b2ContactSolver.s_psm.m_normal; + for (var j = 0; j < c.pointCount; j++) { + var ccp = c.points[j]; + var point = b2ContactSolver.s_psm.m_points[j]; + var separation = b2ContactSolver.s_psm.m_separations[j]; + var rAX = point.x - bodyA.m_sweep.c.x; + var rAY = point.y - bodyA.m_sweep.c.y; + var rBX = point.x - bodyB.m_sweep.c.x; + var rBY = point.y - bodyB.m_sweep.c.y; + minSeparation = minSeparation < separation ? minSeparation : separation; + var C = b2Math.Clamp(baumgarte * (separation + b2Settings.b2_linearSlop), (-b2Settings.b2_maxLinearCorrection), 0.0); + var impulse = (-ccp.equalizedMass * C); + var PX = impulse * normal.x; + var PY = impulse * normal.y;bodyA.m_sweep.c.x -= invMassA * PX; + bodyA.m_sweep.c.y -= invMassA * PY; + bodyA.m_sweep.a -= invIA * (rAX * PY - rAY * PX); + bodyA.SynchronizeTransform(); + bodyB.m_sweep.c.x += invMassB * PX; + bodyB.m_sweep.c.y += invMassB * PY; + bodyB.m_sweep.a += invIB * (rBX * PY - rBY * PX); + bodyB.SynchronizeTransform(); + } + } + return minSeparation > (-1.5 * b2Settings.b2_linearSlop); + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.Contacts.b2ContactSolver.s_worldManifold = new b2WorldManifold(); + Box2D.Dynamics.Contacts.b2ContactSolver.s_psm = new b2PositionSolverManifold(); + }); + Box2D.inherit(b2EdgeAndCircleContact, Box2D.Dynamics.Contacts.b2Contact); + b2EdgeAndCircleContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype; + b2EdgeAndCircleContact.b2EdgeAndCircleContact = function () { + Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments); + }; + b2EdgeAndCircleContact.Create = function (allocator) { + return new b2EdgeAndCircleContact(); + } + b2EdgeAndCircleContact.Destroy = function (contact, allocator) {} + b2EdgeAndCircleContact.prototype.Reset = function (fixtureA, fixtureB) { + this.__super.Reset.call(this, fixtureA, fixtureB); + } + b2EdgeAndCircleContact.prototype.Evaluate = function () { + var bA = this.m_fixtureA.GetBody(); + var bB = this.m_fixtureB.GetBody(); + this.b2CollideEdgeAndCircle(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2EdgeShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2CircleShape ? this.m_fixtureB.GetShape() : null), bB.m_xf); + } + b2EdgeAndCircleContact.prototype.b2CollideEdgeAndCircle = function (manifold, edge, xf1, circle, xf2) {} + Box2D.inherit(b2NullContact, Box2D.Dynamics.Contacts.b2Contact); + b2NullContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype; + b2NullContact.b2NullContact = function () { + Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments); + }; + b2NullContact.prototype.b2NullContact = function () { + this.__super.b2Contact.call(this); + } + b2NullContact.prototype.Evaluate = function () {} + Box2D.inherit(b2PolyAndCircleContact, Box2D.Dynamics.Contacts.b2Contact); + b2PolyAndCircleContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype; + b2PolyAndCircleContact.b2PolyAndCircleContact = function () { + Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments); + }; + b2PolyAndCircleContact.Create = function (allocator) { + return new b2PolyAndCircleContact(); + } + b2PolyAndCircleContact.Destroy = function (contact, allocator) {} + b2PolyAndCircleContact.prototype.Reset = function (fixtureA, fixtureB) { + this.__super.Reset.call(this, fixtureA, fixtureB); + b2Settings.b2Assert(fixtureA.GetType() == b2Shape.e_polygonShape); + b2Settings.b2Assert(fixtureB.GetType() == b2Shape.e_circleShape); + } + b2PolyAndCircleContact.prototype.Evaluate = function () { + var bA = this.m_fixtureA.m_body; + var bB = this.m_fixtureB.m_body; + b2Collision.CollidePolygonAndCircle(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2PolygonShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2CircleShape ? this.m_fixtureB.GetShape() : null), bB.m_xf); + } + Box2D.inherit(b2PolyAndEdgeContact, Box2D.Dynamics.Contacts.b2Contact); + b2PolyAndEdgeContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype; + b2PolyAndEdgeContact.b2PolyAndEdgeContact = function () { + Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments); + }; + b2PolyAndEdgeContact.Create = function (allocator) { + return new b2PolyAndEdgeContact(); + } + b2PolyAndEdgeContact.Destroy = function (contact, allocator) {} + b2PolyAndEdgeContact.prototype.Reset = function (fixtureA, fixtureB) { + this.__super.Reset.call(this, fixtureA, fixtureB); + b2Settings.b2Assert(fixtureA.GetType() == b2Shape.e_polygonShape); + b2Settings.b2Assert(fixtureB.GetType() == b2Shape.e_edgeShape); + } + b2PolyAndEdgeContact.prototype.Evaluate = function () { + var bA = this.m_fixtureA.GetBody(); + var bB = this.m_fixtureB.GetBody(); + this.b2CollidePolyAndEdge(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2PolygonShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2EdgeShape ? this.m_fixtureB.GetShape() : null), bB.m_xf); + } + b2PolyAndEdgeContact.prototype.b2CollidePolyAndEdge = function (manifold, polygon, xf1, edge, xf2) {} + Box2D.inherit(b2PolygonContact, Box2D.Dynamics.Contacts.b2Contact); + b2PolygonContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype; + b2PolygonContact.b2PolygonContact = function () { + Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments); + }; + b2PolygonContact.Create = function (allocator) { + return new b2PolygonContact(); + } + b2PolygonContact.Destroy = function (contact, allocator) {} + b2PolygonContact.prototype.Reset = function (fixtureA, fixtureB) { + this.__super.Reset.call(this, fixtureA, fixtureB); + } + b2PolygonContact.prototype.Evaluate = function () { + var bA = this.m_fixtureA.GetBody(); + var bB = this.m_fixtureB.GetBody(); + b2Collision.CollidePolygons(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2PolygonShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2PolygonShape ? this.m_fixtureB.GetShape() : null), bB.m_xf); + } + b2PositionSolverManifold.b2PositionSolverManifold = function () {}; + b2PositionSolverManifold.prototype.b2PositionSolverManifold = function () { + this.m_normal = new b2Vec2(); + this.m_separations = new Vector_a2j_Number(b2Settings.b2_maxManifoldPoints); + this.m_points = new Vector(b2Settings.b2_maxManifoldPoints); + for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) { + this.m_points[i] = new b2Vec2(); + } + } + b2PositionSolverManifold.prototype.Initialize = function (cc) { + b2Settings.b2Assert(cc.pointCount > 0); + var i = 0; + var clipPointX = 0; + var clipPointY = 0; + var tMat; + var tVec; + var planePointX = 0; + var planePointY = 0; + switch (cc.type) { + case b2Manifold.e_circles: + { + tMat = cc.bodyA.m_xf.R; + tVec = cc.localPoint; + var pointAX = cc.bodyA.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var pointAY = cc.bodyA.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tMat = cc.bodyB.m_xf.R; + tVec = cc.points[0].localPoint; + var pointBX = cc.bodyB.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + var pointBY = cc.bodyB.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + var dX = pointBX - pointAX; + var dY = pointBY - pointAY; + var d2 = dX * dX + dY * dY; + if (d2 > Number.MIN_VALUE * Number.MIN_VALUE) { + var d = Math.sqrt(d2); + this.m_normal.x = dX / d; + this.m_normal.y = dY / d; + } + else { + this.m_normal.x = 1.0; + this.m_normal.y = 0.0; + } + this.m_points[0].x = 0.5 * (pointAX + pointBX); + this.m_points[0].y = 0.5 * (pointAY + pointBY); + this.m_separations[0] = dX * this.m_normal.x + dY * this.m_normal.y - cc.radius; + } + break; + case b2Manifold.e_faceA: + { + tMat = cc.bodyA.m_xf.R; + tVec = cc.localPlaneNormal; + this.m_normal.x = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + this.m_normal.y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tMat = cc.bodyA.m_xf.R; + tVec = cc.localPoint; + planePointX = cc.bodyA.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + planePointY = cc.bodyA.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tMat = cc.bodyB.m_xf.R; + for (i = 0; + i < cc.pointCount; ++i) { + tVec = cc.points[i].localPoint; + clipPointX = cc.bodyB.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + clipPointY = cc.bodyB.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + this.m_separations[i] = (clipPointX - planePointX) * this.m_normal.x + (clipPointY - planePointY) * this.m_normal.y - cc.radius; + this.m_points[i].x = clipPointX; + this.m_points[i].y = clipPointY; + } + } + break; + case b2Manifold.e_faceB: + { + tMat = cc.bodyB.m_xf.R; + tVec = cc.localPlaneNormal; + this.m_normal.x = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + this.m_normal.y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tMat = cc.bodyB.m_xf.R; + tVec = cc.localPoint; + planePointX = cc.bodyB.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + planePointY = cc.bodyB.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + tMat = cc.bodyA.m_xf.R; + for (i = 0; + i < cc.pointCount; ++i) { + tVec = cc.points[i].localPoint; + clipPointX = cc.bodyA.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y); + clipPointY = cc.bodyA.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y); + this.m_separations[i] = (clipPointX - planePointX) * this.m_normal.x + (clipPointY - planePointY) * this.m_normal.y - cc.radius; + this.m_points[i].Set(clipPointX, clipPointY); + } + this.m_normal.x *= (-1); + this.m_normal.y *= (-1); + } + break; + } + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointA = new b2Vec2(); + Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointB = new b2Vec2(); + }); +})(); +(function () { + var b2Body = Box2D.Dynamics.b2Body, + b2BodyDef = Box2D.Dynamics.b2BodyDef, + b2ContactFilter = Box2D.Dynamics.b2ContactFilter, + b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse, + b2ContactListener = Box2D.Dynamics.b2ContactListener, + b2ContactManager = Box2D.Dynamics.b2ContactManager, + b2DebugDraw = Box2D.Dynamics.b2DebugDraw, + b2DestructionListener = Box2D.Dynamics.b2DestructionListener, + b2FilterData = Box2D.Dynamics.b2FilterData, + b2Fixture = Box2D.Dynamics.b2Fixture, + b2FixtureDef = Box2D.Dynamics.b2FixtureDef, + b2Island = Box2D.Dynamics.b2Island, + b2TimeStep = Box2D.Dynamics.b2TimeStep, + b2World = Box2D.Dynamics.b2World, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3, + b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2CircleShape = Box2D.Collision.Shapes.b2CircleShape, + b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef, + b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape, + b2MassData = Box2D.Collision.Shapes.b2MassData, + b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape, + b2Shape = Box2D.Collision.Shapes.b2Shape, + b2BuoyancyController = Box2D.Dynamics.Controllers.b2BuoyancyController, + b2ConstantAccelController = Box2D.Dynamics.Controllers.b2ConstantAccelController, + b2ConstantForceController = Box2D.Dynamics.Controllers.b2ConstantForceController, + b2Controller = Box2D.Dynamics.Controllers.b2Controller, + b2ControllerEdge = Box2D.Dynamics.Controllers.b2ControllerEdge, + b2GravityController = Box2D.Dynamics.Controllers.b2GravityController, + b2TensorDampingController = Box2D.Dynamics.Controllers.b2TensorDampingController; + + Box2D.inherit(b2BuoyancyController, Box2D.Dynamics.Controllers.b2Controller); + b2BuoyancyController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype; + b2BuoyancyController.b2BuoyancyController = function () { + Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments); + this.normal = new b2Vec2(0, (-1)); + this.offset = 0; + this.density = 0; + this.velocity = new b2Vec2(0, 0); + this.linearDrag = 2; + this.angularDrag = 1; + this.useDensity = false; + this.useWorldGravity = true; + this.gravity = null; + }; + b2BuoyancyController.prototype.Step = function (step) { + if (!this.m_bodyList) return; + if (this.useWorldGravity) { + this.gravity = this.GetWorld().GetGravity().Copy(); + } + for (var i = this.m_bodyList; i; i = i.nextBody) { + var body = i.body; + if (body.IsAwake() == false) { + continue; + } + var areac = new b2Vec2(); + var massc = new b2Vec2(); + var area = 0.0; + var mass = 0.0; + for (var fixture = body.GetFixtureList(); fixture; fixture = fixture.GetNext()) { + var sc = new b2Vec2(); + var sarea = fixture.GetShape().ComputeSubmergedArea(this.normal, this.offset, body.GetTransform(), sc); + area += sarea; + areac.x += sarea * sc.x; + areac.y += sarea * sc.y; + var shapeDensity = 0; + if (this.useDensity) { + shapeDensity = 1; + } + else { + shapeDensity = 1; + } + mass += sarea * shapeDensity; + massc.x += sarea * sc.x * shapeDensity; + massc.y += sarea * sc.y * shapeDensity; + } + areac.x /= area; + areac.y /= area; + massc.x /= mass; + massc.y /= mass; + if (area < Number.MIN_VALUE) continue; + var buoyancyForce = this.gravity.GetNegative(); + buoyancyForce.Multiply(this.density * area); + body.ApplyForce(buoyancyForce, massc); + var dragForce = body.GetLinearVelocityFromWorldPoint(areac); + dragForce.Subtract(this.velocity); + dragForce.Multiply((-this.linearDrag * area)); + body.ApplyForce(dragForce, areac); + body.ApplyTorque((-body.GetInertia() / body.GetMass() * area * body.GetAngularVelocity() * this.angularDrag)); + } + } + b2BuoyancyController.prototype.Draw = function (debugDraw) { + var r = 1000; + var p1 = new b2Vec2(); + var p2 = new b2Vec2(); + p1.x = this.normal.x * this.offset + this.normal.y * r; + p1.y = this.normal.y * this.offset - this.normal.x * r; + p2.x = this.normal.x * this.offset - this.normal.y * r; + p2.y = this.normal.y * this.offset + this.normal.x * r; + var color = new b2Color(0, 0, 1); + debugDraw.DrawSegment(p1, p2, color); + } + Box2D.inherit(b2ConstantAccelController, Box2D.Dynamics.Controllers.b2Controller); + b2ConstantAccelController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype; + b2ConstantAccelController.b2ConstantAccelController = function () { + Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments); + this.A = new b2Vec2(0, 0); + }; + b2ConstantAccelController.prototype.Step = function (step) { + var smallA = new b2Vec2(this.A.x * step.dt, this.A.y * step.dt); + for (var i = this.m_bodyList; i; i = i.nextBody) { + var body = i.body; + if (!body.IsAwake()) continue; + body.SetLinearVelocity(new b2Vec2(body.GetLinearVelocity().x + smallA.x, body.GetLinearVelocity().y + smallA.y)); + } + } + Box2D.inherit(b2ConstantForceController, Box2D.Dynamics.Controllers.b2Controller); + b2ConstantForceController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype; + b2ConstantForceController.b2ConstantForceController = function () { + Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments); + this.F = new b2Vec2(0, 0); + }; + b2ConstantForceController.prototype.Step = function (step) { + for (var i = this.m_bodyList; i; i = i.nextBody) { + var body = i.body; + if (!body.IsAwake()) continue; + body.ApplyForce(this.F, body.GetWorldCenter()); + } + } + b2Controller.b2Controller = function () {}; + b2Controller.prototype.Step = function (step) {} + b2Controller.prototype.Draw = function (debugDraw) {} + b2Controller.prototype.AddBody = function (body) { + var edge = new b2ControllerEdge(); + edge.controller = this; + edge.body = body; + edge.nextBody = this.m_bodyList; + edge.prevBody = null; + this.m_bodyList = edge; + if (edge.nextBody) edge.nextBody.prevBody = edge; + this.m_bodyCount++; + edge.nextController = body.m_controllerList; + edge.prevController = null; + body.m_controllerList = edge; + if (edge.nextController) edge.nextController.prevController = edge; + body.m_controllerCount++; + } + b2Controller.prototype.RemoveBody = function (body) { + var edge = body.m_controllerList; + while (edge && edge.controller != this) + edge = edge.nextController; + if (edge.prevBody) edge.prevBody.nextBody = edge.nextBody; + if (edge.nextBody) edge.nextBody.prevBody = edge.prevBody; + if (edge.nextController) edge.nextController.prevController = edge.prevController; + if (edge.prevController) edge.prevController.nextController = edge.nextController; + if (this.m_bodyList == edge) this.m_bodyList = edge.nextBody; + if (body.m_controllerList == edge) body.m_controllerList = edge.nextController; + body.m_controllerCount--; + this.m_bodyCount--; + } + b2Controller.prototype.Clear = function () { + while (this.m_bodyList) + this.RemoveBody(this.m_bodyList.body); + } + b2Controller.prototype.GetNext = function () { + return this.m_next; + } + b2Controller.prototype.GetWorld = function () { + return this.m_world; + } + b2Controller.prototype.GetBodyList = function () { + return this.m_bodyList; + } + b2ControllerEdge.b2ControllerEdge = function () {}; + Box2D.inherit(b2GravityController, Box2D.Dynamics.Controllers.b2Controller); + b2GravityController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype; + b2GravityController.b2GravityController = function () { + Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments); + this.G = 1; + this.invSqr = true; + }; + b2GravityController.prototype.Step = function (step) { + var i = null; + var body1 = null; + var p1 = null; + var mass1 = 0; + var j = null; + var body2 = null; + var p2 = null; + var dx = 0; + var dy = 0; + var r2 = 0; + var f = null; + if (this.invSqr) { + for (i = this.m_bodyList; + i; i = i.nextBody) { + body1 = i.body; + p1 = body1.GetWorldCenter(); + mass1 = body1.GetMass(); + for (j = this.m_bodyList; + j != i; j = j.nextBody) { + body2 = j.body; + p2 = body2.GetWorldCenter(); + dx = p2.x - p1.x; + dy = p2.y - p1.y; + r2 = dx * dx + dy * dy; + if (r2 < Number.MIN_VALUE) continue; + f = new b2Vec2(dx, dy); + f.Multiply(this.G / r2 / Math.sqrt(r2) * mass1 * body2.GetMass()); + if (body1.IsAwake()) body1.ApplyForce(f, p1); + f.Multiply((-1)); + if (body2.IsAwake()) body2.ApplyForce(f, p2); + } + } + } + else { + for (i = this.m_bodyList; + i; i = i.nextBody) { + body1 = i.body; + p1 = body1.GetWorldCenter(); + mass1 = body1.GetMass(); + for (j = this.m_bodyList; + j != i; j = j.nextBody) { + body2 = j.body; + p2 = body2.GetWorldCenter(); + dx = p2.x - p1.x; + dy = p2.y - p1.y; + r2 = dx * dx + dy * dy; + if (r2 < Number.MIN_VALUE) continue; + f = new b2Vec2(dx, dy); + f.Multiply(this.G / r2 * mass1 * body2.GetMass()); + if (body1.IsAwake()) body1.ApplyForce(f, p1); + f.Multiply((-1)); + if (body2.IsAwake()) body2.ApplyForce(f, p2); + } + } + } + } + Box2D.inherit(b2TensorDampingController, Box2D.Dynamics.Controllers.b2Controller); + b2TensorDampingController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype; + b2TensorDampingController.b2TensorDampingController = function () { + Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments); + this.T = new b2Mat22(); + this.maxTimestep = 0; + }; + b2TensorDampingController.prototype.SetAxisAligned = function (xDamping, yDamping) { + if (xDamping === undefined) xDamping = 0; + if (yDamping === undefined) yDamping = 0; + this.T.col1.x = (-xDamping); + this.T.col1.y = 0; + this.T.col2.x = 0; + this.T.col2.y = (-yDamping); + if (xDamping > 0 || yDamping > 0) { + this.maxTimestep = 1 / Math.max(xDamping, yDamping); + } + else { + this.maxTimestep = 0; + } + } + b2TensorDampingController.prototype.Step = function (step) { + var timestep = step.dt; + if (timestep <= Number.MIN_VALUE) return; + if (timestep > this.maxTimestep && this.maxTimestep > 0) timestep = this.maxTimestep; + for (var i = this.m_bodyList; i; i = i.nextBody) { + var body = i.body; + if (!body.IsAwake()) { + continue; + } + var damping = body.GetWorldVector(b2Math.MulMV(this.T, body.GetLocalVector(body.GetLinearVelocity()))); + body.SetLinearVelocity(new b2Vec2(body.GetLinearVelocity().x + damping.x * timestep, body.GetLinearVelocity().y + damping.y * timestep)); + } + } +})(); +(function () { + var b2Color = Box2D.Common.b2Color, + b2internal = Box2D.Common.b2internal, + b2Settings = Box2D.Common.b2Settings, + b2Mat22 = Box2D.Common.Math.b2Mat22, + b2Mat33 = Box2D.Common.Math.b2Mat33, + b2Math = Box2D.Common.Math.b2Math, + b2Sweep = Box2D.Common.Math.b2Sweep, + b2Transform = Box2D.Common.Math.b2Transform, + b2Vec2 = Box2D.Common.Math.b2Vec2, + b2Vec3 = Box2D.Common.Math.b2Vec3, + b2DistanceJoint = Box2D.Dynamics.Joints.b2DistanceJoint, + b2DistanceJointDef = Box2D.Dynamics.Joints.b2DistanceJointDef, + b2FrictionJoint = Box2D.Dynamics.Joints.b2FrictionJoint, + b2FrictionJointDef = Box2D.Dynamics.Joints.b2FrictionJointDef, + b2GearJoint = Box2D.Dynamics.Joints.b2GearJoint, + b2GearJointDef = Box2D.Dynamics.Joints.b2GearJointDef, + b2Jacobian = Box2D.Dynamics.Joints.b2Jacobian, + b2Joint = Box2D.Dynamics.Joints.b2Joint, + b2JointDef = Box2D.Dynamics.Joints.b2JointDef, + b2JointEdge = Box2D.Dynamics.Joints.b2JointEdge, + b2LineJoint = Box2D.Dynamics.Joints.b2LineJoint, + b2LineJointDef = Box2D.Dynamics.Joints.b2LineJointDef, + b2MouseJoint = Box2D.Dynamics.Joints.b2MouseJoint, + b2MouseJointDef = Box2D.Dynamics.Joints.b2MouseJointDef, + b2PrismaticJoint = Box2D.Dynamics.Joints.b2PrismaticJoint, + b2PrismaticJointDef = Box2D.Dynamics.Joints.b2PrismaticJointDef, + b2PulleyJoint = Box2D.Dynamics.Joints.b2PulleyJoint, + b2PulleyJointDef = Box2D.Dynamics.Joints.b2PulleyJointDef, + b2RevoluteJoint = Box2D.Dynamics.Joints.b2RevoluteJoint, + b2RevoluteJointDef = Box2D.Dynamics.Joints.b2RevoluteJointDef, + b2WeldJoint = Box2D.Dynamics.Joints.b2WeldJoint, + b2WeldJointDef = Box2D.Dynamics.Joints.b2WeldJointDef, + b2Body = Box2D.Dynamics.b2Body, + b2BodyDef = Box2D.Dynamics.b2BodyDef, + b2ContactFilter = Box2D.Dynamics.b2ContactFilter, + b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse, + b2ContactListener = Box2D.Dynamics.b2ContactListener, + b2ContactManager = Box2D.Dynamics.b2ContactManager, + b2DebugDraw = Box2D.Dynamics.b2DebugDraw, + b2DestructionListener = Box2D.Dynamics.b2DestructionListener, + b2FilterData = Box2D.Dynamics.b2FilterData, + b2Fixture = Box2D.Dynamics.b2Fixture, + b2FixtureDef = Box2D.Dynamics.b2FixtureDef, + b2Island = Box2D.Dynamics.b2Island, + b2TimeStep = Box2D.Dynamics.b2TimeStep, + b2World = Box2D.Dynamics.b2World; + + Box2D.inherit(b2DistanceJoint, Box2D.Dynamics.Joints.b2Joint); + b2DistanceJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2DistanceJoint.b2DistanceJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.m_localAnchor1 = new b2Vec2(); + this.m_localAnchor2 = new b2Vec2(); + this.m_u = new b2Vec2(); + }; + b2DistanceJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchor1); + } + b2DistanceJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchor2); + } + b2DistanceJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * this.m_impulse * this.m_u.x, inv_dt * this.m_impulse * this.m_u.y); + } + b2DistanceJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return 0.0; + } + b2DistanceJoint.prototype.GetLength = function () { + return this.m_length; + } + b2DistanceJoint.prototype.SetLength = function (length) { + if (length === undefined) length = 0; + this.m_length = length; + } + b2DistanceJoint.prototype.GetFrequency = function () { + return this.m_frequencyHz; + } + b2DistanceJoint.prototype.SetFrequency = function (hz) { + if (hz === undefined) hz = 0; + this.m_frequencyHz = hz; + } + b2DistanceJoint.prototype.GetDampingRatio = function () { + return this.m_dampingRatio; + } + b2DistanceJoint.prototype.SetDampingRatio = function (ratio) { + if (ratio === undefined) ratio = 0; + this.m_dampingRatio = ratio; + } + b2DistanceJoint.prototype.b2DistanceJoint = function (def) { + this.__super.b2Joint.call(this, def); + var tMat; + var tX = 0; + var tY = 0; + this.m_localAnchor1.SetV(def.localAnchorA); + this.m_localAnchor2.SetV(def.localAnchorB); + this.m_length = def.length; + this.m_frequencyHz = def.frequencyHz; + this.m_dampingRatio = def.dampingRatio; + this.m_impulse = 0.0; + this.m_gamma = 0.0; + this.m_bias = 0.0; + } + b2DistanceJoint.prototype.InitVelocityConstraints = function (step) { + var tMat; + var tX = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + this.m_u.x = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X; + this.m_u.y = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y; + var length = Math.sqrt(this.m_u.x * this.m_u.x + this.m_u.y * this.m_u.y); + if (length > b2Settings.b2_linearSlop) { + this.m_u.Multiply(1.0 / length); + } + else { + this.m_u.SetZero(); + } + var cr1u = (r1X * this.m_u.y - r1Y * this.m_u.x); + var cr2u = (r2X * this.m_u.y - r2Y * this.m_u.x); + var invMass = bA.m_invMass + bA.m_invI * cr1u * cr1u + bB.m_invMass + bB.m_invI * cr2u * cr2u; + this.m_mass = invMass != 0.0 ? 1.0 / invMass : 0.0; + if (this.m_frequencyHz > 0.0) { + var C = length - this.m_length; + var omega = 2.0 * Math.PI * this.m_frequencyHz; + var d = 2.0 * this.m_mass * this.m_dampingRatio * omega; + var k = this.m_mass * omega * omega; + this.m_gamma = step.dt * (d + step.dt * k); + this.m_gamma = this.m_gamma != 0.0 ? 1 / this.m_gamma : 0.0; + this.m_bias = C * step.dt * k * this.m_gamma; + this.m_mass = invMass + this.m_gamma; + this.m_mass = this.m_mass != 0.0 ? 1.0 / this.m_mass : 0.0; + } + if (step.warmStarting) { + this.m_impulse *= step.dtRatio; + var PX = this.m_impulse * this.m_u.x; + var PY = this.m_impulse * this.m_u.y; + bA.m_linearVelocity.x -= bA.m_invMass * PX; + bA.m_linearVelocity.y -= bA.m_invMass * PY; + bA.m_angularVelocity -= bA.m_invI * (r1X * PY - r1Y * PX); + bB.m_linearVelocity.x += bB.m_invMass * PX; + bB.m_linearVelocity.y += bB.m_invMass * PY; + bB.m_angularVelocity += bB.m_invI * (r2X * PY - r2Y * PX); + } + else { + this.m_impulse = 0.0; + } + } + b2DistanceJoint.prototype.SolveVelocityConstraints = function (step) { + var tMat; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var v1X = bA.m_linearVelocity.x + ((-bA.m_angularVelocity * r1Y)); + var v1Y = bA.m_linearVelocity.y + (bA.m_angularVelocity * r1X); + var v2X = bB.m_linearVelocity.x + ((-bB.m_angularVelocity * r2Y)); + var v2Y = bB.m_linearVelocity.y + (bB.m_angularVelocity * r2X); + var Cdot = (this.m_u.x * (v2X - v1X) + this.m_u.y * (v2Y - v1Y)); + var impulse = (-this.m_mass * (Cdot + this.m_bias + this.m_gamma * this.m_impulse)); + this.m_impulse += impulse; + var PX = impulse * this.m_u.x; + var PY = impulse * this.m_u.y; + bA.m_linearVelocity.x -= bA.m_invMass * PX; + bA.m_linearVelocity.y -= bA.m_invMass * PY; + bA.m_angularVelocity -= bA.m_invI * (r1X * PY - r1Y * PX); + bB.m_linearVelocity.x += bB.m_invMass * PX; + bB.m_linearVelocity.y += bB.m_invMass * PY; + bB.m_angularVelocity += bB.m_invI * (r2X * PY - r2Y * PX); + } + b2DistanceJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var tMat; + if (this.m_frequencyHz > 0.0) { + return true; + } + var bA = this.m_bodyA; + var bB = this.m_bodyB; + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var dX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X; + var dY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y; + var length = Math.sqrt(dX * dX + dY * dY); + dX /= length; + dY /= length; + var C = length - this.m_length; + C = b2Math.Clamp(C, (-b2Settings.b2_maxLinearCorrection), b2Settings.b2_maxLinearCorrection); + var impulse = (-this.m_mass * C); + this.m_u.Set(dX, dY); + var PX = impulse * this.m_u.x; + var PY = impulse * this.m_u.y; + bA.m_sweep.c.x -= bA.m_invMass * PX; + bA.m_sweep.c.y -= bA.m_invMass * PY; + bA.m_sweep.a -= bA.m_invI * (r1X * PY - r1Y * PX); + bB.m_sweep.c.x += bB.m_invMass * PX; + bB.m_sweep.c.y += bB.m_invMass * PY; + bB.m_sweep.a += bB.m_invI * (r2X * PY - r2Y * PX); + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + return b2Math.Abs(C) < b2Settings.b2_linearSlop; + } + Box2D.inherit(b2DistanceJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2DistanceJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2DistanceJointDef.b2DistanceJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.localAnchorA = new b2Vec2(); + this.localAnchorB = new b2Vec2(); + }; + b2DistanceJointDef.prototype.b2DistanceJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_distanceJoint; + this.length = 1.0; + this.frequencyHz = 0.0; + this.dampingRatio = 0.0; + } + b2DistanceJointDef.prototype.Initialize = function (bA, bB, anchorA, anchorB) { + this.bodyA = bA; + this.bodyB = bB; + this.localAnchorA.SetV(this.bodyA.GetLocalPoint(anchorA)); + this.localAnchorB.SetV(this.bodyB.GetLocalPoint(anchorB)); + var dX = anchorB.x - anchorA.x; + var dY = anchorB.y - anchorA.y; + this.length = Math.sqrt(dX * dX + dY * dY); + this.frequencyHz = 0.0; + this.dampingRatio = 0.0; + } + Box2D.inherit(b2FrictionJoint, Box2D.Dynamics.Joints.b2Joint); + b2FrictionJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2FrictionJoint.b2FrictionJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.m_localAnchorA = new b2Vec2(); + this.m_localAnchorB = new b2Vec2(); + this.m_linearMass = new b2Mat22(); + this.m_linearImpulse = new b2Vec2(); + }; + b2FrictionJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchorA); + } + b2FrictionJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchorB); + } + b2FrictionJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * this.m_linearImpulse.x, inv_dt * this.m_linearImpulse.y); + } + b2FrictionJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return inv_dt * this.m_angularImpulse; + } + b2FrictionJoint.prototype.SetMaxForce = function (force) { + if (force === undefined) force = 0; + this.m_maxForce = force; + } + b2FrictionJoint.prototype.GetMaxForce = function () { + return this.m_maxForce; + } + b2FrictionJoint.prototype.SetMaxTorque = function (torque) { + if (torque === undefined) torque = 0; + this.m_maxTorque = torque; + } + b2FrictionJoint.prototype.GetMaxTorque = function () { + return this.m_maxTorque; + } + b2FrictionJoint.prototype.b2FrictionJoint = function (def) { + this.__super.b2Joint.call(this, def); + this.m_localAnchorA.SetV(def.localAnchorA); + this.m_localAnchorB.SetV(def.localAnchorB); + this.m_linearMass.SetZero(); + this.m_angularMass = 0.0; + this.m_linearImpulse.SetZero(); + this.m_angularImpulse = 0.0; + this.m_maxForce = def.maxForce; + this.m_maxTorque = def.maxTorque; + } + b2FrictionJoint.prototype.InitVelocityConstraints = function (step) { + var tMat; + var tX = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + tMat = bA.m_xf.R; + var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x; + var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * rAX + tMat.col2.x * rAY); + rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY); + rAX = tX; + tMat = bB.m_xf.R; + var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x; + var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * rBX + tMat.col2.x * rBY); + rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY); + rBX = tX; + var mA = bA.m_invMass; + var mB = bB.m_invMass; + var iA = bA.m_invI; + var iB = bB.m_invI; + var K = new b2Mat22(); + K.col1.x = mA + mB; + K.col2.x = 0.0; + K.col1.y = 0.0; + K.col2.y = mA + mB; + K.col1.x += iA * rAY * rAY; + K.col2.x += (-iA * rAX * rAY); + K.col1.y += (-iA * rAX * rAY); + K.col2.y += iA * rAX * rAX; + K.col1.x += iB * rBY * rBY; + K.col2.x += (-iB * rBX * rBY); + K.col1.y += (-iB * rBX * rBY); + K.col2.y += iB * rBX * rBX; + K.GetInverse(this.m_linearMass); + this.m_angularMass = iA + iB; + if (this.m_angularMass > 0.0) { + this.m_angularMass = 1.0 / this.m_angularMass; + } + if (step.warmStarting) { + this.m_linearImpulse.x *= step.dtRatio; + this.m_linearImpulse.y *= step.dtRatio; + this.m_angularImpulse *= step.dtRatio; + var P = this.m_linearImpulse; + bA.m_linearVelocity.x -= mA * P.x; + bA.m_linearVelocity.y -= mA * P.y; + bA.m_angularVelocity -= iA * (rAX * P.y - rAY * P.x + this.m_angularImpulse); + bB.m_linearVelocity.x += mB * P.x; + bB.m_linearVelocity.y += mB * P.y; + bB.m_angularVelocity += iB * (rBX * P.y - rBY * P.x + this.m_angularImpulse); + } + else { + this.m_linearImpulse.SetZero(); + this.m_angularImpulse = 0.0; + } + } + b2FrictionJoint.prototype.SolveVelocityConstraints = function (step) { + var tMat; + var tX = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var vA = bA.m_linearVelocity; + var wA = bA.m_angularVelocity; + var vB = bB.m_linearVelocity; + var wB = bB.m_angularVelocity; + var mA = bA.m_invMass; + var mB = bB.m_invMass; + var iA = bA.m_invI; + var iB = bB.m_invI; + tMat = bA.m_xf.R; + var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x; + var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * rAX + tMat.col2.x * rAY); + rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY); + rAX = tX; + tMat = bB.m_xf.R; + var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x; + var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * rBX + tMat.col2.x * rBY); + rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY); + rBX = tX; + var maxImpulse = 0; { + var Cdot = wB - wA; + var impulse = (-this.m_angularMass * Cdot); + var oldImpulse = this.m_angularImpulse; + maxImpulse = step.dt * this.m_maxTorque; + this.m_angularImpulse = b2Math.Clamp(this.m_angularImpulse + impulse, (-maxImpulse), maxImpulse); + impulse = this.m_angularImpulse - oldImpulse; + wA -= iA * impulse; + wB += iB * impulse; + } { + var CdotX = vB.x - wB * rBY - vA.x + wA * rAY; + var CdotY = vB.y + wB * rBX - vA.y - wA * rAX; + var impulseV = b2Math.MulMV(this.m_linearMass, new b2Vec2((-CdotX), (-CdotY))); + var oldImpulseV = this.m_linearImpulse.Copy(); + this.m_linearImpulse.Add(impulseV); + maxImpulse = step.dt * this.m_maxForce; + if (this.m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse) { + this.m_linearImpulse.Normalize(); + this.m_linearImpulse.Multiply(maxImpulse); + } + impulseV = b2Math.SubtractVV(this.m_linearImpulse, oldImpulseV); + vA.x -= mA * impulseV.x; + vA.y -= mA * impulseV.y; + wA -= iA * (rAX * impulseV.y - rAY * impulseV.x); + vB.x += mB * impulseV.x; + vB.y += mB * impulseV.y; + wB += iB * (rBX * impulseV.y - rBY * impulseV.x); + } + bA.m_angularVelocity = wA; + bB.m_angularVelocity = wB; + } + b2FrictionJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + return true; + } + Box2D.inherit(b2FrictionJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2FrictionJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2FrictionJointDef.b2FrictionJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.localAnchorA = new b2Vec2(); + this.localAnchorB = new b2Vec2(); + }; + b2FrictionJointDef.prototype.b2FrictionJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_frictionJoint; + this.maxForce = 0.0; + this.maxTorque = 0.0; + } + b2FrictionJointDef.prototype.Initialize = function (bA, bB, anchor) { + this.bodyA = bA; + this.bodyB = bB; + this.localAnchorA.SetV(this.bodyA.GetLocalPoint(anchor)); + this.localAnchorB.SetV(this.bodyB.GetLocalPoint(anchor)); + } + Box2D.inherit(b2GearJoint, Box2D.Dynamics.Joints.b2Joint); + b2GearJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2GearJoint.b2GearJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.m_groundAnchor1 = new b2Vec2(); + this.m_groundAnchor2 = new b2Vec2(); + this.m_localAnchor1 = new b2Vec2(); + this.m_localAnchor2 = new b2Vec2(); + this.m_J = new b2Jacobian(); + }; + b2GearJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchor1); + } + b2GearJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchor2); + } + b2GearJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * this.m_impulse * this.m_J.linearB.x, inv_dt * this.m_impulse * this.m_J.linearB.y); + } + b2GearJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + var tMat = this.m_bodyB.m_xf.R; + var rX = this.m_localAnchor1.x - this.m_bodyB.m_sweep.localCenter.x; + var rY = this.m_localAnchor1.y - this.m_bodyB.m_sweep.localCenter.y; + var tX = tMat.col1.x * rX + tMat.col2.x * rY; + rY = tMat.col1.y * rX + tMat.col2.y * rY; + rX = tX; + var PX = this.m_impulse * this.m_J.linearB.x; + var PY = this.m_impulse * this.m_J.linearB.y; + return inv_dt * (this.m_impulse * this.m_J.angularB - rX * PY + rY * PX); + } + b2GearJoint.prototype.GetRatio = function () { + return this.m_ratio; + } + b2GearJoint.prototype.SetRatio = function (ratio) { + if (ratio === undefined) ratio = 0; + this.m_ratio = ratio; + } + b2GearJoint.prototype.b2GearJoint = function (def) { + this.__super.b2Joint.call(this, def); + var type1 = parseInt(def.joint1.m_type); + var type2 = parseInt(def.joint2.m_type); + this.m_revolute1 = null; + this.m_prismatic1 = null; + this.m_revolute2 = null; + this.m_prismatic2 = null; + var coordinate1 = 0; + var coordinate2 = 0; + this.m_ground1 = def.joint1.GetBodyA(); + this.m_bodyA = def.joint1.GetBodyB(); + if (type1 == b2Joint.e_revoluteJoint) { + this.m_revolute1 = (def.joint1 instanceof b2RevoluteJoint ? def.joint1 : null); + this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1); + this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2); + coordinate1 = this.m_revolute1.GetJointAngle(); + } + else { + this.m_prismatic1 = (def.joint1 instanceof b2PrismaticJoint ? def.joint1 : null); + this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1); + this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2); + coordinate1 = this.m_prismatic1.GetJointTranslation(); + } + this.m_ground2 = def.joint2.GetBodyA(); + this.m_bodyB = def.joint2.GetBodyB(); + if (type2 == b2Joint.e_revoluteJoint) { + this.m_revolute2 = (def.joint2 instanceof b2RevoluteJoint ? def.joint2 : null); + this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1); + this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2); + coordinate2 = this.m_revolute2.GetJointAngle(); + } + else { + this.m_prismatic2 = (def.joint2 instanceof b2PrismaticJoint ? def.joint2 : null); + this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1); + this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2); + coordinate2 = this.m_prismatic2.GetJointTranslation(); + } + this.m_ratio = def.ratio; + this.m_constant = coordinate1 + this.m_ratio * coordinate2; + this.m_impulse = 0.0; + } + b2GearJoint.prototype.InitVelocityConstraints = function (step) { + var g1 = this.m_ground1; + var g2 = this.m_ground2; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var ugX = 0; + var ugY = 0; + var rX = 0; + var rY = 0; + var tMat; + var tVec; + var crug = 0; + var tX = 0; + var K = 0.0; + this.m_J.SetZero(); + if (this.m_revolute1) { + this.m_J.angularA = (-1.0); + K += bA.m_invI; + } + else { + tMat = g1.m_xf.R; + tVec = this.m_prismatic1.m_localXAxis1; + ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tMat = bA.m_xf.R; + rX = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + rY = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = tMat.col1.x * rX + tMat.col2.x * rY; + rY = tMat.col1.y * rX + tMat.col2.y * rY; + rX = tX; + crug = rX * ugY - rY * ugX; + this.m_J.linearA.Set((-ugX), (-ugY)); + this.m_J.angularA = (-crug); + K += bA.m_invMass + bA.m_invI * crug * crug; + } + if (this.m_revolute2) { + this.m_J.angularB = (-this.m_ratio); + K += this.m_ratio * this.m_ratio * bB.m_invI; + } + else { + tMat = g2.m_xf.R; + tVec = this.m_prismatic2.m_localXAxis1; + ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y; + ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y; + tMat = bB.m_xf.R; + rX = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + rY = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = tMat.col1.x * rX + tMat.col2.x * rY; + rY = tMat.col1.y * rX + tMat.col2.y * rY; + rX = tX; + crug = rX * ugY - rY * ugX; + this.m_J.linearB.Set((-this.m_ratio * ugX), (-this.m_ratio * ugY)); + this.m_J.angularB = (-this.m_ratio * crug); + K += this.m_ratio * this.m_ratio * (bB.m_invMass + bB.m_invI * crug * crug); + } + this.m_mass = K > 0.0 ? 1.0 / K : 0.0; + if (step.warmStarting) { + bA.m_linearVelocity.x += bA.m_invMass * this.m_impulse * this.m_J.linearA.x; + bA.m_linearVelocity.y += bA.m_invMass * this.m_impulse * this.m_J.linearA.y; + bA.m_angularVelocity += bA.m_invI * this.m_impulse * this.m_J.angularA; + bB.m_linearVelocity.x += bB.m_invMass * this.m_impulse * this.m_J.linearB.x; + bB.m_linearVelocity.y += bB.m_invMass * this.m_impulse * this.m_J.linearB.y; + bB.m_angularVelocity += bB.m_invI * this.m_impulse * this.m_J.angularB; + } + else { + this.m_impulse = 0.0; + } + } + b2GearJoint.prototype.SolveVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var Cdot = this.m_J.Compute(bA.m_linearVelocity, bA.m_angularVelocity, bB.m_linearVelocity, bB.m_angularVelocity); + var impulse = (-this.m_mass * Cdot); + this.m_impulse += impulse; + bA.m_linearVelocity.x += bA.m_invMass * impulse * this.m_J.linearA.x; + bA.m_linearVelocity.y += bA.m_invMass * impulse * this.m_J.linearA.y; + bA.m_angularVelocity += bA.m_invI * impulse * this.m_J.angularA; + bB.m_linearVelocity.x += bB.m_invMass * impulse * this.m_J.linearB.x; + bB.m_linearVelocity.y += bB.m_invMass * impulse * this.m_J.linearB.y; + bB.m_angularVelocity += bB.m_invI * impulse * this.m_J.angularB; + } + b2GearJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var linearError = 0.0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var coordinate1 = 0; + var coordinate2 = 0; + if (this.m_revolute1) { + coordinate1 = this.m_revolute1.GetJointAngle(); + } + else { + coordinate1 = this.m_prismatic1.GetJointTranslation(); + } + if (this.m_revolute2) { + coordinate2 = this.m_revolute2.GetJointAngle(); + } + else { + coordinate2 = this.m_prismatic2.GetJointTranslation(); + } + var C = this.m_constant - (coordinate1 + this.m_ratio * coordinate2); + var impulse = (-this.m_mass * C); + bA.m_sweep.c.x += bA.m_invMass * impulse * this.m_J.linearA.x; + bA.m_sweep.c.y += bA.m_invMass * impulse * this.m_J.linearA.y; + bA.m_sweep.a += bA.m_invI * impulse * this.m_J.angularA; + bB.m_sweep.c.x += bB.m_invMass * impulse * this.m_J.linearB.x; + bB.m_sweep.c.y += bB.m_invMass * impulse * this.m_J.linearB.y; + bB.m_sweep.a += bB.m_invI * impulse * this.m_J.angularB; + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + return linearError < b2Settings.b2_linearSlop; + } + Box2D.inherit(b2GearJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2GearJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2GearJointDef.b2GearJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + }; + b2GearJointDef.prototype.b2GearJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_gearJoint; + this.joint1 = null; + this.joint2 = null; + this.ratio = 1.0; + } + b2Jacobian.b2Jacobian = function () { + this.linearA = new b2Vec2(); + this.linearB = new b2Vec2(); + }; + b2Jacobian.prototype.SetZero = function () { + this.linearA.SetZero(); + this.angularA = 0.0; + this.linearB.SetZero(); + this.angularB = 0.0; + } + b2Jacobian.prototype.Set = function (x1, a1, x2, a2) { + if (a1 === undefined) a1 = 0; + if (a2 === undefined) a2 = 0; + this.linearA.SetV(x1); + this.angularA = a1; + this.linearB.SetV(x2); + this.angularB = a2; + } + b2Jacobian.prototype.Compute = function (x1, a1, x2, a2) { + if (a1 === undefined) a1 = 0; + if (a2 === undefined) a2 = 0; + return (this.linearA.x * x1.x + this.linearA.y * x1.y) + this.angularA * a1 + (this.linearB.x * x2.x + this.linearB.y * x2.y) + this.angularB * a2; + } + b2Joint.b2Joint = function () { + this.m_edgeA = new b2JointEdge(); + this.m_edgeB = new b2JointEdge(); + this.m_localCenterA = new b2Vec2(); + this.m_localCenterB = new b2Vec2(); + }; + b2Joint.prototype.GetType = function () { + return this.m_type; + } + b2Joint.prototype.GetAnchorA = function () { + return null; + } + b2Joint.prototype.GetAnchorB = function () { + return null; + } + b2Joint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return null; + } + b2Joint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return 0.0; + } + b2Joint.prototype.GetBodyA = function () { + return this.m_bodyA; + } + b2Joint.prototype.GetBodyB = function () { + return this.m_bodyB; + } + b2Joint.prototype.GetNext = function () { + return this.m_next; + } + b2Joint.prototype.GetUserData = function () { + return this.m_userData; + } + b2Joint.prototype.SetUserData = function (data) { + this.m_userData = data; + } + b2Joint.prototype.IsActive = function () { + return this.m_bodyA.IsActive() && this.m_bodyB.IsActive(); + } + b2Joint.Create = function (def, allocator) { + var joint = null; + switch (def.type) { + case b2Joint.e_distanceJoint: + { + joint = new b2DistanceJoint((def instanceof b2DistanceJointDef ? def : null)); + } + break; + case b2Joint.e_mouseJoint: + { + joint = new b2MouseJoint((def instanceof b2MouseJointDef ? def : null)); + } + break; + case b2Joint.e_prismaticJoint: + { + joint = new b2PrismaticJoint((def instanceof b2PrismaticJointDef ? def : null)); + } + break; + case b2Joint.e_revoluteJoint: + { + joint = new b2RevoluteJoint((def instanceof b2RevoluteJointDef ? def : null)); + } + break; + case b2Joint.e_pulleyJoint: + { + joint = new b2PulleyJoint((def instanceof b2PulleyJointDef ? def : null)); + } + break; + case b2Joint.e_gearJoint: + { + joint = new b2GearJoint((def instanceof b2GearJointDef ? def : null)); + } + break; + case b2Joint.e_lineJoint: + { + joint = new b2LineJoint((def instanceof b2LineJointDef ? def : null)); + } + break; + case b2Joint.e_weldJoint: + { + joint = new b2WeldJoint((def instanceof b2WeldJointDef ? def : null)); + } + break; + case b2Joint.e_frictionJoint: + { + joint = new b2FrictionJoint((def instanceof b2FrictionJointDef ? def : null)); + } + break; + default: + break; + } + return joint; + } + b2Joint.Destroy = function (joint, allocator) {} + b2Joint.prototype.b2Joint = function (def) { + b2Settings.b2Assert(def.bodyA != def.bodyB); + this.m_type = def.type; + this.m_prev = null; + this.m_next = null; + this.m_bodyA = def.bodyA; + this.m_bodyB = def.bodyB; + this.m_collideConnected = def.collideConnected; + this.m_islandFlag = false; + this.m_userData = def.userData; + } + b2Joint.prototype.InitVelocityConstraints = function (step) {} + b2Joint.prototype.SolveVelocityConstraints = function (step) {} + b2Joint.prototype.FinalizeVelocityConstraints = function () {} + b2Joint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + return false; + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.Joints.b2Joint.e_unknownJoint = 0; + Box2D.Dynamics.Joints.b2Joint.e_revoluteJoint = 1; + Box2D.Dynamics.Joints.b2Joint.e_prismaticJoint = 2; + Box2D.Dynamics.Joints.b2Joint.e_distanceJoint = 3; + Box2D.Dynamics.Joints.b2Joint.e_pulleyJoint = 4; + Box2D.Dynamics.Joints.b2Joint.e_mouseJoint = 5; + Box2D.Dynamics.Joints.b2Joint.e_gearJoint = 6; + Box2D.Dynamics.Joints.b2Joint.e_lineJoint = 7; + Box2D.Dynamics.Joints.b2Joint.e_weldJoint = 8; + Box2D.Dynamics.Joints.b2Joint.e_frictionJoint = 9; + Box2D.Dynamics.Joints.b2Joint.e_inactiveLimit = 0; + Box2D.Dynamics.Joints.b2Joint.e_atLowerLimit = 1; + Box2D.Dynamics.Joints.b2Joint.e_atUpperLimit = 2; + Box2D.Dynamics.Joints.b2Joint.e_equalLimits = 3; + }); + b2JointDef.b2JointDef = function () {}; + b2JointDef.prototype.b2JointDef = function () { + this.type = b2Joint.e_unknownJoint; + this.userData = null; + this.bodyA = null; + this.bodyB = null; + this.collideConnected = false; + } + b2JointEdge.b2JointEdge = function () {}; + Box2D.inherit(b2LineJoint, Box2D.Dynamics.Joints.b2Joint); + b2LineJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2LineJoint.b2LineJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.m_localAnchor1 = new b2Vec2(); + this.m_localAnchor2 = new b2Vec2(); + this.m_localXAxis1 = new b2Vec2(); + this.m_localYAxis1 = new b2Vec2(); + this.m_axis = new b2Vec2(); + this.m_perp = new b2Vec2(); + this.m_K = new b2Mat22(); + this.m_impulse = new b2Vec2(); + }; + b2LineJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchor1); + } + b2LineJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchor2); + } + b2LineJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * (this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.x), inv_dt * (this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.y)); + } + b2LineJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return inv_dt * this.m_impulse.y; + } + b2LineJoint.prototype.GetJointTranslation = function () { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + var p1 = bA.GetWorldPoint(this.m_localAnchor1); + var p2 = bB.GetWorldPoint(this.m_localAnchor2); + var dX = p2.x - p1.x; + var dY = p2.y - p1.y; + var axis = bA.GetWorldVector(this.m_localXAxis1); + var translation = axis.x * dX + axis.y * dY; + return translation; + } + b2LineJoint.prototype.GetJointSpeed = function () { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var p1X = bA.m_sweep.c.x + r1X; + var p1Y = bA.m_sweep.c.y + r1Y; + var p2X = bB.m_sweep.c.x + r2X; + var p2Y = bB.m_sweep.c.y + r2Y; + var dX = p2X - p1X; + var dY = p2Y - p1Y; + var axis = bA.GetWorldVector(this.m_localXAxis1); + var v1 = bA.m_linearVelocity; + var v2 = bB.m_linearVelocity; + var w1 = bA.m_angularVelocity; + var w2 = bB.m_angularVelocity; + var speed = (dX * ((-w1 * axis.y)) + dY * (w1 * axis.x)) + (axis.x * (((v2.x + ((-w2 * r2Y))) - v1.x) - ((-w1 * r1Y))) + axis.y * (((v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X))); + return speed; + } + b2LineJoint.prototype.IsLimitEnabled = function () { + return this.m_enableLimit; + } + b2LineJoint.prototype.EnableLimit = function (flag) { + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_enableLimit = flag; + } + b2LineJoint.prototype.GetLowerLimit = function () { + return this.m_lowerTranslation; + } + b2LineJoint.prototype.GetUpperLimit = function () { + return this.m_upperTranslation; + } + b2LineJoint.prototype.SetLimits = function (lower, upper) { + if (lower === undefined) lower = 0; + if (upper === undefined) upper = 0; + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_lowerTranslation = lower; + this.m_upperTranslation = upper; + } + b2LineJoint.prototype.IsMotorEnabled = function () { + return this.m_enableMotor; + } + b2LineJoint.prototype.EnableMotor = function (flag) { + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_enableMotor = flag; + } + b2LineJoint.prototype.SetMotorSpeed = function (speed) { + if (speed === undefined) speed = 0; + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_motorSpeed = speed; + } + b2LineJoint.prototype.GetMotorSpeed = function () { + return this.m_motorSpeed; + } + b2LineJoint.prototype.SetMaxMotorForce = function (force) { + if (force === undefined) force = 0; + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_maxMotorForce = force; + } + b2LineJoint.prototype.GetMaxMotorForce = function () { + return this.m_maxMotorForce; + } + b2LineJoint.prototype.GetMotorForce = function () { + return this.m_motorImpulse; + } + b2LineJoint.prototype.b2LineJoint = function (def) { + this.__super.b2Joint.call(this, def); + var tMat; + var tX = 0; + var tY = 0; + this.m_localAnchor1.SetV(def.localAnchorA); + this.m_localAnchor2.SetV(def.localAnchorB); + this.m_localXAxis1.SetV(def.localAxisA); + this.m_localYAxis1.x = (-this.m_localXAxis1.y); + this.m_localYAxis1.y = this.m_localXAxis1.x; + this.m_impulse.SetZero(); + this.m_motorMass = 0.0; + this.m_motorImpulse = 0.0; + this.m_lowerTranslation = def.lowerTranslation; + this.m_upperTranslation = def.upperTranslation; + this.m_maxMotorForce = def.maxMotorForce; + this.m_motorSpeed = def.motorSpeed; + this.m_enableLimit = def.enableLimit; + this.m_enableMotor = def.enableMotor; + this.m_limitState = b2Joint.e_inactiveLimit; + this.m_axis.SetZero(); + this.m_perp.SetZero(); + } + b2LineJoint.prototype.InitVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + var tX = 0; + this.m_localCenterA.SetV(bA.GetLocalCenter()); + this.m_localCenterB.SetV(bB.GetLocalCenter()); + var xf1 = bA.GetTransform(); + var xf2 = bB.GetTransform(); + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - this.m_localCenterA.x; + var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - this.m_localCenterB.x; + var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var dX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X; + var dY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y; + this.m_invMassA = bA.m_invMass; + this.m_invMassB = bB.m_invMass; + this.m_invIA = bA.m_invI; + this.m_invIB = bB.m_invI; { + this.m_axis.SetV(b2Math.MulMV(xf1.R, this.m_localXAxis1)); + this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x; + this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x; + this.m_motorMass = this.m_invMassA + this.m_invMassB + this.m_invIA * this.m_a1 * this.m_a1 + this.m_invIB * this.m_a2 * this.m_a2; + this.m_motorMass = this.m_motorMass > Number.MIN_VALUE ? 1.0 / this.m_motorMass : 0.0; + } { + this.m_perp.SetV(b2Math.MulMV(xf1.R, this.m_localYAxis1)); + this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x; + this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x; + var m1 = this.m_invMassA; + var m2 = this.m_invMassB; + var i1 = this.m_invIA; + var i2 = this.m_invIB; + this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2; + this.m_K.col1.y = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2; + this.m_K.col2.x = this.m_K.col1.y; + this.m_K.col2.y = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2; + } + if (this.m_enableLimit) { + var jointTransition = this.m_axis.x * dX + this.m_axis.y * dY; + if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) { + this.m_limitState = b2Joint.e_equalLimits; + } + else if (jointTransition <= this.m_lowerTranslation) { + if (this.m_limitState != b2Joint.e_atLowerLimit) { + this.m_limitState = b2Joint.e_atLowerLimit; + this.m_impulse.y = 0.0; + } + } + else if (jointTransition >= this.m_upperTranslation) { + if (this.m_limitState != b2Joint.e_atUpperLimit) { + this.m_limitState = b2Joint.e_atUpperLimit; + this.m_impulse.y = 0.0; + } + } + else { + this.m_limitState = b2Joint.e_inactiveLimit; + this.m_impulse.y = 0.0; + } + } + else { + this.m_limitState = b2Joint.e_inactiveLimit; + } + if (this.m_enableMotor == false) { + this.m_motorImpulse = 0.0; + } + if (step.warmStarting) { + this.m_impulse.x *= step.dtRatio; + this.m_impulse.y *= step.dtRatio; + this.m_motorImpulse *= step.dtRatio; + var PX = this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.x; + var PY = this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.y; + var L1 = this.m_impulse.x * this.m_s1 + (this.m_motorImpulse + this.m_impulse.y) * this.m_a1; + var L2 = this.m_impulse.x * this.m_s2 + (this.m_motorImpulse + this.m_impulse.y) * this.m_a2; + bA.m_linearVelocity.x -= this.m_invMassA * PX; + bA.m_linearVelocity.y -= this.m_invMassA * PY; + bA.m_angularVelocity -= this.m_invIA * L1; + bB.m_linearVelocity.x += this.m_invMassB * PX; + bB.m_linearVelocity.y += this.m_invMassB * PY; + bB.m_angularVelocity += this.m_invIB * L2; + } + else { + this.m_impulse.SetZero(); + this.m_motorImpulse = 0.0; + } + } + b2LineJoint.prototype.SolveVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var v1 = bA.m_linearVelocity; + var w1 = bA.m_angularVelocity; + var v2 = bB.m_linearVelocity; + var w2 = bB.m_angularVelocity; + var PX = 0; + var PY = 0; + var L1 = 0; + var L2 = 0; + if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) { + var Cdot = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1; + var impulse = this.m_motorMass * (this.m_motorSpeed - Cdot); + var oldImpulse = this.m_motorImpulse; + var maxImpulse = step.dt * this.m_maxMotorForce; + this.m_motorImpulse = b2Math.Clamp(this.m_motorImpulse + impulse, (-maxImpulse), maxImpulse); + impulse = this.m_motorImpulse - oldImpulse; + PX = impulse * this.m_axis.x; + PY = impulse * this.m_axis.y; + L1 = impulse * this.m_a1; + L2 = impulse * this.m_a2; + v1.x -= this.m_invMassA * PX; + v1.y -= this.m_invMassA * PY; + w1 -= this.m_invIA * L1; + v2.x += this.m_invMassB * PX; + v2.y += this.m_invMassB * PY; + w2 += this.m_invIB * L2; + } + var Cdot1 = this.m_perp.x * (v2.x - v1.x) + this.m_perp.y * (v2.y - v1.y) + this.m_s2 * w2 - this.m_s1 * w1; + if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { + var Cdot2 = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1; + var f1 = this.m_impulse.Copy(); + var df = this.m_K.Solve(new b2Vec2(), (-Cdot1), (-Cdot2)); + this.m_impulse.Add(df); + if (this.m_limitState == b2Joint.e_atLowerLimit) { + this.m_impulse.y = b2Math.Max(this.m_impulse.y, 0.0); + } + else if (this.m_limitState == b2Joint.e_atUpperLimit) { + this.m_impulse.y = b2Math.Min(this.m_impulse.y, 0.0); + } + var b = (-Cdot1) - (this.m_impulse.y - f1.y) * this.m_K.col2.x; + var f2r = 0; + if (this.m_K.col1.x != 0.0) { + f2r = b / this.m_K.col1.x + f1.x; + } + else { + f2r = f1.x; + } + this.m_impulse.x = f2r; + df.x = this.m_impulse.x - f1.x; + df.y = this.m_impulse.y - f1.y; + PX = df.x * this.m_perp.x + df.y * this.m_axis.x; + PY = df.x * this.m_perp.y + df.y * this.m_axis.y; + L1 = df.x * this.m_s1 + df.y * this.m_a1; + L2 = df.x * this.m_s2 + df.y * this.m_a2; + v1.x -= this.m_invMassA * PX; + v1.y -= this.m_invMassA * PY; + w1 -= this.m_invIA * L1; + v2.x += this.m_invMassB * PX; + v2.y += this.m_invMassB * PY; + w2 += this.m_invIB * L2; + } + else { + var df2 = 0; + if (this.m_K.col1.x != 0.0) { + df2 = ((-Cdot1)) / this.m_K.col1.x; + } + else { + df2 = 0.0; + } + this.m_impulse.x += df2; + PX = df2 * this.m_perp.x; + PY = df2 * this.m_perp.y; + L1 = df2 * this.m_s1; + L2 = df2 * this.m_s2; + v1.x -= this.m_invMassA * PX; + v1.y -= this.m_invMassA * PY; + w1 -= this.m_invIA * L1; + v2.x += this.m_invMassB * PX; + v2.y += this.m_invMassB * PY; + w2 += this.m_invIB * L2; + } + bA.m_linearVelocity.SetV(v1); + bA.m_angularVelocity = w1; + bB.m_linearVelocity.SetV(v2); + bB.m_angularVelocity = w2; + } + b2LineJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var limitC = 0; + var oldLimitImpulse = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var c1 = bA.m_sweep.c; + var a1 = bA.m_sweep.a; + var c2 = bB.m_sweep.c; + var a2 = bB.m_sweep.a; + var tMat; + var tX = 0; + var m1 = 0; + var m2 = 0; + var i1 = 0; + var i2 = 0; + var linearError = 0.0; + var angularError = 0.0; + var active = false; + var C2 = 0.0; + var R1 = b2Mat22.FromAngle(a1); + var R2 = b2Mat22.FromAngle(a2); + tMat = R1; + var r1X = this.m_localAnchor1.x - this.m_localCenterA.x; + var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = R2; + var r2X = this.m_localAnchor2.x - this.m_localCenterB.x; + var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var dX = c2.x + r2X - c1.x - r1X; + var dY = c2.y + r2Y - c1.y - r1Y; + if (this.m_enableLimit) { + this.m_axis = b2Math.MulMV(R1, this.m_localXAxis1); + this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x; + this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x; + var translation = this.m_axis.x * dX + this.m_axis.y * dY; + if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) { + C2 = b2Math.Clamp(translation, (-b2Settings.b2_maxLinearCorrection), b2Settings.b2_maxLinearCorrection); + linearError = b2Math.Abs(translation); + active = true; + } + else if (translation <= this.m_lowerTranslation) { + C2 = b2Math.Clamp(translation - this.m_lowerTranslation + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0); + linearError = this.m_lowerTranslation - translation; + active = true; + } + else if (translation >= this.m_upperTranslation) { + C2 = b2Math.Clamp(translation - this.m_upperTranslation + b2Settings.b2_linearSlop, 0.0, b2Settings.b2_maxLinearCorrection); + linearError = translation - this.m_upperTranslation; + active = true; + } + } + this.m_perp = b2Math.MulMV(R1, this.m_localYAxis1); + this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x; + this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x; + var impulse = new b2Vec2(); + var C1 = this.m_perp.x * dX + this.m_perp.y * dY; + linearError = b2Math.Max(linearError, b2Math.Abs(C1)); + angularError = 0.0; + if (active) { + m1 = this.m_invMassA; + m2 = this.m_invMassB; + i1 = this.m_invIA; + i2 = this.m_invIB; + this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2; + this.m_K.col1.y = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2; + this.m_K.col2.x = this.m_K.col1.y; + this.m_K.col2.y = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2; + this.m_K.Solve(impulse, (-C1), (-C2)); + } + else { + m1 = this.m_invMassA; + m2 = this.m_invMassB; + i1 = this.m_invIA; + i2 = this.m_invIB; + var k11 = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2; + var impulse1 = 0; + if (k11 != 0.0) { + impulse1 = ((-C1)) / k11; + } + else { + impulse1 = 0.0; + } + impulse.x = impulse1; + impulse.y = 0.0; + } + var PX = impulse.x * this.m_perp.x + impulse.y * this.m_axis.x; + var PY = impulse.x * this.m_perp.y + impulse.y * this.m_axis.y; + var L1 = impulse.x * this.m_s1 + impulse.y * this.m_a1; + var L2 = impulse.x * this.m_s2 + impulse.y * this.m_a2; + c1.x -= this.m_invMassA * PX; + c1.y -= this.m_invMassA * PY; + a1 -= this.m_invIA * L1; + c2.x += this.m_invMassB * PX; + c2.y += this.m_invMassB * PY; + a2 += this.m_invIB * L2; + bA.m_sweep.a = a1; + bB.m_sweep.a = a2; + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + return linearError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop; + } + Box2D.inherit(b2LineJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2LineJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2LineJointDef.b2LineJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.localAnchorA = new b2Vec2(); + this.localAnchorB = new b2Vec2(); + this.localAxisA = new b2Vec2(); + }; + b2LineJointDef.prototype.b2LineJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_lineJoint; + this.localAxisA.Set(1.0, 0.0); + this.enableLimit = false; + this.lowerTranslation = 0.0; + this.upperTranslation = 0.0; + this.enableMotor = false; + this.maxMotorForce = 0.0; + this.motorSpeed = 0.0; + } + b2LineJointDef.prototype.Initialize = function (bA, bB, anchor, axis) { + this.bodyA = bA; + this.bodyB = bB; + this.localAnchorA = this.bodyA.GetLocalPoint(anchor); + this.localAnchorB = this.bodyB.GetLocalPoint(anchor); + this.localAxisA = this.bodyA.GetLocalVector(axis); + } + Box2D.inherit(b2MouseJoint, Box2D.Dynamics.Joints.b2Joint); + b2MouseJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2MouseJoint.b2MouseJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.K = new b2Mat22(); + this.K1 = new b2Mat22(); + this.K2 = new b2Mat22(); + this.m_localAnchor = new b2Vec2(); + this.m_target = new b2Vec2(); + this.m_impulse = new b2Vec2(); + this.m_mass = new b2Mat22(); + this.m_C = new b2Vec2(); + }; + b2MouseJoint.prototype.GetAnchorA = function () { + return this.m_target; + } + b2MouseJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchor); + } + b2MouseJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * this.m_impulse.x, inv_dt * this.m_impulse.y); + } + b2MouseJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return 0.0; + } + b2MouseJoint.prototype.GetTarget = function () { + return this.m_target; + } + b2MouseJoint.prototype.SetTarget = function (target) { + if (this.m_bodyB.IsAwake() == false) { + this.m_bodyB.SetAwake(true); + } + this.m_target = target; + } + b2MouseJoint.prototype.GetMaxForce = function () { + return this.m_maxForce; + } + b2MouseJoint.prototype.SetMaxForce = function (maxForce) { + if (maxForce === undefined) maxForce = 0; + this.m_maxForce = maxForce; + } + b2MouseJoint.prototype.GetFrequency = function () { + return this.m_frequencyHz; + } + b2MouseJoint.prototype.SetFrequency = function (hz) { + if (hz === undefined) hz = 0; + this.m_frequencyHz = hz; + } + b2MouseJoint.prototype.GetDampingRatio = function () { + return this.m_dampingRatio; + } + b2MouseJoint.prototype.SetDampingRatio = function (ratio) { + if (ratio === undefined) ratio = 0; + this.m_dampingRatio = ratio; + } + b2MouseJoint.prototype.b2MouseJoint = function (def) { + this.__super.b2Joint.call(this, def); + this.m_target.SetV(def.target); + var tX = this.m_target.x - this.m_bodyB.m_xf.position.x; + var tY = this.m_target.y - this.m_bodyB.m_xf.position.y; + var tMat = this.m_bodyB.m_xf.R; + this.m_localAnchor.x = (tX * tMat.col1.x + tY * tMat.col1.y); + this.m_localAnchor.y = (tX * tMat.col2.x + tY * tMat.col2.y); + this.m_maxForce = def.maxForce; + this.m_impulse.SetZero(); + this.m_frequencyHz = def.frequencyHz; + this.m_dampingRatio = def.dampingRatio; + this.m_beta = 0.0; + this.m_gamma = 0.0; + } + b2MouseJoint.prototype.InitVelocityConstraints = function (step) { + var b = this.m_bodyB; + var mass = b.GetMass(); + var omega = 2.0 * Math.PI * this.m_frequencyHz; + var d = 2.0 * mass * this.m_dampingRatio * omega; + var k = mass * omega * omega; + this.m_gamma = step.dt * (d + step.dt * k); + this.m_gamma = this.m_gamma != 0 ? 1 / this.m_gamma : 0.0; + this.m_beta = step.dt * k * this.m_gamma; + var tMat;tMat = b.m_xf.R; + var rX = this.m_localAnchor.x - b.m_sweep.localCenter.x; + var rY = this.m_localAnchor.y - b.m_sweep.localCenter.y; + var tX = (tMat.col1.x * rX + tMat.col2.x * rY);rY = (tMat.col1.y * rX + tMat.col2.y * rY); + rX = tX; + var invMass = b.m_invMass; + var invI = b.m_invI;this.K1.col1.x = invMass; + this.K1.col2.x = 0.0; + this.K1.col1.y = 0.0; + this.K1.col2.y = invMass; + this.K2.col1.x = invI * rY * rY; + this.K2.col2.x = (-invI * rX * rY); + this.K2.col1.y = (-invI * rX * rY); + this.K2.col2.y = invI * rX * rX; + this.K.SetM(this.K1); + this.K.AddM(this.K2); + this.K.col1.x += this.m_gamma; + this.K.col2.y += this.m_gamma; + this.K.GetInverse(this.m_mass); + this.m_C.x = b.m_sweep.c.x + rX - this.m_target.x; + this.m_C.y = b.m_sweep.c.y + rY - this.m_target.y; + b.m_angularVelocity *= 0.98; + this.m_impulse.x *= step.dtRatio; + this.m_impulse.y *= step.dtRatio; + b.m_linearVelocity.x += invMass * this.m_impulse.x; + b.m_linearVelocity.y += invMass * this.m_impulse.y; + b.m_angularVelocity += invI * (rX * this.m_impulse.y - rY * this.m_impulse.x); + } + b2MouseJoint.prototype.SolveVelocityConstraints = function (step) { + var b = this.m_bodyB; + var tMat; + var tX = 0; + var tY = 0; + tMat = b.m_xf.R; + var rX = this.m_localAnchor.x - b.m_sweep.localCenter.x; + var rY = this.m_localAnchor.y - b.m_sweep.localCenter.y; + tX = (tMat.col1.x * rX + tMat.col2.x * rY); + rY = (tMat.col1.y * rX + tMat.col2.y * rY); + rX = tX; + var CdotX = b.m_linearVelocity.x + ((-b.m_angularVelocity * rY)); + var CdotY = b.m_linearVelocity.y + (b.m_angularVelocity * rX); + tMat = this.m_mass; + tX = CdotX + this.m_beta * this.m_C.x + this.m_gamma * this.m_impulse.x; + tY = CdotY + this.m_beta * this.m_C.y + this.m_gamma * this.m_impulse.y; + var impulseX = (-(tMat.col1.x * tX + tMat.col2.x * tY)); + var impulseY = (-(tMat.col1.y * tX + tMat.col2.y * tY)); + var oldImpulseX = this.m_impulse.x; + var oldImpulseY = this.m_impulse.y; + this.m_impulse.x += impulseX; + this.m_impulse.y += impulseY; + var maxImpulse = step.dt * this.m_maxForce; + if (this.m_impulse.LengthSquared() > maxImpulse * maxImpulse) { + this.m_impulse.Multiply(maxImpulse / this.m_impulse.Length()); + } + impulseX = this.m_impulse.x - oldImpulseX; + impulseY = this.m_impulse.y - oldImpulseY; + b.m_linearVelocity.x += b.m_invMass * impulseX; + b.m_linearVelocity.y += b.m_invMass * impulseY; + b.m_angularVelocity += b.m_invI * (rX * impulseY - rY * impulseX); + } + b2MouseJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + return true; + } + Box2D.inherit(b2MouseJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2MouseJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2MouseJointDef.b2MouseJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.target = new b2Vec2(); + }; + b2MouseJointDef.prototype.b2MouseJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_mouseJoint; + this.maxForce = 0.0; + this.frequencyHz = 5.0; + this.dampingRatio = 0.7; + } + Box2D.inherit(b2PrismaticJoint, Box2D.Dynamics.Joints.b2Joint); + b2PrismaticJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2PrismaticJoint.b2PrismaticJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.m_localAnchor1 = new b2Vec2(); + this.m_localAnchor2 = new b2Vec2(); + this.m_localXAxis1 = new b2Vec2(); + this.m_localYAxis1 = new b2Vec2(); + this.m_axis = new b2Vec2(); + this.m_perp = new b2Vec2(); + this.m_K = new b2Mat33(); + this.m_impulse = new b2Vec3(); + }; + b2PrismaticJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchor1); + } + b2PrismaticJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchor2); + } + b2PrismaticJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * (this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.x), inv_dt * (this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.y)); + } + b2PrismaticJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return inv_dt * this.m_impulse.y; + } + b2PrismaticJoint.prototype.GetJointTranslation = function () { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + var p1 = bA.GetWorldPoint(this.m_localAnchor1); + var p2 = bB.GetWorldPoint(this.m_localAnchor2); + var dX = p2.x - p1.x; + var dY = p2.y - p1.y; + var axis = bA.GetWorldVector(this.m_localXAxis1); + var translation = axis.x * dX + axis.y * dY; + return translation; + } + b2PrismaticJoint.prototype.GetJointSpeed = function () { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var p1X = bA.m_sweep.c.x + r1X; + var p1Y = bA.m_sweep.c.y + r1Y; + var p2X = bB.m_sweep.c.x + r2X; + var p2Y = bB.m_sweep.c.y + r2Y; + var dX = p2X - p1X; + var dY = p2Y - p1Y; + var axis = bA.GetWorldVector(this.m_localXAxis1); + var v1 = bA.m_linearVelocity; + var v2 = bB.m_linearVelocity; + var w1 = bA.m_angularVelocity; + var w2 = bB.m_angularVelocity; + var speed = (dX * ((-w1 * axis.y)) + dY * (w1 * axis.x)) + (axis.x * (((v2.x + ((-w2 * r2Y))) - v1.x) - ((-w1 * r1Y))) + axis.y * (((v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X))); + return speed; + } + b2PrismaticJoint.prototype.IsLimitEnabled = function () { + return this.m_enableLimit; + } + b2PrismaticJoint.prototype.EnableLimit = function (flag) { + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_enableLimit = flag; + } + b2PrismaticJoint.prototype.GetLowerLimit = function () { + return this.m_lowerTranslation; + } + b2PrismaticJoint.prototype.GetUpperLimit = function () { + return this.m_upperTranslation; + } + b2PrismaticJoint.prototype.SetLimits = function (lower, upper) { + if (lower === undefined) lower = 0; + if (upper === undefined) upper = 0; + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_lowerTranslation = lower; + this.m_upperTranslation = upper; + } + b2PrismaticJoint.prototype.IsMotorEnabled = function () { + return this.m_enableMotor; + } + b2PrismaticJoint.prototype.EnableMotor = function (flag) { + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_enableMotor = flag; + } + b2PrismaticJoint.prototype.SetMotorSpeed = function (speed) { + if (speed === undefined) speed = 0; + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_motorSpeed = speed; + } + b2PrismaticJoint.prototype.GetMotorSpeed = function () { + return this.m_motorSpeed; + } + b2PrismaticJoint.prototype.SetMaxMotorForce = function (force) { + if (force === undefined) force = 0; + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_maxMotorForce = force; + } + b2PrismaticJoint.prototype.GetMotorForce = function () { + return this.m_motorImpulse; + } + b2PrismaticJoint.prototype.b2PrismaticJoint = function (def) { + this.__super.b2Joint.call(this, def); + var tMat; + var tX = 0; + var tY = 0; + this.m_localAnchor1.SetV(def.localAnchorA); + this.m_localAnchor2.SetV(def.localAnchorB); + this.m_localXAxis1.SetV(def.localAxisA); + this.m_localYAxis1.x = (-this.m_localXAxis1.y); + this.m_localYAxis1.y = this.m_localXAxis1.x; + this.m_refAngle = def.referenceAngle; + this.m_impulse.SetZero(); + this.m_motorMass = 0.0; + this.m_motorImpulse = 0.0; + this.m_lowerTranslation = def.lowerTranslation; + this.m_upperTranslation = def.upperTranslation; + this.m_maxMotorForce = def.maxMotorForce; + this.m_motorSpeed = def.motorSpeed; + this.m_enableLimit = def.enableLimit; + this.m_enableMotor = def.enableMotor; + this.m_limitState = b2Joint.e_inactiveLimit; + this.m_axis.SetZero(); + this.m_perp.SetZero(); + } + b2PrismaticJoint.prototype.InitVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + var tX = 0; + this.m_localCenterA.SetV(bA.GetLocalCenter()); + this.m_localCenterB.SetV(bB.GetLocalCenter()); + var xf1 = bA.GetTransform(); + var xf2 = bB.GetTransform(); + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - this.m_localCenterA.x; + var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - this.m_localCenterB.x; + var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var dX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X; + var dY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y; + this.m_invMassA = bA.m_invMass; + this.m_invMassB = bB.m_invMass; + this.m_invIA = bA.m_invI; + this.m_invIB = bB.m_invI; { + this.m_axis.SetV(b2Math.MulMV(xf1.R, this.m_localXAxis1)); + this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x; + this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x; + this.m_motorMass = this.m_invMassA + this.m_invMassB + this.m_invIA * this.m_a1 * this.m_a1 + this.m_invIB * this.m_a2 * this.m_a2; + if (this.m_motorMass > Number.MIN_VALUE) this.m_motorMass = 1.0 / this.m_motorMass; + } { + this.m_perp.SetV(b2Math.MulMV(xf1.R, this.m_localYAxis1)); + this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x; + this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x; + var m1 = this.m_invMassA; + var m2 = this.m_invMassB; + var i1 = this.m_invIA; + var i2 = this.m_invIB; + this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2; + this.m_K.col1.y = i1 * this.m_s1 + i2 * this.m_s2; + this.m_K.col1.z = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2; + this.m_K.col2.x = this.m_K.col1.y; + this.m_K.col2.y = i1 + i2; + this.m_K.col2.z = i1 * this.m_a1 + i2 * this.m_a2; + this.m_K.col3.x = this.m_K.col1.z; + this.m_K.col3.y = this.m_K.col2.z; + this.m_K.col3.z = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2; + } + if (this.m_enableLimit) { + var jointTransition = this.m_axis.x * dX + this.m_axis.y * dY; + if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) { + this.m_limitState = b2Joint.e_equalLimits; + } + else if (jointTransition <= this.m_lowerTranslation) { + if (this.m_limitState != b2Joint.e_atLowerLimit) { + this.m_limitState = b2Joint.e_atLowerLimit; + this.m_impulse.z = 0.0; + } + } + else if (jointTransition >= this.m_upperTranslation) { + if (this.m_limitState != b2Joint.e_atUpperLimit) { + this.m_limitState = b2Joint.e_atUpperLimit; + this.m_impulse.z = 0.0; + } + } + else { + this.m_limitState = b2Joint.e_inactiveLimit; + this.m_impulse.z = 0.0; + } + } + else { + this.m_limitState = b2Joint.e_inactiveLimit; + } + if (this.m_enableMotor == false) { + this.m_motorImpulse = 0.0; + } + if (step.warmStarting) { + this.m_impulse.x *= step.dtRatio; + this.m_impulse.y *= step.dtRatio; + this.m_motorImpulse *= step.dtRatio; + var PX = this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.x; + var PY = this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.y; + var L1 = this.m_impulse.x * this.m_s1 + this.m_impulse.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_a1; + var L2 = this.m_impulse.x * this.m_s2 + this.m_impulse.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_a2; + bA.m_linearVelocity.x -= this.m_invMassA * PX; + bA.m_linearVelocity.y -= this.m_invMassA * PY; + bA.m_angularVelocity -= this.m_invIA * L1; + bB.m_linearVelocity.x += this.m_invMassB * PX; + bB.m_linearVelocity.y += this.m_invMassB * PY; + bB.m_angularVelocity += this.m_invIB * L2; + } + else { + this.m_impulse.SetZero(); + this.m_motorImpulse = 0.0; + } + } + b2PrismaticJoint.prototype.SolveVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var v1 = bA.m_linearVelocity; + var w1 = bA.m_angularVelocity; + var v2 = bB.m_linearVelocity; + var w2 = bB.m_angularVelocity; + var PX = 0; + var PY = 0; + var L1 = 0; + var L2 = 0; + if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) { + var Cdot = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1; + var impulse = this.m_motorMass * (this.m_motorSpeed - Cdot); + var oldImpulse = this.m_motorImpulse; + var maxImpulse = step.dt * this.m_maxMotorForce; + this.m_motorImpulse = b2Math.Clamp(this.m_motorImpulse + impulse, (-maxImpulse), maxImpulse); + impulse = this.m_motorImpulse - oldImpulse; + PX = impulse * this.m_axis.x; + PY = impulse * this.m_axis.y; + L1 = impulse * this.m_a1; + L2 = impulse * this.m_a2; + v1.x -= this.m_invMassA * PX; + v1.y -= this.m_invMassA * PY; + w1 -= this.m_invIA * L1; + v2.x += this.m_invMassB * PX; + v2.y += this.m_invMassB * PY; + w2 += this.m_invIB * L2; + } + var Cdot1X = this.m_perp.x * (v2.x - v1.x) + this.m_perp.y * (v2.y - v1.y) + this.m_s2 * w2 - this.m_s1 * w1; + var Cdot1Y = w2 - w1; + if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { + var Cdot2 = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1; + var f1 = this.m_impulse.Copy(); + var df = this.m_K.Solve33(new b2Vec3(), (-Cdot1X), (-Cdot1Y), (-Cdot2)); + this.m_impulse.Add(df); + if (this.m_limitState == b2Joint.e_atLowerLimit) { + this.m_impulse.z = b2Math.Max(this.m_impulse.z, 0.0); + } + else if (this.m_limitState == b2Joint.e_atUpperLimit) { + this.m_impulse.z = b2Math.Min(this.m_impulse.z, 0.0); + } + var bX = (-Cdot1X) - (this.m_impulse.z - f1.z) * this.m_K.col3.x; + var bY = (-Cdot1Y) - (this.m_impulse.z - f1.z) * this.m_K.col3.y; + var f2r = this.m_K.Solve22(new b2Vec2(), bX, bY); + f2r.x += f1.x; + f2r.y += f1.y; + this.m_impulse.x = f2r.x; + this.m_impulse.y = f2r.y; + df.x = this.m_impulse.x - f1.x; + df.y = this.m_impulse.y - f1.y; + df.z = this.m_impulse.z - f1.z; + PX = df.x * this.m_perp.x + df.z * this.m_axis.x; + PY = df.x * this.m_perp.y + df.z * this.m_axis.y; + L1 = df.x * this.m_s1 + df.y + df.z * this.m_a1; + L2 = df.x * this.m_s2 + df.y + df.z * this.m_a2; + v1.x -= this.m_invMassA * PX; + v1.y -= this.m_invMassA * PY; + w1 -= this.m_invIA * L1; + v2.x += this.m_invMassB * PX; + v2.y += this.m_invMassB * PY; + w2 += this.m_invIB * L2; + } + else { + var df2 = this.m_K.Solve22(new b2Vec2(), (-Cdot1X), (-Cdot1Y)); + this.m_impulse.x += df2.x; + this.m_impulse.y += df2.y; + PX = df2.x * this.m_perp.x; + PY = df2.x * this.m_perp.y; + L1 = df2.x * this.m_s1 + df2.y; + L2 = df2.x * this.m_s2 + df2.y; + v1.x -= this.m_invMassA * PX; + v1.y -= this.m_invMassA * PY; + w1 -= this.m_invIA * L1; + v2.x += this.m_invMassB * PX; + v2.y += this.m_invMassB * PY; + w2 += this.m_invIB * L2; + } + bA.m_linearVelocity.SetV(v1); + bA.m_angularVelocity = w1; + bB.m_linearVelocity.SetV(v2); + bB.m_angularVelocity = w2; + } + b2PrismaticJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var limitC = 0; + var oldLimitImpulse = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var c1 = bA.m_sweep.c; + var a1 = bA.m_sweep.a; + var c2 = bB.m_sweep.c; + var a2 = bB.m_sweep.a; + var tMat; + var tX = 0; + var m1 = 0; + var m2 = 0; + var i1 = 0; + var i2 = 0; + var linearError = 0.0; + var angularError = 0.0; + var active = false; + var C2 = 0.0; + var R1 = b2Mat22.FromAngle(a1); + var R2 = b2Mat22.FromAngle(a2); + tMat = R1; + var r1X = this.m_localAnchor1.x - this.m_localCenterA.x; + var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = R2; + var r2X = this.m_localAnchor2.x - this.m_localCenterB.x; + var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var dX = c2.x + r2X - c1.x - r1X; + var dY = c2.y + r2Y - c1.y - r1Y; + if (this.m_enableLimit) { + this.m_axis = b2Math.MulMV(R1, this.m_localXAxis1); + this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x; + this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x; + var translation = this.m_axis.x * dX + this.m_axis.y * dY; + if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) { + C2 = b2Math.Clamp(translation, (-b2Settings.b2_maxLinearCorrection), b2Settings.b2_maxLinearCorrection); + linearError = b2Math.Abs(translation); + active = true; + } + else if (translation <= this.m_lowerTranslation) { + C2 = b2Math.Clamp(translation - this.m_lowerTranslation + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0); + linearError = this.m_lowerTranslation - translation; + active = true; + } + else if (translation >= this.m_upperTranslation) { + C2 = b2Math.Clamp(translation - this.m_upperTranslation + b2Settings.b2_linearSlop, 0.0, b2Settings.b2_maxLinearCorrection); + linearError = translation - this.m_upperTranslation; + active = true; + } + } + this.m_perp = b2Math.MulMV(R1, this.m_localYAxis1); + this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x; + this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x; + var impulse = new b2Vec3(); + var C1X = this.m_perp.x * dX + this.m_perp.y * dY; + var C1Y = a2 - a1 - this.m_refAngle; + linearError = b2Math.Max(linearError, b2Math.Abs(C1X)); + angularError = b2Math.Abs(C1Y); + if (active) { + m1 = this.m_invMassA; + m2 = this.m_invMassB; + i1 = this.m_invIA; + i2 = this.m_invIB; + this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2; + this.m_K.col1.y = i1 * this.m_s1 + i2 * this.m_s2; + this.m_K.col1.z = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2; + this.m_K.col2.x = this.m_K.col1.y; + this.m_K.col2.y = i1 + i2; + this.m_K.col2.z = i1 * this.m_a1 + i2 * this.m_a2; + this.m_K.col3.x = this.m_K.col1.z; + this.m_K.col3.y = this.m_K.col2.z; + this.m_K.col3.z = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2; + this.m_K.Solve33(impulse, (-C1X), (-C1Y), (-C2)); + } + else { + m1 = this.m_invMassA; + m2 = this.m_invMassB; + i1 = this.m_invIA; + i2 = this.m_invIB; + var k11 = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2; + var k12 = i1 * this.m_s1 + i2 * this.m_s2; + var k22 = i1 + i2; + this.m_K.col1.Set(k11, k12, 0.0); + this.m_K.col2.Set(k12, k22, 0.0); + var impulse1 = this.m_K.Solve22(new b2Vec2(), (-C1X), (-C1Y)); + impulse.x = impulse1.x; + impulse.y = impulse1.y; + impulse.z = 0.0; + } + var PX = impulse.x * this.m_perp.x + impulse.z * this.m_axis.x; + var PY = impulse.x * this.m_perp.y + impulse.z * this.m_axis.y; + var L1 = impulse.x * this.m_s1 + impulse.y + impulse.z * this.m_a1; + var L2 = impulse.x * this.m_s2 + impulse.y + impulse.z * this.m_a2; + c1.x -= this.m_invMassA * PX; + c1.y -= this.m_invMassA * PY; + a1 -= this.m_invIA * L1; + c2.x += this.m_invMassB * PX; + c2.y += this.m_invMassB * PY; + a2 += this.m_invIB * L2; + bA.m_sweep.a = a1; + bB.m_sweep.a = a2; + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + return linearError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop; + } + Box2D.inherit(b2PrismaticJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2PrismaticJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2PrismaticJointDef.b2PrismaticJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.localAnchorA = new b2Vec2(); + this.localAnchorB = new b2Vec2(); + this.localAxisA = new b2Vec2(); + }; + b2PrismaticJointDef.prototype.b2PrismaticJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_prismaticJoint; + this.localAxisA.Set(1.0, 0.0); + this.referenceAngle = 0.0; + this.enableLimit = false; + this.lowerTranslation = 0.0; + this.upperTranslation = 0.0; + this.enableMotor = false; + this.maxMotorForce = 0.0; + this.motorSpeed = 0.0; + } + b2PrismaticJointDef.prototype.Initialize = function (bA, bB, anchor, axis) { + this.bodyA = bA; + this.bodyB = bB; + this.localAnchorA = this.bodyA.GetLocalPoint(anchor); + this.localAnchorB = this.bodyB.GetLocalPoint(anchor); + this.localAxisA = this.bodyA.GetLocalVector(axis); + this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle(); + } + Box2D.inherit(b2PulleyJoint, Box2D.Dynamics.Joints.b2Joint); + b2PulleyJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2PulleyJoint.b2PulleyJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.m_groundAnchor1 = new b2Vec2(); + this.m_groundAnchor2 = new b2Vec2(); + this.m_localAnchor1 = new b2Vec2(); + this.m_localAnchor2 = new b2Vec2(); + this.m_u1 = new b2Vec2(); + this.m_u2 = new b2Vec2(); + }; + b2PulleyJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchor1); + } + b2PulleyJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchor2); + } + b2PulleyJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * this.m_impulse * this.m_u2.x, inv_dt * this.m_impulse * this.m_u2.y); + } + b2PulleyJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return 0.0; + } + b2PulleyJoint.prototype.GetGroundAnchorA = function () { + var a = this.m_ground.m_xf.position.Copy(); + a.Add(this.m_groundAnchor1); + return a; + } + b2PulleyJoint.prototype.GetGroundAnchorB = function () { + var a = this.m_ground.m_xf.position.Copy(); + a.Add(this.m_groundAnchor2); + return a; + } + b2PulleyJoint.prototype.GetLength1 = function () { + var p = this.m_bodyA.GetWorldPoint(this.m_localAnchor1); + var sX = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x; + var sY = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y; + var dX = p.x - sX; + var dY = p.y - sY; + return Math.sqrt(dX * dX + dY * dY); + } + b2PulleyJoint.prototype.GetLength2 = function () { + var p = this.m_bodyB.GetWorldPoint(this.m_localAnchor2); + var sX = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x; + var sY = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y; + var dX = p.x - sX; + var dY = p.y - sY; + return Math.sqrt(dX * dX + dY * dY); + } + b2PulleyJoint.prototype.GetRatio = function () { + return this.m_ratio; + } + b2PulleyJoint.prototype.b2PulleyJoint = function (def) { + this.__super.b2Joint.call(this, def); + var tMat; + var tX = 0; + var tY = 0; + this.m_ground = this.m_bodyA.m_world.m_groundBody; + this.m_groundAnchor1.x = def.groundAnchorA.x - this.m_ground.m_xf.position.x; + this.m_groundAnchor1.y = def.groundAnchorA.y - this.m_ground.m_xf.position.y; + this.m_groundAnchor2.x = def.groundAnchorB.x - this.m_ground.m_xf.position.x; + this.m_groundAnchor2.y = def.groundAnchorB.y - this.m_ground.m_xf.position.y; + this.m_localAnchor1.SetV(def.localAnchorA); + this.m_localAnchor2.SetV(def.localAnchorB); + this.m_ratio = def.ratio; + this.m_constant = def.lengthA + this.m_ratio * def.lengthB; + this.m_maxLength1 = b2Math.Min(def.maxLengthA, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength); + this.m_maxLength2 = b2Math.Min(def.maxLengthB, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio); + this.m_impulse = 0.0; + this.m_limitImpulse1 = 0.0; + this.m_limitImpulse2 = 0.0; + } + b2PulleyJoint.prototype.InitVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var p1X = bA.m_sweep.c.x + r1X; + var p1Y = bA.m_sweep.c.y + r1Y; + var p2X = bB.m_sweep.c.x + r2X; + var p2Y = bB.m_sweep.c.y + r2Y; + var s1X = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x; + var s1Y = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y; + var s2X = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x; + var s2Y = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y; + this.m_u1.Set(p1X - s1X, p1Y - s1Y); + this.m_u2.Set(p2X - s2X, p2Y - s2Y); + var length1 = this.m_u1.Length(); + var length2 = this.m_u2.Length(); + if (length1 > b2Settings.b2_linearSlop) { + this.m_u1.Multiply(1.0 / length1); + } + else { + this.m_u1.SetZero(); + } + if (length2 > b2Settings.b2_linearSlop) { + this.m_u2.Multiply(1.0 / length2); + } + else { + this.m_u2.SetZero(); + } + var C = this.m_constant - length1 - this.m_ratio * length2; + if (C > 0.0) { + this.m_state = b2Joint.e_inactiveLimit; + this.m_impulse = 0.0; + } + else { + this.m_state = b2Joint.e_atUpperLimit; + } + if (length1 < this.m_maxLength1) { + this.m_limitState1 = b2Joint.e_inactiveLimit; + this.m_limitImpulse1 = 0.0; + } + else { + this.m_limitState1 = b2Joint.e_atUpperLimit; + } + if (length2 < this.m_maxLength2) { + this.m_limitState2 = b2Joint.e_inactiveLimit; + this.m_limitImpulse2 = 0.0; + } + else { + this.m_limitState2 = b2Joint.e_atUpperLimit; + } + var cr1u1 = r1X * this.m_u1.y - r1Y * this.m_u1.x; + var cr2u2 = r2X * this.m_u2.y - r2Y * this.m_u2.x; + this.m_limitMass1 = bA.m_invMass + bA.m_invI * cr1u1 * cr1u1; + this.m_limitMass2 = bB.m_invMass + bB.m_invI * cr2u2 * cr2u2; + this.m_pulleyMass = this.m_limitMass1 + this.m_ratio * this.m_ratio * this.m_limitMass2; + this.m_limitMass1 = 1.0 / this.m_limitMass1; + this.m_limitMass2 = 1.0 / this.m_limitMass2; + this.m_pulleyMass = 1.0 / this.m_pulleyMass; + if (step.warmStarting) { + this.m_impulse *= step.dtRatio; + this.m_limitImpulse1 *= step.dtRatio; + this.m_limitImpulse2 *= step.dtRatio; + var P1X = ((-this.m_impulse) - this.m_limitImpulse1) * this.m_u1.x; + var P1Y = ((-this.m_impulse) - this.m_limitImpulse1) * this.m_u1.y; + var P2X = ((-this.m_ratio * this.m_impulse) - this.m_limitImpulse2) * this.m_u2.x; + var P2Y = ((-this.m_ratio * this.m_impulse) - this.m_limitImpulse2) * this.m_u2.y; + bA.m_linearVelocity.x += bA.m_invMass * P1X; + bA.m_linearVelocity.y += bA.m_invMass * P1Y; + bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X); + bB.m_linearVelocity.x += bB.m_invMass * P2X; + bB.m_linearVelocity.y += bB.m_invMass * P2Y; + bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X); + } + else { + this.m_impulse = 0.0; + this.m_limitImpulse1 = 0.0; + this.m_limitImpulse2 = 0.0; + } + } + b2PulleyJoint.prototype.SolveVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var v1X = 0; + var v1Y = 0; + var v2X = 0; + var v2Y = 0; + var P1X = 0; + var P1Y = 0; + var P2X = 0; + var P2Y = 0; + var Cdot = 0; + var impulse = 0; + var oldImpulse = 0; + if (this.m_state == b2Joint.e_atUpperLimit) { + v1X = bA.m_linearVelocity.x + ((-bA.m_angularVelocity * r1Y)); + v1Y = bA.m_linearVelocity.y + (bA.m_angularVelocity * r1X); + v2X = bB.m_linearVelocity.x + ((-bB.m_angularVelocity * r2Y)); + v2Y = bB.m_linearVelocity.y + (bB.m_angularVelocity * r2X); + Cdot = (-(this.m_u1.x * v1X + this.m_u1.y * v1Y)) - this.m_ratio * (this.m_u2.x * v2X + this.m_u2.y * v2Y); + impulse = this.m_pulleyMass * ((-Cdot)); + oldImpulse = this.m_impulse; + this.m_impulse = b2Math.Max(0.0, this.m_impulse + impulse); + impulse = this.m_impulse - oldImpulse; + P1X = (-impulse * this.m_u1.x); + P1Y = (-impulse * this.m_u1.y); + P2X = (-this.m_ratio * impulse * this.m_u2.x); + P2Y = (-this.m_ratio * impulse * this.m_u2.y); + bA.m_linearVelocity.x += bA.m_invMass * P1X; + bA.m_linearVelocity.y += bA.m_invMass * P1Y; + bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X); + bB.m_linearVelocity.x += bB.m_invMass * P2X; + bB.m_linearVelocity.y += bB.m_invMass * P2Y; + bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X); + } + if (this.m_limitState1 == b2Joint.e_atUpperLimit) { + v1X = bA.m_linearVelocity.x + ((-bA.m_angularVelocity * r1Y)); + v1Y = bA.m_linearVelocity.y + (bA.m_angularVelocity * r1X); + Cdot = (-(this.m_u1.x * v1X + this.m_u1.y * v1Y)); + impulse = (-this.m_limitMass1 * Cdot); + oldImpulse = this.m_limitImpulse1; + this.m_limitImpulse1 = b2Math.Max(0.0, this.m_limitImpulse1 + impulse); + impulse = this.m_limitImpulse1 - oldImpulse; + P1X = (-impulse * this.m_u1.x); + P1Y = (-impulse * this.m_u1.y); + bA.m_linearVelocity.x += bA.m_invMass * P1X; + bA.m_linearVelocity.y += bA.m_invMass * P1Y; + bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X); + } + if (this.m_limitState2 == b2Joint.e_atUpperLimit) { + v2X = bB.m_linearVelocity.x + ((-bB.m_angularVelocity * r2Y)); + v2Y = bB.m_linearVelocity.y + (bB.m_angularVelocity * r2X); + Cdot = (-(this.m_u2.x * v2X + this.m_u2.y * v2Y)); + impulse = (-this.m_limitMass2 * Cdot); + oldImpulse = this.m_limitImpulse2; + this.m_limitImpulse2 = b2Math.Max(0.0, this.m_limitImpulse2 + impulse); + impulse = this.m_limitImpulse2 - oldImpulse; + P2X = (-impulse * this.m_u2.x); + P2Y = (-impulse * this.m_u2.y); + bB.m_linearVelocity.x += bB.m_invMass * P2X; + bB.m_linearVelocity.y += bB.m_invMass * P2Y; + bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X); + } + } + b2PulleyJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + var s1X = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x; + var s1Y = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y; + var s2X = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x; + var s2Y = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y; + var r1X = 0; + var r1Y = 0; + var r2X = 0; + var r2Y = 0; + var p1X = 0; + var p1Y = 0; + var p2X = 0; + var p2Y = 0; + var length1 = 0; + var length2 = 0; + var C = 0; + var impulse = 0; + var oldImpulse = 0; + var oldLimitPositionImpulse = 0; + var tX = 0; + var linearError = 0.0; + if (this.m_state == b2Joint.e_atUpperLimit) { + tMat = bA.m_xf.R; + r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + p1X = bA.m_sweep.c.x + r1X; + p1Y = bA.m_sweep.c.y + r1Y; + p2X = bB.m_sweep.c.x + r2X; + p2Y = bB.m_sweep.c.y + r2Y; + this.m_u1.Set(p1X - s1X, p1Y - s1Y); + this.m_u2.Set(p2X - s2X, p2Y - s2Y); + length1 = this.m_u1.Length(); + length2 = this.m_u2.Length(); + if (length1 > b2Settings.b2_linearSlop) { + this.m_u1.Multiply(1.0 / length1); + } + else { + this.m_u1.SetZero(); + } + if (length2 > b2Settings.b2_linearSlop) { + this.m_u2.Multiply(1.0 / length2); + } + else { + this.m_u2.SetZero(); + } + C = this.m_constant - length1 - this.m_ratio * length2; + linearError = b2Math.Max(linearError, (-C)); + C = b2Math.Clamp(C + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0); + impulse = (-this.m_pulleyMass * C); + p1X = (-impulse * this.m_u1.x); + p1Y = (-impulse * this.m_u1.y); + p2X = (-this.m_ratio * impulse * this.m_u2.x); + p2Y = (-this.m_ratio * impulse * this.m_u2.y); + bA.m_sweep.c.x += bA.m_invMass * p1X; + bA.m_sweep.c.y += bA.m_invMass * p1Y; + bA.m_sweep.a += bA.m_invI * (r1X * p1Y - r1Y * p1X); + bB.m_sweep.c.x += bB.m_invMass * p2X; + bB.m_sweep.c.y += bB.m_invMass * p2Y; + bB.m_sweep.a += bB.m_invI * (r2X * p2Y - r2Y * p2X); + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + } + if (this.m_limitState1 == b2Joint.e_atUpperLimit) { + tMat = bA.m_xf.R; + r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + p1X = bA.m_sweep.c.x + r1X; + p1Y = bA.m_sweep.c.y + r1Y; + this.m_u1.Set(p1X - s1X, p1Y - s1Y); + length1 = this.m_u1.Length(); + if (length1 > b2Settings.b2_linearSlop) { + this.m_u1.x *= 1.0 / length1; + this.m_u1.y *= 1.0 / length1; + } + else { + this.m_u1.SetZero(); + } + C = this.m_maxLength1 - length1; + linearError = b2Math.Max(linearError, (-C)); + C = b2Math.Clamp(C + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0); + impulse = (-this.m_limitMass1 * C); + p1X = (-impulse * this.m_u1.x); + p1Y = (-impulse * this.m_u1.y); + bA.m_sweep.c.x += bA.m_invMass * p1X; + bA.m_sweep.c.y += bA.m_invMass * p1Y; + bA.m_sweep.a += bA.m_invI * (r1X * p1Y - r1Y * p1X); + bA.SynchronizeTransform(); + } + if (this.m_limitState2 == b2Joint.e_atUpperLimit) { + tMat = bB.m_xf.R; + r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + p2X = bB.m_sweep.c.x + r2X; + p2Y = bB.m_sweep.c.y + r2Y; + this.m_u2.Set(p2X - s2X, p2Y - s2Y); + length2 = this.m_u2.Length(); + if (length2 > b2Settings.b2_linearSlop) { + this.m_u2.x *= 1.0 / length2; + this.m_u2.y *= 1.0 / length2; + } + else { + this.m_u2.SetZero(); + } + C = this.m_maxLength2 - length2; + linearError = b2Math.Max(linearError, (-C)); + C = b2Math.Clamp(C + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0); + impulse = (-this.m_limitMass2 * C); + p2X = (-impulse * this.m_u2.x); + p2Y = (-impulse * this.m_u2.y); + bB.m_sweep.c.x += bB.m_invMass * p2X; + bB.m_sweep.c.y += bB.m_invMass * p2Y; + bB.m_sweep.a += bB.m_invI * (r2X * p2Y - r2Y * p2X); + bB.SynchronizeTransform(); + } + return linearError < b2Settings.b2_linearSlop; + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.Joints.b2PulleyJoint.b2_minPulleyLength = 2.0; + }); + Box2D.inherit(b2PulleyJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2PulleyJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2PulleyJointDef.b2PulleyJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.groundAnchorA = new b2Vec2(); + this.groundAnchorB = new b2Vec2(); + this.localAnchorA = new b2Vec2(); + this.localAnchorB = new b2Vec2(); + }; + b2PulleyJointDef.prototype.b2PulleyJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_pulleyJoint; + this.groundAnchorA.Set((-1.0), 1.0); + this.groundAnchorB.Set(1.0, 1.0); + this.localAnchorA.Set((-1.0), 0.0); + this.localAnchorB.Set(1.0, 0.0); + this.lengthA = 0.0; + this.maxLengthA = 0.0; + this.lengthB = 0.0; + this.maxLengthB = 0.0; + this.ratio = 1.0; + this.collideConnected = true; + } + b2PulleyJointDef.prototype.Initialize = function (bA, bB, gaA, gaB, anchorA, anchorB, r) { + if (r === undefined) r = 0; + this.bodyA = bA; + this.bodyB = bB; + this.groundAnchorA.SetV(gaA); + this.groundAnchorB.SetV(gaB); + this.localAnchorA = this.bodyA.GetLocalPoint(anchorA); + this.localAnchorB = this.bodyB.GetLocalPoint(anchorB); + var d1X = anchorA.x - gaA.x; + var d1Y = anchorA.y - gaA.y; + this.lengthA = Math.sqrt(d1X * d1X + d1Y * d1Y); + var d2X = anchorB.x - gaB.x; + var d2Y = anchorB.y - gaB.y; + this.lengthB = Math.sqrt(d2X * d2X + d2Y * d2Y); + this.ratio = r; + var C = this.lengthA + this.ratio * this.lengthB; + this.maxLengthA = C - this.ratio * b2PulleyJoint.b2_minPulleyLength; + this.maxLengthB = (C - b2PulleyJoint.b2_minPulleyLength) / this.ratio; + } + Box2D.inherit(b2RevoluteJoint, Box2D.Dynamics.Joints.b2Joint); + b2RevoluteJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2RevoluteJoint.b2RevoluteJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.K = new b2Mat22(); + this.K1 = new b2Mat22(); + this.K2 = new b2Mat22(); + this.K3 = new b2Mat22(); + this.impulse3 = new b2Vec3(); + this.impulse2 = new b2Vec2(); + this.reduced = new b2Vec2(); + this.m_localAnchor1 = new b2Vec2(); + this.m_localAnchor2 = new b2Vec2(); + this.m_impulse = new b2Vec3(); + this.m_mass = new b2Mat33(); + }; + b2RevoluteJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchor1); + } + b2RevoluteJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchor2); + } + b2RevoluteJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * this.m_impulse.x, inv_dt * this.m_impulse.y); + } + b2RevoluteJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return inv_dt * this.m_impulse.z; + } + b2RevoluteJoint.prototype.GetJointAngle = function () { + return this.m_bodyB.m_sweep.a - this.m_bodyA.m_sweep.a - this.m_referenceAngle; + } + b2RevoluteJoint.prototype.GetJointSpeed = function () { + return this.m_bodyB.m_angularVelocity - this.m_bodyA.m_angularVelocity; + } + b2RevoluteJoint.prototype.IsLimitEnabled = function () { + return this.m_enableLimit; + } + b2RevoluteJoint.prototype.EnableLimit = function (flag) { + this.m_enableLimit = flag; + } + b2RevoluteJoint.prototype.GetLowerLimit = function () { + return this.m_lowerAngle; + } + b2RevoluteJoint.prototype.GetUpperLimit = function () { + return this.m_upperAngle; + } + b2RevoluteJoint.prototype.SetLimits = function (lower, upper) { + if (lower === undefined) lower = 0; + if (upper === undefined) upper = 0; + this.m_lowerAngle = lower; + this.m_upperAngle = upper; + } + b2RevoluteJoint.prototype.IsMotorEnabled = function () { + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + return this.m_enableMotor; + } + b2RevoluteJoint.prototype.EnableMotor = function (flag) { + this.m_enableMotor = flag; + } + b2RevoluteJoint.prototype.SetMotorSpeed = function (speed) { + if (speed === undefined) speed = 0; + this.m_bodyA.SetAwake(true); + this.m_bodyB.SetAwake(true); + this.m_motorSpeed = speed; + } + b2RevoluteJoint.prototype.GetMotorSpeed = function () { + return this.m_motorSpeed; + } + b2RevoluteJoint.prototype.SetMaxMotorTorque = function (torque) { + if (torque === undefined) torque = 0; + this.m_maxMotorTorque = torque; + } + b2RevoluteJoint.prototype.GetMotorTorque = function () { + return this.m_maxMotorTorque; + } + b2RevoluteJoint.prototype.b2RevoluteJoint = function (def) { + this.__super.b2Joint.call(this, def); + this.m_localAnchor1.SetV(def.localAnchorA); + this.m_localAnchor2.SetV(def.localAnchorB); + this.m_referenceAngle = def.referenceAngle; + this.m_impulse.SetZero(); + this.m_motorImpulse = 0.0; + this.m_lowerAngle = def.lowerAngle; + this.m_upperAngle = def.upperAngle; + this.m_maxMotorTorque = def.maxMotorTorque; + this.m_motorSpeed = def.motorSpeed; + this.m_enableLimit = def.enableLimit; + this.m_enableMotor = def.enableMotor; + this.m_limitState = b2Joint.e_inactiveLimit; + } + b2RevoluteJoint.prototype.InitVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + var tX = 0; + if (this.m_enableMotor || this.m_enableLimit) {} + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var m1 = bA.m_invMass; + var m2 = bB.m_invMass; + var i1 = bA.m_invI; + var i2 = bB.m_invI; + this.m_mass.col1.x = m1 + m2 + r1Y * r1Y * i1 + r2Y * r2Y * i2; + this.m_mass.col2.x = (-r1Y * r1X * i1) - r2Y * r2X * i2; + this.m_mass.col3.x = (-r1Y * i1) - r2Y * i2; + this.m_mass.col1.y = this.m_mass.col2.x; + this.m_mass.col2.y = m1 + m2 + r1X * r1X * i1 + r2X * r2X * i2; + this.m_mass.col3.y = r1X * i1 + r2X * i2; + this.m_mass.col1.z = this.m_mass.col3.x; + this.m_mass.col2.z = this.m_mass.col3.y; + this.m_mass.col3.z = i1 + i2; + this.m_motorMass = 1.0 / (i1 + i2); + if (this.m_enableMotor == false) { + this.m_motorImpulse = 0.0; + } + if (this.m_enableLimit) { + var jointAngle = bB.m_sweep.a - bA.m_sweep.a - this.m_referenceAngle; + if (b2Math.Abs(this.m_upperAngle - this.m_lowerAngle) < 2.0 * b2Settings.b2_angularSlop) { + this.m_limitState = b2Joint.e_equalLimits; + } + else if (jointAngle <= this.m_lowerAngle) { + if (this.m_limitState != b2Joint.e_atLowerLimit) { + this.m_impulse.z = 0.0; + } + this.m_limitState = b2Joint.e_atLowerLimit; + } + else if (jointAngle >= this.m_upperAngle) { + if (this.m_limitState != b2Joint.e_atUpperLimit) { + this.m_impulse.z = 0.0; + } + this.m_limitState = b2Joint.e_atUpperLimit; + } + else { + this.m_limitState = b2Joint.e_inactiveLimit; + this.m_impulse.z = 0.0; + } + } + else { + this.m_limitState = b2Joint.e_inactiveLimit; + } + if (step.warmStarting) { + this.m_impulse.x *= step.dtRatio; + this.m_impulse.y *= step.dtRatio; + this.m_motorImpulse *= step.dtRatio; + var PX = this.m_impulse.x; + var PY = this.m_impulse.y; + bA.m_linearVelocity.x -= m1 * PX; + bA.m_linearVelocity.y -= m1 * PY; + bA.m_angularVelocity -= i1 * ((r1X * PY - r1Y * PX) + this.m_motorImpulse + this.m_impulse.z); + bB.m_linearVelocity.x += m2 * PX; + bB.m_linearVelocity.y += m2 * PY; + bB.m_angularVelocity += i2 * ((r2X * PY - r2Y * PX) + this.m_motorImpulse + this.m_impulse.z); + } + else { + this.m_impulse.SetZero(); + this.m_motorImpulse = 0.0; + } + } + b2RevoluteJoint.prototype.SolveVelocityConstraints = function (step) { + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var tMat; + var tX = 0; + var newImpulse = 0; + var r1X = 0; + var r1Y = 0; + var r2X = 0; + var r2Y = 0; + var v1 = bA.m_linearVelocity; + var w1 = bA.m_angularVelocity; + var v2 = bB.m_linearVelocity; + var w2 = bB.m_angularVelocity; + var m1 = bA.m_invMass; + var m2 = bB.m_invMass; + var i1 = bA.m_invI; + var i2 = bB.m_invI; + if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) { + var Cdot = w2 - w1 - this.m_motorSpeed; + var impulse = this.m_motorMass * ((-Cdot)); + var oldImpulse = this.m_motorImpulse; + var maxImpulse = step.dt * this.m_maxMotorTorque; + this.m_motorImpulse = b2Math.Clamp(this.m_motorImpulse + impulse, (-maxImpulse), maxImpulse); + impulse = this.m_motorImpulse - oldImpulse; + w1 -= i1 * impulse; + w2 += i2 * impulse; + } + if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { + tMat = bA.m_xf.R; + r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var Cdot1X = v2.x + ((-w2 * r2Y)) - v1.x - ((-w1 * r1Y)); + var Cdot1Y = v2.y + (w2 * r2X) - v1.y - (w1 * r1X); + var Cdot2 = w2 - w1; + this.m_mass.Solve33(this.impulse3, (-Cdot1X), (-Cdot1Y), (-Cdot2)); + if (this.m_limitState == b2Joint.e_equalLimits) { + this.m_impulse.Add(this.impulse3); + } + else if (this.m_limitState == b2Joint.e_atLowerLimit) { + newImpulse = this.m_impulse.z + this.impulse3.z; + if (newImpulse < 0.0) { + this.m_mass.Solve22(this.reduced, (-Cdot1X), (-Cdot1Y)); + this.impulse3.x = this.reduced.x; + this.impulse3.y = this.reduced.y; + this.impulse3.z = (-this.m_impulse.z); + this.m_impulse.x += this.reduced.x; + this.m_impulse.y += this.reduced.y; + this.m_impulse.z = 0.0; + } + } + else if (this.m_limitState == b2Joint.e_atUpperLimit) { + newImpulse = this.m_impulse.z + this.impulse3.z; + if (newImpulse > 0.0) { + this.m_mass.Solve22(this.reduced, (-Cdot1X), (-Cdot1Y)); + this.impulse3.x = this.reduced.x; + this.impulse3.y = this.reduced.y; + this.impulse3.z = (-this.m_impulse.z); + this.m_impulse.x += this.reduced.x; + this.m_impulse.y += this.reduced.y; + this.m_impulse.z = 0.0; + } + } + v1.x -= m1 * this.impulse3.x; + v1.y -= m1 * this.impulse3.y; + w1 -= i1 * (r1X * this.impulse3.y - r1Y * this.impulse3.x + this.impulse3.z); + v2.x += m2 * this.impulse3.x; + v2.y += m2 * this.impulse3.y; + w2 += i2 * (r2X * this.impulse3.y - r2Y * this.impulse3.x + this.impulse3.z); + } + else { + tMat = bA.m_xf.R; + r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var CdotX = v2.x + ((-w2 * r2Y)) - v1.x - ((-w1 * r1Y)); + var CdotY = v2.y + (w2 * r2X) - v1.y - (w1 * r1X); + this.m_mass.Solve22(this.impulse2, (-CdotX), (-CdotY)); + this.m_impulse.x += this.impulse2.x; + this.m_impulse.y += this.impulse2.y; + v1.x -= m1 * this.impulse2.x; + v1.y -= m1 * this.impulse2.y; + w1 -= i1 * (r1X * this.impulse2.y - r1Y * this.impulse2.x); + v2.x += m2 * this.impulse2.x; + v2.y += m2 * this.impulse2.y; + w2 += i2 * (r2X * this.impulse2.y - r2Y * this.impulse2.x); + } + bA.m_linearVelocity.SetV(v1); + bA.m_angularVelocity = w1; + bB.m_linearVelocity.SetV(v2); + bB.m_angularVelocity = w2; + } + b2RevoluteJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var oldLimitImpulse = 0; + var C = 0; + var tMat; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var angularError = 0.0; + var positionError = 0.0; + var tX = 0; + var impulseX = 0; + var impulseY = 0; + if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { + var angle = bB.m_sweep.a - bA.m_sweep.a - this.m_referenceAngle; + var limitImpulse = 0.0; + if (this.m_limitState == b2Joint.e_equalLimits) { + C = b2Math.Clamp(angle - this.m_lowerAngle, (-b2Settings.b2_maxAngularCorrection), b2Settings.b2_maxAngularCorrection); + limitImpulse = (-this.m_motorMass * C); + angularError = b2Math.Abs(C); + } + else if (this.m_limitState == b2Joint.e_atLowerLimit) { + C = angle - this.m_lowerAngle; + angularError = (-C); + C = b2Math.Clamp(C + b2Settings.b2_angularSlop, (-b2Settings.b2_maxAngularCorrection), 0.0); + limitImpulse = (-this.m_motorMass * C); + } + else if (this.m_limitState == b2Joint.e_atUpperLimit) { + C = angle - this.m_upperAngle; + angularError = C; + C = b2Math.Clamp(C - b2Settings.b2_angularSlop, 0.0, b2Settings.b2_maxAngularCorrection); + limitImpulse = (-this.m_motorMass * C); + } + bA.m_sweep.a -= bA.m_invI * limitImpulse; + bB.m_sweep.a += bB.m_invI * limitImpulse; + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + } { + tMat = bA.m_xf.R; + var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x; + var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y); + r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y); + r1X = tX; + tMat = bB.m_xf.R; + var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x; + var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y); + r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y); + r2X = tX; + var CX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X; + var CY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y; + var CLengthSquared = CX * CX + CY * CY; + var CLength = Math.sqrt(CLengthSquared); + positionError = CLength; + var invMass1 = bA.m_invMass; + var invMass2 = bB.m_invMass; + var invI1 = bA.m_invI; + var invI2 = bB.m_invI; + var k_allowedStretch = 10.0 * b2Settings.b2_linearSlop; + if (CLengthSquared > k_allowedStretch * k_allowedStretch) { + var uX = CX / CLength; + var uY = CY / CLength; + var k = invMass1 + invMass2; + var m = 1.0 / k; + impulseX = m * ((-CX)); + impulseY = m * ((-CY)); + var k_beta = 0.5; + bA.m_sweep.c.x -= k_beta * invMass1 * impulseX; + bA.m_sweep.c.y -= k_beta * invMass1 * impulseY; + bB.m_sweep.c.x += k_beta * invMass2 * impulseX; + bB.m_sweep.c.y += k_beta * invMass2 * impulseY; + CX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X; + CY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y; + } + this.K1.col1.x = invMass1 + invMass2; + this.K1.col2.x = 0.0; + this.K1.col1.y = 0.0; + this.K1.col2.y = invMass1 + invMass2; + this.K2.col1.x = invI1 * r1Y * r1Y; + this.K2.col2.x = (-invI1 * r1X * r1Y); + this.K2.col1.y = (-invI1 * r1X * r1Y); + this.K2.col2.y = invI1 * r1X * r1X; + this.K3.col1.x = invI2 * r2Y * r2Y; + this.K3.col2.x = (-invI2 * r2X * r2Y); + this.K3.col1.y = (-invI2 * r2X * r2Y); + this.K3.col2.y = invI2 * r2X * r2X; + this.K.SetM(this.K1); + this.K.AddM(this.K2); + this.K.AddM(this.K3); + this.K.Solve(b2RevoluteJoint.tImpulse, (-CX), (-CY)); + impulseX = b2RevoluteJoint.tImpulse.x; + impulseY = b2RevoluteJoint.tImpulse.y; + bA.m_sweep.c.x -= bA.m_invMass * impulseX; + bA.m_sweep.c.y -= bA.m_invMass * impulseY; + bA.m_sweep.a -= bA.m_invI * (r1X * impulseY - r1Y * impulseX); + bB.m_sweep.c.x += bB.m_invMass * impulseX; + bB.m_sweep.c.y += bB.m_invMass * impulseY; + bB.m_sweep.a += bB.m_invI * (r2X * impulseY - r2Y * impulseX); + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + } + return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop; + } + Box2D.postDefs.push(function () { + Box2D.Dynamics.Joints.b2RevoluteJoint.tImpulse = new b2Vec2(); + }); + Box2D.inherit(b2RevoluteJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2RevoluteJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2RevoluteJointDef.b2RevoluteJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.localAnchorA = new b2Vec2(); + this.localAnchorB = new b2Vec2(); + }; + b2RevoluteJointDef.prototype.b2RevoluteJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_revoluteJoint; + this.localAnchorA.Set(0.0, 0.0); + this.localAnchorB.Set(0.0, 0.0); + this.referenceAngle = 0.0; + this.lowerAngle = 0.0; + this.upperAngle = 0.0; + this.maxMotorTorque = 0.0; + this.motorSpeed = 0.0; + this.enableLimit = false; + this.enableMotor = false; + } + b2RevoluteJointDef.prototype.Initialize = function (bA, bB, anchor) { + this.bodyA = bA; + this.bodyB = bB; + this.localAnchorA = this.bodyA.GetLocalPoint(anchor); + this.localAnchorB = this.bodyB.GetLocalPoint(anchor); + this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle(); + } + Box2D.inherit(b2WeldJoint, Box2D.Dynamics.Joints.b2Joint); + b2WeldJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype; + b2WeldJoint.b2WeldJoint = function () { + Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments); + this.m_localAnchorA = new b2Vec2(); + this.m_localAnchorB = new b2Vec2(); + this.m_impulse = new b2Vec3(); + this.m_mass = new b2Mat33(); + }; + b2WeldJoint.prototype.GetAnchorA = function () { + return this.m_bodyA.GetWorldPoint(this.m_localAnchorA); + } + b2WeldJoint.prototype.GetAnchorB = function () { + return this.m_bodyB.GetWorldPoint(this.m_localAnchorB); + } + b2WeldJoint.prototype.GetReactionForce = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return new b2Vec2(inv_dt * this.m_impulse.x, inv_dt * this.m_impulse.y); + } + b2WeldJoint.prototype.GetReactionTorque = function (inv_dt) { + if (inv_dt === undefined) inv_dt = 0; + return inv_dt * this.m_impulse.z; + } + b2WeldJoint.prototype.b2WeldJoint = function (def) { + this.__super.b2Joint.call(this, def); + this.m_localAnchorA.SetV(def.localAnchorA); + this.m_localAnchorB.SetV(def.localAnchorB); + this.m_referenceAngle = def.referenceAngle; + this.m_impulse.SetZero(); + this.m_mass = new b2Mat33(); + } + b2WeldJoint.prototype.InitVelocityConstraints = function (step) { + var tMat; + var tX = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + tMat = bA.m_xf.R; + var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x; + var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * rAX + tMat.col2.x * rAY); + rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY); + rAX = tX; + tMat = bB.m_xf.R; + var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x; + var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * rBX + tMat.col2.x * rBY); + rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY); + rBX = tX; + var mA = bA.m_invMass; + var mB = bB.m_invMass; + var iA = bA.m_invI; + var iB = bB.m_invI; + this.m_mass.col1.x = mA + mB + rAY * rAY * iA + rBY * rBY * iB; + this.m_mass.col2.x = (-rAY * rAX * iA) - rBY * rBX * iB; + this.m_mass.col3.x = (-rAY * iA) - rBY * iB; + this.m_mass.col1.y = this.m_mass.col2.x; + this.m_mass.col2.y = mA + mB + rAX * rAX * iA + rBX * rBX * iB; + this.m_mass.col3.y = rAX * iA + rBX * iB; + this.m_mass.col1.z = this.m_mass.col3.x; + this.m_mass.col2.z = this.m_mass.col3.y; + this.m_mass.col3.z = iA + iB; + if (step.warmStarting) { + this.m_impulse.x *= step.dtRatio; + this.m_impulse.y *= step.dtRatio; + this.m_impulse.z *= step.dtRatio; + bA.m_linearVelocity.x -= mA * this.m_impulse.x; + bA.m_linearVelocity.y -= mA * this.m_impulse.y; + bA.m_angularVelocity -= iA * (rAX * this.m_impulse.y - rAY * this.m_impulse.x + this.m_impulse.z); + bB.m_linearVelocity.x += mB * this.m_impulse.x; + bB.m_linearVelocity.y += mB * this.m_impulse.y; + bB.m_angularVelocity += iB * (rBX * this.m_impulse.y - rBY * this.m_impulse.x + this.m_impulse.z); + } + else { + this.m_impulse.SetZero(); + } + } + b2WeldJoint.prototype.SolveVelocityConstraints = function (step) { + var tMat; + var tX = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + var vA = bA.m_linearVelocity; + var wA = bA.m_angularVelocity; + var vB = bB.m_linearVelocity; + var wB = bB.m_angularVelocity; + var mA = bA.m_invMass; + var mB = bB.m_invMass; + var iA = bA.m_invI; + var iB = bB.m_invI; + tMat = bA.m_xf.R; + var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x; + var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * rAX + tMat.col2.x * rAY); + rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY); + rAX = tX; + tMat = bB.m_xf.R; + var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x; + var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * rBX + tMat.col2.x * rBY); + rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY); + rBX = tX; + var Cdot1X = vB.x - wB * rBY - vA.x + wA * rAY; + var Cdot1Y = vB.y + wB * rBX - vA.y - wA * rAX; + var Cdot2 = wB - wA; + var impulse = new b2Vec3(); + this.m_mass.Solve33(impulse, (-Cdot1X), (-Cdot1Y), (-Cdot2)); + this.m_impulse.Add(impulse); + vA.x -= mA * impulse.x; + vA.y -= mA * impulse.y; + wA -= iA * (rAX * impulse.y - rAY * impulse.x + impulse.z); + vB.x += mB * impulse.x; + vB.y += mB * impulse.y; + wB += iB * (rBX * impulse.y - rBY * impulse.x + impulse.z); + bA.m_angularVelocity = wA; + bB.m_angularVelocity = wB; + } + b2WeldJoint.prototype.SolvePositionConstraints = function (baumgarte) { + if (baumgarte === undefined) baumgarte = 0; + var tMat; + var tX = 0; + var bA = this.m_bodyA; + var bB = this.m_bodyB; + tMat = bA.m_xf.R; + var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x; + var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y; + tX = (tMat.col1.x * rAX + tMat.col2.x * rAY); + rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY); + rAX = tX; + tMat = bB.m_xf.R; + var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x; + var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y; + tX = (tMat.col1.x * rBX + tMat.col2.x * rBY); + rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY); + rBX = tX; + var mA = bA.m_invMass; + var mB = bB.m_invMass; + var iA = bA.m_invI; + var iB = bB.m_invI; + var C1X = bB.m_sweep.c.x + rBX - bA.m_sweep.c.x - rAX; + var C1Y = bB.m_sweep.c.y + rBY - bA.m_sweep.c.y - rAY; + var C2 = bB.m_sweep.a - bA.m_sweep.a - this.m_referenceAngle; + var k_allowedStretch = 10.0 * b2Settings.b2_linearSlop; + var positionError = Math.sqrt(C1X * C1X + C1Y * C1Y); + var angularError = b2Math.Abs(C2); + if (positionError > k_allowedStretch) { + iA *= 1.0; + iB *= 1.0; + } + this.m_mass.col1.x = mA + mB + rAY * rAY * iA + rBY * rBY * iB; + this.m_mass.col2.x = (-rAY * rAX * iA) - rBY * rBX * iB; + this.m_mass.col3.x = (-rAY * iA) - rBY * iB; + this.m_mass.col1.y = this.m_mass.col2.x; + this.m_mass.col2.y = mA + mB + rAX * rAX * iA + rBX * rBX * iB; + this.m_mass.col3.y = rAX * iA + rBX * iB; + this.m_mass.col1.z = this.m_mass.col3.x; + this.m_mass.col2.z = this.m_mass.col3.y; + this.m_mass.col3.z = iA + iB; + var impulse = new b2Vec3(); + this.m_mass.Solve33(impulse, (-C1X), (-C1Y), (-C2)); + bA.m_sweep.c.x -= mA * impulse.x; + bA.m_sweep.c.y -= mA * impulse.y; + bA.m_sweep.a -= iA * (rAX * impulse.y - rAY * impulse.x + impulse.z); + bB.m_sweep.c.x += mB * impulse.x; + bB.m_sweep.c.y += mB * impulse.y; + bB.m_sweep.a += iB * (rBX * impulse.y - rBY * impulse.x + impulse.z); + bA.SynchronizeTransform(); + bB.SynchronizeTransform(); + return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop; + } + Box2D.inherit(b2WeldJointDef, Box2D.Dynamics.Joints.b2JointDef); + b2WeldJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype; + b2WeldJointDef.b2WeldJointDef = function () { + Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments); + this.localAnchorA = new b2Vec2(); + this.localAnchorB = new b2Vec2(); + }; + b2WeldJointDef.prototype.b2WeldJointDef = function () { + this.__super.b2JointDef.call(this); + this.type = b2Joint.e_weldJoint; + this.referenceAngle = 0.0; + } + b2WeldJointDef.prototype.Initialize = function (bA, bB, anchor) { + this.bodyA = bA; + this.bodyB = bB; + this.localAnchorA.SetV(this.bodyA.GetLocalPoint(anchor)); + this.localAnchorB.SetV(this.bodyB.GetLocalPoint(anchor)); + this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle(); + } +})(); +(function () { + var b2DebugDraw = Box2D.Dynamics.b2DebugDraw; + b2DebugDraw.b2DebugDraw = function () { + this.m_drawScale = 1.0; + this.m_lineThickness = 1.0; + this.m_alpha = 1.0; + this.m_fillAlpha = 1.0; + this.m_xformScale = 1.0; + var __this = this; + //#WORKAROUND + this.m_sprite = { + graphics: { + clear: function () + { + + //__this.m_ctx.clearRect(0, 0, __this.m_ctx.canvas.width, __this.m_ctx.canvas.height) + //__this.m_ctx.translate(100, 100); + } + } + }; + }; + b2DebugDraw.prototype._color = function (color, alpha) { + return "rgba(" + ((color & 0xFF0000) >> 16) + "," + ((color & 0xFF00) >> 8) + "," + (color & 0xFF) + "," + alpha + ")"; + }; + b2DebugDraw.prototype.b2DebugDraw = function () { + this.m_drawFlags = 0; + }; + b2DebugDraw.prototype.SetFlags = function (flags) { + if (flags === undefined) flags = 0; + this.m_drawFlags = flags; + }; + b2DebugDraw.prototype.GetFlags = function () { + return this.m_drawFlags; + }; + b2DebugDraw.prototype.AppendFlags = function (flags) { + if (flags === undefined) flags = 0; + this.m_drawFlags |= flags; + }; + b2DebugDraw.prototype.ClearFlags = function (flags) { + if (flags === undefined) flags = 0; + this.m_drawFlags &= ~flags; + }; + b2DebugDraw.prototype.SetSprite = function (sprite) { + this.m_ctx = sprite; + }; + b2DebugDraw.prototype.GetSprite = function () { + return this.m_ctx; + }; + b2DebugDraw.prototype.SetDrawScale = function (drawScale) { + if (drawScale === undefined) drawScale = 0; + this.m_drawScale = drawScale; + }; + b2DebugDraw.prototype.GetDrawScale = function () { + return this.m_drawScale; + }; + b2DebugDraw.prototype.SetLineThickness = function (lineThickness) { + if (lineThickness === undefined) lineThickness = 0; + this.m_lineThickness = lineThickness; + this.m_ctx.strokeWidth = lineThickness; + }; + b2DebugDraw.prototype.GetLineThickness = function () { + return this.m_lineThickness; + }; + b2DebugDraw.prototype.SetAlpha = function (alpha) { + if (alpha === undefined) alpha = 0; + this.m_alpha = alpha; + }; + b2DebugDraw.prototype.GetAlpha = function () { + return this.m_alpha; + }; + b2DebugDraw.prototype.SetFillAlpha = function (alpha) { + if (alpha === undefined) alpha = 0; + this.m_fillAlpha = alpha; + }; + b2DebugDraw.prototype.GetFillAlpha = function () { + return this.m_fillAlpha; + }; + b2DebugDraw.prototype.SetXFormScale = function (xformScale) { + if (xformScale === undefined) xformScale = 0; + this.m_xformScale = xformScale; + }; + b2DebugDraw.prototype.GetXFormScale = function () { + return this.m_xformScale; + }; + b2DebugDraw.prototype.DrawPolygon = function (vertices, vertexCount, color) { + if (!vertexCount) return; + var s = this.m_ctx; + var drawScale = this.m_drawScale; + s.beginPath(); + s.strokeStyle = this._color(color.color, this.m_alpha); + s.moveTo(vertices[0].x * drawScale, vertices[0].y * drawScale); + for (var i = 1; i < vertexCount; i++) { + s.lineTo(vertices[i].x * drawScale, vertices[i].y * drawScale); + } + s.lineTo(vertices[0].x * drawScale, vertices[0].y * drawScale); + s.closePath(); + s.stroke(); + }; + b2DebugDraw.prototype.DrawSolidPolygon = function (vertices, vertexCount, color) { + if (!vertexCount) return; + var s = this.m_ctx; + var drawScale = this.m_drawScale; + s.beginPath(); + s.strokeStyle = this._color(color.color, this.m_alpha); + s.fillStyle = this._color(color.color, this.m_fillAlpha); + s.moveTo(vertices[0].x * drawScale, vertices[0].y * drawScale); + for (var i = 1; i < vertexCount; i++) { + s.lineTo(vertices[i].x * drawScale, vertices[i].y * drawScale); + } + s.lineTo(vertices[0].x * drawScale, vertices[0].y * drawScale); + s.closePath(); + s.fill(); + s.stroke(); + }; + b2DebugDraw.prototype.DrawCircle = function (center, radius, color) { + if (!radius) return; + var s = this.m_ctx; + var drawScale = this.m_drawScale; + s.beginPath(); + s.strokeStyle = this._color(color.color, this.m_alpha); + s.arc(center.x * drawScale, center.y * drawScale, radius * drawScale, 0, Math.PI * 2, true); + s.closePath(); + s.stroke(); + }; + b2DebugDraw.prototype.DrawSolidCircle = function (center, radius, axis, color) { + if (!radius) return; + var s = this.m_ctx, + drawScale = this.m_drawScale, + cx = center.x * drawScale, + cy = center.y * drawScale; + s.moveTo(0, 0); + s.beginPath(); + s.strokeStyle = this._color(color.color, this.m_alpha); + s.fillStyle = this._color(color.color, this.m_fillAlpha); + s.arc(cx, cy, radius * drawScale, 0, Math.PI * 2, true); + s.moveTo(cx, cy); + s.lineTo((center.x + axis.x * radius) * drawScale, (center.y + axis.y * radius) * drawScale); + s.closePath(); + s.fill(); + s.stroke(); + }; + b2DebugDraw.prototype.DrawSegment = function (p1, p2, color) { + var s = this.m_ctx, + drawScale = this.m_drawScale; + s.strokeStyle = this._color(color.color, this.m_alpha); + s.beginPath(); + s.moveTo(p1.x * drawScale, p1.y * drawScale); + s.lineTo(p2.x * drawScale, p2.y * drawScale); + s.closePath(); + s.stroke(); + }; + b2DebugDraw.prototype.DrawTransform = function (xf) { + var s = this.m_ctx, + drawScale = this.m_drawScale; + s.beginPath(); + s.strokeStyle = this._color(0xff0000, this.m_alpha); + s.moveTo(xf.position.x * drawScale, xf.position.y * drawScale); + s.lineTo((xf.position.x + this.m_xformScale * xf.R.col1.x) * drawScale, (xf.position.y + this.m_xformScale * xf.R.col1.y) * drawScale); + + s.strokeStyle = this._color(0xff00, this.m_alpha); + s.moveTo(xf.position.x * drawScale, xf.position.y * drawScale); + s.lineTo((xf.position.x + this.m_xformScale * xf.R.col2.x) * drawScale, (xf.position.y + this.m_xformScale * xf.R.col2.y) * drawScale); + s.closePath(); + s.stroke(); + }; +})(); //post-definitions +var i; +for (i = 0; i < Box2D.postDefs.length; ++i) Box2D.postDefs[i](); +delete Box2D.postDefs; \ No newline at end of file diff --git a/worms/external/Box2dWeb-2.1.a.3.min.js b/worms/external/Box2dWeb-2.1.a.3.min.js new file mode 100644 index 0000000..f005184 --- /dev/null +++ b/worms/external/Box2dWeb-2.1.a.3.min.js @@ -0,0 +1,445 @@ +var Box2D={}; +(function(F,G){function K(){}if(!(Object.prototype.defineProperty instanceof Function)&&Object.prototype.__defineGetter__ instanceof Function&&Object.prototype.__defineSetter__ instanceof Function)Object.defineProperty=function(y,w,A){A.get instanceof Function&&y.__defineGetter__(w,A.get);A.set instanceof Function&&y.__defineSetter__(w,A.set)};F.inherit=function(y,w){K.prototype=w.prototype;y.prototype=new K;y.prototype.constructor=y};F.generateCallback=function(y,w){return function(){w.apply(y,arguments)}}; +F.NVector=function(y){if(y===G)y=0;for(var w=Array(y||0),A=0;A=0&&b>=0)&&this.lowerBound.IsValid()&&this.upperBound.IsValid()};B.prototype.GetCenter=function(){return new p((this.lowerBound.x+ +this.upperBound.x)/2,(this.lowerBound.y+this.upperBound.y)/2)};B.prototype.GetExtents=function(){return new p((this.upperBound.x-this.lowerBound.x)/2,(this.upperBound.y-this.lowerBound.y)/2)};B.prototype.Contains=function(b){var e=true;return e=(e=(e=(e=e&&this.lowerBound.x<=b.lowerBound.x)&&this.lowerBound.y<=b.lowerBound.y)&&b.upperBound.x<=this.upperBound.x)&&b.upperBound.y<=this.upperBound.y};B.prototype.RayCast=function(b,e){var f=-Number.MAX_VALUE,m=Number.MAX_VALUE,r=e.p1.x,s=e.p1.y,v=e.p2.x- +e.p1.x,t=e.p2.y-e.p1.y,x=Math.abs(t),C=b.normal,J=0,T=0,P=J=0;P=0;if(Math.abs(v)J){P=T;T=J;J=P;P=1}if(T>f){C.x=P;C.y=0;f=T}m=Math.min(m,J);if(f>m)return false}if(xJ){P=T;T=J;J=P;P=1}if(T>f){C.y=P;C.x=0;f= +T}m=Math.min(m,J);if(f>m)return false}b.fraction=f;return true};B.prototype.TestOverlap=function(b){var e=b.lowerBound.y-this.upperBound.y,f=this.lowerBound.y-b.upperBound.y;if(b.lowerBound.x-this.upperBound.x>0||e>0)return false;if(this.lowerBound.x-b.upperBound.x>0||f>0)return false;return true};B.Combine=function(b,e){var f=new B;f.Combine(b,e);return f};B.prototype.Combine=function(b,e){this.lowerBound.x=Math.min(b.lowerBound.x,e.lowerBound.x);this.lowerBound.y=Math.min(b.lowerBound.y,e.lowerBound.y); +this.upperBound.x=Math.max(b.upperBound.x,e.upperBound.x);this.upperBound.y=Math.max(b.upperBound.y,e.upperBound.y)};Q.b2Bound=function(){};Q.prototype.IsLower=function(){return(this.value&1)==0};Q.prototype.IsUpper=function(){return(this.value&1)==1};Q.prototype.Swap=function(b){var e=this.value,f=this.proxy,m=this.stabbingCount;this.value=b.value;this.proxy=b.proxy;this.stabbingCount=b.stabbingCount;b.value=e;b.proxy=f;b.stabbingCount=m};V.b2BoundValues=function(){};V.prototype.b2BoundValues=function(){this.lowerValues= +new Vector_a2j_Number;this.lowerValues[0]=0;this.lowerValues[1]=0;this.upperValues=new Vector_a2j_Number;this.upperValues[0]=0;this.upperValues[1]=0};M.b2Collision=function(){};M.ClipSegmentToLine=function(b,e,f,m){if(m===undefined)m=0;var r,s=0;r=e[0];var v=r.v;r=e[1];var t=r.v,x=f.x*v.x+f.y*v.y-m;r=f.x*t.x+f.y*t.y-m;x<=0&&b[s++].Set(e[0]);r<=0&&b[s++].Set(e[1]);if(x*r<0){f=x/(x-r);r=b[s];r=r.v;r.x=v.x+f*(t.x-v.x);r.y=v.y+f*(t.y-v.y);r=b[s];r.id=(x>0?e[0]:e[1]).id;++s}return s};M.EdgeSeparation= +function(b,e,f,m,r){if(f===undefined)f=0;parseInt(b.m_vertexCount);var s=b.m_vertices;b=b.m_normals;var v=parseInt(m.m_vertexCount),t=m.m_vertices,x,C;x=e.R;C=b[f];b=x.col1.x*C.x+x.col2.x*C.y;m=x.col1.y*C.x+x.col2.y*C.y;x=r.R;var J=x.col1.x*b+x.col1.y*m;x=x.col2.x*b+x.col2.y*m;for(var T=0,P=Number.MAX_VALUE,X=0;XT){T=t;C=P}}v=M.EdgeSeparation(e,f,C,m,r);t=parseInt(C-1>=0?C-1:s-1);x=M.EdgeSeparation(e,f,t,m,r);J=parseInt(C+1v&&x>T){$=-1;P=t;X=x}else if(T>v){$=1;P=J;X=T}else{b[0]=C;return v}for(;;){C=$==-1?P-1>=0?P-1:s-1:P+1X){P=C;X=v}else break}b[0]=P;return X};M.FindIncidentEdge=function(b,e,f,m,r,s){if(m===undefined)m=0;parseInt(e.m_vertexCount);var v=e.m_normals,t=parseInt(r.m_vertexCount); +e=r.m_vertices;r=r.m_normals;var x;x=f.R;f=v[m];v=x.col1.x*f.x+x.col2.x*f.y;var C=x.col1.y*f.x+x.col2.y*f.y;x=s.R;f=x.col1.x*v+x.col1.y*C;C=x.col2.x*v+x.col2.y*C;v=f;x=0;for(var J=Number.MAX_VALUE,T=0;Tv)){var x=0;M.s_edgeBO[0]=x;var C=M.FindMaxSeparation(M.s_edgeBO, +m,r,e,f);x=M.s_edgeBO[0];if(!(C>v)){var J=0,T=0;if(C>0.98*t+0.0010){t=m;m=e;e=r;f=f;J=x;b.m_type=E.e_faceB;T=1}else{t=e;m=m;e=f;f=r;J=s;b.m_type=E.e_faceA;T=0}s=M.s_incidentEdge;M.FindIncidentEdge(s,t,e,J,m,f);x=parseInt(t.m_vertexCount);r=t.m_vertices;t=r[J];var P;P=J+1s*s)){b.m_type=E.e_circles;b.m_localPoint.SetV(e.m_p);b.m_localPlaneNormal.SetZero();b.m_pointCount=1;b.m_points[0].m_localPoint.SetV(m.m_p);b.m_points[0].m_id.key=0}};M.CollidePolygonAndCircle=function(b,e,f,m,r){var s=b.m_pointCount=0,v=0,t,x;x=r.R;t=m.m_p;var C=r.position.y+(x.col1.y*t.x+x.col2.y*t.y);s=r.position.x+(x.col1.x*t.x+x.col2.x*t.y)-f.position.x;v=C-f.position.y;x=f.R;f=s* +x.col1.x+v*x.col1.y;x=s*x.col2.x+v*x.col2.y;var J=0;C=-Number.MAX_VALUE;r=e.m_radius+m.m_radius;var T=parseInt(e.m_vertexCount),P=e.m_vertices;e=e.m_normals;for(var X=0;Xr)return;if(s>C){C=s;J=X}}s=parseInt(J);v=parseInt(s+1r*r)return;b.m_pointCount=1;b.m_type=E.e_faceA;b.m_localPlaneNormal.x=f-t.x;b.m_localPlaneNormal.y=x-t.y;b.m_localPlaneNormal.Normalize();b.m_localPoint.SetV(t)}else if(C<=0){if((f-P.x)*(f-P.x)+(x-P.y)*(x-P.y)>r*r)return;b.m_pointCount=1;b.m_type=E.e_faceA;b.m_localPlaneNormal.x=f-P.x;b.m_localPlaneNormal.y=x-P.y;b.m_localPlaneNormal.Normalize();b.m_localPoint.SetV(P)}else{J=0.5*(t.x+P.x);t=0.5*(t.y+P.y);C=(f-J)*e[s].x+ +(x-t)*e[s].y;if(C>r)return;b.m_pointCount=1;b.m_type=E.e_faceA;b.m_localPlaneNormal.x=e[s].x;b.m_localPlaneNormal.y=e[s].y;b.m_localPlaneNormal.Normalize();b.m_localPoint.Set(J,t)}}b.m_points[0].m_localPoint.SetV(m.m_p);b.m_points[0].m_id.key=0};M.TestOverlap=function(b,e){var f=e.lowerBound,m=b.upperBound,r=f.x-m.x,s=f.y-m.y;f=b.lowerBound;m=e.upperBound;var v=f.y-m.y;if(r>0||s>0)return false;if(f.x-m.x>0||v>0)return false;return true};Box2D.postDefs.push(function(){Box2D.Collision.b2Collision.s_incidentEdge= +M.MakeClipPointVector();Box2D.Collision.b2Collision.s_clipPoints1=M.MakeClipPointVector();Box2D.Collision.b2Collision.s_clipPoints2=M.MakeClipPointVector();Box2D.Collision.b2Collision.s_edgeAO=new Vector_a2j_Number(1);Box2D.Collision.b2Collision.s_edgeBO=new Vector_a2j_Number(1);Box2D.Collision.b2Collision.s_localTangent=new p;Box2D.Collision.b2Collision.s_localNormal=new p;Box2D.Collision.b2Collision.s_planePoint=new p;Box2D.Collision.b2Collision.s_normal=new p;Box2D.Collision.b2Collision.s_tangent= +new p;Box2D.Collision.b2Collision.s_tangent2=new p;Box2D.Collision.b2Collision.s_v11=new p;Box2D.Collision.b2Collision.s_v12=new p;Box2D.Collision.b2Collision.b2CollidePolyTempVec=new p;Box2D.Collision.b2Collision.b2_nullFeature=255});L.b2ContactID=function(){this.features=new c};L.prototype.b2ContactID=function(){this.features._m_id=this};L.prototype.Set=function(b){this.key=b._key};L.prototype.Copy=function(){var b=new L;b.key=this.key;return b};Object.defineProperty(L.prototype,"key",{enumerable:false, +configurable:true,get:function(){return this._key}});Object.defineProperty(L.prototype,"key",{enumerable:false,configurable:true,set:function(b){if(b===undefined)b=0;this._key=b;this.features._referenceEdge=this._key&255;this.features._incidentEdge=(this._key&65280)>>8&255;this.features._incidentVertex=(this._key&16711680)>>16&255;this.features._flip=(this._key&4278190080)>>24&255}});I.b2ContactPoint=function(){this.position=new p;this.velocity=new p;this.normal=new p;this.id=new L};W.b2Distance= +function(){};W.Distance=function(b,e,f){++W.b2_gjkCalls;var m=f.proxyA,r=f.proxyB,s=f.transformA,v=f.transformB,t=W.s_simplex;t.ReadCache(e,m,s,r,v);var x=t.m_vertices,C=W.s_saveA,J=W.s_saveB,T=0;t.GetClosestPoint().LengthSquared();for(var P=0,X,$=0;$<20;){T=t.m_count;for(P=0;Pe+r&&b.distance>Number.MIN_VALUE){b.distance-=e+r;f=w.SubtractVV(b.pointB,b.pointA);f.Normalize();b.pointA.x+=e*f.x;b.pointA.y+=e*f.y;b.pointB.x-=r*f.x;b.pointB.y-=r*f.y}else{X=new p;X.x=0.5*(b.pointA.x+b.pointB.x);X.y=0.5*(b.pointA.y+b.pointB.y);b.pointA.x=b.pointB.x=X.x;b.pointA.y=b.pointB.y=X.y;b.distance=0}}};Box2D.postDefs.push(function(){Box2D.Collision.b2Distance.s_simplex=new h;Box2D.Collision.b2Distance.s_saveA= +new Vector_a2j_Number(3);Box2D.Collision.b2Distance.s_saveB=new Vector_a2j_Number(3)});Y.b2DistanceInput=function(){};k.b2DistanceOutput=function(){this.pointA=new p;this.pointB=new p};z.b2DistanceProxy=function(){};z.prototype.Set=function(b){switch(b.GetType()){case K.e_circleShape:b=b instanceof F?b:null;this.m_vertices=new Vector(1,true);this.m_vertices[0]=b.m_p;this.m_count=1;this.m_radius=b.m_radius;break;case K.e_polygonShape:b=b instanceof G?b:null;this.m_vertices=b.m_vertices;this.m_count= +b.m_vertexCount;this.m_radius=b.m_radius;break;default:y.b2Assert(false)}};z.prototype.GetSupport=function(b){for(var e=0,f=this.m_vertices[0].x*b.x+this.m_vertices[0].y*b.y,m=1;mf){e=m;f=r}}return e};z.prototype.GetSupportVertex=function(b){for(var e=0,f=this.m_vertices[0].x*b.x+this.m_vertices[0].y*b.y,m=1;mf){e=m;f=r}}return this.m_vertices[e]}; +z.prototype.GetVertexCount=function(){return this.m_count};z.prototype.GetVertex=function(b){if(b===undefined)b=0;y.b2Assert(0<=b&&b0?f.x:-f.x);f=y.b2_aabbExtension+y.b2_aabbMultiplier*(f.y>0?f.y:-f.y);b.aabb.lowerBound.x=e.lowerBound.x-m;b.aabb.lowerBound.y=e.lowerBound.y-f;b.aabb.upperBound.x=e.upperBound.x+ +m;b.aabb.upperBound.y=e.upperBound.y+f;this.InsertLeaf(b);return true};u.prototype.Rebalance=function(b){if(b===undefined)b=0;if(this.m_root!=null)for(var e=0;e>m&1?f.child2:f.child1;m=m+1&31}++this.m_path;this.RemoveLeaf(f);this.InsertLeaf(f)}};u.prototype.GetFatAABB=function(b){return b.aabb};u.prototype.GetUserData=function(b){return b.userData};u.prototype.Query=function(b,e){if(this.m_root!=null){var f=new Vector,m=0;for(f[m++]= +this.m_root;m>0;){var r=f[--m];if(r.aabb.TestOverlap(e))if(r.IsLeaf()){if(!b(r))break}else{f[m++]=r.child1;f[m++]=r.child2}}}};u.prototype.RayCast=function(b,e){if(this.m_root!=null){var f=e.p1,m=e.p2,r=w.SubtractVV(f,m);r.Normalize();r=w.CrossFV(1,r);var s=w.AbsV(r),v=e.maxFraction,t=new B,x=0,C=0;x=f.x+v*(m.x-f.x);C=f.y+v*(m.y-f.y);t.lowerBound.x=Math.min(f.x,x);t.lowerBound.y=Math.min(f.y,C);t.upperBound.x=Math.max(f.x,x);t.upperBound.y=Math.max(f.y,C);var J=new Vector,T=0;for(J[T++]=this.m_root;T> +0;){v=J[--T];if(v.aabb.TestOverlap(t)!=false){x=v.aabb.GetCenter();C=v.aabb.GetExtents();if(!(Math.abs(r.x*(f.x-x.x)+r.y*(f.y-x.y))-s.x*C.x-s.y*C.y>0))if(v.IsLeaf()){x=new S;x.p1=e.p1;x.p2=e.p2;x.maxFraction=e.maxFraction;v=b(x,v);if(v==0)break;if(v>0){x=f.x+v*(m.x-f.x);C=f.y+v*(m.y-f.y);t.lowerBound.x=Math.min(f.x,x);t.lowerBound.y=Math.min(f.y,C);t.upperBound.x=Math.max(f.x,x);t.upperBound.y=Math.max(f.y,C)}}else{J[T++]=v.child1;J[T++]=v.child2}}}}};u.prototype.AllocateNode=function(){if(this.m_freeList){var b= +this.m_freeList;this.m_freeList=b.parent;b.parent=null;b.child1=null;b.child2=null;return b}return new H};u.prototype.FreeNode=function(b){b.parent=this.m_freeList;this.m_freeList=b};u.prototype.InsertLeaf=function(b){++this.m_insertionCount;if(this.m_root==null){this.m_root=b;this.m_root.parent=null}else{var e=b.aabb.GetCenter(),f=this.m_root;if(f.IsLeaf()==false){do{var m=f.child1;f=f.child2;f=Math.abs((m.aabb.lowerBound.x+m.aabb.upperBound.x)/2-e.x)+Math.abs((m.aabb.lowerBound.y+m.aabb.upperBound.y)/ +2-e.y)=m?t:m;++e.m_pairCount;return true}, +r)}for(f=e.m_moveBuffer.length=0;fx){var J=r.x-this.p1.x,T=r.y-this.p1.y;r=J*f+T*t;if(0<=r&&r<=m*C){m=-s*T+v*J;if(-x*C<=m&&m<=C*(1+x)){r/=C;m=Math.sqrt(f*f+t*t);f/=m;t/=m;b[0]=r;e.Set(f, +t);return true}}}return false};Z.prototype.Extend=function(b){this.ExtendForward(b);this.ExtendBackward(b)};Z.prototype.ExtendForward=function(b){var e=this.p2.x-this.p1.x,f=this.p2.y-this.p1.y;b=Math.min(e>0?(b.upperBound.x-this.p1.x)/e:e<0?(b.lowerBound.x-this.p1.x)/e:Number.POSITIVE_INFINITY,f>0?(b.upperBound.y-this.p1.y)/f:f<0?(b.lowerBound.y-this.p1.y)/f:Number.POSITIVE_INFINITY);this.p2.x=this.p1.x+e*b;this.p2.y=this.p1.y+f*b};Z.prototype.ExtendBackward=function(b){var e=-this.p2.x+this.p1.x, +f=-this.p2.y+this.p1.y;b=Math.min(e>0?(b.upperBound.x-this.p2.x)/e:e<0?(b.lowerBound.x-this.p2.x)/e:Number.POSITIVE_INFINITY,f>0?(b.upperBound.y-this.p2.y)/f:f<0?(b.lowerBound.y-this.p2.y)/f:Number.POSITIVE_INFINITY);this.p1.x=this.p2.x+e*b;this.p1.y=this.p2.y+f*b};d.b2SeparationFunction=function(){this.m_localPoint=new p;this.m_axis=new p};d.prototype.Initialize=function(b,e,f,m,r){this.m_proxyA=e;this.m_proxyB=m;var s=parseInt(b.count);y.b2Assert(01){b=b.metric;s=this.GetMetric();if(s<0.5*b||2*b0?w.CrossFV(1,b):w.CrossVF(b,1);default:y.b2Assert(false);return new p}};h.prototype.GetClosestPoint= +function(){switch(this.m_count){case 0:y.b2Assert(false);return new p;case 1:return this.m_v1.w;case 2:return new p(this.m_v1.a*this.m_v1.w.x+this.m_v2.a*this.m_v2.w.x,this.m_v1.a*this.m_v1.w.y+this.m_v2.a*this.m_v2.w.y);default:y.b2Assert(false);return new p}};h.prototype.GetWitnessPoints=function(b,e){switch(this.m_count){case 0:y.b2Assert(false);break;case 1:b.SetV(this.m_v1.wA);e.SetV(this.m_v1.wB);break;case 2:b.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x;b.y=this.m_v1.a*this.m_v1.wA.y+ +this.m_v2.a*this.m_v2.wA.y;e.x=this.m_v1.a*this.m_v1.wB.x+this.m_v2.a*this.m_v2.wB.x;e.y=this.m_v1.a*this.m_v1.wB.y+this.m_v2.a*this.m_v2.wB.y;break;case 3:e.x=b.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x+this.m_v3.a*this.m_v3.wA.x;e.y=b.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y+this.m_v3.a*this.m_v3.wA.y;break;default:y.b2Assert(false)}};h.prototype.GetMetric=function(){switch(this.m_count){case 0:y.b2Assert(false);return 0;case 1:return 0;case 2:return w.SubtractVV(this.m_v1.w, +this.m_v2.w).Length();case 3:return w.CrossVV(w.SubtractVV(this.m_v2.w,this.m_v1.w),w.SubtractVV(this.m_v3.w,this.m_v1.w));default:y.b2Assert(false);return 0}};h.prototype.Solve2=function(){var b=this.m_v1.w,e=this.m_v2.w,f=w.SubtractVV(e,b);b=-(b.x*f.x+b.y*f.y);if(b<=0)this.m_count=this.m_v1.a=1;else{e=e.x*f.x+e.y*f.y;if(e<=0){this.m_count=this.m_v2.a=1;this.m_v1.Set(this.m_v2)}else{f=1/(e+b);this.m_v1.a=e*f;this.m_v2.a=b*f;this.m_count=2}}};h.prototype.Solve3=function(){var b=this.m_v1.w,e=this.m_v2.w, +f=this.m_v3.w,m=w.SubtractVV(e,b),r=w.Dot(b,m),s=w.Dot(e,m);r=-r;var v=w.SubtractVV(f,b),t=w.Dot(b,v),x=w.Dot(f,v);t=-t;var C=w.SubtractVV(f,e),J=w.Dot(e,C);C=w.Dot(f,C);J=-J;v=w.CrossVV(m,v);m=v*w.CrossVV(e,f);f=v*w.CrossVV(f,b);b=v*w.CrossVV(b,e);if(r<=0&&t<=0)this.m_count=this.m_v1.a=1;else if(s>0&&r>0&&b<=0){x=1/(s+r);this.m_v1.a=s*x;this.m_v2.a=r*x;this.m_count=2}else if(x>0&&t>0&&f<=0){s=1/(x+t);this.m_v1.a=x*s;this.m_v3.a=t*s;this.m_count=2;this.m_v2.Set(this.m_v3)}else if(s<=0&&J<=0){this.m_count= +this.m_v2.a=1;this.m_v1.Set(this.m_v2)}else if(x<=0&&C<=0){this.m_count=this.m_v3.a=1;this.m_v1.Set(this.m_v3)}else if(C>0&&J>0&&m<=0){s=1/(C+J);this.m_v2.a=C*s;this.m_v3.a=J*s;this.m_count=2;this.m_v1.Set(this.m_v3)}else{s=1/(m+f+b);this.m_v1.a=m*s;this.m_v2.a=f*s;this.m_v3.a=b*s;this.m_count=3}};l.b2SimplexCache=function(){this.indexA=new Vector_a2j_Number(3);this.indexB=new Vector_a2j_Number(3)};j.b2SimplexVertex=function(){};j.prototype.Set=function(b){this.wA.SetV(b.wA);this.wB.SetV(b.wB);this.w.SetV(b.w); +this.a=b.a;this.indexA=b.indexA;this.indexB=b.indexB};o.b2TimeOfImpact=function(){};o.TimeOfImpact=function(b){++o.b2_toiCalls;var e=b.proxyA,f=b.proxyB,m=b.sweepA,r=b.sweepB;y.b2Assert(m.t0==r.t0);y.b2Assert(1-m.t0>Number.MIN_VALUE);var s=e.m_radius+f.m_radius;b=b.tolerance;var v=0,t=0,x=0;o.s_cache.count=0;for(o.s_distanceInput.useRadii=false;;){m.GetTransform(o.s_xfA,v);r.GetTransform(o.s_xfB,v);o.s_distanceInput.proxyA=e;o.s_distanceInput.proxyB=f;o.s_distanceInput.transformA=o.s_xfA;o.s_distanceInput.transformB= +o.s_xfB;W.Distance(o.s_distanceOutput,o.s_cache,o.s_distanceInput);if(o.s_distanceOutput.distance<=0){v=1;break}o.s_fcn.Initialize(o.s_cache,e,o.s_xfA,f,o.s_xfB);var C=o.s_fcn.Evaluate(o.s_xfA,o.s_xfB);if(C<=0){v=1;break}if(t==0)x=C>s?w.Max(s-b,0.75*s):w.Max(C-b,0.02*s);if(C-x<0.5*b){if(t==0){v=1;break}break}var J=v,T=v,P=1;C=C;m.GetTransform(o.s_xfA,P);r.GetTransform(o.s_xfB,P);var X=o.s_fcn.Evaluate(o.s_xfA,o.s_xfB);if(X>=x){v=1;break}for(var $=0;;){var ba=0;ba=$&1?T+(x-C)*(P-T)/(X-C):0.5*(T+P); +m.GetTransform(o.s_xfA,ba);r.GetTransform(o.s_xfB,ba);var ca=o.s_fcn.Evaluate(o.s_xfA,o.s_xfB);if(w.Abs(ca-x)<0.025*b){J=ba;break}if(ca>x){T=ba;C=ca}else{P=ba;X=ca}++$;++o.b2_toiRootIters;if($==50)break}o.b2_toiMaxRootIters=w.Max(o.b2_toiMaxRootIters,$);if(J<(1+100*Number.MIN_VALUE)*v)break;v=J;t++;++o.b2_toiIters;if(t==1E3)break}o.b2_toiMaxIters=w.Max(o.b2_toiMaxIters,t);return v};Box2D.postDefs.push(function(){Box2D.Collision.b2TimeOfImpact.b2_toiCalls=0;Box2D.Collision.b2TimeOfImpact.b2_toiIters= +0;Box2D.Collision.b2TimeOfImpact.b2_toiMaxIters=0;Box2D.Collision.b2TimeOfImpact.b2_toiRootIters=0;Box2D.Collision.b2TimeOfImpact.b2_toiMaxRootIters=0;Box2D.Collision.b2TimeOfImpact.s_cache=new l;Box2D.Collision.b2TimeOfImpact.s_distanceInput=new Y;Box2D.Collision.b2TimeOfImpact.s_xfA=new U;Box2D.Collision.b2TimeOfImpact.s_xfB=new U;Box2D.Collision.b2TimeOfImpact.s_fcn=new d;Box2D.Collision.b2TimeOfImpact.s_distanceOutput=new k});q.b2TOIInput=function(){this.proxyA=new z;this.proxyB=new z;this.sweepA= +new A;this.sweepB=new A};n.b2WorldManifold=function(){this.m_normal=new p};n.prototype.b2WorldManifold=function(){this.m_points=new Vector(y.b2_maxManifoldPoints);for(var b=0;bNumber.MIN_VALUE*Number.MIN_VALUE){x=Math.sqrt(x);this.m_normal.x=v/x;this.m_normal.y=t/x}else{this.m_normal.x=1;this.m_normal.y=0}v=e+f*this.m_normal.y;m=m-r*this.m_normal.y;this.m_points[0].x=0.5*(s+f*this.m_normal.x+(b-r*this.m_normal.x));this.m_points[0].y=0.5*(v+m);break;case E.e_faceA:t=e.R;v=b.m_localPlaneNormal;x=t.col1.x*v.x+t.col2.x*v.y;C=t.col1.y* +v.x+t.col2.y*v.y;t=e.R;v=b.m_localPoint;J=e.position.x+t.col1.x*v.x+t.col2.x*v.y;T=e.position.y+t.col1.y*v.x+t.col2.y*v.y;this.m_normal.x=x;this.m_normal.y=C;for(s=0;sthis.m_radius){D.SetV(u);return Math.PI*this.m_radius*this.m_radius}z=this.m_radius*this.m_radius;var O=H*H;H=z*(Math.asin(H/this.m_radius)+Math.PI/2)+H*Math.sqrt(z-O);z=-2/3*Math.pow(z-O,1.5)/H;D.x=u.x+k.x*z;D.y=u.y+k.y*z;return H};G.prototype.GetLocalPosition= +function(){return this.m_p};G.prototype.SetLocalPosition=function(k){this.m_p.SetV(k)};G.prototype.GetRadius=function(){return this.m_radius};G.prototype.SetRadius=function(k){if(k===undefined)k=0;this.m_radius=k};G.prototype.b2CircleShape=function(k){if(k===undefined)k=0;this.__super.b2Shape.call(this);this.m_type=U.e_circleShape;this.m_radius=k};K.b2EdgeChainDef=function(){};K.prototype.b2EdgeChainDef=function(){this.vertexCount=0;this.isALoop=true;this.vertices=[]};Box2D.inherit(y,Box2D.Collision.Shapes.b2Shape); +y.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype;y.b2EdgeShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments);this.s_supportVec=new V;this.m_v1=new V;this.m_v2=new V;this.m_coreV1=new V;this.m_coreV2=new V;this.m_normal=new V;this.m_direction=new V;this.m_cornerDir1=new V;this.m_cornerDir2=new V};y.prototype.TestPoint=function(){return false};y.prototype.RayCast=function(k,z,u){var D,H=z.p2.x-z.p1.x,O=z.p2.y-z.p1.y;D=u.R;var E=u.position.x+(D.col1.x*this.m_v1.x+ +D.col2.x*this.m_v1.y),R=u.position.y+(D.col1.y*this.m_v1.x+D.col2.y*this.m_v1.y),N=u.position.y+(D.col1.y*this.m_v2.x+D.col2.y*this.m_v2.y)-R;u=-(u.position.x+(D.col1.x*this.m_v2.x+D.col2.x*this.m_v2.y)-E);D=100*Number.MIN_VALUE;var S=-(H*N+O*u);if(S>D){E=z.p1.x-E;var aa=z.p1.y-R;R=E*N+aa*u;if(0<=R&&R<=z.maxFraction*S){z=-H*aa+O*E;if(-D*S<=z&&z<=S*(1+D)){R/=S;k.fraction=R;z=Math.sqrt(N*N+u*u);k.normal.x=N/z;k.normal.y=u/z;return true}}}return false};y.prototype.ComputeAABB=function(k,z){var u=z.R, +D=z.position.x+(u.col1.x*this.m_v1.x+u.col2.x*this.m_v1.y),H=z.position.y+(u.col1.y*this.m_v1.x+u.col2.y*this.m_v1.y),O=z.position.x+(u.col1.x*this.m_v2.x+u.col2.x*this.m_v2.y);u=z.position.y+(u.col1.y*this.m_v2.x+u.col2.y*this.m_v2.y);if(D0)if(k>0)return 0;else{O.x=-k/(E-k)*O.x+E/(E-k)*u.x;O.y=-k/(E-k)*O.y+E/(E-k)*u.y}else if(k>0){u.x=-k/(E-k)*O.x+E/(E-k)*u.x;u.y=-k/(E-k)*O.y+E/(E-k)*u.y}D.x=(H.x+O.x+u.x)/3;D.y=(H.y+O.y+u.y)/3;return 0.5*((O.x-H.x)*(u.y-H.y)-(O.y-H.y)*(u.x-H.x))};y.prototype.GetLength=function(){return this.m_length};y.prototype.GetVertex1=function(){return this.m_v1};y.prototype.GetVertex2= +function(){return this.m_v2};y.prototype.GetCoreVertex1=function(){return this.m_coreV1};y.prototype.GetCoreVertex2=function(){return this.m_coreV2};y.prototype.GetNormalVector=function(){return this.m_normal};y.prototype.GetDirectionVector=function(){return this.m_direction};y.prototype.GetCorner1Vector=function(){return this.m_cornerDir1};y.prototype.GetCorner2Vector=function(){return this.m_cornerDir2};y.prototype.Corner1IsConvex=function(){return this.m_cornerConvex1};y.prototype.Corner2IsConvex= +function(){return this.m_cornerConvex2};y.prototype.GetFirstVertex=function(k){var z=k.R;return new V(k.position.x+(z.col1.x*this.m_coreV1.x+z.col2.x*this.m_coreV1.y),k.position.y+(z.col1.y*this.m_coreV1.x+z.col2.y*this.m_coreV1.y))};y.prototype.GetNextEdge=function(){return this.m_nextEdge};y.prototype.GetPrevEdge=function(){return this.m_prevEdge};y.prototype.Support=function(k,z,u){if(z===undefined)z=0;if(u===undefined)u=0;var D=k.R,H=k.position.x+(D.col1.x*this.m_coreV1.x+D.col2.x*this.m_coreV1.y), +O=k.position.y+(D.col1.y*this.m_coreV1.x+D.col2.y*this.m_coreV1.y),E=k.position.x+(D.col1.x*this.m_coreV2.x+D.col2.x*this.m_coreV2.y);k=k.position.y+(D.col1.y*this.m_coreV2.x+D.col2.y*this.m_coreV2.y);if(H*z+O*u>E*z+k*u){this.s_supportVec.x=H;this.s_supportVec.y=O}else{this.s_supportVec.x=E;this.s_supportVec.y=k}return this.s_supportVec};y.prototype.b2EdgeShape=function(k,z){this.__super.b2Shape.call(this);this.m_type=U.e_edgeShape;this.m_nextEdge=this.m_prevEdge=null;this.m_v1=k;this.m_v2=z;this.m_direction.Set(this.m_v2.x- +this.m_v1.x,this.m_v2.y-this.m_v1.y);this.m_length=this.m_direction.Normalize();this.m_normal.Set(this.m_direction.y,-this.m_direction.x);this.m_coreV1.Set(-F.b2_toiSlop*(this.m_normal.x-this.m_direction.x)+this.m_v1.x,-F.b2_toiSlop*(this.m_normal.y-this.m_direction.y)+this.m_v1.y);this.m_coreV2.Set(-F.b2_toiSlop*(this.m_normal.x+this.m_direction.x)+this.m_v2.x,-F.b2_toiSlop*(this.m_normal.y+this.m_direction.y)+this.m_v2.y);this.m_cornerDir1=this.m_normal;this.m_cornerDir2.Set(-this.m_normal.x,-this.m_normal.y)}; +y.prototype.SetPrevEdge=function(k,z,u,D){this.m_prevEdge=k;this.m_coreV1=z;this.m_cornerDir1=u;this.m_cornerConvex1=D};y.prototype.SetNextEdge=function(k,z,u,D){this.m_nextEdge=k;this.m_coreV2=z;this.m_cornerDir2=u;this.m_cornerConvex2=D};w.b2MassData=function(){this.mass=0;this.center=new V(0,0);this.I=0};Box2D.inherit(A,Box2D.Collision.Shapes.b2Shape);A.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype;A.b2PolygonShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments)}; +A.prototype.Copy=function(){var k=new A;k.Set(this);return k};A.prototype.Set=function(k){this.__super.Set.call(this,k);if(Box2D.is(k,A)){k=k instanceof A?k:null;this.m_centroid.SetV(k.m_centroid);this.m_vertexCount=k.m_vertexCount;this.Reserve(this.m_vertexCount);for(var z=0;zNumber.MIN_VALUE);this.m_normals[u].SetV(B.CrossVF(D, +1));this.m_normals[u].Normalize()}this.m_centroid=A.ComputeCentroid(this.m_vertices,this.m_vertexCount)};A.AsVector=function(k,z){if(z===undefined)z=0;var u=new A;u.SetAsVector(k,z);return u};A.prototype.SetAsBox=function(k,z){if(k===undefined)k=0;if(z===undefined)z=0;this.m_vertexCount=4;this.Reserve(4);this.m_vertices[0].Set(-k,-z);this.m_vertices[1].Set(k,-z);this.m_vertices[2].Set(k,z);this.m_vertices[3].Set(-k,z);this.m_normals[0].Set(0,-1);this.m_normals[1].Set(1,0);this.m_normals[2].Set(0, +1);this.m_normals[3].Set(-1,0);this.m_centroid.SetZero()};A.AsBox=function(k,z){if(k===undefined)k=0;if(z===undefined)z=0;var u=new A;u.SetAsBox(k,z);return u};A.prototype.SetAsOrientedBox=function(k,z,u,D){if(k===undefined)k=0;if(z===undefined)z=0;if(u===undefined)u=null;if(D===undefined)D=0;this.m_vertexCount=4;this.Reserve(4);this.m_vertices[0].Set(-k,-z);this.m_vertices[1].Set(k,-z);this.m_vertices[2].Set(k,z);this.m_vertices[3].Set(-k,z);this.m_normals[0].Set(0,-1);this.m_normals[1].Set(1,0); +this.m_normals[2].Set(0,1);this.m_normals[3].Set(-1,0);this.m_centroid=u;k=new Q;k.position=u;k.R.Set(D);for(u=0;u0)return false}return true};A.prototype.RayCast=function(k,z,u){var D=0,H=z.maxFraction,O=0,E=0,R,N;O=z.p1.x-u.position.x;E=z.p1.y-u.position.y;R=u.R;var S=O*R.col1.x+E*R.col1.y,aa=O*R.col2.x+E*R.col2.y;O=z.p2.x-u.position.x;E=z.p2.y-u.position.y;R=u.R;z=O*R.col1.x+E*R.col1.y-S;R=O*R.col2.x+E*R.col2.y-aa;for(var Z=parseInt(-1),d=0;d0&&O=0){k.fraction=D;R=u.R;N=this.m_normals[Z];k.normal.x=R.col1.x*N.x+R.col2.x*N.y;k.normal.y=R.col1.y*N.x+R.col2.y*N.y;return true}return false};A.prototype.ComputeAABB=function(k,z){for(var u=z.R,D=this.m_vertices[0],H=z.position.x+(u.col1.x*D.x+u.col2.x*D.y),O=z.position.y+(u.col1.y*D.x+u.col2.y*D.y),E=H,R=O,N=1;NS?E:S;R=R>D?R:D}k.lowerBound.x=H-this.m_radius;k.lowerBound.y=O-this.m_radius;k.upperBound.x=E+this.m_radius;k.upperBound.y=R+this.m_radius};A.prototype.ComputeMass=function(k,z){if(z===undefined)z=0;if(this.m_vertexCount==2){k.center.x=0.5*(this.m_vertices[0].x+this.m_vertices[1].x);k.center.y=0.5*(this.m_vertices[0].y+this.m_vertices[1].y);k.mass=0;k.I=0}else{for(var u=0,D=0,H=0,O=0,E=1/3,R=0;R0)if(aa){if(!S){N=k-1;R++}}else if(S){z=k-1;R++}S=aa}switch(R){case 0:if(S){k=new w;this.ComputeMass(k,1);D.SetV(B.MulX(u,k.center));return k.mass}else return 0;case 1:if(N==-1)N=this.m_vertexCount-1;else z=this.m_vertexCount-1}k=parseInt((N+1)%this.m_vertexCount);H=parseInt((z+1)%this.m_vertexCount);O=(0-E[N])/(E[k]-E[N]);E=(0-E[z])/(E[H]-E[z]);N=new V(this.m_vertices[N].x* +(1-O)+this.m_vertices[k].x*O,this.m_vertices[N].y*(1-O)+this.m_vertices[k].y*O);z=new V(this.m_vertices[z].x*(1-E)+this.m_vertices[H].x*E,this.m_vertices[z].y*(1-E)+this.m_vertices[H].y*E);E=0;O=new V;R=this.m_vertices[k];for(k=k;k!=H;){k=(k+1)%this.m_vertexCount;S=k==H?z:this.m_vertices[k];aa=0.5*((R.x-N.x)*(S.y-N.y)-(R.y-N.y)*(S.x-N.x));E+=aa;O.x+=aa*(N.x+R.x+S.x)/3;O.y+=aa*(N.y+R.y+S.y)/3;R=S}O.Multiply(1/E);D.SetV(B.MulX(u,O));return E};A.prototype.GetVertexCount=function(){return this.m_vertexCount}; +A.prototype.GetVertices=function(){return this.m_vertices};A.prototype.GetNormals=function(){return this.m_normals};A.prototype.GetSupport=function(k){for(var z=0,u=this.m_vertices[0].x*k.x+this.m_vertices[0].y*k.y,D=1;Du){z=D;u=H}}return z};A.prototype.GetSupportVertex=function(k){for(var z=0,u=this.m_vertices[0].x*k.x+this.m_vertices[0].y*k.y,D=1;Du){z=D;u=H}}return this.m_vertices[z]};A.prototype.Validate=function(){return false};A.prototype.b2PolygonShape=function(){this.__super.b2Shape.call(this);this.m_type=U.e_polygonShape;this.m_centroid=new V;this.m_vertices=new Vector;this.m_normals=new Vector};A.prototype.Reserve=function(k){if(k===undefined)k=0;for(var z=parseInt(this.m_vertices.length);zd)d=q;if(j>h)h=j}l=(d-N)*(h-Z);if(l<0.95*z){z=l;k.R.col1.x=E;k.R.col1.y=R;k.R.col2.x=S;k.R.col2.y=aa;E=0.5*(N+d);R=0.5*(Z+h);S=k.R;k.center.x=O.x+(S.col1.x*E+S.col2.x*R);k.center.y=O.y+(S.col1.y*E+S.col2.y*R);k.extents.x=0.5*(d-N);k.extents.y=0.5*(h-Z)}}};Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2PolygonShape.s_mat=new p});U.b2Shape=function(){};U.prototype.Copy=function(){return null};U.prototype.Set=function(k){this.m_radius= +k.m_radius};U.prototype.GetType=function(){return this.m_type};U.prototype.TestPoint=function(){return false};U.prototype.RayCast=function(){return false};U.prototype.ComputeAABB=function(){};U.prototype.ComputeMass=function(){};U.prototype.ComputeSubmergedArea=function(){return 0};U.TestOverlap=function(k,z,u,D){var H=new L;H.proxyA=new W;H.proxyA.Set(k);H.proxyB=new W;H.proxyB.Set(u);H.transformA=z;H.transformB=D;H.useRadii=true;k=new Y;k.count=0;z=new I;M.Distance(z,k,H);return z.distance<10*Number.MIN_VALUE}; +U.prototype.b2Shape=function(){this.m_type=U.e_unknownShape;this.m_radius=F.b2_linearSlop};Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2Shape.e_unknownShape=parseInt(-1);Box2D.Collision.Shapes.b2Shape.e_circleShape=0;Box2D.Collision.Shapes.b2Shape.e_polygonShape=1;Box2D.Collision.Shapes.b2Shape.e_edgeShape=2;Box2D.Collision.Shapes.b2Shape.e_shapeTypeCount=3;Box2D.Collision.Shapes.b2Shape.e_hitCollide=1;Box2D.Collision.Shapes.b2Shape.e_missCollide=0;Box2D.Collision.Shapes.b2Shape.e_startsInsideCollide= +parseInt(-1)})})(); +(function(){var F=Box2D.Common.b2Color,G=Box2D.Common.b2Settings,K=Box2D.Common.Math.b2Math;F.b2Color=function(){this._b=this._g=this._r=0};F.prototype.b2Color=function(y,w,A){if(y===undefined)y=0;if(w===undefined)w=0;if(A===undefined)A=0;this._r=Box2D.parseUInt(255*K.Clamp(y,0,1));this._g=Box2D.parseUInt(255*K.Clamp(w,0,1));this._b=Box2D.parseUInt(255*K.Clamp(A,0,1))};F.prototype.Set=function(y,w,A){if(y===undefined)y=0;if(w===undefined)w=0;if(A===undefined)A=0;this._r=Box2D.parseUInt(255*K.Clamp(y, +0,1));this._g=Box2D.parseUInt(255*K.Clamp(w,0,1));this._b=Box2D.parseUInt(255*K.Clamp(A,0,1))};Object.defineProperty(F.prototype,"r",{enumerable:false,configurable:true,set:function(y){if(y===undefined)y=0;this._r=Box2D.parseUInt(255*K.Clamp(y,0,1))}});Object.defineProperty(F.prototype,"g",{enumerable:false,configurable:true,set:function(y){if(y===undefined)y=0;this._g=Box2D.parseUInt(255*K.Clamp(y,0,1))}});Object.defineProperty(F.prototype,"b",{enumerable:false,configurable:true,set:function(y){if(y=== +undefined)y=0;this._b=Box2D.parseUInt(255*K.Clamp(y,0,1))}});Object.defineProperty(F.prototype,"color",{enumerable:false,configurable:true,get:function(){return this._r<<16|this._g<<8|this._b}});G.b2Settings=function(){};G.b2MixFriction=function(y,w){if(y===undefined)y=0;if(w===undefined)w=0;return Math.sqrt(y*w)};G.b2MixRestitution=function(y,w){if(y===undefined)y=0;if(w===undefined)w=0;return y>w?y:w};G.b2Assert=function(y){if(!y)throw"Assertion Failed";};Box2D.postDefs.push(function(){Box2D.Common.b2Settings.VERSION= +"2.1alpha";Box2D.Common.b2Settings.USHRT_MAX=65535;Box2D.Common.b2Settings.b2_pi=Math.PI;Box2D.Common.b2Settings.b2_maxManifoldPoints=2;Box2D.Common.b2Settings.b2_aabbExtension=0.1;Box2D.Common.b2Settings.b2_aabbMultiplier=2;Box2D.Common.b2Settings.b2_polygonRadius=2*G.b2_linearSlop;Box2D.Common.b2Settings.b2_linearSlop=0.0050;Box2D.Common.b2Settings.b2_angularSlop=2/180*G.b2_pi;Box2D.Common.b2Settings.b2_toiSlop=8*G.b2_linearSlop;Box2D.Common.b2Settings.b2_maxTOIContactsPerIsland=32;Box2D.Common.b2Settings.b2_maxTOIJointsPerIsland= +32;Box2D.Common.b2Settings.b2_velocityThreshold=1;Box2D.Common.b2Settings.b2_maxLinearCorrection=0.2;Box2D.Common.b2Settings.b2_maxAngularCorrection=8/180*G.b2_pi;Box2D.Common.b2Settings.b2_maxTranslation=2;Box2D.Common.b2Settings.b2_maxTranslationSquared=G.b2_maxTranslation*G.b2_maxTranslation;Box2D.Common.b2Settings.b2_maxRotation=0.5*G.b2_pi;Box2D.Common.b2Settings.b2_maxRotationSquared=G.b2_maxRotation*G.b2_maxRotation;Box2D.Common.b2Settings.b2_contactBaumgarte=0.2;Box2D.Common.b2Settings.b2_timeToSleep= +0.5;Box2D.Common.b2Settings.b2_linearSleepTolerance=0.01;Box2D.Common.b2Settings.b2_angularSleepTolerance=2/180*G.b2_pi})})(); +(function(){var F=Box2D.Common.Math.b2Mat22,G=Box2D.Common.Math.b2Mat33,K=Box2D.Common.Math.b2Math,y=Box2D.Common.Math.b2Sweep,w=Box2D.Common.Math.b2Transform,A=Box2D.Common.Math.b2Vec2,U=Box2D.Common.Math.b2Vec3;F.b2Mat22=function(){this.col1=new A;this.col2=new A};F.prototype.b2Mat22=function(){this.SetIdentity()};F.FromAngle=function(p){if(p===undefined)p=0;var B=new F;B.Set(p);return B};F.FromVV=function(p,B){var Q=new F;Q.SetVV(p,B);return Q};F.prototype.Set=function(p){if(p===undefined)p=0; +var B=Math.cos(p);p=Math.sin(p);this.col1.x=B;this.col2.x=-p;this.col1.y=p;this.col2.y=B};F.prototype.SetVV=function(p,B){this.col1.SetV(p);this.col2.SetV(B)};F.prototype.Copy=function(){var p=new F;p.SetM(this);return p};F.prototype.SetM=function(p){this.col1.SetV(p.col1);this.col2.SetV(p.col2)};F.prototype.AddM=function(p){this.col1.x+=p.col1.x;this.col1.y+=p.col1.y;this.col2.x+=p.col2.x;this.col2.y+=p.col2.y};F.prototype.SetIdentity=function(){this.col1.x=1;this.col2.x=0;this.col1.y=0;this.col2.y= +1};F.prototype.SetZero=function(){this.col1.x=0;this.col2.x=0;this.col1.y=0;this.col2.y=0};F.prototype.GetAngle=function(){return Math.atan2(this.col1.y,this.col1.x)};F.prototype.GetInverse=function(p){var B=this.col1.x,Q=this.col2.x,V=this.col1.y,M=this.col2.y,L=B*M-Q*V;if(L!=0)L=1/L;p.col1.x=L*M;p.col2.x=-L*Q;p.col1.y=-L*V;p.col2.y=L*B;return p};F.prototype.Solve=function(p,B,Q){if(B===undefined)B=0;if(Q===undefined)Q=0;var V=this.col1.x,M=this.col2.x,L=this.col1.y,I=this.col2.y,W=V*I-M*L;if(W!= +0)W=1/W;p.x=W*(I*B-M*Q);p.y=W*(V*Q-L*B);return p};F.prototype.Abs=function(){this.col1.Abs();this.col2.Abs()};G.b2Mat33=function(){this.col1=new U;this.col2=new U;this.col3=new U};G.prototype.b2Mat33=function(p,B,Q){if(p===undefined)p=null;if(B===undefined)B=null;if(Q===undefined)Q=null;if(!p&&!B&&!Q){this.col1.SetZero();this.col2.SetZero();this.col3.SetZero()}else{this.col1.SetV(p);this.col2.SetV(B);this.col3.SetV(Q)}};G.prototype.SetVVV=function(p,B,Q){this.col1.SetV(p);this.col2.SetV(B);this.col3.SetV(Q)}; +G.prototype.Copy=function(){return new G(this.col1,this.col2,this.col3)};G.prototype.SetM=function(p){this.col1.SetV(p.col1);this.col2.SetV(p.col2);this.col3.SetV(p.col3)};G.prototype.AddM=function(p){this.col1.x+=p.col1.x;this.col1.y+=p.col1.y;this.col1.z+=p.col1.z;this.col2.x+=p.col2.x;this.col2.y+=p.col2.y;this.col2.z+=p.col2.z;this.col3.x+=p.col3.x;this.col3.y+=p.col3.y;this.col3.z+=p.col3.z};G.prototype.SetIdentity=function(){this.col1.x=1;this.col2.x=0;this.col3.x=0;this.col1.y=0;this.col2.y= +1;this.col3.y=0;this.col1.z=0;this.col2.z=0;this.col3.z=1};G.prototype.SetZero=function(){this.col1.x=0;this.col2.x=0;this.col3.x=0;this.col1.y=0;this.col2.y=0;this.col3.y=0;this.col1.z=0;this.col2.z=0;this.col3.z=0};G.prototype.Solve22=function(p,B,Q){if(B===undefined)B=0;if(Q===undefined)Q=0;var V=this.col1.x,M=this.col2.x,L=this.col1.y,I=this.col2.y,W=V*I-M*L;if(W!=0)W=1/W;p.x=W*(I*B-M*Q);p.y=W*(V*Q-L*B);return p};G.prototype.Solve33=function(p,B,Q,V){if(B===undefined)B=0;if(Q===undefined)Q=0; +if(V===undefined)V=0;var M=this.col1.x,L=this.col1.y,I=this.col1.z,W=this.col2.x,Y=this.col2.y,k=this.col2.z,z=this.col3.x,u=this.col3.y,D=this.col3.z,H=M*(Y*D-k*u)+L*(k*z-W*D)+I*(W*u-Y*z);if(H!=0)H=1/H;p.x=H*(B*(Y*D-k*u)+Q*(k*z-W*D)+V*(W*u-Y*z));p.y=H*(M*(Q*D-V*u)+L*(V*z-B*D)+I*(B*u-Q*z));p.z=H*(M*(Y*V-k*Q)+L*(k*B-W*V)+I*(W*Q-Y*B));return p};K.b2Math=function(){};K.IsValid=function(p){if(p===undefined)p=0;return isFinite(p)};K.Dot=function(p,B){return p.x*B.x+p.y*B.y};K.CrossVV=function(p,B){return p.x* +B.y-p.y*B.x};K.CrossVF=function(p,B){if(B===undefined)B=0;return new A(B*p.y,-B*p.x)};K.CrossFV=function(p,B){if(p===undefined)p=0;return new A(-p*B.y,p*B.x)};K.MulMV=function(p,B){return new A(p.col1.x*B.x+p.col2.x*B.y,p.col1.y*B.x+p.col2.y*B.y)};K.MulTMV=function(p,B){return new A(K.Dot(B,p.col1),K.Dot(B,p.col2))};K.MulX=function(p,B){var Q=K.MulMV(p.R,B);Q.x+=p.position.x;Q.y+=p.position.y;return Q};K.MulXT=function(p,B){var Q=K.SubtractVV(B,p.position),V=Q.x*p.R.col1.x+Q.y*p.R.col1.y;Q.y=Q.x* +p.R.col2.x+Q.y*p.R.col2.y;Q.x=V;return Q};K.AddVV=function(p,B){return new A(p.x+B.x,p.y+B.y)};K.SubtractVV=function(p,B){return new A(p.x-B.x,p.y-B.y)};K.Distance=function(p,B){var Q=p.x-B.x,V=p.y-B.y;return Math.sqrt(Q*Q+V*V)};K.DistanceSquared=function(p,B){var Q=p.x-B.x,V=p.y-B.y;return Q*Q+V*V};K.MulFV=function(p,B){if(p===undefined)p=0;return new A(p*B.x,p*B.y)};K.AddMM=function(p,B){return F.FromVV(K.AddVV(p.col1,B.col1),K.AddVV(p.col2,B.col2))};K.MulMM=function(p,B){return F.FromVV(K.MulMV(p, +B.col1),K.MulMV(p,B.col2))};K.MulTMM=function(p,B){var Q=new A(K.Dot(p.col1,B.col1),K.Dot(p.col2,B.col1)),V=new A(K.Dot(p.col1,B.col2),K.Dot(p.col2,B.col2));return F.FromVV(Q,V)};K.Abs=function(p){if(p===undefined)p=0;return p>0?p:-p};K.AbsV=function(p){return new A(K.Abs(p.x),K.Abs(p.y))};K.AbsM=function(p){return F.FromVV(K.AbsV(p.col1),K.AbsV(p.col2))};K.Min=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;return pB?p:B};K.MaxV=function(p,B){return new A(K.Max(p.x,B.x),K.Max(p.y,B.y))};K.Clamp=function(p,B,Q){if(p===undefined)p=0;if(B===undefined)B=0;if(Q===undefined)Q=0;return pQ?Q:p};K.ClampV=function(p,B,Q){return K.MaxV(B,K.MinV(p,Q))};K.Swap=function(p,B){var Q=p[0];p[0]=B[0];B[0]=Q};K.Random=function(){return Math.random()*2-1};K.RandomRange=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;var Q=Math.random();return Q= +(B-p)*Q+p};K.NextPowerOfTwo=function(p){if(p===undefined)p=0;p|=p>>1&2147483647;p|=p>>2&1073741823;p|=p>>4&268435455;p|=p>>8&16777215;p|=p>>16&65535;return p+1};K.IsPowerOfTwo=function(p){if(p===undefined)p=0;return p>0&&(p&p-1)==0};Box2D.postDefs.push(function(){Box2D.Common.Math.b2Math.b2Vec2_zero=new A(0,0);Box2D.Common.Math.b2Math.b2Mat22_identity=F.FromVV(new A(1,0),new A(0,1));Box2D.Common.Math.b2Math.b2Transform_identity=new w(K.b2Vec2_zero,K.b2Mat22_identity)});y.b2Sweep=function(){this.localCenter= +new A;this.c0=new A;this.c=new A};y.prototype.Set=function(p){this.localCenter.SetV(p.localCenter);this.c0.SetV(p.c0);this.c.SetV(p.c);this.a0=p.a0;this.a=p.a;this.t0=p.t0};y.prototype.Copy=function(){var p=new y;p.localCenter.SetV(this.localCenter);p.c0.SetV(this.c0);p.c.SetV(this.c);p.a0=this.a0;p.a=this.a;p.t0=this.t0;return p};y.prototype.GetTransform=function(p,B){if(B===undefined)B=0;p.position.x=(1-B)*this.c0.x+B*this.c.x;p.position.y=(1-B)*this.c0.y+B*this.c.y;p.R.Set((1-B)*this.a0+B*this.a); +var Q=p.R;p.position.x-=Q.col1.x*this.localCenter.x+Q.col2.x*this.localCenter.y;p.position.y-=Q.col1.y*this.localCenter.x+Q.col2.y*this.localCenter.y};y.prototype.Advance=function(p){if(p===undefined)p=0;if(this.t0Number.MIN_VALUE){var B=(p-this.t0)/(1-this.t0);this.c0.x=(1-B)*this.c0.x+B*this.c.x;this.c0.y=(1-B)*this.c0.y+B*this.c.y;this.a0=(1-B)*this.a0+B*this.a;this.t0=p}};w.b2Transform=function(){this.position=new A;this.R=new F};w.prototype.b2Transform=function(p,B){if(p===undefined)p= +null;if(B===undefined)B=null;if(p){this.position.SetV(p);this.R.SetM(B)}};w.prototype.Initialize=function(p,B){this.position.SetV(p);this.R.SetM(B)};w.prototype.SetIdentity=function(){this.position.SetZero();this.R.SetIdentity()};w.prototype.Set=function(p){this.position.SetV(p.position);this.R.SetM(p.R)};w.prototype.GetAngle=function(){return Math.atan2(this.R.col1.y,this.R.col1.x)};A.b2Vec2=function(){};A.prototype.b2Vec2=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;this.x=p;this.y=B}; +A.prototype.SetZero=function(){this.y=this.x=0};A.prototype.Set=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;this.x=p;this.y=B};A.prototype.SetV=function(p){this.x=p.x;this.y=p.y};A.prototype.GetNegative=function(){return new A(-this.x,-this.y)};A.prototype.NegativeSelf=function(){this.x=-this.x;this.y=-this.y};A.Make=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;return new A(p,B)};A.prototype.Copy=function(){return new A(this.x,this.y)};A.prototype.Add=function(p){this.x+=p.x; +this.y+=p.y};A.prototype.Subtract=function(p){this.x-=p.x;this.y-=p.y};A.prototype.Multiply=function(p){if(p===undefined)p=0;this.x*=p;this.y*=p};A.prototype.MulM=function(p){var B=this.x;this.x=p.col1.x*B+p.col2.x*this.y;this.y=p.col1.y*B+p.col2.y*this.y};A.prototype.MulTM=function(p){var B=K.Dot(this,p.col1);this.y=K.Dot(this,p.col2);this.x=B};A.prototype.CrossVF=function(p){if(p===undefined)p=0;var B=this.x;this.x=p*this.y;this.y=-p*B};A.prototype.CrossFV=function(p){if(p===undefined)p=0;var B= +this.x;this.x=-p*this.y;this.y=p*B};A.prototype.MinV=function(p){this.x=this.xp.x?this.x:p.x;this.y=this.y>p.y?this.y:p.y};A.prototype.Abs=function(){if(this.x<0)this.x=-this.x;if(this.y<0)this.y=-this.y};A.prototype.Length=function(){return Math.sqrt(this.x*this.x+this.y*this.y)};A.prototype.LengthSquared=function(){return this.x*this.x+this.y*this.y};A.prototype.Normalize=function(){var p=Math.sqrt(this.x*this.x+ +this.y*this.y);if(p0;a.SetNextEdge(c,g,e,f);c.SetPrevEdge(a,g,e,f);return b};k.prototype.CreateFixture=function(a){if(this.m_world.IsLocked()==true)return null;var c=new S;c.Create(this,this.m_xf,a);this.m_flags&k.e_activeFlag&&c.CreateProxy(this.m_world.m_contactManager.m_broadPhase,this.m_xf);c.m_next=this.m_fixtureList;this.m_fixtureList=c;++this.m_fixtureCount;c.m_body=this;c.m_density>0&&this.ResetMassData();this.m_world.m_flags|= +h.e_newFixture;return c};k.prototype.CreateFixture2=function(a,c){if(c===undefined)c=0;var g=new aa;g.shape=a;g.density=c;return this.CreateFixture(g)};k.prototype.DestroyFixture=function(a){if(this.m_world.IsLocked()!=true){for(var c=this.m_fixtureList,g=null;c!=null;){if(c==a){if(g)g.m_next=a.m_next;else this.m_fixtureList=a.m_next;break}g=c;c=c.m_next}for(c=this.m_contactList;c;){g=c.contact;c=c.next;var b=g.GetFixtureA(),e=g.GetFixtureB();if(a==b||a==e)this.m_world.m_contactManager.Destroy(g)}this.m_flags& +k.e_activeFlag&&a.DestroyProxy(this.m_world.m_contactManager.m_broadPhase);a.Destroy();a.m_body=null;a.m_next=null;--this.m_fixtureCount;this.ResetMassData()}};k.prototype.SetPositionAndAngle=function(a,c){if(c===undefined)c=0;var g;if(this.m_world.IsLocked()!=true){this.m_xf.R.Set(c);this.m_xf.position.SetV(a);g=this.m_xf.R;var b=this.m_sweep.localCenter;this.m_sweep.c.x=g.col1.x*b.x+g.col2.x*b.y;this.m_sweep.c.y=g.col1.y*b.x+g.col2.y*b.y;this.m_sweep.c.x+=this.m_xf.position.x;this.m_sweep.c.y+= +this.m_xf.position.y;this.m_sweep.c0.SetV(this.m_sweep.c);this.m_sweep.a0=this.m_sweep.a=c;b=this.m_world.m_contactManager.m_broadPhase;for(g=this.m_fixtureList;g;g=g.m_next)g.Synchronize(b,this.m_xf,this.m_xf);this.m_world.m_contactManager.FindNewContacts()}};k.prototype.SetTransform=function(a){this.SetPositionAndAngle(a.position,a.GetAngle())};k.prototype.GetTransform=function(){return this.m_xf};k.prototype.GetPosition=function(){return this.m_xf.position};k.prototype.SetPosition=function(a){this.SetPositionAndAngle(a, +this.GetAngle())};k.prototype.GetAngle=function(){return this.m_sweep.a};k.prototype.SetAngle=function(a){if(a===undefined)a=0;this.SetPositionAndAngle(this.GetPosition(),a)};k.prototype.GetWorldCenter=function(){return this.m_sweep.c};k.prototype.GetLocalCenter=function(){return this.m_sweep.localCenter};k.prototype.SetLinearVelocity=function(a){this.m_type!=k.b2_staticBody&&this.m_linearVelocity.SetV(a)};k.prototype.GetLinearVelocity=function(){return this.m_linearVelocity};k.prototype.SetAngularVelocity= +function(a){if(a===undefined)a=0;if(this.m_type!=k.b2_staticBody)this.m_angularVelocity=a};k.prototype.GetAngularVelocity=function(){return this.m_angularVelocity};k.prototype.GetDefinition=function(){var a=new z;a.type=this.GetType();a.allowSleep=(this.m_flags&k.e_allowSleepFlag)==k.e_allowSleepFlag;a.angle=this.GetAngle();a.angularDamping=this.m_angularDamping;a.angularVelocity=this.m_angularVelocity;a.fixedRotation=(this.m_flags&k.e_fixedRotationFlag)==k.e_fixedRotationFlag;a.bullet=(this.m_flags& +k.e_bulletFlag)==k.e_bulletFlag;a.awake=(this.m_flags&k.e_awakeFlag)==k.e_awakeFlag;a.linearDamping=this.m_linearDamping;a.linearVelocity.SetV(this.GetLinearVelocity());a.position=this.GetPosition();a.userData=this.GetUserData();return a};k.prototype.ApplyForce=function(a,c){if(this.m_type==k.b2_dynamicBody){this.IsAwake()==false&&this.SetAwake(true);this.m_force.x+=a.x;this.m_force.y+=a.y;this.m_torque+=(c.x-this.m_sweep.c.x)*a.y-(c.y-this.m_sweep.c.y)*a.x}};k.prototype.ApplyTorque=function(a){if(a=== +undefined)a=0;if(this.m_type==k.b2_dynamicBody){this.IsAwake()==false&&this.SetAwake(true);this.m_torque+=a}};k.prototype.ApplyImpulse=function(a,c){if(this.m_type==k.b2_dynamicBody){this.IsAwake()==false&&this.SetAwake(true);this.m_linearVelocity.x+=this.m_invMass*a.x;this.m_linearVelocity.y+=this.m_invMass*a.y;this.m_angularVelocity+=this.m_invI*((c.x-this.m_sweep.c.x)*a.y-(c.y-this.m_sweep.c.y)*a.x)}};k.prototype.Split=function(a){for(var c=this.GetLinearVelocity().Copy(),g=this.GetAngularVelocity(), +b=this.GetWorldCenter(),e=this.m_world.CreateBody(this.GetDefinition()),f,m=this.m_fixtureList;m;)if(a(m)){var r=m.m_next;if(f)f.m_next=r;else this.m_fixtureList=r;this.m_fixtureCount--;m.m_next=e.m_fixtureList;e.m_fixtureList=m;e.m_fixtureCount++;m.m_body=e;m=r}else{f=m;m=m.m_next}this.ResetMassData();e.ResetMassData();f=this.GetWorldCenter();a=e.GetWorldCenter();f=F.AddVV(c,F.CrossFV(g,F.SubtractVV(f,b)));c=F.AddVV(c,F.CrossFV(g,F.SubtractVV(a,b)));this.SetLinearVelocity(f);e.SetLinearVelocity(c); +this.SetAngularVelocity(g);e.SetAngularVelocity(g);this.SynchronizeFixtures();e.SynchronizeFixtures();return e};k.prototype.Merge=function(a){var c;for(c=a.m_fixtureList;c;){var g=c.m_next;a.m_fixtureCount--;c.m_next=this.m_fixtureList;this.m_fixtureList=c;this.m_fixtureCount++;c.m_body=e;c=g}b.m_fixtureCount=0;var b=this,e=a;b.GetWorldCenter();e.GetWorldCenter();b.GetLinearVelocity().Copy();e.GetLinearVelocity().Copy();b.GetAngularVelocity();e.GetAngularVelocity();b.ResetMassData();this.SynchronizeFixtures()}; +k.prototype.GetMass=function(){return this.m_mass};k.prototype.GetInertia=function(){return this.m_I};k.prototype.GetMassData=function(a){a.mass=this.m_mass;a.I=this.m_I;a.center.SetV(this.m_sweep.localCenter)};k.prototype.SetMassData=function(a){A.b2Assert(this.m_world.IsLocked()==false);if(this.m_world.IsLocked()!=true)if(this.m_type==k.b2_dynamicBody){this.m_invI=this.m_I=this.m_invMass=0;this.m_mass=a.mass;if(this.m_mass<=0)this.m_mass=1;this.m_invMass=1/this.m_mass;if(a.I>0&&(this.m_flags&k.e_fixedRotationFlag)== +0){this.m_I=a.I-this.m_mass*(a.center.x*a.center.x+a.center.y*a.center.y);this.m_invI=1/this.m_I}var c=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(a.center);this.m_sweep.c0.SetV(F.MulX(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.SetV(this.m_sweep.c0);this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-c.y);this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-c.x)}};k.prototype.ResetMassData=function(){this.m_invI=this.m_I=this.m_invMass=this.m_mass=0;this.m_sweep.localCenter.SetZero(); +if(!(this.m_type==k.b2_staticBody||this.m_type==k.b2_kinematicBody)){for(var a=y.Make(0,0),c=this.m_fixtureList;c;c=c.m_next)if(c.m_density!=0){var g=c.GetMassData();this.m_mass+=g.mass;a.x+=g.center.x*g.mass;a.y+=g.center.y*g.mass;this.m_I+=g.I}if(this.m_mass>0){this.m_invMass=1/this.m_mass;a.x*=this.m_invMass;a.y*=this.m_invMass}else this.m_invMass=this.m_mass=1;if(this.m_I>0&&(this.m_flags&k.e_fixedRotationFlag)==0){this.m_I-=this.m_mass*(a.x*a.x+a.y*a.y);this.m_I*=this.m_inertiaScale;A.b2Assert(this.m_I> +0);this.m_invI=1/this.m_I}else this.m_invI=this.m_I=0;c=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(a);this.m_sweep.c0.SetV(F.MulX(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.SetV(this.m_sweep.c0);this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-c.y);this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-c.x)}};k.prototype.GetWorldPoint=function(a){var c=this.m_xf.R;a=new y(c.col1.x*a.x+c.col2.x*a.y,c.col1.y*a.x+c.col2.y*a.y);a.x+=this.m_xf.position.x; +a.y+=this.m_xf.position.y;return a};k.prototype.GetWorldVector=function(a){return F.MulMV(this.m_xf.R,a)};k.prototype.GetLocalPoint=function(a){return F.MulXT(this.m_xf,a)};k.prototype.GetLocalVector=function(a){return F.MulTMV(this.m_xf.R,a)};k.prototype.GetLinearVelocityFromWorldPoint=function(a){return new y(this.m_linearVelocity.x-this.m_angularVelocity*(a.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(a.x-this.m_sweep.c.x))};k.prototype.GetLinearVelocityFromLocalPoint=function(a){var c= +this.m_xf.R;a=new y(c.col1.x*a.x+c.col2.x*a.y,c.col1.y*a.x+c.col2.y*a.y);a.x+=this.m_xf.position.x;a.y+=this.m_xf.position.y;return new y(this.m_linearVelocity.x-this.m_angularVelocity*(a.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(a.x-this.m_sweep.c.x))};k.prototype.GetLinearDamping=function(){return this.m_linearDamping};k.prototype.SetLinearDamping=function(a){if(a===undefined)a=0;this.m_linearDamping=a};k.prototype.GetAngularDamping=function(){return this.m_angularDamping}; +k.prototype.SetAngularDamping=function(a){if(a===undefined)a=0;this.m_angularDamping=a};k.prototype.SetType=function(a){if(a===undefined)a=0;if(this.m_type!=a){this.m_type=a;this.ResetMassData();if(this.m_type==k.b2_staticBody){this.m_linearVelocity.SetZero();this.m_angularVelocity=0}this.SetAwake(true);this.m_force.SetZero();this.m_torque=0;for(a=this.m_contactList;a;a=a.next)a.contact.FlagForFiltering()}};k.prototype.GetType=function(){return this.m_type};k.prototype.SetBullet=function(a){if(a)this.m_flags|= +k.e_bulletFlag;else this.m_flags&=~k.e_bulletFlag};k.prototype.IsBullet=function(){return(this.m_flags&k.e_bulletFlag)==k.e_bulletFlag};k.prototype.SetSleepingAllowed=function(a){if(a)this.m_flags|=k.e_allowSleepFlag;else{this.m_flags&=~k.e_allowSleepFlag;this.SetAwake(true)}};k.prototype.SetAwake=function(a){if(a){this.m_flags|=k.e_awakeFlag;this.m_sleepTime=0}else{this.m_flags&=~k.e_awakeFlag;this.m_sleepTime=0;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;this.m_force.SetZero();this.m_torque= +0}};k.prototype.IsAwake=function(){return(this.m_flags&k.e_awakeFlag)==k.e_awakeFlag};k.prototype.SetFixedRotation=function(a){if(a)this.m_flags|=k.e_fixedRotationFlag;else this.m_flags&=~k.e_fixedRotationFlag;this.ResetMassData()};k.prototype.IsFixedRotation=function(){return(this.m_flags&k.e_fixedRotationFlag)==k.e_fixedRotationFlag};k.prototype.SetActive=function(a){if(a!=this.IsActive()){var c;if(a){this.m_flags|=k.e_activeFlag;a=this.m_world.m_contactManager.m_broadPhase;for(c=this.m_fixtureList;c;c= +c.m_next)c.CreateProxy(a,this.m_xf)}else{this.m_flags&=~k.e_activeFlag;a=this.m_world.m_contactManager.m_broadPhase;for(c=this.m_fixtureList;c;c=c.m_next)c.DestroyProxy(a);for(a=this.m_contactList;a;){c=a;a=a.next;this.m_world.m_contactManager.Destroy(c.contact)}this.m_contactList=null}}};k.prototype.IsActive=function(){return(this.m_flags&k.e_activeFlag)==k.e_activeFlag};k.prototype.IsSleepingAllowed=function(){return(this.m_flags&k.e_allowSleepFlag)==k.e_allowSleepFlag};k.prototype.GetFixtureList= +function(){return this.m_fixtureList};k.prototype.GetJointList=function(){return this.m_jointList};k.prototype.GetControllerList=function(){return this.m_controllerList};k.prototype.GetContactList=function(){return this.m_contactList};k.prototype.GetNext=function(){return this.m_next};k.prototype.GetUserData=function(){return this.m_userData};k.prototype.SetUserData=function(a){this.m_userData=a};k.prototype.GetWorld=function(){return this.m_world};k.prototype.b2Body=function(a,c){this.m_flags=0; +if(a.bullet)this.m_flags|=k.e_bulletFlag;if(a.fixedRotation)this.m_flags|=k.e_fixedRotationFlag;if(a.allowSleep)this.m_flags|=k.e_allowSleepFlag;if(a.awake)this.m_flags|=k.e_awakeFlag;if(a.active)this.m_flags|=k.e_activeFlag;this.m_world=c;this.m_xf.position.SetV(a.position);this.m_xf.R.Set(a.angle);this.m_sweep.localCenter.SetZero();this.m_sweep.t0=1;this.m_sweep.a0=this.m_sweep.a=a.angle;var g=this.m_xf.R,b=this.m_sweep.localCenter;this.m_sweep.c.x=g.col1.x*b.x+g.col2.x*b.y;this.m_sweep.c.y=g.col1.y* +b.x+g.col2.y*b.y;this.m_sweep.c.x+=this.m_xf.position.x;this.m_sweep.c.y+=this.m_xf.position.y;this.m_sweep.c0.SetV(this.m_sweep.c);this.m_contactList=this.m_controllerList=this.m_jointList=null;this.m_controllerCount=0;this.m_next=this.m_prev=null;this.m_linearVelocity.SetV(a.linearVelocity);this.m_angularVelocity=a.angularVelocity;this.m_linearDamping=a.linearDamping;this.m_angularDamping=a.angularDamping;this.m_force.Set(0,0);this.m_sleepTime=this.m_torque=0;this.m_type=a.type;if(this.m_type== +k.b2_dynamicBody)this.m_invMass=this.m_mass=1;else this.m_invMass=this.m_mass=0;this.m_invI=this.m_I=0;this.m_inertiaScale=a.inertiaScale;this.m_userData=a.userData;this.m_fixtureList=null;this.m_fixtureCount=0};k.prototype.SynchronizeFixtures=function(){var a=k.s_xf1;a.R.Set(this.m_sweep.a0);var c=a.R,g=this.m_sweep.localCenter;a.position.x=this.m_sweep.c0.x-(c.col1.x*g.x+c.col2.x*g.y);a.position.y=this.m_sweep.c0.y-(c.col1.y*g.x+c.col2.y*g.y);g=this.m_world.m_contactManager.m_broadPhase;for(c=this.m_fixtureList;c;c= +c.m_next)c.Synchronize(g,a,this.m_xf)};k.prototype.SynchronizeTransform=function(){this.m_xf.R.Set(this.m_sweep.a);var a=this.m_xf.R,c=this.m_sweep.localCenter;this.m_xf.position.x=this.m_sweep.c.x-(a.col1.x*c.x+a.col2.x*c.y);this.m_xf.position.y=this.m_sweep.c.y-(a.col1.y*c.x+a.col2.y*c.y)};k.prototype.ShouldCollide=function(a){if(this.m_type!=k.b2_dynamicBody&&a.m_type!=k.b2_dynamicBody)return false;for(var c=this.m_jointList;c;c=c.next)if(c.other==a)if(c.joint.m_collideConnected==false)return false; +return true};k.prototype.Advance=function(a){if(a===undefined)a=0;this.m_sweep.Advance(a);this.m_sweep.c.SetV(this.m_sweep.c0);this.m_sweep.a=this.m_sweep.a0;this.SynchronizeTransform()};Box2D.postDefs.push(function(){Box2D.Dynamics.b2Body.s_xf1=new K;Box2D.Dynamics.b2Body.e_islandFlag=1;Box2D.Dynamics.b2Body.e_awakeFlag=2;Box2D.Dynamics.b2Body.e_allowSleepFlag=4;Box2D.Dynamics.b2Body.e_bulletFlag=8;Box2D.Dynamics.b2Body.e_fixedRotationFlag=16;Box2D.Dynamics.b2Body.e_activeFlag=32;Box2D.Dynamics.b2Body.b2_staticBody= +0;Box2D.Dynamics.b2Body.b2_kinematicBody=1;Box2D.Dynamics.b2Body.b2_dynamicBody=2});z.b2BodyDef=function(){this.position=new y;this.linearVelocity=new y};z.prototype.b2BodyDef=function(){this.userData=null;this.position.Set(0,0);this.angle=0;this.linearVelocity.Set(0,0);this.angularDamping=this.linearDamping=this.angularVelocity=0;this.awake=this.allowSleep=true;this.bullet=this.fixedRotation=false;this.type=k.b2_staticBody;this.active=true;this.inertiaScale=1};u.b2ContactFilter=function(){};u.prototype.ShouldCollide= +function(a,c){var g=a.GetFilterData(),b=c.GetFilterData();if(g.groupIndex==b.groupIndex&&g.groupIndex!=0)return g.groupIndex>0;return(g.maskBits&b.categoryBits)!=0&&(g.categoryBits&b.maskBits)!=0};u.prototype.RayCollide=function(a,c){if(!a)return true;return this.ShouldCollide(a instanceof S?a:null,c)};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactFilter.b2_defaultFilter=new u});D.b2ContactImpulse=function(){this.normalImpulses=new Vector_a2j_Number(A.b2_maxManifoldPoints);this.tangentImpulses= +new Vector_a2j_Number(A.b2_maxManifoldPoints)};H.b2ContactListener=function(){};H.prototype.BeginContact=function(){};H.prototype.EndContact=function(){};H.prototype.PreSolve=function(){};H.prototype.PostSolve=function(){};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactListener.b2_defaultListener=new H});O.b2ContactManager=function(){};O.prototype.b2ContactManager=function(){this.m_world=null;this.m_contactCount=0;this.m_contactFilter=u.b2_defaultFilter;this.m_contactListener=H.b2_defaultListener; +this.m_contactFactory=new j(this.m_allocator);this.m_broadPhase=new B};O.prototype.AddPair=function(a,c){var g=a instanceof S?a:null,b=c instanceof S?c:null,e=g.GetBody(),f=b.GetBody();if(e!=f){for(var m=f.GetContactList();m;){if(m.other==e){var r=m.contact.GetFixtureA(),s=m.contact.GetFixtureB();if(r==g&&s==b)return;if(r==b&&s==g)return}m=m.next}if(f.ShouldCollide(e)!=false)if(this.m_contactFilter.ShouldCollide(g,b)!=false){m=this.m_contactFactory.Create(g,b);g=m.GetFixtureA();b=m.GetFixtureB(); +e=g.m_body;f=b.m_body;m.m_prev=null;m.m_next=this.m_world.m_contactList;if(this.m_world.m_contactList!=null)this.m_world.m_contactList.m_prev=m;this.m_world.m_contactList=m;m.m_nodeA.contact=m;m.m_nodeA.other=f;m.m_nodeA.prev=null;m.m_nodeA.next=e.m_contactList;if(e.m_contactList!=null)e.m_contactList.prev=m.m_nodeA;e.m_contactList=m.m_nodeA;m.m_nodeB.contact=m;m.m_nodeB.other=e;m.m_nodeB.prev=null;m.m_nodeB.next=f.m_contactList;if(f.m_contactList!=null)f.m_contactList.prev=m.m_nodeB;f.m_contactList= +m.m_nodeB;++this.m_world.m_contactCount}}};O.prototype.FindNewContacts=function(){this.m_broadPhase.UpdatePairs(Box2D.generateCallback(this,this.AddPair))};O.prototype.Destroy=function(a){var c=a.GetFixtureA(),g=a.GetFixtureB();c=c.GetBody();g=g.GetBody();a.IsTouching()&&this.m_contactListener.EndContact(a);if(a.m_prev)a.m_prev.m_next=a.m_next;if(a.m_next)a.m_next.m_prev=a.m_prev;if(a==this.m_world.m_contactList)this.m_world.m_contactList=a.m_next;if(a.m_nodeA.prev)a.m_nodeA.prev.next=a.m_nodeA.next; +if(a.m_nodeA.next)a.m_nodeA.next.prev=a.m_nodeA.prev;if(a.m_nodeA==c.m_contactList)c.m_contactList=a.m_nodeA.next;if(a.m_nodeB.prev)a.m_nodeB.prev.next=a.m_nodeB.next;if(a.m_nodeB.next)a.m_nodeB.next.prev=a.m_nodeB.prev;if(a.m_nodeB==g.m_contactList)g.m_contactList=a.m_nodeB.next;this.m_contactFactory.Destroy(a);--this.m_contactCount};O.prototype.Collide=function(){for(var a=this.m_world.m_contactList;a;){var c=a.GetFixtureA(),g=a.GetFixtureB(),b=c.GetBody(),e=g.GetBody();if(b.IsAwake()==false&&e.IsAwake()== +false)a=a.GetNext();else{if(a.m_flags&l.e_filterFlag){if(e.ShouldCollide(b)==false){c=a;a=c.GetNext();this.Destroy(c);continue}if(this.m_contactFilter.ShouldCollide(c,g)==false){c=a;a=c.GetNext();this.Destroy(c);continue}a.m_flags&=~l.e_filterFlag}if(this.m_broadPhase.TestOverlap(c.m_proxy,g.m_proxy)==false){c=a;a=c.GetNext();this.Destroy(c)}else{a.Update(this.m_contactListener);a=a.GetNext()}}}};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactManager.s_evalCP=new p});E.b2DebugDraw=function(){}; +E.prototype.b2DebugDraw=function(){};E.prototype.SetFlags=function(){};E.prototype.GetFlags=function(){};E.prototype.AppendFlags=function(){};E.prototype.ClearFlags=function(){};E.prototype.SetSprite=function(){};E.prototype.GetSprite=function(){};E.prototype.SetDrawScale=function(){};E.prototype.GetDrawScale=function(){};E.prototype.SetLineThickness=function(){};E.prototype.GetLineThickness=function(){};E.prototype.SetAlpha=function(){};E.prototype.GetAlpha=function(){};E.prototype.SetFillAlpha= +function(){};E.prototype.GetFillAlpha=function(){};E.prototype.SetXFormScale=function(){};E.prototype.GetXFormScale=function(){};E.prototype.DrawPolygon=function(){};E.prototype.DrawSolidPolygon=function(){};E.prototype.DrawCircle=function(){};E.prototype.DrawSolidCircle=function(){};E.prototype.DrawSegment=function(){};E.prototype.DrawTransform=function(){};Box2D.postDefs.push(function(){Box2D.Dynamics.b2DebugDraw.e_shapeBit=1;Box2D.Dynamics.b2DebugDraw.e_jointBit=2;Box2D.Dynamics.b2DebugDraw.e_aabbBit= +4;Box2D.Dynamics.b2DebugDraw.e_pairBit=8;Box2D.Dynamics.b2DebugDraw.e_centerOfMassBit=16;Box2D.Dynamics.b2DebugDraw.e_controllerBit=32});R.b2DestructionListener=function(){};R.prototype.SayGoodbyeJoint=function(){};R.prototype.SayGoodbyeFixture=function(){};N.b2FilterData=function(){this.categoryBits=1;this.maskBits=65535;this.groupIndex=0};N.prototype.Copy=function(){var a=new N;a.categoryBits=this.categoryBits;a.maskBits=this.maskBits;a.groupIndex=this.groupIndex;return a};S.b2Fixture=function(){this.m_filter= +new N};S.prototype.GetType=function(){return this.m_shape.GetType()};S.prototype.GetShape=function(){return this.m_shape};S.prototype.SetSensor=function(a){if(this.m_isSensor!=a){this.m_isSensor=a;if(this.m_body!=null)for(a=this.m_body.GetContactList();a;){var c=a.contact,g=c.GetFixtureA(),b=c.GetFixtureB();if(g==this||b==this)c.SetSensor(g.IsSensor()||b.IsSensor());a=a.next}}};S.prototype.IsSensor=function(){return this.m_isSensor};S.prototype.SetFilterData=function(a){this.m_filter=a.Copy();if(!this.m_body)for(a= +this.m_body.GetContactList();a;){var c=a.contact,g=c.GetFixtureA(),b=c.GetFixtureB();if(g==this||b==this)c.FlagForFiltering();a=a.next}};S.prototype.GetFilterData=function(){return this.m_filter.Copy()};S.prototype.GetBody=function(){return this.m_body};S.prototype.GetNext=function(){return this.m_next};S.prototype.GetUserData=function(){return this.m_userData};S.prototype.SetUserData=function(a){this.m_userData=a};S.prototype.TestPoint=function(a){return this.m_shape.TestPoint(this.m_body.GetTransform(), +a)};S.prototype.RayCast=function(a,c){return this.m_shape.RayCast(a,c,this.m_body.GetTransform())};S.prototype.GetMassData=function(a){if(a===undefined)a=null;if(a==null)a=new I;this.m_shape.ComputeMass(a,this.m_density);return a};S.prototype.SetDensity=function(a){if(a===undefined)a=0;this.m_density=a};S.prototype.GetDensity=function(){return this.m_density};S.prototype.GetFriction=function(){return this.m_friction};S.prototype.SetFriction=function(a){if(a===undefined)a=0;this.m_friction=a};S.prototype.GetRestitution= +function(){return this.m_restitution};S.prototype.SetRestitution=function(a){if(a===undefined)a=0;this.m_restitution=a};S.prototype.GetAABB=function(){return this.m_aabb};S.prototype.b2Fixture=function(){this.m_aabb=new U;this.m_shape=this.m_next=this.m_body=this.m_userData=null;this.m_restitution=this.m_friction=this.m_density=0};S.prototype.Create=function(a,c,g){this.m_userData=g.userData;this.m_friction=g.friction;this.m_restitution=g.restitution;this.m_body=a;this.m_next=null;this.m_filter=g.filter.Copy(); +this.m_isSensor=g.isSensor;this.m_shape=g.shape.Copy();this.m_density=g.density};S.prototype.Destroy=function(){this.m_shape=null};S.prototype.CreateProxy=function(a,c){this.m_shape.ComputeAABB(this.m_aabb,c);this.m_proxy=a.CreateProxy(this.m_aabb,this)};S.prototype.DestroyProxy=function(a){if(this.m_proxy!=null){a.DestroyProxy(this.m_proxy);this.m_proxy=null}};S.prototype.Synchronize=function(a,c,g){if(this.m_proxy){var b=new U,e=new U;this.m_shape.ComputeAABB(b,c);this.m_shape.ComputeAABB(e,g); +this.m_aabb.Combine(b,e);c=F.SubtractVV(g.position,c.position);a.MoveProxy(this.m_proxy,this.m_aabb,c)}};aa.b2FixtureDef=function(){this.filter=new N};aa.prototype.b2FixtureDef=function(){this.userData=this.shape=null;this.friction=0.2;this.density=this.restitution=0;this.filter.categoryBits=1;this.filter.maskBits=65535;this.filter.groupIndex=0;this.isSensor=false};Z.b2Island=function(){};Z.prototype.b2Island=function(){this.m_bodies=new Vector;this.m_contacts=new Vector;this.m_joints=new Vector}; +Z.prototype.Initialize=function(a,c,g,b,e,f){if(a===undefined)a=0;if(c===undefined)c=0;if(g===undefined)g=0;var m=0;this.m_bodyCapacity=a;this.m_contactCapacity=c;this.m_jointCapacity=g;this.m_jointCount=this.m_contactCount=this.m_bodyCount=0;this.m_allocator=b;this.m_listener=e;this.m_contactSolver=f;for(m=this.m_bodies.length;mA.b2_maxTranslationSquared){e.m_linearVelocity.Normalize();e.m_linearVelocity.x*=A.b2_maxTranslation*a.inv_dt;e.m_linearVelocity.y*=A.b2_maxTranslation*a.inv_dt}m=a.dt*e.m_angularVelocity;if(m*m>A.b2_maxRotationSquared)e.m_angularVelocity=e.m_angularVelocity<0?-A.b2_maxRotation*a.inv_dt:A.b2_maxRotation*a.inv_dt;e.m_sweep.c0.SetV(e.m_sweep.c);e.m_sweep.a0=e.m_sweep.a;e.m_sweep.c.x+=a.dt*e.m_linearVelocity.x;e.m_sweep.c.y+= +a.dt*e.m_linearVelocity.y;e.m_sweep.a+=a.dt*e.m_angularVelocity;e.SynchronizeTransform()}}for(b=0;bm||F.Dot(e.m_linearVelocity,e.m_linearVelocity)>c)g=e.m_sleepTime=0;else{e.m_sleepTime+=a.dt;g=F.Min(g,e.m_sleepTime)}}}if(g>=A.b2_timeToSleep)for(b=0;bA.b2_maxTranslationSquared){g.m_linearVelocity.Normalize();g.m_linearVelocity.x*=A.b2_maxTranslation* +a.inv_dt;g.m_linearVelocity.y*=A.b2_maxTranslation*a.inv_dt}e=a.dt*g.m_angularVelocity;if(e*e>A.b2_maxRotationSquared)g.m_angularVelocity=g.m_angularVelocity<0?-A.b2_maxRotation*a.inv_dt:A.b2_maxRotation*a.inv_dt;g.m_sweep.c0.SetV(g.m_sweep.c);g.m_sweep.a0=g.m_sweep.a;g.m_sweep.c.x+=a.dt*g.m_linearVelocity.x;g.m_sweep.c.y+=a.dt*g.m_linearVelocity.y;g.m_sweep.a+=a.dt*g.m_angularVelocity;g.SynchronizeTransform()}}for(c=0;c0?1/a:0;b.dtRatio=this.m_inv_dt0*a;b.warmStarting=h.m_warmStarting;this.m_contactManager.Collide();b.dt>0&&this.Solve(b);h.m_continuousPhysics&&b.dt>0&&this.SolveTOI(b);if(b.dt>0)this.m_inv_dt0=b.inv_dt;this.m_flags&=~h.e_locked};h.prototype.ClearForces=function(){for(var a=this.m_bodyList;a;a=a.m_next){a.m_force.SetZero();a.m_torque=0}};h.prototype.DrawDebugData= +function(){if(this.m_debugDraw!=null){this.m_debugDraw.m_sprite.graphics.clear();var a=this.m_debugDraw.GetFlags(),c,g,b;new y;new y;new y;var e;new U;new U;e=[new y,new y,new y,new y];var f=new w(0,0,0);if(a&E.e_shapeBit)for(c=this.m_bodyList;c;c=c.m_next){e=c.m_xf;for(g=c.GetFixtureList();g;g=g.m_next){b=g.GetShape();if(c.IsActive()==false)f.Set(0.5,0.5,0.3);else if(c.GetType()==k.b2_staticBody)f.Set(0.5,0.9,0.5);else if(c.GetType()==k.b2_kinematicBody)f.Set(0.5,0.5,0.9);else c.IsAwake()==false? +f.Set(0.6,0.6,0.6):f.Set(0.9,0.7,0.7);this.DrawShape(b,e,f)}}if(a&E.e_jointBit)for(c=this.m_jointList;c;c=c.m_next)this.DrawJoint(c);if(a&E.e_controllerBit)for(c=this.m_controllerList;c;c=c.m_next)c.Draw(this.m_debugDraw);if(a&E.e_pairBit){f.Set(0.3,0.9,0.9);for(c=this.m_contactManager.m_contactList;c;c=c.GetNext()){b=c.GetFixtureA();g=c.GetFixtureB();b=b.GetAABB().GetCenter();g=g.GetAABB().GetCenter();this.m_debugDraw.DrawSegment(b,g,f)}}if(a&E.e_aabbBit){b=this.m_contactManager.m_broadPhase;e=[new y, +new y,new y,new y];for(c=this.m_bodyList;c;c=c.GetNext())if(c.IsActive()!=false)for(g=c.GetFixtureList();g;g=g.GetNext()){var m=b.GetFatAABB(g.m_proxy);e[0].Set(m.lowerBound.x,m.lowerBound.y);e[1].Set(m.upperBound.x,m.lowerBound.y);e[2].Set(m.upperBound.x,m.upperBound.y);e[3].Set(m.lowerBound.x,m.upperBound.y);this.m_debugDraw.DrawPolygon(e,4,f)}}if(a&E.e_centerOfMassBit)for(c=this.m_bodyList;c;c=c.m_next){e=h.s_xf;e.R=c.m_xf.R;e.position=c.GetWorldCenter();this.m_debugDraw.DrawTransform(e)}}};h.prototype.QueryAABB= +function(a,c){var g=this.m_contactManager.m_broadPhase;g.Query(function(b){return a(g.GetUserData(b))},c)};h.prototype.QueryShape=function(a,c,g){if(g===undefined)g=null;if(g==null){g=new K;g.SetIdentity()}var b=this.m_contactManager.m_broadPhase,e=new U;c.ComputeAABB(e,g);b.Query(function(f){f=b.GetUserData(f)instanceof S?b.GetUserData(f):null;if(Y.TestOverlap(c,g,f.GetShape(),f.GetBody().GetTransform()))return a(f);return true},e)};h.prototype.QueryPoint=function(a,c){var g=this.m_contactManager.m_broadPhase, +b=new U;b.lowerBound.Set(c.x-A.b2_linearSlop,c.y-A.b2_linearSlop);b.upperBound.Set(c.x+A.b2_linearSlop,c.y+A.b2_linearSlop);g.Query(function(e){e=g.GetUserData(e)instanceof S?g.GetUserData(e):null;if(e.TestPoint(c))return a(e);return true},b)};h.prototype.RayCast=function(a,c,g){var b=this.m_contactManager.m_broadPhase,e=new V,f=new Q(c,g);b.RayCast(function(m,r){var s=b.GetUserData(r);s=s instanceof S?s:null;if(s.RayCast(e,m)){var v=e.fraction,t=new y((1-v)*c.x+v*g.x,(1-v)*c.y+v*g.y);return a(s, +t,e.normal,v)}return m.maxFraction},f)};h.prototype.RayCastOne=function(a,c){var g;this.RayCast(function(b,e,f,m){if(m===undefined)m=0;g=b;return m},a,c);return g};h.prototype.RayCastAll=function(a,c){var g=new Vector;this.RayCast(function(b){g[g.length]=b;return 1},a,c);return g};h.prototype.GetBodyList=function(){return this.m_bodyList};h.prototype.GetJointList=function(){return this.m_jointList};h.prototype.GetContactList=function(){return this.m_contactList};h.prototype.IsLocked=function(){return(this.m_flags& +h.e_locked)>0};h.prototype.Solve=function(a){for(var c,g=this.m_controllerList;g;g=g.m_next)g.Step(a);g=this.m_island;g.Initialize(this.m_bodyCount,this.m_contactCount,this.m_jointCount,null,this.m_contactManager.m_contactListener,this.m_contactSolver);for(c=this.m_bodyList;c;c=c.m_next)c.m_flags&=~k.e_islandFlag;for(var b=this.m_contactList;b;b=b.m_next)b.m_flags&=~l.e_islandFlag;for(b=this.m_jointList;b;b=b.m_next)b.m_islandFlag=false;parseInt(this.m_bodyCount);b=this.s_stack;for(var e=this.m_bodyList;e;e= +e.m_next)if(!(e.m_flags&k.e_islandFlag))if(!(e.IsAwake()==false||e.IsActive()==false))if(e.GetType()!=k.b2_staticBody){g.Clear();var f=0;b[f++]=e;for(e.m_flags|=k.e_islandFlag;f>0;){c=b[--f];g.AddBody(c);c.IsAwake()==false&&c.SetAwake(true);if(c.GetType()!=k.b2_staticBody){for(var m,r=c.m_contactList;r;r=r.next)if(!(r.contact.m_flags&l.e_islandFlag))if(!(r.contact.IsSensor()==true||r.contact.IsEnabled()==false||r.contact.IsTouching()==false)){g.AddContact(r.contact);r.contact.m_flags|=l.e_islandFlag; +m=r.other;if(!(m.m_flags&k.e_islandFlag)){b[f++]=m;m.m_flags|=k.e_islandFlag}}for(c=c.m_jointList;c;c=c.next)if(c.joint.m_islandFlag!=true){m=c.other;if(m.IsActive()!=false){g.AddJoint(c.joint);c.joint.m_islandFlag=true;if(!(m.m_flags&k.e_islandFlag)){b[f++]=m;m.m_flags|=k.e_islandFlag}}}}}g.Solve(a,this.m_gravity,this.m_allowSleep);for(f=0;f0&&c<1){c=(1-c)*s+c;if(c>1)c=1}b.m_toi=c;b.m_flags|=l.e_toiFlag}if(Number.MIN_VALUE0;){c=f[b++];--m;e.AddBody(c);c.IsAwake()==false&&c.SetAwake(true);if(c.GetType()==k.b2_dynamicBody){for(g=c.m_contactList;g;g=g.next){if(e.m_contactCount==e.m_contactCapacity)break;if(!(g.contact.m_flags&l.e_islandFlag))if(!(g.contact.IsSensor()==true||g.contact.IsEnabled()== +false||g.contact.IsTouching()==false)){e.AddContact(g.contact);g.contact.m_flags|=l.e_islandFlag;s=g.other;if(!(s.m_flags&k.e_islandFlag)){if(s.GetType()!=k.b2_staticBody){s.Advance(r);s.SetAwake(true)}f[b+m]=s;++m;s.m_flags|=k.e_islandFlag}}}for(c=c.m_jointList;c;c=c.next)if(e.m_jointCount!=e.m_jointCapacity)if(c.joint.m_islandFlag!=true){s=c.other;if(s.IsActive()!=false){e.AddJoint(c.joint);c.joint.m_islandFlag=true;if(!(s.m_flags&k.e_islandFlag)){if(s.GetType()!=k.b2_staticBody){s.Advance(r);s.SetAwake(true)}f[b+ +m]=s;++m;s.m_flags|=k.e_islandFlag}}}}}b=h.s_timestep;b.warmStarting=false;b.dt=(1-r)*a.dt;b.inv_dt=1/b.dt;b.dtRatio=0;b.velocityIterations=a.velocityIterations;b.positionIterations=a.positionIterations;e.SolveTOI(b);for(r=r=0;r0;for(c=0;c0){j.m_fixtureA.m_body.SetAwake(true);j.m_fixtureB.m_body.SetAwake(true)}var o=parseInt(j.m_fixtureA.GetType()), +q=parseInt(j.m_fixtureB.GetType());o=this.m_registers[o][q];o.poolCount++;j.m_next=o.pool;o.pool=j;o=o.destroyFcn;o(j,this.m_allocator)};V.b2ContactRegister=function(){};M.b2ContactResult=function(){this.position=new N;this.normal=new N;this.id=new aa};L.b2ContactSolver=function(){this.m_step=new H;this.m_constraints=new Vector};L.prototype.b2ContactSolver=function(){};L.prototype.Initialize=function(j,o,q,n){if(q===undefined)q=0;var a;this.m_step.Set(j);this.m_allocator=n;j=0;for(this.m_constraintCount= +q;this.m_constraints.length +0);L.s_worldManifold.Initialize(m,e.m_xf,g,f.m_xf,b);c=L.s_worldManifold.m_normal.x;a=L.s_worldManifold.m_normal.y;n=this.m_constraints[j];n.bodyA=e;n.bodyB=f;n.manifold=m;n.normal.x=c;n.normal.y=a;n.pointCount=m.m_pointCount;n.friction=r;n.restitution=s;n.localPlaneNormal.x=m.m_localPlaneNormal.x;n.localPlaneNormal.y=m.m_localPlaneNormal.y;n.localPoint.x=m.m_localPoint.x;n.localPoint.y=m.m_localPoint.y;n.radius=g+b;n.type=m.m_type;for(g=0;g0?n:0;q=n-o.normalImpulse;c=q*b;q=q*e;x.x-=J*c;x.y-=J*q;v-=T*(o.rA.x*q-o.rA.y*c);C.x+=P*c;C.y+=P*q;t+=X*(o.rB.x*q-o.rB.y*c);o.normalImpulse=n}else{o=a.points[0];j=a.points[1];q=o.normalImpulse;g=j.normalImpulse;var ba=(C.x-t*o.rB.y-x.x+v*o.rA.y)*b+(C.y+t*o.rB.x-x.y-v*o.rA.x)*e,ca=(C.x-t*j.rB.y-x.x+v*j.rA.y)*b+(C.y+ +t*j.rB.x-x.y-v*j.rA.x)*e;n=ba-o.velocityBias;c=ca-j.velocityBias;f=a.K;n-=f.col1.x*q+f.col2.x*g;for(c-=f.col1.y*q+f.col2.y*g;;){f=a.normalMass;$=-(f.col1.x*n+f.col2.x*c);f=-(f.col1.y*n+f.col2.y*c);if($>=0&&f>=0){q=$-q;g=f-g;a=q*b;q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}$=-o.normalMass*n;f=0;ca=a.K.col1.y*$+c;if($>=0&&ca>=0){q=$-q;g=f-g;a=q*b; +q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}$=0;f=-j.normalMass*c;ba=a.K.col2.x*f+n;if(f>=0&&ba>=0){q=$-q;g=f-g;a=q*b;q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}f=$=0;ba=n;ca=c;if(ba>=0&&ca>=0){q= +$-q;g=f-g;a=q*b;q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}break}}r.m_angularVelocity=v;s.m_angularVelocity=t}};L.prototype.FinalizeVelocityConstraints=function(){for(var j=0;j-1.5*O.b2_linearSlop};Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2ContactSolver.s_worldManifold=new l;Box2D.Dynamics.Contacts.b2ContactSolver.s_psm=new u});Box2D.inherit(I,Box2D.Dynamics.Contacts.b2Contact); +I.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;I.b2EdgeAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};I.Create=function(){return new I};I.Destroy=function(){};I.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o)};I.prototype.Evaluate=function(){var j=this.m_fixtureA.GetBody(),o=this.m_fixtureB.GetBody();this.b2CollideEdgeAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof G?this.m_fixtureA.GetShape():null,j.m_xf, +this.m_fixtureB.GetShape()instanceof F?this.m_fixtureB.GetShape():null,o.m_xf)};I.prototype.b2CollideEdgeAndCircle=function(){};Box2D.inherit(W,Box2D.Dynamics.Contacts.b2Contact);W.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;W.b2NullContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};W.prototype.b2NullContact=function(){this.__super.b2Contact.call(this)};W.prototype.Evaluate=function(){};Box2D.inherit(Y,Box2D.Dynamics.Contacts.b2Contact);Y.prototype.__super= +Box2D.Dynamics.Contacts.b2Contact.prototype;Y.b2PolyAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};Y.Create=function(){return new Y};Y.Destroy=function(){};Y.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o);O.b2Assert(j.GetType()==y.e_polygonShape);O.b2Assert(o.GetType()==y.e_circleShape)};Y.prototype.Evaluate=function(){var j=this.m_fixtureA.m_body,o=this.m_fixtureB.m_body;S.CollidePolygonAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof +K?this.m_fixtureA.GetShape():null,j.m_xf,this.m_fixtureB.GetShape()instanceof F?this.m_fixtureB.GetShape():null,o.m_xf)};Box2D.inherit(k,Box2D.Dynamics.Contacts.b2Contact);k.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;k.b2PolyAndEdgeContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};k.Create=function(){return new k};k.Destroy=function(){};k.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o);O.b2Assert(j.GetType()==y.e_polygonShape); +O.b2Assert(o.GetType()==y.e_edgeShape)};k.prototype.Evaluate=function(){var j=this.m_fixtureA.GetBody(),o=this.m_fixtureB.GetBody();this.b2CollidePolyAndEdge(this.m_manifold,this.m_fixtureA.GetShape()instanceof K?this.m_fixtureA.GetShape():null,j.m_xf,this.m_fixtureB.GetShape()instanceof G?this.m_fixtureB.GetShape():null,o.m_xf)};k.prototype.b2CollidePolyAndEdge=function(){};Box2D.inherit(z,Box2D.Dynamics.Contacts.b2Contact);z.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;z.b2PolygonContact= +function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};z.Create=function(){return new z};z.Destroy=function(){};z.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o)};z.prototype.Evaluate=function(){var j=this.m_fixtureA.GetBody(),o=this.m_fixtureB.GetBody();S.CollidePolygons(this.m_manifold,this.m_fixtureA.GetShape()instanceof K?this.m_fixtureA.GetShape():null,j.m_xf,this.m_fixtureB.GetShape()instanceof K?this.m_fixtureB.GetShape():null,o.m_xf)};u.b2PositionSolverManifold= +function(){};u.prototype.b2PositionSolverManifold=function(){this.m_normal=new N;this.m_separations=new Vector_a2j_Number(O.b2_maxManifoldPoints);this.m_points=new Vector(O.b2_maxManifoldPoints);for(var j=0;j0);var o=0,q=0,n=0,a,c=0,g=0;switch(j.type){case Z.e_circles:a=j.bodyA.m_xf.R;n=j.localPoint;o=j.bodyA.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);q=j.bodyA.m_xf.position.y+(a.col1.y* +n.x+a.col2.y*n.y);a=j.bodyB.m_xf.R;n=j.points[0].localPoint;c=j.bodyB.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);a=j.bodyB.m_xf.position.y+(a.col1.y*n.x+a.col2.y*n.y);n=c-o;g=a-q;var b=n*n+g*g;if(b>Number.MIN_VALUE*Number.MIN_VALUE){b=Math.sqrt(b);this.m_normal.x=n/b;this.m_normal.y=g/b}else{this.m_normal.x=1;this.m_normal.y=0}this.m_points[0].x=0.5*(o+c);this.m_points[0].y=0.5*(q+a);this.m_separations[0]=n*this.m_normal.x+g*this.m_normal.y-j.radius;break;case Z.e_faceA:a=j.bodyA.m_xf.R;n=j.localPlaneNormal; +this.m_normal.x=a.col1.x*n.x+a.col2.x*n.y;this.m_normal.y=a.col1.y*n.x+a.col2.y*n.y;a=j.bodyA.m_xf.R;n=j.localPoint;c=j.bodyA.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);g=j.bodyA.m_xf.position.y+(a.col1.y*n.x+a.col2.y*n.y);a=j.bodyB.m_xf.R;for(o=0;o0||L>0?1/Math.max(M,L):0};V.prototype.Step=function(M){M=M.dt;if(!(M<=Number.MIN_VALUE)){if(M>this.maxTimestep&&this.maxTimestep>0)M=this.maxTimestep; +for(var L=this.m_bodyList;L;L=L.nextBody){var I=L.body;if(I.IsAwake()){var W=I.GetWorldVector(G.MulMV(this.T,I.GetLocalVector(I.GetLinearVelocity())));I.SetLinearVelocity(new K(I.GetLinearVelocity().x+W.x*M,I.GetLinearVelocity().y+W.y*M))}}}}})(); +(function(){var F=Box2D.Common.b2Settings,G=Box2D.Common.Math.b2Mat22,K=Box2D.Common.Math.b2Mat33,y=Box2D.Common.Math.b2Math,w=Box2D.Common.Math.b2Vec2,A=Box2D.Common.Math.b2Vec3,U=Box2D.Dynamics.Joints.b2DistanceJoint,p=Box2D.Dynamics.Joints.b2DistanceJointDef,B=Box2D.Dynamics.Joints.b2FrictionJoint,Q=Box2D.Dynamics.Joints.b2FrictionJointDef,V=Box2D.Dynamics.Joints.b2GearJoint,M=Box2D.Dynamics.Joints.b2GearJointDef,L=Box2D.Dynamics.Joints.b2Jacobian,I=Box2D.Dynamics.Joints.b2Joint,W=Box2D.Dynamics.Joints.b2JointDef, +Y=Box2D.Dynamics.Joints.b2JointEdge,k=Box2D.Dynamics.Joints.b2LineJoint,z=Box2D.Dynamics.Joints.b2LineJointDef,u=Box2D.Dynamics.Joints.b2MouseJoint,D=Box2D.Dynamics.Joints.b2MouseJointDef,H=Box2D.Dynamics.Joints.b2PrismaticJoint,O=Box2D.Dynamics.Joints.b2PrismaticJointDef,E=Box2D.Dynamics.Joints.b2PulleyJoint,R=Box2D.Dynamics.Joints.b2PulleyJointDef,N=Box2D.Dynamics.Joints.b2RevoluteJoint,S=Box2D.Dynamics.Joints.b2RevoluteJointDef,aa=Box2D.Dynamics.Joints.b2WeldJoint,Z=Box2D.Dynamics.Joints.b2WeldJointDef; +Box2D.inherit(U,Box2D.Dynamics.Joints.b2Joint);U.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;U.b2DistanceJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_u=new w};U.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};U.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};U.prototype.GetReactionForce=function(d){if(d===undefined)d= +0;return new w(d*this.m_impulse*this.m_u.x,d*this.m_impulse*this.m_u.y)};U.prototype.GetReactionTorque=function(){return 0};U.prototype.GetLength=function(){return this.m_length};U.prototype.SetLength=function(d){if(d===undefined)d=0;this.m_length=d};U.prototype.GetFrequency=function(){return this.m_frequencyHz};U.prototype.SetFrequency=function(d){if(d===undefined)d=0;this.m_frequencyHz=d};U.prototype.GetDampingRatio=function(){return this.m_dampingRatio};U.prototype.SetDampingRatio=function(d){if(d=== +undefined)d=0;this.m_dampingRatio=d};U.prototype.b2DistanceJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_length=d.length;this.m_frequencyHz=d.frequencyHz;this.m_dampingRatio=d.dampingRatio;this.m_bias=this.m_gamma=this.m_impulse=0};U.prototype.InitVelocityConstraints=function(d){var h,l=0,j=this.m_bodyA,o=this.m_bodyB;h=j.m_xf.R;var q=this.m_localAnchor1.x-j.m_sweep.localCenter.x,n=this.m_localAnchor1.y- +j.m_sweep.localCenter.y;l=h.col1.x*q+h.col2.x*n;n=h.col1.y*q+h.col2.y*n;q=l;h=o.m_xf.R;var a=this.m_localAnchor2.x-o.m_sweep.localCenter.x,c=this.m_localAnchor2.y-o.m_sweep.localCenter.y;l=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=l;this.m_u.x=o.m_sweep.c.x+a-j.m_sweep.c.x-q;this.m_u.y=o.m_sweep.c.y+c-j.m_sweep.c.y-n;l=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);l>F.b2_linearSlop?this.m_u.Multiply(1/l):this.m_u.SetZero();h=q*this.m_u.y-n*this.m_u.x;var g=a*this.m_u.y-c*this.m_u.x; +h=j.m_invMass+j.m_invI*h*h+o.m_invMass+o.m_invI*g*g;this.m_mass=h!=0?1/h:0;if(this.m_frequencyHz>0){l=l-this.m_length;g=2*Math.PI*this.m_frequencyHz;var b=this.m_mass*g*g;this.m_gamma=d.dt*(2*this.m_mass*this.m_dampingRatio*g+d.dt*b);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_bias=l*d.dt*b*this.m_gamma;this.m_mass=h+this.m_gamma;this.m_mass=this.m_mass!=0?1/this.m_mass:0}if(d.warmStarting){this.m_impulse*=d.dtRatio;d=this.m_impulse*this.m_u.x;h=this.m_impulse*this.m_u.y;j.m_linearVelocity.x-= +j.m_invMass*d;j.m_linearVelocity.y-=j.m_invMass*h;j.m_angularVelocity-=j.m_invI*(q*h-n*d);o.m_linearVelocity.x+=o.m_invMass*d;o.m_linearVelocity.y+=o.m_invMass*h;o.m_angularVelocity+=o.m_invI*(a*h-c*d)}else this.m_impulse=0};U.prototype.SolveVelocityConstraints=function(){var d,h=this.m_bodyA,l=this.m_bodyB;d=h.m_xf.R;var j=this.m_localAnchor1.x-h.m_sweep.localCenter.x,o=this.m_localAnchor1.y-h.m_sweep.localCenter.y,q=d.col1.x*j+d.col2.x*o;o=d.col1.y*j+d.col2.y*o;j=q;d=l.m_xf.R;var n=this.m_localAnchor2.x- +l.m_sweep.localCenter.x,a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;q=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=q;q=-this.m_mass*(this.m_u.x*(l.m_linearVelocity.x+-l.m_angularVelocity*a-(h.m_linearVelocity.x+-h.m_angularVelocity*o))+this.m_u.y*(l.m_linearVelocity.y+l.m_angularVelocity*n-(h.m_linearVelocity.y+h.m_angularVelocity*j))+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=q;d=q*this.m_u.x;q=q*this.m_u.y;h.m_linearVelocity.x-=h.m_invMass*d;h.m_linearVelocity.y-=h.m_invMass* +q;h.m_angularVelocity-=h.m_invI*(j*q-o*d);l.m_linearVelocity.x+=l.m_invMass*d;l.m_linearVelocity.y+=l.m_invMass*q;l.m_angularVelocity+=l.m_invI*(n*q-a*d)};U.prototype.SolvePositionConstraints=function(){var d;if(this.m_frequencyHz>0)return true;var h=this.m_bodyA,l=this.m_bodyB;d=h.m_xf.R;var j=this.m_localAnchor1.x-h.m_sweep.localCenter.x,o=this.m_localAnchor1.y-h.m_sweep.localCenter.y,q=d.col1.x*j+d.col2.x*o;o=d.col1.y*j+d.col2.y*o;j=q;d=l.m_xf.R;var n=this.m_localAnchor2.x-l.m_sweep.localCenter.x, +a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;q=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=q;q=l.m_sweep.c.x+n-h.m_sweep.c.x-j;var c=l.m_sweep.c.y+a-h.m_sweep.c.y-o;d=Math.sqrt(q*q+c*c);q/=d;c/=d;d=d-this.m_length;d=y.Clamp(d,-F.b2_maxLinearCorrection,F.b2_maxLinearCorrection);var g=-this.m_mass*d;this.m_u.Set(q,c);q=g*this.m_u.x;c=g*this.m_u.y;h.m_sweep.c.x-=h.m_invMass*q;h.m_sweep.c.y-=h.m_invMass*c;h.m_sweep.a-=h.m_invI*(j*c-o*q);l.m_sweep.c.x+=l.m_invMass*q;l.m_sweep.c.y+=l.m_invMass*c; +l.m_sweep.a+=l.m_invI*(n*c-a*q);h.SynchronizeTransform();l.SynchronizeTransform();return y.Abs(d)0)this.m_angularMass=1/this.m_angularMass;if(d.warmStarting){this.m_linearImpulse.x*=d.dtRatio;this.m_linearImpulse.y*=d.dtRatio;this.m_angularImpulse*=d.dtRatio;d=this.m_linearImpulse;j.m_linearVelocity.x-=h*d.x; +j.m_linearVelocity.y-=h*d.y;j.m_angularVelocity-=g*(q*d.y-n*d.x+this.m_angularImpulse);o.m_linearVelocity.x+=l*d.x;o.m_linearVelocity.y+=l*d.y;o.m_angularVelocity+=b*(a*d.y-c*d.x+this.m_angularImpulse)}else{this.m_linearImpulse.SetZero();this.m_angularImpulse=0}};B.prototype.SolveVelocityConstraints=function(d){var h,l=0,j=this.m_bodyA,o=this.m_bodyB,q=j.m_linearVelocity,n=j.m_angularVelocity,a=o.m_linearVelocity,c=o.m_angularVelocity,g=j.m_invMass,b=o.m_invMass,e=j.m_invI,f=o.m_invI;h=j.m_xf.R;var m= +this.m_localAnchorA.x-j.m_sweep.localCenter.x,r=this.m_localAnchorA.y-j.m_sweep.localCenter.y;l=h.col1.x*m+h.col2.x*r;r=h.col1.y*m+h.col2.y*r;m=l;h=o.m_xf.R;var s=this.m_localAnchorB.x-o.m_sweep.localCenter.x,v=this.m_localAnchorB.y-o.m_sweep.localCenter.y;l=h.col1.x*s+h.col2.x*v;v=h.col1.y*s+h.col2.y*v;s=l;h=0;l=-this.m_angularMass*(c-n);var t=this.m_angularImpulse;h=d.dt*this.m_maxTorque;this.m_angularImpulse=y.Clamp(this.m_angularImpulse+l,-h,h);l=this.m_angularImpulse-t;n-=e*l;c+=f*l;h=y.MulMV(this.m_linearMass, +new w(-(a.x-c*v-q.x+n*r),-(a.y+c*s-q.y-n*m)));l=this.m_linearImpulse.Copy();this.m_linearImpulse.Add(h);h=d.dt*this.m_maxForce;if(this.m_linearImpulse.LengthSquared()>h*h){this.m_linearImpulse.Normalize();this.m_linearImpulse.Multiply(h)}h=y.SubtractVV(this.m_linearImpulse,l);q.x-=g*h.x;q.y-=g*h.y;n-=e*(m*h.y-r*h.x);a.x+=b*h.x;a.y+=b*h.y;c+=f*(s*h.y-v*h.x);j.m_angularVelocity=n;o.m_angularVelocity=c};B.prototype.SolvePositionConstraints=function(){return true};Box2D.inherit(Q,Box2D.Dynamics.Joints.b2JointDef); +Q.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;Q.b2FrictionJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w};Q.prototype.b2FrictionJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_frictionJoint;this.maxTorque=this.maxForce=0};Q.prototype.Initialize=function(d,h,l){this.bodyA=d;this.bodyB=h;this.localAnchorA.SetV(this.bodyA.GetLocalPoint(l));this.localAnchorB.SetV(this.bodyB.GetLocalPoint(l))}; +Box2D.inherit(V,Box2D.Dynamics.Joints.b2Joint);V.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;V.b2GearJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_groundAnchor1=new w;this.m_groundAnchor2=new w;this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_J=new L};V.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};V.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};V.prototype.GetReactionForce= +function(d){if(d===undefined)d=0;return new w(d*this.m_impulse*this.m_J.linearB.x,d*this.m_impulse*this.m_J.linearB.y)};V.prototype.GetReactionTorque=function(d){if(d===undefined)d=0;var h=this.m_bodyB.m_xf.R,l=this.m_localAnchor1.x-this.m_bodyB.m_sweep.localCenter.x,j=this.m_localAnchor1.y-this.m_bodyB.m_sweep.localCenter.y,o=h.col1.x*l+h.col2.x*j;j=h.col1.y*l+h.col2.y*j;l=o;return d*(this.m_impulse*this.m_J.angularB-l*this.m_impulse*this.m_J.linearB.y+j*this.m_impulse*this.m_J.linearB.x)};V.prototype.GetRatio= +function(){return this.m_ratio};V.prototype.SetRatio=function(d){if(d===undefined)d=0;this.m_ratio=d};V.prototype.b2GearJoint=function(d){this.__super.b2Joint.call(this,d);var h=parseInt(d.joint1.m_type),l=parseInt(d.joint2.m_type);this.m_prismatic2=this.m_revolute2=this.m_prismatic1=this.m_revolute1=null;var j=0,o=0;this.m_ground1=d.joint1.GetBodyA();this.m_bodyA=d.joint1.GetBodyB();if(h==I.e_revoluteJoint){this.m_revolute1=d.joint1 instanceof N?d.joint1:null;this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1); +this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);j=this.m_revolute1.GetJointAngle()}else{this.m_prismatic1=d.joint1 instanceof H?d.joint1:null;this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);j=this.m_prismatic1.GetJointTranslation()}this.m_ground2=d.joint2.GetBodyA();this.m_bodyB=d.joint2.GetBodyB();if(l==I.e_revoluteJoint){this.m_revolute2=d.joint2 instanceof N?d.joint2:null;this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1); +this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);o=this.m_revolute2.GetJointAngle()}else{this.m_prismatic2=d.joint2 instanceof H?d.joint2:null;this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);o=this.m_prismatic2.GetJointTranslation()}this.m_ratio=d.ratio;this.m_constant=j+this.m_ratio*o;this.m_impulse=0};V.prototype.InitVelocityConstraints=function(d){var h=this.m_ground1,l=this.m_ground2,j=this.m_bodyA,o=this.m_bodyB, +q=0,n=0,a=0,c=0,g=a=0,b=0;this.m_J.SetZero();if(this.m_revolute1){this.m_J.angularA=-1;b+=j.m_invI}else{h=h.m_xf.R;n=this.m_prismatic1.m_localXAxis1;q=h.col1.x*n.x+h.col2.x*n.y;n=h.col1.y*n.x+h.col2.y*n.y;h=j.m_xf.R;a=this.m_localAnchor1.x-j.m_sweep.localCenter.x;c=this.m_localAnchor1.y-j.m_sweep.localCenter.y;g=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=g;a=a*n-c*q;this.m_J.linearA.Set(-q,-n);this.m_J.angularA=-a;b+=j.m_invMass+j.m_invI*a*a}if(this.m_revolute2){this.m_J.angularB=-this.m_ratio; +b+=this.m_ratio*this.m_ratio*o.m_invI}else{h=l.m_xf.R;n=this.m_prismatic2.m_localXAxis1;q=h.col1.x*n.x+h.col2.x*n.y;n=h.col1.y*n.x+h.col2.y*n.y;h=o.m_xf.R;a=this.m_localAnchor2.x-o.m_sweep.localCenter.x;c=this.m_localAnchor2.y-o.m_sweep.localCenter.y;g=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=g;a=a*n-c*q;this.m_J.linearB.Set(-this.m_ratio*q,-this.m_ratio*n);this.m_J.angularB=-this.m_ratio*a;b+=this.m_ratio*this.m_ratio*(o.m_invMass+o.m_invI*a*a)}this.m_mass=b>0?1/b:0;if(d.warmStarting){j.m_linearVelocity.x+= +j.m_invMass*this.m_impulse*this.m_J.linearA.x;j.m_linearVelocity.y+=j.m_invMass*this.m_impulse*this.m_J.linearA.y;j.m_angularVelocity+=j.m_invI*this.m_impulse*this.m_J.angularA;o.m_linearVelocity.x+=o.m_invMass*this.m_impulse*this.m_J.linearB.x;o.m_linearVelocity.y+=o.m_invMass*this.m_impulse*this.m_J.linearB.y;o.m_angularVelocity+=o.m_invI*this.m_impulse*this.m_J.angularB}else this.m_impulse=0};V.prototype.SolveVelocityConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l=-this.m_mass*this.m_J.Compute(d.m_linearVelocity, +d.m_angularVelocity,h.m_linearVelocity,h.m_angularVelocity);this.m_impulse+=l;d.m_linearVelocity.x+=d.m_invMass*l*this.m_J.linearA.x;d.m_linearVelocity.y+=d.m_invMass*l*this.m_J.linearA.y;d.m_angularVelocity+=d.m_invI*l*this.m_J.angularA;h.m_linearVelocity.x+=h.m_invMass*l*this.m_J.linearB.x;h.m_linearVelocity.y+=h.m_invMass*l*this.m_J.linearB.y;h.m_angularVelocity+=h.m_invI*l*this.m_J.angularB};V.prototype.SolvePositionConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l=0,j=0;l=this.m_revolute1? +this.m_revolute1.GetJointAngle():this.m_prismatic1.GetJointTranslation();j=this.m_revolute2?this.m_revolute2.GetJointAngle():this.m_prismatic2.GetJointTranslation();l=-this.m_mass*(this.m_constant-(l+this.m_ratio*j));d.m_sweep.c.x+=d.m_invMass*l*this.m_J.linearA.x;d.m_sweep.c.y+=d.m_invMass*l*this.m_J.linearA.y;d.m_sweep.a+=d.m_invI*l*this.m_J.angularA;h.m_sweep.c.x+=h.m_invMass*l*this.m_J.linearB.x;h.m_sweep.c.y+=h.m_invMass*l*this.m_J.linearB.y;h.m_sweep.a+=h.m_invI*l*this.m_J.angularB;d.SynchronizeTransform(); +h.SynchronizeTransform();return 0Number.MIN_VALUE?1/this.m_motorMass:0;this.m_perp.SetV(y.MulMV(q.R,this.m_localYAxis1));this.m_s1=(j+n)*this.m_perp.y-(o+a)*this.m_perp.x;this.m_s2=c*this.m_perp.y- +g*this.m_perp.x;q=this.m_invMassA;n=this.m_invMassB;a=this.m_invIA;c=this.m_invIB;this.m_K.col1.x=q+n+a*this.m_s1*this.m_s1+c*this.m_s2*this.m_s2;this.m_K.col1.y=a*this.m_s1*this.m_a1+c*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=q+n+a*this.m_a1*this.m_a1+c*this.m_a2*this.m_a2;if(this.m_enableLimit){j=this.m_axis.x*j+this.m_axis.y*o;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop)this.m_limitState=I.e_equalLimits;else if(j<=this.m_lowerTranslation){if(this.m_limitState!= +I.e_atLowerLimit){this.m_limitState=I.e_atLowerLimit;this.m_impulse.y=0}}else if(j>=this.m_upperTranslation){if(this.m_limitState!=I.e_atUpperLimit){this.m_limitState=I.e_atUpperLimit;this.m_impulse.y=0}}else{this.m_limitState=I.e_inactiveLimit;this.m_impulse.y=0}}else this.m_limitState=I.e_inactiveLimit;if(this.m_enableMotor==false)this.m_motorImpulse=0;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_motorImpulse*=d.dtRatio;d=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+ +this.m_impulse.y)*this.m_axis.x;j=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.y;o=this.m_impulse.x*this.m_s1+(this.m_motorImpulse+this.m_impulse.y)*this.m_a1;q=this.m_impulse.x*this.m_s2+(this.m_motorImpulse+this.m_impulse.y)*this.m_a2;h.m_linearVelocity.x-=this.m_invMassA*d;h.m_linearVelocity.y-=this.m_invMassA*j;h.m_angularVelocity-=this.m_invIA*o;l.m_linearVelocity.x+=this.m_invMassB*d;l.m_linearVelocity.y+=this.m_invMassB*j;l.m_angularVelocity+=this.m_invIB* +q}else{this.m_impulse.SetZero();this.m_motorImpulse=0}};k.prototype.SolveVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j=h.m_linearVelocity,o=h.m_angularVelocity,q=l.m_linearVelocity,n=l.m_angularVelocity,a=0,c=0,g=0,b=0;if(this.m_enableMotor&&this.m_limitState!=I.e_equalLimits){b=this.m_motorMass*(this.m_motorSpeed-(this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o));a=this.m_motorImpulse;c=d.dt*this.m_maxMotorForce;this.m_motorImpulse=y.Clamp(this.m_motorImpulse+ +b,-c,c);b=this.m_motorImpulse-a;a=b*this.m_axis.x;c=b*this.m_axis.y;g=b*this.m_a1;b=b*this.m_a2;j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b}c=this.m_perp.x*(q.x-j.x)+this.m_perp.y*(q.y-j.y)+this.m_s2*n-this.m_s1*o;if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){g=this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o;a=this.m_impulse.Copy();d=this.m_K.Solve(new w,-c,-g);this.m_impulse.Add(d); +if(this.m_limitState==I.e_atLowerLimit)this.m_impulse.y=y.Max(this.m_impulse.y,0);else if(this.m_limitState==I.e_atUpperLimit)this.m_impulse.y=y.Min(this.m_impulse.y,0);c=-c-(this.m_impulse.y-a.y)*this.m_K.col2.x;g=0;g=this.m_K.col1.x!=0?c/this.m_K.col1.x+a.x:a.x;this.m_impulse.x=g;d.x=this.m_impulse.x-a.x;d.y=this.m_impulse.y-a.y;a=d.x*this.m_perp.x+d.y*this.m_axis.x;c=d.x*this.m_perp.y+d.y*this.m_axis.y;g=d.x*this.m_s1+d.y*this.m_a1;b=d.x*this.m_s2+d.y*this.m_a2}else{d=0;d=this.m_K.col1.x!=0?-c/ +this.m_K.col1.x:0;this.m_impulse.x+=d;a=d*this.m_perp.x;c=d*this.m_perp.y;g=d*this.m_s1;b=d*this.m_s2}j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b;h.m_linearVelocity.SetV(j);h.m_angularVelocity=o;l.m_linearVelocity.SetV(q);l.m_angularVelocity=n};k.prototype.SolvePositionConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l=d.m_sweep.c,j=d.m_sweep.a,o=h.m_sweep.c,q=h.m_sweep.a,n,a=0,c=0,g=0,b=0,e=n=0,f=0;c=false; +var m=0,r=G.FromAngle(j);g=G.FromAngle(q);n=r;f=this.m_localAnchor1.x-this.m_localCenterA.x;var s=this.m_localAnchor1.y-this.m_localCenterA.y;a=n.col1.x*f+n.col2.x*s;s=n.col1.y*f+n.col2.y*s;f=a;n=g;g=this.m_localAnchor2.x-this.m_localCenterB.x;b=this.m_localAnchor2.y-this.m_localCenterB.y;a=n.col1.x*g+n.col2.x*b;b=n.col1.y*g+n.col2.y*b;g=a;n=o.x+g-l.x-f;a=o.y+b-l.y-s;if(this.m_enableLimit){this.m_axis=y.MulMV(r,this.m_localXAxis1);this.m_a1=(n+f)*this.m_axis.y-(a+s)*this.m_axis.x;this.m_a2=g*this.m_axis.y- +b*this.m_axis.x;var v=this.m_axis.x*n+this.m_axis.y*a;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop){m=y.Clamp(v,-F.b2_maxLinearCorrection,F.b2_maxLinearCorrection);e=y.Abs(v);c=true}else if(v<=this.m_lowerTranslation){m=y.Clamp(v-this.m_lowerTranslation+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);e=this.m_lowerTranslation-v;c=true}else if(v>=this.m_upperTranslation){m=y.Clamp(v-this.m_upperTranslation+F.b2_linearSlop,0,F.b2_maxLinearCorrection);e=v-this.m_upperTranslation; +c=true}}this.m_perp=y.MulMV(r,this.m_localYAxis1);this.m_s1=(n+f)*this.m_perp.y-(a+s)*this.m_perp.x;this.m_s2=g*this.m_perp.y-b*this.m_perp.x;r=new w;s=this.m_perp.x*n+this.m_perp.y*a;e=y.Max(e,y.Abs(s));f=0;if(c){c=this.m_invMassA;g=this.m_invMassB;b=this.m_invIA;n=this.m_invIB;this.m_K.col1.x=c+g+b*this.m_s1*this.m_s1+n*this.m_s2*this.m_s2;this.m_K.col1.y=b*this.m_s1*this.m_a1+n*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=c+g+b*this.m_a1*this.m_a1+n*this.m_a2*this.m_a2;this.m_K.Solve(r, +-s,-m)}else{c=this.m_invMassA;g=this.m_invMassB;b=this.m_invIA;n=this.m_invIB;m=c+g+b*this.m_s1*this.m_s1+n*this.m_s2*this.m_s2;c=0;c=m!=0?-s/m:0;r.x=c;r.y=0}m=r.x*this.m_perp.x+r.y*this.m_axis.x;c=r.x*this.m_perp.y+r.y*this.m_axis.y;s=r.x*this.m_s1+r.y*this.m_a1;r=r.x*this.m_s2+r.y*this.m_a2;l.x-=this.m_invMassA*m;l.y-=this.m_invMassA*c;j-=this.m_invIA*s;o.x+=this.m_invMassB*m;o.y+=this.m_invMassB*c;q+=this.m_invIB*r;d.m_sweep.a=j;h.m_sweep.a=q;d.SynchronizeTransform();h.SynchronizeTransform();return e<= +F.b2_linearSlop&&f<=F.b2_angularSlop};Box2D.inherit(z,Box2D.Dynamics.Joints.b2JointDef);z.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;z.b2LineJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w;this.localAxisA=new w};z.prototype.b2LineJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_lineJoint;this.localAxisA.Set(1,0);this.enableLimit=false;this.upperTranslation=this.lowerTranslation= +0;this.enableMotor=false;this.motorSpeed=this.maxMotorForce=0};z.prototype.Initialize=function(d,h,l,j){this.bodyA=d;this.bodyB=h;this.localAnchorA=this.bodyA.GetLocalPoint(l);this.localAnchorB=this.bodyB.GetLocalPoint(l);this.localAxisA=this.bodyA.GetLocalVector(j)};Box2D.inherit(u,Box2D.Dynamics.Joints.b2Joint);u.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;u.b2MouseJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.K=new G;this.K1=new G;this.K2=new G; +this.m_localAnchor=new w;this.m_target=new w;this.m_impulse=new w;this.m_mass=new G;this.m_C=new w};u.prototype.GetAnchorA=function(){return this.m_target};u.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor)};u.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*this.m_impulse.x,d*this.m_impulse.y)};u.prototype.GetReactionTorque=function(){return 0};u.prototype.GetTarget=function(){return this.m_target};u.prototype.SetTarget=function(d){this.m_bodyB.IsAwake()== +false&&this.m_bodyB.SetAwake(true);this.m_target=d};u.prototype.GetMaxForce=function(){return this.m_maxForce};u.prototype.SetMaxForce=function(d){if(d===undefined)d=0;this.m_maxForce=d};u.prototype.GetFrequency=function(){return this.m_frequencyHz};u.prototype.SetFrequency=function(d){if(d===undefined)d=0;this.m_frequencyHz=d};u.prototype.GetDampingRatio=function(){return this.m_dampingRatio};u.prototype.SetDampingRatio=function(d){if(d===undefined)d=0;this.m_dampingRatio=d};u.prototype.b2MouseJoint= +function(d){this.__super.b2Joint.call(this,d);this.m_target.SetV(d.target);var h=this.m_target.x-this.m_bodyB.m_xf.position.x,l=this.m_target.y-this.m_bodyB.m_xf.position.y,j=this.m_bodyB.m_xf.R;this.m_localAnchor.x=h*j.col1.x+l*j.col1.y;this.m_localAnchor.y=h*j.col2.x+l*j.col2.y;this.m_maxForce=d.maxForce;this.m_impulse.SetZero();this.m_frequencyHz=d.frequencyHz;this.m_dampingRatio=d.dampingRatio;this.m_gamma=this.m_beta=0};u.prototype.InitVelocityConstraints=function(d){var h=this.m_bodyB,l=h.GetMass(), +j=2*Math.PI*this.m_frequencyHz,o=l*j*j;this.m_gamma=d.dt*(2*l*this.m_dampingRatio*j+d.dt*o);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_beta=d.dt*o*this.m_gamma;o=h.m_xf.R;l=this.m_localAnchor.x-h.m_sweep.localCenter.x;j=this.m_localAnchor.y-h.m_sweep.localCenter.y;var q=o.col1.x*l+o.col2.x*j;j=o.col1.y*l+o.col2.y*j;l=q;o=h.m_invMass;q=h.m_invI;this.K1.col1.x=o;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=o;this.K2.col1.x=q*j*j;this.K2.col2.x=-q*l*j;this.K2.col1.y=-q*l*j;this.K2.col2.y= +q*l*l;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.col1.x+=this.m_gamma;this.K.col2.y+=this.m_gamma;this.K.GetInverse(this.m_mass);this.m_C.x=h.m_sweep.c.x+l-this.m_target.x;this.m_C.y=h.m_sweep.c.y+j-this.m_target.y;h.m_angularVelocity*=0.98;this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;h.m_linearVelocity.x+=o*this.m_impulse.x;h.m_linearVelocity.y+=o*this.m_impulse.y;h.m_angularVelocity+=q*(l*this.m_impulse.y-j*this.m_impulse.x)};u.prototype.SolveVelocityConstraints=function(d){var h= +this.m_bodyB,l,j=0,o=0;l=h.m_xf.R;var q=this.m_localAnchor.x-h.m_sweep.localCenter.x,n=this.m_localAnchor.y-h.m_sweep.localCenter.y;j=l.col1.x*q+l.col2.x*n;n=l.col1.y*q+l.col2.y*n;q=j;j=h.m_linearVelocity.x+-h.m_angularVelocity*n;var a=h.m_linearVelocity.y+h.m_angularVelocity*q;l=this.m_mass;j=j+this.m_beta*this.m_C.x+this.m_gamma*this.m_impulse.x;o=a+this.m_beta*this.m_C.y+this.m_gamma*this.m_impulse.y;a=-(l.col1.x*j+l.col2.x*o);o=-(l.col1.y*j+l.col2.y*o);l=this.m_impulse.x;j=this.m_impulse.y;this.m_impulse.x+= +a;this.m_impulse.y+=o;d=d.dt*this.m_maxForce;this.m_impulse.LengthSquared()>d*d&&this.m_impulse.Multiply(d/this.m_impulse.Length());a=this.m_impulse.x-l;o=this.m_impulse.y-j;h.m_linearVelocity.x+=h.m_invMass*a;h.m_linearVelocity.y+=h.m_invMass*o;h.m_angularVelocity+=h.m_invI*(q*o-n*a)};u.prototype.SolvePositionConstraints=function(){return true};Box2D.inherit(D,Box2D.Dynamics.Joints.b2JointDef);D.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;D.b2MouseJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, +arguments);this.target=new w};D.prototype.b2MouseJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_mouseJoint;this.maxForce=0;this.frequencyHz=5;this.dampingRatio=0.7};Box2D.inherit(H,Box2D.Dynamics.Joints.b2Joint);H.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;H.b2PrismaticJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_localXAxis1=new w;this.m_localYAxis1=new w;this.m_axis=new w; +this.m_perp=new w;this.m_K=new K;this.m_impulse=new A};H.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};H.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};H.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x),d*(this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y))};H.prototype.GetReactionTorque= +function(d){if(d===undefined)d=0;return d*this.m_impulse.y};H.prototype.GetJointTranslation=function(){var d=this.m_bodyA,h=this.m_bodyB,l=d.GetWorldPoint(this.m_localAnchor1),j=h.GetWorldPoint(this.m_localAnchor2);h=j.x-l.x;l=j.y-l.y;d=d.GetWorldVector(this.m_localXAxis1);return d.x*h+d.y*l};H.prototype.GetJointSpeed=function(){var d=this.m_bodyA,h=this.m_bodyB,l;l=d.m_xf.R;var j=this.m_localAnchor1.x-d.m_sweep.localCenter.x,o=this.m_localAnchor1.y-d.m_sweep.localCenter.y,q=l.col1.x*j+l.col2.x*o; +o=l.col1.y*j+l.col2.y*o;j=q;l=h.m_xf.R;var n=this.m_localAnchor2.x-h.m_sweep.localCenter.x,a=this.m_localAnchor2.y-h.m_sweep.localCenter.y;q=l.col1.x*n+l.col2.x*a;a=l.col1.y*n+l.col2.y*a;n=q;l=h.m_sweep.c.x+n-(d.m_sweep.c.x+j);q=h.m_sweep.c.y+a-(d.m_sweep.c.y+o);var c=d.GetWorldVector(this.m_localXAxis1),g=d.m_linearVelocity,b=h.m_linearVelocity;d=d.m_angularVelocity;h=h.m_angularVelocity;return l*-d*c.y+q*d*c.x+(c.x*(b.x+-h*a-g.x- -d*o)+c.y*(b.y+h*n-g.y-d*j))};H.prototype.IsLimitEnabled=function(){return this.m_enableLimit}; +H.prototype.EnableLimit=function(d){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableLimit=d};H.prototype.GetLowerLimit=function(){return this.m_lowerTranslation};H.prototype.GetUpperLimit=function(){return this.m_upperTranslation};H.prototype.SetLimits=function(d,h){if(d===undefined)d=0;if(h===undefined)h=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_lowerTranslation=d;this.m_upperTranslation=h};H.prototype.IsMotorEnabled=function(){return this.m_enableMotor}; +H.prototype.EnableMotor=function(d){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableMotor=d};H.prototype.SetMotorSpeed=function(d){if(d===undefined)d=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_motorSpeed=d};H.prototype.GetMotorSpeed=function(){return this.m_motorSpeed};H.prototype.SetMaxMotorForce=function(d){if(d===undefined)d=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_maxMotorForce=d};H.prototype.GetMotorForce=function(){return this.m_motorImpulse}; +H.prototype.b2PrismaticJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_localXAxis1.SetV(d.localAxisA);this.m_localYAxis1.x=-this.m_localXAxis1.y;this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_refAngle=d.referenceAngle;this.m_impulse.SetZero();this.m_motorImpulse=this.m_motorMass=0;this.m_lowerTranslation=d.lowerTranslation;this.m_upperTranslation=d.upperTranslation;this.m_maxMotorForce=d.maxMotorForce;this.m_motorSpeed= +d.motorSpeed;this.m_enableLimit=d.enableLimit;this.m_enableMotor=d.enableMotor;this.m_limitState=I.e_inactiveLimit;this.m_axis.SetZero();this.m_perp.SetZero()};H.prototype.InitVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j,o=0;this.m_localCenterA.SetV(h.GetLocalCenter());this.m_localCenterB.SetV(l.GetLocalCenter());var q=h.GetTransform();l.GetTransform();j=h.m_xf.R;var n=this.m_localAnchor1.x-this.m_localCenterA.x,a=this.m_localAnchor1.y-this.m_localCenterA.y;o=j.col1.x*n+j.col2.x* +a;a=j.col1.y*n+j.col2.y*a;n=o;j=l.m_xf.R;var c=this.m_localAnchor2.x-this.m_localCenterB.x,g=this.m_localAnchor2.y-this.m_localCenterB.y;o=j.col1.x*c+j.col2.x*g;g=j.col1.y*c+j.col2.y*g;c=o;j=l.m_sweep.c.x+c-h.m_sweep.c.x-n;o=l.m_sweep.c.y+g-h.m_sweep.c.y-a;this.m_invMassA=h.m_invMass;this.m_invMassB=l.m_invMass;this.m_invIA=h.m_invI;this.m_invIB=l.m_invI;this.m_axis.SetV(y.MulMV(q.R,this.m_localXAxis1));this.m_a1=(j+n)*this.m_axis.y-(o+a)*this.m_axis.x;this.m_a2=c*this.m_axis.y-g*this.m_axis.x;this.m_motorMass= +this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_a1*this.m_a1+this.m_invIB*this.m_a2*this.m_a2;if(this.m_motorMass>Number.MIN_VALUE)this.m_motorMass=1/this.m_motorMass;this.m_perp.SetV(y.MulMV(q.R,this.m_localYAxis1));this.m_s1=(j+n)*this.m_perp.y-(o+a)*this.m_perp.x;this.m_s2=c*this.m_perp.y-g*this.m_perp.x;q=this.m_invMassA;n=this.m_invMassB;a=this.m_invIA;c=this.m_invIB;this.m_K.col1.x=q+n+a*this.m_s1*this.m_s1+c*this.m_s2*this.m_s2;this.m_K.col1.y=a*this.m_s1+c*this.m_s2;this.m_K.col1.z=a* +this.m_s1*this.m_a1+c*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=a+c;this.m_K.col2.z=a*this.m_a1+c*this.m_a2;this.m_K.col3.x=this.m_K.col1.z;this.m_K.col3.y=this.m_K.col2.z;this.m_K.col3.z=q+n+a*this.m_a1*this.m_a1+c*this.m_a2*this.m_a2;if(this.m_enableLimit){j=this.m_axis.x*j+this.m_axis.y*o;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop)this.m_limitState=I.e_equalLimits;else if(j<=this.m_lowerTranslation){if(this.m_limitState!=I.e_atLowerLimit){this.m_limitState= +I.e_atLowerLimit;this.m_impulse.z=0}}else if(j>=this.m_upperTranslation){if(this.m_limitState!=I.e_atUpperLimit){this.m_limitState=I.e_atUpperLimit;this.m_impulse.z=0}}else{this.m_limitState=I.e_inactiveLimit;this.m_impulse.z=0}}else this.m_limitState=I.e_inactiveLimit;if(this.m_enableMotor==false)this.m_motorImpulse=0;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_motorImpulse*=d.dtRatio;d=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x; +j=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y;o=this.m_impulse.x*this.m_s1+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a1;q=this.m_impulse.x*this.m_s2+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a2;h.m_linearVelocity.x-=this.m_invMassA*d;h.m_linearVelocity.y-=this.m_invMassA*j;h.m_angularVelocity-=this.m_invIA*o;l.m_linearVelocity.x+=this.m_invMassB*d;l.m_linearVelocity.y+=this.m_invMassB*j;l.m_angularVelocity+=this.m_invIB* +q}else{this.m_impulse.SetZero();this.m_motorImpulse=0}};H.prototype.SolveVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j=h.m_linearVelocity,o=h.m_angularVelocity,q=l.m_linearVelocity,n=l.m_angularVelocity,a=0,c=0,g=0,b=0;if(this.m_enableMotor&&this.m_limitState!=I.e_equalLimits){b=this.m_motorMass*(this.m_motorSpeed-(this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o));a=this.m_motorImpulse;d=d.dt*this.m_maxMotorForce;this.m_motorImpulse=y.Clamp(this.m_motorImpulse+ +b,-d,d);b=this.m_motorImpulse-a;a=b*this.m_axis.x;c=b*this.m_axis.y;g=b*this.m_a1;b=b*this.m_a2;j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b}g=this.m_perp.x*(q.x-j.x)+this.m_perp.y*(q.y-j.y)+this.m_s2*n-this.m_s1*o;c=n-o;if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){d=this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o;a=this.m_impulse.Copy();d=this.m_K.Solve33(new A,-g,-c,-d);this.m_impulse.Add(d); +if(this.m_limitState==I.e_atLowerLimit)this.m_impulse.z=y.Max(this.m_impulse.z,0);else if(this.m_limitState==I.e_atUpperLimit)this.m_impulse.z=y.Min(this.m_impulse.z,0);g=-g-(this.m_impulse.z-a.z)*this.m_K.col3.x;c=-c-(this.m_impulse.z-a.z)*this.m_K.col3.y;c=this.m_K.Solve22(new w,g,c);c.x+=a.x;c.y+=a.y;this.m_impulse.x=c.x;this.m_impulse.y=c.y;d.x=this.m_impulse.x-a.x;d.y=this.m_impulse.y-a.y;d.z=this.m_impulse.z-a.z;a=d.x*this.m_perp.x+d.z*this.m_axis.x;c=d.x*this.m_perp.y+d.z*this.m_axis.y;g=d.x* +this.m_s1+d.y+d.z*this.m_a1;b=d.x*this.m_s2+d.y+d.z*this.m_a2}else{d=this.m_K.Solve22(new w,-g,-c);this.m_impulse.x+=d.x;this.m_impulse.y+=d.y;a=d.x*this.m_perp.x;c=d.x*this.m_perp.y;g=d.x*this.m_s1+d.y;b=d.x*this.m_s2+d.y}j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b;h.m_linearVelocity.SetV(j);h.m_angularVelocity=o;l.m_linearVelocity.SetV(q);l.m_angularVelocity=n};H.prototype.SolvePositionConstraints=function(){var d= +this.m_bodyA,h=this.m_bodyB,l=d.m_sweep.c,j=d.m_sweep.a,o=h.m_sweep.c,q=h.m_sweep.a,n,a=0,c=0,g=0,b=a=n=0,e=0;c=false;var f=0,m=G.FromAngle(j),r=G.FromAngle(q);n=m;e=this.m_localAnchor1.x-this.m_localCenterA.x;var s=this.m_localAnchor1.y-this.m_localCenterA.y;a=n.col1.x*e+n.col2.x*s;s=n.col1.y*e+n.col2.y*s;e=a;n=r;r=this.m_localAnchor2.x-this.m_localCenterB.x;g=this.m_localAnchor2.y-this.m_localCenterB.y;a=n.col1.x*r+n.col2.x*g;g=n.col1.y*r+n.col2.y*g;r=a;n=o.x+r-l.x-e;a=o.y+g-l.y-s;if(this.m_enableLimit){this.m_axis= +y.MulMV(m,this.m_localXAxis1);this.m_a1=(n+e)*this.m_axis.y-(a+s)*this.m_axis.x;this.m_a2=r*this.m_axis.y-g*this.m_axis.x;var v=this.m_axis.x*n+this.m_axis.y*a;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop){f=y.Clamp(v,-F.b2_maxLinearCorrection,F.b2_maxLinearCorrection);b=y.Abs(v);c=true}else if(v<=this.m_lowerTranslation){f=y.Clamp(v-this.m_lowerTranslation+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);b=this.m_lowerTranslation-v;c=true}else if(v>=this.m_upperTranslation){f= +y.Clamp(v-this.m_upperTranslation+F.b2_linearSlop,0,F.b2_maxLinearCorrection);b=v-this.m_upperTranslation;c=true}}this.m_perp=y.MulMV(m,this.m_localYAxis1);this.m_s1=(n+e)*this.m_perp.y-(a+s)*this.m_perp.x;this.m_s2=r*this.m_perp.y-g*this.m_perp.x;m=new A;s=this.m_perp.x*n+this.m_perp.y*a;r=q-j-this.m_refAngle;b=y.Max(b,y.Abs(s));e=y.Abs(r);if(c){c=this.m_invMassA;g=this.m_invMassB;n=this.m_invIA;a=this.m_invIB;this.m_K.col1.x=c+g+n*this.m_s1*this.m_s1+a*this.m_s2*this.m_s2;this.m_K.col1.y=n*this.m_s1+ +a*this.m_s2;this.m_K.col1.z=n*this.m_s1*this.m_a1+a*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=n+a;this.m_K.col2.z=n*this.m_a1+a*this.m_a2;this.m_K.col3.x=this.m_K.col1.z;this.m_K.col3.y=this.m_K.col2.z;this.m_K.col3.z=c+g+n*this.m_a1*this.m_a1+a*this.m_a2*this.m_a2;this.m_K.Solve33(m,-s,-r,-f)}else{c=this.m_invMassA;g=this.m_invMassB;n=this.m_invIA;a=this.m_invIB;f=n*this.m_s1+a*this.m_s2;v=n+a;this.m_K.col1.Set(c+g+n*this.m_s1*this.m_s1+a*this.m_s2*this.m_s2,f,0);this.m_K.col2.Set(f, +v,0);f=this.m_K.Solve22(new w,-s,-r);m.x=f.x;m.y=f.y;m.z=0}f=m.x*this.m_perp.x+m.z*this.m_axis.x;c=m.x*this.m_perp.y+m.z*this.m_axis.y;s=m.x*this.m_s1+m.y+m.z*this.m_a1;m=m.x*this.m_s2+m.y+m.z*this.m_a2;l.x-=this.m_invMassA*f;l.y-=this.m_invMassA*c;j-=this.m_invIA*s;o.x+=this.m_invMassB*f;o.y+=this.m_invMassB*c;q+=this.m_invIB*m;d.m_sweep.a=j;h.m_sweep.a=q;d.SynchronizeTransform();h.SynchronizeTransform();return b<=F.b2_linearSlop&&e<=F.b2_angularSlop};Box2D.inherit(O,Box2D.Dynamics.Joints.b2JointDef); +O.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;O.b2PrismaticJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w;this.localAxisA=new w};O.prototype.b2PrismaticJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_prismaticJoint;this.localAxisA.Set(1,0);this.referenceAngle=0;this.enableLimit=false;this.upperTranslation=this.lowerTranslation=0;this.enableMotor=false;this.motorSpeed=this.maxMotorForce= +0};O.prototype.Initialize=function(d,h,l,j){this.bodyA=d;this.bodyB=h;this.localAnchorA=this.bodyA.GetLocalPoint(l);this.localAnchorB=this.bodyB.GetLocalPoint(l);this.localAxisA=this.bodyA.GetLocalVector(j);this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()};Box2D.inherit(E,Box2D.Dynamics.Joints.b2Joint);E.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;E.b2PulleyJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_groundAnchor1=new w;this.m_groundAnchor2= +new w;this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_u1=new w;this.m_u2=new w};E.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};E.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};E.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*this.m_impulse*this.m_u2.x,d*this.m_impulse*this.m_u2.y)};E.prototype.GetReactionTorque=function(){return 0};E.prototype.GetGroundAnchorA=function(){var d= +this.m_ground.m_xf.position.Copy();d.Add(this.m_groundAnchor1);return d};E.prototype.GetGroundAnchorB=function(){var d=this.m_ground.m_xf.position.Copy();d.Add(this.m_groundAnchor2);return d};E.prototype.GetLength1=function(){var d=this.m_bodyA.GetWorldPoint(this.m_localAnchor1),h=d.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x);d=d.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y);return Math.sqrt(h*h+d*d)};E.prototype.GetLength2=function(){var d=this.m_bodyB.GetWorldPoint(this.m_localAnchor2), +h=d.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor2.x);d=d.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor2.y);return Math.sqrt(h*h+d*d)};E.prototype.GetRatio=function(){return this.m_ratio};E.prototype.b2PulleyJoint=function(d){this.__super.b2Joint.call(this,d);this.m_ground=this.m_bodyA.m_world.m_groundBody;this.m_groundAnchor1.x=d.groundAnchorA.x-this.m_ground.m_xf.position.x;this.m_groundAnchor1.y=d.groundAnchorA.y-this.m_ground.m_xf.position.y;this.m_groundAnchor2.x=d.groundAnchorB.x- +this.m_ground.m_xf.position.x;this.m_groundAnchor2.y=d.groundAnchorB.y-this.m_ground.m_xf.position.y;this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_ratio=d.ratio;this.m_constant=d.lengthA+this.m_ratio*d.lengthB;this.m_maxLength1=y.Min(d.maxLengthA,this.m_constant-this.m_ratio*E.b2_minPulleyLength);this.m_maxLength2=y.Min(d.maxLengthB,(this.m_constant-E.b2_minPulleyLength)/this.m_ratio);this.m_limitImpulse2=this.m_limitImpulse1=this.m_impulse=0};E.prototype.InitVelocityConstraints= +function(d){var h=this.m_bodyA,l=this.m_bodyB,j;j=h.m_xf.R;var o=this.m_localAnchor1.x-h.m_sweep.localCenter.x,q=this.m_localAnchor1.y-h.m_sweep.localCenter.y,n=j.col1.x*o+j.col2.x*q;q=j.col1.y*o+j.col2.y*q;o=n;j=l.m_xf.R;var a=this.m_localAnchor2.x-l.m_sweep.localCenter.x,c=this.m_localAnchor2.y-l.m_sweep.localCenter.y;n=j.col1.x*a+j.col2.x*c;c=j.col1.y*a+j.col2.y*c;a=n;j=l.m_sweep.c.x+a;n=l.m_sweep.c.y+c;var g=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,b=this.m_ground.m_xf.position.y+ +this.m_groundAnchor2.y;this.m_u1.Set(h.m_sweep.c.x+o-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x),h.m_sweep.c.y+q-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y));this.m_u2.Set(j-g,n-b);j=this.m_u1.Length();n=this.m_u2.Length();j>F.b2_linearSlop?this.m_u1.Multiply(1/j):this.m_u1.SetZero();n>F.b2_linearSlop?this.m_u2.Multiply(1/n):this.m_u2.SetZero();if(this.m_constant-j-this.m_ratio*n>0){this.m_state=I.e_inactiveLimit;this.m_impulse=0}else this.m_state=I.e_atUpperLimit;if(jF.b2_linearSlop?this.m_u1.Multiply(1/ +l):this.m_u1.SetZero();e>F.b2_linearSlop?this.m_u2.Multiply(1/e):this.m_u2.SetZero();l=this.m_constant-l-this.m_ratio*e;r=y.Max(r,-l);l=y.Clamp(l+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);m=-this.m_pulleyMass*l;l=-m*this.m_u1.x;e=-m*this.m_u1.y;f=-this.m_ratio*m*this.m_u2.x;m=-this.m_ratio*m*this.m_u2.y;d.m_sweep.c.x+=d.m_invMass*l;d.m_sweep.c.y+=d.m_invMass*e;d.m_sweep.a+=d.m_invI*(a*e-c*l);h.m_sweep.c.x+=h.m_invMass*f;h.m_sweep.c.y+=h.m_invMass*m;h.m_sweep.a+=h.m_invI*(g*m-b*f);d.SynchronizeTransform(); +h.SynchronizeTransform()}if(this.m_limitState1==I.e_atUpperLimit){l=d.m_xf.R;a=this.m_localAnchor1.x-d.m_sweep.localCenter.x;c=this.m_localAnchor1.y-d.m_sweep.localCenter.y;e=l.col1.x*a+l.col2.x*c;c=l.col1.y*a+l.col2.y*c;a=e;l=d.m_sweep.c.x+a;e=d.m_sweep.c.y+c;this.m_u1.Set(l-j,e-o);l=this.m_u1.Length();if(l>F.b2_linearSlop){this.m_u1.x*=1/l;this.m_u1.y*=1/l}else this.m_u1.SetZero();l=this.m_maxLength1-l;r=y.Max(r,-l);l=y.Clamp(l+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);m=-this.m_limitMass1*l; +l=-m*this.m_u1.x;e=-m*this.m_u1.y;d.m_sweep.c.x+=d.m_invMass*l;d.m_sweep.c.y+=d.m_invMass*e;d.m_sweep.a+=d.m_invI*(a*e-c*l);d.SynchronizeTransform()}if(this.m_limitState2==I.e_atUpperLimit){l=h.m_xf.R;g=this.m_localAnchor2.x-h.m_sweep.localCenter.x;b=this.m_localAnchor2.y-h.m_sweep.localCenter.y;e=l.col1.x*g+l.col2.x*b;b=l.col1.y*g+l.col2.y*b;g=e;f=h.m_sweep.c.x+g;m=h.m_sweep.c.y+b;this.m_u2.Set(f-q,m-n);e=this.m_u2.Length();if(e>F.b2_linearSlop){this.m_u2.x*=1/e;this.m_u2.y*=1/e}else this.m_u2.SetZero(); +l=this.m_maxLength2-e;r=y.Max(r,-l);l=y.Clamp(l+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);m=-this.m_limitMass2*l;f=-m*this.m_u2.x;m=-m*this.m_u2.y;h.m_sweep.c.x+=h.m_invMass*f;h.m_sweep.c.y+=h.m_invMass*m;h.m_sweep.a+=h.m_invI*(g*m-b*f);h.SynchronizeTransform()}return r=this.m_upperAngle){if(this.m_limitState!=I.e_atUpperLimit)this.m_impulse.z=0;this.m_limitState= +I.e_atUpperLimit}else{this.m_limitState=I.e_inactiveLimit;this.m_impulse.z=0}}else this.m_limitState=I.e_inactiveLimit;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_motorImpulse*=d.dtRatio;d=this.m_impulse.x;e=this.m_impulse.y;h.m_linearVelocity.x-=j*d;h.m_linearVelocity.y-=j*e;h.m_angularVelocity-=g*(q*e-n*d+this.m_motorImpulse+this.m_impulse.z);l.m_linearVelocity.x+=o*d;l.m_linearVelocity.y+=o*e;l.m_angularVelocity+=b*(a*e-c*d+this.m_motorImpulse+this.m_impulse.z)}else{this.m_impulse.SetZero(); +this.m_motorImpulse=0}};N.prototype.SolveVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j=0,o=j=0,q=0,n=0,a=0,c=h.m_linearVelocity,g=h.m_angularVelocity,b=l.m_linearVelocity,e=l.m_angularVelocity,f=h.m_invMass,m=l.m_invMass,r=h.m_invI,s=l.m_invI;if(this.m_enableMotor&&this.m_limitState!=I.e_equalLimits){o=this.m_motorMass*-(e-g-this.m_motorSpeed);q=this.m_motorImpulse;n=d.dt*this.m_maxMotorTorque;this.m_motorImpulse=y.Clamp(this.m_motorImpulse+o,-n,n);o=this.m_motorImpulse-q;g-= +r*o;e+=s*o}if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){d=h.m_xf.R;o=this.m_localAnchor1.x-h.m_sweep.localCenter.x;q=this.m_localAnchor1.y-h.m_sweep.localCenter.y;j=d.col1.x*o+d.col2.x*q;q=d.col1.y*o+d.col2.y*q;o=j;d=l.m_xf.R;n=this.m_localAnchor2.x-l.m_sweep.localCenter.x;a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;j=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=j;d=b.x+-e*a-c.x- -g*q;var v=b.y+e*n-c.y-g*o;this.m_mass.Solve33(this.impulse3,-d,-v,-(e-g));if(this.m_limitState== +I.e_equalLimits)this.m_impulse.Add(this.impulse3);else if(this.m_limitState==I.e_atLowerLimit){j=this.m_impulse.z+this.impulse3.z;if(j<0){this.m_mass.Solve22(this.reduced,-d,-v);this.impulse3.x=this.reduced.x;this.impulse3.y=this.reduced.y;this.impulse3.z=-this.m_impulse.z;this.m_impulse.x+=this.reduced.x;this.m_impulse.y+=this.reduced.y;this.m_impulse.z=0}}else if(this.m_limitState==I.e_atUpperLimit){j=this.m_impulse.z+this.impulse3.z;if(j>0){this.m_mass.Solve22(this.reduced,-d,-v);this.impulse3.x= +this.reduced.x;this.impulse3.y=this.reduced.y;this.impulse3.z=-this.m_impulse.z;this.m_impulse.x+=this.reduced.x;this.m_impulse.y+=this.reduced.y;this.m_impulse.z=0}}c.x-=f*this.impulse3.x;c.y-=f*this.impulse3.y;g-=r*(o*this.impulse3.y-q*this.impulse3.x+this.impulse3.z);b.x+=m*this.impulse3.x;b.y+=m*this.impulse3.y;e+=s*(n*this.impulse3.y-a*this.impulse3.x+this.impulse3.z)}else{d=h.m_xf.R;o=this.m_localAnchor1.x-h.m_sweep.localCenter.x;q=this.m_localAnchor1.y-h.m_sweep.localCenter.y;j=d.col1.x*o+ +d.col2.x*q;q=d.col1.y*o+d.col2.y*q;o=j;d=l.m_xf.R;n=this.m_localAnchor2.x-l.m_sweep.localCenter.x;a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;j=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=j;this.m_mass.Solve22(this.impulse2,-(b.x+-e*a-c.x- -g*q),-(b.y+e*n-c.y-g*o));this.m_impulse.x+=this.impulse2.x;this.m_impulse.y+=this.impulse2.y;c.x-=f*this.impulse2.x;c.y-=f*this.impulse2.y;g-=r*(o*this.impulse2.y-q*this.impulse2.x);b.x+=m*this.impulse2.x;b.y+=m*this.impulse2.y;e+=s*(n*this.impulse2.y- +a*this.impulse2.x)}h.m_linearVelocity.SetV(c);h.m_angularVelocity=g;l.m_linearVelocity.SetV(b);l.m_angularVelocity=e};N.prototype.SolvePositionConstraints=function(){var d=0,h,l=this.m_bodyA,j=this.m_bodyB,o=0,q=h=0,n=0,a=0;if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){d=j.m_sweep.a-l.m_sweep.a-this.m_referenceAngle;var c=0;if(this.m_limitState==I.e_equalLimits){d=y.Clamp(d-this.m_lowerAngle,-F.b2_maxAngularCorrection,F.b2_maxAngularCorrection);c=-this.m_motorMass*d;o=y.Abs(d)}else if(this.m_limitState== +I.e_atLowerLimit){d=d-this.m_lowerAngle;o=-d;d=y.Clamp(d+F.b2_angularSlop,-F.b2_maxAngularCorrection,0);c=-this.m_motorMass*d}else if(this.m_limitState==I.e_atUpperLimit){o=d=d-this.m_upperAngle;d=y.Clamp(d-F.b2_angularSlop,0,F.b2_maxAngularCorrection);c=-this.m_motorMass*d}l.m_sweep.a-=l.m_invI*c;j.m_sweep.a+=j.m_invI*c;l.SynchronizeTransform();j.SynchronizeTransform()}h=l.m_xf.R;c=this.m_localAnchor1.x-l.m_sweep.localCenter.x;d=this.m_localAnchor1.y-l.m_sweep.localCenter.y;q=h.col1.x*c+h.col2.x* +d;d=h.col1.y*c+h.col2.y*d;c=q;h=j.m_xf.R;var g=this.m_localAnchor2.x-j.m_sweep.localCenter.x,b=this.m_localAnchor2.y-j.m_sweep.localCenter.y;q=h.col1.x*g+h.col2.x*b;b=h.col1.y*g+h.col2.y*b;g=q;n=j.m_sweep.c.x+g-l.m_sweep.c.x-c;a=j.m_sweep.c.y+b-l.m_sweep.c.y-d;var e=n*n+a*a;h=Math.sqrt(e);q=l.m_invMass;var f=j.m_invMass,m=l.m_invI,r=j.m_invI,s=10*F.b2_linearSlop;if(e>s*s){e=1/(q+f);n=e*-n;a=e*-a;l.m_sweep.c.x-=0.5*q*n;l.m_sweep.c.y-=0.5*q*a;j.m_sweep.c.x+=0.5*f*n;j.m_sweep.c.y+=0.5*f*a;n=j.m_sweep.c.x+ +g-l.m_sweep.c.x-c;a=j.m_sweep.c.y+b-l.m_sweep.c.y-d}this.K1.col1.x=q+f;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=q+f;this.K2.col1.x=m*d*d;this.K2.col2.x=-m*c*d;this.K2.col1.y=-m*c*d;this.K2.col2.y=m*c*c;this.K3.col1.x=r*b*b;this.K3.col2.x=-r*g*b;this.K3.col1.y=-r*g*b;this.K3.col2.y=r*g*g;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(N.tImpulse,-n,-a);n=N.tImpulse.x;a=N.tImpulse.y;l.m_sweep.c.x-=l.m_invMass*n;l.m_sweep.c.y-=l.m_invMass*a;l.m_sweep.a-=l.m_invI*(c* +a-d*n);j.m_sweep.c.x+=j.m_invMass*n;j.m_sweep.c.y+=j.m_invMass*a;j.m_sweep.a+=j.m_invI*(g*a-b*n);l.SynchronizeTransform();j.SynchronizeTransform();return h<=F.b2_linearSlop&&o<=F.b2_angularSlop};Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2RevoluteJoint.tImpulse=new w});Box2D.inherit(S,Box2D.Dynamics.Joints.b2JointDef);S.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;S.b2RevoluteJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA= +new w;this.localAnchorB=new w};S.prototype.b2RevoluteJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_revoluteJoint;this.localAnchorA.Set(0,0);this.localAnchorB.Set(0,0);this.motorSpeed=this.maxMotorTorque=this.upperAngle=this.lowerAngle=this.referenceAngle=0;this.enableMotor=this.enableLimit=false};S.prototype.Initialize=function(d,h,l){this.bodyA=d;this.bodyB=h;this.localAnchorA=this.bodyA.GetLocalPoint(l);this.localAnchorB=this.bodyB.GetLocalPoint(l);this.referenceAngle=this.bodyB.GetAngle()- +this.bodyA.GetAngle()};Box2D.inherit(aa,Box2D.Dynamics.Joints.b2Joint);aa.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;aa.b2WeldJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchorA=new w;this.m_localAnchorB=new w;this.m_impulse=new A;this.m_mass=new K};aa.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)};aa.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)};aa.prototype.GetReactionForce= +function(d){if(d===undefined)d=0;return new w(d*this.m_impulse.x,d*this.m_impulse.y)};aa.prototype.GetReactionTorque=function(d){if(d===undefined)d=0;return d*this.m_impulse.z};aa.prototype.b2WeldJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchorA.SetV(d.localAnchorA);this.m_localAnchorB.SetV(d.localAnchorB);this.m_referenceAngle=d.referenceAngle;this.m_impulse.SetZero();this.m_mass=new K};aa.prototype.InitVelocityConstraints=function(d){var h,l=0,j=this.m_bodyA,o=this.m_bodyB; +h=j.m_xf.R;var q=this.m_localAnchorA.x-j.m_sweep.localCenter.x,n=this.m_localAnchorA.y-j.m_sweep.localCenter.y;l=h.col1.x*q+h.col2.x*n;n=h.col1.y*q+h.col2.y*n;q=l;h=o.m_xf.R;var a=this.m_localAnchorB.x-o.m_sweep.localCenter.x,c=this.m_localAnchorB.y-o.m_sweep.localCenter.y;l=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=l;h=j.m_invMass;l=o.m_invMass;var g=j.m_invI,b=o.m_invI;this.m_mass.col1.x=h+l+n*n*g+c*c*b;this.m_mass.col2.x=-n*q*g-c*a*b;this.m_mass.col3.x=-n*g-c*b;this.m_mass.col1.y=this.m_mass.col2.x; +this.m_mass.col2.y=h+l+q*q*g+a*a*b;this.m_mass.col3.y=q*g+a*b;this.m_mass.col1.z=this.m_mass.col3.x;this.m_mass.col2.z=this.m_mass.col3.y;this.m_mass.col3.z=g+b;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_impulse.z*=d.dtRatio;j.m_linearVelocity.x-=h*this.m_impulse.x;j.m_linearVelocity.y-=h*this.m_impulse.y;j.m_angularVelocity-=g*(q*this.m_impulse.y-n*this.m_impulse.x+this.m_impulse.z);o.m_linearVelocity.x+=l*this.m_impulse.x;o.m_linearVelocity.y+=l*this.m_impulse.y; +o.m_angularVelocity+=b*(a*this.m_impulse.y-c*this.m_impulse.x+this.m_impulse.z)}else this.m_impulse.SetZero()};aa.prototype.SolveVelocityConstraints=function(){var d,h=0,l=this.m_bodyA,j=this.m_bodyB,o=l.m_linearVelocity,q=l.m_angularVelocity,n=j.m_linearVelocity,a=j.m_angularVelocity,c=l.m_invMass,g=j.m_invMass,b=l.m_invI,e=j.m_invI;d=l.m_xf.R;var f=this.m_localAnchorA.x-l.m_sweep.localCenter.x,m=this.m_localAnchorA.y-l.m_sweep.localCenter.y;h=d.col1.x*f+d.col2.x*m;m=d.col1.y*f+d.col2.y*m;f=h;d= +j.m_xf.R;var r=this.m_localAnchorB.x-j.m_sweep.localCenter.x,s=this.m_localAnchorB.y-j.m_sweep.localCenter.y;h=d.col1.x*r+d.col2.x*s;s=d.col1.y*r+d.col2.y*s;r=h;d=n.x-a*s-o.x+q*m;h=n.y+a*r-o.y-q*f;var v=a-q,t=new A;this.m_mass.Solve33(t,-d,-h,-v);this.m_impulse.Add(t);o.x-=c*t.x;o.y-=c*t.y;q-=b*(f*t.y-m*t.x+t.z);n.x+=g*t.x;n.y+=g*t.y;a+=e*(r*t.y-s*t.x+t.z);l.m_angularVelocity=q;j.m_angularVelocity=a};aa.prototype.SolvePositionConstraints=function(){var d,h=0,l=this.m_bodyA,j=this.m_bodyB;d=l.m_xf.R; +var o=this.m_localAnchorA.x-l.m_sweep.localCenter.x,q=this.m_localAnchorA.y-l.m_sweep.localCenter.y;h=d.col1.x*o+d.col2.x*q;q=d.col1.y*o+d.col2.y*q;o=h;d=j.m_xf.R;var n=this.m_localAnchorB.x-j.m_sweep.localCenter.x,a=this.m_localAnchorB.y-j.m_sweep.localCenter.y;h=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=h;d=l.m_invMass;h=j.m_invMass;var c=l.m_invI,g=j.m_invI,b=j.m_sweep.c.x+n-l.m_sweep.c.x-o,e=j.m_sweep.c.y+a-l.m_sweep.c.y-q,f=j.m_sweep.a-l.m_sweep.a-this.m_referenceAngle,m=10*F.b2_linearSlop, +r=Math.sqrt(b*b+e*e),s=y.Abs(f);if(r>m){c*=1;g*=1}this.m_mass.col1.x=d+h+q*q*c+a*a*g;this.m_mass.col2.x=-q*o*c-a*n*g;this.m_mass.col3.x=-q*c-a*g;this.m_mass.col1.y=this.m_mass.col2.x;this.m_mass.col2.y=d+h+o*o*c+n*n*g;this.m_mass.col3.y=o*c+n*g;this.m_mass.col1.z=this.m_mass.col3.x;this.m_mass.col2.z=this.m_mass.col3.y;this.m_mass.col3.z=c+g;m=new A;this.m_mass.Solve33(m,-b,-e,-f);l.m_sweep.c.x-=d*m.x;l.m_sweep.c.y-=d*m.y;l.m_sweep.a-=c*(o*m.y-q*m.x+m.z);j.m_sweep.c.x+=h*m.x;j.m_sweep.c.y+=h*m.y; +j.m_sweep.a+=g*(n*m.y-a*m.x+m.z);l.SynchronizeTransform();j.SynchronizeTransform();return r<=F.b2_linearSlop&&s<=F.b2_angularSlop};Box2D.inherit(Z,Box2D.Dynamics.Joints.b2JointDef);Z.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;Z.b2WeldJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w};Z.prototype.b2WeldJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_weldJoint;this.referenceAngle= +0};Z.prototype.Initialize=function(d,h,l){this.bodyA=d;this.bodyB=h;this.localAnchorA.SetV(this.bodyA.GetLocalPoint(l));this.localAnchorB.SetV(this.bodyB.GetLocalPoint(l));this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}})(); +(function(){var F=Box2D.Dynamics.b2DebugDraw;F.b2DebugDraw=function(){this.m_xformScale=this.m_fillAlpha=this.m_alpha=this.m_lineThickness=this.m_drawScale=1;var G=this;this.m_sprite={graphics:{clear:function(){G.m_ctx.clearRect(0,0,G.m_ctx.canvas.width,G.m_ctx.canvas.height)}}}};F.prototype._color=function(G,K){return"rgba("+((G&16711680)>>16)+","+((G&65280)>>8)+","+(G&255)+","+K+")"};F.prototype.b2DebugDraw=function(){this.m_drawFlags=0};F.prototype.SetFlags=function(G){if(G===undefined)G=0;this.m_drawFlags= +G};F.prototype.GetFlags=function(){return this.m_drawFlags};F.prototype.AppendFlags=function(G){if(G===undefined)G=0;this.m_drawFlags|=G};F.prototype.ClearFlags=function(G){if(G===undefined)G=0;this.m_drawFlags&=~G};F.prototype.SetSprite=function(G){this.m_ctx=G};F.prototype.GetSprite=function(){return this.m_ctx};F.prototype.SetDrawScale=function(G){if(G===undefined)G=0;this.m_drawScale=G};F.prototype.GetDrawScale=function(){return this.m_drawScale};F.prototype.SetLineThickness=function(G){if(G=== +undefined)G=0;this.m_lineThickness=G;this.m_ctx.strokeWidth=G};F.prototype.GetLineThickness=function(){return this.m_lineThickness};F.prototype.SetAlpha=function(G){if(G===undefined)G=0;this.m_alpha=G};F.prototype.GetAlpha=function(){return this.m_alpha};F.prototype.SetFillAlpha=function(G){if(G===undefined)G=0;this.m_fillAlpha=G};F.prototype.GetFillAlpha=function(){return this.m_fillAlpha};F.prototype.SetXFormScale=function(G){if(G===undefined)G=0;this.m_xformScale=G};F.prototype.GetXFormScale=function(){return this.m_xformScale}; +F.prototype.DrawPolygon=function(G,K,y){if(K){var w=this.m_ctx,A=this.m_drawScale;w.beginPath();w.strokeStyle=this._color(y.color,this.m_alpha);w.moveTo(G[0].x*A,G[0].y*A);for(y=1;yp+1E3)l=Math.round(o*1E3/(i-p)),q=Math.min(q,l),r=Math.max(r,l),j.textContent=l+" FPS ("+q+"-"+r+")",a=Math.min(30,30-l/ +100*30),f.appendChild(f.firstChild).style.height=a+"px",p=i,o=0}}}; diff --git 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