physics.js

/*
  
 * @project:    jGravity
 * @version:    0.8 - 29/04/2012
 * @author:     Craig Thomas - www.tinybigideas.com
 * @project:    http://tinybigideas.com/plugins/jquery-gravity/
 * @license:    jGravity is licensed under a Open Source Initiative OSI MIT License: http://opensource.org/licenses/mit-license.php
 * @changlog:   http://tinybigideas.com/plugins/jquery-gravity/
 
 */
 
/*------------------------------------*\
   CREDITS
\*------------------------------------*/
/*
 - Mr. Doobs :: http://mrdoob.com/92/Google_Gravity
 - GravityScript :: http://gravityscript.googlecode.com/
 - Alex Arnell's inheritance.js :: http://code.google.com/p/inheritance/
 - Box2Djs :: http://box2d-js.sourceforge.net/
*/
 
/*------------------------------------*\
   CONTENTS
\*------------------------------------*/
/*

LIBRARIES
 - Alex Arnell's inheritance.js
 - Box2Djs (port of Box2DFlash 1.4.3.1) :: http://box2d-js.sourceforge.net/

WORKERS
 - variables
 - get browser dimensions
 - initialise

FUNCTIONS
 - init()
 - run()
 - onDocumentMouseDown()
 - onDocumentMouseUp()
 - onDocumentMouseMove()
 - onElementMouseDown()
 - onnElementMouseUp()
 - loop()
 - createBox()
 - mouseDrag()
 - getBodyAtMouse()
 - setWalls()
 - getBrowserDimensions()
 
*/

var target = [];
var ignore = [];

(function($){
    $.fn.extend({ 
        jGravity: function(options) {
            
            // set default settings
            var settings = {
                target: 'p,li,img,span,a,input,button,textarea,select',
                ignore: 'audio,video,embed,object,iframe,script,style,br',
                weight: 20,
                depth: 1,
                drag: true
            }
                 
            var options =  $.extend(settings, options);
            
            return this.each(function() {
                var o = options;
                
                // allow user to specify target as 'everything'
                if (o.target == 'everything') {
                    o.target = 'body *'
                }
                
                // allow user to specify weight as 'light' or 'heavy'
                if (o.weight == 'light') {
                    o.weight = 50;
                }
                else if (o.weight == 'heavy') {
                    o.weight = 1;
                }

                // Add gravity to target elements
                target = o.target.split(',');
                ignore = o.ignore.split(',');

/*------------------------------------*\
   LIBRARIES
\*------------------------------------*/

// Alex Arnell's inheritance.js :: http://code.google.com/p/inheritance/
function $A(a){if(!a)return[];if(a.toArray)return a.toArray();var b=a.length||0,c=new Array(b);while(b--)c[b]=a[b];return c}var Class={create:function(){function c(){this.initialize.apply(this,arguments)}var a=null,b=$A(arguments);if(Object.isFunction(b[0]))a=b.shift();Object.extend(c,Class.Methods);c.superclass=a;c.subclasses=[];if(a){var d=function(){};d.prototype=a.prototype;c.prototype=new d;a.subclasses.push(c)}for(var e=0;e<b.length;e++)c.addMethods(b[e]);if(!c.prototype.initialize)c.prototype.initialize=this.emptyFunction;c.prototype.constructor=c;return c},emptyFunction:function(){}};Class.Methods={addMethods:function(a){var b=this.superclass&&this.superclass.prototype;var c=Object.keys(a);if(!Object.keys({toString:true}).length)c.push("toString","valueOf");for(var d=0,e=c.length;d<e;d++){var f=c[d],g=a[f];if(b&&Object.isFunction(g)&&g.argumentNames().first()=="$super"){var h=g,g=Object.extend(function(a){return function(){return b[a].apply(this,arguments)}}(f).wrap(h),{valueOf:function(){return h},toString:function(){return h.toString()}})}this.prototype[f]=g}return this}};Object.extend=function(a,b){for(var c in b)a[c]=b[c];return a};Object.extend(Object,{inspect:function(a){try{if(Object.isUndefined(a))return"undefined";if(a===null)return"null";return a.inspect?a.inspect():String(a)}catch(b){if(b instanceof RangeError)return"...";throw b}},toJSON:function(a){var b=typeof a;switch(b){case"undefined":case"function":case"unknown":return;case"boolean":return a.toString()}if(a===null)return"null";if(a.toJSON)return a.toJSON();if(Object.isElement(a))return;var c=[];for(var d in a){var e=Object.toJSON(a[d]);if(!Object.isUndefined(e))c.push(d.toJSON()+": "+e)}return"{"+c.join(", ")+"}"},toQueryString:function(a){return $H(a).toQueryString()},toHTML:function(a){return a&&a.toHTML?a.toHTML():String.interpret(a)},keys:function(a){var b=[];for(var c in a)b.push(c);return b},values:function(a){var b=[];for(var c in a)b.push(a[c]);return b},clone:function(a){return Object.extend({},a)},isElement:function(a){return a&&a.nodeType==1},isArray:function(a){return a!=null&&typeof a=="object"&&"splice"in a&&"join"in a},isHash:function(a){return a instanceof Hash},isFunction:function(a){return typeof a=="function"},isString:function(a){return typeof a=="string"},isNumber:function(a){return typeof a=="number"},isUndefined:function(a){return typeof a=="undefined"}});if(WebKit=navigator.userAgent.indexOf("AppleWebKit/")>-1){$A=function(a){if(!a)return[];if(!(Object.isFunction(a)&&a=="[object NodeList]")&&a.toArray)return a.toArray();var b=a.length||0,c=new Array(b);while(b--)c[b]=a[b];return c}}

// Box2Djs (port of Box2DFlash 1.4.3.1) :: http://box2d-js.sourceforge.net/
var b2Settings=Class.create();b2Settings.prototype={initialize:function(){}};b2Settings.USHRT_MAX=65535;b2Settings.b2_pi=Math.PI;b2Settings.b2_massUnitsPerKilogram=1;b2Settings.b2_timeUnitsPerSecond=1;b2Settings.b2_lengthUnitsPerMeter=30;b2Settings.b2_maxManifoldPoints=2;b2Settings.b2_maxShapesPerBody=64;b2Settings.b2_maxPolyVertices=8;b2Settings.b2_maxProxies=1024;b2Settings.b2_maxPairs=8*b2Settings.b2_maxProxies;b2Settings.b2_linearSlop=.005*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_angularSlop=2/180*b2Settings.b2_pi;b2Settings.b2_velocityThreshold=1*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_maxLinearCorrection=.2*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_maxAngularCorrection=8/180*b2Settings.b2_pi;b2Settings.b2_contactBaumgarte=.2;b2Settings.b2_timeToSleep=.5*b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_linearSleepTolerance=.01*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_angularSleepTolerance=2/180/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2Assert=function(a){if(!a){var b;b.x++}};var b2Vec2=Class.create();b2Vec2.prototype={initialize:function(a,b){this.x=a;this.y=b},SetZero:function(){this.x=0;this.y=0},Set:function(a,b){this.x=a;this.y=b},SetV:function(a){this.x=a.x;this.y=a.y},Negative:function(){return new b2Vec2(-this.x,-this.y)},Copy:function(){return new b2Vec2(this.x,this.y)},Add:function(a){this.x+=a.x;this.y+=a.y},Subtract:function(a){this.x-=a.x;this.y-=a.y},Multiply:function(a){this.x*=a;this.y*=a},MulM:function(a){var b=this.x;this.x=a.col1.x*b+a.col2.x*this.y;this.y=a.col1.y*b+a.col2.y*this.y},MulTM:function(a){var b=b2Math.b2Dot(this,a.col1);this.y=b2Math.b2Dot(this,a.col2);this.x=b},CrossVF:function(a){var b=this.x;this.x=a*this.y;this.y=-a*b},CrossFV:function(a){var b=this.x;this.x=-a*this.y;this.y=a*b},MinV:function(a){this.x=this.x<a.x?this.x:a.x;this.y=this.y<a.y?this.y:a.y},MaxV:function(a){this.x=this.x>a.x?this.x:a.x;this.y=this.y>a.y?this.y:a.y},Abs:function(){this.x=Math.abs(this.x);this.y=Math.abs(this.y)},Length:function(){return Math.sqrt(this.x*this.x+this.y*this.y)},Normalize:function(){var a=this.Length();if(a<Number.MIN_VALUE){return 0}var b=1/a;this.x*=b;this.y*=b;return a},IsValid:function(){return b2Math.b2IsValid(this.x)&&b2Math.b2IsValid(this.y)},x:null,y:null};b2Vec2.Make=function(a,b){return new b2Vec2(a,b)};var b2Mat22=Class.create();b2Mat22.prototype={initialize:function(a,b,c){if(a==null)a=0;this.col1=new b2Vec2;this.col2=new b2Vec2;if(b!=null&&c!=null){this.col1.SetV(b);this.col2.SetV(c)}else{var d=Math.cos(a);var e=Math.sin(a);this.col1.x=d;this.col2.x=-e;this.col1.y=e;this.col2.y=d}},Set:function(a){var b=Math.cos(a);var c=Math.sin(a);this.col1.x=b;this.col2.x=-c;this.col1.y=c;this.col2.y=b},SetVV:function(a,b){this.col1.SetV(a);this.col2.SetV(b)},Copy:function(){return new b2Mat22(0,this.col1,this.col2)},SetM:function(a){this.col1.SetV(a.col1);this.col2.SetV(a.col2)},AddM:function(a){this.col1.x+=a.col1.x;this.col1.y+=a.col1.y;this.col2.x+=a.col2.x;this.col2.y+=a.col2.y},SetIdentity:function(){this.col1.x=1;this.col2.x=0;this.col1.y=0;this.col2.y=1},SetZero:function(){this.col1.x=0;this.col2.x=0;this.col1.y=0;this.col2.y=0},Invert:function(a){var b=this.col1.x;var c=this.col2.x;var d=this.col1.y;var e=this.col2.y;var f=b*e-c*d;f=1/f;a.col1.x=f*e;a.col2.x=-f*c;a.col1.y=-f*d;a.col2.y=f*b;return a},Solve:function(a,b,c){var d=this.col1.x;var e=this.col2.x;var f=this.col1.y;var g=this.col2.y;var h=d*g-e*f;h=1/h;a.x=h*(g*b-e*c);a.y=h*(d*c-f*b);return a},Abs:function(){this.col1.Abs();this.col2.Abs()},col1:new b2Vec2,col2:new b2Vec2};var b2Math=Class.create();b2Math.prototype={initialize:function(){}};b2Math.b2IsValid=function(a){return isFinite(a)};b2Math.b2Dot=function(a,b){return a.x*b.x+a.y*b.y};b2Math.b2CrossVV=function(a,b){return a.x*b.y-a.y*b.x};b2Math.b2CrossVF=function(a,b){var c=new b2Vec2(b*a.y,-b*a.x);return c};b2Math.b2CrossFV=function(a,b){var c=new b2Vec2(-a*b.y,a*b.x);return c};b2Math.b2MulMV=function(a,b){var c=new b2Vec2(a.col1.x*b.x+a.col2.x*b.y,a.col1.y*b.x+a.col2.y*b.y);return c};b2Math.b2MulTMV=function(a,b){var c=new b2Vec2(b2Math.b2Dot(b,a.col1),b2Math.b2Dot(b,a.col2));return c};b2Math.AddVV=function(a,b){var c=new b2Vec2(a.x+b.x,a.y+b.y);return c};b2Math.SubtractVV=function(a,b){var c=new b2Vec2(a.x-b.x,a.y-b.y);return c};b2Math.MulFV=function(a,b){var c=new b2Vec2(a*b.x,a*b.y);return c};b2Math.AddMM=function(a,b){var c=new b2Mat22(0,b2Math.AddVV(a.col1,b.col1),b2Math.AddVV(a.col2,b.col2));return c};b2Math.b2MulMM=function(a,b){var c=new b2Mat22(0,b2Math.b2MulMV(a,b.col1),b2Math.b2MulMV(a,b.col2));return c};b2Math.b2MulTMM=function(a,b){var c=new b2Vec2(b2Math.b2Dot(a.col1,b.col1),b2Math.b2Dot(a.col2,b.col1));var d=new b2Vec2(b2Math.b2Dot(a.col1,b.col2),b2Math.b2Dot(a.col2,b.col2));var e=new b2Mat22(0,c,d);return e};b2Math.b2Abs=function(a){return a>0?a:-a};b2Math.b2AbsV=function(a){var b=new b2Vec2(b2Math.b2Abs(a.x),b2Math.b2Abs(a.y));return b};b2Math.b2AbsM=function(a){var b=new b2Mat22(0,b2Math.b2AbsV(a.col1),b2Math.b2AbsV(a.col2));return b};b2Math.b2Min=function(a,b){return a<b?a:b};b2Math.b2MinV=function(a,b){var c=new b2Vec2(b2Math.b2Min(a.x,b.x),b2Math.b2Min(a.y,b.y));return c};b2Math.b2Max=function(a,b){return a>b?a:b};b2Math.b2MaxV=function(a,b){var c=new b2Vec2(b2Math.b2Max(a.x,b.x),b2Math.b2Max(a.y,b.y));return c};b2Math.b2Clamp=function(a,b,c){return b2Math.b2Max(b,b2Math.b2Min(a,c))};b2Math.b2ClampV=function(a,b,c){return b2Math.b2MaxV(b,b2Math.b2MinV(a,c))};b2Math.b2Swap=function(a,b){var c=a[0];a[0]=b[0];b[0]=c};b2Math.b2Random=function(){return Math.random()*2-1};b2Math.b2NextPowerOfTwo=function(a){a|=a>>1&2147483647;a|=a>>2&1073741823;a|=a>>4&268435455;a|=a>>8&16777215;a|=a>>16&65535;return a+1};b2Math.b2IsPowerOfTwo=function(a){var b=a>0&&(a&a-1)==0;return b};b2Math.tempVec2=new b2Vec2;b2Math.tempVec3=new b2Vec2;b2Math.tempVec4=new b2Vec2;b2Math.tempVec5=new b2Vec2;b2Math.tempMat=new b2Mat22;var b2AABB=Class.create();b2AABB.prototype={IsValid:function(){var a=this.maxVertex.x;var b=this.maxVertex.y;a=this.maxVertex.x;b=this.maxVertex.y;a-=this.minVertex.x;b-=this.minVertex.y;var c=a>=0&&b>=0;c=c&&this.minVertex.IsValid()&&this.maxVertex.IsValid();return c},minVertex:new b2Vec2,maxVertex:new b2Vec2,initialize:function(){this.minVertex=new b2Vec2;this.maxVertex=new b2Vec2}};var b2Bound=Class.create();b2Bound.prototype={IsLower:function(){return(this.value&1)==0},IsUpper:function(){return(this.value&1)==1},Swap:function(a){var b=this.value;var c=this.proxyId;var d=this.stabbingCount;this.value=a.value;this.proxyId=a.proxyId;this.stabbingCount=a.stabbingCount;a.value=b;a.proxyId=c;a.stabbingCount=d},value:0,proxyId:0,stabbingCount:0,initialize:function(){}};var b2BoundValues=Class.create();b2BoundValues.prototype={lowerValues:[0,0],upperValues:[0,0],initialize:function(){this.lowerValues=[0,0];this.upperValues=[0,0]}};var b2Pair=Class.create();b2Pair.prototype={SetBuffered:function(){this.status|=b2Pair.e_pairBuffered},ClearBuffered:function(){this.status&=~b2Pair.e_pairBuffered},IsBuffered:function(){return(this.status&b2Pair.e_pairBuffered)==b2Pair.e_pairBuffered},SetRemoved:function(){this.status|=b2Pair.e_pairRemoved},ClearRemoved:function(){this.status&=~b2Pair.e_pairRemoved},IsRemoved:function(){return(this.status&b2Pair.e_pairRemoved)==b2Pair.e_pairRemoved},SetFinal:function(){this.status|=b2Pair.e_pairFinal},IsFinal:function(){return(this.status&b2Pair.e_pairFinal)==b2Pair.e_pairFinal},userData:null,proxyId1:0,proxyId2:0,next:0,status:0,initialize: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;var b2PairCallback=Class.create();b2PairCallback.prototype={PairAdded:function(a,b){return null},PairRemoved:function(a,b,c){},initialize:function(){}};var b2BufferedPair=Class.create();b2BufferedPair.prototype={proxyId1:0,proxyId2:0,initialize:function(){}};var b2PairManager=Class.create();b2PairManager.prototype={initialize:function(){var a=0;this.m_hashTable=new Array(b2Pair.b2_tableCapacity);for(a=0;a<b2Pair.b2_tableCapacity;++a){this.m_hashTable[a]=b2Pair.b2_nullPair}this.m_pairs=new Array(b2Settings.b2_maxPairs);for(a=0;a<b2Settings.b2_maxPairs;++a){this.m_pairs[a]=new b2Pair}this.m_pairBuffer=new Array(b2Settings.b2_maxPairs);for(a=0;a<b2Settings.b2_maxPairs;++a){this.m_pairBuffer[a]=new b2BufferedPair}for(a=0;a<b2Settings.b2_maxPairs;++a){this.m_pairs[a].proxyId1=b2Pair.b2_nullProxy;this.m_pairs[a].proxyId2=b2Pair.b2_nullProxy;this.m_pairs[a].userData=null;this.m_pairs[a].status=0;this.m_pairs[a].next=a+1}this.m_pairs[b2Settings.b2_maxPairs-1].next=b2Pair.b2_nullPair;this.m_pairCount=0},Initialize:function(a,b){this.m_broadPhase=a;this.m_callback=b},AddBufferedPair:function(a,b){var c=this.AddPair(a,b);if(c.IsBuffered()==false){c.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=c.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=c.proxyId2;++this.m_pairBufferCount}c.ClearRemoved();if(b2BroadPhase.s_validate){this.ValidateBuffer()}},RemoveBufferedPair:function(a,b){var c=this.Find(a,b);if(c==null){return}if(c.IsBuffered()==false){c.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=c.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=c.proxyId2;++this.m_pairBufferCount}c.SetRemoved();if(b2BroadPhase.s_validate){this.ValidateBuffer()}},Commit:function(){var a=0;var b=0;var c=this.m_broadPhase.m_proxyPool;for(a=0;a<this.m_pairBufferCount;++a){var d=this.Find(this.m_pairBuffer[a].proxyId1,this.m_pairBuffer[a].proxyId2);d.ClearBuffered();var e=c[d.proxyId1];var f=c[d.proxyId2];if(d.IsRemoved()){if(d.IsFinal()==true){this.m_callback.PairRemoved(e.userData,f.userData,d.userData)}this.m_pairBuffer[b].proxyId1=d.proxyId1;this.m_pairBuffer[b].proxyId2=d.proxyId2;++b}else{if(d.IsFinal()==false){d.userData=this.m_callback.PairAdded(e.userData,f.userData);d.SetFinal()}}}for(a=0;a<b;++a){this.RemovePair(this.m_pairBuffer[a].proxyId1,this.m_pairBuffer[a].proxyId2)}this.m_pairBufferCount=0;if(b2BroadPhase.s_validate){this.ValidateTable()}},AddPair:function(a,b){if(a>b){var c=a;a=b;b=c}var d=b2PairManager.Hash(a,b)&b2Pair.b2_tableMask;var e=e=this.FindHash(a,b,d);if(e!=null){return e}var f=this.m_freePair;e=this.m_pairs[f];this.m_freePair=e.next;e.proxyId1=a;e.proxyId2=b;e.status=0;e.userData=null;e.next=this.m_hashTable[d];this.m_hashTable[d]=f;++this.m_pairCount;return e},RemovePair:function(a,b){if(a>b){var c=a;a=b;b=c}var d=b2PairManager.Hash(a,b)&b2Pair.b2_tableMask;var e=this.m_hashTable[d];var f=null;while(e!=b2Pair.b2_nullPair){if(b2PairManager.Equals(this.m_pairs[e],a,b)){var g=e;if(f){f.next=this.m_pairs[e].next}else{this.m_hashTable[d]=this.m_pairs[e].next}var h=this.m_pairs[g];var i=h.userData;h.next=this.m_freePair;h.proxyId1=b2Pair.b2_nullProxy;h.proxyId2=b2Pair.b2_nullProxy;h.userData=null;h.status=0;this.m_freePair=g;--this.m_pairCount;return i}else{f=this.m_pairs[e];e=f.next}}return null},Find:function(a,b){if(a>b){var c=a;a=b;b=c}var d=b2PairManager.Hash(a,b)&b2Pair.b2_tableMask;return this.FindHash(a,b,d)},FindHash:function(a,b,c){var d=this.m_hashTable[c];while(d!=b2Pair.b2_nullPair&&b2PairManager.Equals(this.m_pairs[d],a,b)==false){d=this.m_pairs[d].next}if(d==b2Pair.b2_nullPair){return null}return this.m_pairs[d]},ValidateBuffer:function(){},ValidateTable:function(){},m_broadPhase:null,m_callback:null,m_pairs:null,m_freePair:0,m_pairCount:0,m_pairBuffer:null,m_pairBufferCount:0,m_hashTable:null};b2PairManager.Hash=function(a,b){var c=b<<16&4294901760|a;c=~c+(c<<15&4294934528);c=c^c>>12&1048575;c=c+(c<<2&4294967292);c=c^c>>4&268435455;c=c*2057;c=c^c>>16&65535;return c};b2PairManager.Equals=function(a,b,c){return a.proxyId1==b&&a.proxyId2==c};b2PairManager.EqualsPair=function(a,b){return a.proxyId1==b.proxyId1&&a.proxyId2==b.proxyId2};var b2BroadPhase=Class.create();b2BroadPhase.prototype={initialize:function(a,b){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;var c=0;this.m_pairManager.Initialize(this,b);this.m_worldAABB=a;this.m_proxyCount=0;for(c=0;c<b2Settings.b2_maxProxies;c++){this.m_queryResults[c]=0}this.m_bounds=new Array(2);for(c=0;c<2;c++){this.m_bounds[c]=new Array(2*b2Settings.b2_maxProxies);for(var d=0;d<2*b2Settings.b2_maxProxies;d++){this.m_bounds[c][d]=new b2Bound}}var e=a.maxVertex.x;var f=a.maxVertex.y;e-=a.minVertex.x;f-=a.minVertex.y;this.m_quantizationFactor.x=b2Settings.USHRT_MAX/e;this.m_quantizationFactor.y=b2Settings.USHRT_MAX/f;var g;for(c=0;c<b2Settings.b2_maxProxies-1;++c){g=new b2Proxy;this.m_proxyPool[c]=g;g.SetNext(c+1);g.timeStamp=0;g.overlapCount=b2BroadPhase.b2_invalid;g.userData=null}g=new b2Proxy;this.m_proxyPool[b2Settings.b2_maxProxies-1]=g;g.SetNext(b2Pair.b2_nullProxy);g.timeStamp=0;g.overlapCount=b2BroadPhase.b2_invalid;g.userData=null;this.m_freeProxy=0;this.m_timeStamp=1;this.m_queryResultCount=0},InRange:function(a){var b;var c;var d;var e;b=a.minVertex.x;c=a.minVertex.y;b-=this.m_worldAABB.maxVertex.x;c-=this.m_worldAABB.maxVertex.y;d=this.m_worldAABB.minVertex.x;e=this.m_worldAABB.minVertex.y;d-=a.maxVertex.x;e-=a.maxVertex.y;b=b2Math.b2Max(b,d);c=b2Math.b2Max(c,e);return b2Math.b2Max(b,c)<0},GetProxy:function(a){if(a==b2Pair.b2_nullProxy||this.m_proxyPool[a].IsValid()==false){return null}return this.m_proxyPool[a]},CreateProxy:function(a,b){var c=0;var d;var e=this.m_freeProxy;d=this.m_proxyPool[e];this.m_freeProxy=d.GetNext();d.overlapCount=0;d.userData=b;var f=2*this.m_proxyCount;var g=new Array;var h=new Array;this.ComputeBounds(g,h,a);for(var i=0;i<2;++i){var j=this.m_bounds[i];var k=0;var l=0;var m=[k];var n=[l];this.Query(m,n,g[i],h[i],j,f,i);k=m[0];l=n[0];var o=new Array;var p=0;var q=f-l;var r;var s;for(p=0;p<q;p++){o[p]=new b2Bound;r=o[p];s=j[l+p];r.value=s.value;r.proxyId=s.proxyId;r.stabbingCount=s.stabbingCount}q=o.length;var t=l+2;for(p=0;p<q;p++){s=o[p];r=j[t+p];r.value=s.value;r.proxyId=s.proxyId;r.stabbingCount=s.stabbingCount}o=new Array;q=l-k;for(p=0;p<q;p++){o[p]=new b2Bound;r=o[p];s=j[k+p];r.value=s.value;r.proxyId=s.proxyId;r.stabbingCount=s.stabbingCount}q=o.length;t=k+1;for(p=0;p<q;p++){s=o[p];r=j[t+p];r.value=s.value;r.proxyId=s.proxyId;r.stabbingCount=s.stabbingCount}++l;j[k].value=g[i];j[k].proxyId=e;j[l].value=h[i];j[l].proxyId=e;j[k].stabbingCount=k==0?0:j[k-1].stabbingCount;j[l].stabbingCount=j[l-1].stabbingCount;for(c=k;c<l;++c){j[c].stabbingCount++}for(c=k;c<f+2;++c){var u=this.m_proxyPool[j[c].proxyId];if(j[c].IsLower()){u.lowerBounds[i]=c}else{u.upperBounds[i]=c}}}++this.m_proxyCount;for(var v=0;v<this.m_queryResultCount;++v){this.m_pairManager.AddBufferedPair(e,this.m_queryResults[v])}this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();return e},DestroyProxy:function(a){var b=this.m_proxyPool[a];var c=2*this.m_proxyCount;for(var d=0;d<2;++d){var e=this.m_bounds[d];var f=b.lowerBounds[d];var g=b.upperBounds[d];var h=e[f].value;var i=e[g].value;var j=new Array;var k=0;var l=g-f-1;var m;var n;for(k=0;k<l;k++){j[k]=new b2Bound;m=j[k];n=e[f+1+k];m.value=n.value;m.proxyId=n.proxyId;m.stabbingCount=n.stabbingCount}l=j.length;var o=f;for(k=0;k<l;k++){n=j[k];m=e[o+k];m.value=n.value;m.proxyId=n.proxyId;m.stabbingCount=n.stabbingCount}j=new Array;l=c-g-1;for(k=0;k<l;k++){j[k]=new b2Bound;m=j[k];n=e[g+1+k];m.value=n.value;m.proxyId=n.proxyId;m.stabbingCount=n.stabbingCount}l=j.length;o=g-1;for(k=0;k<l;k++){n=j[k];m=e[o+k];m.value=n.value;m.proxyId=n.proxyId;m.stabbingCount=n.stabbingCount}l=c-2;for(var p=f;p<l;++p){var q=this.m_proxyPool[e[p].proxyId];if(e[p].IsLower()){q.lowerBounds[d]=p}else{q.upperBounds[d]=p}}l=g-1;for(var r=f;r<l;++r){e[r].stabbingCount--}this.Query([0],[0],h,i,e,c-2,d)}for(var s=0;s<this.m_queryResultCount;++s){this.m_pairManager.RemoveBufferedPair(a,this.m_queryResults[s])}this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();b.userData=null;b.overlapCount=b2BroadPhase.b2_invalid;b.lowerBounds[0]=b2BroadPhase.b2_invalid;b.lowerBounds[1]=b2BroadPhase.b2_invalid;b.upperBounds[0]=b2BroadPhase.b2_invalid;b.upperBounds[1]=b2BroadPhase.b2_invalid;b.SetNext(this.m_freeProxy);this.m_freeProxy=a;--this.m_proxyCount},MoveProxy:function(a,b){var c=0;var d=0;var e;var f;var g;var h=0;var i;if(a==b2Pair.b2_nullProxy||b2Settings.b2_maxProxies<=a){return}if(b.IsValid()==false){return}var j=2*this.m_proxyCount;var k=this.m_proxyPool[a];var l=new b2BoundValues;this.ComputeBounds(l.lowerValues,l.upperValues,b);var m=new b2BoundValues;for(c=0;c<2;++c){m.lowerValues[c]=this.m_bounds[c][k.lowerBounds[c]].value;m.upperValues[c]=this.m_bounds[c][k.upperBounds[c]].value}for(c=0;c<2;++c){var n=this.m_bounds[c];var o=k.lowerBounds[c];var p=k.upperBounds[c];var q=l.lowerValues[c];var r=l.upperValues[c];var s=q-n[o].value;var t=r-n[p].value;n[o].value=q;n[p].value=r;if(s<0){d=o;while(d>0&&q<n[d-1].value){e=n[d];f=n[d-1];var u=f.proxyId;var v=this.m_proxyPool[f.proxyId];f.stabbingCount++;if(f.IsUpper()==true){if(this.TestOverlap(l,v)){this.m_pairManager.AddBufferedPair(a,u)}v.upperBounds[c]++;e.stabbingCount++}else{v.lowerBounds[c]++;e.stabbingCount--}k.lowerBounds[c]--;e.Swap(f);--d}}if(t>0){d=p;while(d<j-1&&n[d+1].value<=r){e=n[d];g=n[d+1];h=g.proxyId;i=this.m_proxyPool[h];g.stabbingCount++;if(g.IsLower()==true){if(this.TestOverlap(l,i)){this.m_pairManager.AddBufferedPair(a,h)}i.lowerBounds[c]--;e.stabbingCount++}else{i.upperBounds[c]--;e.stabbingCount--}k.upperBounds[c]++;e.Swap(g);d++}}if(s>0){d=o;while(d<j-1&&n[d+1].value<=q){e=n[d];g=n[d+1];h=g.proxyId;i=this.m_proxyPool[h];g.stabbingCount--;if(g.IsUpper()){if(this.TestOverlap(m,i)){this.m_pairManager.RemoveBufferedPair(a,h)}i.upperBounds[c]--;e.stabbingCount--}else{i.lowerBounds[c]--;e.stabbingCount++}k.lowerBounds[c]++;e.Swap(g);d++}}if(t<0){d=p;while(d>0&&r<n[d-1].value){e=n[d];f=n[d-1];u=f.proxyId;v=this.m_proxyPool[u];f.stabbingCount--;if(f.IsLower()==true){if(this.TestOverlap(m,v)){this.m_pairManager.RemoveBufferedPair(a,u)}v.lowerBounds[c]++;e.stabbingCount--}else{v.upperBounds[c]++;e.stabbingCount++}k.upperBounds[c]--;e.Swap(f);d--}}}},Commit:function(){this.m_pairManager.Commit()},QueryAABB:function(a,b,c){var d=new Array;var e=new Array;this.ComputeBounds(d,e,a);var f=0;var g=0;var h=[f];var i=[g];this.Query(h,i,d[0],e[0],this.m_bounds[0],2*this.m_proxyCount,0);this.Query(h,i,d[1],e[1],this.m_bounds[1],2*this.m_proxyCount,1);var j=0;for(var k=0;k<this.m_queryResultCount&&j<c;++k,++j){var l=this.m_proxyPool[this.m_queryResults[k]];b[k]=l.userData}this.m_queryResultCount=0;this.IncrementTimeStamp();return j},Validate:function(){var a;var b;var c;var d;for(var e=0;e<2;++e){var f=this.m_bounds[e];var g=2*this.m_proxyCount;var h=0;for(var i=0;i<g;++i){var j=f[i];if(j.IsLower()==true){h++}else{h--}}}},ComputeBounds:function(a,b,c){var d=c.minVertex.x;var e=c.minVertex.y;d=b2Math.b2Min(d,this.m_worldAABB.maxVertex.x);e=b2Math.b2Min(e,this.m_worldAABB.maxVertex.y);d=b2Math.b2Max(d,this.m_worldAABB.minVertex.x);e=b2Math.b2Max(e,this.m_worldAABB.minVertex.y);var f=c.maxVertex.x;var g=c.maxVertex.y;f=b2Math.b2Min(f,this.m_worldAABB.maxVertex.x);g=b2Math.b2Min(g,this.m_worldAABB.maxVertex.y);f=b2Math.b2Max(f,this.m_worldAABB.minVertex.x);g=b2Math.b2Max(g,this.m_worldAABB.minVertex.y);a[0]=this.m_quantizationFactor.x*(d-this.m_worldAABB.minVertex.x)&b2Settings.USHRT_MAX-1;b[0]=this.m_quantizationFactor.x*(f-this.m_worldAABB.minVertex.x)&65535|1;a[1]=this.m_quantizationFactor.y*(e-this.m_worldAABB.minVertex.y)&b2Settings.USHRT_MAX-1;b[1]=this.m_quantizationFactor.y*(g-this.m_worldAABB.minVertex.y)&65535|1},TestOverlapValidate:function(a,b){for(var c=0;c<2;++c){var d=this.m_bounds[c];if(d[a.lowerBounds[c]].value>d[b.upperBounds[c]].value)return false;if(d[a.upperBounds[c]].value<d[b.lowerBounds[c]].value)return false}return true},TestOverlap:function(a,b){for(var c=0;c<2;++c){var d=this.m_bounds[c];if(a.lowerValues[c]>d[b.upperBounds[c]].value)return false;if(a.upperValues[c]<d[b.lowerBounds[c]].value)return false}return true},Query:function(a,b,c,d,e,f,g){var h=b2BroadPhase.BinarySearch(e,f,c);var i=b2BroadPhase.BinarySearch(e,f,d);for(var j=h;j<i;++j){if(e[j].IsLower()){this.IncrementOverlapCount(e[j].proxyId)}}if(h>0){var k=h-1;var l=e[k].stabbingCount;while(l){if(e[k].IsLower()){var m=this.m_proxyPool[e[k].proxyId];if(h<=m.upperBounds[g]){this.IncrementOverlapCount(e[k].proxyId);--l}}--k}}a[0]=h;b[0]=i},IncrementOverlapCount:function(a){var b=this.m_proxyPool[a];if(b.timeStamp<this.m_timeStamp){b.timeStamp=this.m_timeStamp;b.overlapCount=1}else{b.overlapCount=2;this.m_queryResults[this.m_queryResultCount]=a;++this.m_queryResultCount}},IncrementTimeStamp:function(){if(this.m_timeStamp==b2Settings.USHRT_MAX){for(var a=0;a<b2Settings.b2_maxProxies;++a){this.m_proxyPool[a].timeStamp=0}this.m_timeStamp=1}else{++this.m_timeStamp}},m_pairManager:new b2PairManager,m_proxyPool:new Array(b2Settings.b2_maxPairs),m_freeProxy:0,m_bounds:new Array(2*b2Settings.b2_maxProxies),m_queryResults:new Array(b2Settings.b2_maxProxies),m_queryResultCount:0,m_worldAABB:null,m_quantizationFactor:new b2Vec2,m_proxyCount:0,m_timeStamp:0};b2BroadPhase.s_validate=false;b2BroadPhase.b2_invalid=b2Settings.USHRT_MAX;b2BroadPhase.b2_nullEdge=b2Settings.USHRT_MAX;b2BroadPhase.BinarySearch=function(a,b,c){var d=0;var e=b-1;while(d<=e){var f=Math.floor((d+e)/2);if(a[f].value>c){e=f-1}else if(a[f].value<c){d=f+1}else{return f}}return d};var b2Collision=Class.create();b2Collision.prototype={initialize:function(){}};b2Collision.b2_nullFeature=255;b2Collision.ClipSegmentToLine=function(a,b,c,d){var e=0;var f=b[0].v;var g=b[1].v;var h=b2Math.b2Dot(c,b[0].v)-d;var i=b2Math.b2Dot(c,b[1].v)-d;if(h<=0)a[e++]=b[0];if(i<=0)a[e++]=b[1];if(h*i<0){var j=h/(h-i);var k=a[e].v;k.x=f.x+j*(g.x-f.x);k.y=f.y+j*(g.y-f.y);if(h>0){a[e].id=b[0].id}else{a[e].id=b[1].id}++e}return e};b2Collision.EdgeSeparation=function(a,b,c){var d=a.m_vertices;var e=c.m_vertexCount;var f=c.m_vertices;var g=a.m_normals[b].x;var h=a.m_normals[b].y;var i=g;var j=a.m_R;g=j.col1.x*i+j.col2.x*h;h=j.col1.y*i+j.col2.y*h;var k=g;var l=h;j=c.m_R;i=k*j.col1.x+l*j.col1.y;l=k*j.col2.x+l*j.col2.y;k=i;var m=0;var n=Number.MAX_VALUE;for(var o=0;o<e;++o){var p=f[o];var q=p.x*k+p.y*l;if(q<n){n=q;m=o}}j=a.m_R;var r=a.m_position.x+(j.col1.x*d[b].x+j.col2.x*d[b].y);var s=a.m_position.y+(j.col1.y*d[b].x+j.col2.y*d[b].y);j=c.m_R;var t=c.m_position.x+(j.col1.x*f[m].x+j.col2.x*f[m].y);var u=c.m_position.y+(j.col1.y*f[m].x+j.col2.y*f[m].y);t-=r;u-=s;var v=t*g+u*h;return v};b2Collision.FindMaxSeparation=function(a,b,c,d){var e=b.m_vertexCount;var f=c.m_position.x-b.m_position.x;var g=c.m_position.y-b.m_position.y;var h=f*b.m_R.col1.x+g*b.m_R.col1.y;var i=f*b.m_R.col2.x+g*b.m_R.col2.y;var j=0;var k=-Number.MAX_VALUE;for(var l=0;l<e;++l){var m=b.m_normals[l].x*h+b.m_normals[l].y*i;if(m>k){k=m;j=l}}var n=b2Collision.EdgeSeparation(b,j,c);if(n>0&&d==false){return n}var o=j-1>=0?j-1:e-1;var p=b2Collision.EdgeSeparation(b,o,c);if(p>0&&d==false){return p}var q=j+1<e?j+1:0;var r=b2Collision.EdgeSeparation(b,q,c);if(r>0&&d==false){return r}var s=0;var t;var u=0;if(p>n&&p>r){u=-1;s=o;t=p}else if(r>n){u=1;s=q;t=r}else{a[0]=j;return n}while(true){if(u==-1)j=s-1>=0?s-1:e-1;else j=s+1<e?s+1:0;n=b2Collision.EdgeSeparation(b,j,c);if(n>0&&d==false){return n}if(n>t){s=j;t=n}else{break}}a[0]=s;return t};b2Collision.FindIncidentEdge=function(a,b,c,d){var e=b.m_vertexCount;var f=b.m_vertices;var g=d.m_vertexCount;var h=d.m_vertices;var i=c;var j=c+1==e?0:c+1;var k=f[j];var l=k.x;var m=k.y;k=f[i];l-=k.x;m-=k.y;var n=l;l=m;m=-n;var o=1/Math.sqrt(l*l+m*m);l*=o;m*=o;var p=l;var q=m;n=p;var r=b.m_R;p=r.col1.x*n+r.col2.x*q;q=r.col1.y*n+r.col2.y*q;var s=p;var t=q;r=d.m_R;n=s*r.col1.x+t*r.col1.y;t=s*r.col2.x+t*r.col2.y;s=n;var u=0;var v=0;var w=Number.MAX_VALUE;for(var x=0;x<g;++x){var y=x;var z=x+1<g?x+1:0;k=h[z];var A=k.x;var B=k.y;k=h[y];A-=k.x;B-=k.y;n=A;A=B;B=-n;o=1/Math.sqrt(A*A+B*B);A*=o;B*=o;var C=A*s+B*t;if(C<w){w=C;u=y;v=z}}var D;D=a[0];k=D.v;k.SetV(h[u]);k.MulM(d.m_R);k.Add(d.m_position);D.id.features.referenceFace=c;D.id.features.incidentEdge=u;D.id.features.incidentVertex=u;D=a[1];k=D.v;k.SetV(h[v]);k.MulM(d.m_R);k.Add(d.m_position);D.id.features.referenceFace=c;D.id.features.incidentEdge=u;D.id.features.incidentVertex=v};b2Collision.b2CollidePolyTempVec=new b2Vec2;b2Collision.b2CollidePoly=function(a,b,c,d){a.pointCount=0;var e=0;var f=[e];var g=b2Collision.FindMaxSeparation(f,b,c,d);e=f[0];if(g>0&&d==false)return;var h=0;var i=[h];var j=b2Collision.FindMaxSeparation(i,c,b,d);h=i[0];if(j>0&&d==false)return;var k;var l;var m=0;var n=0;var o=.98;var p=.001;if(j>o*g+p){k=c;l=b;m=h;n=1}else{k=b;l=c;m=e;n=0}var q=[new ClipVertex,new ClipVertex];b2Collision.FindIncidentEdge(q,k,m,l);var r=k.m_vertexCount;var s=k.m_vertices;var t=s[m];var u=m+1<r?s[m+1]:s[0];var v=u.x-t.x;var w=u.y-t.y;var x=u.x-t.x;var y=u.y-t.y;var z=x;var A=k.m_R;x=A.col1.x*z+A.col2.x*y;y=A.col1.y*z+A.col2.y*y;var B=1/Math.sqrt(x*x+y*y);x*=B;y*=B;var C=x;var D=y;z=C;C=D;D=-z;var E=t.x;var F=t.y;z=E;A=k.m_R;E=A.col1.x*z+A.col2.x*F;F=A.col1.y*z+A.col2.y*F;E+=k.m_position.x;F+=k.m_position.y;var G=u.x;var H=u.y;z=G;A=k.m_R;G=A.col1.x*z+A.col2.x*H;H=A.col1.y*z+A.col2.y*H;G+=k.m_position.x;H+=k.m_position.y;var I=C*E+D*F;var J=-(x*E+y*F);var K=x*G+y*H;var L=[new ClipVertex,new ClipVertex];var M=[new ClipVertex,new ClipVertex];var N=0;b2Collision.b2CollidePolyTempVec.Set(-x,-y);N=b2Collision.ClipSegmentToLine(L,q,b2Collision.b2CollidePolyTempVec,J);if(N<2)return;b2Collision.b2CollidePolyTempVec.Set(x,y);N=b2Collision.ClipSegmentToLine(M,L,b2Collision.b2CollidePolyTempVec,K);if(N<2)return;if(n){a.normal.Set(-C,-D)}else{a.normal.Set(C,D)}var O=0;for(var P=0;P<b2Settings.b2_maxManifoldPoints;++P){var Q=M[P].v;var R=C*Q.x+D*Q.y-I;if(R<=0||d==true){var S=a.points[O];S.separation=R;S.position.SetV(M[P].v);S.id.Set(M[P].id);S.id.features.flip=n;++O}}a.pointCount=O};b2Collision.b2CollideCircle=function(a,b,c,d){a.pointCount=0;var e=c.m_position.x-b.m_position.x;var f=c.m_position.y-b.m_position.y;var g=e*e+f*f;var h=b.m_radius+c.m_radius;if(g>h*h&&d==false){return}var i;if(g<Number.MIN_VALUE){i=-h;a.normal.Set(0,1)}else{var j=Math.sqrt(g);i=j-h;var k=1/j;a.normal.x=k*e;a.normal.y=k*f}a.pointCount=1;var l=a.points[0];l.id.set_key(0);l.separation=i;l.position.x=c.m_position.x-c.m_radius*a.normal.x;l.position.y=c.m_position.y-c.m_radius*a.normal.y};b2Collision.b2CollidePolyAndCircle=function(a,b,c,d){a.pointCount=0;var e;var f;var g;var h=c.m_position.x-b.m_position.x;var i=c.m_position.y-b.m_position.y;var j=b.m_R;var k=h*j.col1.x+i*j.col1.y;i=h*j.col2.x+i*j.col2.y;h=k;var l;var m=0;var n=-Number.MAX_VALUE;var o=c.m_radius;for(var p=0;p<b.m_vertexCount;++p){var q=b.m_normals[p].x*(h-b.m_vertices[p].x)+b.m_normals[p].y*(i-b.m_vertices[p].y);if(q>o){return}if(q>n){n=q;m=p}}if(n<Number.MIN_VALUE){a.pointCount=1;var r=b.m_normals[m];a.normal.x=j.col1.x*r.x+j.col2.x*r.y;a.normal.y=j.col1.y*r.x+j.col2.y*r.y;e=a.points[0];e.id.features.incidentEdge=m;e.id.features.incidentVertex=b2Collision.b2_nullFeature;e.id.features.referenceFace=b2Collision.b2_nullFeature;e.id.features.flip=0;e.position.x=c.m_position.x-o*a.normal.x;e.position.y=c.m_position.y-o*a.normal.y;e.separation=n-o;return}var s=m;var t=s+1<b.m_vertexCount?s+1:0;var u=b.m_vertices[t].x-b.m_vertices[s].x;var v=b.m_vertices[t].y-b.m_vertices[s].y;var w=Math.sqrt(u*u+v*v);u/=w;v/=w;if(w<Number.MIN_VALUE){f=h-b.m_vertices[s].x;g=i-b.m_vertices[s].y;l=Math.sqrt(f*f+g*g);f/=l;g/=l;if(l>o){return}a.pointCount=1;a.normal.Set(j.col1.x*f+j.col2.x*g,j.col1.y*f+j.col2.y*g);e=a.points[0];e.id.features.incidentEdge=b2Collision.b2_nullFeature;e.id.features.incidentVertex=s;e.id.features.referenceFace=b2Collision.b2_nullFeature;e.id.features.flip=0;e.position.x=c.m_position.x-o*a.normal.x;e.position.y=c.m_position.y-o*a.normal.y;e.separation=l-o;return}var x=(h-b.m_vertices[s].x)*u+(i-b.m_vertices[s].y)*v;e=a.points[0];e.id.features.incidentEdge=b2Collision.b2_nullFeature;e.id.features.incidentVertex=b2Collision.b2_nullFeature;e.id.features.referenceFace=b2Collision.b2_nullFeature;e.id.features.flip=0;var y,z;if(x<=0){y=b.m_vertices[s].x;z=b.m_vertices[s].y;e.id.features.incidentVertex=s}else if(x>=w){y=b.m_vertices[t].x;z=b.m_vertices[t].y;e.id.features.incidentVertex=t}else{y=u*x+b.m_vertices[s].x;z=v*x+b.m_vertices[s].y;e.id.features.incidentEdge=s}f=h-y;g=i-z;l=Math.sqrt(f*f+g*g);f/=l;g/=l;if(l>o){return}a.pointCount=1;a.normal.Set(j.col1.x*f+j.col2.x*g,j.col1.y*f+j.col2.y*g);e.position.x=c.m_position.x-o*a.normal.x;e.position.y=c.m_position.y-o*a.normal.y;e.separation=l-o};b2Collision.b2TestOverlap=function(a,b){var c=b.minVertex;var d=a.maxVertex;var e=c.x-d.x;var f=c.y-d.y;c=a.minVertex;d=b.maxVertex;var g=c.x-d.x;var h=c.y-d.y;if(e>0||f>0)return false;if(g>0||h>0)return false;return true};var Features=Class.create();Features.prototype={set_referenceFace:function(a){this._referenceFace=a;this._m_id._key=this._m_id._key&4294967040|this._referenceFace&255},get_referenceFace:function(){return this._referenceFace},_referenceFace:0,set_incidentEdge:function(a){this._incidentEdge=a;this._m_id._key=this._m_id._key&4294902015|this._incidentEdge<<8&65280},get_incidentEdge:function(){return this._incidentEdge},_incidentEdge:0,set_incidentVertex:function(a){this._incidentVertex=a;this._m_id._key=this._m_id._key&4278255615|this._incidentVertex<<16&16711680},get_incidentVertex:function(){return this._incidentVertex},_incidentVertex:0,set_flip:function(a){this._flip=a;this._m_id._key=this._m_id._key&16777215|this._flip<<24&4278190080},get_flip:function(){return this._flip},_flip:0,_m_id:null,initialize:function(){}};var b2ContactID=Class.create();b2ContactID.prototype={initialize:function(){this.features=new Features;this.features._m_id=this},Set:function(a){this.set_key(a._key)},Copy:function(){var a=new b2ContactID;a.set_key(this._key);return a},get_key:function(){return this._key},set_key:function(a){this._key=a;this.features._referenceFace=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},features:new Features,_key:0};var b2ContactPoint=Class.create();b2ContactPoint.prototype={position:new b2Vec2,separation:null,normalImpulse:null,tangentImpulse:null,id:new b2ContactID,initialize:function(){this.position=new b2Vec2;this.id=new b2ContactID}};var b2Distance=Class.create();b2Distance.prototype={initialize:function(){}};b2Distance.ProcessTwo=function(a,b,c,d,e){var f=-e[1].x;var g=-e[1].y;var h=e[0].x-e[1].x;var i=e[0].y-e[1].y;var j=Math.sqrt(h*h+i*i);h/=j;i/=j;var k=f*h+g*i;if(k<=0||j<Number.MIN_VALUE){a.SetV(c[1]);b.SetV(d[1]);c[0].SetV(c[1]);d[0].SetV(d[1]);e[0].SetV(e[1]);return 1}k/=j;a.x=c[1].x+k*(c[0].x-c[1].x);a.y=c[1].y+k*(c[0].y-c[1].y);b.x=d[1].x+k*(d[0].x-d[1].x);b.y=d[1].y+k*(d[0].y-d[1].y);return 2};b2Distance.ProcessThree=function(a,b,c,d,e){var f=e[0].x;var g=e[0].y;var h=e[1].x;var i=e[1].y;var j=e[2].x;var k=e[2].y;var l=h-f;var m=i-g;var n=j-f;var o=k-g;var p=j-h;var q=k-i;var r=-(f*l+g*m);var s=h*l+i*m;var t=-(f*n+g*o);var u=j*n+k*o;var v=-(h*p+i*q);var w=j*p+k*q;if(u<=0&&w<=0){a.SetV(c[2]);b.SetV(d[2]);c[0].SetV(c[2]);d[0].SetV(d[2]);e[0].SetV(e[2]);return 1}var x=l*o-m*n;var y=x*(f*i-g*h);var z=x*(h*k-i*j);if(z<=0&&v>=0&&w>=0){var A=v/(v+w);a.x=c[1].x+A*(c[2].x-c[1].x);a.y=c[1].y+A*(c[2].y-c[1].y);b.x=d[1].x+A*(d[2].x-d[1].x);b.y=d[1].y+A*(d[2].y-d[1].y);c[0].SetV(c[2]);d[0].SetV(d[2]);e[0].SetV(e[2]);return 2}var B=x*(j*g-k*f);if(B<=0&&t>=0&&u>=0){var A=t/(t+u);a.x=c[0].x+A*(c[2].x-c[0].x);a.y=c[0].y+A*(c[2].y-c[0].y);b.x=d[0].x+A*(d[2].x-d[0].x);b.y=d[0].y+A*(d[2].y-d[0].y);c[1].SetV(c[2]);d[1].SetV(d[2]);e[1].SetV(e[2]);return 2}var C=z+B+y;C=1/C;var D=z*C;var E=B*C;var F=1-D-E;a.x=D*c[0].x+E*c[1].x+F*c[2].x;a.y=D*c[0].y+E*c[1].y+F*c[2].y;b.x=D*d[0].x+E*d[1].x+F*d[2].x;b.y=D*d[0].y+E*d[1].y+F*d[2].y;return 3};b2Distance.InPoinsts=function(a,b,c){for(var d=0;d<c;++d){if(a.x==b[d].x&&a.y==b[d].y){return true}}return false};b2Distance.Distance=function(a,b,c,d){var e=new Array(3);var f=new Array(3);var g=new Array(3);var h=0;a.SetV(c.m_position);b.SetV(d.m_position);var i=0;var j=20;for(var k=0;k<j;++k){var l=b.x-a.x;var m=b.y-a.y;var n=c.Support(l,m);var o=d.Support(-l,-m);i=l*l+m*m;var p=o.x-n.x;var q=o.y-n.y;var r=l*p+m*q;if(i-b2Dot(l*p+m*q)<=.01*i){if(h==0){a.SetV(n);b.SetV(o)}b2Distance.g_GJK_Iterations=k;return Math.sqrt(i)}switch(h){case 0:e[0].SetV(n);f[0].SetV(o);g[0]=w;a.SetV(e[0]);b.SetV(f[0]);++h;break;case 1:e[1].SetV(n);f[1].SetV(o);g[1].x=p;g[1].y=q;h=b2Distance.ProcessTwo(a,b,e,f,g);break;case 2:e[2].SetV(n);f[2].SetV(o);g[2].x=p;g[2].y=q;h=b2Distance.ProcessThree(a,b,e,f,g);break}if(h==3){b2Distance.g_GJK_Iterations=k;return 0}var s=-Number.MAX_VALUE;for(var t=0;t<h;++t){s=b2Math.b2Max(s,g[t].x*g[t].x+g[t].y*g[t].y)}if(h==3||i<=100*Number.MIN_VALUE*s){b2Distance.g_GJK_Iterations=k;return Math.sqrt(i)}}b2Distance.g_GJK_Iterations=j;return Math.sqrt(i)};b2Distance.g_GJK_Iterations=0;var b2Manifold=Class.create();b2Manifold.prototype={initialize:function(){this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var a=0;a<b2Settings.b2_maxManifoldPoints;a++){this.points[a]=new b2ContactPoint}this.normal=new b2Vec2},points:null,normal:null,pointCount:0};var b2OBB=Class.create();b2OBB.prototype={R:new b2Mat22,center:new b2Vec2,extents:new b2Vec2,initialize:function(){this.R=new b2Mat22;this.center=new b2Vec2;this.extents=new b2Vec2}};var b2Proxy=Class.create();b2Proxy.prototype={GetNext:function(){return this.lowerBounds[0]},SetNext:function(a){this.lowerBounds[0]=a},IsValid:function(){return this.overlapCount!=b2BroadPhase.b2_invalid},lowerBounds:[0,0],upperBounds:[0,0],overlapCount:0,timeStamp:0,userData:null,initialize:function(){this.lowerBounds=[0,0];this.upperBounds=[0,0]}};var ClipVertex=Class.create();ClipVertex.prototype={v:new b2Vec2,id:new b2ContactID,initialize:function(){this.v=new b2Vec2;this.id=new b2ContactID}};var b2Shape=Class.create();b2Shape.prototype={TestPoint:function(a){return false},GetUserData:function(){return this.m_userData},GetType:function(){return this.m_type},GetBody:function(){return this.m_body},GetPosition:function(){return this.m_position},GetRotationMatrix:function(){return this.m_R},ResetProxy:function(a){},GetNext:function(){return this.m_next},initialize:function(a,b){this.m_R=new b2Mat22;this.m_position=new b2Vec2;this.m_userData=a.userData;this.m_friction=a.friction;this.m_restitution=a.restitution;this.m_body=b;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0;this.m_categoryBits=a.categoryBits;this.m_maskBits=a.maskBits;this.m_groupIndex=a.groupIndex},DestroyProxy:function(){if(this.m_proxyId!=b2Pair.b2_nullProxy){this.m_body.m_world.m_broadPhase.DestroyProxy(this.m_proxyId);this.m_proxyId=b2Pair.b2_nullProxy}},Synchronize:function(a,b,c,d){},QuickSync:function(a,b){},Support:function(a,b,c){},GetMaxRadius:function(){return this.m_maxRadius},m_next:null,m_R:new b2Mat22,m_position:new b2Vec2,m_type:0,m_userData:null,m_body:null,m_friction:null,m_restitution:null,m_maxRadius:null,m_proxyId:0,m_categoryBits:0,m_maskBits:0,m_groupIndex:0};b2Shape.Create=function(a,b,c){switch(a.type){case b2Shape.e_circleShape:{return new b2CircleShape(a,b,c)};case b2Shape.e_boxShape:case b2Shape.e_polyShape:{return new b2PolyShape(a,b,c)}}return null};b2Shape.Destroy=function(a){if(a.m_proxyId!=b2Pair.b2_nullProxy)a.m_body.m_world.m_broadPhase.DestroyProxy(a.m_proxyId)};b2Shape.e_unknownShape=-1;b2Shape.e_circleShape=0;b2Shape.e_boxShape=1;b2Shape.e_polyShape=2;b2Shape.e_meshShape=3;b2Shape.e_shapeTypeCount=4;b2Shape.PolyMass=function(a,b,c,d){var e=new b2Vec2;e.SetZero();var f=0;var g=0;var h=new b2Vec2(0,0);var i=1/3;for(var j=0;j<c;++j){var k=h;var l=b[j];var m=j+1<c?b[j+1]:b[0];var n=b2Math.SubtractVV(l,k);var o=b2Math.SubtractVV(m,k);var p=b2Math.b2CrossVV(n,o);var q=.5*p;f+=q;var r=new b2Vec2;r.SetV(k);r.Add(l);r.Add(m);r.Multiply(i*q);e.Add(r);var s=k.x;var t=k.y;var u=n.x;var v=n.y;var w=o.x;var x=o.y;var y=i*(.25*(u*u+w*u+w*w)+(s*u+s*w))+.5*s*s;var z=i*(.25*(v*v+x*v+x*x)+(t*v+t*x))+.5*t*t;g+=p*(y+z)}a.mass=d*f;e.Multiply(1/f);a.center=e;g=d*(g-f*b2Math.b2Dot(e,e));a.I=g};b2Shape.PolyCentroid=function(a,b,c){var d=0;var e=0;var f=0;var g=0;var h=0;var i=1/3;for(var j=0;j<b;++j){var k=g;var l=h;var m=a[j].x;var n=a[j].y;var o=j+1<b?a[j+1].x:a[0].x;var p=j+1<b?a[j+1].y:a[0].y;var q=m-k;var r=n-l;var s=o-k;var t=p-l;var u=q*t-r*s;var v=.5*u;f+=v;d+=v*i*(k+m+o);e+=v*i*(l+n+p)}d*=1/f;e*=1/f;c.Set(d,e)};var b2ShapeDef=Class.create();b2ShapeDef.prototype={initialize:function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0},ComputeMass:function(a){a.center=new b2Vec2(0,0);if(this.density==0){a.mass=0;a.center.Set(0,0);a.I=0}switch(this.type){case b2Shape.e_circleShape:{var b=this;a.mass=this.density*b2Settings.b2_pi*b.radius*b.radius;a.center.Set(0,0);a.I=.5*a.mass*b.radius*b.radius}break;case b2Shape.e_boxShape:{var c=this;a.mass=4*this.density*c.extents.x*c.extents.y;a.center.Set(0,0);a.I=a.mass/3*b2Math.b2Dot(c.extents,c.extents)}break;case b2Shape.e_polyShape:{var d=this;b2Shape.PolyMass(a,d.vertices,d.vertexCount,this.density)}break;default:a.mass=0;a.center.Set(0,0);a.I=0;break}},type:0,userData:null,localPosition:null,localRotation:null,friction:null,restitution:null,density:null,categoryBits:0,maskBits:0,groupIndex:0};var b2BoxDef=Class.create();Object.extend(b2BoxDef.prototype,b2ShapeDef.prototype);Object.extend(b2BoxDef.prototype,{initialize:function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0;this.type=b2Shape.e_boxShape;this.extents=new b2Vec2(1,1)},extents:null});var b2CircleDef=Class.create();Object.extend(b2CircleDef.prototype,b2ShapeDef.prototype);Object.extend(b2CircleDef.prototype,{initialize:function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0;this.type=b2Shape.e_circleShape;this.radius=1},radius:null});var b2CircleShape=Class.create();Object.extend(b2CircleShape.prototype,b2Shape.prototype);Object.extend(b2CircleShape.prototype,{TestPoint:function(a){var b=new b2Vec2;b.SetV(a);b.Subtract(this.m_position);return b2Math.b2Dot(b,b)<=this.m_radius*this.m_radius},initialize:function(a,b,c){this.m_R=new b2Mat22;this.m_position=new b2Vec2;this.m_userData=a.userData;this.m_friction=a.friction;this.m_restitution=a.restitution;this.m_body=b;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0;this.m_categoryBits=a.categoryBits;this.m_maskBits=a.maskBits;this.m_groupIndex=a.groupIndex;this.m_localPosition=new b2Vec2;var d=a;this.m_localPosition.Set(a.localPosition.x-c.x,a.localPosition.y-c.y);this.m_type=b2Shape.e_circleShape;this.m_radius=d.radius;this.m_R.SetM(this.m_body.m_R);var e=this.m_R.col1.x*this.m_localPosition.x+this.m_R.col2.x*this.m_localPosition.y;var f=this.m_R.col1.y*this.m_localPosition.x+this.m_R.col2.y*this.m_localPosition.y;this.m_position.x=this.m_body.m_position.x+e;this.m_position.y=this.m_body.m_position.y+f;this.m_maxRadius=Math.sqrt(e*e+f*f)+this.m_radius;var g=new b2AABB;g.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);g.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);var h=this.m_body.m_world.m_broadPhase;if(h.InRange(g)){this.m_proxyId=h.CreateProxy(g,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}},Synchronize:function(a,b,c,d){this.m_R.SetM(d);this.m_position.x=d.col1.x*this.m_localPosition.x+d.col2.x*this.m_localPosition.y+c.x;this.m_position.y=d.col1.y*this.m_localPosition.x+d.col2.y*this.m_localPosition.y+c.y;if(this.m_proxyId==b2Pair.b2_nullProxy){return}var e=a.x+(b.col1.x*this.m_localPosition.x+b.col2.x*this.m_localPosition.y);var f=a.y+(b.col1.y*this.m_localPosition.x+b.col2.y*this.m_localPosition.y);var g=Math.min(e,this.m_position.x);var h=Math.min(f,this.m_position.y);var i=Math.max(e,this.m_position.x);var j=Math.max(f,this.m_position.y);var k=new b2AABB;k.minVertex.Set(g-this.m_radius,h-this.m_radius);k.maxVertex.Set(i+this.m_radius,j+this.m_radius);var l=this.m_body.m_world.m_broadPhase;if(l.InRange(k)){l.MoveProxy(this.m_proxyId,k)}else{this.m_body.Freeze()}},QuickSync:function(a,b){this.m_R.SetM(b);this.m_position.x=b.col1.x*this.m_localPosition.x+b.col2.x*this.m_localPosition.y+a.x;this.m_position.y=b.col1.y*this.m_localPosition.x+b.col2.y*this.m_localPosition.y+a.y},ResetProxy:function(a){if(this.m_proxyId==b2Pair.b2_nullProxy){return}var b=a.GetProxy(this.m_proxyId);a.DestroyProxy(this.m_proxyId);b=null;var c=new b2AABB;c.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);c.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);if(a.InRange(c)){this.m_proxyId=a.CreateProxy(c,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}},Support:function(a,b,c){var d=Math.sqrt(a*a+b*b);a/=d;b/=d;c.Set(this.m_position.x+this.m_radius*a,this.m_position.y+this.m_radius*b)},m_localPosition:new b2Vec2,m_radius:null});var b2MassData=Class.create();b2MassData.prototype={mass:0,center:new b2Vec2(0,0),I:0,initialize:function(){this.center=new b2Vec2(0,0)}};var b2PolyDef=Class.create();Object.extend(b2PolyDef.prototype,b2ShapeDef.prototype);Object.extend(b2PolyDef.prototype,{initialize:function(){this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0,0);this.localRotation=0;this.friction=.2;this.restitution=0;this.density=0;this.categoryBits=1;this.maskBits=65535;this.groupIndex=0;this.vertices=new Array(b2Settings.b2_maxPolyVertices);this.type=b2Shape.e_polyShape;this.vertexCount=0;for(var a=0;a<b2Settings.b2_maxPolyVertices;a++){this.vertices[a]=new b2Vec2}},vertices:new Array(b2Settings.b2_maxPolyVertices),vertexCount:0});var b2PolyShape=Class.create();Object.extend(b2PolyShape.prototype,b2Shape.prototype);Object.extend(b2PolyShape.prototype,{TestPoint:function(a){var b=new b2Vec2;b.SetV(a);b.Subtract(this.m_position);b.MulTM(this.m_R);for(var c=0;c<this.m_vertexCount;++c){var d=new b2Vec2;d.SetV(b);d.Subtract(this.m_vertices[c]);var e=b2Math.b2Dot(this.m_normals[c],d);if(e>0){return false}}return true},initialize:function(a,b,c){this.m_R=new b2Mat22;this.m_position=new b2Vec2;this.m_userData=a.userData;this.m_friction=a.friction;this.m_restitution=a.restitution;this.m_body=b;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0;this.m_categoryBits=a.categoryBits;this.m_maskBits=a.maskBits;this.m_groupIndex=a.groupIndex;this.syncAABB=new b2AABB;this.syncMat=new b2Mat22;this.m_localCentroid=new b2Vec2;this.m_localOBB=new b2OBB;var d=0;var e;var f;var g;var h=new b2AABB;this.m_vertices=new Array(b2Settings.b2_maxPolyVertices);this.m_coreVertices=new Array(b2Settings.b2_maxPolyVertices);this.m_normals=new Array(b2Settings.b2_maxPolyVertices);this.m_type=b2Shape.e_polyShape;var i=new b2Mat22(a.localRotation);if(a.type==b2Shape.e_boxShape){this.m_localCentroid.x=a.localPosition.x-c.x;this.m_localCentroid.y=a.localPosition.y-c.y;var j=a;this.m_vertexCount=4;e=j.extents.x;f=j.extents.y;var k=Math.max(0,e-2*b2Settings.b2_linearSlop);var l=Math.max(0,f-2*b2Settings.b2_linearSlop);g=this.m_vertices[0]=new b2Vec2;g.x=i.col1.x*e+i.col2.x*f;g.y=i.col1.y*e+i.col2.y*f;g=this.m_vertices[1]=new b2Vec2;g.x=i.col1.x*-e+i.col2.x*f;g.y=i.col1.y*-e+i.col2.y*f;g=this.m_vertices[2]=new b2Vec2;g.x=i.col1.x*-e+i.col2.x*-f;g.y=i.col1.y*-e+i.col2.y*-f;g=this.m_vertices[3]=new b2Vec2;g.x=i.col1.x*e+i.col2.x*-f;g.y=i.col1.y*e+i.col2.y*-f;g=this.m_coreVertices[0]=new b2Vec2;g.x=i.col1.x*k+i.col2.x*l;g.y=i.col1.y*k+i.col2.y*l;g=this.m_coreVertices[1]=new b2Vec2;g.x=i.col1.x*-k+i.col2.x*l;g.y=i.col1.y*-k+i.col2.y*l;g=this.m_coreVertices[2]=new b2Vec2;g.x=i.col1.x*-k+i.col2.x*-l;g.y=i.col1.y*-k+i.col2.y*-l;g=this.m_coreVertices[3]=new b2Vec2;g.x=i.col1.x*k+i.col2.x*-l;g.y=i.col1.y*k+i.col2.y*-l}else{var m=a;this.m_vertexCount=m.vertexCount;b2Shape.PolyCentroid(m.vertices,m.vertexCount,b2PolyShape.tempVec);var n=b2PolyShape.tempVec.x;var o=b2PolyShape.tempVec.y;this.m_localCentroid.x=a.localPosition.x+(i.col1.x*n+i.col2.x*o)-c.x;this.m_localCentroid.y=a.localPosition.y+(i.col1.y*n+i.col2.y*o)-c.y;for(d=0;d<this.m_vertexCount;++d){this.m_vertices[d]=new b2Vec2;this.m_coreVertices[d]=new b2Vec2;e=m.vertices[d].x-n;f=m.vertices[d].y-o;this.m_vertices[d].x=i.col1.x*e+i.col2.x*f;this.m_vertices[d].y=i.col1.y*e+i.col2.y*f;var p=this.m_vertices[d].x;var q=this.m_vertices[d].y;var r=Math.sqrt(p*p+q*q);if(r>Number.MIN_VALUE){p*=1/r;q*=1/r}this.m_coreVertices[d].x=this.m_vertices[d].x-2*b2Settings.b2_linearSlop*p;this.m_coreVertices[d].y=this.m_vertices[d].y-2*b2Settings.b2_linearSlop*q}}var s=Number.MAX_VALUE;var t=Number.MAX_VALUE;var u=-Number.MAX_VALUE;var v=-Number.MAX_VALUE;this.m_maxRadius=0;for(d=0;d<this.m_vertexCount;++d){var w=this.m_vertices[d];s=Math.min(s,w.x);t=Math.min(t,w.y);u=Math.max(u,w.x);v=Math.max(v,w.y);this.m_maxRadius=Math.max(this.m_maxRadius,w.Length())}this.m_localOBB.R.SetIdentity();this.m_localOBB.center.Set((s+u)*.5,(t+v)*.5);this.m_localOBB.extents.Set((u-s)*.5,(v-t)*.5);var x=0;var y=0;for(d=0;d<this.m_vertexCount;++d){this.m_normals[d]=new b2Vec2;x=d;y=d+1<this.m_vertexCount?d+1:0;this.m_normals[d].x=this.m_vertices[y].y-this.m_vertices[x].y;this.m_normals[d].y=-(this.m_vertices[y].x-this.m_vertices[x].x);this.m_normals[d].Normalize()}for(d=0;d<this.m_vertexCount;++d){x=d;y=d+1<this.m_vertexCount?d+1:0}this.m_R.SetM(this.m_body.m_R);this.m_position.x=this.m_body.m_position.x+(this.m_R.col1.x*this.m_localCentroid.x+this.m_R.col2.x*this.m_localCentroid.y);this.m_position.y=this.m_body.m_position.y+(this.m_R.col1.y*this.m_localCentroid.x+this.m_R.col2.y*this.m_localCentroid.y);b2PolyShape.tAbsR.col1.x=this.m_R.col1.x*this.m_localOBB.R.col1.x+this.m_R.col2.x*this.m_localOBB.R.col1.y;b2PolyShape.tAbsR.col1.y=this.m_R.col1.y*this.m_localOBB.R.col1.x+this.m_R.col2.y*this.m_localOBB.R.col1.y;b2PolyShape.tAbsR.col2.x=this.m_R.col1.x*this.m_localOBB.R.col2.x+this.m_R.col2.x*this.m_localOBB.R.col2.y;b2PolyShape.tAbsR.col2.y=this.m_R.col1.y*this.m_localOBB.R.col2.x+this.m_R.col2.y*this.m_localOBB.R.col2.y;b2PolyShape.tAbsR.Abs();e=b2PolyShape.tAbsR.col1.x*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.x*this.m_localOBB.extents.y;f=b2PolyShape.tAbsR.col1.y*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.y*this.m_localOBB.extents.y;var z=this.m_position.x+(this.m_R.col1.x*this.m_localOBB.center.x+this.m_R.col2.x*this.m_localOBB.center.y);var A=this.m_position.y+(this.m_R.col1.y*this.m_localOBB.center.x+this.m_R.col2.y*this.m_localOBB.center.y);h.minVertex.x=z-e;h.minVertex.y=A-f;h.maxVertex.x=z+e;h.maxVertex.y=A+f;var B=this.m_body.m_world.m_broadPhase;if(B.InRange(h)){this.m_proxyId=B.CreateProxy(h,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}},syncAABB:new b2AABB,syncMat:new b2Mat22,Synchronize:function(a,b,c,d){this.m_R.SetM(d);this.m_position.x=this.m_body.m_position.x+(d.col1.x*this.m_localCentroid.x+d.col2.x*this.m_localCentroid.y);this.m_position.y=this.m_body.m_position.y+(d.col1.y*this.m_localCentroid.x+d.col2.y*this.m_localCentroid.y);if(this.m_proxyId==b2Pair.b2_nullProxy){return}var e;var f;var g=b.col1;var h=b.col2;var i=this.m_localOBB.R.col1;var j=this.m_localOBB.R.col2;this.syncMat.col1.x=g.x*i.x+h.x*i.y;this.syncMat.col1.y=g.y*i.x+h.y*i.y;this.syncMat.col2.x=g.x*j.x+h.x*j.y;this.syncMat.col2.y=g.y*j.x+h.y*j.y;this.syncMat.Abs();e=this.m_localCentroid.x+this.m_localOBB.center.x;f=this.m_localCentroid.y+this.m_localOBB.center.y;var k=a.x+(b.col1.x*e+b.col2.x*f);var l=a.y+(b.col1.y*e+b.col2.y*f);e=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;f=this.syncMat.col1.y*this.m_localOBB.extents.x+this.syncMat.col2.y*this.m_localOBB.extents.y;this.syncAABB.minVertex.x=k-e;this.syncAABB.minVertex.y=l-f;this.syncAABB.maxVertex.x=k+e;this.syncAABB.maxVertex.y=l+f;g=d.col1;h=d.col2;i=this.m_localOBB.R.col1;j=this.m_localOBB.R.col2;this.syncMat.col1.x=g.x*i.x+h.x*i.y;this.syncMat.col1.y=g.y*i.x+h.y*i.y;this.syncMat.col2.x=g.x*j.x+h.x*j.y;this.syncMat.col2.y=g.y*j.x+h.y*j.y;this.syncMat.Abs();e=this.m_localCentroid.x+this.m_localOBB.center.x;f=this.m_localCentroid.y+this.m_localOBB.center.y;k=c.x+(d.col1.x*e+d.col2.x*f);l=c.y+(d.col1.y*e+d.col2.y*f);e=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;f=this.syncMat.col1.y*this.m_localOBB.extents.x+this.syncMat.col2.y*this.m_localOBB.extents.y;this.syncAABB.minVertex.x=Math.min(this.syncAABB.minVertex.x,k-e);this.syncAABB.minVertex.y=Math.min(this.syncAABB.minVertex.y,l-f);this.syncAABB.maxVertex.x=Math.max(this.syncAABB.maxVertex.x,k+e);this.syncAABB.maxVertex.y=Math.max(this.syncAABB.maxVertex.y,l+f);var m=this.m_body.m_world.m_broadPhase;if(m.InRange(this.syncAABB)){m.MoveProxy(this.m_proxyId,this.syncAABB)}else{this.m_body.Freeze()}},QuickSync:function(a,b){this.m_R.SetM(b);this.m_position.x=a.x+(b.col1.x*this.m_localCentroid.x+b.col2.x*this.m_localCentroid.y);this.m_position.y=a.y+(b.col1.y*this.m_localCentroid.x+b.col2.y*this.m_localCentroid.y)},ResetProxy:function(a){if(this.m_proxyId==b2Pair.b2_nullProxy){return}var b=a.GetProxy(this.m_proxyId);a.DestroyProxy(this.m_proxyId);b=null;var c=b2Math.b2MulMM(this.m_R,this.m_localOBB.R);var d=b2Math.b2AbsM(c);var e=b2Math.b2MulMV(d,this.m_localOBB.extents);var f=b2Math.b2MulMV(this.m_R,this.m_localOBB.center);f.Add(this.m_position);var g=new b2AABB;g.minVertex.SetV(f);g.minVertex.Subtract(e);g.maxVertex.SetV(f);g.maxVertex.Add(e);if(a.InRange(g)){this.m_proxyId=a.CreateProxy(g,this)}else{this.m_proxyId=b2Pair.b2_nullProxy}if(this.m_proxyId==b2Pair.b2_nullProxy){this.m_body.Freeze()}},Support:function(a,b,c){var d=a*this.m_R.col1.x+b*this.m_R.col1.y;var e=a*this.m_R.col2.x+b*this.m_R.col2.y;var f=0;var g=this.m_coreVertices[0].x*d+this.m_coreVertices[0].y*e;for(var h=1;h<this.m_vertexCount;++h){var i=this.m_coreVertices[h].x*d+this.m_coreVertices[h].y*e;if(i>g){f=h;g=i}}c.Set(this.m_position.x+(this.m_R.col1.x*this.m_coreVertices[f].x+this.m_R.col2.x*this.m_coreVertices[f].y),this.m_position.y+(this.m_R.col1.y*this.m_coreVertices[f].x+this.m_R.col2.y*this.m_coreVertices[f].y))},m_localCentroid:new b2Vec2,m_localOBB:new b2OBB,m_vertices:null,m_coreVertices:null,m_vertexCount:0,m_normals:null});b2PolyShape.tempVec=new b2Vec2;b2PolyShape.tAbsR=new b2Mat22;var b2Body=Class.create();b2Body.prototype={SetOriginPosition:function(a,b){if(this.IsFrozen()){return}this.m_rotation=b;this.m_R.Set(this.m_rotation);this.m_position=b2Math.AddVV(a,b2Math.b2MulMV(this.m_R,this.m_center));this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var c=this.m_shapeList;c!=null;c=c.m_next){c.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R)}this.m_world.m_broadPhase.Commit()},GetOriginPosition:function(){return b2Math.SubtractVV(this.m_position,b2Math.b2MulMV(this.m_R,this.m_center))},SetCenterPosition:function(a,b){if(this.IsFrozen()){return}this.m_rotation=b;this.m_R.Set(this.m_rotation);this.m_position.SetV(a);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var c=this.m_shapeList;c!=null;c=c.m_next){c.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R)}this.m_world.m_broadPhase.Commit()},GetCenterPosition:function(){return this.m_position},GetRotation:function(){return this.m_rotation},GetRotationMatrix:function(){return this.m_R},SetLinearVelocity:function(a){this.m_linearVelocity.SetV(a)},GetLinearVelocity:function(){return this.m_linearVelocity},SetAngularVelocity:function(a){this.m_angularVelocity=a},GetAngularVelocity:function(){return this.m_angularVelocity},ApplyForce:function(a,b){if(this.IsSleeping()==false){this.m_force.Add(a);this.m_torque+=b2Math.b2CrossVV(b2Math.SubtractVV(b,this.m_position),a)}},ApplyTorque:function(a){if(this.IsSleeping()==false){this.m_torque+=a}},ApplyImpulse:function(a,b){if(this.IsSleeping()==false){this.m_linearVelocity.Add(b2Math.MulFV(this.m_invMass,a));this.m_angularVelocity+=this.m_invI*b2Math.b2CrossVV(b2Math.SubtractVV(b,this.m_position),a)}},GetMass:function(){return this.m_mass},GetInertia:function(){return this.m_I},GetWorldPoint:function(a){return b2Math.AddVV(this.m_position,b2Math.b2MulMV(this.m_R,a))},GetWorldVector:function(a){return b2Math.b2MulMV(this.m_R,a)},GetLocalPoint:function(a){return b2Math.b2MulTMV(this.m_R,b2Math.SubtractVV(a,this.m_position))},GetLocalVector:function(a){return b2Math.b2MulTMV(this.m_R,a)},IsStatic:function(){return(this.m_flags&b2Body.e_staticFlag)==b2Body.e_staticFlag},IsFrozen:function(){return(this.m_flags&b2Body.e_frozenFlag)==b2Body.e_frozenFlag},IsSleeping:function(){return(this.m_flags&b2Body.e_sleepFlag)==b2Body.e_sleepFlag},AllowSleeping:function(a){if(a){this.m_flags|=b2Body.e_allowSleepFlag}else{this.m_flags&=~b2Body.e_allowSleepFlag;this.WakeUp()}},WakeUp:function(){this.m_flags&=~b2Body.e_sleepFlag;this.m_sleepTime=0},GetShapeList:function(){return this.m_shapeList},GetContactList:function(){return this.m_contactList},GetJointList:function(){return this.m_jointList},GetNext:function(){return this.m_next},GetUserData:function(){return this.m_userData},initialize:function(a,b){this.sMat0=new b2Mat22;this.m_position=new b2Vec2;this.m_R=new b2Mat22(0);this.m_position0=new b2Vec2;var c=0;var d;var e;this.m_flags=0;this.m_position.SetV(a.position);this.m_rotation=a.rotation;this.m_R.Set(this.m_rotation);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;this.m_world=b;this.m_linearDamping=b2Math.b2Clamp(1-a.linearDamping,0,1);this.m_angularDamping=b2Math.b2Clamp(1-a.angularDamping,0,1);this.m_force=new b2Vec2(0,0);this.m_torque=0;this.m_mass=0;var f=new Array(b2Settings.b2_maxShapesPerBody);for(c=0;c<b2Settings.b2_maxShapesPerBody;c++){f[c]=new b2MassData}this.m_shapeCount=0;this.m_center=new b2Vec2(0,0);for(c=0;c<b2Settings.b2_maxShapesPerBody;++c){d=a.shapes[c];if(d==null)break;e=f[c];d.ComputeMass(e);this.m_mass+=e.mass;this.m_center.x+=e.mass*(d.localPosition.x+e.center.x);this.m_center.y+=e.mass*(d.localPosition.y+e.center.y);++this.m_shapeCount}if(this.m_mass>0){this.m_center.Multiply(1/this.m_mass);this.m_position.Add(b2Math.b2MulMV(this.m_R,this.m_center))}else{this.m_flags|=b2Body.e_staticFlag}this.m_I=0;for(c=0;c<this.m_shapeCount;++c){d=a.shapes[c];e=f[c];this.m_I+=e.I;var g=b2Math.SubtractVV(b2Math.AddVV(d.localPosition,e.center),this.m_center);this.m_I+=e.mass*b2Math.b2Dot(g,g)}if(this.m_mass>0){this.m_invMass=1/this.m_mass}else{this.m_invMass=0}if(this.m_I>0&&a.preventRotation==false){this.m_invI=1/this.m_I}else{this.m_I=0;this.m_invI=0}this.m_linearVelocity=b2Math.AddVV(a.linearVelocity,b2Math.b2CrossFV(a.angularVelocity,this.m_center));this.m_angularVelocity=a.angularVelocity;this.m_jointList=null;this.m_contactList=null;this.m_prev=null;this.m_next=null;this.m_shapeList=null;for(c=0;c<this.m_shapeCount;++c){d=a.shapes[c];var h=b2Shape.Create(d,this,this.m_center);h.m_next=this.m_shapeList;this.m_shapeList=h}this.m_sleepTime=0;if(a.allowSleep){this.m_flags|=b2Body.e_allowSleepFlag}if(a.isSleeping){this.m_flags|=b2Body.e_sleepFlag}if(this.m_flags&b2Body.e_sleepFlag||this.m_invMass==0){this.m_linearVelocity.Set(0,0);this.m_angularVelocity=0}this.m_userData=a.userData},Destroy:function(){var a=this.m_shapeList;while(a){var b=a;a=a.m_next;b2Shape.Destroy(b)}},sMat0:new b2Mat22,SynchronizeShapes:function(){this.sMat0.Set(this.m_rotation0);for(var a=this.m_shapeList;a!=null;a=a.m_next){a.Synchronize(this.m_position0,this.sMat0,this.m_position,this.m_R)}},QuickSyncShapes:function(){for(var a=this.m_shapeList;a!=null;a=a.m_next){a.QuickSync(this.m_position,this.m_R)}},IsConnected:function(a){for(var b=this.m_jointList;b!=null;b=b.next){if(b.other==a)return b.joint.m_collideConnected==false}return false},Freeze:function(){this.m_flags|=b2Body.e_frozenFlag;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;for(var a=this.m_shapeList;a!=null;a=a.m_next){a.DestroyProxy()}},m_flags:0,m_position:new b2Vec2,m_rotation:null,m_R:new b2Mat22(0),m_position0:new b2Vec2,m_rotation0:null,m_linearVelocity:null,m_angularVelocity:null,m_force:null,m_torque:null,m_center:null,m_world:null,m_prev:null,m_next:null,m_shapeList:null,m_shapeCount:0,m_jointList:null,m_contactList:null,m_mass:null,m_invMass:null,m_I:null,m_invI:null,m_linearDamping:null,m_angularDamping:null,m_sleepTime:null,m_userData:null};b2Body.e_staticFlag=1;b2Body.e_frozenFlag=2;b2Body.e_islandFlag=4;b2Body.e_sleepFlag=8;b2Body.e_allowSleepFlag=16;b2Body.e_destroyFlag=32;var b2BodyDef=Class.create();b2BodyDef.prototype={initialize:function(){this.shapes=new Array;this.userData=null;for(var a=0;a<b2Settings.b2_maxShapesPerBody;a++){this.shapes[a]=null}this.position=new b2Vec2(0,0);this.rotation=0;this.linearVelocity=new b2Vec2(0,0);this.angularVelocity=0;this.linearDamping=0;this.angularDamping=0;this.allowSleep=true;this.isSleeping=false;this.preventRotation=false},userData:null,shapes:new Array,position:null,rotation:null,linearVelocity:null,angularVelocity:null,linearDamping:null,angularDamping:null,allowSleep:null,isSleeping:null,preventRotation:null,AddShape:function(a){for(var b=0;b<b2Settings.b2_maxShapesPerBody;++b){if(this.shapes[b]==null){this.shapes[b]=a;break}}}};var b2CollisionFilter=Class.create();b2CollisionFilter.prototype={ShouldCollide:function(a,b){if(a.m_groupIndex==b.m_groupIndex&&a.m_groupIndex!=0){return a.m_groupIndex>0}var c=(a.m_maskBits&b.m_categoryBits)!=0&&(a.m_categoryBits&b.m_maskBits)!=0;return c},initialize:function(){}};b2CollisionFilter.b2_defaultFilter=new b2CollisionFilter;var b2Island=Class.create();b2Island.prototype={initialize:function(a,b,c,d){var e=0;this.m_bodyCapacity=a;this.m_contactCapacity=b;this.m_jointCapacity=c;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodies=new Array(a);for(e=0;e<a;e++)this.m_bodies[e]=null;this.m_contacts=new Array(b);for(e=0;e<b;e++)this.m_contacts[e]=null;this.m_joints=new Array(c);for(e=0;e<c;e++)this.m_joints[e]=null;this.m_allocator=d},Clear:function(){this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0},Solve:function(a,b){var c=0;var d;for(c=0;c<this.m_bodyCount;++c){d=this.m_bodies[c];if(d.m_invMass==0)continue;d.m_linearVelocity.Add(b2Math.MulFV(a.dt,b2Math.AddVV(b,b2Math.MulFV(d.m_invMass,d.m_force))));d.m_angularVelocity+=a.dt*d.m_invI*d.m_torque;d.m_linearVelocity.Multiply(d.m_linearDamping);d.m_angularVelocity*=d.m_angularDamping;d.m_position0.SetV(d.m_position);d.m_rotation0=d.m_rotation}var e=new b2ContactSolver(this.m_contacts,this.m_contactCount,this.m_allocator);e.PreSolve();for(c=0;c<this.m_jointCount;++c){this.m_joints[c].PrepareVelocitySolver()}for(c=0;c<a.iterations;++c){e.SolveVelocityConstraints();for(var f=0;f<this.m_jointCount;++f){this.m_joints[f].SolveVelocityConstraints(a)}}for(c=0;c<this.m_bodyCount;++c){d=this.m_bodies[c];if(d.m_invMass==0)continue;d.m_position.x+=a.dt*d.m_linearVelocity.x;d.m_position.y+=a.dt*d.m_linearVelocity.y;d.m_rotation+=a.dt*d.m_angularVelocity;d.m_R.Set(d.m_rotation)}for(c=0;c<this.m_jointCount;++c){this.m_joints[c].PreparePositionSolver()}if(b2World.s_enablePositionCorrection){for(b2Island.m_positionIterationCount=0;b2Island.m_positionIterationCount<a.iterations;++b2Island.m_positionIterationCount){var g=e.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);var h=true;for(c=0;c<this.m_jointCount;++c){var i=this.m_joints[c].SolvePositionConstraints();h=h&&i}if(g&&h){break}}}e.PostSolve();for(c=0;c<this.m_bodyCount;++c){d=this.m_bodies[c];if(d.m_invMass==0)continue;d.m_R.Set(d.m_rotation);d.SynchronizeShapes();d.m_force.Set(0,0);d.m_torque=0}},UpdateSleep:function(a){var b=0;var c;var d=Number.MAX_VALUE;var e=b2Settings.b2_linearSleepTolerance*b2Settings.b2_linearSleepTolerance;var f=b2Settings.b2_angularSleepTolerance*b2Settings.b2_angularSleepTolerance;for(b=0;b<this.m_bodyCount;++b){c=this.m_bodies[b];if(c.m_invMass==0){continue}if((c.m_flags&b2Body.e_allowSleepFlag)==0){c.m_sleepTime=0;d=0}if((c.m_flags&b2Body.e_allowSleepFlag)==0||c.m_angularVelocity*c.m_angularVelocity>f||b2Math.b2Dot(c.m_linearVelocity,c.m_linearVelocity)>e){c.m_sleepTime=0;d=0}else{c.m_sleepTime+=a;d=b2Math.b2Min(d,c.m_sleepTime)}}if(d>=b2Settings.b2_timeToSleep){for(b=0;b<this.m_bodyCount;++b){c=this.m_bodies[b];c.m_flags|=b2Body.e_sleepFlag}}},AddBody:function(a){this.m_bodies[this.m_bodyCount++]=a},AddContact:function(a){this.m_contacts[this.m_contactCount++]=a},AddJoint:function(a){this.m_joints[this.m_jointCount++]=a},m_allocator:null,m_bodies:null,m_contacts:null,m_joints:null,m_bodyCount:0,m_jointCount:0,m_contactCount:0,m_bodyCapacity:0,m_contactCapacity:0,m_jointCapacity:0,m_positionError:null};b2Island.m_positionIterationCount=0;var b2TimeStep=Class.create();b2TimeStep.prototype={dt:null,inv_dt:null,iterations:0,initialize:function(){}};var b2ContactNode=Class.create();b2ContactNode.prototype={other:null,contact:null,prev:null,next:null,initialize:function(){}};var b2Contact=Class.create();b2Contact.prototype={GetManifolds:function(){return null},GetManifoldCount:function(){return this.m_manifoldCount},GetNext:function(){return this.m_next},GetShape1:function(){return this.m_shape1},GetShape2:function(){return this.m_shape2},initialize:function(a,b){this.m_node1=new b2ContactNode;this.m_node2=new b2ContactNode;this.m_flags=0;if(!a||!b){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=a;this.m_shape2=b;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_prev=null;this.m_next=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},Evaluate:function(){},m_flags:0,m_prev:null,m_next:null,m_node1:new b2ContactNode,m_node2:new b2ContactNode,m_shape1:null,m_shape2:null,m_manifoldCount:0,m_friction:null,m_restitution:null};b2Contact.e_islandFlag=1;b2Contact.e_destroyFlag=2;b2Contact.AddType=function(a,b,c,d){b2Contact.s_registers[c][d].createFcn=a;b2Contact.s_registers[c][d].destroyFcn=b;b2Contact.s_registers[c][d].primary=true;if(c!=d){b2Contact.s_registers[d][c].createFcn=a;b2Contact.s_registers[d][c].destroyFcn=b;b2Contact.s_registers[d][c].primary=false}};b2Contact.InitializeRegisters=function(){b2Contact.s_registers=new Array(b2Shape.e_shapeTypeCount);for(var a=0;a<b2Shape.e_shapeTypeCount;a++){b2Contact.s_registers[a]=new Array(b2Shape.e_shapeTypeCount);for(var b=0;b<b2Shape.e_shapeTypeCount;b++){b2Contact.s_registers[a][b]=new b2ContactRegister}}b2Contact.AddType(b2CircleContact.Create,b2CircleContact.Destroy,b2Shape.e_circleShape,b2Shape.e_circleShape);b2Contact.AddType(b2PolyAndCircleContact.Create,b2PolyAndCircleContact.Destroy,b2Shape.e_polyShape,b2Shape.e_circleShape);b2Contact.AddType(b2PolyContact.Create,b2PolyContact.Destroy,b2Shape.e_polyShape,b2Shape.e_polyShape)};b2Contact.Create=function(a,b,c){if(b2Contact.s_initialized==false){b2Contact.InitializeRegisters();b2Contact.s_initialized=true}var d=a.m_type;var e=b.m_type;var f=b2Contact.s_registers[d][e].createFcn;if(f){if(b2Contact.s_registers[d][e].primary){return f(a,b,c)}else{var g=f(b,a,c);for(var h=0;h<g.GetManifoldCount();++h){var i=g.GetManifolds()[h];i.normal=i.normal.Negative()}return g}}else{return null}};b2Contact.Destroy=function(a,b){if(a.GetManifoldCount()>0){a.m_shape1.m_body.WakeUp();a.m_shape2.m_body.WakeUp()}var c=a.m_shape1.m_type;var d=a.m_shape2.m_type;var e=b2Contact.s_registers[c][d].destroyFcn;e(a,b)};b2Contact.s_registers=null;b2Contact.s_initialized=false;var b2ContactConstraint=Class.create();b2ContactConstraint.prototype={initialize:function(){this.normal=new b2Vec2;this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var a=0;a<b2Settings.b2_maxManifoldPoints;a++){this.points[a]=new b2ContactConstraintPoint}},points:null,normal:new b2Vec2,manifold:null,body1:null,body2:null,friction:null,restitution:null,pointCount:0};var b2ContactConstraintPoint=Class.create();b2ContactConstraintPoint.prototype={localAnchor1:new b2Vec2,localAnchor2:new b2Vec2,normalImpulse:null,tangentImpulse:null,positionImpulse:null,normalMass:null,tangentMass:null,separation:null,velocityBias:null,initialize:function(){this.localAnchor1=new b2Vec2;this.localAnchor2=new b2Vec2}};var b2ContactRegister=Class.create();b2ContactRegister.prototype={createFcn:null,destroyFcn:null,primary:null,initialize:function(){}};var b2ContactSolver=Class.create();b2ContactSolver.prototype={initialize:function(a,b,c){this.m_constraints=new Array;this.m_allocator=c;var d=0;var e;var f;this.m_constraintCount=0;for(d=0;d<b;++d){this.m_constraintCount+=a[d].GetManifoldCount()}for(d=0;d<this.m_constraintCount;d++){this.m_constraints[d]=new b2ContactConstraint}var g=0;for(d=0;d<b;++d){var h=a[d];var i=h.m_shape1.m_body;var j=h.m_shape2.m_body;var k=h.GetManifoldCount();var l=h.GetManifolds();var m=h.m_friction;var n=h.m_restitution;var o=i.m_linearVelocity.x;var p=i.m_linearVelocity.y;var q=j.m_linearVelocity.x;var r=j.m_linearVelocity.y;var s=i.m_angularVelocity;var t=j.m_angularVelocity;for(var u=0;u<k;++u){var v=l[u];var w=v.normal.x;var x=v.normal.y;var y=this.m_constraints[g];y.body1=i;y.body2=j;y.manifold=v;y.normal.x=w;y.normal.y=x;y.pointCount=v.pointCount;y.friction=m;y.restitution=n;for(var z=0;z<y.pointCount;++z){var A=v.points[z];var B=y.points[z];B.normalImpulse=A.normalImpulse;B.tangentImpulse=A.tangentImpulse;B.separation=A.separation;var C=A.position.x-i.m_position.x;var D=A.position.y-i.m_position.y;var E=A.position.x-j.m_position.x;var F=A.position.y-j.m_position.y;e=B.localAnchor1;f=i.m_R;e.x=C*f.col1.x+D*f.col1.y;e.y=C*f.col2.x+D*f.col2.y;e=B.localAnchor2;f=j.m_R;e.x=E*f.col1.x+F*f.col1.y;e.y=E*f.col2.x+F*f.col2.y;var G=C*C+D*D;var H=E*E+F*F;var I=C*w+D*x;var J=E*w+F*x;var K=i.m_invMass+j.m_invMass;K+=i.m_invI*(G-I*I)+j.m_invI*(H-J*J);B.normalMass=1/K;var L=x;var M=-w;var N=C*L+D*M;var O=E*L+F*M;var P=i.m_invMass+j.m_invMass;P+=i.m_invI*(G-N*N)+j.m_invI*(H-O*O);B.tangentMass=1/P;B.velocityBias=0;if(B.separation>0){B.velocityBias=-60*B.separation}var Q=q+ -t*F-o- -s*D;var R=r+t*E-p-s*C;var S=y.normal.x*Q+y.normal.y*R;if(S<-b2Settings.b2_velocityThreshold){B.velocityBias+=-y.restitution*S}}++g}}},PreSolve:function(){var a;var b;var c;for(var d=0;d<this.m_constraintCount;++d){var e=this.m_constraints[d];var f=e.body1;var g=e.body2;var h=f.m_invMass;var i=f.m_invI;var j=g.m_invMass;var k=g.m_invI;var l=e.normal.x;var m=e.normal.y;var n=m;var o=-l;var p=0;var q=0;if(b2World.s_enableWarmStarting){q=e.pointCount;for(p=0;p<q;++p){var r=e.points[p];var s=r.normalImpulse*l+r.tangentImpulse*n;var t=r.normalImpulse*m+r.tangentImpulse*o;c=f.m_R;a=r.localAnchor1;var u=c.col1.x*a.x+c.col2.x*a.y;var v=c.col1.y*a.x+c.col2.y*a.y;c=g.m_R;a=r.localAnchor2;var w=c.col1.x*a.x+c.col2.x*a.y;var x=c.col1.y*a.x+c.col2.y*a.y;f.m_angularVelocity-=i*(u*t-v*s);f.m_linearVelocity.x-=h*s;f.m_linearVelocity.y-=h*t;g.m_angularVelocity+=k*(w*t-x*s);g.m_linearVelocity.x+=j*s;g.m_linearVelocity.y+=j*t;r.positionImpulse=0}}else{q=e.pointCount;for(p=0;p<q;++p){var y=e.points[p];y.normalImpulse=0;y.tangentImpulse=0;y.positionImpulse=0}}}},SolveVelocityConstraints:function(){var a=0;var b;var c;var d;var e;var f;var g;var h;var i;var j;var k;var l;var m;var n;for(var o=0;o<this.m_constraintCount;++o){var p=this.m_constraints[o];var q=p.body1;var r=p.body2;var s=q.m_angularVelocity;var t=q.m_linearVelocity;var u=r.m_angularVelocity;var v=r.m_linearVelocity;var w=q.m_invMass;var x=q.m_invI;var y=r.m_invMass;var z=r.m_invI;var A=p.normal.x;var B=p.normal.y;var C=B;var D=-A;var E=p.pointCount;for(a=0;a<E;++a){b=p.points[a];m=q.m_R;n=b.localAnchor1;c=m.col1.x*n.x+m.col2.x*n.y;d=m.col1.y*n.x+m.col2.y*n.y;m=r.m_R;n=b.localAnchor2;e=m.col1.x*n.x+m.col2.x*n.y;f=m.col1.y*n.x+m.col2.y*n.y;g=v.x+ -u*f-t.x- -s*d;h=v.y+u*e-t.y-s*c;var F=g*A+h*B;i=-b.normalMass*(F-b.velocityBias);j=b2Math.b2Max(b.normalImpulse+i,0);i=j-b.normalImpulse;k=i*A;l=i*B;t.x-=w*k;t.y-=w*l;s-=x*(c*l-d*k);v.x+=y*k;v.y+=y*l;u+=z*(e*l-f*k);b.normalImpulse=j;g=v.x+ -u*f-t.x- -s*d;h=v.y+u*e-t.y-s*c;var G=g*C+h*D;i=b.tangentMass*-G;var H=p.friction*b.normalImpulse;j=b2Math.b2Clamp(b.tangentImpulse+i,-H,H);i=j-b.tangentImpulse;k=i*C;l=i*D;t.x-=w*k;t.y-=w*l;s-=x*(c*l-d*k);v.x+=y*k;v.y+=y*l;u+=z*(e*l-f*k);b.tangentImpulse=j}q.m_angularVelocity=s;r.m_angularVelocity=u}},SolvePositionConstraints:function(a){var b=0;var c;var d;for(var e=0;e<this.m_constraintCount;++e){var f=this.m_constraints[e];var g=f.body1;var h=f.body2;var i=g.m_position;var j=g.m_rotation;var k=h.m_position;var l=h.m_rotation;var m=g.m_invMass;var n=g.m_invI;var o=h.m_invMass;var p=h.m_invI;var q=f.normal.x;var r=f.normal.y;var s=r;var t=-q;var u=f.pointCount;for(var v=0;v<u;++v){var w=f.points[v];c=g.m_R;d=w.localAnchor1;var x=c.col1.x*d.x+c.col2.x*d.y;var y=c.col1.y*d.x+c.col2.y*d.y;c=h.m_R;d=w.localAnchor2;var z=c.col1.x*d.x+c.col2.x*d.y;var A=c.col1.y*d.x+c.col2.y*d.y;var B=i.x+x;var C=i.y+y;var D=k.x+z;var E=k.y+A;var F=D-B;var G=E-C;var H=F*q+G*r+w.separation;b=b2Math.b2Min(b,H);var I=a*b2Math.b2Clamp(H+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);var J=-w.normalMass*I;var K=w.positionImpulse;w.positionImpulse=b2Math.b2Max(K+J,0);J=w.positionImpulse-K;var L=J*q;var M=J*r;i.x-=m*L;i.y-=m*M;j-=n*(x*M-y*L);g.m_R.Set(j);k.x+=o*L;k.y+=o*M;l+=p*(z*M-A*L);h.m_R.Set(l)}g.m_rotation=j;h.m_rotation=l}return b>=-b2Settings.b2_linearSlop},PostSolve:function(){for(var a=0;a<this.m_constraintCount;++a){var b=this.m_constraints[a];var c=b.manifold;for(var d=0;d<b.pointCount;++d){var e=c.points[d];var f=b.points[d];e.normalImpulse=f.normalImpulse;e.tangentImpulse=f.tangentImpulse}}},m_allocator:null,m_constraints:new Array,m_constraintCount:0};var b2CircleContact=Class.create();Object.extend(b2CircleContact.prototype,b2Contact.prototype);Object.extend(b2CircleContact.prototype,{initialize:function(a,b){this.m_node1=new b2ContactNode;this.m_node2=new b2ContactNode;this.m_flags=0;if(!a||!b){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=a;this.m_shape2=b;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_prev=null;this.m_next=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;this.m_manifold=[new b2Manifold];this.m_manifold[0].pointCount=0;this.m_manifold[0].points[0].normalImpulse=0;this.m_manifold[0].points[0].tangentImpulse=0},Evaluate:function(){b2Collision.b2CollideCircle(this.m_manifold[0],this.m_shape1,this.m_shape2,false);if(this.m_manifold[0].pointCount>0){this.m_manifoldCount=1}else{this.m_manifoldCount=0}},GetManifolds:function(){return this.m_manifold},m_manifold:[new b2Manifold]});b2CircleContact.Create=function(a,b,c){return new b2CircleContact(a,b)};b2CircleContact.Destroy=function(a,b){};var b2Conservative=Class.create();b2Conservative.prototype={initialize:function(){}};b2Conservative.R1=new b2Mat22;b2Conservative.R2=new b2Mat22;b2Conservative.x1=new b2Vec2;b2Conservative.x2=new b2Vec2;b2Conservative.Conservative=function(a,b){var c=a.GetBody();var e=b.GetBody();var f=c.m_position.x-c.m_position0.x;var g=c.m_position.y-c.m_position0.y;var h=c.m_rotation-c.m_rotation0;var i=e.m_position.x-e.m_position0.x;var j=e.m_position.y-e.m_position0.y;var k=e.m_rotation-e.m_rotation0;var l=a.GetMaxRadius();var m=b.GetMaxRadius();var n=c.m_position0.x;var o=c.m_position0.y;var p=c.m_rotation0;var q=e.m_position0.x;var r=e.m_position0.y;var s=e.m_rotation0;var t=n;var u=o;var v=p;var w=q;var x=r;var y=s;b2Conservative.R1.Set(v);b2Conservative.R2.Set(y);a.QuickSync(p1,b2Conservative.R1);b.QuickSync(p2,b2Conservative.R2);var z=0;var A=10;var B;var C;var D=0;var E=true;for(var F=0;F<A;++F){var G=b2Distance.Distance(b2Conservative.x1,b2Conservative.x2,a,b);if(G<b2Settings.b2_linearSlop){if(F==0){E=false}else{E=true}break}if(F==0){B=b2Conservative.x2.x-b2Conservative.x1.x;C=b2Conservative.x2.y-b2Conservative.x1.y;var H=Math.sqrt(B*B+C*C);var I=B*(f-i)+C*(g-j)+Math.abs(h)*l+Math.abs(k)*m;if(Math.abs(I)<Number.MIN_VALUE){E=false;break}D=1/I}var J=G*D;var K=z+J;if(K<0||1<K){E=false;break}if(K<(1+100*Number.MIN_VALUE)*z){E=true;break}z=K;t=n+z*v1.x;u=o+z*v1.y;v=p+z*h;w=q+z*v2.x;x=r+z*v2.y;y=s+z*k;b2Conservative.R1.Set(v);b2Conservative.R2.Set(y);a.QuickSync(p1,b2Conservative.R1);b.QuickSync(p2,b2Conservative.R2)}if(E){B=b2Conservative.x2.x-b2Conservative.x1.x;C=b2Conservative.x2.y-b2Conservative.x1.y;var L=Math.sqrt(B*B+C*C);if(L>FLT_EPSILON){d*=b2_linearSlop/L}if(c.IsStatic()){c.m_position.x=t;c.m_position.y=u}else{c.m_position.x=t-B;c.m_position.y=u-C}c.m_rotation=v;c.m_R.Set(v);c.QuickSyncShapes();if(e.IsStatic()){e.m_position.x=w;e.m_position.y=x}else{e.m_position.x=w+B;e.m_position.y=x+C}e.m_position.x=w+B;e.m_position.y=x+C;e.m_rotation=y;e.m_R.Set(y);e.QuickSyncShapes();return true}a.QuickSync(c.m_position,c.m_R);b.QuickSync(e.m_position,e.m_R);return false};var b2NullContact=Class.create();Object.extend(b2NullContact.prototype,b2Contact.prototype);Object.extend(b2NullContact.prototype,{initialize:function(a,b){this.m_node1=new b2ContactNode;this.m_node2=new b2ContactNode;this.m_flags=0;if(!a||!b){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=a;this.m_shape2=b;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_prev=null;this.m_next=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},Evaluate:function(){},GetManifolds:function(){return null}});var b2PolyAndCircleContact=Class.create();Object.extend(b2PolyAndCircleContact.prototype,b2Contact.prototype);Object.extend(b2PolyAndCircleContact.prototype,{initialize:function(a,b){this.m_node1=new b2ContactNode;this.m_node2=new b2ContactNode;this.m_flags=0;if(!a||!b){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=a;this.m_shape2=b;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_prev=null;this.m_next=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;this.m_manifold=[new b2Manifold];b2Settings.b2Assert(this.m_shape1.m_type==b2Shape.e_polyShape);b2Settings.b2Assert(this.m_shape2.m_type==b2Shape.e_circleShape);this.m_manifold[0].pointCount=0;this.m_manifold[0].points[0].normalImpulse=0;this.m_manifold[0].points[0].tangentImpulse=0},Evaluate:function(){b2Collision.b2CollidePolyAndCircle(this.m_manifold[0],this.m_shape1,this.m_shape2,false);if(this.m_manifold[0].pointCount>0){this.m_manifoldCount=1}else{this.m_manifoldCount=0}},GetManifolds:function(){return this.m_manifold},m_manifold:[new b2Manifold]});b2PolyAndCircleContact.Create=function(a,b,c){return new b2PolyAndCircleContact(a,b)};b2PolyAndCircleContact.Destroy=function(a,b){};var b2PolyContact=Class.create();Object.extend(b2PolyContact.prototype,b2Contact.prototype);Object.extend(b2PolyContact.prototype,{initialize:function(a,b){this.m_node1=new b2ContactNode;this.m_node2=new b2ContactNode;this.m_flags=0;if(!a||!b){this.m_shape1=null;this.m_shape2=null;return}this.m_shape1=a;this.m_shape2=b;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_prev=null;this.m_next=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;this.m0=new b2Manifold;this.m_manifold=[new b2Manifold];this.m_manifold[0].pointCount=0},m0:new b2Manifold,Evaluate:function(){var a=this.m_manifold[0];var b=this.m0.points;for(var c=0;c<a.pointCount;c++){var d=b[c];var e=a.points[c];d.normalImpulse=e.normalImpulse;d.tangentImpulse=e.tangentImpulse;d.id=e.id.Copy()}this.m0.pointCount=a.pointCount;b2Collision.b2CollidePoly(a,this.m_shape1,this.m_shape2,false);if(a.pointCount>0){var f=[false,false];for(var g=0;g<a.pointCount;++g){var h=a.points[g];h.normalImpulse=0;h.tangentImpulse=0;var i=h.id.key;for(var j=0;j<this.m0.pointCount;++j){if(f[j]==true)continue;var k=this.m0.points[j];var l=k.id;if(l.key==i){f[j]=true;h.normalImpulse=k.normalImpulse;h.tangentImpulse=k.tangentImpulse;break}}}this.m_manifoldCount=1}else{this.m_manifoldCount=0}},GetManifolds:function(){return this.m_manifold},m_manifold:[new b2Manifold]});b2PolyContact.Create=function(a,b,c){return new b2PolyContact(a,b)};b2PolyContact.Destroy=function(a,b){};var b2ContactManager=Class.create();Object.extend(b2ContactManager.prototype,b2PairCallback.prototype);Object.extend(b2ContactManager.prototype,{initialize:function(){this.m_nullContact=new b2NullContact;this.m_world=null;this.m_destroyImmediate=false},PairAdded:function(a,b){var c=a;var d=b;var e=c.m_body;var f=d.m_body;if(e.IsStatic()&&f.IsStatic()){return this.m_nullContact}if(c.m_body==d.m_body){return this.m_nullContact}if(f.IsConnected(e)){return this.m_nullContact}if(this.m_world.m_filter!=null&&this.m_world.m_filter.ShouldCollide(c,d)==false){return this.m_nullContact}if(f.m_invMass==0){var g=c;c=d;d=g;var h=e;e=f;f=h}var i=b2Contact.Create(c,d,this.m_world.m_blockAllocator);if(i==null){return this.m_nullContact}else{i.m_prev=null;i.m_next=this.m_world.m_contactList;if(this.m_world.m_contactList!=null){this.m_world.m_contactList.m_prev=i}this.m_world.m_contactList=i;this.m_world.m_contactCount++}return i},PairRemoved:function(a,b,c){if(c==null){return}var d=c;if(d!=this.m_nullContact){if(this.m_destroyImmediate==true){this.DestroyContact(d);d=null}else{d.m_flags|=b2Contact.e_destroyFlag}}},DestroyContact:function(a){if(a.m_prev){a.m_prev.m_next=a.m_next}if(a.m_next){a.m_next.m_prev=a.m_prev}if(a==this.m_world.m_contactList){this.m_world.m_contactList=a.m_next}if(a.GetManifoldCount()>0){var b=a.m_shape1.m_body;var c=a.m_shape2.m_body;var d=a.m_node1;var e=a.m_node2;b.WakeUp();c.WakeUp();if(d.prev){d.prev.next=d.next}if(d.next){d.next.prev=d.prev}if(d==b.m_contactList){b.m_contactList=d.next}d.prev=null;d.next=null;if(e.prev){e.prev.next=e.next}if(e.next){e.next.prev=e.prev}if(e==c.m_contactList){c.m_contactList=e.next}e.prev=null;e.next=null}b2Contact.Destroy(a,this.m_world.m_blockAllocator);--this.m_world.m_contactCount},CleanContactList:function(){var a=this.m_world.m_contactList;while(a!=null){var b=a;a=a.m_next;if(b.m_flags&b2Contact.e_destroyFlag){this.DestroyContact(b);b=null}}},Collide:function(){var a;var b;var c;var d;for(var e=this.m_world.m_contactList;e!=null;e=e.m_next){if(e.m_shape1.m_body.IsSleeping()&&e.m_shape2.m_body.IsSleeping()){continue}var f=e.GetManifoldCount();e.Evaluate();var g=e.GetManifoldCount();if(f==0&&g>0){a=e.m_shape1.m_body;b=e.m_shape2.m_body;c=e.m_node1;d=e.m_node2;c.contact=e;c.other=b;c.prev=null;c.next=a.m_contactList;if(c.next!=null){c.next.prev=e.m_node1}a.m_contactList=e.m_node1;d.contact=e;d.other=a;d.prev=null;d.next=b.m_contactList;if(d.next!=null){d.next.prev=d}b.m_contactList=d}else if(f>0&&g==0){a=e.m_shape1.m_body;b=e.m_shape2.m_body;c=e.m_node1;d=e.m_node2;if(c.prev){c.prev.next=c.next}if(c.next){c.next.prev=c.prev}if(c==a.m_contactList){a.m_contactList=c.next}c.prev=null;c.next=null;if(d.prev){d.prev.next=d.next}if(d.next){d.next.prev=d.prev}if(d==b.m_contactList){b.m_contactList=d.next}d.prev=null;d.next=null}}},m_world:null,m_nullContact:new b2NullContact,m_destroyImmediate:null});var b2World=Class.create();b2World.prototype={initialize:function(a,b,c){this.step=new b2TimeStep;this.m_contactManager=new b2ContactManager;this.m_listener=null;this.m_filter=b2CollisionFilter.b2_defaultFilter;this.m_bodyList=null;this.m_contactList=null;this.m_jointList=null;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodyDestroyList=null;this.m_allowSleep=c;this.m_gravity=b;this.m_contactManager.m_world=this;this.m_broadPhase=new b2BroadPhase(a,this.m_contactManager);var d=new b2BodyDef;this.m_groundBody=this.CreateBody(d)},SetListener:function(a){this.m_listener=a},SetFilter:function(a){this.m_filter=a},CreateBody:function(a){var b=new b2Body(a,this);b.m_prev=null;b.m_next=this.m_bodyList;if(this.m_bodyList){this.m_bodyList.m_prev=b}this.m_bodyList=b;++this.m_bodyCount;return b},DestroyBody:function(a){if(a.m_flags&b2Body.e_destroyFlag){return}if(a.m_prev){a.m_prev.m_next=a.m_next}if(a.m_next){a.m_next.m_prev=a.m_prev}if(a==this.m_bodyList){this.m_bodyList=a.m_next}a.m_flags|=b2Body.e_destroyFlag;--this.m_bodyCount;a.m_prev=null;a.m_next=this.m_bodyDestroyList;this.m_bodyDestroyList=a},CleanBodyList:function(){this.m_contactManager.m_destroyImmediate=true;var a=this.m_bodyDestroyList;while(a){var b=a;a=a.m_next;var c=b.m_jointList;while(c){var d=c;c=c.next;if(this.m_listener){this.m_listener.NotifyJointDestroyed(d.joint)}this.DestroyJoint(d.joint)}b.Destroy()}this.m_bodyDestroyList=null;this.m_contactManager.m_destroyImmediate=false},CreateJoint:function(a){var b=b2Joint.Create(a,this.m_blockAllocator);b.m_prev=null;b.m_next=this.m_jointList;if(this.m_jointList){this.m_jointList.m_prev=b}this.m_jointList=b;++this.m_jointCount;b.m_node1.joint=b;b.m_node1.other=b.m_body2;b.m_node1.prev=null;b.m_node1.next=b.m_body1.m_jointList;if(b.m_body1.m_jointList)b.m_body1.m_jointList.prev=b.m_node1;b.m_body1.m_jointList=b.m_node1;b.m_node2.joint=b;b.m_node2.other=b.m_body1;b.m_node2.prev=null;b.m_node2.next=b.m_body2.m_jointList;if(b.m_body2.m_jointList)b.m_body2.m_jointList.prev=b.m_node2;b.m_body2.m_jointList=b.m_node2;if(a.collideConnected==false){var c=a.body1.m_shapeCount<a.body2.m_shapeCount?a.body1:a.body2;for(var d=c.m_shapeList;d;d=d.m_next){d.ResetProxy(this.m_broadPhase)}}return b},DestroyJoint:function(a){var b=a.m_collideConnected;if(a.m_prev){a.m_prev.m_next=a.m_next}if(a.m_next){a.m_next.m_prev=a.m_prev}if(a==this.m_jointList){this.m_jointList=a.m_next}var c=a.m_body1;var d=a.m_body2;c.WakeUp();d.WakeUp();if(a.m_node1.prev){a.m_node1.prev.next=a.m_node1.next}if(a.m_node1.next){a.m_node1.next.prev=a.m_node1.prev}if(a.m_node1==c.m_jointList){c.m_jointList=a.m_node1.next}a.m_node1.prev=null;a.m_node1.next=null;if(a.m_node2.prev){a.m_node2.prev.next=a.m_node2.next}if(a.m_node2.next){a.m_node2.next.prev=a.m_node2.prev}if(a.m_node2==d.m_jointList){d.m_jointList=a.m_node2.next}a.m_node2.prev=null;a.m_node2.next=null;b2Joint.Destroy(a,this.m_blockAllocator);--this.m_jointCount;if(b==false){var e=c.m_shapeCount<d.m_shapeCount?c:d;for(var f=e.m_shapeList;f;f=f.m_next){f.ResetProxy(this.m_broadPhase)}}},GetGroundBody:function(){return this.m_groundBody},step:new b2TimeStep,Step:function(a,b){var c;var d;this.step.dt=a;this.step.iterations=b;if(a>0){this.step.inv_dt=1/a}else{this.step.inv_dt=0}this.m_positionIterationCount=0;this.m_contactManager.CleanContactList();this.CleanBodyList();this.m_contactManager.Collide();var e=new b2Island(this.m_bodyCount,this.m_contactCount,this.m_jointCount,this.m_stackAllocator);for(c=this.m_bodyList;c!=null;c=c.m_next){c.m_flags&=~b2Body.e_islandFlag}for(var f=this.m_contactList;f!=null;f=f.m_next){f.m_flags&=~b2Contact.e_islandFlag}for(var g=this.m_jointList;g!=null;g=g.m_next){g.m_islandFlag=false}var h=this.m_bodyCount;var i=new Array(this.m_bodyCount);for(var j=0;j<this.m_bodyCount;j++)i[j]=null;for(var k=this.m_bodyList;k!=null;k=k.m_next){if(k.m_flags&(b2Body.e_staticFlag|b2Body.e_islandFlag|b2Body.e_sleepFlag|b2Body.e_frozenFlag)){continue}e.Clear();var l=0;i[l++]=k;k.m_flags|=b2Body.e_islandFlag;while(l>0){c=i[--l];e.AddBody(c);c.m_flags&=~b2Body.e_sleepFlag;if(c.m_flags&b2Body.e_staticFlag){continue}for(var m=c.m_contactList;m!=null;m=m.next){if(m.contact.m_flags&b2Contact.e_islandFlag){continue}e.AddContact(m.contact);m.contact.m_flags|=b2Contact.e_islandFlag;d=m.other;if(d.m_flags&b2Body.e_islandFlag){continue}i[l++]=d;d.m_flags|=b2Body.e_islandFlag}for(var n=c.m_jointList;n!=null;n=n.next){if(n.joint.m_islandFlag==true){continue}e.AddJoint(n.joint);n.joint.m_islandFlag=true;d=n.other;if(d.m_flags&b2Body.e_islandFlag){continue}i[l++]=d;d.m_flags|=b2Body.e_islandFlag}}e.Solve(this.step,this.m_gravity);this.m_positionIterationCount=b2Math.b2Max(this.m_positionIterationCount,b2Island.m_positionIterationCount);if(this.m_allowSleep){e.UpdateSleep(a)}for(var o=0;o<e.m_bodyCount;++o){c=e.m_bodies[o];if(c.m_flags&b2Body.e_staticFlag){c.m_flags&=~b2Body.e_islandFlag}if(c.IsFrozen()&&this.m_listener){var p=this.m_listener.NotifyBoundaryViolated(c);if(p==b2WorldListener.b2_destroyBody){this.DestroyBody(c);c=null;e.m_bodies[o]=null}}}}this.m_broadPhase.Commit()},Query:function(a,b,c){var d=new Array;var e=this.m_broadPhase.QueryAABB(a,d,c);for(var f=0;f<e;++f){b[f]=d[f]}return e},GetBodyList:function(){return this.m_bodyList},GetJointList:function(){return this.m_jointList},GetContactList:function(){return this.m_contactList},m_blockAllocator:null,m_stackAllocator:null,m_broadPhase:null,m_contactManager:new b2ContactManager,m_bodyList:null,m_contactList:null,m_jointList:null,m_bodyCount:0,m_contactCount:0,m_jointCount:0,m_bodyDestroyList:null,m_gravity:null,m_allowSleep:null,m_groundBody:null,m_listener:null,m_filter:null,m_positionIterationCount:0};b2World.s_enablePositionCorrection=1;b2World.s_enableWarmStarting=1;var b2WorldListener=Class.create();b2WorldListener.prototype={NotifyJointDestroyed:function(a){},NotifyBoundaryViolated:function(a){return b2WorldListener.b2_freezeBody},initialize:function(){}};b2WorldListener.b2_freezeBody=0;b2WorldListener.b2_destroyBody=1;var b2JointNode=Class.create();b2JointNode.prototype={other:null,joint:null,prev:null,next:null,initialize:function(){}};var b2Joint=Class.create();b2Joint.prototype={GetType:function(){return this.m_type},GetAnchor1:function(){return null},GetAnchor2:function(){return null},GetReactionForce:function(a){return null},GetReactionTorque:function(a){return 0},GetBody1:function(){return this.m_body1},GetBody2:function(){return this.m_body2},GetNext:function(){return this.m_next},GetUserData:function(){return this.m_userData},initialize:function(a){this.m_node1=new b2JointNode;this.m_node2=new b2JointNode;this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData},PrepareVelocitySolver:function(){},SolveVelocityConstraints:function(a){},PreparePositionSolver:function(){},SolvePositionConstraints:function(){return false},m_type:0,m_prev:null,m_next:null,m_node1:new b2JointNode,m_node2:new b2JointNode,m_body1:null,m_body2:null,m_islandFlag:null,m_collideConnected:null,m_userData:null};b2Joint.Create=function(a,b){var c=null;switch(a.type){case b2Joint.e_distanceJoint:{c=new b2DistanceJoint(a)}break;case b2Joint.e_mouseJoint:{c=new b2MouseJoint(a)}break;case b2Joint.e_prismaticJoint:{c=new b2PrismaticJoint(a)}break;case b2Joint.e_revoluteJoint:{c=new b2RevoluteJoint(a)}break;case b2Joint.e_pulleyJoint:{c=new b2PulleyJoint(a)}break;case b2Joint.e_gearJoint:{c=new b2GearJoint(a)}break;default:break}return c};b2Joint.Destroy=function(a,b){};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;var b2JointDef=Class.create();b2JointDef.prototype={initialize:function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false},type:0,userData:null,body1:null,body2:null,collideConnected:null};var b2DistanceJoint=Class.create();Object.extend(b2DistanceJoint.prototype,b2Joint.prototype);Object.extend(b2DistanceJoint.prototype,{initialize:function(a){this.m_node1=new b2JointNode;this.m_node2=new b2JointNode;this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData;this.m_localAnchor1=new b2Vec2;this.m_localAnchor2=new b2Vec2;this.m_u=new b2Vec2;var b;var c;var d;b=this.m_body1.m_R;c=a.anchorPoint1.x-this.m_body1.m_position.x;d=a.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=c*b.col1.x+d*b.col1.y;this.m_localAnchor1.y=c*b.col2.x+d*b.col2.y;b=this.m_body2.m_R;c=a.anchorPoint2.x-this.m_body2.m_position.x;d=a.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=c*b.col1.x+d*b.col1.y;this.m_localAnchor2.y=c*b.col2.x+d*b.col2.y;c=a.anchorPoint2.x-a.anchorPoint1.x;d=a.anchorPoint2.y-a.anchorPoint1.y;this.m_length=Math.sqrt(c*c+d*d);this.m_impulse=0},PrepareVelocitySolver:function(){var a;a=this.m_body1.m_R;var b=a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y;var c=a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y;a=this.m_body2.m_R;var d=a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y;var e=a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y;this.m_u.x=this.m_body2.m_position.x+d-this.m_body1.m_position.x-b;this.m_u.y=this.m_body2.m_position.y+e-this.m_body1.m_position.y-c;var f=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);if(f>b2Settings.b2_linearSlop){this.m_u.Multiply(1/f)}else{this.m_u.SetZero()}var g=b*this.m_u.y-c*this.m_u.x;var h=d*this.m_u.y-e*this.m_u.x;this.m_mass=this.m_body1.m_invMass+this.m_body1.m_invI*g*g+this.m_body2.m_invMass+this.m_body2.m_invI*h*h;this.m_mass=1/this.m_mass;if(b2World.s_enableWarmStarting){var i=this.m_impulse*this.m_u.x;var j=this.m_impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*i;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*j;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(b*j-c*i);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*i;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*j;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(d*j-e*i)}else{this.m_impulse=0}},SolveVelocityConstraints:function(a){var b;b=this.m_body1.m_R;var c=b.col1.x*this.m_localAnchor1.x+b.col2.x*this.m_localAnchor1.y;var d=b.col1.y*this.m_localAnchor1.x+b.col2.y*this.m_localAnchor1.y;b=this.m_body2.m_R;var e=b.col1.x*this.m_localAnchor2.x+b.col2.x*this.m_localAnchor2.y;var f=b.col1.y*this.m_localAnchor2.x+b.col2.y*this.m_localAnchor2.y;var g=this.m_body1.m_linearVelocity.x+ -this.m_body1.m_angularVelocity*d;var h=this.m_body1.m_linearVelocity.y+this.m_body1.m_angularVelocity*c;var i=this.m_body2.m_linearVelocity.x+ -this.m_body2.m_angularVelocity*f;var j=this.m_body2.m_linearVelocity.y+this.m_body2.m_angularVelocity*e;var k=this.m_u.x*(i-g)+this.m_u.y*(j-h);var l=-this.m_mass*k;this.m_impulse+=l;var m=l*this.m_u.x;var n=l*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*m;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*n;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(c*n-d*m);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*m;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*n;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(e*n-f*m)},SolvePositionConstraints:function(){var a;a=this.m_body1.m_R;var b=a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y;var c=a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y;a=this.m_body2.m_R;var d=a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y;var e=a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y;var f=this.m_body2.m_position.x+d-this.m_body1.m_position.x-b;var g=this.m_body2.m_position.y+e-this.m_body1.m_position.y-c;var h=Math.sqrt(f*f+g*g);f/=h;g/=h;var i=h-this.m_length;i=b2Math.b2Clamp(i,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var j=-this.m_mass*i;this.m_u.Set(f,g);var k=j*this.m_u.x;var l=j*this.m_u.y;this.m_body1.m_position.x-=this.m_body1.m_invMass*k;this.m_body1.m_position.y-=this.m_body1.m_invMass*l;this.m_body1.m_rotation-=this.m_body1.m_invI*(b*l-c*k);this.m_body2.m_position.x+=this.m_body2.m_invMass*k;this.m_body2.m_position.y+=this.m_body2.m_invMass*l;this.m_body2.m_rotation+=this.m_body2.m_invI*(d*l-e*k);this.m_body1.m_R.Set(this.m_body1.m_rotation);this.m_body2.m_R.Set(this.m_body2.m_rotation);return b2Math.b2Abs(i)<b2Settings.b2_linearSlop},GetAnchor1:function(){return b2Math.AddVV(this.m_body1.m_position,b2Math.b2MulMV(this.m_body1.m_R,this.m_localAnchor1))},GetAnchor2:function(){return b2Math.AddVV(this.m_body2.m_position,b2Math.b2MulMV(this.m_body2.m_R,this.m_localAnchor2))},GetReactionForce:function(a){var b=new b2Vec2;b.SetV(this.m_u);b.Multiply(this.m_impulse*a);return b},GetReactionTorque:function(a){return 0},m_localAnchor1:new b2Vec2,m_localAnchor2:new b2Vec2,m_u:new b2Vec2,m_impulse:null,m_mass:null,m_length:null});var b2DistanceJointDef=Class.create();Object.extend(b2DistanceJointDef.prototype,b2JointDef.prototype);Object.extend(b2DistanceJointDef.prototype,{initialize:function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.anchorPoint1=new b2Vec2;this.anchorPoint2=new b2Vec2;this.type=b2Joint.e_distanceJoint},anchorPoint1:new b2Vec2,anchorPoint2:new b2Vec2});var b2Jacobian=Class.create();b2Jacobian.prototype={linear1:new b2Vec2,angular1:null,linear2:new b2Vec2,angular2:null,SetZero:function(){this.linear1.SetZero();this.angular1=0;this.linear2.SetZero();this.angular2=0},Set:function(a,b,c,d){this.linear1.SetV(a);this.angular1=b;this.linear2.SetV(c);this.angular2=d},Compute:function(a,b,c,d){return this.linear1.x*a.x+this.linear1.y*a.y+this.angular1*b+(this.linear2.x*c.x+this.linear2.y*c.y)+this.angular2*d},initialize:function(){this.linear1=new b2Vec2;this.linear2=new b2Vec2}};var b2GearJoint=Class.create();Object.extend(b2GearJoint.prototype,b2Joint.prototype);Object.extend(b2GearJoint.prototype,{GetAnchor1:function(){var a=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y))},GetAnchor2:function(){var a=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y))},GetReactionForce:function(a){return new b2Vec2},GetReactionTorque:function(a){return 0},GetRatio:function(){return this.m_ratio},initialize:function(a){this.m_node1=new b2JointNode;this.m_node2=new b2JointNode;this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData;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;this.m_revolute1=null;this.m_prismatic1=null;this.m_revolute2=null;this.m_prismatic2=null;var b;var c;this.m_ground1=a.joint1.m_body1;this.m_body1=a.joint1.m_body2;if(a.joint1.m_type==b2Joint.e_revoluteJoint){this.m_revolute1=a.joint1;this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);b=this.m_revolute1.GetJointAngle()}else{this.m_prismatic1=a.joint1;this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);b=this.m_prismatic1.GetJointTranslation()}this.m_ground2=a.joint2.m_body1;this.m_body2=a.joint2.m_body2;if(a.joint2.m_type==b2Joint.e_revoluteJoint){this.m_revolute2=a.joint2;this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);c=this.m_revolute2.GetJointAngle()}else{this.m_prismatic2=a.joint2;this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);c=this.m_prismatic2.GetJointTranslation()}this.m_ratio=a.ratio;this.m_constant=b+this.m_ratio*c;this.m_impulse=0},PrepareVelocitySolver:function(){var a=this.m_ground1;var b=this.m_ground2;var c=this.m_body1;var d=this.m_body2;var e;var f;var g;var h;var i;var j;var k;var l=0;this.m_J.SetZero();if(this.m_revolute1){this.m_J.angular1=-1;l+=c.m_invI}else{i=a.m_R;j=this.m_prismatic1.m_localXAxis1;e=i.col1.x*j.x+i.col2.x*j.y;f=i.col1.y*j.x+i.col2.y*j.y;i=c.m_R;g=i.col1.x*this.m_localAnchor1.x+i.col2.x*this.m_localAnchor1.y;h=i.col1.y*this.m_localAnchor1.x+i.col2.y*this.m_localAnchor1.y;k=g*f-h*e;this.m_J.linear1.Set(-e,-f);this.m_J.angular1=-k;l+=c.m_invMass+c.m_invI*k*k}if(this.m_revolute2){this.m_J.angular2=-this.m_ratio;l+=this.m_ratio*this.m_ratio*d.m_invI}else{i=b.m_R;j=this.m_prismatic2.m_localXAxis1;e=i.col1.x*j.x+i.col2.x*j.y;f=i.col1.y*j.x+i.col2.y*j.y;i=d.m_R;g=i.col1.x*this.m_localAnchor2.x+i.col2.x*this.m_localAnchor2.y;h=i.col1.y*this.m_localAnchor2.x+i.col2.y*this.m_localAnchor2.y;k=g*f-h*e;this.m_J.linear2.Set(-this.m_ratio*e,-this.m_ratio*f);this.m_J.angular2=-this.m_ratio*k;l+=this.m_ratio*this.m_ratio*(d.m_invMass+d.m_invI*k*k)}this.m_mass=1/l;c.m_linearVelocity.x+=c.m_invMass*this.m_impulse*this.m_J.linear1.x;c.m_linearVelocity.y+=c.m_invMass*this.m_impulse*this.m_J.linear1.y;c.m_angularVelocity+=c.m_invI*this.m_impulse*this.m_J.angular1;d.m_linearVelocity.x+=d.m_invMass*this.m_impulse*this.m_J.linear2.x;d.m_linearVelocity.y+=d.m_invMass*this.m_impulse*this.m_J.linear2.y;d.m_angularVelocity+=d.m_invI*this.m_impulse*this.m_J.angular2},SolveVelocityConstraints:function(a){var b=this.m_body1;var c=this.m_body2;var d=this.m_J.Compute(b.m_linearVelocity,b.m_angularVelocity,c.m_linearVelocity,c.m_angularVelocity);var e=-this.m_mass*d;this.m_impulse+=e;b.m_linearVelocity.x+=b.m_invMass*e*this.m_J.linear1.x;b.m_linearVelocity.y+=b.m_invMass*e*this.m_J.linear1.y;b.m_angularVelocity+=b.m_invI*e*this.m_J.angular1;c.m_linearVelocity.x+=c.m_invMass*e*this.m_J.linear2.x;c.m_linearVelocity.y+=c.m_invMass*e*this.m_J.linear2.y;c.m_angularVelocity+=c.m_invI*e*this.m_J.angular2},SolvePositionConstraints:function(){var a=0;var b=this.m_body1;var c=this.m_body2;var d;var e;if(this.m_revolute1){d=this.m_revolute1.GetJointAngle()}else{d=this.m_prismatic1.GetJointTranslation()}if(this.m_revolute2){e=this.m_revolute2.GetJointAngle()}else{e=this.m_prismatic2.GetJointTranslation()}var f=this.m_constant-(d+this.m_ratio*e);var g=-this.m_mass*f;b.m_position.x+=b.m_invMass*g*this.m_J.linear1.x;b.m_position.y+=b.m_invMass*g*this.m_J.linear1.y;b.m_rotation+=b.m_invI*g*this.m_J.angular1;c.m_position.x+=c.m_invMass*g*this.m_J.linear2.x;c.m_position.y+=c.m_invMass*g*this.m_J.linear2.y;c.m_rotation+=c.m_invI*g*this.m_J.angular2;b.m_R.Set(b.m_rotation);c.m_R.Set(c.m_rotation);return a<b2Settings.b2_linearSlop},m_ground1:null,m_ground2:null,m_revolute1:null,m_prismatic1:null,m_revolute2:null,m_prismatic2:null,m_groundAnchor1:new b2Vec2,m_groundAnchor2:new b2Vec2,m_localAnchor1:new b2Vec2,m_localAnchor2:new b2Vec2,m_J:new b2Jacobian,m_constant:null,m_ratio:null,m_mass:null,m_impulse:null});var b2GearJointDef=Class.create();Object.extend(b2GearJointDef.prototype,b2JointDef.prototype);Object.extend(b2GearJointDef.prototype,{initialize:function(){this.type=b2Joint.e_gearJoint;this.joint1=null;this.joint2=null;this.ratio=1},joint1:null,joint2:null,ratio:null});var b2MouseJoint=Class.create();Object.extend(b2MouseJoint.prototype,b2Joint.prototype);Object.extend(b2MouseJoint.prototype,{GetAnchor1:function(){return this.m_target},GetAnchor2:function(){var a=b2Math.b2MulMV(this.m_body2.m_R,this.m_localAnchor);a.Add(this.m_body2.m_position);return a},GetReactionForce:function(a){var b=new b2Vec2;b.SetV(this.m_impulse);b.Multiply(a);return b},GetReactionTorque:function(a){return 0},SetTarget:function(a){this.m_body2.WakeUp();this.m_target=a},initialize:function(a){this.m_node1=new b2JointNode;this.m_node2=new b2JointNode;this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData;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_ptpMass=new b2Mat22;this.m_C=new b2Vec2;this.m_target.SetV(a.target);var b=this.m_target.x-this.m_body2.m_position.x;var c=this.m_target.y-this.m_body2.m_position.y;this.m_localAnchor.x=b*this.m_body2.m_R.col1.x+c*this.m_body2.m_R.col1.y;this.m_localAnchor.y=b*this.m_body2.m_R.col2.x+c*this.m_body2.m_R.col2.y;this.m_maxForce=a.maxForce;this.m_impulse.SetZero();var d=this.m_body2.m_mass;var e=2*b2Settings.b2_pi*a.frequencyHz;var f=2*d*a.dampingRatio*e;var g=d*e*e;this.m_gamma=1/(f+a.timeStep*g);this.m_beta=a.timeStep*g/(f+a.timeStep*g)},K:new b2Mat22,K1:new b2Mat22,K2:new b2Mat22,PrepareVelocitySolver:function(){var a=this.m_body2;var b;b=a.m_R;var c=b.col1.x*this.m_localAnchor.x+b.col2.x*this.m_localAnchor.y;var d=b.col1.y*this.m_localAnchor.x+b.col2.y*this.m_localAnchor.y;var e=a.m_invMass;var f=a.m_invI;this.K1.col1.x=e;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=e;this.K2.col1.x=f*d*d;this.K2.col2.x=-f*c*d;this.K2.col1.y=-f*c*d;this.K2.col2.y=f*c*c;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_ptpMass);this.m_C.x=a.m_position.x+c-this.m_target.x;this.m_C.y=a.m_position.y+d-this.m_target.y;a.m_angularVelocity*=.98;var g=this.m_impulse.x;var h=this.m_impulse.y;a.m_linearVelocity.x+=e*g;a.m_linearVelocity.y+=e*h;a.m_angularVelocity+=f*(c*h-d*g)},SolveVelocityConstraints:function(a){var b=this.m_body2;var c;c=b.m_R;var d=c.col1.x*this.m_localAnchor.x+c.col2.x*this.m_localAnchor.y;var e=c.col1.y*this.m_localAnchor.x+c.col2.y*this.m_localAnchor.y;var f=b.m_linearVelocity.x+ -b.m_angularVelocity*e;var g=b.m_linearVelocity.y+b.m_angularVelocity*d;c=this.m_ptpMass;var h=f+this.m_beta*a.inv_dt*this.m_C.x+this.m_gamma*this.m_impulse.x;var i=g+this.m_beta*a.inv_dt*this.m_C.y+this.m_gamma*this.m_impulse.y;var j=-(c.col1.x*h+c.col2.x*i);var k=-(c.col1.y*h+c.col2.y*i);var l=this.m_impulse.x;var m=this.m_impulse.y;this.m_impulse.x+=j;this.m_impulse.y+=k;var n=this.m_impulse.Length();if(n>a.dt*this.m_maxForce){this.m_impulse.Multiply(a.dt*this.m_maxForce/n)}j=this.m_impulse.x-l;k=this.m_impulse.y-m;b.m_linearVelocity.x+=b.m_invMass*j;b.m_linearVelocity.y+=b.m_invMass*k;b.m_angularVelocity+=b.m_invI*(d*k-e*j)},SolvePositionConstraints:function(){return true},m_localAnchor:new b2Vec2,m_target:new b2Vec2,m_impulse:new b2Vec2,m_ptpMass:new b2Mat22,m_C:new b2Vec2,m_maxForce:null,m_beta:null,m_gamma:null});var b2MouseJointDef=Class.create();Object.extend(b2MouseJointDef.prototype,b2JointDef.prototype);Object.extend(b2MouseJointDef.prototype,{initialize:function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.target=new b2Vec2;this.type=b2Joint.e_mouseJoint;this.maxForce=0;this.frequencyHz=5;this.dampingRatio=.7;this.timeStep=1/60},target:new b2Vec2,maxForce:null,frequencyHz:null,dampingRatio:null,timeStep:null});var b2PrismaticJoint=Class.create();Object.extend(b2PrismaticJoint.prototype,b2Joint.prototype);Object.extend(b2PrismaticJoint.prototype,{GetAnchor1:function(){var a=this.m_body1;var b=new b2Vec2;b.SetV(this.m_localAnchor1);b.MulM(a.m_R);b.Add(a.m_position);return b},GetAnchor2:function(){var a=this.m_body2;var b=new b2Vec2;b.SetV(this.m_localAnchor2);b.MulM(a.m_R);b.Add(a.m_position);return b},GetJointTranslation:function(){var a=this.m_body1;var b=this.m_body2;var c;c=a.m_R;var d=c.col1.x*this.m_localAnchor1.x+c.col2.x*this.m_localAnchor1.y;var e=c.col1.y*this.m_localAnchor1.x+c.col2.y*this.m_localAnchor1.y;c=b.m_R;var f=c.col1.x*this.m_localAnchor2.x+c.col2.x*this.m_localAnchor2.y;var g=c.col1.y*this.m_localAnchor2.x+c.col2.y*this.m_localAnchor2.y;var h=a.m_position.x+d;var i=a.m_position.y+e;var j=b.m_position.x+f;var k=b.m_position.y+g;var l=j-h;var m=k-i;c=a.m_R;var n=c.col1.x*this.m_localXAxis1.x+c.col2.x*this.m_localXAxis1.y;var o=c.col1.y*this.m_localXAxis1.x+c.col2.y*this.m_localXAxis1.y;var p=n*l+o*m;return p},GetJointSpeed:function(){var a=this.m_body1;var b=this.m_body2;var c;c=a.m_R;var d=c.col1.x*this.m_localAnchor1.x+c.col2.x*this.m_localAnchor1.y;var e=c.col1.y*this.m_localAnchor1.x+c.col2.y*this.m_localAnchor1.y;c=b.m_R;var f=c.col1.x*this.m_localAnchor2.x+c.col2.x*this.m_localAnchor2.y;var g=c.col1.y*this.m_localAnchor2.x+c.col2.y*this.m_localAnchor2.y;var h=a.m_position.x+d;var i=a.m_position.y+e;var j=b.m_position.x+f;var k=b.m_position.y+g;var l=j-h;var m=k-i;c=a.m_R;var n=c.col1.x*this.m_localXAxis1.x+c.col2.x*this.m_localXAxis1.y;var o=c.col1.y*this.m_localXAxis1.x+c.col2.y*this.m_localXAxis1.y;var p=a.m_linearVelocity;var q=b.m_linearVelocity;var r=a.m_angularVelocity;var s=b.m_angularVelocity;var t=l*-r*o+m*r*n+(n*(q.x+ -s*g-p.x- -r*e)+o*(q.y+s*f-p.y-r*d));return t},GetMotorForce:function(a){return a*this.m_motorImpulse},SetMotorSpeed:function(a){this.m_motorSpeed=a},SetMotorForce:function(a){this.m_maxMotorForce=a},GetReactionForce:function(a){var b=a*this.m_limitImpulse;var c;c=this.m_body1.m_R;var d=b*(c.col1.x*this.m_localXAxis1.x+c.col2.x*this.m_localXAxis1.y);var e=b*(c.col1.y*this.m_localXAxis1.x+c.col2.y*this.m_localXAxis1.y);var f=b*(c.col1.x*this.m_localYAxis1.x+c.col2.x*this.m_localYAxis1.y);var g=b*(c.col1.y*this.m_localYAxis1.x+c.col2.y*this.m_localYAxis1.y);return new b2Vec2(d+f,e+g)},GetReactionTorque:function(a){return a*this.m_angularImpulse},initialize:function(a){this.m_node1=new b2JointNode;this.m_node2=new b2JointNode;this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData;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;var b;var c;var d;b=this.m_body1.m_R;c=a.anchorPoint.x-this.m_body1.m_position.x;d=a.anchorPoint.y-this.m_body1.m_position.y;this.m_localAnchor1.Set(c*b.col1.x+d*b.col1.y,c*b.col2.x+d*b.col2.y);b=this.m_body2.m_R;c=a.anchorPoint.x-this.m_body2.m_position.x;d=a.anchorPoint.y-this.m_body2.m_position.y;this.m_localAnchor2.Set(c*b.col1.x+d*b.col1.y,c*b.col2.x+d*b.col2.y);b=this.m_body1.m_R;c=a.axis.x;d=a.axis.y;this.m_localXAxis1.Set(c*b.col1.x+d*b.col1.y,c*b.col2.x+d*b.col2.y);this.m_localYAxis1.x=-this.m_localXAxis1.y;this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_initialAngle=this.m_body2.m_rotation-this.m_body1.m_rotation;this.m_linearJacobian.SetZero();this.m_linearMass=0;this.m_linearImpulse=0;this.m_angularMass=0;this.m_angularImpulse=0;this.m_motorJacobian.SetZero();this.m_motorMass=0;this.m_motorImpulse=0;this.m_limitImpulse=0;this.m_limitPositionImpulse=0;this.m_lowerTranslation=a.lowerTranslation;this.m_upperTranslation=a.upperTranslation;this.m_maxMotorForce=a.motorForce;this.m_motorSpeed=a.motorSpeed;this.m_enableLimit=a.enableLimit;this.m_enableMotor=a.enableMotor},PrepareVelocitySolver:function(){var a=this.m_body1;var b=this.m_body2;var c;c=a.m_R;var d=c.col1.x*this.m_localAnchor1.x+c.col2.x*this.m_localAnchor1.y;var e=c.col1.y*this.m_localAnchor1.x+c.col2.y*this.m_localAnchor1.y;c=b.m_R;var f=c.col1.x*this.m_localAnchor2.x+c.col2.x*this.m_localAnchor2.y;var g=c.col1.y*this.m_localAnchor2.x+c.col2.y*this.m_localAnchor2.y;var h=a.m_invMass;var i=b.m_invMass;var j=a.m_invI;var k=b.m_invI;c=a.m_R;var l=c.col1.x*this.m_localYAxis1.x+c.col2.x*this.m_localYAxis1.y;var m=c.col1.y*this.m_localYAxis1.x+c.col2.y*this.m_localYAxis1.y;var n=b.m_position.x+f-a.m_position.x;var o=b.m_position.y+g-a.m_position.y;this.m_linearJacobian.linear1.x=-l;this.m_linearJacobian.linear1.y=-m;this.m_linearJacobian.linear2.x=l;this.m_linearJacobian.linear2.y=m;this.m_linearJacobian.angular1=-(n*m-o*l);this.m_linearJacobian.angular2=f*m-g*l;this.m_linearMass=h+j*this.m_linearJacobian.angular1*this.m_linearJacobian.angular1+i+k*this.m_linearJacobian.angular2*this.m_linearJacobian.angular2;this.m_linearMass=1/this.m_linearMass;this.m_angularMass=1/(j+k);if(this.m_enableLimit||this.m_enableMotor){c=a.m_R;var p=c.col1.x*this.m_localXAxis1.x+c.col2.x*this.m_localXAxis1.y;var q=c.col1.y*this.m_localXAxis1.x+c.col2.y*this.m_localXAxis1.y;this.m_motorJacobian.linear1.x=-p;this.m_motorJacobian.linear1.y=-q;this.m_motorJacobian.linear2.x=p;this.m_motorJacobian.linear2.y=q;this.m_motorJacobian.angular1=-(n*q-o*p);this.m_motorJacobian.angular2=f*q-g*p;this.m_motorMass=h+j*this.m_motorJacobian.angular1*this.m_motorJacobian.angular1+i+k*this.m_motorJacobian.angular2*this.m_motorJacobian.angular2;this.m_motorMass=1/this.m_motorMass;if(this.m_enableLimit){var r=n-d;var s=o-e;var t=p*r+q*s;if(b2Math.b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*b2Settings.b2_linearSlop){this.m_limitState=b2Joint.e_equalLimits}else if(t<=this.m_lowerTranslation){if(this.m_limitState!=b2Joint.e_atLowerLimit){this.m_limitImpulse=0}this.m_limitState=b2Joint.e_atLowerLimit}else if(t>=this.m_upperTranslation){if(this.m_limitState!=b2Joint.e_atUpperLimit){this.m_limitImpulse=0}this.m_limitState=b2Joint.e_atUpperLimit}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0}}}if(this.m_enableMotor==false){this.m_motorImpulse=0}if(this.m_enableLimit==false){this.m_limitImpulse=0}if(b2World.s_enableWarmStarting){var u=this.m_linearImpulse*this.m_linearJacobian.linear1.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.x;var v=this.m_linearImpulse*this.m_linearJacobian.linear1.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.y;var w=this.m_linearImpulse*this.m_linearJacobian.linear2.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.x;var x=this.m_linearImpulse*this.m_linearJacobian.linear2.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.y;var y=this.m_linearImpulse*this.m_linearJacobian.angular1-this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular1;var z=this.m_linearImpulse*this.m_linearJacobian.angular2+this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular2;a.m_linearVelocity.x+=h*u;a.m_linearVelocity.y+=h*v;a.m_angularVelocity+=j*y;b.m_linearVelocity.x+=i*w;b.m_linearVelocity.y+=i*x;b.m_angularVelocity+=k*z}else{this.m_linearImpulse=0;this.m_angularImpulse=0;this.m_limitImpulse=0;this.m_motorImpulse=0}this.m_limitPositionImpulse=0},SolveVelocityConstraints:function(a){var b=this.m_body1;var c=this.m_body2;var d=b.m_invMass;var e=c.m_invMass;var f=b.m_invI;var g=c.m_invI;var h;var i=this.m_linearJacobian.Compute(b.m_linearVelocity,b.m_angularVelocity,c.m_linearVelocity,c.m_angularVelocity);var j=-this.m_linearMass*i;this.m_linearImpulse+=j;b.m_linearVelocity.x+=d*j*this.m_linearJacobian.linear1.x;b.m_linearVelocity.y+=d*j*this.m_linearJacobian.linear1.y;b.m_angularVelocity+=f*j*this.m_linearJacobian.angular1;c.m_linearVelocity.x+=e*j*this.m_linearJacobian.linear2.x;c.m_linearVelocity.y+=e*j*this.m_linearJacobian.linear2.y;c.m_angularVelocity+=g*j*this.m_linearJacobian.angular2;var k=c.m_angularVelocity-b.m_angularVelocity;var l=-this.m_angularMass*k;this.m_angularImpulse+=l;b.m_angularVelocity-=f*l;c.m_angularVelocity+=g*l;if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits){var m=this.m_motorJacobian.Compute(b.m_linearVelocity,b.m_angularVelocity,c.m_linearVelocity,c.m_angularVelocity)-this.m_motorSpeed;var n=-this.m_motorMass*m;var o=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+n,-a.dt*this.m_maxMotorForce,a.dt*this.m_maxMotorForce);n=this.m_motorImpulse-o;b.m_linearVelocity.x+=d*n*this.m_motorJacobian.linear1.x;b.m_linearVelocity.y+=d*n*this.m_motorJacobian.linear1.y;b.m_angularVelocity+=f*n*this.m_motorJacobian.angular1;c.m_linearVelocity.x+=e*n*this.m_motorJacobian.linear2.x;c.m_linearVelocity.y+=e*n*this.m_motorJacobian.linear2.y;c.m_angularVelocity+=g*n*this.m_motorJacobian.angular2}if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){var p=this.m_motorJacobian.Compute(b.m_linearVelocity,b.m_angularVelocity,c.m_linearVelocity,c.m_angularVelocity);var q=-this.m_motorMass*p;if(this.m_limitState==b2Joint.e_equalLimits){this.m_limitImpulse+=q}else if(this.m_limitState==b2Joint.e_atLowerLimit){h=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+q,0);q=this.m_limitImpulse-h}else if(this.m_limitState==b2Joint.e_atUpperLimit){h=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+q,0);q=this.m_limitImpulse-h}b.m_linearVelocity.x+=d*q*this.m_motorJacobian.linear1.x;b.m_linearVelocity.y+=d*q*this.m_motorJacobian.linear1.y;b.m_angularVelocity+=f*q*this.m_motorJacobian.angular1;c.m_linearVelocity.x+=e*q*this.m_motorJacobian.linear2.x;c.m_linearVelocity.y+=e*q*this.m_motorJacobian.linear2.y;c.m_angularVelocity+=g*q*this.m_motorJacobian.angular2}},SolvePositionConstraints:function(){var a;var b;var c=this.m_body1;var d=this.m_body2;var e=c.m_invMass;var f=d.m_invMass;var g=c.m_invI;var h=d.m_invI;var i;i=c.m_R;var j=i.col1.x*this.m_localAnchor1.x+i.col2.x*this.m_localAnchor1.y;var k=i.col1.y*this.m_localAnchor1.x+i.col2.y*this.m_localAnchor1.y;i=d.m_R;var l=i.col1.x*this.m_localAnchor2.x+i.col2.x*this.m_localAnchor2.y;var m=i.col1.y*this.m_localAnchor2.x+i.col2.y*this.m_localAnchor2.y;var n=c.m_position.x+j;var o=c.m_position.y+k;var p=d.m_position.x+l;var q=d.m_position.y+m;var r=p-n;var s=q-o;i=c.m_R;var t=i.col1.x*this.m_localYAxis1.x+i.col2.x*this.m_localYAxis1.y;var u=i.col1.y*this.m_localYAxis1.x+i.col2.y*this.m_localYAxis1.y;var v=t*r+u*s;v=b2Math.b2Clamp(v,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var w=-this.m_linearMass*v;c.m_position.x+=e*w*this.m_linearJacobian.linear1.x;c.m_position.y+=e*w*this.m_linearJacobian.linear1.y;c.m_rotation+=g*w*this.m_linearJacobian.angular1;d.m_position.x+=f*w*this.m_linearJacobian.linear2.x;d.m_position.y+=f*w*this.m_linearJacobian.linear2.y;d.m_rotation+=h*w*this.m_linearJacobian.angular2;var x=b2Math.b2Abs(v);var y=d.m_rotation-c.m_rotation-this.m_initialAngle;y=b2Math.b2Clamp(y,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);var z=-this.m_angularMass*y;c.m_rotation-=c.m_invI*z;c.m_R.Set(c.m_rotation);d.m_rotation+=d.m_invI*z;d.m_R.Set(d.m_rotation);var A=b2Math.b2Abs(y);if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){i=c.m_R;j=i.col1.x*this.m_localAnchor1.x+i.col2.x*this.m_localAnchor1.y;k=i.col1.y*this.m_localAnchor1.x+i.col2.y*this.m_localAnchor1.y;i=d.m_R;l=i.col1.x*this.m_localAnchor2.x+i.col2.x*this.m_localAnchor2.y;m=i.col1.y*this.m_localAnchor2.x+i.col2.y*this.m_localAnchor2.y;n=c.m_position.x+j;o=c.m_position.y+k;p=d.m_position.x+l;q=d.m_position.y+m;r=p-n;s=q-o;i=c.m_R;var B=i.col1.x*this.m_localXAxis1.x+i.col2.x*this.m_localXAxis1.y;var C=i.col1.y*this.m_localXAxis1.x+i.col2.y*this.m_localXAxis1.y;var D=B*r+C*s;var E=0;if(this.m_limitState==b2Joint.e_equalLimits){a=b2Math.b2Clamp(D,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);E=-this.m_motorMass*a;x=b2Math.b2Max(x,b2Math.b2Abs(y))}else if(this.m_limitState==b2Joint.e_atLowerLimit){a=D-this.m_lowerTranslation;x=b2Math.b2Max(x,-a);a=b2Math.b2Clamp(a+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);E=-this.m_motorMass*a;b=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+E,0);E=this.m_limitPositionImpulse-b}else if(this.m_limitState==b2Joint.e_atUpperLimit){a=D-this.m_upperTranslation;x=b2Math.b2Max(x,a);a=b2Math.b2Clamp(a-b2Settings.b2_linearSlop,0,b2Settings.b2_maxLinearCorrection);E=-this.m_motorMass*a;b=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+E,0);E=this.m_limitPositionImpulse-b}c.m_position.x+=e*E*this.m_motorJacobian.linear1.x;c.m_position.y+=e*E*this.m_motorJacobian.linear1.y;c.m_rotation+=g*E*this.m_motorJacobian.angular1;c.m_R.Set(c.m_rotation);d.m_position.x+=f*E*this.m_motorJacobian.linear2.x;d.m_position.y+=f*E*this.m_motorJacobian.linear2.y;d.m_rotation+=h*E*this.m_motorJacobian.angular2;d.m_R.Set(d.m_rotation)}return x<=b2Settings.b2_linearSlop&&A<=b2Settings.b2_angularSlop},m_localAnchor1:new b2Vec2,m_localAnchor2:new b2Vec2,m_localXAxis1:new b2Vec2,m_localYAxis1:new b2Vec2,m_initialAngle:null,m_linearJacobian:new b2Jacobian,m_linearMass:null,m_linearImpulse:null,m_angularMass:null,m_angularImpulse:null,m_motorJacobian:new b2Jacobian,m_motorMass:null,m_motorImpulse:null,m_limitImpulse:null,m_limitPositionImpulse:null,m_lowerTranslation:null,m_upperTranslation:null,m_maxMotorForce:null,m_motorSpeed:null,m_enableLimit:null,m_enableMotor:null,m_limitState:0});var b2PrismaticJointDef=Class.create();Object.extend(b2PrismaticJointDef.prototype,b2JointDef.prototype);Object.extend(b2PrismaticJointDef.prototype,{initialize:function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.type=b2Joint.e_prismaticJoint;this.anchorPoint=new b2Vec2(0,0);this.axis=new b2Vec2(0,0);this.lowerTranslation=0;this.upperTranslation=0;this.motorForce=0;this.motorSpeed=0;this.enableLimit=false;this.enableMotor=false},anchorPoint:null,axis:null,lowerTranslation:null,upperTranslation:null,motorForce:null,motorSpeed:null,enableLimit:null,enableMotor:null});var b2PulleyJoint=Class.create();Object.extend(b2PulleyJoint.prototype,b2Joint.prototype);Object.extend(b2PulleyJoint.prototype,{GetAnchor1:function(){var a=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y))},GetAnchor2:function(){var a=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y))},GetGroundPoint1:function(){return new b2Vec2(this.m_ground.m_position.x+this.m_groundAnchor1.x,this.m_ground.m_position.y+this.m_groundAnchor1.y)},GetGroundPoint2:function(){return new b2Vec2(this.m_ground.m_position.x+this.m_groundAnchor2.x,this.m_ground.m_position.y+this.m_groundAnchor2.y)},GetReactionForce:function(a){return new b2Vec2},GetReactionTorque:function(a){return 0},GetLength1:function(){var a;a=this.m_body1.m_R;var b=this.m_body1.m_position.x+(a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y);var c=this.m_body1.m_position.y+(a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y);var d=b-(this.m_ground.m_position.x+this.m_groundAnchor1.x);var e=c-(this.m_ground.m_position.y+this.m_groundAnchor1.y);return Math.sqrt(d*d+e*e)},GetLength2:function(){var a;a=this.m_body2.m_R;var b=this.m_body2.m_position.x+(a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y);var c=this.m_body2.m_position.y+(a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y);var d=b-(this.m_ground.m_position.x+this.m_groundAnchor2.x);var e=c-(this.m_ground.m_position.y+this.m_groundAnchor2.y);return Math.sqrt(d*d+e*e)},GetRatio:function(){return this.m_ratio},initialize:function(a){this.m_node1=new b2JointNode;this.m_node2=new b2JointNode;this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData;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;var b;var c;var d;this.m_ground=this.m_body1.m_world.m_groundBody;this.m_groundAnchor1.x=a.groundPoint1.x-this.m_ground.m_position.x;this.m_groundAnchor1.y=a.groundPoint1.y-this.m_ground.m_position.y;this.m_groundAnchor2.x=a.groundPoint2.x-this.m_ground.m_position.x;this.m_groundAnchor2.y=a.groundPoint2.y-this.m_ground.m_position.y;b=this.m_body1.m_R;c=a.anchorPoint1.x-this.m_body1.m_position.x;d=a.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=c*b.col1.x+d*b.col1.y;this.m_localAnchor1.y=c*b.col2.x+d*b.col2.y;b=this.m_body2.m_R;c=a.anchorPoint2.x-this.m_body2.m_position.x;d=a.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=c*b.col1.x+d*b.col1.y;this.m_localAnchor2.y=c*b.col2.x+d*b.col2.y;this.m_ratio=a.ratio;c=a.groundPoint1.x-a.anchorPoint1.x;d=a.groundPoint1.y-a.anchorPoint1.y;var e=Math.sqrt(c*c+d*d);c=a.groundPoint2.x-a.anchorPoint2.x;d=a.groundPoint2.y-a.anchorPoint2.y;var f=Math.sqrt(c*c+d*d);var g=b2Math.b2Max(.5*b2PulleyJoint.b2_minPulleyLength,e);var h=b2Math.b2Max(.5*b2PulleyJoint.b2_minPulleyLength,f);this.m_constant=g+this.m_ratio*h;this.m_maxLength1=b2Math.b2Clamp(a.maxLength1,g,this.m_constant-this.m_ratio*b2PulleyJoint.b2_minPulleyLength);this.m_maxLength2=b2Math.b2Clamp(a.maxLength2,h,(this.m_constant-b2PulleyJoint.b2_minPulleyLength)/this.m_ratio);this.m_pulleyImpulse=0;this.m_limitImpulse1=0;this.m_limitImpulse2=0},PrepareVelocitySolver:function(){var a=this.m_body1;var b=this.m_body2;var c;c=a.m_R;var d=c.col1.x*this.m_localAnchor1.x+c.col2.x*this.m_localAnchor1.y;var e=c.col1.y*this.m_localAnchor1.x+c.col2.y*this.m_localAnchor1.y;c=b.m_R;var f=c.col1.x*this.m_localAnchor2.x+c.col2.x*this.m_localAnchor2.y;var g=c.col1.y*this.m_localAnchor2.x+c.col2.y*this.m_localAnchor2.y;var h=a.m_position.x+d;var i=a.m_position.y+e;var j=b.m_position.x+f;var k=b.m_position.y+g;var l=this.m_ground.m_position.x+this.m_groundAnchor1.x;var m=this.m_ground.m_position.y+this.m_groundAnchor1.y;var n=this.m_ground.m_position.x+this.m_groundAnchor2.x;var o=this.m_ground.m_position.y+this.m_groundAnchor2.y;this.m_u1.Set(h-l,i-m);this.m_u2.Set(j-n,k-o);var p=this.m_u1.Length();var q=this.m_u2.Length();if(p>b2Settings.b2_linearSlop){this.m_u1.Multiply(1/p)}else{this.m_u1.SetZero()}if(q>b2Settings.b2_linearSlop){this.m_u2.Multiply(1/q)}else{this.m_u2.SetZero()}if(p<this.m_maxLength1){this.m_limitState1=b2Joint.e_inactiveLimit;this.m_limitImpulse1=0}else{this.m_limitState1=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse1=0}if(q<this.m_maxLength2){this.m_limitState2=b2Joint.e_inactiveLimit;this.m_limitImpulse2=0}else{this.m_limitState2=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse2=0}var r=d*this.m_u1.y-e*this.m_u1.x;var s=f*this.m_u2.y-g*this.m_u2.x;this.m_limitMass1=a.m_invMass+a.m_invI*r*r;this.m_limitMass2=b.m_invMass+b.m_invI*s*s;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;var t=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.x;var u=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.y;var v=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.x;var w=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.y;a.m_linearVelocity.x+=a.m_invMass*t;a.m_linearVelocity.y+=a.m_invMass*u;a.m_angularVelocity+=a.m_invI*(d*u-e*t);b.m_linearVelocity.x+=b.m_invMass*v;b.m_linearVelocity.y+=b.m_invMass*w;b.m_angularVelocity+=b.m_invI*(f*w-g*v)},SolveVelocityConstraints:function(a){var b=this.m_body1;var c=this.m_body2;var d;d=b.m_R;var e=d.col1.x*this.m_localAnchor1.x+d.col2.x*this.m_localAnchor1.y;var f=d.col1.y*this.m_localAnchor1.x+d.col2.y*this.m_localAnchor1.y;d=c.m_R;var g=d.col1.x*this.m_localAnchor2.x+d.col2.x*this.m_localAnchor2.y;var h=d.col1.y*this.m_localAnchor2.x+d.col2.y*this.m_localAnchor2.y;var i;var j;var k;var l;var m;var n;var o;var p;var q;var r;var s;i=b.m_linearVelocity.x+ -b.m_angularVelocity*f;j=b.m_linearVelocity.y+b.m_angularVelocity*e;k=c.m_linearVelocity.x+ -c.m_angularVelocity*h;l=c.m_linearVelocity.y+c.m_angularVelocity*g;q=-(this.m_u1.x*i+this.m_u1.y*j)-this.m_ratio*(this.m_u2.x*k+this.m_u2.y*l);r=-this.m_pulleyMass*q;this.m_pulleyImpulse+=r;m=-r*this.m_u1.x;n=-r*this.m_u1.y;o=-this.m_ratio*r*this.m_u2.x;p=-this.m_ratio*r*this.m_u2.y;b.m_linearVelocity.x+=b.m_invMass*m;b.m_linearVelocity.y+=b.m_invMass*n;b.m_angularVelocity+=b.m_invI*(e*n-f*m);c.m_linearVelocity.x+=c.m_invMass*o;c.m_linearVelocity.y+=c.m_invMass*p;c.m_angularVelocity+=c.m_invI*(g*p-h*o);if(this.m_limitState1==b2Joint.e_atUpperLimit){i=b.m_linearVelocity.x+ -b.m_angularVelocity*f;j=b.m_linearVelocity.y+b.m_angularVelocity*e;q=-(this.m_u1.x*i+this.m_u1.y*j);r=-this.m_limitMass1*q;s=this.m_limitImpulse1;this.m_limitImpulse1=b2Math.b2Max(0,this.m_limitImpulse1+r);r=this.m_limitImpulse1-s;m=-r*this.m_u1.x;n=-r*this.m_u1.y;b.m_linearVelocity.x+=b.m_invMass*m;b.m_linearVelocity.y+=b.m_invMass*n;b.m_angularVelocity+=b.m_invI*(e*n-f*m)}if(this.m_limitState2==b2Joint.e_atUpperLimit){k=c.m_linearVelocity.x+ -c.m_angularVelocity*h;l=c.m_linearVelocity.y+c.m_angularVelocity*g;q=-(this.m_u2.x*k+this.m_u2.y*l);r=-this.m_limitMass2*q;s=this.m_limitImpulse2;this.m_limitImpulse2=b2Math.b2Max(0,this.m_limitImpulse2+r);r=this.m_limitImpulse2-s;o=-r*this.m_u2.x;p=-r*this.m_u2.y;c.m_linearVelocity.x+=c.m_invMass*o;c.m_linearVelocity.y+=c.m_invMass*p;c.m_angularVelocity+=c.m_invI*(g*p-h*o)}},SolvePositionConstraints:function(){var a=this.m_body1;var b=this.m_body2;var c;var d=this.m_ground.m_position.x+this.m_groundAnchor1.x;var e=this.m_ground.m_position.y+this.m_groundAnchor1.y;var f=this.m_ground.m_position.x+this.m_groundAnchor2.x;var g=this.m_ground.m_position.y+this.m_groundAnchor2.y;var h;var i;var j;var k;var l;var m;var n;var o;var p;var q;var r;var s;var t;var u=0;{c=a.m_R;h=c.col1.x*this.m_localAnchor1.x+c.col2.x*this.m_localAnchor1.y;i=c.col1.y*this.m_localAnchor1.x+c.col2.y*this.m_localAnchor1.y;c=b.m_R;j=c.col1.x*this.m_localAnchor2.x+c.col2.x*this.m_localAnchor2.y;k=c.col1.y*this.m_localAnchor2.x+c.col2.y*this.m_localAnchor2.y;l=a.m_position.x+h;m=a.m_position.y+i;n=b.m_position.x+j;o=b.m_position.y+k;this.m_u1.Set(l-d,m-e);this.m_u2.Set(n-f,o-g);p=this.m_u1.Length();q=this.m_u2.Length();if(p>b2Settings.b2_linearSlop){this.m_u1.Multiply(1/p)}else{this.m_u1.SetZero()}if(q>b2Settings.b2_linearSlop){this.m_u2.Multiply(1/q)}else{this.m_u2.SetZero()}r=this.m_constant-p-this.m_ratio*q;u=b2Math.b2Max(u,Math.abs(r));r=b2Math.b2Clamp(r,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);s=-this.m_pulleyMass*r;l=-s*this.m_u1.x;m=-s*this.m_u1.y;n=-this.m_ratio*s*this.m_u2.x;o=-this.m_ratio*s*this.m_u2.y;a.m_position.x+=a.m_invMass*l;a.m_position.y+=a.m_invMass*m;a.m_rotation+=a.m_invI*(h*m-i*l);b.m_position.x+=b.m_invMass*n;b.m_position.y+=b.m_invMass*o;b.m_rotation+=b.m_invI*(j*o-k*n);a.m_R.Set(a.m_rotation);b.m_R.Set(b.m_rotation)}if(this.m_limitState1==b2Joint.e_atUpperLimit){c=a.m_R;h=c.col1.x*this.m_localAnchor1.x+c.col2.x*this.m_localAnchor1.y;i=c.col1.y*this.m_localAnchor1.x+c.col2.y*this.m_localAnchor1.y;l=a.m_position.x+h;m=a.m_position.y+i;this.m_u1.Set(l-d,m-e);p=this.m_u1.Length();if(p>b2Settings.b2_linearSlop){this.m_u1.x*=1/p;this.m_u1.y*=1/p}else{this.m_u1.SetZero()}r=this.m_maxLength1-p;u=b2Math.b2Max(u,-r);r=b2Math.b2Clamp(r+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);s=-this.m_limitMass1*r;t=this.m_limitPositionImpulse1;this.m_limitPositionImpulse1=b2Math.b2Max(0,this.m_limitPositionImpulse1+s);s=this.m_limitPositionImpulse1-t;l=-s*this.m_u1.x;m=-s*this.m_u1.y;a.m_position.x+=a.m_invMass*l;a.m_position.y+=a.m_invMass*m;a.m_rotation+=a.m_invI*(h*m-i*l);a.m_R.Set(a.m_rotation)}if(this.m_limitState2==b2Joint.e_atUpperLimit){c=b.m_R;j=c.col1.x*this.m_localAnchor2.x+c.col2.x*this.m_localAnchor2.y;k=c.col1.y*this.m_localAnchor2.x+c.col2.y*this.m_localAnchor2.y;n=b.m_position.x+j;o=b.m_position.y+k;this.m_u2.Set(n-f,o-g);q=this.m_u2.Length();if(q>b2Settings.b2_linearSlop){this.m_u2.x*=1/q;this.m_u2.y*=1/q}else{this.m_u2.SetZero()}r=this.m_maxLength2-q;u=b2Math.b2Max(u,-r);r=b2Math.b2Clamp(r+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0);s=-this.m_limitMass2*r;t=this.m_limitPositionImpulse2;this.m_limitPositionImpulse2=b2Math.b2Max(0,this.m_limitPositionImpulse2+s);s=this.m_limitPositionImpulse2-t;n=-s*this.m_u2.x;o=-s*this.m_u2.y;b.m_position.x+=b.m_invMass*n;b.m_position.y+=b.m_invMass*o;b.m_rotation+=b.m_invI*(j*o-k*n);b.m_R.Set(b.m_rotation)}return u<b2Settings.b2_linearSlop},m_ground:null,m_groundAnchor1:new b2Vec2,m_groundAnchor2:new b2Vec2,m_localAnchor1:new b2Vec2,m_localAnchor2:new b2Vec2,m_u1:new b2Vec2,m_u2:new b2Vec2,m_constant:null,m_ratio:null,m_maxLength1:null,m_maxLength2:null,m_pulleyMass:null,m_limitMass1:null,m_limitMass2:null,m_pulleyImpulse:null,m_limitImpulse1:null,m_limitImpulse2:null,m_limitPositionImpulse1:null,m_limitPositionImpulse2:null,m_limitState1:0,m_limitState2:0});b2PulleyJoint.b2_minPulleyLength=b2Settings.b2_lengthUnitsPerMeter;var b2PulleyJointDef=Class.create();Object.extend(b2PulleyJointDef.prototype,b2JointDef.prototype);Object.extend(b2PulleyJointDef.prototype,{initialize:function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.groundPoint1=new b2Vec2;this.groundPoint2=new b2Vec2;this.anchorPoint1=new b2Vec2;this.anchorPoint2=new b2Vec2;this.type=b2Joint.e_pulleyJoint;this.groundPoint1.Set(-1,1);this.groundPoint2.Set(1,1);this.anchorPoint1.Set(-1,0);this.anchorPoint2.Set(1,0);this.maxLength1=.5*b2PulleyJoint.b2_minPulleyLength;this.maxLength2=.5*b2PulleyJoint.b2_minPulleyLength;this.ratio=1;this.collideConnected=true},groundPoint1:new b2Vec2,groundPoint2:new b2Vec2,anchorPoint1:new b2Vec2,anchorPoint2:new b2Vec2,maxLength1:null,maxLength2:null,ratio:null});var b2RevoluteJoint=Class.create();Object.extend(b2RevoluteJoint.prototype,b2Joint.prototype);Object.extend(b2RevoluteJoint.prototype,{GetAnchor1:function(){var a=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(a.col1.x*this.m_localAnchor1.x+a.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(a.col1.y*this.m_localAnchor1.x+a.col2.y*this.m_localAnchor1.y))},GetAnchor2:function(){var a=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(a.col1.x*this.m_localAnchor2.x+a.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(a.col1.y*this.m_localAnchor2.x+a.col2.y*this.m_localAnchor2.y))},GetJointAngle:function(){return this.m_body2.m_rotation-this.m_body1.m_rotation},GetJointSpeed:function(){return this.m_body2.m_angularVelocity-this.m_body1.m_angularVelocity},GetMotorTorque:function(a){return a*this.m_motorImpulse},SetMotorSpeed:function(a){this.m_motorSpeed=a},SetMotorTorque:function(a){this.m_maxMotorTorque=a},GetReactionForce:function(a){var b=this.m_ptpImpulse.Copy();b.Multiply(a);return b},GetReactionTorque:function(a){return a*this.m_limitImpulse},initialize:function(a){this.m_node1=new b2JointNode;this.m_node2=new b2JointNode;this.m_type=a.type;this.m_prev=null;this.m_next=null;this.m_body1=a.body1;this.m_body2=a.body2;this.m_collideConnected=a.collideConnected;this.m_islandFlag=false;this.m_userData=a.userData;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_ptpImpulse=new b2Vec2;this.m_ptpMass=new b2Mat22;var b;var c;var d;b=this.m_body1.m_R;c=a.anchorPoint.x-this.m_body1.m_position.x;d=a.anchorPoint.y-this.m_body1.m_position.y;this.m_localAnchor1.x=c*b.col1.x+d*b.col1.y;this.m_localAnchor1.y=c*b.col2.x+d*b.col2.y;b=this.m_body2.m_R;c=a.anchorPoint.x-this.m_body2.m_position.x;d=a.anchorPoint.y-this.m_body2.m_position.y;this.m_localAnchor2.x=c*b.col1.x+d*b.col1.y;this.m_localAnchor2.y=c*b.col2.x+d*b.col2.y;this.m_intialAngle=this.m_body2.m_rotation-this.m_body1.m_rotation;this.m_ptpImpulse.Set(0,0);this.m_motorImpulse=0;this.m_limitImpulse=0;this.m_limitPositionImpulse=0;this.m_lowerAngle=a.lowerAngle;this.m_upperAngle=a.upperAngle;this.m_maxMotorTorque=a.motorTorque;this.m_motorSpeed=a.motorSpeed;this.m_enableLimit=a.enableLimit;this.m_enableMotor=a.enableMotor},K:new b2Mat22,K1:new b2Mat22,K2:new b2Mat22,K3:new b2Mat22,PrepareVelocitySolver:function(){var a=this.m_body1;var b=this.m_body2;var c;c=a.m_R;var d=c.col1.x*this.m_localAnchor1.x+c.col2.x*this.m_localAnchor1.y;var e=c.col1.y*this.m_localAnchor1.x+c.col2.y*this.m_localAnchor1.y;c=b.m_R;var f=c.col1.x*this.m_localAnchor2.x+c.col2.x*this.m_localAnchor2.y;var g=c.col1.y*this.m_localAnchor2.x+c.col2.y*this.m_localAnchor2.y;var h=a.m_invMass;var i=b.m_invMass;var j=a.m_invI;var k=b.m_invI;this.K1.col1.x=h+i;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=h+i;this.K2.col1.x=j*e*e;this.K2.col2.x=-j*d*e;this.K2.col1.y=-j*d*e;this.K2.col2.y=j*d*d;this.K3.col1.x=k*g*g;this.K3.col2.x=-k*f*g;this.K3.col1.y=-k*f*g;this.K3.col2.y=k*f*f;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Invert(this.m_ptpMass);this.m_motorMass=1/(j+k);if(this.m_enableMotor==false){this.m_motorImpulse=0}if(this.m_enableLimit){var l=b.m_rotation-a.m_rotation-this.m_intialAngle;if(b2Math.b2Abs(this.m_upperAngle-this.m_lowerAngle)<2*b2Settings.b2_angularSlop){this.m_limitState=b2Joint.e_equalLimits}else if(l<=this.m_lowerAngle){if(this.m_limitState!=b2Joint.e_atLowerLimit){this.m_limitImpulse=0}this.m_limitState=b2Joint.e_atLowerLimit}else if(l>=this.m_upperAngle){if(this.m_limitState!=b2Joint.e_atUpperLimit){this.m_limitImpulse=0}this.m_limitState=b2Joint.e_atUpperLimit}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0}}else{this.m_limitImpulse=0}if(b2World.s_enableWarmStarting){a.m_linearVelocity.x-=h*this.m_ptpImpulse.x;a.m_linearVelocity.y-=h*this.m_ptpImpulse.y;a.m_angularVelocity-=j*(d*this.m_ptpImpulse.y-e*this.m_ptpImpulse.x+this.m_motorImpulse+this.m_limitImpulse);b.m_linearVelocity.x+=i*this.m_ptpImpulse.x;b.m_linearVelocity.y+=i*this.m_ptpImpulse.y;b.m_angularVelocity+=k*(f*this.m_ptpImpulse.y-g*this.m_ptpImpulse.x+this.m_motorImpulse+this.m_limitImpulse)}else{this.m_ptpImpulse.SetZero();this.m_motorImpulse=0;this.m_limitImpulse=0}this.m_limitPositionImpulse=0},SolveVelocityConstraints:function(a){var b=this.m_body1;var c=this.m_body2;var d;d=b.m_R;var e=d.col1.x*this.m_localAnchor1.x+d.col2.x*this.m_localAnchor1.y;var f=d.col1.y*this.m_localAnchor1.x+d.col2.y*this.m_localAnchor1.y;d=c.m_R;var g=d.col1.x*this.m_localAnchor2.x+d.col2.x*this.m_localAnchor2.y;var h=d.col1.y*this.m_localAnchor2.x+d.col2.y*this.m_localAnchor2.y;var i;var j=c.m_linearVelocity.x+ -c.m_angularVelocity*h-b.m_linearVelocity.x- -b.m_angularVelocity*f;var k=c.m_linearVelocity.y+c.m_angularVelocity*g-b.m_linearVelocity.y-b.m_angularVelocity*e;var l=-(this.m_ptpMass.col1.x*j+this.m_ptpMass.col2.x*k);var m=-(this.m_ptpMass.col1.y*j+this.m_ptpMass.col2.y*k);this.m_ptpImpulse.x+=l;this.m_ptpImpulse.y+=m;b.m_linearVelocity.x-=b.m_invMass*l;b.m_linearVelocity.y-=b.m_invMass*m;b.m_angularVelocity-=b.m_invI*(e*m-f*l);c.m_linearVelocity.x+=c.m_invMass*l;c.m_linearVelocity.y+=c.m_invMass*m;c.m_angularVelocity+=c.m_invI*(g*m-h*l);if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits){var n=c.m_angularVelocity-b.m_angularVelocity-this.m_motorSpeed;var o=-this.m_motorMass*n;var p=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+o,-a.dt*this.m_maxMotorTorque,a.dt*this.m_maxMotorTorque);o=this.m_motorImpulse-p;b.m_angularVelocity-=b.m_invI*o;c.m_angularVelocity+=c.m_invI*o}if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){var q=c.m_angularVelocity-b.m_angularVelocity;var r=-this.m_motorMass*q;if(this.m_limitState==b2Joint.e_equalLimits){this.m_limitImpulse+=r}else if(this.m_limitState==b2Joint.e_atLowerLimit){i=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+r,0);r=this.m_limitImpulse-i}else if(this.m_limitState==b2Joint.e_atUpperLimit){i=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+r,0);r=this.m_limitImpulse-i}b.m_angularVelocity-=b.m_invI*r;c.m_angularVelocity+=c.m_invI*r}},SolvePositionConstraints:function(){var a;var b;var c=this.m_body1;var d=this.m_body2;var e=0;var f;f=c.m_R;var g=f.col1.x*this.m_localAnchor1.x+f.col2.x*this.m_localAnchor1.y;var h=f.col1.y*this.m_localAnchor1.x+f.col2.y*this.m_localAnchor1.y;f=d.m_R;var i=f.col1.x*this.m_localAnchor2.x+f.col2.x*this.m_localAnchor2.y;var j=f.col1.y*this.m_localAnchor2.x+f.col2.y*this.m_localAnchor2.y;var k=c.m_position.x+g;var l=c.m_position.y+h;var m=d.m_position.x+i;var n=d.m_position.y+j;var o=m-k;var p=n-l;e=Math.sqrt(o*o+p*p);var q=c.m_invMass;var r=d.m_invMass;var s=c.m_invI;var t=d.m_invI;this.K1.col1.x=q+r;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=q+r;this.K2.col1.x=s*h*h;this.K2.col2.x=-s*g*h;this.K2.col1.y=-s*g*h;this.K2.col2.y=s*g*g;this.K3.col1.x=t*j*j;this.K3.col2.x=-t*i*j;this.K3.col1.y=-t*i*j;this.K3.col2.y=t*i*i;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(b2RevoluteJoint.tImpulse,-o,-p);var u=b2RevoluteJoint.tImpulse.x;var v=b2RevoluteJoint.tImpulse.y;c.m_position.x-=c.m_invMass*u;c.m_position.y-=c.m_invMass*v;c.m_rotation-=c.m_invI*(g*v-h*u);c.m_R.Set(c.m_rotation);d.m_position.x+=d.m_invMass*u;d.m_position.y+=d.m_invMass*v;d.m_rotation+=d.m_invI*(i*v-j*u);d.m_R.Set(d.m_rotation);var w=0;if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){var x=d.m_rotation-c.m_rotation-this.m_intialAngle;var y=0;if(this.m_limitState==b2Joint.e_equalLimits){b=b2Math.b2Clamp(x,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);y=-this.m_motorMass*b;w=b2Math.b2Abs(b)}else if(this.m_limitState==b2Joint.e_atLowerLimit){b=x-this.m_lowerAngle;w=b2Math.b2Max(0,-b);b=b2Math.b2Clamp(b+b2Settings.b2_angularSlop,-b2Settings.b2_maxAngularCorrection,0);y=-this.m_motorMass*b;a=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+y,0);y=this.m_limitPositionImpulse-a}else if(this.m_limitState==b2Joint.e_atUpperLimit){b=x-this.m_upperAngle;w=b2Math.b2Max(0,b);b=b2Math.b2Clamp(b-b2Settings.b2_angularSlop,0,b2Settings.b2_maxAngularCorrection);y=-this.m_motorMass*b;a=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+y,0);y=this.m_limitPositionImpulse-a}c.m_rotation-=c.m_invI*y;c.m_R.Set(c.m_rotation);d.m_rotation+=d.m_invI*y;d.m_R.Set(d.m_rotation)}return e<=b2Settings.b2_linearSlop&&w<=b2Settings.b2_angularSlop},m_localAnchor1:new b2Vec2,m_localAnchor2:new b2Vec2,m_ptpImpulse:new b2Vec2,m_motorImpulse:null,m_limitImpulse:null,m_limitPositionImpulse:null,m_ptpMass:new b2Mat22,m_motorMass:null,m_intialAngle:null,m_lowerAngle:null,m_upperAngle:null,m_maxMotorTorque:null,m_motorSpeed:null,m_enableLimit:null,m_enableMotor:null,m_limitState:0});b2RevoluteJoint.tImpulse=new b2Vec2;var b2RevoluteJointDef=Class.create();Object.extend(b2RevoluteJointDef.prototype,b2JointDef.prototype);Object.extend(b2RevoluteJointDef.prototype,{initialize:function(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.type=b2Joint.e_revoluteJoint;this.anchorPoint=new b2Vec2(0,0);this.lowerAngle=0;this.upperAngle=0;this.motorTorque=0;this.motorSpeed=0;this.enableLimit=false;this.enableMotor=false},anchorPoint:null,lowerAngle:null,upperAngle:null,motorTorque:null,motorSpeed:null,enableLimit:null,enableMotor:null})


/*------------------------------------*\
   WORKERS
\*------------------------------------*/

// variables
var canvas, worldAABB, world, mouseJoint;

var delta = [0,0];
var stage = [window.screenX,window.screenY,window.innerWidth,window.innerHeight];
var isRunning = false;
var isMouseDown = false;
var iterations = 1;
var timeStep = 1/25; 
var walls = new Array();
var wall_thickness = 200;
var wallsSetted = false;
var mouseX = 0;
var mouseY = 0;
var mouseOnClick = new Array();
var timer = 0;
var elements = new Array();
var bodies = new Array();
var properties = new Array();
var orientation = { x: 0, y: 1 };

// get browser dimensions
getBrowserDimensions();

// initialise
init();


/*------------------------------------*\
   FUNCTIONS
\*------------------------------------*/

// init()
function init() {
    canvas = document.getElementById('canvas');
    document.body.scrollLeft=0;
    // document.body.scrollTop=0;
    document.body.style.overflow="hidden";
    document.onmousedown = onDocumentMouseDown;
    document.onmouseup = onDocumentMouseUp;
    document.onmousemove = onDocumentMouseMove;

    // init box2d
    worldAABB = new b2AABB();
    worldAABB.minVertex.Set(-200, -200);
    worldAABB.maxVertex.Set( screen.width + 200, screen.height + 200);

    world = new b2World(worldAABB, new b2Vec2(0, 0), true);
    
    // walls    
    setWalls();

    // Get box2d elements
    elements = getSuitableElements(document.body);
        
    for (i = 0; i < elements.length; i++) {

        var element = elements[i];
        properties[i] = findPos(element);
        properties[i][2] = element.offsetWidth;
        properties[i][3] = element.offsetHeight;
    }
    
    for (i = 0; i < elements.length; i++) {
        var element = elements[i];
        element.style.position = 'fixed';
        element.style.left = properties[i][0] + 'px';
        element.style.top = properties[i][1] + 'px';
        
        element.onmousedown = onElementMouseDown;
        element.onmouseup = onElementMouseUp;
        
        bodies[i] = createBox(world, properties[i][0] + (properties[i][2] >> 1), properties[i][1] + (properties[i][3] >> 1), properties[i][2] / 2, properties[i][3] / 2, false);        
        
        // Clean position dependencies

        while ( element.offsetParent ) {

            element = element.offsetParent;
            element.style.position = 'static';

        }
    }
}

// run()
function run() {
    isRunning = true;
    setInterval(loop, o.weight); // weight setting
}

// onDocumentMouseDown() - Used to detect mouse on elements to move
function onDocumentMouseDown() {
    isMouseDown = true;
    return false;
}

// onDocumentMouseUp()
function onDocumentMouseUp() {
    isMouseDown = false;
    return false;
}

// onDocumentMouseMove()
function onDocumentMouseMove() {
    if (!isRunning)
        run();

    mouseX = window.event.clientX;
    mouseY = window.event.clientY;
}

// onElementMouseDown()
function onElementMouseDown() {
    mouseOnClick[0] = window.event.clientX;
    mouseOnClick[1] = window.event.clientY; 
    return false;
}

// onElementMouseUp()
function onElementMouseUp() {
    return false;
}


// loop()
function loop() {

    if (getBrowserDimensions())
        setWalls();

    delta[0] += (0 - delta[0]) * .5;
    delta[1] += (0 - delta[1]) * .5;
    
    world.m_gravity.x = orientation.x * 350 + delta[0];
    world.m_gravity.y = orientation.y * 350 + delta[1];

    mouseDrag();
    world.Step(timeStep, iterations);   
    
    for (i = 0; i < elements.length; i++) {

        var body = bodies[i];
        var element = elements[i];
        
        element.style.left = (body.m_position0.x - (properties[i][2] >> 1)) + 'px';
        element.style.top = (body.m_position0.y - (properties[i][3] >> 1)) + 'px';

        var rotationStyle = 'rotate(' + (body.m_rotation0 * 57.2957795) + 'deg)';

        element.style.WebkitTransform = rotationStyle;
        element.style.MozTransform = rotationStyle;
        element.style.OTransform = rotationStyle;
    }
}

// createBox()
function createBox(world, x, y, width, height, fixed, element) {

    if (typeof(fixed) == 'undefined')
        fixed = true;

    var boxSd = new b2BoxDef();

    if (!fixed)
        boxSd.density = 1.0;

    boxSd.extents.Set(width, height);

    var boxBd = new b2BodyDef();
    boxBd.AddShape(boxSd);
    boxBd.position.Set(x,y);
    boxBd.userData = {element: element};

    return world.CreateBody(boxBd)
}

// mouseDrag()
function mouseDrag() {

    if (o.drag == true) {
        // mouse press
        if (isMouseDown && !mouseJoint) {
    
            var body = getBodyAtMouse();
            
            if (body) {
                var md = new b2MouseJointDef();
                md.body1 = world.m_groundBody;
                md.body2 = body;
                md.target.Set(mouseX, mouseY);
                md.maxForce = 30000.0 * body.m_mass;
                md.timeStep = timeStep;
                mouseJoint = world.CreateJoint(md);
                body.WakeUp();
            }
        }
        
        // mouse release
        if (!isMouseDown) {
            if (mouseJoint) {
                world.DestroyJoint(mouseJoint);
                mouseJoint = null;
            }
        }
        
        // mouse move
        if (mouseJoint) {
            var p2 = new b2Vec2(mouseX, mouseY);
            mouseJoint.SetTarget(p2);
        }
    }
    
}

// getBodyAtMouse()
function getBodyAtMouse() {

    // Make a small box.
    var mousePVec = new b2Vec2();
    mousePVec.Set(mouseX, mouseY);
    
    var aabb = new b2AABB();
    aabb.minVertex.Set(mouseX - 1, mouseY - 1);
    aabb.maxVertex.Set(mouseX + 1, mouseY + 1);

    // Query the world for overlapping shapes.
    var k_maxCount = 10;
    var shapes = new Array();
    var count = world.Query(aabb, shapes, k_maxCount);
    var body = null;
    
    for (var i = 0; i < count; ++i) {

        if (shapes[i].m_body.IsStatic() == false) {

            if ( shapes[i].TestPoint(mousePVec) ) {

                body = shapes[i].m_body;
                break;
            }
        }
    }

    return body;
}

// setWalls()
function setWalls() {

    if (wallsSetted) {

        world.DestroyBody(walls[0]);
        world.DestroyBody(walls[1]);
        world.DestroyBody(walls[2]);
        world.DestroyBody(walls[3]);
        
        walls[0] = null; 
        walls[1] = null;
        walls[2] = null;
        walls[3] = null;
    }
    
    walls[0] = createBox(world, stage[2] / 2, - wall_thickness, stage[2], wall_thickness);
    walls[1] = createBox(world, stage[2] / 2, stage[3] + wall_thickness, stage[2], wall_thickness);
    walls[2] = createBox(world, - wall_thickness, stage[3] / 2, wall_thickness, stage[3]);
    walls[3] = createBox(world, stage[2] + wall_thickness, stage[3] / 2, wall_thickness, stage[3]); 
    
    wallsSetted = true;
}

// findPos()
function findPos(obj) {
    var curleft = curtop = 0;

    if (obj.offsetParent) {
        do {

            curleft += obj.offsetLeft;
            curtop += obj.offsetTop;

        } while (obj = obj.offsetParent);
    }

    return [curleft,curtop];
}

// getBrowserDimensions() 
function getBrowserDimensions() {
    var changed = false;
        
    if (stage[0] != window.screenX) {
        delta[0] = (window.screenX - stage[0]) * 50;
        stage[0] = window.screenX;
        changed = true;
    }
    
    if (stage[1] != window.screenY) {
        delta[1] = (window.screenY - stage[1]) * 50;
        stage[1] = window.screenY;
        changed = true;
    }
    
    if (stage[2] != window.innerWidth) {
        stage[2] = window.innerWidth;
        changed = true;
    }
    
    if (stage[3] != window.innerHeight) {
        stage[3] = window.innerHeight;
        changed = true;
    }
    
    return changed;
}


// jQuery plugin end
            });
        }
    });      
})(jQuery);

function getSuitableElements(root){
    var el=[];
    var i;
    if(root.children.length>0){
        for(i=0;i<root.childNodes.length;i++){
            switch(root.childNodes[i].nodeType){
                case Node.ELEMENT_NODE:
                    if(target.indexOf(root.childNodes[i].tagName.toLowerCase())!=-1){
                        el.push(root.childNodes[i]);
                    }else if(ignore.indexOf(root.childNodes[i].tagName.toLowerCase())==-1){
                        el=el.concat(getSuitableElements(root.childNodes[i]));
                    }
                break;
                case Node.TEXT_NODE:
                    if(!root.childNodes[i].nodeValue.match(/^(\s|&nbsp;)*$/)){
                        var n=document.createElement("span");
                        n.appendChild(document.createTextNode(root.childNodes[i].nodeValue));
                        root.replaceChild(n,root.childNodes[i]);
                        el.push(n);
                        console.assert(el[el.length-1]);
                    }
                break;
            }
        }
    }else{
        el.push(root);
    }
    return el;
}