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;y