box2d.js

var a;function extend(b,c){for(var d in c)b[d]=c[d]};var b2Settings=function(){this.__varz();this.__constructor.apply(this,arguments)};b2Settings.prototype.__constructor=function(){};b2Settings.prototype.__varz=function(){};b2Settings.USHRT_MAX=65535;b2Settings.b2_pi=Math.PI;b2Settings.b2_maxManifoldPoints=2;b2Settings.b2_maxPolygonVertices=8;b2Settings.b2_maxProxies=512;b2Settings.b2_maxPairs=8*b2Settings.b2_maxProxies;b2Settings.b2_linearSlop=0.005;b2Settings.b2_angularSlop=2/180*b2Settings.b2_pi;b2Settings.b2_toiSlop=8*b2Settings.b2_linearSlop;
b2Settings.b2_maxTOIContactsPerIsland=32;b2Settings.b2_velocityThreshold=1;b2Settings.b2_maxLinearCorrection=0.2;b2Settings.b2_maxAngularCorrection=8/180*b2Settings.b2_pi;b2Settings.b2_maxLinearVelocity=200;b2Settings.b2_maxLinearVelocitySquared=b2Settings.b2_maxLinearVelocity*b2Settings.b2_maxLinearVelocity;b2Settings.b2_maxAngularVelocity=250;b2Settings.b2_maxAngularVelocitySquared=b2Settings.b2_maxAngularVelocity*b2Settings.b2_maxAngularVelocity;b2Settings.b2_contactBaumgarte=0.2;
b2Settings.b2_timeToSleep=0.5;b2Settings.b2_linearSleepTolerance=0.01;b2Settings.b2_angularSleepTolerance=2/180;b2Settings.b2Assert=function(b){b||(void 0).x++};var b2Vec2=function(b,c){if(arguments.length==2){this.x=b;this.y=c}};b2Vec2.Make=function(b,c){return new b2Vec2(b,c)};a=b2Vec2.prototype;a.x=0;a.y=0;a.SetZero=function(){this.y=this.x=0};a.Set=function(b,c){this.x=b;this.y=c};a.SetV=function(b){this.x=b.x;this.y=b.y};a.Negative=function(){return new b2Vec2(-this.x,-this.y)};a.Copy=function(){return new b2Vec2(this.x,this.y)};a.Add=function(b){this.x+=b.x;this.y+=b.y};a.Subtract=function(b){this.x-=b.x;this.y-=b.y};
a.Multiply=function(b){this.x*=b;this.y*=b};a.MulM=function(b){var c=this.x;this.x=b.col1.x*c+b.col2.x*this.y;this.y=b.col1.y*c+b.col2.y*this.y};a.MulTM=function(b){var c=b2Math.b2Dot(this,b.col1);this.y=b2Math.b2Dot(this,b.col2);this.x=c};a.CrossVF=function(b){var c=this.x;this.x=b*this.y;this.y=-b*c};a.CrossFV=function(b){var c=this.x;this.x=-b*this.y;this.y=b*c};a.MinV=function(b){this.x=this.x<b.x?this.x:b.x;this.y=this.y<b.y?this.y:b.y};
a.MaxV=function(b){this.x=this.x>b.x?this.x:b.x;this.y=this.y>b.y?this.y:b.y};a.Abs=function(){if(this.x<0)this.x=-this.x;if(this.y<0)this.y=-this.y};a.Length=function(){return Math.sqrt(this.x*this.x+this.y*this.y)};a.LengthSquared=function(){return this.x*this.x+this.y*this.y};a.Normalize=function(){var b=Math.sqrt(this.x*this.x+this.y*this.y);if(b<Number.MIN_VALUE)return 0;var c=1/b;this.x*=c;this.y*=c;return b};a.IsValid=function(){return b2Math.b2IsValid(this.x)&&b2Math.b2IsValid(this.y)};var b2BufferedPair=function(){this.__varz();this.__constructor.apply(this,arguments)};b2BufferedPair.prototype.__constructor=function(){};b2BufferedPair.prototype.__varz=function(){};b2BufferedPair.prototype.proxyId1=0;b2BufferedPair.prototype.proxyId2=0;var b2AABB=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2AABB.prototype;a.__constructor=function(){};a.__varz=function(){this.lowerBound=new b2Vec2;this.upperBound=new b2Vec2};a.lowerBound=new b2Vec2;a.upperBound=new b2Vec2;a.IsValid=function(){var b=this.upperBound.y-this.lowerBound.y;return b=(b=this.upperBound.x-this.lowerBound.x>=0&&b>=0)&&this.lowerBound.IsValid()&&this.upperBound.IsValid()};var b2Pair=function(){this.__varz();this.__constructor.apply(this,arguments)};b2Pair.prototype.__constructor=function(){};b2Pair.prototype.__varz=function(){};b2Pair.b2_nullPair=b2Settings.USHRT_MAX;b2Pair.b2_nullProxy=b2Settings.USHRT_MAX;b2Pair.b2_tableCapacity=b2Settings.b2_maxPairs;b2Pair.b2_tableMask=b2Pair.b2_tableCapacity-1;b2Pair.e_pairBuffered=1;b2Pair.e_pairRemoved=2;b2Pair.e_pairFinal=4;a=b2Pair.prototype;a.userData=null;a.proxyId1=0;a.proxyId2=0;a.next=0;a.status=0;
a.SetBuffered=function(){this.status|=b2Pair.e_pairBuffered};a.ClearBuffered=function(){this.status&=~b2Pair.e_pairBuffered};a.IsBuffered=function(){return(this.status&b2Pair.e_pairBuffered)==b2Pair.e_pairBuffered};a.SetRemoved=function(){this.status|=b2Pair.e_pairRemoved};a.ClearRemoved=function(){this.status&=~b2Pair.e_pairRemoved};a.IsRemoved=function(){return(this.status&b2Pair.e_pairRemoved)==b2Pair.e_pairRemoved};a.SetFinal=function(){this.status|=b2Pair.e_pairFinal};
a.IsFinal=function(){return(this.status&b2Pair.e_pairFinal)==b2Pair.e_pairFinal};var b2TimeStep=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2TimeStep.prototype;a.__constructor=function(){};a.__varz=function(){};a.dt=null;a.inv_dt=null;a.dtRatio=null;a.maxIterations=0;a.warmStarting=null;a.positionCorrection=null;var b2Manifold=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Manifold.prototype;a.__constructor=function(){this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var b=0;b<b2Settings.b2_maxManifoldPoints;b++)this.points[b]=new b2ManifoldPoint;this.normal=new b2Vec2};a.__varz=function(){};a.points=null;a.normal=null;a.pointCount=0;a.Reset=function(){for(var b=0;b<b2Settings.b2_maxManifoldPoints;b++)this.points[b].Reset();this.normal.SetZero();this.pointCount=0};
a.Set=function(b){this.pointCount=b.pointCount;for(var c=0;c<b2Settings.b2_maxManifoldPoints;c++)this.points[c].Set(b.points[c]);this.normal.SetV(b.normal)};var b2Point=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Point.prototype;a.__constructor=function(){};a.__varz=function(){this.p=new b2Vec2};a.p=new b2Vec2;a.Support=function(){return this.p};a.GetFirstVertex=function(){return this.p};var b2Bound=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Bound.prototype;a.__constructor=function(){};a.__varz=function(){};a.value=0;a.proxyId=0;a.stabbingCount=0;a.IsLower=function(){return(this.value&1)==0};a.IsUpper=function(){return(this.value&1)==1};a.Swap=function(b){var c=this.value,d=this.proxyId,e=this.stabbingCount;this.value=b.value;this.proxyId=b.proxyId;this.stabbingCount=b.stabbingCount;b.value=c;b.proxyId=d;b.stabbingCount=e};var b2Mat22=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Mat22.prototype;a.__constructor=function(b,c,d){if(c!=null&&d!=null){this.col1.SetV(c);this.col2.SetV(d)}else{c=Math.cos(b);b=Math.sin(b);this.col1.x=c;this.col2.x=-b;this.col1.y=b;this.col2.y=c}};a.__varz=function(){this.col1=new b2Vec2;this.col2=new b2Vec2};a.col1=new b2Vec2;a.col2=new b2Vec2;a.Set=function(b){var c=Math.cos(b);b=Math.sin(b);this.col1.x=c;this.col2.x=-b;this.col1.y=b;this.col2.y=c};
a.SetVV=function(b,c){this.col1.SetV(b);this.col2.SetV(c)};a.Copy=function(){return new b2Mat22(0,this.col1,this.col2)};a.SetM=function(b){this.col1.SetV(b.col1);this.col2.SetV(b.col2)};a.AddM=function(b){this.col1.x+=b.col1.x;this.col1.y+=b.col1.y;this.col2.x+=b.col2.x;this.col2.y+=b.col2.y};a.SetIdentity=function(){this.col1.x=1;this.col2.x=0;this.col1.y=0;this.col2.y=1};a.SetZero=function(){this.col1.x=0;this.col2.x=0;this.col1.y=0;this.col2.y=0};
a.GetAngle=function(){return Math.atan2(this.col1.y,this.col1.x)};a.Invert=function(b){var c=this.col1.x,d=this.col2.x,e=this.col1.y,f=this.col2.y,g=c*f-d*e;g=1/g;b.col1.x=g*f;b.col2.x=-g*d;b.col1.y=-g*e;b.col2.y=g*c;return b};a.Solve=function(b,c,d){var e=this.col1.x,f=this.col2.x,g=this.col1.y,h=this.col2.y,i=e*h-f*g;i=1/i;b.x=i*(h*c-f*d);b.y=i*(e*d-g*c);return b};a.Abs=function(){this.col1.Abs();this.col2.Abs()};var b2BoundaryListener=function(){this.__varz();this.__constructor.apply(this,arguments)};b2BoundaryListener.prototype.__constructor=function(){};b2BoundaryListener.prototype.__varz=function(){};b2BoundaryListener.prototype.Violation=function(){};var b2MassData=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2MassData.prototype;a.__constructor=function(){};a.__varz=function(){this.center=new b2Vec2(0,0)};a.mass=0;a.center=new b2Vec2(0,0);a.I=0;var b2JointEdge=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2JointEdge.prototype;a.__constructor=function(){};a.__varz=function(){};a.other=null;a.joint=null;a.prev=null;a.next=null;var b2Collision=function(){this.__varz();this.__constructor.apply(this,arguments)};b2Collision.prototype.__constructor=function(){};b2Collision.prototype.__varz=function(){};b2Collision.b2_nullFeature=255;b2Collision.b2CollidePolyTempVec=new b2Vec2;
b2Collision.ClipSegmentToLine=function(b,c,d,e){var f,g=0;f=c[0];var h=f.v;f=c[1];var i=f.v,j=b2Math.b2Dot(d,h)-e;f=b2Math.b2Dot(d,i)-e;if(j<=0)b[g++]=c[0];if(f<=0)b[g++]=c[1];if(j*f<0){d=j/(j-f);f=b[g];f=f.v;f.x=h.x+d*(i.x-h.x);f.y=h.y+d*(i.y-h.y);f=b[g];f.id=(j>0?c[0]:c[1]).id;++g}return g};
b2Collision.EdgeSeparation=function(b,c,d,e,f){var g=b.m_vertices;b=b.m_normals;var h=e.m_vertexCount,i=e.m_vertices,j,k;j=c.R;k=b[d];b=j.col1.x*k.x+j.col2.x*k.y;e=j.col1.y*k.x+j.col2.y*k.y;j=f.R;var l=j.col1.x*b+j.col1.y*e;j=j.col2.x*b+j.col2.y*e;for(var m=0,n=Number.MAX_VALUE,o=0;o<h;++o){k=i[o];k=k.x*l+k.y*j;if(k<n){n=k;m=o}}k=g[d];j=c.R;d=c.position.x+(j.col1.x*k.x+j.col2.x*k.y);c=c.position.y+(j.col1.y*k.x+j.col2.y*k.y);k=i[m];j=f.R;g=f.position.x+(j.col1.x*k.x+j.col2.x*k.y);f=f.position.y+(j.col1.y*
k.x+j.col2.y*k.y);g-=d;f-=c;return g*b+f*e};
b2Collision.FindMaxSeparation=function(b,c,d,e,f){var g=c.m_vertexCount,h=c.m_normals,i,j;j=f.R;i=e.m_centroid;var k=f.position.x+(j.col1.x*i.x+j.col2.x*i.y),l=f.position.y+(j.col1.y*i.x+j.col2.y*i.y);j=d.R;i=c.m_centroid;k-=d.position.x+(j.col1.x*i.x+j.col2.x*i.y);l-=d.position.y+(j.col1.y*i.x+j.col2.y*i.y);j=k*d.R.col1.x+l*d.R.col1.y;l=k*d.R.col2.x+l*d.R.col2.y;k=0;for(var m=-Number.MAX_VALUE,n=0;n<g;++n){i=h[n];i=i.x*j+i.y*l;if(i>m){m=i;k=n}}h=b2Collision.EdgeSeparation(c,d,k,e,f);if(h>0)return h;
l=k-1>=0?k-1:g-1;m=b2Collision.EdgeSeparation(c,d,l,e,f);if(m>0)return m;n=k+1<g?k+1:0;var o=b2Collision.EdgeSeparation(c,d,n,e,f);if(o>0)return o;j=i=0;if(m>h&&m>o){j=-1;i=l;l=m}else if(o>h){j=1;i=n;l=o}else{b[0]=k;return h}for(;;){k=j==-1?i-1>=0?i-1:g-1:i+1<g?i+1:0;h=b2Collision.EdgeSeparation(c,d,k,e,f);if(h>0)return h;if(h>l){i=k;l=h}else break}b[0]=i;return l};
b2Collision.FindIncidentEdge=function(b,c,d,e,f,g){var h=c.m_normals,i=f.m_vertexCount;c=f.m_vertices;f=f.m_normals;var j;j=d.R;d=h[e];h=j.col1.x*d.x+j.col2.x*d.y;var k=j.col1.y*d.x+j.col2.y*d.y;j=g.R;d=j.col1.x*h+j.col1.y*k;k=j.col2.x*h+j.col2.y*k;h=d;j=0;for(var l=Number.MAX_VALUE,m=0;m<i;++m){d=f[m];d=h*d.x+k*d.y;if(d<l){l=d;j=m}}f=j;h=f+1<i?f+1:0;i=b[0];d=c[f];j=g.R;i.v.x=g.position.x+(j.col1.x*d.x+j.col2.x*d.y);i.v.y=g.position.y+(j.col1.y*d.x+j.col2.y*d.y);i.id.features.referenceEdge=e;i.id.features.incidentEdge=
f;i.id.features.incidentVertex=0;i=b[1];d=c[h];j=g.R;i.v.x=g.position.x+(j.col1.x*d.x+j.col2.x*d.y);i.v.y=g.position.y+(j.col1.y*d.x+j.col2.y*d.y);i.id.features.referenceEdge=e;i.id.features.incidentEdge=h;i.id.features.incidentVertex=1};
b2Collision.b2CollidePolygons=function(b,c,d,e,f){var g=b.pointCount=0,h=[g],i=b2Collision.FindMaxSeparation(h,c,d,e,f);g=h[0];if(!(i>0)){var j=0;h=[j];var k=b2Collision.FindMaxSeparation(h,e,f,c,d);j=h[0];if(!(k>0)){var l=new b2XForm,m=new b2XForm,n=0;h=0;if(k>0.98*i+0.001){i=e;e=c;l.Set(f);m.Set(d);n=j;h=1}else{i=c;e=e;l.Set(d);m.Set(f);n=g;h=0}c=[new ClipVertex,new ClipVertex];b2Collision.FindIncidentEdge(c,i,l,n,e,m);g=i.m_vertexCount;m=i.m_vertices;i=m[n];e=i.Copy();if(n+1<g){i=m[parseInt(n+
1)];i=i.Copy()}else{i=m[0];i=i.Copy()}b2Math.SubtractVV(i,e);g=b2Math.b2MulMV(l.R,b2Math.SubtractVV(i,e));g.Normalize();n=b2Math.b2CrossVF(g,1);e=b2Math.b2MulX(l,e);i=b2Math.b2MulX(l,i);l=b2Math.b2Dot(n,e);m=-b2Math.b2Dot(g,e);i=b2Math.b2Dot(g,i);j=[new ClipVertex,new ClipVertex];e=[new ClipVertex,new ClipVertex];k=0;k=b2Collision.ClipSegmentToLine(j,c,g.Negative(),m);if(!(k<2)){k=b2Collision.ClipSegmentToLine(e,j,g,i);if(!(k<2)){b.normal=h?n.Negative():n.Copy();for(m=g=0;m<b2Settings.b2_maxManifoldPoints;++m){c=
e[m];i=b2Math.b2Dot(n,c.v)-l;if(i<=0){j=b.points[g];j.separation=i;j.localPoint1=b2Math.b2MulXT(d,c.v);j.localPoint2=b2Math.b2MulXT(f,c.v);j.id.key=c.id._key;j.id.features.flip=h;++g}}b.pointCount=g}}}}};
b2Collision.b2CollideCircles=function(b,c,d,e,f){b.pointCount=0;var g,h;g=d.R;h=c.m_localPosition;var i=d.position.x+(g.col1.x*h.x+g.col2.x*h.y),j=d.position.y+(g.col1.y*h.x+g.col2.y*h.y);g=f.R;h=e.m_localPosition;var k=f.position.x+(g.col1.x*h.x+g.col2.x*h.y);g=f.position.y+(g.col1.y*h.x+g.col2.y*h.y);h=k-i;var l=g-j,m=h*h+l*l;c=c.m_radius;e=e.m_radius;var n=c+e;if(!(m>n*n)){if(m<Number.MIN_VALUE){m=-n;b.normal.Set(0,1)}else{var o=Math.sqrt(m);m=o-n;n=1/o;b.normal.x=n*h;b.normal.y=n*l}b.pointCount=
1;h=b.points[0];h.id.key=0;h.separation=m;i+=c*b.normal.x;j+=c*b.normal.y;k-=e*b.normal.x;g-=e*b.normal.y;b=0.5*(i+k);j=0.5*(j+g);i=b-d.position.x;k=j-d.position.y;h.localPoint1.x=i*d.R.col1.x+k*d.R.col1.y;h.localPoint1.y=i*d.R.col2.x+k*d.R.col2.y;i=b-f.position.x;k=j-f.position.y;h.localPoint2.x=i*f.R.col1.x+k*f.R.col1.y;h.localPoint2.y=i*f.R.col2.x+k*f.R.col2.y}};
b2Collision.b2CollidePolygonAndCircle=function(b,c,d,e,f){b.pointCount=0;var g,h,i,j,k,l;l=f.R;k=e.m_localPosition;j=f.position.x+(l.col1.x*k.x+l.col2.x*k.y);var m=f.position.y+(l.col1.y*k.x+l.col2.y*k.y);h=j-d.position.x;i=m-d.position.y;l=d.R;var n=h*l.col1.x+i*l.col1.y;l=h*l.col2.x+i*l.col2.y;var o=0,p=-Number.MAX_VALUE;e=e.m_radius;var q=c.m_vertexCount;g=c.m_vertices;c=c.m_normals;for(var r=0;r<q;++r){k=g[r];h=n-k.x;i=l-k.y;k=c[r];h=k.x*h+k.y*i;if(h>e)return;if(h>p){p=h;o=r}}if(p<Number.MIN_VALUE){b.pointCount=
1;k=c[o];l=d.R;b.normal.x=l.col1.x*k.x+l.col2.x*k.y;b.normal.y=l.col1.y*k.x+l.col2.y*k.y;g=b.points[0];g.id.features.incidentEdge=o;g.id.features.incidentVertex=b2Collision.b2_nullFeature;g.id.features.referenceEdge=0;g.id.features.flip=0;j=j-e*b.normal.x;b=m-e*b.normal.y;h=j-d.position.x;i=b-d.position.y;l=d.R;g.localPoint1.x=h*l.col1.x+i*l.col1.y;g.localPoint1.y=h*l.col2.x+i*l.col2.y;h=j-f.position.x;i=b-f.position.y;l=f.R;g.localPoint2.x=h*l.col1.x+i*l.col1.y;g.localPoint2.y=h*l.col2.x+i*l.col2.y;
g.separation=p-e}else{p=o;q=p+1<q?p+1:0;k=g[p];c=g[q];var u=c.x-k.x;r=c.y-k.y;var y=Math.sqrt(u*u+r*r);u/=y;r/=y;h=n-k.x;i=l-k.y;h=h*u+i*r;g=b.points[0];if(h<=0){i=k.x;k=k.y;g.id.features.incidentEdge=b2Collision.b2_nullFeature;g.id.features.incidentVertex=p}else if(h>=y){i=c.x;k=c.y;g.id.features.incidentEdge=b2Collision.b2_nullFeature;g.id.features.incidentVertex=q}else{i=u*h+k.x;k=r*h+k.y;g.id.features.incidentEdge=o;g.id.features.incidentVertex=b2Collision.b2_nullFeature}h=n-i;i=l-k;n=Math.sqrt(h*
h+i*i);h/=n;i/=n;if(!(n>e)){b.pointCount=1;l=d.R;b.normal.x=l.col1.x*h+l.col2.x*i;b.normal.y=l.col1.y*h+l.col2.y*i;j=j-e*b.normal.x;b=m-e*b.normal.y;h=j-d.position.x;i=b-d.position.y;l=d.R;g.localPoint1.x=h*l.col1.x+i*l.col1.y;g.localPoint1.y=h*l.col2.x+i*l.col2.y;h=j-f.position.x;i=b-f.position.y;l=f.R;g.localPoint2.x=h*l.col1.x+i*l.col1.y;g.localPoint2.y=h*l.col2.x+i*l.col2.y;g.separation=n-e;g.id.features.referenceEdge=0;g.id.features.flip=0}}};
b2Collision.b2TestOverlap=function(b,c){var d=c.lowerBound,e=b.upperBound,f=d.x-e.x,g=d.y-e.y;d=b.lowerBound;e=c.upperBound;b=d.y-e.y;if(f>0||g>0)return false;if(d.x-e.x>0||b>0)return false;return true};var b2ContactListener=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactListener.prototype;a.__constructor=function(){};a.__varz=function(){};a.Add=function(){};a.Persist=function(){};a.Remove=function(){};a.Result=function(){};var b2PairCallback=function(){this.__varz();this.__constructor.apply(this,arguments)};b2PairCallback.prototype.__constructor=function(){};b2PairCallback.prototype.__varz=function(){};b2PairCallback.prototype.PairAdded=function(){return null};b2PairCallback.prototype.PairRemoved=function(){};var b2JointDef=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2JointDef.prototype;a.__constructor=function(){this.type=b2Joint.e_unknownJoint;this.body2=this.body1=this.userData=null;this.collideConnected=false};a.__varz=function(){};a.type=0;a.userData=null;a.body1=null;a.body2=null;a.collideConnected=null;var b2Proxy=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Proxy.prototype;a.__constructor=function(){};a.__varz=function(){this.lowerBounds=[parseInt(0),parseInt(0)];this.upperBounds=[parseInt(0),parseInt(0)]};a.lowerBounds=[parseInt(0),parseInt(0)];a.upperBounds=[parseInt(0),parseInt(0)];a.overlapCount=0;a.timeStamp=0;a.userData=null;a.GetNext=function(){return this.lowerBounds[0]};a.SetNext=function(b){this.lowerBounds[0]=b%65535};
a.IsValid=function(){return this.overlapCount!=b2BroadPhase.b2_invalid};var b2Color=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Color.prototype;a.__constructor=function(b,c,d){this._r=parseInt(255*b2Math.b2Clamp(b,0,1));this._g=parseInt(255*b2Math.b2Clamp(c,0,1));this._b=parseInt(255*b2Math.b2Clamp(d,0,1))};a.__varz=function(){};a._r=0;a._g=0;a._b=0;a.Set=function(b,c,d){this._r=parseInt(255*b2Math.b2Clamp(b,0,1));this._g=parseInt(255*b2Math.b2Clamp(c,0,1));this._b=parseInt(255*b2Math.b2Clamp(d,0,1))};
a.set=function(b){this._r=parseInt(255*b2Math.b2Clamp(b,0,1))};a.set=function(b){this._g=parseInt(255*b2Math.b2Clamp(b,0,1))};a.set=function(b){this._b=parseInt(255*b2Math.b2Clamp(b,0,1))};a.get=function(){return this._r|this._g<<8|this._b<<16};var b2FilterData=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2FilterData.prototype;a.__constructor=function(){};a.__varz=function(){this.categoryBits=1;this.maskBits=65535};a.categoryBits=1;a.maskBits=65535;a.groupIndex=0;a.Copy=function(){var b=new b2FilterData;b.categoryBits=this.categoryBits;b.maskBits=this.maskBits;b.groupIndex=this.groupIndex;return b};var b2PairManager=function(){this.__varz();this.__constructor.apply(this,arguments)};
b2PairManager.prototype.__constructor=function(){var b=0;this.m_hashTable=new Array(b2Pair.b2_tableCapacity);for(b=0;b<b2Pair.b2_tableCapacity;++b)this.m_hashTable[b]=b2Pair.b2_nullPair;this.m_pairs=new Array(b2Settings.b2_maxPairs);for(b=0;b<b2Settings.b2_maxPairs;++b)this.m_pairs[b]=new b2Pair;this.m_pairBuffer=new Array(b2Settings.b2_maxPairs);for(b=0;b<b2Settings.b2_maxPairs;++b)this.m_pairBuffer[b]=new b2BufferedPair;for(b=0;b<b2Settings.b2_maxPairs;++b){this.m_pairs[b].proxyId1=b2Pair.b2_nullProxy;
this.m_pairs[b].proxyId2=b2Pair.b2_nullProxy;this.m_pairs[b].userData=null;this.m_pairs[b].status=0;this.m_pairs[b].next=b+1}this.m_pairs[parseInt(b2Settings.b2_maxPairs-1)].next=b2Pair.b2_nullPair;this.m_pairBufferCount=this.m_pairCount=0};b2PairManager.prototype.__varz=function(){};b2PairManager.Hash=function(b,c){b=c<<16&4294901760|b;b=~b+(b<<15&4294934528);b^=b>>12&1048575;b+=b<<2&4294967292;b^=b>>4&268435455;b*=2057;b^=(b>>16)%65535;return b};
b2PairManager.Equals=function(b,c,d){return b.proxyId1==c&&b.proxyId2==d};b2PairManager.EqualsPair=function(b,c){return b.proxyId1==c.proxyId1&&b.proxyId2==c.proxyId2};a=b2PairManager.prototype;a.m_broadPhase=null;a.m_callback=null;a.m_pairs=null;a.m_freePair=0;a.m_pairCount=0;a.m_pairBuffer=null;a.m_pairBufferCount=0;a.m_hashTable=null;
a.AddPair=function(b,c){if(b>c){var d=b;b=c;c=d}d=b2PairManager.Hash(b,c)&b2Pair.b2_tableMask;var e=e=this.FindHash(b,c,d);if(e!=null)return e;var f=this.m_freePair;e=this.m_pairs[f];this.m_freePair=e.next;e.proxyId1=b;e.proxyId2=c;e.status=0;e.userData=null;e.next=this.m_hashTable[d];this.m_hashTable[d]=f;++this.m_pairCount;return e};
a.RemovePair=function(b,c){if(b>c){var d=b;b=c;c=d}d=b2PairManager.Hash(b,c)&b2Pair.b2_tableMask;for(var e=this.m_hashTable[d],f=null;e!=b2Pair.b2_nullPair;)if(b2PairManager.Equals(this.m_pairs[e],b,c)){b=e;c=this.m_pairs[e];if(f)f.next=c.next;else this.m_hashTable[d]=c.next;c=this.m_pairs[b];d=c.userData;c.next=this.m_freePair;c.proxyId1=b2Pair.b2_nullProxy;c.proxyId2=b2Pair.b2_nullProxy;c.userData=null;c.status=0;this.m_freePair=b;--this.m_pairCount;return d}else{f=this.m_pairs[e];e=f.next}return null};
a.Find=function(b,c){if(b>c){var d=b;b=c;c=d}d=b2PairManager.Hash(b,c)&b2Pair.b2_tableMask;return this.FindHash(b,c,d)};a.FindHash=function(b,c,d){var e=this.m_hashTable[d];for(d=this.m_pairs[e];e!=b2Pair.b2_nullPair&&b2PairManager.Equals(d,b,c)==false;){e=d.next;d=this.m_pairs[e]}if(e==b2Pair.b2_nullPair)return null;return d};a.ValidateBuffer=function(){};a.ValidateTable=function(){};a.Initialize=function(b,c){this.m_broadPhase=b;this.m_callback=c};
a.AddBufferedPair=function(b,c){c=this.AddPair(b,c);if(c.IsBuffered()==false){c.SetBuffered();b=this.m_pairBuffer[this.m_pairBufferCount];b.proxyId1=c.proxyId1;b.proxyId2=c.proxyId2;++this.m_pairBufferCount}c.ClearRemoved();b2BroadPhase.s_validate&&this.ValidateBuffer()};
a.RemoveBufferedPair=function(b,c){c=this.Find(b,c);if(c!=null){if(c.IsBuffered()==false){c.SetBuffered();b=this.m_pairBuffer[this.m_pairBufferCount];b.proxyId1=c.proxyId1;b.proxyId2=c.proxyId2;++this.m_pairBufferCount}c.SetRemoved();b2BroadPhase.s_validate&&this.ValidateBuffer()}};
a.Commit=function(){var b,c=0,d=0,e=this.m_broadPhase.m_proxyPool;for(c=0;c<this.m_pairBufferCount;++c){b=this.m_pairBuffer[c];var f=this.Find(b.proxyId1,b.proxyId2);f.ClearBuffered();b=e[f.proxyId1];var g=e[f.proxyId2];if(f.IsRemoved()){f.IsFinal()==true&&this.m_callback.PairRemoved(b.userData,g.userData,f.userData);b=this.m_pairBuffer[d];b.proxyId1=f.proxyId1;b.proxyId2=f.proxyId2;++d}else if(f.IsFinal()==false){f.userData=this.m_callback.PairAdded(b.userData,g.userData);f.SetFinal()}}for(c=0;c<
d;++c){b=this.m_pairBuffer[c];this.RemovePair(b.proxyId1,b.proxyId2)}this.m_pairBufferCount=0;b2BroadPhase.s_validate&&this.ValidateTable()};var b2ContactSolver=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactSolver.prototype;
a.__constructor=function(b,c,d,e){var f;this.m_step.dt=b.dt;this.m_step.inv_dt=b.inv_dt;this.m_step.maxIterations=b.maxIterations;this.m_allocator=e;b=0;var g;for(b=this.m_constraintCount=0;b<d;++b){f=c[b];this.m_constraintCount+=f.m_manifoldCount}for(b=0;b<this.m_constraintCount;b++)this.m_constraints[b]=new b2ContactConstraint;for(b=e=0;b<d;++b){f=c[b];var h=f.m_shape1.m_body,i=f.m_shape2.m_body,j=f.m_manifoldCount,k=f.GetManifolds(),l=f.m_friction;f=f.m_restitution;for(var m=h.m_linearVelocity.x,
n=h.m_linearVelocity.y,o=i.m_linearVelocity.x,p=i.m_linearVelocity.y,q=h.m_angularVelocity,r=i.m_angularVelocity,u=0;u<j;++u){var y=k[u],x=y.normal.x,s=y.normal.y,v=this.m_constraints[e];v.body1=h;v.body2=i;v.manifold=y;v.normal.x=x;v.normal.y=s;v.pointCount=y.pointCount;v.friction=l;v.restitution=f;for(var z=0;z<v.pointCount;++z){var t=y.points[z],w=v.points[z];w.normalImpulse=t.normalImpulse;w.tangentImpulse=t.tangentImpulse;w.separation=t.separation;w.positionImpulse=0;w.localAnchor1.SetV(t.localPoint1);
w.localAnchor2.SetV(t.localPoint2);var A;g=h.m_xf.R;var B=t.localPoint1.x-h.m_sweep.localCenter.x,D=t.localPoint1.y-h.m_sweep.localCenter.y;A=g.col1.x*B+g.col2.x*D;D=g.col1.y*B+g.col2.y*D;B=A;w.r1.Set(B,D);g=i.m_xf.R;var E=t.localPoint2.x-i.m_sweep.localCenter.x;t=t.localPoint2.y-i.m_sweep.localCenter.y;A=g.col1.x*E+g.col2.x*t;t=g.col1.y*E+g.col2.y*t;E=A;w.r2.Set(E,t);g=B*B+D*D;A=E*E+t*t;var G=B*x+D*s,C=E*x+t*s,F=h.m_invMass+i.m_invMass;F+=h.m_invI*(g-G*G)+i.m_invI*(A-C*C);w.normalMass=1/F;F=h.m_mass*
h.m_invMass+i.m_mass*i.m_invMass;F+=h.m_mass*h.m_invI*(g-G*G)+i.m_mass*i.m_invI*(A-C*C);w.equalizedMass=1/F;C=-x;G=B*s+D*C;C=E*s+t*C;F=h.m_invMass+i.m_invMass;F+=h.m_invI*(g-G*G)+i.m_invI*(A-C*C);w.tangentMass=1/F;w.velocityBias=0;if(w.separation>0)w.velocityBias=-60*w.separation;A=o+-r*t-m- -q*D;B=v.normal.x*A+v.normal.y*(p+r*E-n-q*B);if(B<-b2Settings.b2_velocityThreshold)w.velocityBias+=-v.restitution*B}++e}}};a.__varz=function(){this.m_step=new b2TimeStep;this.m_constraints=[]};a.m_step=new b2TimeStep;
a.m_allocator=null;a.m_constraints=[];a.m_constraintCount=0;
a.InitVelocityConstraints=function(b){for(var c=0;c<this.m_constraintCount;++c){var d=this.m_constraints[c],e=d.body1,f=d.body2,g=e.m_invMass,h=e.m_invI,i=f.m_invMass,j=f.m_invI,k=d.normal.x,l=d.normal.y,m=-k,n=0,o=0;if(b.warmStarting){o=d.pointCount;for(n=0;n<o;++n){var p=d.points[n];p.normalImpulse*=b.dtRatio;p.tangentImpulse*=b.dtRatio;var q=p.normalImpulse*k+p.tangentImpulse*l,r=p.normalImpulse*l+p.tangentImpulse*m;e.m_angularVelocity-=h*(p.r1.x*r-p.r1.y*q);e.m_linearVelocity.x-=g*q;e.m_linearVelocity.y-=
g*r;f.m_angularVelocity+=j*(p.r2.x*r-p.r2.y*q);f.m_linearVelocity.x+=i*q;f.m_linearVelocity.y+=i*r}}else{o=d.pointCount;for(n=0;n<o;++n){e=d.points[n];e.normalImpulse=0;e.tangentImpulse=0}}}};
a.SolveVelocityConstraints=function(){for(var b=0,c,d,e,f,g,h,i=0;i<this.m_constraintCount;++i){var j=this.m_constraints[i],k=j.body1,l=j.body2,m=k.m_angularVelocity,n=l.m_angularVelocity,o=k.m_linearVelocity,p=l.m_linearVelocity,q=k.m_invMass,r=k.m_invI,u=l.m_invMass,y=l.m_invI,x=j.normal.x,s=j.normal.y,v=-x,z=j.friction,t=j.pointCount;for(b=0;b<t;++b){c=j.points[b];d=p.x+-n*c.r2.y-o.x- -m*c.r1.y;e=p.y+n*c.r2.x-o.y-m*c.r1.x;f=d*x+e*s;f=-c.normalMass*(f-c.velocityBias);d=d*s+e*v;e=c.tangentMass*-d;
d=b2Math.b2Max(c.normalImpulse+f,0);f=d-c.normalImpulse;g=z*c.normalImpulse;g=b2Math.b2Clamp(c.tangentImpulse+e,-g,g);e=g-c.tangentImpulse;h=f*x+e*s;f=f*s+e*v;o.x-=q*h;o.y-=q*f;m-=r*(c.r1.x*f-c.r1.y*h);p.x+=u*h;p.y+=u*f;n+=y*(c.r2.x*f-c.r2.y*h);c.normalImpulse=d;c.tangentImpulse=g}k.m_angularVelocity=m;l.m_angularVelocity=n}};
a.FinalizeVelocityConstraints=function(){for(var b=0;b<this.m_constraintCount;++b)for(var c=this.m_constraints[b],d=c.manifold,e=0;e<c.pointCount;++e){var f=d.points[e],g=c.points[e];f.normalImpulse=g.normalImpulse;f.tangentImpulse=g.tangentImpulse}};
a.SolvePositionConstraints=function(b){for(var c=0,d,e,f=0;f<this.m_constraintCount;++f)for(var g=this.m_constraints[f],h=g.body1,i=g.body2,j=h.m_sweep.c,k=h.m_sweep.a,l=i.m_sweep.c,m=i.m_sweep.a,n=h.m_mass*h.m_invMass,o=h.m_mass*h.m_invI,p=i.m_mass*i.m_invMass,q=i.m_mass*i.m_invI,r=g.normal.x,u=g.normal.y,y=g.pointCount,x=0;x<y;++x){var s=g.points[x];d=h.m_xf.R;e=h.m_sweep.localCenter;var v=s.localAnchor1.x-e.x,z=s.localAnchor1.y-e.y;w=d.col1.x*v+d.col2.x*z;z=d.col1.y*v+d.col2.y*z;v=w;d=i.m_xf.R;
e=i.m_sweep.localCenter;var t=s.localAnchor2.x-e.x;e=s.localAnchor2.y-e.y;var w=d.col1.x*t+d.col2.x*e;e=d.col1.y*t+d.col2.y*e;t=w;d=(l.x+t-(j.x+v))*r+(l.y+e-(j.y+z))*u+s.separation;c=b2Math.b2Min(c,d);d=b*b2Math.b2Clamp(d+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);d=-s.equalizedMass*d;w=s.positionImpulse;s.positionImpulse=b2Math.b2Max(w+d,0);d=s.positionImpulse-w;s=d*r;d=d*u;j.x-=n*s;j.y-=n*d;k-=o*(v*d-z*s);h.m_sweep.a=k;h.SynchronizeTransform();l.x+=p*s;l.y+=p*d;m+=q*(t*d-e*s);
i.m_sweep.a=m;i.SynchronizeTransform()}return c>=-1.5*b2Settings.b2_linearSlop};var b2BoundValues=function(){this.__varz();this.__constructor.apply(this,arguments)};b2BoundValues.prototype.__constructor=function(){};b2BoundValues.prototype.__varz=function(){this.lowerValues=[0,0];this.upperValues=[0,0]};b2BoundValues.prototype.lowerValues=[0,0];b2BoundValues.prototype.upperValues=[0,0];var b2Segment=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Segment.prototype;a.__constructor=function(){};a.__varz=function(){this.p1=new b2Vec2;this.p2=new b2Vec2};a.p1=new b2Vec2;a.p2=new b2Vec2;
a.TestSegment=function(b,c,d,e){var f=d.p1,g=d.p2.x-f.x,h=d.p2.y-f.y;d=this.p2.y-this.p1.y;var i=-(this.p2.x-this.p1.x),j=100*Number.MIN_VALUE,k=-(g*d+h*i);if(k>j){var l=f.x-this.p1.x,m=f.y-this.p1.y;f=l*d+m*i;if(0<=f&&f<=e*k){e=-g*m+h*l;if(-j*k<=e&&e<=k*(1+j)){f/=k;e=Math.sqrt(d*d+i*i);d/=e;i/=e;b[0]=f;c.Set(d,i);return true}}}return false};var Features=function(){this.__varz();this.__constructor.apply(this,arguments)};
Features.prototype={referenceEdge:function(){return this._referenceEdge},referenceEdge:function(b){this._referenceEdge=b;this._m_id._key=this._m_id._key&4294967040|this._referenceEdge&255},incidentEdge:function(){return this._incidentEdge},incidentEdge:function(b){this._incidentEdge=b;this._m_id._key=this._m_id._key&4294902015|this._incidentEdge<<8&65280},incidentVertex:function(b){this._incidentVertex=b;this._m_id._key=this._m_id._key&4278255615|this._incidentVertex<<16&16711680},incidentVertex:function(){return this._incidentVertex},
flip:function(b){this._flip=b;this._m_id._key=this._m_id._key&16777215|this._flip<<24&4278190080},flip:function(){return this._flip}};a=Features.prototype;a.__constructor=function(){};a.__varz=function(){};a._referenceEdge=0;a._incidentEdge=0;a._incidentVertex=0;a._flip=0;a._m_id=null;var b2MouseJointDef=function(){b2JointDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2MouseJointDef.prototype,b2JointDef.prototype);a=b2MouseJointDef.prototype;a._super=function(){b2JointDef.prototype.__constructor.apply(this,arguments)};a.__constructor=function(){this.type=b2Joint.e_mouseJoint;this.maxForce=0;this.frequencyHz=5;this.dampingRatio=0.7;this.timeStep=1/60};a.__varz=function(){this.target=new b2Vec2};a.target=new b2Vec2;a.maxForce=null;
a.frequencyHz=null;a.dampingRatio=null;a.timeStep=null;var b2ContactConstraintPoint=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactConstraintPoint.prototype;a.__constructor=function(){};a.__varz=function(){this.localAnchor1=new b2Vec2;this.localAnchor2=new b2Vec2;this.r1=new b2Vec2;this.r2=new b2Vec2};a.localAnchor1=new b2Vec2;a.localAnchor2=new b2Vec2;a.r1=new b2Vec2;a.r2=new b2Vec2;a.normalImpulse=null;a.tangentImpulse=null;a.positionImpulse=null;a.normalMass=null;a.tangentMass=null;a.equalizedMass=null;a.separation=null;
a.velocityBias=null;var b2ContactRegister=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactRegister.prototype;a.__constructor=function(){};a.__varz=function(){};a.createFcn=null;a.destroyFcn=null;a.primary=null;var b2DestructionListener=function(){this.__varz();this.__constructor.apply(this,arguments)};b2DestructionListener.prototype.__constructor=function(){};b2DestructionListener.prototype.__varz=function(){};b2DestructionListener.prototype.SayGoodbyeJoint=function(){};b2DestructionListener.prototype.SayGoodbyeShape=function(){};var b2PulleyJointDef=function(){b2JointDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PulleyJointDef.prototype,b2JointDef.prototype);a=b2PulleyJointDef.prototype;a._super=function(){b2JointDef.prototype.__constructor.apply(this,arguments)};
a.__constructor=function(){this.type=b2Joint.e_pulleyJoint;this.groundAnchor1.Set(-1,1);this.groundAnchor2.Set(1,1);this.localAnchor1.Set(-1,0);this.localAnchor2.Set(1,0);this.maxLength2=this.length2=this.maxLength1=this.length1=0;this.ratio=1;this.collideConnected=true};a.__varz=function(){this.groundAnchor1=new b2Vec2;this.groundAnchor2=new b2Vec2;this.localAnchor1=new b2Vec2;this.localAnchor2=new b2Vec2};a.groundAnchor1=new b2Vec2;a.groundAnchor2=new b2Vec2;a.localAnchor1=new b2Vec2;
a.localAnchor2=new b2Vec2;a.length1=null;a.maxLength1=null;a.length2=null;a.maxLength2=null;a.ratio=null;
a.Initialize=function(b,c,d,e,f,g,h){this.body1=b;this.body2=c;this.groundAnchor1.SetV(d);this.groundAnchor2.SetV(e);this.localAnchor1=this.body1.GetLocalPoint(f);this.localAnchor2=this.body2.GetLocalPoint(g);b=f.x-d.x;d=f.y-d.y;this.length1=Math.sqrt(b*b+d*d);d=g.x-e.x;e=g.y-e.y;this.length2=Math.sqrt(d*d+e*e);this.ratio=h;h=this.length1+this.ratio*this.length2;this.maxLength1=h-this.ratio*b2PulleyJoint.b2_minPulleyLength;this.maxLength2=(h-b2PulleyJoint.b2_minPulleyLength)/this.ratio};var b2Jacobian=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Jacobian.prototype;a.__constructor=function(){};a.__varz=function(){this.linear1=new b2Vec2;this.linear2=new b2Vec2};a.linear1=new b2Vec2;a.angular1=null;a.linear2=new b2Vec2;a.angular2=null;a.SetZero=function(){this.linear1.SetZero();this.angular1=0;this.linear2.SetZero();this.angular2=0};a.Set=function(b,c,d,e){this.linear1.SetV(b);this.angular1=c;this.linear2.SetV(d);this.angular2=e};
a.Compute=function(b,c,d,e){return this.linear1.x*b.x+this.linear1.y*b.y+this.angular1*c+(this.linear2.x*d.x+this.linear2.y*d.y)+this.angular2*e};var b2DebugDraw=function(){this.__varz();this.__constructor.apply(this,arguments)};b2DebugDraw.prototype.__constructor=function(){this.m_drawFlags=0};b2DebugDraw.prototype.__varz=function(){};b2DebugDraw.e_shapeBit=1;b2DebugDraw.e_jointBit=2;b2DebugDraw.e_coreShapeBit=4;b2DebugDraw.e_aabbBit=8;b2DebugDraw.e_obbBit=16;b2DebugDraw.e_pairBit=32;b2DebugDraw.e_centerOfMassBit=64;a=b2DebugDraw.prototype;a.m_drawFlags=0;a.m_sprite=null;a.m_drawScale=1;a.m_lineThickness=1;a.m_alpha=1;a.m_fillAlpha=1;
a.m_xformScale=1;a.SetFlags=function(b){this.m_drawFlags=b};a.GetFlags=function(){return this.m_drawFlags};a.AppendFlags=function(b){this.m_drawFlags|=b};a.ClearFlags=function(b){this.m_drawFlags&=~b};
a.DrawPolygon=function(b,c,d){this.m_sprite.graphics.lineStyle(this.m_lineThickness,d.color,this.m_alpha);this.m_sprite.graphics.moveTo(b[0].x*this.m_drawScale,b[0].y*this.m_drawScale);for(d=1;d<c;d++)this.m_sprite.graphics.lineTo(b[d].x*this.m_drawScale,b[d].y*this.m_drawScale);this.m_sprite.graphics.lineTo(b[0].x*this.m_drawScale,b[0].y*this.m_drawScale)};
a.DrawSolidPolygon=function(b,c,d){this.m_sprite.graphics.lineStyle(this.m_lineThickness,d.color,this.m_alpha);this.m_sprite.graphics.moveTo(b[0].x*this.m_drawScale,b[0].y*this.m_drawScale);this.m_sprite.graphics.beginFill(d.color,this.m_fillAlpha);for(d=1;d<c;d++)this.m_sprite.graphics.lineTo(b[d].x*this.m_drawScale,b[d].y*this.m_drawScale);this.m_sprite.graphics.lineTo(b[0].x*this.m_drawScale,b[0].y*this.m_drawScale);this.m_sprite.graphics.endFill()};
a.DrawCircle=function(b,c,d){this.m_sprite.graphics.lineStyle(this.m_lineThickness,d.color,this.m_alpha);this.m_sprite.graphics.drawCircle(b.x*this.m_drawScale,b.y*this.m_drawScale,c*this.m_drawScale)};
a.DrawSolidCircle=function(b,c,d,e){this.m_sprite.graphics.lineStyle(this.m_lineThickness,e.color,this.m_alpha);this.m_sprite.graphics.moveTo(0,0);this.m_sprite.graphics.beginFill(e.color,this.m_fillAlpha);this.m_sprite.graphics.drawCircle(b.x*this.m_drawScale,b.y*this.m_drawScale,c*this.m_drawScale);this.m_sprite.graphics.endFill();this.m_sprite.graphics.moveTo(b.x*this.m_drawScale,b.y*this.m_drawScale);this.m_sprite.graphics.lineTo((b.x+d.x*c)*this.m_drawScale,(b.y+d.y*c)*this.m_drawScale)};
a.DrawSegment=function(b,c,d){this.m_sprite.graphics.lineStyle(this.m_lineThickness,d.color,this.m_alpha);this.m_sprite.graphics.moveTo(b.x*this.m_drawScale,b.y*this.m_drawScale);this.m_sprite.graphics.lineTo(c.x*this.m_drawScale,c.y*this.m_drawScale)};
a.DrawXForm=function(b){this.m_sprite.graphics.lineStyle(this.m_lineThickness,16711680,this.m_alpha);this.m_sprite.graphics.moveTo(b.position.x*this.m_drawScale,b.position.y*this.m_drawScale);this.m_sprite.graphics.lineTo((b.position.x+this.m_xformScale*b.R.col1.x)*this.m_drawScale,(b.position.y+this.m_xformScale*b.R.col1.y)*this.m_drawScale);this.m_sprite.graphics.lineStyle(this.m_lineThickness,65280,this.m_alpha);this.m_sprite.graphics.moveTo(b.position.x*this.m_drawScale,b.position.y*this.m_drawScale);
this.m_sprite.graphics.lineTo((b.position.x+this.m_xformScale*b.R.col2.x)*this.m_drawScale,(b.position.y+this.m_xformScale*b.R.col2.y)*this.m_drawScale)};var b2ContactEdge=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactEdge.prototype;a.__constructor=function(){};a.__varz=function(){};a.other=null;a.contact=null;a.prev=null;a.next=null;var b2Sweep=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2Sweep.prototype;a.__constructor=function(){};a.__varz=function(){this.localCenter=new b2Vec2;this.c0=new b2Vec2;this.c=new b2Vec2};a.localCenter=new b2Vec2;a.c0=new b2Vec2;a.c=new b2Vec2;a.a0=null;a.a=null;a.t0=null;
a.GetXForm=function(b,c){if(1-this.t0>Number.MIN_VALUE){c=(c-this.t0)/(1-this.t0);b.position.x=(1-c)*this.c0.x+c*this.c.x;b.position.y=(1-c)*this.c0.y+c*this.c.y;b.R.Set((1-c)*this.a0+c*this.a)}else{b.position.SetV(this.c);b.R.Set(this.a)}c=b.R;b.position.x-=c.col1.x*this.localCenter.x+c.col2.x*this.localCenter.y;b.position.y-=c.col1.y*this.localCenter.x+c.col2.y*this.localCenter.y};
a.Advance=function(b){if(this.t0<b&&1-this.t0>Number.MIN_VALUE){var c=(b-this.t0)/(1-this.t0);this.c0.x=(1-c)*this.c0.x+c*this.c.x;this.c0.y=(1-c)*this.c0.y+c*this.c.y;this.a0=(1-c)*this.a0+c*this.a;this.t0=b}};var b2ContactConstraint=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactConstraint.prototype;a.__constructor=function(){this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var b=0;b<b2Settings.b2_maxManifoldPoints;b++)this.points[b]=new b2ContactConstraintPoint};a.__varz=function(){this.normal=new b2Vec2};a.points=null;a.normal=new b2Vec2;a.manifold=null;a.body1=null;a.body2=null;a.friction=null;a.restitution=null;a.pointCount=0;var b2Distance=function(){this.__varz();this.__constructor.apply(this,arguments)};b2Distance.prototype.__constructor=function(){};b2Distance.prototype.__varz=function(){};b2Distance.g_GJK_Iterations=0;b2Distance.s_p1s=[new b2Vec2,new b2Vec2,new b2Vec2];b2Distance.s_p2s=[new b2Vec2,new b2Vec2,new b2Vec2];b2Distance.s_points=[new b2Vec2,new b2Vec2,new b2Vec2];b2Distance.gPoint=new b2Point;
b2Distance.ProcessTwo=function(b,c,d,e,f){var g=f[0];f=f[1];var h=d[0];d=d[1];var i=e[0];e=e[1];var j=-f.x,k=-f.y,l=g.x-f.x,m=g.y-f.y,n=Math.sqrt(l*l+m*m);l/=n;m/=n;j=j*l+k*m;if(j<=0||n<Number.MIN_VALUE){b.SetV(d);c.SetV(e);h.SetV(d);i.SetV(e);g.SetV(f);return 1}j/=n;b.x=d.x+j*(h.x-d.x);b.y=d.y+j*(h.y-d.y);c.x=e.x+j*(i.x-e.x);c.y=e.y+j*(i.y-e.y);return 2};
b2Distance.ProcessThree=function(b,c,d,e,f){var g=f[0],h=f[1],i=f[2];f=d[0];var j=d[1];d=d[2];var k=e[0],l=e[1];e=e[2];var m=g.x,n=g.y,o=h.x,p=h.y,q=i.x,r=i.y,u=o-m,y=p-n,x=q-m,s=r-n,v=q-o,z=r-p,t=-(m*x+n*s),w=q*x+r*s,A=-(o*v+p*z);v=q*v+r*z;if(w<=0&&v<=0){b.SetV(d);c.SetV(e);f.SetV(d);k.SetV(e);g.SetV(i);return 1}y=u*s-y*x;u=y*(m*p-n*o);o=y*(o*r-p*q);if(o<=0&&A>=0&&v>=0&&A+v>0){t=A/(A+v);b.x=j.x+t*(d.x-j.x);b.y=j.y+t*(d.y-j.y);c.x=l.x+t*(e.x-l.x);c.y=l.y+t*(e.y-l.y);f.SetV(d);k.SetV(e);g.SetV(i);
return 2}g=y*(q*n-r*m);if(g<=0&&t>=0&&w>=0&&t+w>0){t=t/(t+w);b.x=f.x+t*(d.x-f.x);b.y=f.y+t*(d.y-f.y);c.x=k.x+t*(e.x-k.x);c.y=k.y+t*(e.y-k.y);j.SetV(d);l.SetV(e);h.SetV(i);return 2}i=o+g+u;i=1/i;h=o*i;g=g*i;i=1-h-g;b.x=h*f.x+g*j.x+i*d.x;b.y=h*f.y+g*j.y+i*d.y;c.x=h*k.x+g*l.x+i*e.x;c.y=h*k.y+g*l.y+i*e.y;return 3};
b2Distance.InPoints=function(b,c,d){for(var e=100*Number.MIN_VALUE,f=0;f<d;++f){var g=c[f],h=Math.abs(b.x-g.x),i=Math.abs(b.y-g.y),j=Math.max(Math.abs(b.x),Math.abs(g.x));g=Math.max(Math.abs(b.y),Math.abs(g.y));if(h<e*(j+1)&&i<e*(g+1))return true}return false};
b2Distance.DistanceGeneric=function(b,c,d,e,f,g){var h,i=b2Distance.s_p1s,j=b2Distance.s_p2s,k=b2Distance.s_points,l=0;b.SetV(d.GetFirstVertex(e));c.SetV(f.GetFirstVertex(g));for(var m=0,n=0;n<20;++n){h=c.x-b.x;var o=c.y-b.y,p=d.Support(e,h,o),q=f.Support(g,-h,-o);m=h*h+o*o;var r=q.x-p.x,u=q.y-p.y;if(m-(h*r+o*u)<=0.01*m){if(l==0){b.SetV(p);c.SetV(q)}b2Distance.g_GJK_Iterations=n;return Math.sqrt(m)}switch(l){case 0:h=i[0];h.SetV(p);h=j[0];h.SetV(q);h=k[0];h.x=r;h.y=u;b.SetV(i[0]);c.SetV(j[0]);++l;
break;case 1:h=i[1];h.SetV(p);h=j[1];h.SetV(q);h=k[1];h.x=r;h.y=u;l=b2Distance.ProcessTwo(b,c,i,j,k);break;case 2:h=i[2];h.SetV(p);h=j[2];h.SetV(q);h=k[2];h.x=r;h.y=u;l=b2Distance.ProcessThree(b,c,i,j,k);break}if(l==3){b2Distance.g_GJK_Iterations=n;return 0}p=-Number.MAX_VALUE;for(q=0;q<l;++q){h=k[q];p=b2Math.b2Max(p,h.x*h.x+h.y*h.y)}if(l==3||m<=100*Number.MIN_VALUE*p){b2Distance.g_GJK_Iterations=n;h=c.x-b.x;o=c.y-b.y;m=h*h+o*o;return Math.sqrt(m)}}b2Distance.g_GJK_Iterations=20;return Math.sqrt(m)};
b2Distance.DistanceCC=function(b,c,d,e,f,g){var h,i;h=e.R;i=d.m_localPosition;var j=e.position.x+(h.col1.x*i.x+h.col2.x*i.y);e=e.position.y+(h.col1.y*i.x+h.col2.y*i.y);h=g.R;i=f.m_localPosition;var k=g.position.x+(h.col1.x*i.x+h.col2.x*i.y);g=g.position.y+(h.col1.y*i.x+h.col2.y*i.y);h=k-j;i=g-e;var l=h*h+i*i;d=d.m_radius-b2Settings.b2_toiSlop;f=f.m_radius-b2Settings.b2_toiSlop;var m=d+f;if(l>m*m){l=Math.sqrt(l);h/=l;i/=l;l=l-m;b.x=j+d*h;b.y=e+d*i;c.x=k-f*h;c.y=g-f*i;return l}else if(l>Number.MIN_VALUE*
Number.MIN_VALUE){l=Math.sqrt(l);h/=l;i/=l;b.x=j+d*h;b.y=e+d*i;c.x=b.x;c.y=b.y;return 0}b.x=j;b.y=e;c.x=b.x;c.y=b.y;return 0};
b2Distance.DistancePC=function(b,c,d,e,f,g){var h,i,j=b2Distance.gPoint;i=f.m_localPosition;h=g.R;j.p.x=g.position.x+(h.col1.x*i.x+h.col2.x*i.y);j.p.y=g.position.y+(h.col1.y*i.x+h.col2.y*i.y);d=b2Distance.DistanceGeneric(b,c,d,e,j,b2Math.b2XForm_identity);f=f.m_radius-b2Settings.b2_toiSlop;if(d>f){d-=f;e=c.x-b.x;b=c.y-b.y;g=Math.sqrt(e*e+b*b);e/=g;b/=g;c.x-=f*e;c.y-=f*b}else{d=0;c.x=b.x;c.y=b.y}return d};
b2Distance.Distance=function(b,c,d,e,f,g){var h=d.m_type,i=f.m_type;if(h==b2Shape.e_circleShape&&i==b2Shape.e_circleShape)return b2Distance.DistanceCC(b,c,d,e,f,g);if(h==b2Shape.e_polygonShape&&i==b2Shape.e_circleShape)return b2Distance.DistancePC(b,c,d,e,f,g);if(h==b2Shape.e_circleShape&&i==b2Shape.e_polygonShape)return b2Distance.DistancePC(c,b,f,g,d,e);if(h==b2Shape.e_polygonShape&&i==b2Shape.e_polygonShape)return b2Distance.DistanceGeneric(b,c,d,e,f,g);return 0};var b2Shape=function(){this.__varz();this.__constructor.apply(this,arguments)};b2Shape.prototype.__constructor=function(b){this.m_userData=b.userData;this.m_friction=b.friction;this.m_restitution=b.restitution;this.m_density=b.density;this.m_body=null;this.m_sweepRadius=0;this.m_next=null;this.m_proxyId=b2Pair.b2_nullProxy;this.m_filter=b.filter.Copy();this.m_isSensor=b.isSensor};b2Shape.prototype.__varz=function(){};b2Shape.e_unknownShape=-1;b2Shape.e_circleShape=0;b2Shape.e_polygonShape=1;
b2Shape.e_shapeTypeCount=2;b2Shape.s_proxyAABB=new b2AABB;b2Shape.s_syncAABB=new b2AABB;b2Shape.s_resetAABB=new b2AABB;b2Shape.Create=function(b){switch(b.type){case b2Shape.e_circleShape:return new b2CircleShape(b);case b2Shape.e_polygonShape:return new b2PolygonShape(b);default:return null}};b2Shape.Destroy=function(){};a=b2Shape.prototype;a.m_type=0;a.m_next=null;a.m_body=null;a.m_sweepRadius=null;a.m_density=null;a.m_friction=null;a.m_restitution=null;a.m_proxyId=0;a.m_filter=null;
a.m_isSensor=null;a.m_userData=null;a.GetType=function(){return this.m_type};a.IsSensor=function(){return this.m_isSensor};a.SetFilterData=function(b){this.m_filter=b.Copy()};a.GetFilterData=function(){return this.m_filter.Copy()};a.GetBody=function(){return this.m_body};a.GetNext=function(){return this.m_next};a.GetUserData=function(){return this.m_userData};a.SetUserData=function(b){this.m_userData=b};a.TestPoint=function(){return false};a.TestSegment=function(){return false};a.ComputeAABB=function(){};
a.ComputeSweptAABB=function(){};a.ComputeMass=function(){};a.GetSweepRadius=function(){return this.m_sweepRadius};a.GetFriction=function(){return this.m_friction};a.GetRestitution=function(){return this.m_restitution};a.CreateProxy=function(b,c){var d=b2Shape.s_proxyAABB;this.ComputeAABB(d,c);this.m_proxyId=b.InRange(d)?b.CreateProxy(d,this):b2Pair.b2_nullProxy};a.DestroyProxy=function(b){if(this.m_proxyId!=b2Pair.b2_nullProxy){b.DestroyProxy(this.m_proxyId);this.m_proxyId=b2Pair.b2_nullProxy}};
a.Synchronize=function(b,c,d){if(this.m_proxyId==b2Pair.b2_nullProxy)return false;var e=b2Shape.s_syncAABB;this.ComputeSweptAABB(e,c,d);if(b.InRange(e)){b.MoveProxy(this.m_proxyId,e);return true}else return false};a.RefilterProxy=function(b,c){if(this.m_proxyId!=b2Pair.b2_nullProxy){b.DestroyProxy(this.m_proxyId);var d=b2Shape.s_resetAABB;this.ComputeAABB(d,c);this.m_proxyId=b.InRange(d)?b.CreateProxy(d,this):b2Pair.b2_nullProxy}};a.UpdateSweepRadius=function(){};var b2XForm=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2XForm.prototype;a.__constructor=function(b,c){if(b){this.position.SetV(b);this.R.SetM(c)}};a.__varz=function(){this.position=new b2Vec2;this.R=new b2Mat22};a.position=new b2Vec2;a.R=new b2Mat22;a.Initialize=function(b,c){this.position.SetV(b);this.R.SetM(c)};a.SetIdentity=function(){this.position.SetZero();this.R.SetIdentity()};a.Set=function(b){this.position.SetV(b.position);this.R.SetM(b.R)};var b2DistanceJointDef=function(){b2JointDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2DistanceJointDef.prototype,b2JointDef.prototype);a=b2DistanceJointDef.prototype;a._super=function(){b2JointDef.prototype.__constructor.apply(this,arguments)};a.__constructor=function(){this.type=b2Joint.e_distanceJoint;this.length=1;this.dampingRatio=this.frequencyHz=0};a.__varz=function(){this.localAnchor1=new b2Vec2;this.localAnchor2=new b2Vec2};
a.localAnchor1=new b2Vec2;a.localAnchor2=new b2Vec2;a.length=null;a.frequencyHz=null;a.dampingRatio=null;a.Initialize=function(b,c,d,e){this.body1=b;this.body2=c;this.localAnchor1.SetV(this.body1.GetLocalPoint(d));this.localAnchor2.SetV(this.body2.GetLocalPoint(e));b=e.x-d.x;d=e.y-d.y;this.length=Math.sqrt(b*b+d*d);this.dampingRatio=this.frequencyHz=0};var b2OBB=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2OBB.prototype;a.__constructor=function(){};a.__varz=function(){this.R=new b2Mat22;this.center=new b2Vec2;this.extents=new b2Vec2};a.R=new b2Mat22;a.center=new b2Vec2;a.extents=new b2Vec2;var b2BodyDef=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2BodyDef.prototype;a.__constructor=function(){this.massData.center.SetZero();this.massData.mass=0;this.massData.I=0;this.userData=null;this.position.Set(0,0);this.angularDamping=this.linearDamping=this.angle=0;this.allowSleep=true;this.isBullet=this.fixedRotation=this.isSleeping=false};a.__varz=function(){this.massData=new b2MassData;this.position=new b2Vec2};a.massData=new b2MassData;a.userData=null;a.position=new b2Vec2;
a.angle=null;a.linearDamping=null;a.angularDamping=null;a.allowSleep=null;a.isSleeping=null;a.fixedRotation=null;a.isBullet=null;var b2PrismaticJointDef=function(){b2JointDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PrismaticJointDef.prototype,b2JointDef.prototype);a=b2PrismaticJointDef.prototype;a._super=function(){b2JointDef.prototype.__constructor.apply(this,arguments)};
a.__constructor=function(){this.type=b2Joint.e_prismaticJoint;this.localAxis1.Set(1,0);this.referenceAngle=0;this.enableLimit=false;this.upperTranslation=this.lowerTranslation=0;this.enableMotor=false;this.motorSpeed=this.maxMotorForce=0};a.__varz=function(){this.localAnchor1=new b2Vec2;this.localAnchor2=new b2Vec2;this.localAxis1=new b2Vec2};a.localAnchor1=new b2Vec2;a.localAnchor2=new b2Vec2;a.localAxis1=new b2Vec2;a.referenceAngle=null;a.enableLimit=null;a.lowerTranslation=null;
a.upperTranslation=null;a.enableMotor=null;a.maxMotorForce=null;a.motorSpeed=null;a.Initialize=function(b,c,d,e){this.body1=b;this.body2=c;this.localAnchor1=this.body1.GetLocalPoint(d);this.localAnchor2=this.body2.GetLocalPoint(d);this.localAxis1=this.body1.GetLocalVector(e);this.referenceAngle=this.body2.GetAngle()-this.body1.GetAngle()};var b2ContactID=function(){this.__varz();this.__constructor.apply(this,arguments)};b2ContactID.prototype={key:function(){return this._key},key:function(b){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}};a=b2ContactID.prototype;a.__constructor=function(){this.features._m_id=this};a.__varz=function(){this.features=new Features};
a.features=new Features;a._key=0;a.Set=function(b){this.key=b._key};a.Copy=function(){var b=new b2ContactID;b.key=this._key;return b};var b2RevoluteJointDef=function(){b2JointDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2RevoluteJointDef.prototype,b2JointDef.prototype);a=b2RevoluteJointDef.prototype;a._super=function(){b2JointDef.prototype.__constructor.apply(this,arguments)};
a.__constructor=function(){this.type=b2Joint.e_revoluteJoint;this.localAnchor1.Set(0,0);this.localAnchor2.Set(0,0);this.motorSpeed=this.maxMotorTorque=this.upperAngle=this.lowerAngle=this.referenceAngle=0;this.enableMotor=this.enableLimit=false};a.__varz=function(){this.localAnchor1=new b2Vec2;this.localAnchor2=new b2Vec2};a.localAnchor1=new b2Vec2;a.localAnchor2=new b2Vec2;a.referenceAngle=null;a.enableLimit=null;a.lowerAngle=null;a.upperAngle=null;a.enableMotor=null;a.motorSpeed=null;
a.maxMotorTorque=null;a.Initialize=function(b,c,d){this.body1=b;this.body2=c;this.localAnchor1=this.body1.GetLocalPoint(d);this.localAnchor2=this.body2.GetLocalPoint(d);this.referenceAngle=this.body2.GetAngle()-this.body1.GetAngle()};var b2CircleShape=function(){b2Shape.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2CircleShape.prototype,b2Shape.prototype);a=b2CircleShape.prototype;a._super=function(){b2Shape.prototype.__constructor.apply(this,arguments)};a.__constructor=function(b){this._super(b);this.m_type=b2Shape.e_circleShape;this.m_localPosition.SetV(b.localPosition);this.m_radius=b.radius};a.__varz=function(){this.m_localPosition=new b2Vec2};a.m_localPosition=new b2Vec2;
a.m_radius=null;a.TestPoint=function(b,c){var d=b.R,e=b.position.x+(d.col1.x*this.m_localPosition.x+d.col2.x*this.m_localPosition.y);b=b.position.y+(d.col1.y*this.m_localPosition.x+d.col2.y*this.m_localPosition.y);e=c.x-e;b=c.y-b;return e*e+b*b<=this.m_radius*this.m_radius};
a.TestSegment=function(b,c,d,e,f){var g=b.R,h=e.p1.x-(b.position.x+(g.col1.x*this.m_localPosition.x+g.col2.x*this.m_localPosition.y));b=e.p1.y-(b.position.y+(g.col1.y*this.m_localPosition.x+g.col2.y*this.m_localPosition.y));var i=h*h+b*b-this.m_radius*this.m_radius;if(i<0)return false;g=e.p2.x-e.p1.x;e=e.p2.y-e.p1.y;var j=h*g+b*e,k=g*g+e*e;i=j*j-k*i;if(i<0||k<Number.MIN_VALUE)return false;i=-(j+Math.sqrt(i));if(0<=i&&i<=f*k){i/=k;c[0]=i;d.x=h+i*g;d.y=b+i*e;d.Normalize();return true}return false};
a.ComputeAABB=function(b,c){var d=c.R,e=c.position.x+(d.col1.x*this.m_localPosition.x+d.col2.x*this.m_localPosition.y);c=c.position.y+(d.col1.y*this.m_localPosition.x+d.col2.y*this.m_localPosition.y);b.lowerBound.Set(e-this.m_radius,c-this.m_radius);b.upperBound.Set(e+this.m_radius,c+this.m_radius)};
a.ComputeSweptAABB=function(b,c,d){var e;e=c.R;var f=c.position.x+(e.col1.x*this.m_localPosition.x+e.col2.x*this.m_localPosition.y);c=c.position.y+(e.col1.y*this.m_localPosition.x+e.col2.y*this.m_localPosition.y);e=d.R;var g=d.position.x+(e.col1.x*this.m_localPosition.x+e.col2.x*this.m_localPosition.y);d=d.position.y+(e.col1.y*this.m_localPosition.x+e.col2.y*this.m_localPosition.y);b.lowerBound.Set((f<g?f:g)-this.m_radius,(c<d?c:d)-this.m_radius);b.upperBound.Set((f>g?f:g)+this.m_radius,(c>d?c:d)+
this.m_radius)};a.ComputeMass=function(b){b.mass=this.m_density*b2Settings.b2_pi*this.m_radius*this.m_radius;b.center.SetV(this.m_localPosition);b.I=b.mass*(0.5*this.m_radius*this.m_radius+(this.m_localPosition.x*this.m_localPosition.x+this.m_localPosition.y*this.m_localPosition.y))};a.GetLocalPosition=function(){return this.m_localPosition};a.GetRadius=function(){return this.m_radius};
a.UpdateSweepRadius=function(b){var c=this.m_localPosition.x-b.x;b=this.m_localPosition.y-b.y;c=Math.sqrt(c*c+b*b);this.m_sweepRadius=c+this.m_radius-b2Settings.b2_toiSlop};var b2Joint=function(){this.__varz();this.__constructor.apply(this,arguments)};b2Joint.prototype.__constructor=function(b){this.m_type=b.type;this.m_next=this.m_prev=null;this.m_body1=b.body1;this.m_body2=b.body2;this.m_collideConnected=b.collideConnected;this.m_islandFlag=false;this.m_userData=b.userData};b2Joint.prototype.__varz=function(){this.m_node1=new b2JointEdge;this.m_node2=new b2JointEdge};b2Joint.e_unknownJoint=0;b2Joint.e_revoluteJoint=1;b2Joint.e_prismaticJoint=2;
b2Joint.e_distanceJoint=3;b2Joint.e_pulleyJoint=4;b2Joint.e_mouseJoint=5;b2Joint.e_gearJoint=6;b2Joint.e_inactiveLimit=0;b2Joint.e_atLowerLimit=1;b2Joint.e_atUpperLimit=2;b2Joint.e_equalLimits=3;
b2Joint.Create=function(b){var c=null;switch(b.type){case b2Joint.e_distanceJoint:c=new b2DistanceJoint(b);break;case b2Joint.e_mouseJoint:c=new b2MouseJoint(b);break;case b2Joint.e_prismaticJoint:c=new b2PrismaticJoint(b);break;case b2Joint.e_revoluteJoint:c=new b2RevoluteJoint(b);break;case b2Joint.e_pulleyJoint:c=new b2PulleyJoint(b);break;case b2Joint.e_gearJoint:c=new b2GearJoint(b);break;default:break}return c};b2Joint.Destroy=function(){};a=b2Joint.prototype;a.m_type=0;a.m_prev=null;
a.m_next=null;a.m_node1=new b2JointEdge;a.m_node2=new b2JointEdge;a.m_body1=null;a.m_body2=null;a.m_inv_dt=null;a.m_islandFlag=null;a.m_collideConnected=null;a.m_userData=null;a.GetType=function(){return this.m_type};a.GetAnchor1=function(){return null};a.GetAnchor2=function(){return null};a.GetReactionForce=function(){return null};a.GetReactionTorque=function(){return 0};a.GetBody1=function(){return this.m_body1};a.GetBody2=function(){return this.m_body2};a.GetNext=function(){return this.m_next};
a.GetUserData=function(){return this.m_userData};a.SetUserData=function(b){this.m_userData=b};a.InitVelocityConstraints=function(){};a.SolveVelocityConstraints=function(){};a.InitPositionConstraints=function(){};a.SolvePositionConstraints=function(){return false};var b2GearJoint=function(){b2Joint.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2GearJoint.prototype,b2Joint.prototype);a=b2GearJoint.prototype;a._super=function(){b2Joint.prototype.__constructor.apply(this,arguments)};
a.__constructor=function(b){this._super(b);var c=b.joint1.m_type,d=b.joint2.m_type;this.m_prismatic2=this.m_revolute2=this.m_prismatic1=this.m_revolute1=null;this.m_ground1=b.joint1.m_body1;this.m_body1=b.joint1.m_body2;if(c==b2Joint.e_revoluteJoint){this.m_revolute1=b.joint1;this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);c=this.m_revolute1.GetJointAngle()}else{this.m_prismatic1=b.joint1;this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);
this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);c=this.m_prismatic1.GetJointTranslation()}this.m_ground2=b.joint2.m_body1;this.m_body2=b.joint2.m_body2;if(d==b2Joint.e_revoluteJoint){this.m_revolute2=b.joint2;this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);d=this.m_revolute2.GetJointAngle()}else{this.m_prismatic2=b.joint2;this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);
d=this.m_prismatic2.GetJointTranslation()}this.m_ratio=b.ratio;this.m_constant=c+this.m_ratio*d;this.m_force=0};a.__varz=function(){this.m_groundAnchor1=new b2Vec2;this.m_groundAnchor2=new b2Vec2;this.m_localAnchor1=new b2Vec2;this.m_localAnchor2=new b2Vec2;this.m_J=new b2Jacobian};a.m_ground1=null;a.m_ground2=null;a.m_revolute1=null;a.m_prismatic1=null;a.m_revolute2=null;a.m_prismatic2=null;a.m_groundAnchor1=new b2Vec2;a.m_groundAnchor2=new b2Vec2;a.m_localAnchor1=new b2Vec2;a.m_localAnchor2=new b2Vec2;
a.m_J=new b2Jacobian;a.m_constant=null;a.m_ratio=null;a.m_mass=null;a.m_force=null;a.GetAnchor1=function(){return this.m_body1.GetWorldPoint(this.m_localAnchor1)};a.GetAnchor2=function(){return this.m_body2.GetWorldPoint(this.m_localAnchor2)};a.GetReactionForce=function(){return new b2Vec2(this.m_force*this.m_J.linear2.x,this.m_force*this.m_J.linear2.y)};
a.GetReactionTorque=function(){var b=this.m_body2.m_xf.R,c=this.m_localAnchor1.x-this.m_body2.m_sweep.localCenter.x,d=this.m_localAnchor1.y-this.m_body2.m_sweep.localCenter.y,e=b.col1.x*c+b.col2.x*d;d=b.col1.y*c+b.col2.y*d;c=e;return e=this.m_force*this.m_J.angular2-(c*this.m_force*this.m_J.linear2.y-d*this.m_force*this.m_J.linear2.x)};a.GetRatio=function(){return this.m_ratio};
a.InitVelocityConstraints=function(b){var c=this.m_ground1,d=this.m_ground2,e=this.m_body1,f=this.m_body2,g,h,i,j,k,l=0;this.m_J.SetZero();if(this.m_revolute1){this.m_J.angular1=-1;l+=e.m_invI}else{j=c.m_xf.R;g=this.m_prismatic1.m_localXAxis1;c=j.col1.x*g.x+j.col2.x*g.y;g=j.col1.y*g.x+j.col2.y*g.y;j=e.m_xf.R;h=this.m_localAnchor1.x-e.m_sweep.localCenter.x;i=this.m_localAnchor1.y-e.m_sweep.localCenter.y;k=j.col1.x*h+j.col2.x*i;i=j.col1.y*h+j.col2.y*i;h=k;j=h*g-i*c;this.m_J.linear1.Set(-c,-g);this.m_J.angular1=
-j;l+=e.m_invMass+e.m_invI*j*j}if(this.m_revolute2){this.m_J.angular2=-this.m_ratio;l+=this.m_ratio*this.m_ratio*f.m_invI}else{j=d.m_xf.R;g=this.m_prismatic2.m_localXAxis1;c=j.col1.x*g.x+j.col2.x*g.y;g=j.col1.y*g.x+j.col2.y*g.y;j=f.m_xf.R;h=this.m_localAnchor2.x-f.m_sweep.localCenter.x;i=this.m_localAnchor2.y-f.m_sweep.localCenter.y;k=j.col1.x*h+j.col2.x*i;i=j.col1.y*h+j.col2.y*i;h=k;j=h*g-i*c;this.m_J.linear2.Set(-this.m_ratio*c,-this.m_ratio*g);this.m_J.angular2=-this.m_ratio*j;l+=this.m_ratio*
this.m_ratio*(f.m_invMass+f.m_invI*j*j)}this.m_mass=1/l;if(b.warmStarting){b=b.dt*this.m_force;e.m_linearVelocity.x+=e.m_invMass*b*this.m_J.linear1.x;e.m_linearVelocity.y+=e.m_invMass*b*this.m_J.linear1.y;e.m_angularVelocity+=e.m_invI*b*this.m_J.angular1;f.m_linearVelocity.x+=f.m_invMass*b*this.m_J.linear2.x;f.m_linearVelocity.y+=f.m_invMass*b*this.m_J.linear2.y;f.m_angularVelocity+=f.m_invI*b*this.m_J.angular2}else this.m_force=0};
a.SolveVelocityConstraints=function(b){var c=this.m_body1,d=this.m_body2,e=this.m_J.Compute(c.m_linearVelocity,c.m_angularVelocity,d.m_linearVelocity,d.m_angularVelocity);e=-b.inv_dt*this.m_mass*e;this.m_force+=e;b=b.dt*e;c.m_linearVelocity.x+=c.m_invMass*b*this.m_J.linear1.x;c.m_linearVelocity.y+=c.m_invMass*b*this.m_J.linear1.y;c.m_angularVelocity+=c.m_invI*b*this.m_J.angular1;d.m_linearVelocity.x+=d.m_invMass*b*this.m_J.linear2.x;d.m_linearVelocity.y+=d.m_invMass*b*this.m_J.linear2.y;d.m_angularVelocity+=
d.m_invI*b*this.m_J.angular2};
a.SolvePositionConstraints=function(){var b=this.m_body1,c=this.m_body2,d,e;d=this.m_revolute1?this.m_revolute1.GetJointAngle():this.m_prismatic1.GetJointTranslation();e=this.m_revolute2?this.m_revolute2.GetJointAngle():this.m_prismatic2.GetJointTranslation();d=-this.m_mass*(this.m_constant-(d+this.m_ratio*e));b.m_sweep.c.x+=b.m_invMass*d*this.m_J.linear1.x;b.m_sweep.c.y+=b.m_invMass*d*this.m_J.linear1.y;b.m_sweep.a+=b.m_invI*d*this.m_J.angular1;c.m_sweep.c.x+=c.m_invMass*d*this.m_J.linear2.x;c.m_sweep.c.y+=
c.m_invMass*d*this.m_J.linear2.y;c.m_sweep.a+=c.m_invI*d*this.m_J.angular2;b.SynchronizeTransform();c.SynchronizeTransform();return 0<b2Settings.b2_linearSlop};var b2GearJointDef=function(){b2JointDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2GearJointDef.prototype,b2JointDef.prototype);a=b2GearJointDef.prototype;a._super=function(){b2JointDef.prototype.__constructor.apply(this,arguments)};a.__constructor=function(){this.type=b2Joint.e_gearJoint;this.joint2=this.joint1=null;this.ratio=1};a.__varz=function(){};a.joint1=null;a.joint2=null;a.ratio=null;var b2BroadPhase=function(){this.__varz();this.__constructor.apply(this,arguments)};
b2BroadPhase.prototype.__constructor=function(b,c){var d=0;this.m_pairManager.Initialize(this,c);this.m_worldAABB=b;for(d=this.m_proxyCount=0;d<b2Settings.b2_maxProxies;d++)this.m_queryResults[d]=0;this.m_bounds=new Array(2);for(d=0;d<2;d++){this.m_bounds[d]=new Array(2*b2Settings.b2_maxProxies);for(c=0;c<2*b2Settings.b2_maxProxies;c++)this.m_bounds[d][c]=new b2Bound}d=b.upperBound.y-b.lowerBound.y;this.m_quantizationFactor.x=b2Settings.USHRT_MAX/(b.upperBound.x-b.lowerBound.x);this.m_quantizationFactor.y=
b2Settings.USHRT_MAX/d;for(d=0;d<b2Settings.b2_maxProxies-1;++d){b=new b2Proxy;this.m_proxyPool[d]=b;b.SetNext(d+1);b.timeStamp=0;b.overlapCount=b2BroadPhase.b2_invalid;b.userData=null}b=new b2Proxy;this.m_proxyPool[parseInt(b2Settings.b2_maxProxies-1)]=b;b.SetNext(b2Pair.b2_nullProxy);b.timeStamp=0;b.overlapCount=b2BroadPhase.b2_invalid;b.userData=null;this.m_freeProxy=0;this.m_timeStamp=1;this.m_queryResultCount=0};
b2BroadPhase.prototype.__varz=function(){this.m_pairManager=new b2PairManager;this.m_proxyPool=new Array(b2Settings.b2_maxPairs);this.m_bounds=new Array(2*b2Settings.b2_maxProxies);this.m_queryResults=new Array(b2Settings.b2_maxProxies);this.m_quantizationFactor=new b2Vec2};b2BroadPhase.s_validate=false;b2BroadPhase.b2_invalid=b2Settings.USHRT_MAX;b2BroadPhase.b2_nullEdge=b2Settings.USHRT_MAX;
b2BroadPhase.BinarySearch=function(b,c,d){var e=0;for(c=c-1;e<=c;){var f=Math.round((e+c)/2),g=b[f];if(g.value>d)c=f-1;else if(g.value<d)e=f+1;else return parseInt(f)}return parseInt(e)};a=b2BroadPhase.prototype;a.m_pairManager=new b2PairManager;a.m_proxyPool=new Array(b2Settings.b2_maxPairs);a.m_freeProxy=0;a.m_bounds=new Array(2*b2Settings.b2_maxProxies);a.m_queryResults=new Array(b2Settings.b2_maxProxies);a.m_queryResultCount=0;a.m_worldAABB=null;a.m_quantizationFactor=new b2Vec2;
a.m_proxyCount=0;a.m_timeStamp=0;
a.ComputeBounds=function(b,c,d){var e=d.lowerBound.x,f=d.lowerBound.y;e=b2Math.b2Min(e,this.m_worldAABB.upperBound.x);f=b2Math.b2Min(f,this.m_worldAABB.upperBound.y);e=b2Math.b2Max(e,this.m_worldAABB.lowerBound.x);f=b2Math.b2Max(f,this.m_worldAABB.lowerBound.y);var g=d.upperBound.x;d=d.upperBound.y;g=b2Math.b2Min(g,this.m_worldAABB.upperBound.x);d=b2Math.b2Min(d,this.m_worldAABB.upperBound.y);g=b2Math.b2Max(g,this.m_worldAABB.lowerBound.x);d=b2Math.b2Max(d,this.m_worldAABB.lowerBound.y);b[0]=parseInt(this.m_quantizationFactor.x*
(e-this.m_worldAABB.lowerBound.x))&b2Settings.USHRT_MAX-1;c[0]=parseInt(this.m_quantizationFactor.x*(g-this.m_worldAABB.lowerBound.x))%65535|1;b[1]=parseInt(this.m_quantizationFactor.y*(f-this.m_worldAABB.lowerBound.y))&b2Settings.USHRT_MAX-1;c[1]=parseInt(this.m_quantizationFactor.y*(d-this.m_worldAABB.lowerBound.y))%65535|1};
a.TestOverlapValidate=function(b,c){for(var d=0;d<2;++d){var e=this.m_bounds[d],f=e[b.lowerBounds[d]],g=e[c.upperBounds[d]];if(f.value>g.value)return false;f=e[b.upperBounds[d]];g=e[c.lowerBounds[d]];if(f.value<g.value)return false}return true};
a.Query=function(b,c,d,e,f,g,h){d=b2BroadPhase.BinarySearch(f,g,d);e=b2BroadPhase.BinarySearch(f,g,e);for(var i=d;i<e;++i){g=f[i];g.IsLower()&&this.IncrementOverlapCount(g.proxyId)}if(d>0){i=d-1;g=f[i];for(var j=g.stabbingCount;j;){g=f[i];if(g.IsLower())if(d<=this.m_proxyPool[g.proxyId].upperBounds[h]){this.IncrementOverlapCount(g.proxyId);--j}--i}}b[0]=d;c[0]=e};
a.IncrementOverlapCount=function(b){var c=this.m_proxyPool[b];if(c.timeStamp<this.m_timeStamp){c.timeStamp=this.m_timeStamp;c.overlapCount=1}else{c.overlapCount=2;this.m_queryResults[this.m_queryResultCount]=b;++this.m_queryResultCount}};a.IncrementTimeStamp=function(){if(this.m_timeStamp==b2Settings.USHRT_MAX){for(var b=0;b<b2Settings.b2_maxProxies;++b)this.m_proxyPool[b].timeStamp=0;this.m_timeStamp=1}else++this.m_timeStamp};
a.InRange=function(b){var c,d,e,f;c=b.lowerBound.x;d=b.lowerBound.y;c-=this.m_worldAABB.upperBound.x;d-=this.m_worldAABB.upperBound.y;e=this.m_worldAABB.lowerBound.x;f=this.m_worldAABB.lowerBound.y;e-=b.upperBound.x;f-=b.upperBound.y;c=b2Math.b2Max(c,e);d=b2Math.b2Max(d,f);return b2Math.b2Max(c,d)<0};a.GetProxy=function(b){var c=this.m_proxyPool[b];if(b==b2Pair.b2_nullProxy||c.IsValid()==false)return null;return c};
a.CreateProxy=function(b,c){var d=0,e,f=this.m_freeProxy;e=this.m_proxyPool[f];this.m_freeProxy=e.GetNext();e.overlapCount=0;e.userData=c;c=2*this.m_proxyCount;e=[];var g=[];this.ComputeBounds(e,g,b);for(b=0;b<2;++b){var h=this.m_bounds[b],i=0,j=0;i=[i];j=[j];this.Query(i,j,e[b],g[b],h,c,b);i=i[0];j=j[0];var k=[],l=0,m=c-j,n;for(l=0;l<m;l++){k[l]=new b2Bound;n=k[l];d=h[parseInt(j+l)];n.value=d.value;n.proxyId=d.proxyId;n.stabbingCount=d.stabbingCount}m=k.length;var o=j+2;for(l=0;l<m;l++){d=k[l];n=
h[parseInt(o+l)];n.value=d.value;n.proxyId=d.proxyId;n.stabbingCount=d.stabbingCount}k=[];m=j-i;for(l=0;l<m;l++){k[l]=new b2Bound;n=k[l];d=h[parseInt(i+l)];n.value=d.value;n.proxyId=d.proxyId;n.stabbingCount=d.stabbingCount}m=k.length;o=i+1;for(l=0;l<m;l++){d=k[l];n=h[parseInt(o+l)];n.value=d.value;n.proxyId=d.proxyId;n.stabbingCount=d.stabbingCount}++j;n=h[i];d=h[j];n.value=e[b];n.proxyId=f;d.value=g[b];d.proxyId=f;k=h[parseInt(i-1)];n.stabbingCount=i==0?0:k.stabbingCount;k=h[parseInt(j-1)];d.stabbingCount=
k.stabbingCount;for(d=i;d<j;++d){k=h[d];k.stabbingCount++}for(d=i;d<c+2;++d){n=h[d];i=this.m_proxyPool[n.proxyId];if(n.IsLower())i.lowerBounds[b]=d;else i.upperBounds[b]=d}}++this.m_proxyCount;for(c=0;c<this.m_queryResultCount;++c)this.m_pairManager.AddBufferedPair(f,this.m_queryResults[c]);this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();return f};
a.DestroyProxy=function(b){for(var c,d,e=this.m_proxyPool[b],f=2*this.m_proxyCount,g=0;g<2;++g){var h=this.m_bounds[g],i=e.lowerBounds[g],j=e.upperBounds[g];c=h[i];var k=c.value;d=h[j];var l=d.value,m=[],n=0,o=j-i-1;for(n=0;n<o;n++){m[n]=new b2Bound;c=m[n];d=h[parseInt(i+1+n)];c.value=d.value;c.proxyId=d.proxyId;c.stabbingCount=d.stabbingCount}o=m.length;var p=i;for(n=0;n<o;n++){d=m[n];c=h[parseInt(p+n)];c.value=d.value;c.proxyId=d.proxyId;c.stabbingCount=d.stabbingCount}m=[];o=f-j-1;for(n=0;n<o;n++){m[n]=
new b2Bound;c=m[n];d=h[parseInt(j+1+n)];c.value=d.value;c.proxyId=d.proxyId;c.stabbingCount=d.stabbingCount}o=m.length;p=j-1;for(n=0;n<o;n++){d=m[n];c=h[parseInt(p+n)];c.value=d.value;c.proxyId=d.proxyId;c.stabbingCount=d.stabbingCount}o=f-2;for(d=i;d<o;++d){c=h[d];m=this.m_proxyPool[c.proxyId];if(c.IsLower())m.lowerBounds[g]=d;else m.upperBounds[g]=d}o=j-1;for(i=i;i<o;++i){c=h[i];c.stabbingCount--}this.Query([0],[0],k,l,h,f-2,g)}for(c=0;c<this.m_queryResultCount;++c)this.m_pairManager.RemoveBufferedPair(b,
this.m_queryResults[c]);this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();e.userData=null;e.overlapCount=b2BroadPhase.b2_invalid;e.lowerBounds[0]=b2BroadPhase.b2_invalid;e.lowerBounds[1]=b2BroadPhase.b2_invalid;e.upperBounds[0]=b2BroadPhase.b2_invalid;e.upperBounds[1]=b2BroadPhase.b2_invalid;e.SetNext(this.m_freeProxy);this.m_freeProxy=b;--this.m_proxyCount};
a.MoveProxy=function(b,c){var d,e,f=0,g=0,h;d=0;if(!(b==b2Pair.b2_nullProxy||b2Settings.b2_maxProxies<=b))if(c.IsValid()!=false){var i=2*this.m_proxyCount,j=this.m_proxyPool[b],k=new b2BoundValues;this.ComputeBounds(k.lowerValues,k.upperValues,c);var l=new b2BoundValues;for(f=0;f<2;++f){c=this.m_bounds[f][j.lowerBounds[f]];l.lowerValues[f]=c.value;c=this.m_bounds[f][j.upperBounds[f]];l.upperValues[f]=c.value}for(f=0;f<2;++f){var m=this.m_bounds[f],n=j.lowerBounds[f],o=j.upperBounds[f],p=k.lowerValues[f],
q=k.upperValues[f];c=m[n];var r=p-c.value;c.value=p;c=m[o];var u=q-c.value;c.value=q;if(r<0)for(g=n;g>0&&p<m[parseInt(g-1)].value;){c=m[g];h=m[parseInt(g-1)];d=h.proxyId;e=this.m_proxyPool[h.proxyId];h.stabbingCount++;if(h.IsUpper()==true){this.TestOverlap(k,e)&&this.m_pairManager.AddBufferedPair(b,d);d=e.upperBounds;e=d[f];e++;d[f]=e;c.stabbingCount++}else{d=e.lowerBounds;e=d[f];e++;d[f]=e;c.stabbingCount--}d=j.lowerBounds;e=d[f];e--;d[f]=e;c.Swap(h);--g}if(u>0)for(g=o;g<i-1&&m[parseInt(g+1)].value<=
q;){c=m[g];h=m[parseInt(g+1)];d=h.proxyId;e=this.m_proxyPool[d];h.stabbingCount++;if(h.IsLower()==true){this.TestOverlap(k,e)&&this.m_pairManager.AddBufferedPair(b,d);d=e.lowerBounds;e=d[f];e--;d[f]=e;c.stabbingCount++}else{d=e.upperBounds;e=d[f];e--;d[f]=e;c.stabbingCount--}d=j.upperBounds;e=d[f];e++;d[f]=e;c.Swap(h);g++}if(r>0)for(g=n;g<i-1&&m[parseInt(g+1)].value<=p;){c=m[g];h=m[parseInt(g+1)];d=h.proxyId;e=this.m_proxyPool[d];h.stabbingCount--;if(h.IsUpper()){this.TestOverlap(l,e)&&this.m_pairManager.RemoveBufferedPair(b,
d);d=e.upperBounds;e=d[f];e--;d[f]=e;c.stabbingCount--}else{d=e.lowerBounds;e=d[f];e--;d[f]=e;c.stabbingCount++}d=j.lowerBounds;e=d[f];e++;d[f]=e;c.Swap(h);g++}if(u<0)for(g=o;g>0&&q<m[parseInt(g-1)].value;){c=m[g];h=m[parseInt(g-1)];d=h.proxyId;e=this.m_proxyPool[d];h.stabbingCount--;if(h.IsLower()==true){this.TestOverlap(l,e)&&this.m_pairManager.RemoveBufferedPair(b,d);d=e.lowerBounds;e=d[f];e++;d[f]=e;c.stabbingCount--}else{d=e.upperBounds;e=d[f];e++;d[f]=e;c.stabbingCount++}d=j.upperBounds;e=d[f];
e--;d[f]=e;c.Swap(h);g--}}}};a.Commit=function(){this.m_pairManager.Commit()};a.QueryAABB=function(b,c,d){var e=[],f=[];this.ComputeBounds(e,f,b);b=[0];var g=[0];this.Query(b,g,e[0],f[0],this.m_bounds[0],2*this.m_proxyCount,0);this.Query(b,g,e[1],f[1],this.m_bounds[1],2*this.m_proxyCount,1);for(f=e=0;f<this.m_queryResultCount&&e<d;++f,++e)c[f]=this.m_proxyPool[this.m_queryResults[f]].userData;this.m_queryResultCount=0;this.IncrementTimeStamp();return e};
a.Validate=function(){for(var b=0;b<2;++b)for(var c=this.m_bounds[b],d=2*this.m_proxyCount,e=0,f=0;f<d;++f)if(c[f].IsLower()==true)e++;else e--};a.TestOverlap=function(b,c){for(var d=0;d<2;++d){var e=this.m_bounds[d],f=e[c.upperBounds[d]];if(b.lowerValues[d]>f.value)return false;f=e[c.lowerBounds[d]];if(b.upperValues[d]<f.value)return false}return true};var b2TimeOfImpact=function(){this.__varz();this.__constructor.apply(this,arguments)};b2TimeOfImpact.prototype.__constructor=function(){};b2TimeOfImpact.prototype.__varz=function(){};b2TimeOfImpact.s_p1=new b2Vec2;b2TimeOfImpact.s_p2=new b2Vec2;b2TimeOfImpact.s_xf1=new b2XForm;b2TimeOfImpact.s_xf2=new b2XForm;
b2TimeOfImpact.TimeOfImpact=function(b,c,d,e){var f,g,h=b.m_sweepRadius,i=d.m_sweepRadius,j=c.t0,k=c.c.x-c.c0.x,l=c.c.y-c.c0.y,m=e.c.x-e.c0.x,n=e.c.y-e.c0.y,o=c.a-c.a0,p=e.a-e.a0,q=0,r=b2TimeOfImpact.s_p1,u=b2TimeOfImpact.s_p2,y=0,x=g=0,s=0;for(f=0;;){s=(1-q)*j+q;g=b2TimeOfImpact.s_xf1;x=b2TimeOfImpact.s_xf2;c.GetXForm(g,s);e.GetXForm(x,s);s=b2Distance.Distance(r,u,b,g,d,x);if(y==0)if(s>2*b2Settings.b2_toiSlop)f=1.5*b2Settings.b2_toiSlop;else{f=0.05*b2Settings.b2_toiSlop;g=s-0.5*b2Settings.b2_toiSlop;
f=f>g?f:g}if(s-f<0.05*b2Settings.b2_toiSlop||y==20)break;g=u.x-r.x;x=u.y-r.y;var v=Math.sqrt(g*g+x*x);g/=v;x/=v;g=g*(k-m)+x*(l-n)+(o<0?-o:o)*h+(p<0?-p:p)*i;if(g==0){q=1;break}s=q+(s-f)/g;if(s<0||1<s){q=1;break}if(s<(1+100*Number.MIN_VALUE)*q)break;q=s;++y}return q};var b2ShapeDef=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ShapeDef.prototype;a.__constructor=function(){};a.__varz=function(){this.type=b2Shape.e_unknownShape;this.filter=new b2FilterData};a.type=b2Shape.e_unknownShape;a.userData=null;a.friction=0.2;a.restitution=0;a.density=0;a.isSensor=false;a.filter=new b2FilterData;var b2PolygonDef=function(){b2ShapeDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PolygonDef.prototype,b2ShapeDef.prototype);b2PolygonDef.prototype._super=function(){b2ShapeDef.prototype.__constructor.apply(this,arguments)};b2PolygonDef.prototype.__constructor=function(){this.type=b2Shape.e_polygonShape;for(var b=this.vertexCount=0;b<b2Settings.b2_maxPolygonVertices;b++)this.vertices[b]=new b2Vec2};
b2PolygonDef.prototype.__varz=function(){this.vertices=new Array(b2Settings.b2_maxPolygonVertices)};b2PolygonDef.s_mat=new b2Mat22;b2PolygonDef.prototype.vertices=new Array(b2Settings.b2_maxPolygonVertices);b2PolygonDef.prototype.vertexCount=0;b2PolygonDef.prototype.SetAsBox=function(b,c){this.vertexCount=4;this.vertices[0].Set(-b,-c);this.vertices[1].Set(b,-c);this.vertices[2].Set(b,c);this.vertices[3].Set(-b,c)};
b2PolygonDef.prototype.SetAsOrientedBox=function(b,c,d,e){this.vertexCount=4;this.vertices[0].Set(-b,-c);this.vertices[1].Set(b,-c);this.vertices[2].Set(b,c);this.vertices[3].Set(-b,c);if(d){c=d;var f=b2PolygonDef.s_mat;f.Set(e);for(e=0;e<this.vertexCount;++e){d=this.vertices[e];b=c.x+(f.col1.x*d.x+f.col2.x*d.y);d.y=c.y+(f.col1.y*d.x+f.col2.y*d.y);d.x=b}}};var b2Contact=function(){this.__varz();this.__constructor.apply(this,arguments)};
b2Contact.prototype.__constructor=function(b,c){this.m_flags=0;if(!b||!c)this.m_shape2=this.m_shape1=null;else{if(b.IsSensor()||c.IsSensor())this.m_flags|=b2Contact.e_nonSolidFlag;this.m_shape1=b;this.m_shape2=c;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_next=this.m_prev=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;
this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null}};b2Contact.prototype.__varz=function(){this.m_node1=new b2ContactEdge;this.m_node2=new b2ContactEdge};b2Contact.e_nonSolidFlag=1;b2Contact.e_slowFlag=2;b2Contact.e_islandFlag=4;b2Contact.e_toiFlag=8;b2Contact.s_registers=null;b2Contact.s_initialized=false;
b2Contact.AddType=function(b,c,d,e){b2Contact.s_registers[d][e].createFcn=b;b2Contact.s_registers[d][e].destroyFcn=c;b2Contact.s_registers[d][e].primary=true;if(d!=e){b2Contact.s_registers[e][d].createFcn=b;b2Contact.s_registers[e][d].destroyFcn=c;b2Contact.s_registers[e][d].primary=false}};
b2Contact.InitializeRegisters=function(){b2Contact.s_registers=new Array(b2Shape.e_shapeTypeCount);for(var b=0;b<b2Shape.e_shapeTypeCount;b++){b2Contact.s_registers[b]=new Array(b2Shape.e_shapeTypeCount);for(var c=0;c<b2Shape.e_shapeTypeCount;c++)b2Contact.s_registers[b][c]=new b2ContactRegister}b2Contact.AddType(b2CircleContact.Create,b2CircleContact.Destroy,b2Shape.e_circleShape,b2Shape.e_circleShape);b2Contact.AddType(b2PolyAndCircleContact.Create,b2PolyAndCircleContact.Destroy,b2Shape.e_polygonShape,
b2Shape.e_circleShape);b2Contact.AddType(b2PolygonContact.Create,b2PolygonContact.Destroy,b2Shape.e_polygonShape,b2Shape.e_polygonShape)};b2Contact.Create=function(b,c,d){if(b2Contact.s_initialized==false){b2Contact.InitializeRegisters();b2Contact.s_initialized=true}var e=b2Contact.s_registers[b.m_type][c.m_type],f=e.createFcn;if(f!=null)if(e.primary)return f(b,c,d);else{b=f(c,b,d);for(c=0;c<b.m_manifoldCount;++c){d=b.GetManifolds()[c];d.normal=d.normal.Negative()}return b}else return null};
b2Contact.Destroy=function(b,c){if(b.m_manifoldCount>0){b.m_shape1.m_body.WakeUp();b.m_shape2.m_body.WakeUp()}var d=b2Contact.s_registers[b.m_shape1.m_type][b.m_shape2.m_type].destroyFcn;d(b,c)};a=b2Contact.prototype;a.m_flags=0;a.m_prev=null;a.m_next=null;a.m_node1=new b2ContactEdge;a.m_node2=new b2ContactEdge;a.m_shape1=null;a.m_shape2=null;a.m_manifoldCount=0;a.m_friction=null;a.m_restitution=null;a.m_toi=null;a.GetManifolds=function(){return null};a.GetManifoldCount=function(){return this.m_manifoldCount};
a.IsSolid=function(){return(this.m_flags&b2Contact.e_nonSolidFlag)==0};a.GetNext=function(){return this.m_next};a.GetShape1=function(){return this.m_shape1};a.GetShape2=function(){return this.m_shape2};a.Update=function(b){var c=this.m_manifoldCount;this.Evaluate(b);b=this.m_shape1.m_body;var d=this.m_shape2.m_body;if(this.m_manifoldCount==0&&c>0){b.WakeUp();d.WakeUp()}if(b.IsStatic()||b.IsBullet()||d.IsStatic()||d.IsBullet())this.m_flags&=~b2Contact.e_slowFlag;else this.m_flags|=b2Contact.e_slowFlag};
a.Evaluate=function(){};var b2DistanceJoint=function(){b2Joint.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2DistanceJoint.prototype,b2Joint.prototype);a=b2DistanceJoint.prototype;a._super=function(){b2Joint.prototype.__constructor.apply(this,arguments)};
a.__constructor=function(b){this._super(b);this.m_localAnchor1.SetV(b.localAnchor1);this.m_localAnchor2.SetV(b.localAnchor2);this.m_length=b.length;this.m_frequencyHz=b.frequencyHz;this.m_dampingRatio=b.dampingRatio;this.m_inv_dt=this.m_bias=this.m_gamma=this.m_impulse=0};a.__varz=function(){this.m_localAnchor1=new b2Vec2;this.m_localAnchor2=new b2Vec2;this.m_u=new b2Vec2};a.m_localAnchor1=new b2Vec2;a.m_localAnchor2=new b2Vec2;a.m_u=new b2Vec2;a.m_frequencyHz=null;a.m_dampingRatio=null;
a.m_gamma=null;a.m_bias=null;a.m_impulse=null;a.m_mass=null;a.m_length=null;
a.InitVelocityConstraints=function(b){var c,d;this.m_inv_dt=b.inv_dt;var e=this.m_body1,f=this.m_body2;c=e.m_xf.R;var g=this.m_localAnchor1.x-e.m_sweep.localCenter.x,h=this.m_localAnchor1.y-e.m_sweep.localCenter.y;d=c.col1.x*g+c.col2.x*h;h=c.col1.y*g+c.col2.y*h;g=d;c=f.m_xf.R;var i=this.m_localAnchor2.x-f.m_sweep.localCenter.x,j=this.m_localAnchor2.y-f.m_sweep.localCenter.y;d=c.col1.x*i+c.col2.x*j;j=c.col1.y*i+c.col2.y*j;i=d;this.m_u.x=f.m_sweep.c.x+i-e.m_sweep.c.x-g;this.m_u.y=f.m_sweep.c.y+j-e.m_sweep.c.y-
h;d=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);d>b2Settings.b2_linearSlop?this.m_u.Multiply(1/d):this.m_u.SetZero();c=g*this.m_u.y-h*this.m_u.x;var k=i*this.m_u.y-j*this.m_u.x;c=e.m_invMass+e.m_invI*c*c+f.m_invMass+f.m_invI*k*k;this.m_mass=1/c;if(this.m_frequencyHz>0){d=d-this.m_length;k=2*Math.PI*this.m_frequencyHz;var l=this.m_mass*k*k;this.m_gamma=1/(b.dt*(2*this.m_mass*this.m_dampingRatio*k+b.dt*l));this.m_bias=d*b.dt*l*this.m_gamma;this.m_mass=1/(c+this.m_gamma)}if(b.warmStarting){this.m_impulse*=
b.dtRatio;b=this.m_impulse*this.m_u.x;c=this.m_impulse*this.m_u.y;e.m_linearVelocity.x-=e.m_invMass*b;e.m_linearVelocity.y-=e.m_invMass*c;e.m_angularVelocity-=e.m_invI*(g*c-h*b);f.m_linearVelocity.x+=f.m_invMass*b;f.m_linearVelocity.y+=f.m_invMass*c;f.m_angularVelocity+=f.m_invI*(i*c-j*b)}else this.m_impulse=0};
a.SolveVelocityConstraints=function(){var b,c=this.m_body1,d=this.m_body2;b=c.m_xf.R;var e=this.m_localAnchor1.x-c.m_sweep.localCenter.x,f=this.m_localAnchor1.y-c.m_sweep.localCenter.y,g=b.col1.x*e+b.col2.x*f;f=b.col1.y*e+b.col2.y*f;e=g;b=d.m_xf.R;var h=this.m_localAnchor2.x-d.m_sweep.localCenter.x,i=this.m_localAnchor2.y-d.m_sweep.localCenter.y;g=b.col1.x*h+b.col2.x*i;i=b.col1.y*h+b.col2.y*i;h=g;g=-this.m_mass*(this.m_u.x*(d.m_linearVelocity.x+-d.m_angularVelocity*i-(c.m_linearVelocity.x+-c.m_angularVelocity*
f))+this.m_u.y*(d.m_linearVelocity.y+d.m_angularVelocity*h-(c.m_linearVelocity.y+c.m_angularVelocity*e))+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=g;b=g*this.m_u.x;g=g*this.m_u.y;c.m_linearVelocity.x-=c.m_invMass*b;c.m_linearVelocity.y-=c.m_invMass*g;c.m_angularVelocity-=c.m_invI*(e*g-f*b);d.m_linearVelocity.x+=d.m_invMass*b;d.m_linearVelocity.y+=d.m_invMass*g;d.m_angularVelocity+=d.m_invI*(h*g-i*b)};
a.SolvePositionConstraints=function(){var b;if(this.m_frequencyHz>0)return true;var c=this.m_body1,d=this.m_body2;b=c.m_xf.R;var e=this.m_localAnchor1.x-c.m_sweep.localCenter.x,f=this.m_localAnchor1.y-c.m_sweep.localCenter.y,g=b.col1.x*e+b.col2.x*f;f=b.col1.y*e+b.col2.y*f;e=g;b=d.m_xf.R;var h=this.m_localAnchor2.x-d.m_sweep.localCenter.x,i=this.m_localAnchor2.y-d.m_sweep.localCenter.y;g=b.col1.x*h+b.col2.x*i;i=b.col1.y*h+b.col2.y*i;h=g;g=d.m_sweep.c.x+h-c.m_sweep.c.x-e;var j=d.m_sweep.c.y+i-c.m_sweep.c.y-
f;b=Math.sqrt(g*g+j*j);g/=b;j/=b;b=b-this.m_length;b=b2Math.b2Clamp(b,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var k=-this.m_mass*b;this.m_u.Set(g,j);g=k*this.m_u.x;j=k*this.m_u.y;c.m_sweep.c.x-=c.m_invMass*g;c.m_sweep.c.y-=c.m_invMass*j;c.m_sweep.a-=c.m_invI*(e*j-f*g);d.m_sweep.c.x+=d.m_invMass*g;d.m_sweep.c.y+=d.m_invMass*j;d.m_sweep.a+=d.m_invI*(h*j-i*g);c.SynchronizeTransform();d.SynchronizeTransform();return b2Math.b2Abs(b)<b2Settings.b2_linearSlop};
a.GetAnchor1=function(){return this.m_body1.GetWorldPoint(this.m_localAnchor1)};a.GetAnchor2=function(){return this.m_body2.GetWorldPoint(this.m_localAnchor2)};a.GetReactionForce=function(){var b=new b2Vec2;b.SetV(this.m_u);b.Multiply(this.m_inv_dt*this.m_impulse);return b};a.GetReactionTorque=function(){return 0};var b2Body=function(){this.__varz();this.__constructor.apply(this,arguments)};
b2Body.prototype.__constructor=function(b,c){this.m_flags=0;if(b.isBullet)this.m_flags|=b2Body.e_bulletFlag;if(b.fixedRotation)this.m_flags|=b2Body.e_fixedRotationFlag;if(b.allowSleep)this.m_flags|=b2Body.e_allowSleepFlag;if(b.isSleeping)this.m_flags|=b2Body.e_sleepFlag;this.m_world=c;this.m_xf.position.SetV(b.position);this.m_xf.R.Set(b.angle);this.m_sweep.localCenter.SetV(b.massData.center);this.m_sweep.t0=1;this.m_sweep.a0=this.m_sweep.a=b.angle;c=this.m_xf.R;var d=this.m_sweep.localCenter;this.m_sweep.c.x=
c.col1.x*d.x+c.col2.x*d.y;this.m_sweep.c.y=c.col1.y*d.x+c.col2.y*d.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_next=this.m_prev=this.m_contactList=this.m_jointList=null;this.m_linearDamping=b.linearDamping;this.m_angularDamping=b.angularDamping;this.m_force.Set(0,0);this.m_torque=0;this.m_linearVelocity.SetZero();this.m_invI=this.m_I=this.m_invMass=this.m_sleepTime=this.m_angularVelocity=0;this.m_mass=b.massData.mass;
if(this.m_mass>0)this.m_invMass=1/this.m_mass;if((this.m_flags&b2Body.e_fixedRotationFlag)==0)this.m_I=b.massData.I;if(this.m_I>0)this.m_invI=1/this.m_I;this.m_type=this.m_invMass==0&&this.m_invI==0?b2Body.e_staticType:b2Body.e_dynamicType;this.m_userData=b.userData;this.m_shapeList=null;this.m_shapeCount=0};b2Body.prototype.__varz=function(){this.m_xf=new b2XForm;this.m_sweep=new b2Sweep;this.m_linearVelocity=new b2Vec2;this.m_force=new b2Vec2};b2Body.e_frozenFlag=2;b2Body.e_islandFlag=4;
b2Body.e_sleepFlag=8;b2Body.e_allowSleepFlag=16;b2Body.e_bulletFlag=32;b2Body.e_fixedRotationFlag=64;b2Body.e_staticType=1;b2Body.e_dynamicType=2;b2Body.e_maxTypes=3;b2Body.s_massData=new b2MassData;b2Body.s_xf1=new b2XForm;a=b2Body.prototype;a.m_flags=0;a.m_type=0;a.m_xf=new b2XForm;a.m_sweep=new b2Sweep;a.m_linearVelocity=new b2Vec2;a.m_angularVelocity=null;a.m_force=new b2Vec2;a.m_torque=null;a.m_world=null;a.m_prev=null;a.m_next=null;a.m_shapeList=null;a.m_shapeCount=0;a.m_jointList=null;
a.m_contactList=null;a.m_mass=null;a.m_invMass=null;a.m_I=null;a.m_invI=null;a.m_linearDamping=null;a.m_angularDamping=null;a.m_sleepTime=null;a.m_userData=null;a.CreateShape=function(b){if(this.m_world.m_lock==true)return null;b=b2Shape.Create(b,this.m_world.m_blockAllocator);b.m_next=this.m_shapeList;this.m_shapeList=b;++this.m_shapeCount;b.m_body=this;b.CreateProxy(this.m_world.m_broadPhase,this.m_xf);b.UpdateSweepRadius(this.m_sweep.localCenter);return b};
a.DestroyShape=function(b){if(this.m_world.m_lock!=true){b.DestroyProxy(this.m_world.m_broadPhase);for(var c=this.m_shapeList,d=null;c!=null;){if(c==b){if(d)d.m_next=b.m_next;else this.m_shapeList=b.m_next;break}d=c;c=c.m_next}b.m_body=null;b.m_next=null;--this.m_shapeCount;b2Shape.Destroy(b,this.m_world.m_blockAllocator)}};
a.SetMass=function(b){if(this.m_world.m_lock!=true){this.m_invI=this.m_I=this.m_invMass=0;this.m_mass=b.mass;if(this.m_mass>0)this.m_invMass=1/this.m_mass;if((this.m_flags&b2Body.e_fixedRotationFlag)==0)this.m_I=b.I;if(this.m_I>0)this.m_invI=1/this.m_I;this.m_sweep.localCenter.SetV(b.center);b=this.m_xf.R;var c=this.m_sweep.localCenter;this.m_sweep.c.x=b.col1.x*c.x+b.col2.x*c.y;this.m_sweep.c.y=b.col1.y*c.x+b.col2.y*c.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);for(b=this.m_shapeList;b;b=b.m_next)b.UpdateSweepRadius(this.m_sweep.localCenter);b=this.m_type;this.m_type=this.m_invMass==0&&this.m_invI==0?b2Body.e_staticType:b2Body.e_dynamicType;if(b!=this.m_type)for(b=this.m_shapeList;b;b=b.m_next)b.RefilterProxy(this.m_world.m_broadPhase,this.m_xf)}};
a.SetMassFromShapes=function(){var b;if(this.m_world.m_lock!=true){var c=this.m_invI=this.m_I=this.m_invMass=this.m_mass=0,d=0,e=b2Body.s_massData;for(b=this.m_shapeList;b;b=b.m_next){b.ComputeMass(e);this.m_mass+=e.mass;c+=e.mass*e.center.x;d+=e.mass*e.center.y;this.m_I+=e.I}if(this.m_mass>0){this.m_invMass=1/this.m_mass;c*=this.m_invMass;d*=this.m_invMass}if(this.m_I>0&&(this.m_flags&b2Body.e_fixedRotationFlag)==0){this.m_I-=this.m_mass*(c*c+d*d);this.m_invI=1/this.m_I}else this.m_invI=this.m_I=
0;this.m_sweep.localCenter.Set(c,d);b=this.m_xf.R;c=this.m_sweep.localCenter;this.m_sweep.c.x=b.col1.x*c.x+b.col2.x*c.y;this.m_sweep.c.y=b.col1.y*c.x+b.col2.y*c.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);for(b=this.m_shapeList;b;b=b.m_next)b.UpdateSweepRadius(this.m_sweep.localCenter);b=this.m_type;this.m_type=this.m_invMass==0&&this.m_invI==0?b2Body.e_staticType:b2Body.e_dynamicType;if(b!=this.m_type)for(b=this.m_shapeList;b;b=
b.m_next)b.RefilterProxy(this.m_world.m_broadPhase,this.m_xf)}};
a.SetXForm=function(b,c){if(this.m_world.m_lock==true)return true;if(this.IsFrozen())return false;this.m_xf.R.Set(c);this.m_xf.position.SetV(b);b=this.m_xf.R;var d=this.m_sweep.localCenter;this.m_sweep.c.x=b.col1.x*d.x+b.col2.x*d.y;this.m_sweep.c.y=b.col1.y*d.x+b.col2.y*d.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=false;for(c=this.m_shapeList;c;c=c.m_next)if(c.Synchronize(this.m_world.m_broadPhase,
this.m_xf,this.m_xf)==false){b=true;break}if(b==true){this.m_flags|=b2Body.e_frozenFlag;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;for(c=this.m_shapeList;c;c=c.m_next)c.DestroyProxy(this.m_world.m_broadPhase);return false}this.m_world.m_broadPhase.Commit();return true};a.GetXForm=function(){return this.m_xf};a.GetPosition=function(){return this.m_xf.position};a.GetAngle=function(){return this.m_sweep.a};a.GetWorldCenter=function(){return this.m_sweep.c};a.GetLocalCenter=function(){return this.m_sweep.localCenter};
a.SetLinearVelocity=function(b){this.m_linearVelocity.SetV(b)};a.GetLinearVelocity=function(){return this.m_linearVelocity};a.SetAngularVelocity=function(b){this.m_angularVelocity=b};a.GetAngularVelocity=function(){return this.m_angularVelocity};a.ApplyForce=function(b,c){this.IsSleeping()&&this.WakeUp();this.m_force.x+=b.x;this.m_force.y+=b.y;this.m_torque+=(c.x-this.m_sweep.c.x)*b.y-(c.y-this.m_sweep.c.y)*b.x};a.ApplyTorque=function(b){this.IsSleeping()&&this.WakeUp();this.m_torque+=b};
a.ApplyImpulse=function(b,c){this.IsSleeping()&&this.WakeUp();this.m_linearVelocity.x+=this.m_invMass*b.x;this.m_linearVelocity.y+=this.m_invMass*b.y;this.m_angularVelocity+=this.m_invI*((c.x-this.m_sweep.c.x)*b.y-(c.y-this.m_sweep.c.y)*b.x)};a.GetMass=function(){return this.m_mass};a.GetInertia=function(){return this.m_I};a.GetWorldPoint=function(b){var c=this.m_xf.R;b=new b2Vec2(c.col1.x*b.x+c.col2.x*b.y,c.col1.y*b.x+c.col2.y*b.y);b.x+=this.m_xf.position.x;b.y+=this.m_xf.position.y;return b};
a.GetWorldVector=function(b){return b2Math.b2MulMV(this.m_xf.R,b)};a.GetLocalPoint=function(b){return b2Math.b2MulXT(this.m_xf,b)};a.GetLocalVector=function(b){return b2Math.b2MulTMV(this.m_xf.R,b)};a.GetLinearVelocityFromWorldPoint=function(b){return new b2Vec2(this.m_linearVelocity.x-this.m_angularVelocity*(b.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(b.x-this.m_sweep.c.x))};
a.GetLinearVelocityFromLocalPoint=function(b){var c=this.m_xf.R;b=new b2Vec2(c.col1.x*b.x+c.col2.x*b.y,c.col1.y*b.x+c.col2.y*b.y);b.x+=this.m_xf.position.x;b.y+=this.m_xf.position.y;return new b2Vec2(this.m_linearVelocity.x+this.m_angularVelocity*(b.y-this.m_sweep.c.y),this.m_linearVelocity.x-this.m_angularVelocity*(b.x-this.m_sweep.c.x))};a.IsBullet=function(){return(this.m_flags&b2Body.e_bulletFlag)==b2Body.e_bulletFlag};
a.SetBullet=function(b){if(b)this.m_flags|=b2Body.e_bulletFlag;else this.m_flags&=~b2Body.e_bulletFlag};a.IsStatic=function(){return this.m_type==b2Body.e_staticType};a.IsDynamic=function(){return this.m_type==b2Body.e_dynamicType};a.IsFrozen=function(){return(this.m_flags&b2Body.e_frozenFlag)==b2Body.e_frozenFlag};a.IsSleeping=function(){return(this.m_flags&b2Body.e_sleepFlag)==b2Body.e_sleepFlag};
a.AllowSleeping=function(b){if(b)this.m_flags|=b2Body.e_allowSleepFlag;else{this.m_flags&=~b2Body.e_allowSleepFlag;this.WakeUp()}};a.WakeUp=function(){this.m_flags&=~b2Body.e_sleepFlag;this.m_sleepTime=0};a.PutToSleep=function(){this.m_flags|=b2Body.e_sleepFlag;this.m_sleepTime=0;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;this.m_force.SetZero();this.m_torque=0};a.GetShapeList=function(){return this.m_shapeList};a.GetJointList=function(){return this.m_jointList};a.GetNext=function(){return this.m_next};
a.GetUserData=function(){return this.m_userData};a.SetUserData=function(b){this.m_userData=b};a.GetWorld=function(){return this.m_world};
a.SynchronizeShapes=function(){var b=b2Body.s_xf1;b.R.Set(this.m_sweep.a0);var c=b.R,d=this.m_sweep.localCenter;b.position.x=this.m_sweep.c0.x-(c.col1.x*d.x+c.col2.x*d.y);b.position.y=this.m_sweep.c0.y-(c.col1.y*d.x+c.col2.y*d.y);d=true;for(c=this.m_shapeList;c;c=c.m_next){d=c.Synchronize(this.m_world.m_broadPhase,b,this.m_xf);if(d==false)break}if(d==false){this.m_flags|=b2Body.e_frozenFlag;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;for(c=this.m_shapeList;c;c=c.m_next)c.DestroyProxy(this.m_world.m_broadPhase);
return false}return true};a.SynchronizeTransform=function(){this.m_xf.R.Set(this.m_sweep.a);var b=this.m_xf.R,c=this.m_sweep.localCenter;this.m_xf.position.x=this.m_sweep.c.x-(b.col1.x*c.x+b.col2.x*c.y);this.m_xf.position.y=this.m_sweep.c.y-(b.col1.y*c.x+b.col2.y*c.y)};a.IsConnected=function(b){for(var c=this.m_jointList;c;c=c.next)if(c.other==b)return c.joint.m_collideConnected==false;return false};
a.Advance=function(b){this.m_sweep.Advance(b);this.m_sweep.c.SetV(this.m_sweep.c0);this.m_sweep.a=this.m_sweep.a0;this.SynchronizeTransform()};var b2ContactFilter=function(){this.__varz();this.__constructor.apply(this,arguments)};b2ContactFilter.prototype.__constructor=function(){};b2ContactFilter.prototype.__varz=function(){};b2ContactFilter.b2_defaultFilter=new b2ContactFilter;b2ContactFilter.prototype.ShouldCollide=function(b,c){b=b.GetFilterData();c=c.GetFilterData();if(b.groupIndex==c.groupIndex&&b.groupIndex!=0)return b.groupIndex>0;return(b.maskBits&c.categoryBits)!=0&&(b.categoryBits&c.maskBits)!=0};var b2PolygonShape=function(){b2Shape.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PolygonShape.prototype,b2Shape.prototype);b2PolygonShape.prototype._super=function(){b2Shape.prototype.__constructor.apply(this,arguments)};
b2PolygonShape.prototype.__constructor=function(b){this._super(b);this.m_type=b2Shape.e_polygonShape;this.m_vertexCount=b.vertexCount;var c=0,d=c,e=c;for(c=0;c<this.m_vertexCount;++c)this.m_vertices[c]=b.vertices[c].Copy();for(c=0;c<this.m_vertexCount;++c){d=c;e=c+1<this.m_vertexCount?c+1:0;var f=this.m_vertices[e].x-this.m_vertices[d].x;d=this.m_vertices[e].y-this.m_vertices[d].y;e=Math.sqrt(f*f+d*d);this.m_normals[c]=new b2Vec2(d/e,-f/e)}this.m_centroid=b2PolygonShape.ComputeCentroid(b.vertices,
b.vertexCount);b2PolygonShape.ComputeOBB(this.m_obb,this.m_vertices,this.m_vertexCount);for(c=0;c<this.m_vertexCount;++c){d=c-1>=0?c-1:this.m_vertexCount-1;e=c;b=this.m_normals[d].x;f=this.m_normals[d].y;d=this.m_normals[e].x;e=this.m_normals[e].y;var g=this.m_vertices[c].x-this.m_centroid.x,h=this.m_vertices[c].y-this.m_centroid.y,i=b*g+f*h-b2Settings.b2_toiSlop;g=d*g+e*h-b2Settings.b2_toiSlop;h=1/(b*e-f*d);this.m_coreVertices[c]=new b2Vec2(h*(e*i-f*g)+this.m_centroid.x,h*(b*g-d*i)+this.m_centroid.y)}};
b2PolygonShape.prototype.__varz=function(){this.s_supportVec=new b2Vec2;this.m_obb=new b2OBB;this.m_vertices=new Array(b2Settings.b2_maxPolygonVertices);this.m_normals=new Array(b2Settings.b2_maxPolygonVertices);this.m_coreVertices=new Array(b2Settings.b2_maxPolygonVertices)};b2PolygonShape.s_computeMat=new b2Mat22;b2PolygonShape.s_sweptAABB1=new b2AABB;b2PolygonShape.s_sweptAABB2=new b2AABB;
b2PolygonShape.ComputeCentroid=function(b,c){for(var d=new b2Vec2,e=0,f=1/3,g=0;g<c;++g){var h=b[g],i=g+1<c?b[parseInt(g+1)]:b[0],j=0.5*((h.x-0)*(i.y-0)-(h.y-0)*(i.x-0));e+=j;d.x+=j*f*(0+h.x+i.x);d.y+=j*f*(0+h.y+i.y)}d.x*=1/e;d.y*=1/e;return d};
b2PolygonShape.ComputeOBB=function(b,c,d){var e=0,f=new Array(b2Settings.b2_maxPolygonVertices+1);for(e=0;e<d;++e)f[e]=c[e];f[d]=f[0];c=Number.MAX_VALUE;for(e=1;e<=d;++e){var g=f[parseInt(e-1)],h=f[e].x-g.x,i=f[e].y-g.y,j=Math.sqrt(h*h+i*i);h/=j;i/=j;for(var k=-i,l=h,m=j=Number.MAX_VALUE,n=-Number.MAX_VALUE,o=-Number.MAX_VALUE,p=0;p<d;++p){var q=f[p].x-g.x,r=f[p].y-g.y,u=h*q+i*r;q=k*q+l*r;if(u<j)j=u;if(q<m)m=q;if(u>n)n=u;if(q>o)o=q}p=(n-j)*(o-m);if(p<0.95*c){c=p;b.R.col1.x=h;b.R.col1.y=i;b.R.col2.x=
k;b.R.col2.y=l;h=0.5*(j+n);i=0.5*(m+o);k=b.R;b.center.x=g.x+(k.col1.x*h+k.col2.x*i);b.center.y=g.y+(k.col1.y*h+k.col2.y*i);b.extents.x=0.5*(n-j);b.extents.y=0.5*(o-m)}}};a=b2PolygonShape.prototype;a.s_supportVec=new b2Vec2;a.m_centroid=null;a.m_obb=new b2OBB;a.m_vertices=new Array(b2Settings.b2_maxPolygonVertices);a.m_normals=new Array(b2Settings.b2_maxPolygonVertices);a.m_coreVertices=new Array(b2Settings.b2_maxPolygonVertices);a.m_vertexCount=0;
a.TestPoint=function(b,c){var d;d=b.R;var e=c.x-b.position.x;b=c.y-b.position.y;c=e*d.col1.x+b*d.col1.y;for(var f=e*d.col2.x+b*d.col2.y,g=0;g<this.m_vertexCount;++g){d=this.m_vertices[g];e=c-d.x;b=f-d.y;d=this.m_normals[g];if(d.x*e+d.y*b>0)return false}return true};
a.TestSegment=function(b,c,d,e,f){var g=0;f=f;var h,i,j,k;h=e.p1.x-b.position.x;i=e.p1.y-b.position.y;j=b.R;var l=h*j.col1.x+i*j.col1.y,m=h*j.col2.x+i*j.col2.y;h=e.p2.x-b.position.x;i=e.p2.y-b.position.y;j=b.R;e=h*j.col1.x+i*j.col1.y-l;j=h*j.col2.x+i*j.col2.y-m;for(var n=-1,o=0;o<this.m_vertexCount;++o){k=this.m_vertices[o];h=k.x-l;i=k.y-m;k=this.m_normals[o];h=k.x*h+k.y*i;i=k.x*e+k.y*j;if(i<0&&h<g*i){g=h/i;n=o}else if(i>0&&h<f*i)f=h/i;if(f<g)return false}if(n>=0){c[0]=g;j=b.R;k=this.m_normals[n];
d.x=j.col1.x*k.x+j.col2.x*k.y;d.y=j.col1.y*k.x+j.col2.y*k.y;return true}return false};
a.ComputeAABB=function(b,c){var d,e,f=b2PolygonShape.s_computeMat;d=c.R;e=this.m_obb.R.col1;f.col1.x=d.col1.x*e.x+d.col2.x*e.y;f.col1.y=d.col1.y*e.x+d.col2.y*e.y;e=this.m_obb.R.col2;f.col2.x=d.col1.x*e.x+d.col2.x*e.y;f.col2.y=d.col1.y*e.x+d.col2.y*e.y;f.Abs();e=this.m_obb.extents;var g=f.col1.x*e.x+f.col2.x*e.y;f=f.col1.y*e.x+f.col2.y*e.y;d=c.R;e=this.m_obb.center;var h=c.position.x+(d.col1.x*e.x+d.col2.x*e.y);c=c.position.y+(d.col1.y*e.x+d.col2.y*e.y);b.lowerBound.Set(h-g,c-f);b.upperBound.Set(h+
g,c+f)};a.ComputeSweptAABB=function(b,c,d){var e=b2PolygonShape.s_sweptAABB1,f=b2PolygonShape.s_sweptAABB2;this.ComputeAABB(e,c);this.ComputeAABB(f,d);b.lowerBound.Set(e.lowerBound.x<f.lowerBound.x?e.lowerBound.x:f.lowerBound.x,e.lowerBound.y<f.lowerBound.y?e.lowerBound.y:f.lowerBound.y);b.upperBound.Set(e.upperBound.x>f.upperBound.x?e.upperBound.x:f.upperBound.x,e.upperBound.y>f.upperBound.y?e.upperBound.y:f.upperBound.y)};
a.ComputeMass=function(b){for(var c=0,d=0,e=0,f=0,g=1/3,h=0;h<this.m_vertexCount;++h){var i=this.m_vertices[h],j=h+1<this.m_vertexCount?this.m_vertices[parseInt(h+1)]:this.m_vertices[0],k=i.x-0,l=i.y-0,m=j.x-0,n=j.y-0,o=k*n-l*m,p=0.5*o;e+=p;c+=p*g*(0+i.x+j.x);d+=p*g*(0+i.y+j.y);f+=o*(g*(0.25*(k*k+m*k+m*m)+(0*k+0*m))+0+(g*(0.25*(l*l+n*l+n*n)+(0*l+0*n))+0))}b.mass=this.m_density*e;c*=1/e;d*=1/e;b.center.Set(c,d);b.I=this.m_density*f};a.GetOBB=function(){return this.m_obb};a.GetCentroid=function(){return this.m_centroid};
a.GetVertexCount=function(){return this.m_vertexCount};a.GetVertices=function(){return this.m_vertices};a.GetCoreVertices=function(){return this.m_coreVertices};a.GetNormals=function(){return this.m_normals};a.GetFirstVertex=function(b){return b2Math.b2MulX(b,this.m_coreVertices[0])};a.Centroid=function(b){return b2Math.b2MulX(b,this.m_centroid)};
a.Support=function(b,c,d){var e;e=b.R;var f=c*e.col1.x+d*e.col1.y;e=c*e.col2.x+d*e.col2.y;c=0;d=this.m_coreVertices[0];for(var g=d.x*f+d.y*e,h=1;h<this.m_vertexCount;++h){d=this.m_coreVertices[h];d=d.x*f+d.y*e;if(d>g){c=h;g=d}}e=b.R;d=this.m_coreVertices[c];this.s_supportVec.x=b.position.x+(e.col1.x*d.x+e.col2.x*d.y);this.s_supportVec.y=b.position.y+(e.col1.y*d.x+e.col2.y*d.y);return this.s_supportVec};
a.UpdateSweepRadius=function(b){var c;for(var d=this.m_sweepRadius=0;d<this.m_vertexCount;++d){c=this.m_coreVertices[d];var e=c.x-b.x;c=c.y-b.y;e=Math.sqrt(e*e+c*c);if(e>this.m_sweepRadius)this.m_sweepRadius=e}};var b2ContactResult=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactResult.prototype;a.__constructor=function(){};a.__varz=function(){this.position=new b2Vec2;this.normal=new b2Vec2;this.id=new b2ContactID};a.shape1=null;a.shape2=null;a.position=new b2Vec2;a.normal=new b2Vec2;a.normalImpulse=null;a.tangentImpulse=null;a.id=new b2ContactID;var b2Island=function(){this.__varz();this.__constructor.apply(this,arguments)};
b2Island.prototype.__constructor=function(b,c,d,e,f){var g=0;this.m_bodyCapacity=b;this.m_contactCapacity=c;this.m_jointCapacity=d;this.m_jointCount=this.m_contactCount=this.m_bodyCount=0;this.m_allocator=e;this.m_listener=f;this.m_bodies=new Array(b);for(g=0;g<b;g++)this.m_bodies[g]=null;this.m_contacts=new Array(c);for(g=0;g<c;g++)this.m_contacts[g]=null;this.m_joints=new Array(d);for(g=0;g<d;g++)this.m_joints[g]=null;this.m_positionIterationCount=0};b2Island.prototype.__varz=function(){};
b2Island.s_reportCR=new b2ContactResult;a=b2Island.prototype;a.m_allocator=null;a.m_listener=null;a.m_bodies=null;a.m_contacts=null;a.m_joints=null;a.m_bodyCount=0;a.m_jointCount=0;a.m_contactCount=0;a.m_bodyCapacity=0;a.m_contactCapacity=0;a.m_jointCapacity=0;a.m_positionIterationCount=0;a.Clear=function(){this.m_jointCount=this.m_contactCount=this.m_bodyCount=0};
a.Solve=function(b,c,d,e){var f=0,g;for(f=0;f<this.m_bodyCount;++f){g=this.m_bodies[f];if(!g.IsStatic()){g.m_linearVelocity.x+=b.dt*(c.x+g.m_invMass*g.m_force.x);g.m_linearVelocity.y+=b.dt*(c.y+g.m_invMass*g.m_force.y);g.m_angularVelocity+=b.dt*g.m_invI*g.m_torque;g.m_force.SetZero();g.m_torque=0;g.m_linearVelocity.Multiply(b2Math.b2Clamp(1-b.dt*g.m_linearDamping,0,1));g.m_angularVelocity*=b2Math.b2Clamp(1-b.dt*g.m_angularDamping,0,1);if(g.m_linearVelocity.LengthSquared()>b2Settings.b2_maxLinearVelocitySquared){g.m_linearVelocity.Normalize();
g.m_linearVelocity.x*=b2Settings.b2_maxLinearVelocity;g.m_linearVelocity.y*=b2Settings.b2_maxLinearVelocity}if(g.m_angularVelocity*g.m_angularVelocity>b2Settings.b2_maxAngularVelocitySquared)g.m_angularVelocity=g.m_angularVelocity<0?-b2Settings.b2_maxAngularVelocity:b2Settings.b2_maxAngularVelocity}}c=new b2ContactSolver(b,this.m_contacts,this.m_contactCount,this.m_allocator);c.InitVelocityConstraints(b);for(f=0;f<this.m_jointCount;++f){g=this.m_joints[f];g.InitVelocityConstraints(b)}for(f=0;f<b.maxIterations;++f){c.SolveVelocityConstraints();
for(var h=0;h<this.m_jointCount;++h){g=this.m_joints[h];g.SolveVelocityConstraints(b)}}c.FinalizeVelocityConstraints();for(f=0;f<this.m_bodyCount;++f){g=this.m_bodies[f];if(!g.IsStatic()){g.m_sweep.c0.SetV(g.m_sweep.c);g.m_sweep.a0=g.m_sweep.a;g.m_sweep.c.x+=b.dt*g.m_linearVelocity.x;g.m_sweep.c.y+=b.dt*g.m_linearVelocity.y;g.m_sweep.a+=b.dt*g.m_angularVelocity;g.SynchronizeTransform()}}if(d){for(f=0;f<this.m_jointCount;++f){g=this.m_joints[f];g.InitPositionConstraints()}for(this.m_positionIterationCount=
0;this.m_positionIterationCount<b.maxIterations;++this.m_positionIterationCount){d=c.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);h=true;for(f=0;f<this.m_jointCount;++f){g=this.m_joints[f];g=g.SolvePositionConstraints();h=h&&g}if(d&&h)break}}this.Report(c.m_constraints);if(e){e=Number.MAX_VALUE;c=b2Settings.b2_linearSleepTolerance*b2Settings.b2_linearSleepTolerance;d=b2Settings.b2_angularSleepTolerance*b2Settings.b2_angularSleepTolerance;for(f=0;f<this.m_bodyCount;++f){g=this.m_bodies[f];
if(g.m_invMass!=0){if((g.m_flags&b2Body.e_allowSleepFlag)==0)e=g.m_sleepTime=0;if((g.m_flags&b2Body.e_allowSleepFlag)==0||g.m_angularVelocity*g.m_angularVelocity>d||b2Math.b2Dot(g.m_linearVelocity,g.m_linearVelocity)>c)e=g.m_sleepTime=0;else{g.m_sleepTime+=b.dt;e=b2Math.b2Min(e,g.m_sleepTime)}}}if(e>=b2Settings.b2_timeToSleep)for(f=0;f<this.m_bodyCount;++f){g=this.m_bodies[f];g.m_flags|=b2Body.e_sleepFlag;g.m_linearVelocity.SetZero();g.m_angularVelocity=0}}};
a.SolveTOI=function(b){var c=0,d=new b2ContactSolver(b,this.m_contacts,this.m_contactCount,this.m_allocator);for(c=0;c<b.maxIterations;++c)d.SolveVelocityConstraints();for(c=0;c<this.m_bodyCount;++c){var e=this.m_bodies[c];if(!e.IsStatic()){e.m_sweep.c0.SetV(e.m_sweep.c);e.m_sweep.a0=e.m_sweep.a;e.m_sweep.c.x+=b.dt*e.m_linearVelocity.x;e.m_sweep.c.y+=b.dt*e.m_linearVelocity.y;e.m_sweep.a+=b.dt*e.m_angularVelocity;e.SynchronizeTransform()}}for(c=0;c<b.maxIterations;++c)if(d.SolvePositionConstraints(0.75))break;
this.Report(d.m_constraints)};
a.Report=function(b){if(this.m_listener!=null)for(var c=0;c<this.m_contactCount;++c){var d=this.m_contacts[c],e=b[c],f=b2Island.s_reportCR;f.shape1=d.m_shape1;f.shape2=d.m_shape2;var g=f.shape1.m_body,h=d.m_manifoldCount;d=d.GetManifolds();for(var i=0;i<h;++i){var j=d[i];f.normal.SetV(j.normal);for(var k=0;k<j.pointCount;++k){var l=j.points[k],m=e.points[k];f.position=g.GetWorldPoint(l.localPoint1);f.normalImpulse=m.normalImpulse;f.tangentImpulse=m.tangentImpulse;f.id.key=l.id.key;this.m_listener.Result(f)}}}};
a.AddBody=function(b){this.m_bodies[this.m_bodyCount++]=b};a.AddContact=function(b){this.m_contacts[this.m_contactCount++]=b};a.AddJoint=function(b){this.m_joints[this.m_jointCount++]=b};var b2ManifoldPoint=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ManifoldPoint.prototype;a.__constructor=function(){};a.__varz=function(){this.localPoint1=new b2Vec2;this.localPoint2=new b2Vec2;this.id=new b2ContactID};a.localPoint1=new b2Vec2;a.localPoint2=new b2Vec2;a.separation=null;a.normalImpulse=null;a.tangentImpulse=null;a.id=new b2ContactID;
a.Reset=function(){this.localPoint1.SetZero();this.localPoint2.SetZero();this.tangentImpulse=this.normalImpulse=this.separation=0;this.id.key=0};a.Set=function(b){this.localPoint1.SetV(b.localPoint1);this.localPoint2.SetV(b.localPoint2);this.separation=b.separation;this.normalImpulse=b.normalImpulse;this.tangentImpulse=b.tangentImpulse;this.id.key=b.id.key};var b2Math=function(){this.__varz();this.__constructor.apply(this,arguments)};b2Math.prototype.__constructor=function(){};b2Math.prototype.__varz=function(){};b2Math.b2Vec2_zero=new b2Vec2(0,0);b2Math.b2Mat22_identity=new b2Mat22(0,new b2Vec2(1,0),new b2Vec2(0,1));b2Math.b2XForm_identity=new b2XForm(b2Math.b2Vec2_zero,b2Math.b2Mat22_identity);b2Math.b2IsValid=function(b){return isFinite(b)};b2Math.b2Dot=function(b,c){return b.x*c.x+b.y*c.y};b2Math.b2CrossVV=function(b,c){return b.x*c.y-b.y*c.x};
b2Math.b2CrossVF=function(b,c){return new b2Vec2(c*b.y,-c*b.x)};b2Math.b2CrossFV=function(b,c){return new b2Vec2(-b*c.y,b*c.x)};b2Math.b2MulMV=function(b,c){return new b2Vec2(b.col1.x*c.x+b.col2.x*c.y,b.col1.y*c.x+b.col2.y*c.y)};b2Math.b2MulTMV=function(b,c){return new b2Vec2(b2Math.b2Dot(c,b.col1),b2Math.b2Dot(c,b.col2))};b2Math.b2MulX=function(b,c){c=b2Math.b2MulMV(b.R,c);c.x+=b.position.x;c.y+=b.position.y;return c};
b2Math.b2MulXT=function(b,c){c=b2Math.SubtractVV(c,b.position);var d=c.x*b.R.col1.x+c.y*b.R.col1.y;c.y=c.x*b.R.col2.x+c.y*b.R.col2.y;c.x=d;return c};b2Math.AddVV=function(b,c){return new b2Vec2(b.x+c.x,b.y+c.y)};b2Math.SubtractVV=function(b,c){return new b2Vec2(b.x-c.x,b.y-c.y)};b2Math.b2Distance=function(b,c){var d=b.x-c.x;b=b.y-c.y;return Math.sqrt(d*d+b*b)};b2Math.b2DistanceSquared=function(b,c){var d=b.x-c.x;b=b.y-c.y;return d*d+b*b};b2Math.MulFV=function(b,c){return new b2Vec2(b*c.x,b*c.y)};
b2Math.AddMM=function(b,c){return new b2Mat22(0,b2Math.AddVV(b.col1,c.col1),b2Math.AddVV(b.col2,c.col2))};b2Math.b2MulMM=function(b,c){return new b2Mat22(0,b2Math.b2MulMV(b,c.col1),b2Math.b2MulMV(b,c.col2))};b2Math.b2MulTMM=function(b,c){var d=new b2Vec2(b2Math.b2Dot(b.col1,c.col1),b2Math.b2Dot(b.col2,c.col1));b=new b2Vec2(b2Math.b2Dot(b.col1,c.col2),b2Math.b2Dot(b.col2,c.col2));return new b2Mat22(0,d,b)};b2Math.b2Abs=function(b){return b>0?b:-b};
b2Math.b2AbsV=function(b){return new b2Vec2(b2Math.b2Abs(b.x),b2Math.b2Abs(b.y))};b2Math.b2AbsM=function(b){return new b2Mat22(0,b2Math.b2AbsV(b.col1),b2Math.b2AbsV(b.col2))};b2Math.b2Min=function(b,c){return b<c?b:c};b2Math.b2MinV=function(b,c){return new b2Vec2(b2Math.b2Min(b.x,c.x),b2Math.b2Min(b.y,c.y))};b2Math.b2Max=function(b,c){return b>c?b:c};b2Math.b2MaxV=function(b,c){return new b2Vec2(b2Math.b2Max(b.x,c.x),b2Math.b2Max(b.y,c.y))};
b2Math.b2Clamp=function(b,c,d){return b2Math.b2Max(c,b2Math.b2Min(b,d))};b2Math.b2ClampV=function(b,c,d){return b2Math.b2MaxV(c,b2Math.b2MinV(b,d))};b2Math.b2Swap=function(b,c){var d=b[0];b[0]=c[0];c[0]=d};b2Math.b2Random=function(){return Math.random()*2-1};b2Math.b2RandomRange=function(b,c){var d=Math.random();return d=(c-b)*d+b};b2Math.b2NextPowerOfTwo=function(b){b|=b>>1&2147483647;b|=b>>2&1073741823;b|=b>>4&268435455;b|=b>>8&16777215;b|=b>>16&65535;return b+1};
b2Math.b2IsPowerOfTwo=function(b){return b>0&&(b&b-1)==0};var b2CircleDef=function(){b2ShapeDef.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2CircleDef.prototype,b2ShapeDef.prototype);a=b2CircleDef.prototype;a._super=function(){b2ShapeDef.prototype.__constructor.apply(this,arguments)};a.__constructor=function(){this.type=b2Shape.e_circleShape;this.radius=1};a.__varz=function(){this.localPosition=new b2Vec2(0,0)};a.localPosition=new b2Vec2(0,0);a.radius=null;var b2ContactPoint=function(){this.__varz();this.__constructor.apply(this,arguments)};a=b2ContactPoint.prototype;a.__constructor=function(){};a.__varz=function(){this.position=new b2Vec2;this.velocity=new b2Vec2;this.normal=new b2Vec2;this.id=new b2ContactID};a.shape1=null;a.shape2=null;a.position=new b2Vec2;a.velocity=new b2Vec2;a.normal=new b2Vec2;a.separation=null;a.friction=null;a.restitution=null;a.id=new b2ContactID;var b2PolygonContact=function(){b2Contact.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PolygonContact.prototype,b2Contact.prototype);b2PolygonContact.prototype._super=function(){b2Contact.prototype.__constructor.apply(this,arguments)};b2PolygonContact.prototype.__constructor=function(b,c){this._super(b,c);this.m_manifold=this.m_manifolds[0];this.m_manifold.pointCount=0};
b2PolygonContact.prototype.__varz=function(){this.m0=new b2Manifold;this.m_manifolds=[new b2Manifold]};b2PolygonContact.s_evalCP=new b2ContactPoint;b2PolygonContact.Create=function(b,c){return new b2PolygonContact(b,c)};b2PolygonContact.Destroy=function(){};a=b2PolygonContact.prototype;a.m0=new b2Manifold;a.m_manifolds=[new b2Manifold];a.m_manifold=null;
a.Evaluate=function(b){var c,d,e,f=this.m_shape1.m_body,g=this.m_shape2.m_body,h,i=0;this.m0.Set(this.m_manifold);b2Collision.b2CollidePolygons(this.m_manifold,this.m_shape1,f.m_xf,this.m_shape2,g.m_xf);var j=[false,false];h=b2PolygonContact.s_evalCP;h.shape1=this.m_shape1;h.shape2=this.m_shape2;h.friction=this.m_friction;h.restitution=this.m_restitution;if(this.m_manifold.pointCount>0){for(i=0;i<this.m_manifold.pointCount;++i){var k=this.m_manifold.points[i];k.normalImpulse=0;k.tangentImpulse=0;
var l=false,m=k.id._key;for(c=0;c<this.m0.pointCount;++c)if(j[c]!=true){e=this.m0.points[c];if(e.id._key==m){j[c]=true;k.normalImpulse=e.normalImpulse;k.tangentImpulse=e.tangentImpulse;l=true;if(b!=null){h.position=f.GetWorldPoint(k.localPoint1);c=f.GetLinearVelocityFromLocalPoint(k.localPoint1);d=g.GetLinearVelocityFromLocalPoint(k.localPoint2);h.velocity.Set(d.x-c.x,d.y-c.y);h.normal.SetV(this.m_manifold.normal);h.separation=k.separation;h.id.key=m;b.Persist(h)}break}}if(l==false&&b!=null){h.position=
f.GetWorldPoint(k.localPoint1);c=f.GetLinearVelocityFromLocalPoint(k.localPoint1);d=g.GetLinearVelocityFromLocalPoint(k.localPoint2);h.velocity.Set(d.x-c.x,d.y-c.y);h.normal.SetV(this.m_manifold.normal);h.separation=k.separation;h.id.key=m;b.Add(h)}}this.m_manifoldCount=1}else this.m_manifoldCount=0;if(b!=null)for(i=0;i<this.m0.pointCount;++i)if(!j[i]){e=this.m0.points[i];h.position=f.GetWorldPoint(e.localPoint1);c=f.GetLinearVelocityFromLocalPoint(e.localPoint1);d=g.GetLinearVelocityFromLocalPoint(e.localPoint2);
h.velocity.Set(d.x-c.x,d.y-c.y);h.normal.SetV(this.m0.normal);h.separation=e.separation;h.id.key=e.id._key;b.Remove(h)}};a.GetManifolds=function(){return this.m_manifolds};var b2MouseJoint=function(){b2Joint.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2MouseJoint.prototype,b2Joint.prototype);a=b2MouseJoint.prototype;a._super=function(){b2Joint.prototype.__constructor.apply(this,arguments)};
a.__constructor=function(b){this._super(b);this.m_target.SetV(b.target);var c=this.m_target.x-this.m_body2.m_xf.position.x,d=this.m_target.y-this.m_body2.m_xf.position.y,e=this.m_body2.m_xf.R;this.m_localAnchor.x=c*e.col1.x+d*e.col1.y;this.m_localAnchor.y=c*e.col2.x+d*e.col2.y;this.m_maxForce=b.maxForce;this.m_impulse.SetZero();d=this.m_body2.m_mass;e=2*b2Settings.b2_pi*b.frequencyHz;c=2*d*b.dampingRatio*e;b=b.timeStep*d*e*e;this.m_gamma=1/(c+b);this.m_beta=b/(c+b)};
a.__varz=function(){this.K=new b2Mat22;this.K1=new b2Mat22;this.K2=new b2Mat22;this.m_localAnchor=new b2Vec2;this.m_target=new b2Vec2;this.m_impulse=new b2Vec2;this.m_mass=new b2Mat22;this.m_C=new b2Vec2};a.K=new b2Mat22;a.K1=new b2Mat22;a.K2=new b2Mat22;a.m_localAnchor=new b2Vec2;a.m_target=new b2Vec2;a.m_impulse=new b2Vec2;a.m_mass=new b2Mat22;a.m_C=new b2Vec2;a.m_maxForce=null;a.m_beta=null;a.m_gamma=null;a.GetAnchor1=function(){return this.m_target};a.GetAnchor2=function(){return this.m_body2.GetWorldPoint(this.m_localAnchor)};
a.GetReactionForce=function(){return this.m_impulse};a.GetReactionTorque=function(){return 0};a.SetTarget=function(b){this.m_body2.IsSleeping()&&this.m_body2.WakeUp();this.m_target=b};
a.InitVelocityConstraints=function(b){var c=this.m_body2,d;d=c.m_xf.R;var e=this.m_localAnchor.x-c.m_sweep.localCenter.x,f=this.m_localAnchor.y-c.m_sweep.localCenter.y,g=d.col1.x*e+d.col2.x*f;f=d.col1.y*e+d.col2.y*f;e=g;d=c.m_invMass;g=c.m_invI;this.K1.col1.x=d;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=d;this.K2.col1.x=g*f*f;this.K2.col2.x=-g*e*f;this.K2.col1.y=-g*e*f;this.K2.col2.y=g*e*e;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.Invert(this.m_mass);
this.m_C.x=c.m_sweep.c.x+e-this.m_target.x;this.m_C.y=c.m_sweep.c.y+f-this.m_target.y;c.m_angularVelocity*=0.98;var h=b.dt*this.m_impulse.x;b=b.dt*this.m_impulse.y;c.m_linearVelocity.x+=d*h;c.m_linearVelocity.y+=d*b;c.m_angularVelocity+=g*(e*b-f*h)};
a.SolveVelocityConstraints=function(b){var c=this.m_body2,d,e,f;d=c.m_xf.R;var g=this.m_localAnchor.x-c.m_sweep.localCenter.x,h=this.m_localAnchor.y-c.m_sweep.localCenter.y;e=d.col1.x*g+d.col2.x*h;h=d.col1.y*g+d.col2.y*h;g=e;e=c.m_linearVelocity.x+-c.m_angularVelocity*h;var i=c.m_linearVelocity.y+c.m_angularVelocity*g;d=this.m_mass;e=e+this.m_beta*b.inv_dt*this.m_C.x+this.m_gamma*b.dt*this.m_impulse.x;f=i+this.m_beta*b.inv_dt*this.m_C.y+this.m_gamma*b.dt*this.m_impulse.y;i=-b.inv_dt*(d.col1.x*e+d.col2.x*
f);d=-b.inv_dt*(d.col1.y*e+d.col2.y*f);e=this.m_impulse.x;f=this.m_impulse.y;this.m_impulse.x+=i;this.m_impulse.y+=d;i=this.m_impulse.Length();i>this.m_maxForce&&this.m_impulse.Multiply(this.m_maxForce/i);i=this.m_impulse.x-e;d=this.m_impulse.y-f;i=b.dt*i;b=b.dt*d;c.m_linearVelocity.x+=c.m_invMass*i;c.m_linearVelocity.y+=c.m_invMass*b;c.m_angularVelocity+=c.m_invI*(g*b-h*i)};a.SolvePositionConstraints=function(){return true};var b2CircleContact=function(){b2Contact.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2CircleContact.prototype,b2Contact.prototype);b2CircleContact.prototype._super=function(){b2Contact.prototype.__constructor.apply(this,arguments)};b2CircleContact.prototype.__constructor=function(b,c){this._super(b,c);this.m_manifold=this.m_manifolds[0];this.m_manifold.pointCount=0;b=this.m_manifold.points[0];b.normalImpulse=0;b.tangentImpulse=0};
b2CircleContact.prototype.__varz=function(){this.m_manifolds=[new b2Manifold];this.m0=new b2Manifold};b2CircleContact.s_evalCP=new b2ContactPoint;b2CircleContact.Create=function(b,c){return new b2CircleContact(b,c)};b2CircleContact.Destroy=function(){};a=b2CircleContact.prototype;a.m_manifolds=[new b2Manifold];a.m0=new b2Manifold;a.m_manifold=null;
a.Evaluate=function(b){var c,d,e;c=this.m_shape1.m_body;d=this.m_shape2.m_body;this.m0.Set(this.m_manifold);b2Collision.b2CollideCircles(this.m_manifold,this.m_shape1,c.m_xf,this.m_shape2,d.m_xf);var f=b2CircleContact.s_evalCP;f.shape1=this.m_shape1;f.shape2=this.m_shape2;f.friction=this.m_friction;f.restitution=this.m_restitution;if(this.m_manifold.pointCount>0){this.m_manifoldCount=1;var g=this.m_manifold.points[0];if(this.m0.pointCount==0){g.normalImpulse=0;g.tangentImpulse=0;if(b){f.position=
c.GetWorldPoint(g.localPoint1);c=c.GetLinearVelocityFromLocalPoint(g.localPoint1);d=d.GetLinearVelocityFromLocalPoint(g.localPoint2);f.velocity.Set(d.x-c.x,d.y-c.y);f.normal.SetV(this.m_manifold.normal);f.separation=g.separation;f.id.key=g.id._key;b.Add(f)}}else{e=this.m0.points[0];g.normalImpulse=e.normalImpulse;g.tangentImpulse=e.tangentImpulse;if(b){f.position=c.GetWorldPoint(g.localPoint1);c=c.GetLinearVelocityFromLocalPoint(g.localPoint1);d=d.GetLinearVelocityFromLocalPoint(g.localPoint2);f.velocity.Set(d.x-
c.x,d.y-c.y);f.normal.SetV(this.m_manifold.normal);f.separation=g.separation;f.id.key=g.id._key;b.Persist(f)}}}else{this.m_manifoldCount=0;if(this.m0.pointCount>0&&b){e=this.m0.points[0];f.position=c.GetWorldPoint(e.localPoint1);c=c.GetLinearVelocityFromLocalPoint(e.localPoint1);d=d.GetLinearVelocityFromLocalPoint(e.localPoint2);f.velocity.Set(d.x-c.x,d.y-c.y);f.normal.SetV(this.m0.normal);f.separation=e.separation;f.id.key=e.id._key;b.Remove(f)}}};a.GetManifolds=function(){return this.m_manifolds};var b2PulleyJoint=function(){b2Joint.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PulleyJoint.prototype,b2Joint.prototype);b2PulleyJoint.prototype._super=function(){b2Joint.prototype.__constructor.apply(this,arguments)};
b2PulleyJoint.prototype.__constructor=function(b){this._super(b);this.m_ground=this.m_body1.m_world.m_groundBody;this.m_groundAnchor1.x=b.groundAnchor1.x-this.m_ground.m_xf.position.x;this.m_groundAnchor1.y=b.groundAnchor1.y-this.m_ground.m_xf.position.y;this.m_groundAnchor2.x=b.groundAnchor2.x-this.m_ground.m_xf.position.x;this.m_groundAnchor2.y=b.groundAnchor2.y-this.m_ground.m_xf.position.y;this.m_localAnchor1.SetV(b.localAnchor1);this.m_localAnchor2.SetV(b.localAnchor2);this.m_ratio=b.ratio;this.m_constant=
b.length1+this.m_ratio*b.length2;this.m_maxLength1=b2Math.b2Min(b.maxLength1,this.m_constant-this.m_ratio*b2PulleyJoint.b2_minPulleyLength);this.m_maxLength2=b2Math.b2Min(b.maxLength2,(this.m_constant-b2PulleyJoint.b2_minPulleyLength)/this.m_ratio);this.m_limitForce2=this.m_limitForce1=this.m_force=0};
b2PulleyJoint.prototype.__varz=function(){this.m_groundAnchor1=new b2Vec2;this.m_groundAnchor2=new b2Vec2;this.m_localAnchor1=new b2Vec2;this.m_localAnchor2=new b2Vec2;this.m_u1=new b2Vec2;this.m_u2=new b2Vec2};b2PulleyJoint.b2_minPulleyLength=2;a=b2PulleyJoint.prototype;a.m_ground=null;a.m_groundAnchor1=new b2Vec2;a.m_groundAnchor2=new b2Vec2;a.m_localAnchor1=new b2Vec2;a.m_localAnchor2=new b2Vec2;a.m_u1=new b2Vec2;a.m_u2=new b2Vec2;a.m_constant=null;a.m_ratio=null;a.m_maxLength1=null;
a.m_maxLength2=null;a.m_pulleyMass=null;a.m_limitMass1=null;a.m_limitMass2=null;a.m_force=null;a.m_limitForce1=null;a.m_limitForce2=null;a.m_positionImpulse=null;a.m_limitPositionImpulse1=null;a.m_limitPositionImpulse2=null;a.m_state=0;a.m_limitState1=0;a.m_limitState2=0;a.GetAnchor1=function(){return this.m_body1.GetWorldPoint(this.m_localAnchor1)};a.GetAnchor2=function(){return this.m_body2.GetWorldPoint(this.m_localAnchor2)};
a.GetReactionForce=function(){var b=this.m_u2.Copy();b.Multiply(this.m_force);return b};a.GetReactionTorque=function(){return 0};a.GetGroundAnchor1=function(){var b=this.m_ground.m_xf.position.Copy();b.Add(this.m_groundAnchor1);return b};a.GetGroundAnchor2=function(){var b=this.m_ground.m_xf.position.Copy();b.Add(this.m_groundAnchor2);return b};
a.GetLength1=function(){var b=this.m_body1.GetWorldPoint(this.m_localAnchor1),c=b.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x);b=b.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y);return Math.sqrt(c*c+b*b)};a.GetLength2=function(){var b=this.m_body2.GetWorldPoint(this.m_localAnchor2),c=b.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor2.x);b=b.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor2.y);return Math.sqrt(c*c+b*b)};a.GetRatio=function(){return this.m_ratio};
a.InitVelocityConstraints=function(b){var c=this.m_body1,d=this.m_body2,e;e=c.m_xf.R;var f=this.m_localAnchor1.x-c.m_sweep.localCenter.x,g=this.m_localAnchor1.y-c.m_sweep.localCenter.y,h=e.col1.x*f+e.col2.x*g;g=e.col1.y*f+e.col2.y*g;f=h;e=d.m_xf.R;var i=this.m_localAnchor2.x-d.m_sweep.localCenter.x,j=this.m_localAnchor2.y-d.m_sweep.localCenter.y;h=e.col1.x*i+e.col2.x*j;j=e.col1.y*i+e.col2.y*j;i=h;e=d.m_sweep.c.x+i;h=d.m_sweep.c.y+j;var k=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,l=this.m_ground.m_xf.position.y+
this.m_groundAnchor2.y;this.m_u1.Set(c.m_sweep.c.x+f-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x),c.m_sweep.c.y+g-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y));this.m_u2.Set(e-k,h-l);e=this.m_u1.Length();h=this.m_u2.Length();e>b2Settings.b2_linearSlop?this.m_u1.Multiply(1/e):this.m_u1.SetZero();h>b2Settings.b2_linearSlop?this.m_u2.Multiply(1/h):this.m_u2.SetZero();if(this.m_constant-e-this.m_ratio*h>0){this.m_state=b2Joint.e_inactiveLimit;this.m_force=0}else{this.m_state=b2Joint.e_atUpperLimit;
this.m_positionImpulse=0}if(e<this.m_maxLength1){this.m_limitState1=b2Joint.e_inactiveLimit;this.m_limitForce1=0}else{this.m_limitState1=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse1=0}if(h<this.m_maxLength2){this.m_limitState2=b2Joint.e_inactiveLimit;this.m_limitForce2=0}else{this.m_limitState2=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse2=0}e=f*this.m_u1.y-g*this.m_u1.x;h=i*this.m_u2.y-j*this.m_u2.x;this.m_limitMass1=c.m_invMass+c.m_invI*e*e;this.m_limitMass2=d.m_invMass+d.m_invI*h*
h;this.m_pulleyMass=this.m_limitMass1+this.m_ratio*this.m_ratio*this.m_limitMass2;this.m_limitMass1=1/this.m_limitMass1;this.m_limitMass2=1/this.m_limitMass2;this.m_pulleyMass=1/this.m_pulleyMass;if(b.warmStarting){e=b.dt*(-this.m_force-this.m_limitForce1)*this.m_u1.x;h=b.dt*(-this.m_force-this.m_limitForce1)*this.m_u1.y;k=b.dt*(-this.m_ratio*this.m_force-this.m_limitForce2)*this.m_u2.x;b=b.dt*(-this.m_ratio*this.m_force-this.m_limitForce2)*this.m_u2.y;c.m_linearVelocity.x+=c.m_invMass*e;c.m_linearVelocity.y+=
c.m_invMass*h;c.m_angularVelocity+=c.m_invI*(f*h-g*e);d.m_linearVelocity.x+=d.m_invMass*k;d.m_linearVelocity.y+=d.m_invMass*b;d.m_angularVelocity+=d.m_invI*(i*b-j*k)}else this.m_limitForce2=this.m_limitForce1=this.m_force=0};
a.SolveVelocityConstraints=function(b){var c=this.m_body1,d=this.m_body2,e;e=c.m_xf.R;var f=this.m_localAnchor1.x-c.m_sweep.localCenter.x,g=this.m_localAnchor1.y-c.m_sweep.localCenter.y,h=e.col1.x*f+e.col2.x*g;g=e.col1.y*f+e.col2.y*g;f=h;e=d.m_xf.R;var i=this.m_localAnchor2.x-d.m_sweep.localCenter.x,j=this.m_localAnchor2.y-d.m_sweep.localCenter.y;h=e.col1.x*i+e.col2.x*j;j=e.col1.y*i+e.col2.y*j;i=h;var k,l;if(this.m_state==b2Joint.e_atUpperLimit){e=c.m_linearVelocity.x+-c.m_angularVelocity*g;h=c.m_linearVelocity.y+
c.m_angularVelocity*f;k=d.m_linearVelocity.x+-d.m_angularVelocity*j;l=d.m_linearVelocity.y+d.m_angularVelocity*i;e=-(this.m_u1.x*e+this.m_u1.y*h)-this.m_ratio*(this.m_u2.x*k+this.m_u2.y*l);l=-b.inv_dt*this.m_pulleyMass*e;e=this.m_force;this.m_force=b2Math.b2Max(0,this.m_force+l);l=this.m_force-e;e=-b.dt*l*this.m_u1.x;h=-b.dt*l*this.m_u1.y;k=-b.dt*this.m_ratio*l*this.m_u2.x;l=-b.dt*this.m_ratio*l*this.m_u2.y;c.m_linearVelocity.x+=c.m_invMass*e;c.m_linearVelocity.y+=c.m_invMass*h;c.m_angularVelocity+=
c.m_invI*(f*h-g*e);d.m_linearVelocity.x+=d.m_invMass*k;d.m_linearVelocity.y+=d.m_invMass*l;d.m_angularVelocity+=d.m_invI*(i*l-j*k)}if(this.m_limitState1==b2Joint.e_atUpperLimit){e=c.m_linearVelocity.x+-c.m_angularVelocity*g;h=c.m_linearVelocity.y+c.m_angularVelocity*f;e=-(this.m_u1.x*e+this.m_u1.y*h);l=-b.inv_dt*this.m_limitMass1*e;e=this.m_limitForce1;this.m_limitForce1=b2Math.b2Max(0,this.m_limitForce1+l);l=this.m_limitForce1-e;e=-b.dt*l*this.m_u1.x;h=-b.dt*l*this.m_u1.y;c.m_linearVelocity.x+=c.m_invMass*
e;c.m_linearVelocity.y+=c.m_invMass*h;c.m_angularVelocity+=c.m_invI*(f*h-g*e)}if(this.m_limitState2==b2Joint.e_atUpperLimit){k=d.m_linearVelocity.x+-d.m_angularVelocity*j;l=d.m_linearVelocity.y+d.m_angularVelocity*i;e=-(this.m_u2.x*k+this.m_u2.y*l);l=-b.inv_dt*this.m_limitMass2*e;e=this.m_limitForce2;this.m_limitForce2=b2Math.b2Max(0,this.m_limitForce2+l);l=this.m_limitForce2-e;k=-b.dt*l*this.m_u2.x;l=-b.dt*l*this.m_u2.y;d.m_linearVelocity.x+=d.m_invMass*k;d.m_linearVelocity.y+=d.m_invMass*l;d.m_angularVelocity+=
d.m_invI*(i*l-j*k)}};
a.SolvePositionConstraints=function(){var b=this.m_body1,c=this.m_body2,d,e=this.m_ground.m_xf.position.x+this.m_groundAnchor1.x,f=this.m_ground.m_xf.position.y+this.m_groundAnchor1.y,g=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,h=this.m_ground.m_xf.position.y+this.m_groundAnchor2.y,i,j,k,l,m,n,o,p=0;if(this.m_state==b2Joint.e_atUpperLimit){d=b.m_xf.R;i=this.m_localAnchor1.x-b.m_sweep.localCenter.x;j=this.m_localAnchor1.y-b.m_sweep.localCenter.y;m=d.col1.x*i+d.col2.x*j;j=d.col1.y*i+d.col2.y*
j;i=m;d=c.m_xf.R;k=this.m_localAnchor2.x-c.m_sweep.localCenter.x;l=this.m_localAnchor2.y-c.m_sweep.localCenter.y;m=d.col1.x*k+d.col2.x*l;l=d.col1.y*k+d.col2.y*l;k=m;m=b.m_sweep.c.x+i;n=b.m_sweep.c.y+j;o=c.m_sweep.c.x+k;d=c.m_sweep.c.y+l;this.m_u1.Set(m-e,n-f);this.m_u2.Set(o-g,d-h);d=this.m_u1.Length();m=this.m_u2.Length();d>b2Settings.b2_linearSlop?this.m_u1.Multiply(1/d):this.m_u1.SetZero();m>b2Settings.b2_linearSlop?this.m_u2.Multiply(1/m):this.m_u2.SetZero();d=this.m_constant-d-this.m_ratio*m;
p=b2Math.b2Max(p,-d);d=b2Math.b2Clamp(d+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);d=-this.m_pulleyMass*d;m=this.m_positionImpulse;this.m_positionImpulse=b2Math.b2Max(0,this.m_positionImpulse+d);d=this.m_positionImpulse-m;m=-d*this.m_u1.x;n=-d*this.m_u1.y;o=-this.m_ratio*d*this.m_u2.x;d=-this.m_ratio*d*this.m_u2.y;b.m_sweep.c.x+=b.m_invMass*m;b.m_sweep.c.y+=b.m_invMass*n;b.m_sweep.a+=b.m_invI*(i*n-j*m);c.m_sweep.c.x+=c.m_invMass*o;c.m_sweep.c.y+=c.m_invMass*d;c.m_sweep.a+=c.m_invI*
(k*d-l*o);b.SynchronizeTransform();c.SynchronizeTransform()}if(this.m_limitState1==b2Joint.e_atUpperLimit){d=b.m_xf.R;i=this.m_localAnchor1.x-b.m_sweep.localCenter.x;j=this.m_localAnchor1.y-b.m_sweep.localCenter.y;m=d.col1.x*i+d.col2.x*j;j=d.col1.y*i+d.col2.y*j;i=m;m=b.m_sweep.c.x+i;n=b.m_sweep.c.y+j;this.m_u1.Set(m-e,n-f);d=this.m_u1.Length();if(d>b2Settings.b2_linearSlop){this.m_u1.x*=1/d;this.m_u1.y*=1/d}else this.m_u1.SetZero();d=this.m_maxLength1-d;p=b2Math.b2Max(p,-d);d=b2Math.b2Clamp(d+b2Settings.b2_linearSlop,
-b2Settings.b2_maxLinearCorrection,0);d=-this.m_limitMass1*d;e=this.m_limitPositionImpulse1;this.m_limitPositionImpulse1=b2Math.b2Max(0,this.m_limitPositionImpulse1+d);d=this.m_limitPositionImpulse1-e;m=-d*this.m_u1.x;n=-d*this.m_u1.y;b.m_sweep.c.x+=b.m_invMass*m;b.m_sweep.c.y+=b.m_invMass*n;b.m_sweep.a+=b.m_invI*(i*n-j*m);b.SynchronizeTransform()}if(this.m_limitState2==b2Joint.e_atUpperLimit){d=c.m_xf.R;k=this.m_localAnchor2.x-c.m_sweep.localCenter.x;l=this.m_localAnchor2.y-c.m_sweep.localCenter.y;
m=d.col1.x*k+d.col2.x*l;l=d.col1.y*k+d.col2.y*l;k=m;o=c.m_sweep.c.x+k;d=c.m_sweep.c.y+l;this.m_u2.Set(o-g,d-h);m=this.m_u2.Length();if(m>b2Settings.b2_linearSlop){this.m_u2.x*=1/m;this.m_u2.y*=1/m}else this.m_u2.SetZero();d=this.m_maxLength2-m;p=b2Math.b2Max(p,-d);d=b2Math.b2Clamp(d+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);d=-this.m_limitMass2*d;e=this.m_limitPositionImpulse2;this.m_limitPositionImpulse2=b2Math.b2Max(0,this.m_limitPositionImpulse2+d);d=this.m_limitPositionImpulse2-
e;o=-d*this.m_u2.x;d=-d*this.m_u2.y;c.m_sweep.c.x+=c.m_invMass*o;c.m_sweep.c.y+=c.m_invMass*d;c.m_sweep.a+=c.m_invI*(k*d-l*o);c.SynchronizeTransform()}return p<b2Settings.b2_linearSlop};var b2RevoluteJoint=function(){b2Joint.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2RevoluteJoint.prototype,b2Joint.prototype);b2RevoluteJoint.prototype._super=function(){b2Joint.prototype.__constructor.apply(this,arguments)};
b2RevoluteJoint.prototype.__constructor=function(b){this._super(b);this.m_localAnchor1.SetV(b.localAnchor1);this.m_localAnchor2.SetV(b.localAnchor2);this.m_referenceAngle=b.referenceAngle;this.m_pivotForce.Set(0,0);this.m_limitPositionImpulse=this.m_limitForce=this.m_motorForce=0;this.m_lowerAngle=b.lowerAngle;this.m_upperAngle=b.upperAngle;this.m_maxMotorTorque=b.maxMotorTorque;this.m_motorSpeed=b.motorSpeed;this.m_enableLimit=b.enableLimit;this.m_enableMotor=b.enableMotor};
b2RevoluteJoint.prototype.__varz=function(){this.K=new b2Mat22;this.K1=new b2Mat22;this.K2=new b2Mat22;this.K3=new b2Mat22;this.m_localAnchor1=new b2Vec2;this.m_localAnchor2=new b2Vec2;this.m_pivotForce=new b2Vec2;this.m_pivotMass=new b2Mat22};b2RevoluteJoint.tImpulse=new b2Vec2;a=b2RevoluteJoint.prototype;a.K=new b2Mat22;a.K1=new b2Mat22;a.K2=new b2Mat22;a.K3=new b2Mat22;a.m_localAnchor1=new b2Vec2;a.m_localAnchor2=new b2Vec2;a.m_pivotForce=new b2Vec2;a.m_motorForce=null;a.m_limitForce=null;
a.m_limitPositionImpulse=null;a.m_pivotMass=new b2Mat22;a.m_motorMass=null;a.m_enableMotor=null;a.m_maxMotorTorque=null;a.m_motorSpeed=null;a.m_enableLimit=null;a.m_referenceAngle=null;a.m_lowerAngle=null;a.m_upperAngle=null;a.m_limitState=0;a.GetAnchor1=function(){return this.m_body1.GetWorldPoint(this.m_localAnchor1)};a.GetAnchor2=function(){return this.m_body2.GetWorldPoint(this.m_localAnchor2)};a.GetReactionForce=function(){return this.m_pivotForce};a.GetReactionTorque=function(){return this.m_limitForce};
a.GetJointAngle=function(){return this.m_body2.m_sweep.a-this.m_body1.m_sweep.a-this.m_referenceAngle};a.GetJointSpeed=function(){return this.m_body2.m_angularVelocity-this.m_body1.m_angularVelocity};a.IsLimitEnabled=function(){return this.m_enableLimit};a.EnableLimit=function(b){this.m_enableLimit=b};a.GetLowerLimit=function(){return this.m_lowerAngle};a.GetUpperLimit=function(){return this.m_upperAngle};a.SetLimits=function(b,c){this.m_lowerAngle=b;this.m_upperAngle=c};a.IsMotorEnabled=function(){return this.m_enableMotor};
a.EnableMotor=function(b){this.m_enableMotor=b};a.SetMotorSpeed=function(b){this.m_motorSpeed=b};a.GetMotorSpeed=function(){return this.m_motorSpeed};a.SetMaxMotorTorque=function(b){this.m_maxMotorTorque=b};a.GetMotorTorque=function(){return this.m_motorForce};
a.InitVelocityConstraints=function(b){var c=this.m_body1,d=this.m_body2,e,f;e=c.m_xf.R;var g=this.m_localAnchor1.x-c.m_sweep.localCenter.x,h=this.m_localAnchor1.y-c.m_sweep.localCenter.y;f=e.col1.x*g+e.col2.x*h;h=e.col1.y*g+e.col2.y*h;g=f;e=d.m_xf.R;var i=this.m_localAnchor2.x-d.m_sweep.localCenter.x,j=this.m_localAnchor2.y-d.m_sweep.localCenter.y;f=e.col1.x*i+e.col2.x*j;j=e.col1.y*i+e.col2.y*j;i=f;e=c.m_invMass;f=d.m_invMass;var k=c.m_invI,l=d.m_invI;this.K1.col1.x=e+f;this.K1.col2.x=0;this.K1.col1.y=
0;this.K1.col2.y=e+f;this.K2.col1.x=k*h*h;this.K2.col2.x=-k*g*h;this.K2.col1.y=-k*g*h;this.K2.col2.y=k*g*g;this.K3.col1.x=l*j*j;this.K3.col2.x=-l*i*j;this.K3.col1.y=-l*i*j;this.K3.col2.y=l*i*i;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Invert(this.m_pivotMass);this.m_motorMass=1/(k+l);if(this.m_enableMotor==false)this.m_motorForce=0;if(this.m_enableLimit){var m=d.m_sweep.a-c.m_sweep.a-this.m_referenceAngle;if(b2Math.b2Abs(this.m_upperAngle-this.m_lowerAngle)<2*b2Settings.b2_angularSlop)this.m_limitState=
b2Joint.e_equalLimits;else if(m<=this.m_lowerAngle){if(this.m_limitState!=b2Joint.e_atLowerLimit)this.m_limitForce=0;this.m_limitState=b2Joint.e_atLowerLimit}else if(m>=this.m_upperAngle){if(this.m_limitState!=b2Joint.e_atUpperLimit)this.m_limitForce=0;this.m_limitState=b2Joint.e_atUpperLimit}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitForce=0}}else this.m_limitForce=0;if(b.warmStarting){c.m_linearVelocity.x-=b.dt*e*this.m_pivotForce.x;c.m_linearVelocity.y-=b.dt*e*this.m_pivotForce.y;
c.m_angularVelocity-=b.dt*k*(g*this.m_pivotForce.y-h*this.m_pivotForce.x+this.m_motorForce+this.m_limitForce);d.m_linearVelocity.x+=b.dt*f*this.m_pivotForce.x;d.m_linearVelocity.y+=b.dt*f*this.m_pivotForce.y;d.m_angularVelocity+=b.dt*l*(i*this.m_pivotForce.y-j*this.m_pivotForce.x+this.m_motorForce+this.m_limitForce)}else{this.m_pivotForce.SetZero();this.m_limitForce=this.m_motorForce=0}this.m_limitPositionImpulse=0};
a.SolveVelocityConstraints=function(b){var c=this.m_body1,d=this.m_body2,e,f;e=c.m_xf.R;var g=this.m_localAnchor1.x-c.m_sweep.localCenter.x,h=this.m_localAnchor1.y-c.m_sweep.localCenter.y;f=e.col1.x*g+e.col2.x*h;h=e.col1.y*g+e.col2.y*h;g=f;e=d.m_xf.R;var i=this.m_localAnchor2.x-d.m_sweep.localCenter.x,j=this.m_localAnchor2.y-d.m_sweep.localCenter.y;f=e.col1.x*i+e.col2.x*j;j=e.col1.y*i+e.col2.y*j;i=f;f=d.m_linearVelocity.x+-d.m_angularVelocity*j-c.m_linearVelocity.x- -c.m_angularVelocity*h;var k=d.m_linearVelocity.y+
d.m_angularVelocity*i-c.m_linearVelocity.y-c.m_angularVelocity*g;e=-b.inv_dt*(this.m_pivotMass.col1.x*f+this.m_pivotMass.col2.x*k);f=-b.inv_dt*(this.m_pivotMass.col1.y*f+this.m_pivotMass.col2.y*k);this.m_pivotForce.x+=e;this.m_pivotForce.y+=f;e=b.dt*e;f=b.dt*f;c.m_linearVelocity.x-=c.m_invMass*e;c.m_linearVelocity.y-=c.m_invMass*f;c.m_angularVelocity-=c.m_invI*(g*f-h*e);d.m_linearVelocity.x+=d.m_invMass*e;d.m_linearVelocity.y+=d.m_invMass*f;d.m_angularVelocity+=d.m_invI*(i*f-j*e);if(this.m_enableMotor&&
this.m_limitState!=b2Joint.e_equalLimits){g=-b.inv_dt*this.m_motorMass*(d.m_angularVelocity-c.m_angularVelocity-this.m_motorSpeed);h=this.m_motorForce;this.m_motorForce=b2Math.b2Clamp(this.m_motorForce+g,-this.m_maxMotorTorque,this.m_maxMotorTorque);g=this.m_motorForce-h;c.m_angularVelocity-=c.m_invI*b.dt*g;d.m_angularVelocity+=d.m_invI*b.dt*g}if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){h=-b.inv_dt*this.m_motorMass*(d.m_angularVelocity-c.m_angularVelocity);if(this.m_limitState==
b2Joint.e_equalLimits)this.m_limitForce+=h;else if(this.m_limitState==b2Joint.e_atLowerLimit){g=this.m_limitForce;this.m_limitForce=b2Math.b2Max(this.m_limitForce+h,0);h=this.m_limitForce-g}else if(this.m_limitState==b2Joint.e_atUpperLimit){g=this.m_limitForce;this.m_limitForce=b2Math.b2Min(this.m_limitForce+h,0);h=this.m_limitForce-g}c.m_angularVelocity-=c.m_invI*b.dt*h;d.m_angularVelocity+=d.m_invI*b.dt*h}};
a.SolvePositionConstraints=function(){var b,c=this.m_body1,d=this.m_body2,e=0;e=c.m_xf.R;var f=this.m_localAnchor1.x-c.m_sweep.localCenter.x,g=this.m_localAnchor1.y-c.m_sweep.localCenter.y,h=e.col1.x*f+e.col2.x*g;g=e.col1.y*f+e.col2.y*g;f=h;e=d.m_xf.R;b=this.m_localAnchor2.x-d.m_sweep.localCenter.x;var i=this.m_localAnchor2.y-d.m_sweep.localCenter.y;h=e.col1.x*b+e.col2.x*i;i=e.col1.y*b+e.col2.y*i;b=h;h=d.m_sweep.c.x+b-(c.m_sweep.c.x+f);var j=d.m_sweep.c.y+i-(c.m_sweep.c.y+g);e=Math.sqrt(h*h+j*j);
var k=c.m_invMass,l=d.m_invMass,m=c.m_invI,n=d.m_invI;this.K1.col1.x=k+l;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=k+l;this.K2.col1.x=m*g*g;this.K2.col2.x=-m*f*g;this.K2.col1.y=-m*f*g;this.K2.col2.y=m*f*f;this.K3.col1.x=n*i*i;this.K3.col2.x=-n*b*i;this.K3.col1.y=-n*b*i;this.K3.col2.y=n*b*b;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(b2RevoluteJoint.tImpulse,-h,-j);h=b2RevoluteJoint.tImpulse.x;j=b2RevoluteJoint.tImpulse.y;c.m_sweep.c.x-=c.m_invMass*h;c.m_sweep.c.y-=
c.m_invMass*j;c.m_sweep.a-=c.m_invI*(f*j-g*h);d.m_sweep.c.x+=d.m_invMass*h;d.m_sweep.c.y+=d.m_invMass*j;d.m_sweep.a+=d.m_invI*(b*j-i*h);c.SynchronizeTransform();d.SynchronizeTransform();f=0;if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){b=d.m_sweep.a-c.m_sweep.a-this.m_referenceAngle;g=0;if(this.m_limitState==b2Joint.e_equalLimits){b=b2Math.b2Clamp(b,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);g=-this.m_motorMass*b;f=b2Math.b2Abs(b)}else if(this.m_limitState==
b2Joint.e_atLowerLimit){b=b-this.m_lowerAngle;f=b2Math.b2Max(0,-b);b=b2Math.b2Clamp(b+b2Settings.b2_angularSlop,-b2Settings.b2_maxAngularCorrection,0);g=-this.m_motorMass*b;b=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+g,0);g=this.m_limitPositionImpulse-b}else if(this.m_limitState==b2Joint.e_atUpperLimit){b=b-this.m_upperAngle;f=b2Math.b2Max(0,b);b=b2Math.b2Clamp(b-b2Settings.b2_angularSlop,0,b2Settings.b2_maxAngularCorrection);g=-this.m_motorMass*
b;b=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+g,0);g=this.m_limitPositionImpulse-b}c.m_sweep.a-=c.m_invI*g;d.m_sweep.a+=d.m_invI*g;c.SynchronizeTransform();d.SynchronizeTransform()}return e<=b2Settings.b2_linearSlop&&f<=b2Settings.b2_angularSlop};var b2PrismaticJoint=function(){b2Joint.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PrismaticJoint.prototype,b2Joint.prototype);a=b2PrismaticJoint.prototype;a._super=function(){b2Joint.prototype.__constructor.apply(this,arguments)};
a.__constructor=function(b){this._super(b);this.m_localAnchor1.SetV(b.localAnchor1);this.m_localAnchor2.SetV(b.localAnchor2);this.m_localXAxis1.SetV(b.localAxis1);this.m_localYAxis1.x=-this.m_localXAxis1.y;this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_refAngle=b.referenceAngle;this.m_linearJacobian.SetZero();this.m_torque=this.m_angularMass=this.m_force=this.m_linearMass=0;this.m_motorJacobian.SetZero();this.m_limitPositionImpulse=this.m_limitForce=this.m_motorForce=this.m_motorMass=0;this.m_lowerTranslation=
b.lowerTranslation;this.m_upperTranslation=b.upperTranslation;this.m_maxMotorForce=b.maxMotorForce;this.m_motorSpeed=b.motorSpeed;this.m_enableLimit=b.enableLimit;this.m_enableMotor=b.enableMotor};a.__varz=function(){this.m_localAnchor1=new b2Vec2;this.m_localAnchor2=new b2Vec2;this.m_localXAxis1=new b2Vec2;this.m_localYAxis1=new b2Vec2;this.m_linearJacobian=new b2Jacobian;this.m_motorJacobian=new b2Jacobian};a.m_localAnchor1=new b2Vec2;a.m_localAnchor2=new b2Vec2;a.m_localXAxis1=new b2Vec2;
a.m_localYAxis1=new b2Vec2;a.m_refAngle=null;a.m_linearJacobian=new b2Jacobian;a.m_linearMass=null;a.m_force=null;a.m_angularMass=null;a.m_torque=null;a.m_motorJacobian=new b2Jacobian;a.m_motorMass=null;a.m_motorForce=null;a.m_limitForce=null;a.m_limitPositionImpulse=null;a.m_lowerTranslation=null;a.m_upperTranslation=null;a.m_maxMotorForce=null;a.m_motorSpeed=null;a.m_enableLimit=null;a.m_enableMotor=null;a.m_limitState=0;a.GetAnchor1=function(){return this.m_body1.GetWorldPoint(this.m_localAnchor1)};
a.GetAnchor2=function(){return this.m_body2.GetWorldPoint(this.m_localAnchor2)};
a.GetReactionForce=function(){var b=this.m_body1.m_xf.R;return new b2Vec2(this.m_limitForce*this.m_limitForce*(b.col1.x*this.m_localXAxis1.x+b.col2.x*this.m_localXAxis1.y)+this.m_force*this.m_force*(b.col1.x*this.m_localYAxis1.x+b.col2.x*this.m_localYAxis1.y),this.m_limitForce*this.m_limitForce*(b.col1.y*this.m_localXAxis1.x+b.col2.y*this.m_localXAxis1.y)+this.m_force*this.m_force*(b.col1.y*this.m_localYAxis1.x+b.col2.y*this.m_localYAxis1.y))};a.GetReactionTorque=function(){return this.m_torque};
a.GetJointTranslation=function(){var b=this.m_body1,c=this.m_body2,d=b.GetWorldPoint(this.m_localAnchor1),e=c.GetWorldPoint(this.m_localAnchor2);c=e.x-d.x;d=e.y-d.y;b=b.GetWorldVector(this.m_localXAxis1);return b.x*c+b.y*d};
a.GetJointSpeed=function(){var b=this.m_body1,c=this.m_body2,d;d=b.m_xf.R;var e=this.m_localAnchor1.x-b.m_sweep.localCenter.x,f=this.m_localAnchor1.y-b.m_sweep.localCenter.y,g=d.col1.x*e+d.col2.x*f;f=d.col1.y*e+d.col2.y*f;e=g;d=c.m_xf.R;var h=this.m_localAnchor2.x-c.m_sweep.localCenter.x,i=this.m_localAnchor2.y-c.m_sweep.localCenter.y;g=d.col1.x*h+d.col2.x*i;i=d.col1.y*h+d.col2.y*i;h=g;d=c.m_sweep.c.x+h-(b.m_sweep.c.x+e);g=c.m_sweep.c.y+i-(b.m_sweep.c.y+f);var j=b.GetWorldVector(this.m_localXAxis1),
k=b.m_linearVelocity,l=c.m_linearVelocity;b=b.m_angularVelocity;c=c.m_angularVelocity;return d*-b*j.y+g*b*j.x+(j.x*(l.x+-c*i-k.x- -b*f)+j.y*(l.y+c*h-k.y-b*e))};a.IsLimitEnabled=function(){return this.m_enableLimit};a.EnableLimit=function(b){this.m_enableLimit=b};a.GetLowerLimit=function(){return this.m_lowerTranslation};a.GetUpperLimit=function(){return this.m_upperTranslation};a.SetLimits=function(b,c){this.m_lowerTranslation=b;this.m_upperTranslation=c};a.IsMotorEnabled=function(){return this.m_enableMotor};
a.EnableMotor=function(b){this.m_enableMotor=b};a.SetMotorSpeed=function(b){this.m_motorSpeed=b};a.GetMotorSpeed=function(){return this.m_motorSpeed};a.SetMaxMotorForce=function(b){this.m_maxMotorForce=b};a.GetMotorForce=function(){return this.m_motorForce};
a.InitVelocityConstraints=function(b){var c=this.m_body1,d=this.m_body2,e,f;e=c.m_xf.R;var g=this.m_localAnchor1.x-c.m_sweep.localCenter.x,h=this.m_localAnchor1.y-c.m_sweep.localCenter.y;f=e.col1.x*g+e.col2.x*h;h=e.col1.y*g+e.col2.y*h;g=f;e=d.m_xf.R;var i=this.m_localAnchor2.x-d.m_sweep.localCenter.x,j=this.m_localAnchor2.y-d.m_sweep.localCenter.y;f=e.col1.x*i+e.col2.x*j;j=e.col1.y*i+e.col2.y*j;i=f;f=c.m_invMass;var k=d.m_invMass,l=c.m_invI,m=d.m_invI;e=c.m_xf.R;var n=e.col1.x*this.m_localYAxis1.x+
e.col2.x*this.m_localYAxis1.y;e=e.col1.y*this.m_localYAxis1.x+e.col2.y*this.m_localYAxis1.y;var o=d.m_sweep.c.x+i-c.m_sweep.c.x,p=d.m_sweep.c.y+j-c.m_sweep.c.y;this.m_linearJacobian.linear1.x=-n;this.m_linearJacobian.linear1.y=-e;this.m_linearJacobian.linear2.x=n;this.m_linearJacobian.linear2.y=e;this.m_linearJacobian.angular1=-(o*e-p*n);this.m_linearJacobian.angular2=i*e-j*n;this.m_linearMass=f+l*this.m_linearJacobian.angular1*this.m_linearJacobian.angular1+k+m*this.m_linearJacobian.angular2*this.m_linearJacobian.angular2;
this.m_linearMass=1/this.m_linearMass;this.m_angularMass=l+m;if(this.m_angularMass>Number.MIN_VALUE)this.m_angularMass=1/this.m_angularMass;if(this.m_enableLimit||this.m_enableMotor){e=c.m_xf.R;n=e.col1.x*this.m_localXAxis1.x+e.col2.x*this.m_localXAxis1.y;e=e.col1.y*this.m_localXAxis1.x+e.col2.y*this.m_localXAxis1.y;this.m_motorJacobian.linear1.x=-n;this.m_motorJacobian.linear1.y=-e;this.m_motorJacobian.linear2.x=n;this.m_motorJacobian.linear2.y=e;this.m_motorJacobian.angular1=-(o*e-p*n);this.m_motorJacobian.angular2=
i*e-j*n;this.m_motorMass=f+l*this.m_motorJacobian.angular1*this.m_motorJacobian.angular1+k+m*this.m_motorJacobian.angular2*this.m_motorJacobian.angular2;this.m_motorMass=1/this.m_motorMass;if(this.m_enableLimit){g=n*(o-g)+e*(p-h);if(b2Math.b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*b2Settings.b2_linearSlop)this.m_limitState=b2Joint.e_equalLimits;else if(g<=this.m_lowerTranslation){if(this.m_limitState!=b2Joint.e_atLowerLimit)this.m_limitForce=0;this.m_limitState=b2Joint.e_atLowerLimit}else if(g>=
this.m_upperTranslation){if(this.m_limitState!=b2Joint.e_atUpperLimit)this.m_limitForce=0;this.m_limitState=b2Joint.e_atUpperLimit}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitForce=0}}}if(this.m_enableMotor==false)this.m_motorForce=0;if(this.m_enableLimit==false)this.m_limitForce=0;if(b.warmStarting){g=b.dt*(this.m_force*this.m_linearJacobian.linear1.y+(this.m_motorForce+this.m_limitForce)*this.m_motorJacobian.linear1.y);h=b.dt*(this.m_force*this.m_linearJacobian.linear2.x+(this.m_motorForce+
this.m_limitForce)*this.m_motorJacobian.linear2.x);i=b.dt*(this.m_force*this.m_linearJacobian.linear2.y+(this.m_motorForce+this.m_limitForce)*this.m_motorJacobian.linear2.y);j=b.dt*(this.m_force*this.m_linearJacobian.angular1-this.m_torque+(this.m_motorForce+this.m_limitForce)*this.m_motorJacobian.angular1);o=b.dt*(this.m_force*this.m_linearJacobian.angular2+this.m_torque+(this.m_motorForce+this.m_limitForce)*this.m_motorJacobian.angular2);c.m_linearVelocity.x+=f*b.dt*(this.m_force*this.m_linearJacobian.linear1.x+
(this.m_motorForce+this.m_limitForce)*this.m_motorJacobian.linear1.x);c.m_linearVelocity.y+=f*g;c.m_angularVelocity+=l*j;d.m_linearVelocity.x+=k*h;d.m_linearVelocity.y+=k*i;d.m_angularVelocity+=m*o}else this.m_motorForce=this.m_limitForce=this.m_torque=this.m_force=0;this.m_limitPositionImpulse=0};
a.SolveVelocityConstraints=function(b){var c=this.m_body1,d=this.m_body2,e=c.m_invMass,f=d.m_invMass,g=c.m_invI,h=d.m_invI,i;i=this.m_linearJacobian.Compute(c.m_linearVelocity,c.m_angularVelocity,d.m_linearVelocity,d.m_angularVelocity);i=-b.inv_dt*this.m_linearMass*i;this.m_force+=i;i=b.dt*i;c.m_linearVelocity.x+=e*i*this.m_linearJacobian.linear1.x;c.m_linearVelocity.y+=e*i*this.m_linearJacobian.linear1.y;c.m_angularVelocity+=g*i*this.m_linearJacobian.angular1;d.m_linearVelocity.x+=f*i*this.m_linearJacobian.linear2.x;
d.m_linearVelocity.y+=f*i*this.m_linearJacobian.linear2.y;d.m_angularVelocity+=h*i*this.m_linearJacobian.angular2;i=-b.inv_dt*this.m_angularMass*(d.m_angularVelocity-c.m_angularVelocity);this.m_torque+=i;i=b.dt*i;c.m_angularVelocity-=g*i;d.m_angularVelocity+=h*i;if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits){i=this.m_motorJacobian.Compute(c.m_linearVelocity,c.m_angularVelocity,d.m_linearVelocity,d.m_angularVelocity)-this.m_motorSpeed;i=-b.inv_dt*this.m_motorMass*i;var j=this.m_motorForce;
this.m_motorForce=b2Math.b2Clamp(this.m_motorForce+i,-this.m_maxMotorForce,this.m_maxMotorForce);i=this.m_motorForce-j;i=b.dt*i;c.m_linearVelocity.x+=e*i*this.m_motorJacobian.linear1.x;c.m_linearVelocity.y+=e*i*this.m_motorJacobian.linear1.y;c.m_angularVelocity+=g*i*this.m_motorJacobian.angular1;d.m_linearVelocity.x+=f*i*this.m_motorJacobian.linear2.x;d.m_linearVelocity.y+=f*i*this.m_motorJacobian.linear2.y;d.m_angularVelocity+=h*i*this.m_motorJacobian.angular2}if(this.m_enableLimit&&this.m_limitState!=
b2Joint.e_inactiveLimit){i=this.m_motorJacobian.Compute(c.m_linearVelocity,c.m_angularVelocity,d.m_linearVelocity,d.m_angularVelocity);j=-b.inv_dt*this.m_motorMass*i;if(this.m_limitState==b2Joint.e_equalLimits)this.m_limitForce+=j;else if(this.m_limitState==b2Joint.e_atLowerLimit){i=this.m_limitForce;this.m_limitForce=b2Math.b2Max(this.m_limitForce+j,0);j=this.m_limitForce-i}else if(this.m_limitState==b2Joint.e_atUpperLimit){i=this.m_limitForce;this.m_limitForce=b2Math.b2Min(this.m_limitForce+j,0);
j=this.m_limitForce-i}i=b.dt*j;c.m_linearVelocity.x+=e*i*this.m_motorJacobian.linear1.x;c.m_linearVelocity.y+=e*i*this.m_motorJacobian.linear1.y;c.m_angularVelocity+=g*i*this.m_motorJacobian.angular1;d.m_linearVelocity.x+=f*i*this.m_motorJacobian.linear2.x;d.m_linearVelocity.y+=f*i*this.m_motorJacobian.linear2.y;d.m_angularVelocity+=h*i*this.m_motorJacobian.angular2}};
a.SolvePositionConstraints=function(){var b,c,d=this.m_body1,e=this.m_body2,f=d.m_invMass,g=e.m_invMass,h=d.m_invI,i=e.m_invI,j,k;j=d.m_xf.R;var l=this.m_localAnchor1.x-d.m_sweep.localCenter.x,m=this.m_localAnchor1.y-d.m_sweep.localCenter.y;k=j.col1.x*l+j.col2.x*m;m=j.col1.y*l+j.col2.y*m;l=k;j=e.m_xf.R;var n=this.m_localAnchor2.x-e.m_sweep.localCenter.x;b=this.m_localAnchor2.y-e.m_sweep.localCenter.y;k=j.col1.x*n+j.col2.x*b;b=j.col1.y*n+j.col2.y*b;n=k;j=d.m_sweep.c.x+l;m=d.m_sweep.c.y+m;n=e.m_sweep.c.x+
n;b=e.m_sweep.c.y+b;n=n-j;b=b-m;j=d.m_xf.R;var o=(j.col1.x*this.m_localYAxis1.x+j.col2.x*this.m_localYAxis1.y)*n+(j.col1.y*this.m_localYAxis1.x+j.col2.y*this.m_localYAxis1.y)*b;o=b2Math.b2Clamp(o,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);c=-this.m_linearMass*o;d.m_sweep.c.x+=f*c*this.m_linearJacobian.linear1.x;d.m_sweep.c.y+=f*c*this.m_linearJacobian.linear1.y;d.m_sweep.a+=h*c*this.m_linearJacobian.angular1;e.m_sweep.c.x+=g*c*this.m_linearJacobian.linear2.x;e.m_sweep.c.y+=
g*c*this.m_linearJacobian.linear2.y;e.m_sweep.a+=i*c*this.m_linearJacobian.angular2;o=b2Math.b2Abs(o);c=e.m_sweep.a-d.m_sweep.a-this.m_refAngle;c=b2Math.b2Clamp(c,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);var p=-this.m_angularMass*c;d.m_sweep.a-=d.m_invI*p;e.m_sweep.a+=e.m_invI*p;d.SynchronizeTransform();e.SynchronizeTransform();p=b2Math.b2Abs(c);if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){j=d.m_xf.R;l=this.m_localAnchor1.x-d.m_sweep.localCenter.x;
m=this.m_localAnchor1.y-d.m_sweep.localCenter.y;k=j.col1.x*l+j.col2.x*m;m=j.col1.y*l+j.col2.y*m;l=k;j=e.m_xf.R;n=this.m_localAnchor2.x-e.m_sweep.localCenter.x;b=this.m_localAnchor2.y-e.m_sweep.localCenter.y;k=j.col1.x*n+j.col2.x*b;b=j.col1.y*n+j.col2.y*b;n=k;j=d.m_sweep.c.x+l;m=d.m_sweep.c.y+m;n=e.m_sweep.c.x+n;b=e.m_sweep.c.y+b;n=n-j;b=b-m;j=d.m_xf.R;j=(j.col1.x*this.m_localXAxis1.x+j.col2.x*this.m_localXAxis1.y)*n+(j.col1.y*this.m_localXAxis1.x+j.col2.y*this.m_localXAxis1.y)*b;b=0;if(this.m_limitState==
b2Joint.e_equalLimits){b=b2Math.b2Clamp(j,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);b=-this.m_motorMass*b;o=b2Math.b2Max(o,b2Math.b2Abs(c))}else if(this.m_limitState==b2Joint.e_atLowerLimit){b=j-this.m_lowerTranslation;o=b2Math.b2Max(o,-b);b=b2Math.b2Clamp(b+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);b=-this.m_motorMass*b;c=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+b,0);b=this.m_limitPositionImpulse-
c}else if(this.m_limitState==b2Joint.e_atUpperLimit){b=j-this.m_upperTranslation;o=b2Math.b2Max(o,b);b=b2Math.b2Clamp(b-b2Settings.b2_linearSlop,0,b2Settings.b2_maxLinearCorrection);b=-this.m_motorMass*b;c=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+b,0);b=this.m_limitPositionImpulse-c}d.m_sweep.c.x+=f*b*this.m_motorJacobian.linear1.x;d.m_sweep.c.y+=f*b*this.m_motorJacobian.linear1.y;d.m_sweep.a+=h*b*this.m_motorJacobian.angular1;e.m_sweep.c.x+=
g*b*this.m_motorJacobian.linear2.x;e.m_sweep.c.y+=g*b*this.m_motorJacobian.linear2.y;e.m_sweep.a+=i*b*this.m_motorJacobian.angular2;d.SynchronizeTransform();e.SynchronizeTransform()}return o<=b2Settings.b2_linearSlop&&p<=b2Settings.b2_angularSlop};var ClipVertex=function(){this.__varz();this.__constructor.apply(this,arguments)};ClipVertex.prototype.__constructor=function(){};ClipVertex.prototype.__varz=function(){this.v=new b2Vec2;this.id=new b2ContactID};ClipVertex.prototype.v=new b2Vec2;ClipVertex.prototype.id=new b2ContactID;var b2NullContact=function(){b2Contact.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2NullContact.prototype,b2Contact.prototype);a=b2NullContact.prototype;a._super=function(){b2Contact.prototype.__constructor.apply(this,arguments)};a.__constructor=function(){};a.__varz=function(){};a.Evaluate=function(){};a.GetManifolds=function(){return null};var b2PolyAndCircleContact=function(){b2Contact.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2PolyAndCircleContact.prototype,b2Contact.prototype);b2PolyAndCircleContact.prototype._super=function(){b2Contact.prototype.__constructor.apply(this,arguments)};
b2PolyAndCircleContact.prototype.__constructor=function(b,c){this._super(b,c);this.m_manifold=this.m_manifolds[0];b2Settings.b2Assert(this.m_shape1.m_type==b2Shape.e_polygonShape);b2Settings.b2Assert(this.m_shape2.m_type==b2Shape.e_circleShape);this.m_manifold.pointCount=0;b=this.m_manifold.points[0];b.normalImpulse=0;b.tangentImpulse=0};b2PolyAndCircleContact.prototype.__varz=function(){this.m_manifolds=[new b2Manifold];this.m0=new b2Manifold};b2PolyAndCircleContact.s_evalCP=new b2ContactPoint;
b2PolyAndCircleContact.Create=function(b,c){return new b2PolyAndCircleContact(b,c)};b2PolyAndCircleContact.Destroy=function(){};a=b2PolyAndCircleContact.prototype;a.m_manifolds=[new b2Manifold];a.m0=new b2Manifold;a.m_manifold=null;
a.Evaluate=function(b){var c=0,d,e,f,g=this.m_shape1.m_body,h=this.m_shape2.m_body;this.m0.Set(this.m_manifold);b2Collision.b2CollidePolygonAndCircle(this.m_manifold,this.m_shape1,g.m_xf,this.m_shape2,h.m_xf);var i=[false,false],j=b2PolyAndCircleContact.s_evalCP;j.shape1=this.m_shape1;j.shape2=this.m_shape2;j.friction=this.m_friction;j.restitution=this.m_restitution;if(this.m_manifold.pointCount>0){for(c=0;c<this.m_manifold.pointCount;++c){var k=this.m_manifold.points[c];k.normalImpulse=0;k.tangentImpulse=
0;var l=false,m=k.id._key;for(d=0;d<this.m0.pointCount;++d)if(i[d]!=true){f=this.m0.points[d];if(f.id._key==m){i[d]=true;k.normalImpulse=f.normalImpulse;k.tangentImpulse=f.tangentImpulse;l=true;if(b!=null){j.position=g.GetWorldPoint(k.localPoint1);d=g.GetLinearVelocityFromLocalPoint(k.localPoint1);e=h.GetLinearVelocityFromLocalPoint(k.localPoint2);j.velocity.Set(e.x-d.x,e.y-d.y);j.normal.SetV(this.m_manifold.normal);j.separation=k.separation;j.id.key=m;b.Persist(j)}break}}if(l==false&&b!=null){j.position=
g.GetWorldPoint(k.localPoint1);d=g.GetLinearVelocityFromLocalPoint(k.localPoint1);e=h.GetLinearVelocityFromLocalPoint(k.localPoint2);j.velocity.Set(e.x-d.x,e.y-d.y);j.normal.SetV(this.m_manifold.normal);j.separation=k.separation;j.id.key=m;b.Add(j)}}this.m_manifoldCount=1}else this.m_manifoldCount=0;if(b!=null)for(c=0;c<this.m0.pointCount;++c)if(!i[c]){f=this.m0.points[c];j.position=g.GetWorldPoint(f.localPoint1);d=g.GetLinearVelocityFromLocalPoint(f.localPoint1);e=h.GetLinearVelocityFromLocalPoint(f.localPoint2);
j.velocity.Set(e.x-d.x,e.y-d.y);j.normal.SetV(this.m0.normal);j.separation=f.separation;j.id.key=f.id._key;b.Remove(j)}};a.GetManifolds=function(){return this.m_manifolds};var b2ContactManager=function(){b2PairCallback.prototype.__varz.call(this);this.__varz();this.__constructor.apply(this,arguments)};extend(b2ContactManager.prototype,b2PairCallback.prototype);b2ContactManager.prototype._super=function(){b2PairCallback.prototype.__constructor.apply(this,arguments)};b2ContactManager.prototype.__constructor=function(){this.m_world=null;this.m_destroyImmediate=false};b2ContactManager.prototype.__varz=function(){this.m_nullContact=new b2NullContact};
b2ContactManager.s_evalCP=new b2ContactPoint;a=b2ContactManager.prototype;a.m_world=null;a.m_nullContact=new b2NullContact;a.m_destroyImmediate=null;
a.PairAdded=function(b,c){b=b;c=c;var d=b.m_body,e=c.m_body;if(d.IsStatic()&&e.IsStatic())return this.m_nullContact;if(b.m_body==c.m_body)return this.m_nullContact;if(e.IsConnected(d))return this.m_nullContact;if(this.m_world.m_contactFilter!=null&&this.m_world.m_contactFilter.ShouldCollide(b,c)==false)return this.m_nullContact;var f=b2Contact.Create(b,c,this.m_world.m_blockAllocator);if(f==null)return this.m_nullContact;b=f.m_shape1;c=f.m_shape2;d=b.m_body;e=c.m_body;f.m_prev=null;f.m_next=this.m_world.m_contactList;
if(this.m_world.m_contactList!=null)this.m_world.m_contactList.m_prev=f;this.m_world.m_contactList=f;f.m_node1.contact=f;f.m_node1.other=e;f.m_node1.prev=null;f.m_node1.next=d.m_contactList;if(d.m_contactList!=null)d.m_contactList.prev=f.m_node1;d.m_contactList=f.m_node1;f.m_node2.contact=f;f.m_node2.other=d;f.m_node2.prev=null;f.m_node2.next=e.m_contactList;if(e.m_contactList!=null)e.m_contactList.prev=f.m_node2;e.m_contactList=f.m_node2;++this.m_world.m_contactCount;return f};
a.PairRemoved=function(b,c,d){d!=null&&d!=this.m_nullContact&&this.Destroy(d)};
a.Destroy=function(b){var c=b.m_shape1,d=b.m_shape2,e=b.m_manifoldCount;if(e>0&&this.m_world.m_contactListener){var f=c.m_body,g=d.m_body,h=b.GetManifolds(),i=b2ContactManager.s_evalCP;i.shape1=b.m_shape1;i.shape2=b.m_shape2;i.friction=b.m_friction;i.restitution=b.m_restitution;for(var j=0;j<e;++j){var k=h[j];i.normal.SetV(k.normal);for(var l=0;l<k.pointCount;++l){var m=k.points[l];i.position=f.GetWorldPoint(m.localPoint1);var n=f.GetLinearVelocityFromLocalPoint(m.localPoint1),o=g.GetLinearVelocityFromLocalPoint(m.localPoint2);
i.velocity.Set(o.x-n.x,o.y-n.y);i.separation=m.separation;i.id.key=m.id._key;this.m_world.m_contactListener.Remove(i)}}}if(b.m_prev)b.m_prev.m_next=b.m_next;if(b.m_next)b.m_next.m_prev=b.m_prev;if(b==this.m_world.m_contactList)this.m_world.m_contactList=b.m_next;c=c.m_body;d=d.m_body;if(b.m_node1.prev)b.m_node1.prev.next=b.m_node1.next;if(b.m_node1.next)b.m_node1.next.prev=b.m_node1.prev;if(b.m_node1==c.m_contactList)c.m_contactList=b.m_node1.next;if(b.m_node2.prev)b.m_node2.prev.next=b.m_node2.next;
if(b.m_node2.next)b.m_node2.next.prev=b.m_node2.prev;if(b.m_node2==d.m_contactList)d.m_contactList=b.m_node2.next;b2Contact.Destroy(b,this.m_world.m_blockAllocator);--this.m_world.m_contactCount};a.Collide=function(){for(var b=this.m_world.m_contactList;b;b=b.m_next){var c=b.m_shape2.m_body;b.m_shape1.m_body.IsSleeping()&&c.IsSleeping()||b.Update(this.m_world.m_contactListener)}};var b2World=function(){this.__varz();this.__constructor.apply(this,arguments)};
b2World.prototype.__constructor=function(b,c,d){this.m_boundaryListener=this.m_destructionListener=null;this.m_contactFilter=b2ContactFilter.b2_defaultFilter;this.m_jointList=this.m_contactList=this.m_bodyList=this.m_debugDraw=this.m_contactListener=null;this.m_jointCount=this.m_contactCount=this.m_bodyCount=0;b2World.m_positionCorrection=true;b2World.m_warmStarting=true;b2World.m_continuousPhysics=true;this.m_allowSleep=d;this.m_gravity=c;this.m_lock=false;this.m_inv_dt0=0;this.m_contactManager.m_world=
this;this.m_broadPhase=new b2BroadPhase(b,this.m_contactManager);this.m_groundBody=this.CreateBody(new b2BodyDef)};b2World.prototype.__varz=function(){this.m_contactManager=new b2ContactManager};b2World.m_positionCorrection=null;b2World.m_warmStarting=null;b2World.m_continuousPhysics=null;b2World.s_jointColor=new b2Color(0.5,0.8,0.8);b2World.s_coreColor=new b2Color(0.9,0.6,0.6);b2World.s_xf=new b2XForm;a=b2World.prototype;a.m_blockAllocator=null;a.m_stackAllocator=null;a.m_lock=null;
a.m_broadPhase=null;a.m_contactManager=new b2ContactManager;a.m_bodyList=null;a.m_jointList=null;a.m_contactList=null;a.m_bodyCount=0;a.m_contactCount=0;a.m_jointCount=0;a.m_gravity=null;a.m_allowSleep=null;a.m_groundBody=null;a.m_destructionListener=null;a.m_boundaryListener=null;a.m_contactFilter=null;a.m_contactListener=null;a.m_debugDraw=null;a.m_inv_dt0=null;a.m_positionIterationCount=0;a.SetDestructionListener=function(b){this.m_destructionListener=b};
a.SetBoundaryListener=function(b){this.m_boundaryListener=b};a.SetContactFilter=function(b){this.m_contactFilter=b};a.SetContactListener=function(b){this.m_contactListener=b};a.SetDebugDraw=function(b){this.m_debugDraw=b};a.Validate=function(){this.m_broadPhase.Validate()};a.GetProxyCount=function(){return this.m_broadPhase.m_proxyCount};a.GetPairCount=function(){return this.m_broadPhase.m_pairManager.m_pairCount};
a.CreateBody=function(b){if(this.m_lock==true)return null;b=new b2Body(b,this);b.m_prev=null;if(b.m_next=this.m_bodyList)this.m_bodyList.m_prev=b;this.m_bodyList=b;++this.m_bodyCount;return b};
a.DestroyBody=function(b){if(this.m_lock!=true){for(var c=b.m_jointList;c;){var d=c;c=c.next;this.m_destructionListener&&this.m_destructionListener.SayGoodbyeJoint(d.joint);this.DestroyJoint(d.joint)}for(c=b.m_shapeList;c;){d=c;c=c.m_next;this.m_destructionListener&&this.m_destructionListener.SayGoodbyeShape(d);d.DestroyProxy(this.m_broadPhase);b2Shape.Destroy(d,this.m_blockAllocator)}if(b.m_prev)b.m_prev.m_next=b.m_next;if(b.m_next)b.m_next.m_prev=b.m_prev;if(b==this.m_bodyList)this.m_bodyList=b.m_next;
--this.m_bodyCount}};
a.CreateJoint=function(b){var c=b2Joint.Create(b,this.m_blockAllocator);c.m_prev=null;if(c.m_next=this.m_jointList)this.m_jointList.m_prev=c;this.m_jointList=c;++this.m_jointCount;c.m_node1.joint=c;c.m_node1.other=c.m_body2;c.m_node1.prev=null;if(c.m_node1.next=c.m_body1.m_jointList)c.m_body1.m_jointList.prev=c.m_node1;c.m_body1.m_jointList=c.m_node1;c.m_node2.joint=c;c.m_node2.other=c.m_body1;c.m_node2.prev=null;if(c.m_node2.next=c.m_body2.m_jointList)c.m_body2.m_jointList.prev=c.m_node2;c.m_body2.m_jointList=
c.m_node2;if(b.collideConnected==false){b=b.body1.m_shapeCount<b.body2.m_shapeCount?b.body1:b.body2;for(var d=b.m_shapeList;d;d=d.m_next)d.RefilterProxy(this.m_broadPhase,b.m_xf)}return c};
a.DestroyJoint=function(b){var c=b.m_collideConnected;if(b.m_prev)b.m_prev.m_next=b.m_next;if(b.m_next)b.m_next.m_prev=b.m_prev;if(b==this.m_jointList)this.m_jointList=b.m_next;var d=b.m_body1,e=b.m_body2;d.WakeUp();e.WakeUp();if(b.m_node1.prev)b.m_node1.prev.next=b.m_node1.next;if(b.m_node1.next)b.m_node1.next.prev=b.m_node1.prev;if(b.m_node1==d.m_jointList)d.m_jointList=b.m_node1.next;b.m_node1.prev=null;b.m_node1.next=null;if(b.m_node2.prev)b.m_node2.prev.next=b.m_node2.next;if(b.m_node2.next)b.m_node2.next.prev=
b.m_node2.prev;if(b.m_node2==e.m_jointList)e.m_jointList=b.m_node2.next;b.m_node2.prev=null;b.m_node2.next=null;b2Joint.Destroy(b,this.m_blockAllocator);--this.m_jointCount;if(c==false){b=d.m_shapeCount<e.m_shapeCount?d:e;for(c=b.m_shapeList;c;c=c.m_next)c.RefilterProxy(this.m_broadPhase,b.m_xf)}};a.Refilter=function(b){b.RefilterProxy(this.m_broadPhase,b.m_body.m_xf)};a.SetWarmStarting=function(b){b2World.m_warmStarting=b};a.SetPositionCorrection=function(b){b2World.m_positionCorrection=b};
a.SetContinuousPhysics=function(b){b2World.m_continuousPhysics=b};a.GetBodyCount=function(){return this.m_bodyCount};a.GetJointCount=function(){return this.m_jointCount};a.GetContactCount=function(){return this.m_contactCount};a.SetGravity=function(b){this.m_gravity=b};a.GetGroundBody=function(){return this.m_groundBody};
a.Step=function(b,c){this.m_lock=true;var d=new b2TimeStep;d.dt=b;d.maxIterations=c;d.inv_dt=b>0?1/b:0;d.dtRatio=this.m_inv_dt0*b;d.positionCorrection=b2World.m_positionCorrection;d.warmStarting=b2World.m_warmStarting;this.m_contactManager.Collide();d.dt>0&&this.Solve(d);b2World.m_continuousPhysics&&d.dt>0&&this.SolveTOI(d);this.DrawDebugData();this.m_inv_dt0=d.inv_dt;this.m_lock=false};a.Query=function(b,c,d){var e=new Array(d);b=this.m_broadPhase.QueryAABB(b,e,d);for(d=0;d<b;++d)c[d]=e[d];return b};
a.GetBodyList=function(){return this.m_bodyList};a.GetJointList=function(){return this.m_jointList};
a.Solve=function(b){var c;this.m_positionIterationCount=0;var d=new b2Island(this.m_bodyCount,this.m_contactCount,this.m_jointCount,this.m_stackAllocator,this.m_contactListener);for(c=this.m_bodyList;c;c=c.m_next)c.m_flags&=~b2Body.e_islandFlag;for(var e=this.m_contactList;e;e=e.m_next)e.m_flags&=~b2Contact.e_islandFlag;for(e=this.m_jointList;e;e=e.m_next)e.m_islandFlag=false;e=new Array(this.m_bodyCount);for(var f=this.m_bodyList;f;f=f.m_next)if(!(f.m_flags&(b2Body.e_islandFlag|b2Body.e_sleepFlag|
b2Body.e_frozenFlag)))if(!f.IsStatic()){d.Clear();var g=0;e[g++]=f;for(f.m_flags|=b2Body.e_islandFlag;g>0;){c=e[--g];d.AddBody(c);c.m_flags&=~b2Body.e_sleepFlag;if(!c.IsStatic()){for(var h,i=c.m_contactList;i;i=i.next)if(!(i.contact.m_flags&(b2Contact.e_islandFlag|b2Contact.e_nonSolidFlag)))if(i.contact.m_manifoldCount!=0){d.AddContact(i.contact);i.contact.m_flags|=b2Contact.e_islandFlag;h=i.other;if(!(h.m_flags&b2Body.e_islandFlag)){e[g++]=h;h.m_flags|=b2Body.e_islandFlag}}for(c=c.m_jointList;c;c=
c.next)if(c.joint.m_islandFlag!=true){d.AddJoint(c.joint);c.joint.m_islandFlag=true;h=c.other;if(!(h.m_flags&b2Body.e_islandFlag)){e[g++]=h;h.m_flags|=b2Body.e_islandFlag}}}}d.Solve(b,this.m_gravity,b2World.m_positionCorrection,this.m_allowSleep);if(d.m_positionIterationCount>this.m_positionIterationCount)this.m_positionIterationCount=d.m_positionIterationCount;for(g=0;g<d.m_bodyCount;++g){c=d.m_bodies[g];if(c.IsStatic())c.m_flags&=~b2Body.e_islandFlag}}for(c=this.m_bodyList;c;c=c.m_next)c.m_flags&
(b2Body.e_sleepFlag|b2Body.e_frozenFlag)||c.IsStatic()||c.SynchronizeShapes()==false&&this.m_boundaryListener!=null&&this.m_boundaryListener.Violation(c);this.m_broadPhase.Commit()};
a.SolveTOI=function(b){var c,d,e,f=new b2Island(this.m_bodyCount,b2Settings.b2_maxTOIContactsPerIsland,0,this.m_stackAllocator,this.m_contactListener),g=new Array(this.m_bodyCount);for(c=this.m_bodyList;c;c=c.m_next){c.m_flags&=~b2Body.e_islandFlag;c.m_sweep.t0=0}var h;for(h=this.m_contactList;h;h=h.m_next)h.m_flags&=~(b2Contact.e_toiFlag|b2Contact.e_islandFlag);for(;;){c=null;var i=1;for(h=this.m_contactList;h;h=h.m_next)if(!(h.m_flags&(b2Contact.e_slowFlag|b2Contact.e_nonSolidFlag))){d=1;if(h.m_flags&
b2Contact.e_toiFlag)d=h.m_toi;else{d=h.m_shape1;e=h.m_shape2;d=d.m_body;e=e.m_body;if((d.IsStatic()||d.IsSleeping())&&(e.IsStatic()||e.IsSleeping()))continue;var j=d.m_sweep.t0;if(d.m_sweep.t0<e.m_sweep.t0){j=e.m_sweep.t0;d.m_sweep.Advance(j)}else if(e.m_sweep.t0<d.m_sweep.t0){j=d.m_sweep.t0;e.m_sweep.Advance(j)}d=b2TimeOfImpact.TimeOfImpact(h.m_shape1,d.m_sweep,h.m_shape2,e.m_sweep);if(d>0&&d<1){d=(1-d)*j+d;if(d>1)d=1}h.m_toi=d;h.m_flags|=b2Contact.e_toiFlag}if(Number.MIN_VALUE<d&&d<i){c=h;i=d}}if(c==
null||1-100*Number.MIN_VALUE<i)break;d=c.m_shape1;e=c.m_shape2;d=d.m_body;e=e.m_body;d.Advance(i);e.Advance(i);c.Update(this.m_contactListener);c.m_flags&=~b2Contact.e_toiFlag;if(c.m_manifoldCount!=0){c=d;if(c.IsStatic())c=e;f.Clear();h=0;g[h++]=c;for(c.m_flags|=b2Body.e_islandFlag;h>0;){c=g[--h];f.AddBody(c);c.m_flags&=~b2Body.e_sleepFlag;if(!c.IsStatic())for(c=c.m_contactList;c;c=c.next)if(f.m_contactCount!=f.m_contactCapacity)if(!(c.contact.m_flags&(b2Contact.e_islandFlag|b2Contact.e_slowFlag|
b2Contact.e_nonSolidFlag)))if(c.contact.m_manifoldCount!=0){f.AddContact(c.contact);c.contact.m_flags|=b2Contact.e_islandFlag;d=c.other;if(!(d.m_flags&b2Body.e_islandFlag)){if(d.IsStatic()==false){d.Advance(i);d.WakeUp()}g[h++]=d;d.m_flags|=b2Body.e_islandFlag}}}h=new b2TimeStep;h.dt=(1-i)*b.dt;h.inv_dt=1/h.dt;h.maxIterations=b.maxIterations;f.SolveTOI(h);for(i=i=0;i<f.m_bodyCount;++i){c=f.m_bodies[i];c.m_flags&=~b2Body.e_islandFlag;if(!(c.m_flags&(b2Body.e_sleepFlag|b2Body.e_frozenFlag)))if(!c.IsStatic()){c.SynchronizeShapes()==
false&&this.m_boundaryListener!=null&&this.m_boundaryListener.Violation(c);for(c=c.m_contactList;c;c=c.next)c.contact.m_flags&=~b2Contact.e_toiFlag}}for(i=0;i<f.m_contactCount;++i){h=f.m_contacts[i];h.m_flags&=~(b2Contact.e_toiFlag|b2Contact.e_islandFlag)}this.m_broadPhase.Commit()}}};
a.DrawJoint=function(b){var c=b.m_body1,d=b.m_body2,e=c.m_xf.position,f=d.m_xf.position,g=b.GetAnchor1(),h=b.GetAnchor2(),i=b2World.s_jointColor;switch(b.m_type){case b2Joint.e_distanceJoint:this.m_debugDraw.DrawSegment(g,h,i);break;case b2Joint.e_pulleyJoint:c=b.GetGroundAnchor1();b=b.GetGroundAnchor2();this.m_debugDraw.DrawSegment(c,g,i);this.m_debugDraw.DrawSegment(b,h,i);this.m_debugDraw.DrawSegment(c,b,i);break;case b2Joint.e_mouseJoint:this.m_debugDraw.DrawSegment(g,h,i);break;default:c!=this.m_groundBody&&
this.m_debugDraw.DrawSegment(e,g,i);this.m_debugDraw.DrawSegment(g,h,i);d!=this.m_groundBody&&this.m_debugDraw.DrawSegment(f,h,i)}};
a.DrawShape=function(b,c,d,e){var f=b2World.s_coreColor;switch(b.m_type){case b2Shape.e_circleShape:var g=b2Math.b2MulX(c,b.m_localPosition);b=b.m_radius;this.m_debugDraw.DrawSolidCircle(g,b,c.R.col1,d);e&&this.m_debugDraw.DrawCircle(g,b-b2Settings.b2_toiSlop,f);break;case b2Shape.e_polygonShape:g=0;var h=b.GetVertexCount(),i=b.GetVertices(),j=new Array(b2Settings.b2_maxPolygonVertices);for(g=0;g<h;++g)j[g]=b2Math.b2MulX(c,i[g]);this.m_debugDraw.DrawSolidPolygon(j,h,d);if(e){d=b.GetCoreVertices();
for(g=0;g<h;++g)j[g]=b2Math.b2MulX(c,d[g]);this.m_debugDraw.DrawPolygon(j,h,f)}break}};
a.DrawDebugData=function(){if(this.m_debugDraw!=null){this.m_debugDraw.m_sprite.graphics.clear();var b=this.m_debugDraw.GetFlags(),c=0,d,e,f=new b2Vec2,g=new b2Vec2,h=new b2Vec2,i=new b2Color(0,0,0),j,k=new b2AABB,l=new b2AABB,m=[new b2Vec2,new b2Vec2,new b2Vec2,new b2Vec2];if(b&b2DebugDraw.e_shapeBit){c=(b&b2DebugDraw.e_coreShapeBit)==b2DebugDraw.e_coreShapeBit;for(d=this.m_bodyList;d;d=d.m_next){j=d.m_xf;for(e=d.GetShapeList();e;e=e.m_next)if(d.IsStatic())this.DrawShape(e,j,new b2Color(0.5,0.9,
0.5),c);else d.IsSleeping()?this.DrawShape(e,j,new b2Color(0.5,0.5,0.9),c):this.DrawShape(e,j,new b2Color(0.9,0.9,0.9),c)}}if(b&b2DebugDraw.e_jointBit)for(c=this.m_jointList;c;c=c.m_next)this.DrawJoint(c);if(b&b2DebugDraw.e_pairBit){d=this.m_broadPhase;f.Set(1/d.m_quantizationFactor.x,1/d.m_quantizationFactor.y);i.Set(0.9,0.9,0.3);for(c=0;c<b2Pair.b2_tableCapacity;++c)for(e=d.m_pairManager.m_hashTable[c];e!=b2Pair.b2_nullPair;){e=d.m_pairManager.m_pairs[e];j=d.m_proxyPool[e.proxyId1];var n=d.m_proxyPool[e.proxyId2];
k.lowerBound.x=d.m_worldAABB.lowerBound.x+f.x*d.m_bounds[0][j.lowerBounds[0]].value;k.lowerBound.y=d.m_worldAABB.lowerBound.y+f.y*d.m_bounds[1][j.lowerBounds[1]].value;k.upperBound.x=d.m_worldAABB.lowerBound.x+f.x*d.m_bounds[0][j.upperBounds[0]].value;k.upperBound.y=d.m_worldAABB.lowerBound.y+f.y*d.m_bounds[1][j.upperBounds[1]].value;l.lowerBound.x=d.m_worldAABB.lowerBound.x+f.x*d.m_bounds[0][n.lowerBounds[0]].value;l.lowerBound.y=d.m_worldAABB.lowerBound.y+f.y*d.m_bounds[1][n.lowerBounds[1]].value;
l.upperBound.x=d.m_worldAABB.lowerBound.x+f.x*d.m_bounds[0][n.upperBounds[0]].value;l.upperBound.y=d.m_worldAABB.lowerBound.y+f.y*d.m_bounds[1][n.upperBounds[1]].value;g.x=0.5*(k.lowerBound.x+k.upperBound.x);g.y=0.5*(k.lowerBound.y+k.upperBound.y);h.x=0.5*(l.lowerBound.x+l.upperBound.x);h.y=0.5*(l.lowerBound.y+l.upperBound.y);this.m_debugDraw.DrawSegment(g,h,i);e=e.next}}if(b&b2DebugDraw.e_aabbBit){d=this.m_broadPhase;g=d.m_worldAABB.lowerBound;h=d.m_worldAABB.upperBound;f.Set(1/d.m_quantizationFactor.x,
1/d.m_quantizationFactor.y);i.Set(0.9,0.3,0.9);for(c=0;c<b2Settings.b2_maxProxies;++c){l=d.m_proxyPool[c];if(l.IsValid()!=false){k.lowerBound.x=g.x+f.x*d.m_bounds[0][l.lowerBounds[0]].value;k.lowerBound.y=g.y+f.y*d.m_bounds[1][l.lowerBounds[1]].value;k.upperBound.x=g.x+f.x*d.m_bounds[0][l.upperBounds[0]].value;k.upperBound.y=g.y+f.y*d.m_bounds[1][l.upperBounds[1]].value;m[0].Set(k.lowerBound.x,k.lowerBound.y);m[1].Set(k.upperBound.x,k.lowerBound.y);m[2].Set(k.upperBound.x,k.upperBound.y);m[3].Set(k.lowerBound.x,
k.upperBound.y);this.m_debugDraw.DrawPolygon(m,4,i)}}m[0].Set(g.x,g.y);m[1].Set(h.x,g.y);m[2].Set(h.x,h.y);m[3].Set(g.x,h.y);this.m_debugDraw.DrawPolygon(m,4,new b2Color(0.3,0.9,0.9))}if(b&b2DebugDraw.e_obbBit){i.Set(0.5,0.3,0.5);for(d=this.m_bodyList;d;d=d.m_next){j=d.m_xf;for(e=d.GetShapeList();e;e=e.m_next)if(e.m_type==b2Shape.e_polygonShape){f=e.GetOBB();c=f.extents;m[0].Set(-c.x,-c.y);m[1].Set(c.x,-c.y);m[2].Set(c.x,c.y);m[3].Set(-c.x,c.y);for(c=0;c<4;++c){k=f.R;g=m[c];h=f.center.x+(k.col1.x*
g.x+k.col2.x*g.y);m[c].y=f.center.y+(k.col1.y*g.x+k.col2.y*g.y);m[c].x=h;k=j.R;h=j.position.x+(k.col1.x*g.x+k.col2.x*g.y);m[c].y=j.position.y+(k.col1.y*g.x+k.col2.y*g.y);m[c].x=h}this.m_debugDraw.DrawPolygon(m,4,i)}}}if(b&b2DebugDraw.e_centerOfMassBit)for(d=this.m_bodyList;d;d=d.m_next){j=b2World.s_xf;j.R=d.m_xf.R;j.position=d.GetWorldCenter();this.m_debugDraw.DrawXForm(j)}}};