thief.js

var Canvas = {};

Canvas.canvas = null;

Canvas.get = function() {
  if(Canvas.canvas === null)
    Canvas.canvas = document.getElementById("glcanvas");
  return Canvas.canvas;
};
/**
* @class
* @classdesc Represents a 4-dimensional vector.
* @param {Number} x The x component.
* @param {Number} y The y component.
* @param {Number} z The z component.
* @param {Number} w The w component.
*/
var Vector4 = function (x,y,z,w){
    this.x = x;
    this.y = y;
    this.z = z;
    this.w = w;
};

//----------------------------------------------------------------------

/**
* Return an array representation of the vector.
* @returns {Array} An array representation of the vector.
*/
Vector4.prototype.toArray = function (){
    var array = new Array(4);
    array[0] = this.x;
    array[1] = this.y;
    array[2] = this.z;
    array[3] = this.w;
    return array;
};

//----------------------------------------------------------------------

/**
* Set the vector from an array.
* @param {Array} array The original array.
* @returns {Vector4} this.
*/
Vector4.prototype.fromArray = function (array){
    this.x = array[0];
    this.y = array[1];
    this.z = array[2];
    this.w = array[3];

    return this;
};

//----------------------------------------------------------------------

/**
* Set the vector from another vector.
* @param {Vector4} vec The original vector.
* @returns {Vector4} this.
*/
Vector4.prototype.set = function (vec){
    this.x = vec.x;
    this.y = vec.y;
    this.z = vec.z;
    this.w = vec.w;

    return this;
};

//----------------------------------------------------------------------

/**
* Return a copy of this vector.
* @returns {Vector4} The copy of this vector.
*/
Vector4.prototype.cpy = function (){
    return new Vector4(this.x, this.y, this.z, this.w);
};

//----------------------------------------------------------------------

/**
* Return the length of this vector.
* @returns {Number} The length of this vector.
*/
Vector4.prototype.len = function (){
    var x = this.x;
    var y = this.y;
    var z = this.z;

    return Math.sqrt((x*x) + (y*y) + (z*z));
};

//----------------------------------------------------------------------

/**
* Return the maximum v in this vector.
* @returns {Number} The maximum v in this vector.
*/
Vector4.prototype.max = function (){
    var x = this.x;
    var y = this.y;
    var z = this.z;

    return Math.max(x , Math.max(y , z));
};

//----------------------------------------------------------------------

/**
* Divides this vector by a scalar.
* @returns {Vector4} this.
*/
Vector4.prototype.min = function (){
    var x = this.x;
    var y = this.y;
    var z = this.z;

    return Math.min(x , Math.min(y , z));
};

//----------------------------------------------------------------------

/**
* Add a vector to this vector.
* @param {Vector4} vec The other vector.
* @returns {Vector4} this.
*/
Vector4.prototype.add = function (vec){
    this.x = this.x + vec.x;
    this.y = this.y + vec.y;
    this.z = this.z + vec.z;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Subtracts a vector to this vector.
* @param {Vector4} vec The other vector.
* @returns {Vector4} this.
*/
Vector4.prototype.sub = function (vec){
    this.x = this.x - vec.x;
    this.y = this.y - vec.y;
    this.z = this.z - vec.z;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Add a scalar to all the components of this vector.
* @param {Number} value The scalar value.
* @returns {Vector4} this.
*/
Vector4.prototype.addScl = function (value){
    this.x = this.x + value;
    this.y = this.y + value;
    this.z = this.z + value;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Subtracts a scalar to all the components of this vector.
* @param {Number} value The scalar value.
* @returns {Vector4} this.
*/
Vector4.prototype.subScl = function (value){
    this.x = this.x - value;
    this.y = this.y - value;
    this.z = this.z - value;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Multiplies this vector by other vector.
* @param {Vector4} vec The other vector.
* @returns {Vector4} this.
*/
Vector4.prototype.mul = function (vec){
    this.x = this.x*vec.x;
    this.y = this.y*vec.y;
    this.z = this.z*vec.z;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Multiplies this vector by a scalar.
* @param {Number} value The scalar value.
* @returns {Vector4} this.
*/
Vector4.prototype.mulScl = function (value){
    this.x = this.x*value;
    this.y = this.y*value;
    this.z = this.z*value;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Divides this vector by other vector.
* @param {Vector4} vec The other vector.
* @returns {Vector4} this.
*/
Vector4.prototype.div = function (vec){
    this.x = this.x/vec.x;
    this.y = this.y/vec.y;
    this.z = this.z/vec.z;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Divides this vector by a scalar.
* @param {Number} value The scalar value.
* @returns {Vector4} this.
*/
Vector4.prototype.divScl = function (value){
    this.x = this.x/value;
    this.y = this.y/value;
    this.z = this.z/value;
    this.w = 0;

    return this;
};

//----------------------------------------------------------------------

/**
* Return the dot product between this vector and other vector.
* @param {Vector4} vec The other vector.
* @returns {Number} The dot product between this vector and other vector..
*/
Vector4.prototype.dot = function (vec){
  var x1 = this.x;
  var y1 = this.y;
  var z1 = this.z;

  var x2 = vec.x;
  var y2 = vec.y;
  var z2 = vec.z;

  return x1*x2 + y1*y2 + z1*z2;
};

//----------------------------------------------------------------------

/**
* Calculates the cross product between this vector and other vector.
* @param {Vector4} vec The other vector.
* @returns {Vector4} this.
*/
Vector4.prototype.cross = function (vec){

  var x1 = this.x;
  var y1 = this.y;
  var z1 = this.z;

  var x2 = vec.x;
  var y2 = vec.y;
  var z2 = vec.z;

  this.x = y1 * z2 - z1 * y2;
	this.y = z1 * x2 - x1 * z2;
	this.z = x1 * y2 - y1 * x2;
  this.w = 0;

  return this;
};

//----------------------------------------------------------------------

/**
* Return the angle in degrees relative to other vector.
* @param {Vector4} vec The other vector.
* @returns {Number} The angle in degrees relative to other vector.
*/
Vector4.prototype.ang = function (vec){
    var dot = this.dot(vec);

    var len1 = this.len();
    var len2 = vec.len();

    var cos = (dot/(len1*len2));

    if(len1*len2 === 0)
      return 0;

    return Math.acos(cos);
};

//----------------------------------------------------------------------

/**
* Normalizes this vector.
* @returns {Vector4} this.
*/
Vector4.prototype.nor = function (){

    var len = this.len();

    if(len > 0){
        this.x = this.x/len;
        this.y = this.y/len;
        this.z = this.z/len;
        this.w = this.w/len;
    }

    return this;
};

//----------------------------------------------------------------------

/**
* Return the distance between this vector and other vector.
* @param {Vector4} vec The other vector.
* @returns {Number} The distance between this vector and other vector.
*/
Vector4.prototype.dst = function (vec){

    var deltaX = vec.x-this.x;
    var deltaY = vec.y-this.y;
    var deltaZ = vec.z-this.z;

    return Math.sqrt( (deltaX*deltaX) + (deltaY*deltaY) + (deltaZ*deltaZ) );
};

//----------------------------------------------------------------------

/**
* Tests if this vector is equal to the other vector.
* @param {Vector4} vec The other vector.
* @returns {boolean} this True if this vector is equal to the other vector.
*/
Vector4.prototype.equals = function(vec){
    return (this.x === vec.x) &&
        (this.y === vec.y) &&
        (this.z === vec.z);
};

//----------------------------------------------------------------------

/**
* Tests if this vector is equal to the other vector, whit an epsilon error.
* @param {Vector4} vec The other vector.
* @param {Number} epsilon The error.
* @returns {boolean} this True if this vector is equal to the other vector, whit an epsilon error.
*/
Vector4.prototype.epsilonEquals = function(vec,epsilon){
    // Points are equal if each component is within 'epsilon' of each other
    if( (Math.abs(this.x - vec.x) <= epsilon) &&
        (Math.abs(this.y - vec.y) <= epsilon) &&
        (Math.abs(this.z - vec.z) <= epsilon) )
        return true;
    else
        return false;
};

//----------------------------------------------------------------------
/**
* @class
* @extends {Vector4}
* @classdesc Represents a 3-dimensional vector.
* @param {Number} x The x component.
* @param {Number} y The y component.
* @param {Number} z The z component.
*/
var Vector3 = function (x,y,z){
    Vector4.call(this,x,y,z,0);
};

Vector3.prototype = new Vector4();
Vector3.prototype.constructor = Vector3;

//----------------------------------------------------------------------
/**
* @class
* @extends {Vector3}
* @classdesc Represents a 2-dimensional vector.
* @param {Number} x The x component.
* @param {Number} y The y component.
*/
var Vector2 = function (x,y){
    Vector3.call(this,x,y,0);
};

Vector2.prototype = new Vector3();
Vector2.prototype.constructor = Vector2;

//----------------------------------------------------------------------
/**
* @class
* @classdesc Represents a 4x4 matrix.
* @param {Vector4} row0 The 1st row.
* @param {Vector4} row1 The 2nd row.
* @param {Vector4} row2 The 3rd row.
* @param {Vector4} row3 The 4th row.
*/
var Matrix4 = function (row0,row1,row2,row3){
    this.data = new Array(16);
    this.transposed = null;
    this.setRows(row0, row1, row2, row3);


    // REMEMBER
    // WebGL uses column-major order (transposed)
    // a webGL matrix : [ [column 0] [column 1] [column 2] [column 3] ]

    // NOTE:
    // You can use the get(row,col) and set(row,col,value) functions
    // to access the data as a row-major ordered matrix.

    // NOTE:
    // Here I use, column-major order.

    /*
        ROW-MAJOR ORDER:

        row 0 | a b c d |
        row 1 | e f g h |
        row 2 | i j k l |
        row 3 | m n o p |

        COLUMN-MAJOR ORDER:

        column 0 | a e i m |
        column 1 | b f j n |
        column 2 | c g k o |
        column 3 | d h l p |

    */
};

//----------------------------------------------------------------------

/**
* Return a copy of the matrix.
* @returns {Matrix4} The copy.
*/
Matrix4.prototype.cpy = function (){
	var copy = Matrix4.zeros();
  copy.data = this.data.slice();

  return copy;
};
//----------------------------------------------------------------------

/**
* Return an array that contains the matrix data.
* @returns {Array} An array that contains the matrix data.
*/
Matrix4.prototype.getData = function (){
	return this.data;
};

//----------------------------------------------------------------------

/**
* Set the internal data array.
* @param {Array} data The data array.
*/
Matrix4.prototype.setData = function (data){
	this.data = data;
};

//----------------------------------------------------------------------

/**
* Return an element of the matrix.
* @param {Number} row The row.
* @param {Number} col The col.
* @returns {Number} An element of the matrix.
*/
Matrix4.prototype.get = function (row,col){
	return this.data[row+(4*col)];
};

//----------------------------------------------------------------------

/**
* Set an element of the matrix.
* @param {Number} row The row.
* @param {Number} col The col.
* @param {Number} value The value of the element.
*/
Matrix4.prototype.set = function (row,col,value){
	this.data[row+(4*col)] = value;
};

//----------------------------------------------------------------------

/**
* Fill the matrix with the given rows.
* @param {Vector4} row0 The 1st row.
* @param {Vector4} row1 The 2nd row.
* @param {Vector4} row2 The 3rd row.
* @param {Vector4} row3 The 4th row.
*/
Matrix4.prototype.setRows = function (row0,row1,row2,row3){
    var rows = new Array(4);
    rows[0] = row0.toArray();
    rows[1] = row1.toArray();
    rows[2] = row2.toArray();
    rows[3] = row3.toArray();

    for (var row = 0; row < 4; row++)
        for (var col = 0; col < 4; col++)
            this.set(row,col,rows[row][col]);
};

//----------------------------------------------------------------------

/**
* Return the transposed matrix.
* @returns {Matrix4} The transposed matrix.
*/
Matrix4.prototype.transpose = function () {

    if(this.transposed === null){

        this.transposed = Matrix4.zeros();

        for (var row = 0; row < 4; row++)
          for (var col = 0; col < 4; col++)
                this.transposed.set(col,row,this.get(row,col));
    }

    return this.transposed;
};

//----------------------------------------------------------------------

/**
* Multiply M1 by M2 and returns the result matrix.
* @param {Matrix4} M1 The 1st matrix.
* @param {Matrix4} M2 The 2nd matrix.
* @returns {Matrix4} The result matrix.
*/
Matrix4.mulMM = function (M1,M2){

    // The result matrix
    var result = this.zeros();

    for (var i = 0; i < 4; i++) {
        for (var j = 0; j < 4; j++) {
            for (var k = 0; k < 4; k++){
                result.set(i,j,result.get(i,j) + M1.get(i,k) * M2.get(k,j));
            }

        }
    }

    return result;
};

//----------------------------------------------------------------------

/**
* Multiply M by v and returns the result matrix.
* @param {Matrix4} M The matrix.
* @param {Vector4} v The vector.
* @returns {Vector4} The result vector.
*/
Matrix4.mulMV = function (M,v){

    var vec = v.toArray();

    // The result vector
    var result = new Array(4);

    for (var row = 0; row < 4; row++){
        result[row] = 0;
        for (var col = 0; col < 4; col++)
            result[row] += M.get(row,col) * vec[col];
    }

    var vectorResult = new Vector4(0,0,0,0);
    vectorResult.fromArray(result);

    return vectorResult;

};

//----------------------------------------------------------------------

/**
* Creates a matrix filled with 0s.
* @returns {Matrix4} The result matrix.
*/
Matrix4.zeros = function(){
    return new Matrix4(
        new Vector4(0,0,0,0),
        new Vector4(0,0,0,0),
        new Vector4(0,0,0,0),
        new Vector4(0,0,0,0));
};

//----------------------------------------------------------------------

/**
* Creates an identity matrix.
* @returns {Matrix4} The result matrix.
*/
Matrix4.identity = function(){
    return new Matrix4(
        new Vector4(1,0,0,0),
        new Vector4(0,1,0,0),
        new Vector4(0,0,1,0),
        new Vector4(0,0,0,1));
};

//----------------------------------------------------------------------

/**
* Creates a translation matrix.
* @param {Vector3} vec The translation.
* @returns {Matrix4} The result matrix.
*/
Matrix4.translation = function(vec){
    return new Matrix4(
        new Vector4(1,0,0,vec.x),
        new Vector4(0,1,0,vec.y),
        new Vector4(0,0,1,vec.z),
        new Vector4(0,0,0,1));
};

//----------------------------------------------------------------------

/**
* Creates a rotation matrix. Each component of the vector represents an axis (x,y,z),
* only one component must have a non-zero value. The other two must be zero.
* @param {Vector3} vec The rotation.
* @returns {Matrix4} The result matrix.
*/
Matrix4.rotation = function(vec){
    var result = Matrix4.identity();

    var rad, cos, sin;

    if(vec.x !== 0){
        rad = vec.x*(Math.PI/180);
        sin = Math.sin(rad);
        cos = Math.cos(rad);

        result = new Matrix4(
            new Vector4(1,0,0,0),
            new Vector4(0,cos,-sin,0),
            new Vector4(0,sin,cos,0),
            new Vector4(0,0,0,1));
    }else if(vec.y !== 0){
        rad = vec.y*(Math.PI/180);
        sin = Math.sin(rad);
        cos = Math.cos(rad);

        result = new Matrix4(
            new Vector4(cos,0,sin,0),
            new Vector4(0,1,0,0),
            new Vector4(-sin,0,cos,0),
            new Vector4(0,0,0,1));
    }else if(vec.z !== 0){
        rad = vec.z*(Math.PI/180);
        sin = Math.sin(rad);
        cos = Math.cos(rad);

        result = new Matrix4(
            new Vector4(cos,-sin,0,0),
            new Vector4(sin,cos,0,0),
            new Vector4(0,0,1,0),
            new Vector4(0,0,0,1));
    }

    return result;
};

//----------------------------------------------------------------------

/**
* Creates a scale matrix.
* @param {Vector3} vec The scales.
* @returns {Matrix4} The result matrix.
*/
Matrix4.scale = function(vec){
    return new Matrix4(
        new Vector4(vec.x,0,0,0),
        new Vector4(0,vec.y,0,0),
        new Vector4(0,0,vec.z,0),
        new Vector4(0,0,0,1));
};

//----------------------------------------------------------------------

/**
* Creates an ortographic projection matrix.
* @param {Number} left The left value.
* @param {Number} right The right value.
* @param {Number} bottom The bottom value.
* @param {Number} top The top value.
* @param {Number} near The near value.
* @param {Number} far The far value.
* @returns {Matrix4} The result matrix.
*/
Matrix4.ortho = function(left, right, bottom, top, near, far){
    return new Matrix4(
        new Vector4(2.0/(right-left),0.0,0.0,-((right+left)/(right-left))),
        new Vector4(0.0,2.0/(top-bottom),0.0,-((top+bottom)/(top-bottom))),
        new Vector4(0.0,0.0,(-2.0/(far-near)),-((far+near)/(far-near))),
        new Vector4(0.0,0.0,0.0,1.0));
};

//----------------------------------------------------------------------

/**
* Creates an perspective projection matrix.
* @param {Number} near The near value.
* @param {Number} far The far value.
* @param {Number} aspect The aspect value.
* @param {Number} fov The fov value.
* @returns {Matrix4} The result matrix.
*/
Matrix4.perspective = function(near, far, aspect, fov){

    var top = near * Math.tan((Math.PI/180)*(fov/2));
    var bottom = -top;
    var right = top*aspect;
    var left = -right;

    return new Matrix4(
        new Vector4(((2*near)/(right-left)),0,((right+left)/(right-left)),0),
        new Vector4(0,((2*near)/(top-bottom)),((top+bottom)/(top-bottom)),0),
        new Vector4(0,0,((far+near)/(far-near)),0),
        new Vector4(0,0,-1,0));
};

//----------------------------------------------------------------------

Matrix4.prototype.print = function () {
    string = "";
    for (var row = 0; row < 4; row++){
        for (var col = 0; col < 4; col++)
            string += this.get(row,col) + " ";

        string += "\n";
    }

    console.log(string);
};
/**
* @class
* @classdesc Provides geometry related methods.
*/
var GeometryUtil = function () {

};

//----------------------------------------------------------------------

/**
* Return if the rectangle contains the point.
* @param {Vector4} leftTopVertex The leftTopVertex of the rectangle.
* @param {Number} width The width of the rectangle.
* @param {Number} height The height of the rectangle.
* @param {Number} point The point.
* @returns {Boolean} True if the rectangle contains the point.
*/
GeometryUtil.testRectanglePoint = function(leftTopVertex,width,height,point, eps){
	return (leftTopVertex.x-eps < point.x && leftTopVertex.y+eps > point.y &&
	leftTopVertex.x + width +eps > point.x && leftTopVertex.y - height -eps < point.y);
};

//----------------------------------------------------------------------
/**
* Return if the spheres are colliding.
* @param {Vector4} centerA The center of the A sphere.
* @param {Vector4} radiusA The radius of the A sphere.
* @param {Number} centerB The center of the B sphere.
* @param {Number} radiusB The radius of the B sphere.
* @returns {Boolean} True if the spheres are colliding.
*/
GeometryUtil.testSphereSphere = function(centerA, centerB, radiusA, radiusB){
	var distance = centerA.dst(centerB);
	return (distance < radiusA+radiusB);
};

//----------------------------------------------------------------------

/**
* Return the middle point.
* @param {Vector4} a The a point.
* @param {Vector4} b The b point.
* @returns {Vector4} The middle point.
*/
GeometryUtil.midPoint = function(a,b){
	return new Vector3((a.x+b.x)/2.0, (a.y+b.y)/2.0, (a.z+b.z)/2.0 );
};

//----------------------------------------------------------------------

/**
* Return the closest point in a segment to the point p.
* @param {Vector4} p The p point.
* @param {Vector4} a The a point of the segment.
* @param {Vector4} b The b point of the segment.
* @returns {Vector4} The closest point.
*/
GeometryUtil.closestPointInSegment = function (p,a,b){

	var closest = null;

	var subVector = b.cpy().sub(a);

  if ((subVector.x === 0) && (subVector.y === 0) && (subVector.z === 0)){
      // It's a point not a line segment.
			// return P.sub(A).len();

			return a;
  }

  // Calculate the t that minimizes the distance.
	// Perpendicular Distance from a Point to a Line.
  // var t = ((p.x - a.x) * dx + (p.y - a.y) * dy + (p.z - a.z) * dz) /
  //     (dx * dx + dy * dy + dz * dz);

	var t = p.cpy().sub(a).dot(subVector)/(subVector.dot(subVector));

  // See if this represents one of the segment's
  // end points or a point in the middle.
  if (t < 0){
		closest = a;
  }else if (t > 1){
		closest = b;
  }else{
    closest = a.cpy().add(subVector.mulScl(t));
  }

	return closest;
};

//----------------------------------------------------------------------

/**
* Return the squared distance between a point and a segment.
* @param {Vector4} p The p point.
* @param {Vector4} a The a point of the segment.
* @param {Vector4} b The b point of the segment.
* @returns {Number} The squared distance.
*/
GeometryUtil.sqDistanceToSegment = function (p,a,b){

	var closest = GeometryUtil.closestPointInSegment(p,a,b);

	var subVector = p.cpy().sub(closest);

  // return (dx * dx + dy * dy + dz * dz);
	return (subVector.dot(subVector));

};

//----------------------------------------------------------------------

/**
* Return the distance between a point and a segment.
* @param {Vector4} p The p point.
* @param {Vector4} a The a point of the segment.
* @param {Vector4} b The b point of the segment.
* @returns {Number} The distance.
*/
GeometryUtil.distanceToSegment = function (p,a,b){
	return Math.sqrt(GeometryUtil.sqDistanceToSegment(p,a,b));
};

//----------------------------------------------------------------------

/**
* Return the closest point in a sphere to the point p.
* @param {Vector4} p The p point.
* @param {Vector4} center The center of the sphere.
* @param {Number} b The radius of the sphere.
* @returns {Vector4} The closest point.
*/
GeometryUtil.closestPointInSphere = function (p,center,radius){
	var pToCenter = p.cpy().sub(center);

	var radiusVector = pToCenter.nor().mulScl(radius); // vector with length = radius

	var closestPoint = center.cpy().add(radiusVector);

	return closestPoint;
};
/**
* @class
* @classdesc This class represents a color.
* @param {Number} r The red component.
* @param {Number} g The green component.
* @param {Number} b The blue component.
* @param {Number} a The alpha component.
*/
var Color = function (r,g,b,a) {
  // this.vec = new Vector4(r,g,b,a);

  this.r = r;
  this.g = g;
  this.b = b;
  this.a = a;
};

// PRE-DEFINED COLORS
Color.NONE = new Color(0.0, 0.0, 0.0, 0.0);
Color.RED = new Color(1.0, 0.0, 0.0, 1.0);
Color.GREEN = new Color(0.0, 1.0, 0.0, 1.0);
Color.BLUE = new Color(0.0, 0.0, 1.0, 1.0);
Color.CYAN = new Color(0.0, 1.0, 1.0, 1.0);
Color.YELLOW = new Color(1.0, 1.0, 0.0, 1.0);

//----------------------------------------------------------------------

/**
* Return a random color.
* @returns {Color} The color.
*/
Color.random = function () {
  var r = Math.random();
  var g = Math.random();
  var b = Math.random();
  // var a = Math.Random();

  return new Color(r,g,b,1.0);
};

//----------------------------------------------------------------------

/**
* Return an array representation of the color.
* @returns {Array} An array representation of the color.
*/
Color.prototype.toArray = function(){
  // return this.vec.toArray;
  var array = new Array(4);
  array[0] = this.r;
  array[1] = this.g;
  array[2] = this.b;
  array[3] = this.a;
  return array;
};


//----------------------------------------------------------------------

/**
* Tests if this color is equal to the other color.
* @param {Vector4} vec The other color.
* @returns {boolean} this True if this color is equal to the other color.
*/
Color.prototype.equals = function(otherColor){
  // return this.vec.equals(otherColor.vec);
  return (this.r === vec.r) &&
      (this.g === vec.g) &&
      (this.b === vec.b) &&
      (this.a === vec.a);
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents a Texture.
*/
var Texture = function (name,data){
  this.name = name;
  this.data = data;
};

//----------------------------------------------------------------------

/**
* Return the data of the texture.
* @returns {Image} The data.
*/
Texture.prototype.getData = function (){
	return this.data;
};

//----------------------------------------------------------------------

/**
* Return the name of the texture.
* @returns {String} The name.
*/
Texture.prototype.getName = function (){
	return this.name;
};

//----------------------------------------------------------------------

/**
* Return the width of the texture.
* @returns {Number} The width.
*/
Texture.prototype.getWidth = function (){
	return this.data.width;
};

//----------------------------------------------------------------------

/**
* Return the height of the texture.
* @returns {Number} The height.
*/
Texture.prototype.getHeight = function (){
	return this.data.height;
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class holds the elements tha are shared by the renderers, like the camera.
*/
var RenderContext = function (){
  // this.lights = null;
  this.camera = null;
};

//----------------------------------------------------------------------

// RenderContext.prototype.getLights = function (){
// 	return this.lights;
// };

//----------------------------------------------------------------------

// RenderContext.prototype.setLights = function (lights){
// 	this.lights=lights;
// };

//----------------------------------------------------------------------

/**
* Return the camera.
* @returns {Camera} The camera
*/
RenderContext.prototype.getCamera = function (){
	return this.camera;
};

//----------------------------------------------------------------------

/**
* Set the camera.
* @param {Camera} camera The camera.
*/
RenderContext.prototype.setCamera = function (camera){
	this.camera=camera;
};

//----------------------------------------------------------------------

/**
* @class
* @classdesc This class represents a GLSL Shader.
*/
var Shader = function (){
    this.programID = gl.createProgram();
    this.vertShaderID = 0;
    this.fragShaderID = 0;
    this.compiled = false;
};

Shader.defaultShader = null;
Shader.debugShader = null;


// SHADERS

Shader.vs =
"uniform mat4 projectionMatrix;"+
"uniform mat4 viewMatrix;"+
"uniform mat4 modelMatrix;"+

"attribute vec4 position;"+
"attribute vec4 color; "+ // REMEMBER: IF AN ATTRIBUTE IS NEVER USED getAttribLocation RETURNS -1 !!!
"attribute vec2 texcoord;"+

"varying lowp vec4 vColor;"+
"varying vec2 vTexcoord;"+

"void main() {"+
"  gl_Position = projectionMatrix*viewMatrix*modelMatrix*position;"+

  // Pass the texcoord to the fragment shader.
"  vTexcoord = texcoord;"+
"  vColor = color;"+
"}";

Shader.fs=
"precision mediump float;"+

// Passed in from the vertex shader.
"varying vec2 vTexcoord;"+
"varying lowp vec4 vColor;"+
"varying lowp vec4 vAlphaColor;"+

// The texture.
"uniform int hasTexture;"+
"uniform sampler2D uSampler;"+
"uniform vec4 alphacolor;"+ // color used as transparent

"uniform float regionX;"+
"uniform float regionY;"+
"uniform float regionWidth;"+
"uniform float regionHeight;"+


"uniform float animationX;"+
"uniform float animationY;"+
"uniform float animationWidth;"+
"uniform float animationHeight;"+

"void main() {"+

"    if(hasTexture == 1){"+

"        vec2 aux_texcoord = vTexcoord;"+

"        aux_texcoord.x = aux_texcoord.x*regionWidth + regionX;"+
"        aux_texcoord.y = aux_texcoord.y*regionHeight + regionY;"+

"        aux_texcoord.x = aux_texcoord.x*animationWidth + animationX;"+
"        aux_texcoord.y = aux_texcoord.y*animationHeight + animationY;"+

"        vec4 texColor = texture2D(uSampler, aux_texcoord);"+

"        gl_FragColor = texColor + vColor;"+

"    }else{"+
"        gl_FragColor = vColor;"+
"    }"+

// Alpha

"    if(gl_FragColor.r == alphacolor.r && gl_FragColor.g == alphacolor.g && gl_FragColor.b == alphacolor.b && gl_FragColor.a == alphacolor.a){"+
"        gl_FragColor.a = 0.0;"+
"    }"+
"}";

Shader.vsDebug=
"uniform mat4 projectionMatrix;"+
"uniform mat4 viewMatrix;"+
"uniform mat4 modelMatrix;"+

"attribute vec4 position;"+
"attribute vec4 color;"+ // IF AN ATTRIBUTE IS NEVER USED getAttribLocation RETURNS -1 !!!

"varying lowp vec4 vColor;"+

"void main() {"+
"    gl_Position = projectionMatrix*viewMatrix*modelMatrix*position;"+
"    vColor = color;"+ // Pass the color to the fragment shader.
"}";

Shader.fsDebug=
"precision mediump float;"+
"varying lowp vec4 vColor;"+ // Passed in from the vertex shader.
"void main() {"+
"    gl_FragColor = vColor;"+
"}";

//----------------------------------------------------------------------

/**
* Return true if the shader is compiled.
* @returns {Boolean} True if the shader is compiled.
*/
Shader.prototype.isCompiled = function (){
	return this.compiled;
};

//----------------------------------------------------------------------

/**
* Return the program id.
* @returns {Number} The program id.
*/
Shader.prototype.getProgramid = function (){
	return this.programID;
};

//----------------------------------------------------------------------

/**
* Add a vertex shader.
* @param {String} sourceText The source.
*/
Shader.prototype.addVertexShader = function (sourceText){

  var shaderID = gl.createShader(gl.VERTEX_SHADER);
  gl.shaderSource(shaderID,sourceText);

  this.vertShaderID = shaderID;
};

//----------------------------------------------------------------------

/**
* Add a fragment shader.
* @param {String} sourceText The source.
*/
Shader.prototype.addFragmentShader = function (sourceText){

  var shaderID = gl.createShader(gl.FRAGMENT_SHADER);
  gl.shaderSource(shaderID,sourceText);

  this.fragShaderID = shaderID;
};

//----------------------------------------------------------------------

/**
* Add an attribute. Binds an attribute to a location.
* @param {Number} location The location of the attribute.
* @param {String} name The name of the attribute.
*/
Shader.prototype.addAttribute = function (location,name){
  gl.bindAttribLocation(this. programID, location, name);
};

//----------------------------------------------------------------------

/**
* Sends a matrix to the shader.
* @param {Matrix4} matrix The matrix.
* @param {String} name The name.
*/
Shader.prototype.addMatrix = function (matrix,name){
  matrixLocation = gl.getUniformLocation(this.programID, name);
  gl.uniformMatrix4fv(matrixLocation, false, new Float32Array(matrix.getData()));
};

//----------------------------------------------------------------------

/**
* Sends an array of matrices to the shader.
* @param {Array} matrixArray The array.
* @param {String} name The name.
*/
Shader.prototype.addMatrixArray = function (matrixArray,name){
  matrixLocation = gl.getUniformLocation(this.programID, name);

  var raw = [];
  for (var matrix of matrixArray) {
      raw = raw.concat(matrix.getData());
  }

  gl.uniformMatrix4fv(matrixLocation, false, new Float32Array(raw));
};

//----------------------------------------------------------------------

/**
* Sends an integer to the shader.
* @param {Number} value The value.
* @param {String} name The name.
*/
Shader.prototype.addInt = function (value, name){
  valueLocation = gl.getUniformLocation(this.programID, name);
  gl.uniform1i(valueLocation, value);
};

//----------------------------------------------------------------------

/**
* Sends an float to the shader.
* @param {Number} value The value.
* @param {String} name The name.
*/
Shader.prototype.addFloat = function (value, name){
  valueLocation = gl.getUniformLocation(this.programID, name);
  gl.uniform1f(valueLocation, value);
};

//----------------------------------------------------------------------

/**
* Sends an array of floats to the shader.
* @param {Array} array The array.
* @param {String} name The name.
*/
Shader.prototype.addFloatVector = function (array, name){
  valueLocation = gl.getUniformLocation(this.programID, name);
  gl.uniform4fv(valueLocation, new Float32Array(array));
};

//----------------------------------------------------------------------

/**
* Compiles the shader.
*/
Shader.prototype.compile = function (){
  if( ! this.isCompiled()){
    gl.compileShader(this.fragShaderID);

    var compiled = gl.getShaderParameter(this.fragShaderID, gl.COMPILE_STATUS);
    //    console.log('Shader compiled successfully: ' + compiled); // TODO uncomment console.log()
    var compilationLog = gl.getShaderInfoLog(this.fragShaderID);
    //    console.log('Shader compiler log: ' + compilationLog);

    gl.compileShader(this.vertShaderID);

    compiled = gl.getShaderParameter(this.vertShaderID, gl.COMPILE_STATUS);
    //    console.log('Shader compiled successfully: ' + compiled);
    compilationLog = gl.getShaderInfoLog(this.vertShaderID);
    //    console.log('Shader compiler log: ' + compilationLog);

    gl.attachShader(this.programID,this.fragShaderID);
    gl.attachShader(this.programID,this.vertShaderID);
    gl.linkProgram(this.programID);

    this.compiled = true;
  }
};

//----------------------------------------------------------------------

/**
* Enables the shader.
*/
Shader.prototype.enable = function (){
  gl.useProgram(this.programID);
};

//----------------------------------------------------------------------

/**
* Disable the shader.
*/
Shader.prototype.disable = function (){
  gl.useProgram(null);
};

//----------------------------------------------------------------------

/**
* Creates a shader from a type.
* @param {String} typeStr The type.
*/
Shader.create = function(typeStr){

  var shader = null;

  if(typeStr === 'default'){

    if(Shader.defaultShader === null){

      Shader.defaultShader = new Shader();

      Shader.defaultShader.addVertexShader(Shader.vs);
      Shader.defaultShader.addFragmentShader(Shader.fs);
      Shader.defaultShader.addAttribute(0, "position");

      //REMEMBER: IF AN ATTRIBUTE IS NEVER USED getAttribLocation RETURNS -1 !!!
      Shader.defaultShader.addAttribute(2, "color");
      Shader.defaultShader.addAttribute(1, "texcoord");
    }

    shader = Shader.defaultShader;

  }else if(typeStr === 'debug'){

    if(Shader.debugShader === null){

      Shader.debugShader = new Shader();

      Shader.debugShader.addVertexShader(Shader.vsDebug);
      Shader.debugShader.addFragmentShader(Shader.fsDebug);
      Shader.debugShader.addAttribute(0, "position");

      //REMEMBER: IF AN ATTRIBUTE IS NEVER USED getAttribLocation RETURNS -1 !!!
      Shader.debugShader.addAttribute(1, "color");
    }

    shader = Shader.debugShader;
  }

  return shader;
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents a material.
*/
var Material = function (){
    this.texture = null;
    this.shader = null;
    this.color = Color.NONE;


};

//----------------------------------------------------------------------

/**
* Return a texture.
* @returns {Texture} The texture.
*/
Material.prototype.getTexture = function (){
	 return this.texture;
};

//----------------------------------------------------------------------

/**
* Set the texture.
* @param {Texture} texture The new texture
*/
Material.prototype.setTexture = function (texture){
	 this.texture=texture;
};

//----------------------------------------------------------------------

/**
* Return a shader.
* @returns {Shader} The shader.
*/
Material.prototype.getShader = function (){
	 return this.shader;
};

//----------------------------------------------------------------------

/**
* Set the shader.
* @param {Shader} The new shader.
*/
Material.prototype.setShader = function (shader){
	 this.shader=shader;
};

//----------------------------------------------------------------------

/**
* Set the color.
* @param {Color} The new color.
*/
Material.prototype.setColor = function (color){
	 this.color = color;
};

//----------------------------------------------------------------------

/**
* Return a color.
* @returns {Color} The color.
*/
Material.prototype.getColor = function (){
	 return this.color;
};

//----------------------------------------------------------------------


/**
* Enables the material for rendering.
*/
Material.prototype.enable = function (){
  // TODO: If not texture then use color, ...

  this.shader.enable();

  this.shader.addInt(0, "thereIsTexture");

  if(this.texture !== null){
      gl.activeTexture(gl.TEXTURE0);
      gl.bindTexture(gl.TEXTURE_2D, this.textureID);
      // gl.uniform1i(this.thereIsTextureUnifrom , 1);
      // gl.uniform1i(this.samplerUniform , 0);

      this.shader.addInt(1, "hasTexture");
      this.shader.addInt(0, "uSampler");

      this.reset();

  }

};

//----------------------------------------------------------------------

/**
* Disable the material.
*/
Material.prototype.disable = function (){

    gl.bindTexture(gl.TEXTURE_2D, null);

    this.shader.disable();
};

//----------------------------------------------------------------------

/**
* Reset the material parameters for material animation.
*/
Material.prototype.reset = function (){
    this.shader.addFloat(0.0, "animationX");
    this.shader.addFloat(0.0, "animationY");
    this.shader.addFloat(1.0, "animationWidth");
    this.shader.addFloat(1.0, "animationHeight");

    this.shader.addFloat(0.0, "regionX");
    this.shader.addFloat(0.0, "regionY");
    this.shader.addFloat(1.0, "regionWidth");
    this.shader.addFloat(1.0, "regionHeight");
};

//----------------------------------------------------------------------

/**
* Binds the material. (Sends data to WebGL).
* @param {TYPE} NAME DESCRIPTION
* @returns {TYPE} DESCRIPTION
*/
Material.prototype.bind = function (){
    // TODO: If non texture use shader for plain color

    this.shader = Shader.create('default');

    this.shader.compile();

    // console.log(gl.getAttribLocation(this.shader.getProgramid(), "texcoord"));
    //
    // this.thereIsTextureUnifrom = gl.getUniformLocation(this.shader.getProgramid(), "thereIsTexture");

    if(this.texture !== null){

      // this.samplerUniform = gl.getUniformLocation(this.shader.getProgramid(), "uSampler");


      this.textureID = gl.createTexture();

      gl.activeTexture(gl.TEXTURE0);
      gl.bindTexture(gl.TEXTURE_2D, this.textureID);
      gl.pixelStorei(gl.UNPACK_FLIP_Y_WEBGL, true);

      gl.texImage2D(gl.TEXTURE_2D, 0, gl.RGBA, gl.RGBA, gl.UNSIGNED_BYTE, this.texture.getData());
      //  gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
      //  gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);

      //   gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.LINEAR);
      // gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.LINEAR_MIPMAP_NEAREST);

      //   gl.generateMipmap(gl.TEXTURE_2D);


      // gl.NEAREST is also allowed, instead of gl.LINEAR, as neither mipmap.
      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);
      // Prevents s-coordinate wrapping (repeating).
      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
      // Prevents t-coordinate wrapping (repeating).
      gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);

      //  gl.generateMipmap(gl.TEXTURE_2D);
      gl.bindTexture(gl.TEXTURE_2D, null);

    }
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents a texture animation.
*/
var Animation = function () {
  this.frames = [];
  this.currentFrame = 0;
  this.speed = 1;
  this.lastTime = 0;

};

//----------------------------------------------------------------------

/**
* Creates an animation.
* @param {Number} frameCount The number of frames of the animation.
* @param {Boolean} horizontal True if horizontal (left to right), False if vertical (down to up).
* @param {Boolean} reverse True to use the reverse direction.
* @param {Vector2} startPosition The start position (bottom-left corner of the frame) in texture coordinates (see OpenGL texture coordinates).
* @param {Number} width The frame width.
* @param {Number} height The frame height.
* @param {Number} speed The speed of the animation.
* @returns {Animation} The animation.
*/
Animation.create = function (frameCount, horizontal, reverse, startPosition, width, height, speed) {

    // TODO: check if coordinates are > 1 or < 0 !!!!!

    var animation = new Animation();
    animation.setSpeed(speed);

    var horizontalDir = 0;
    var verticalDir = 0;

    if(horizontal)
      horizontalDir = 1;
    else
      verticalDir = 1;

    if(reverse){
      horizontalDir *= -1;
      verticalDir *= -1;
    }

    var start = 0;
    var end = frameCount;
    var delta = 1;

    if(reverse){
      start = frameCount-1;
      end = 0;
      delta = -1;
    }

    for (var i = start; i !== end; i+=delta) {

      var pos = new Vector2(0,0);
      pos.add(startPosition);

      if(horizontalDir !== 0)
        pos.x += i*width;

      if(verticalDir !== 0)
        pos.y += i*height;

      var frame = new AnimationFrame();
      frame.set(pos,width,height);
      animation.addFrame(frame);

    }

    return animation;
};

//----------------------------------------------------------------------

/**
* Set the speed of the animation.
* @param {Number} speed The speed of the animation.
*/
Animation.prototype.setSpeed = function (speed) {
    this.speed = speed;
};

//----------------------------------------------------------------------

/**
* Add a frame to the animation.
* @param {AnimationFrame} frame The frame.
*/
Animation.prototype.addFrame = function (frame) {
    this.frames.push(frame);
};

//----------------------------------------------------------------------

/**
* Return the number of frames.
* @returns {Number} The number of frames.
*/
Animation.prototype.getNumberOfFrames = function () {
    return this.frames.length;
};

//----------------------------------------------------------------------

/**
* Return the current frame number.
* @returns {Number} The current frame number.
*/
Animation.prototype.getCurrentFrameNumber = function () {
    return this.currentFrame;
};

//----------------------------------------------------------------------

/**
* Return the next frame.
* @returns {AnimationFrame} The next frame.
*/
Animation.prototype.getNextFrame = function () {

    // this.speed -> frame/second.
    // var time -> time of one frame.

    var time = (1.0/(this.speed)); // in seconds !
    var now = Time.now(); // in seconds !

    // if delta time is greater than 'one frame time'
    // then -> change to the next frame.
    if((now-this.lastTime) >= time){
        this.lastTime = now;
        this.currentFrame = (this.currentFrame + 1)%this.frames.length;
    }

    return this.frames[this.currentFrame];
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents a frame of an animation.
*/
var AnimationFrame = function () {
    this.position = new Vector2(0,0);
    this.width = 1.0;
    this.height = 1.0;
};

//----------------------------------------------------------------------

/**
* Set the animation frame.
* @param {Vector2} position The position of the frame.
* @param {Number} width The width of the frame.
* @param {Number} height The height of the frame.
*/
AnimationFrame.prototype.set = function (position, width, height) {
    this.position = position
    this.width = width;
    this.height = height;
};

//----------------------------------------------------------------------

/**
* Return the position.
* @returns {Vector2} The position of the frame.
*/
AnimationFrame.prototype.getPosition = function (){
	return this.position;
};

//----------------------------------------------------------------------

/**
* Return the width.
* @returns {Number} The width of the frame.
*/
AnimationFrame.prototype.getWidth = function (){
	return this.width;
};

//----------------------------------------------------------------------

/**
* Return the height.
* @returns {Number} The height of the frame.
*/
AnimationFrame.prototype.getHeight = function (){
	return this.height;
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents a mesh.
* @param {Number} numVertices The number of vertices.
*/
var Mesh = function (numVertices) {

    this.numVertices = numVertices;
    // var size = numVertices*4;

    this.vertices = [];
    this.normals = [];
    this.faces = [];
    this.texCoord = [];

    this.vIndex = 0; // Vertices index
    this.nIndex = 0; // Normals index
    this.fIndex = 0; // Face index
    this.txIndex = 0; // TexCoord index

    this.max = new Vector3(0,0,0); // store the max width, height, depth;

};

//----------------------------------------------------------------------

/**
* Add a new vertex.
* @param {Vector3} vec The vertex.
*/
Mesh.prototype.addVertex = function (vec) {
    this.vertices[this.vIndex] = vec.x; this.vIndex++;
    this.vertices[this.vIndex] = vec.y; this.vIndex++;
    this.vertices[this.vIndex] = vec.z; this.vIndex++;
    this.vertices[this.vIndex] = vec.w; this.vIndex++;


    // find the max width, height, depth;

    var x = Math.abs(vec.x)*2; // width
    var y = Math.abs(vec.y)*2; // height
    var z = Math.abs(vec.z)*2; // depth

    if(x > this.max.x)
        this.max.x = x;

    if(y > this.max.y)
        this.max.y = y;

    if(z > this.max.z)
        this.max.z = z;

};

//----------------------------------------------------------------------

/**
* Add a new normal.
* @param {Vector3} vec The normal.
*/
Mesh.prototype.addNormal = function (vec) {
    this.normals[this.nIndex] = vec.x; this.nIndex++;
    this.normals[this.nIndex] = vec.y; this.nIndex++;
    this.normals[this.nIndex] = vec.z; this.nIndex++;
    this.normals[this.nIndex] = vec.w; this.nIndex++;
};

//----------------------------------------------------------------------

/**
* Add a new face. A face (triangle) is composed by three indices (integers).
* @param {Number} v1 The 1st index of the face.
* @param {Number} v2 The 2nd index of the face.
* @param {Number} v3 The 3rd index of the face.
*/
Mesh.prototype.addFace = function (v1,v2,v3) {
    this.faces[this.fIndex] = v1; this.fIndex++;
    this.faces[this.fIndex] = v2; this.fIndex++;
    this.faces[this.fIndex] = v3; this.fIndex++;
};

//----------------------------------------------------------------------

/**
* Add a new coordinate texture.
* @param {Number} u The u coordinate.
* @param {Number} v The v coordinate.
*/
Mesh.prototype.addTexCoord = function (u,v) {
    this.texCoord[this.txIndex] = u; this.txIndex++;
    this.texCoord[this.txIndex] = v; this.txIndex++;
};

//----------------------------------------------------------------------

/**
* Return a vertex by index.
* @param {Number} index The index of the vertex.
* @returns {Vector3} The vertex.
*/
Mesh.prototype.getVertex = function (index) {
    return new Vector4(this.vertices[(index*4)],this.vertices[(index*4)+1],
        this.vertices[(index*4)+2],this.vertices[(index*4)+3]);
};

//----------------------------------------------------------------------


// Mesh.prototype.setVertex = function (index,vec) {
//     this.vertices[(index*4)] = vec.x;
//     this.vertices[(index*4)+1] = vec.y;
//     this.vertices[(index*4)+2] = vec.z;
//     this.vertices[(index*4)+3] = vec.w;
// };

//----------------------------------------------------------------------

/**
* Return the number of vertices.
* @returns {Number} The number of vertices.
*/
Mesh.prototype.getNumVertices = function () {
    return this.vertices.length/4;
};

//----------------------------------------------------------------------

/**
* Return the number of faces.
* @returns {Number} The number of faces.
*/
Mesh.prototype.getNumFaces = function () {
    return this.faces.length/3;
};

//----------------------------------------------------------------------

/**
* Return the vertices data.
* @returns {Array} The vertices data.
*/
Mesh.prototype.getVerticesData = function () {
    return this.vertices;
};

//----------------------------------------------------------------------

/**
* Return the normals data.
* @returns {Array} The normals data.
*/
Mesh.prototype.getNormalsData = function () {
    return this.normals;
};

//----------------------------------------------------------------------


/**
* Return the faces data.
* @returns {Array} The faces data.
*/
Mesh.prototype.getFacesData = function () {
    return this.faces;
};

//----------------------------------------------------------------------

/**
* Return the coordinates texture data.
* @returns {Array} The coordinates texture data.
*/
Mesh.prototype.getTexCoordData = function () {
    return this.texCoord;
};

//----------------------------------------------------------------------

/**
* Return a vector with the max value of width, height and depth.
* @returns {Vector3} The max vector.
*/
Mesh.prototype.getMax = function () {
    return this.max.cpy();
};

//----------------------------------------------------------------------

// Mesh.prototype.print = function () {
//     var str = "";
//     for (var i = 0; i < (this.numVertices*4); i++) {
//         str += this.vertices[i] + "\n";
//     }
//
//     console.log(str);
// };

//----------------------------------------------------------------------
/**
* @class
* @extends {Mesh}
* @classdesc This class represents a rectangle mesh.
*/
var RectangleMesh = function () {
  Mesh.call(this, 4);

  this.width = 1;
  this.height = 1;

  var w = (this.width/2);
  var h = (this.height/2);


  // Vertices
  Mesh.prototype.addVertex.call(this,new Vector4(-w, -h, 0, 1));
  Mesh.prototype.addVertex.call(this,new Vector4(w, -h, 0, 1));
  Mesh.prototype.addVertex.call(this,new Vector4(w, h, 0, 1));
  Mesh.prototype.addVertex.call(this,new Vector4(-w, h, 0, 1));

  // TexCoords
  Mesh.prototype.addTexCoord.call(this,0,0);
  Mesh.prototype.addTexCoord.call(this,1,0);
  Mesh.prototype.addTexCoord.call(this,1,1);
  Mesh.prototype.addTexCoord.call(this,0,1);

  // Faces
  Mesh.prototype.addFace.call(this,0,1,2);
  Mesh.prototype.addFace.call(this,2,3,0);

};

RectangleMesh.prototype = new Mesh();
RectangleMesh.prototype.constructor = RectangleMesh;

//----------------------------------------------------------------------
/**
* @class
* @extends {Mesh}
* @classdesc This class represents a cube mesh.
*/
var CubeMesh = function () {
  Mesh.call(this, 24);

  var w = 1/2.0;
  var h = 1/2.0;
  var d = 1/2.0;

  // Vertices
  // Front Face
Mesh.prototype.addVertex.call(this, new Vector4(-w, -h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, -h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(-w, h, d, 1));

  // Back face
Mesh.prototype.addVertex.call(this, new Vector4(-w, -h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(-w, h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, -h, -d, 1));

  // Top face
Mesh.prototype.addVertex.call(this, new Vector4(-w, h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(-w, h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, h, -d, 1));

  // Bottom face
Mesh.prototype.addVertex.call(this, new Vector4(-w, -h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, -h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, -h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(-w, -h, d, 1));

  // Right face
Mesh.prototype.addVertex.call(this, new Vector4(w, -h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(w, -h, d, 1));

  // Left face
Mesh.prototype.addVertex.call(this, new Vector4(-w, -h, -d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(-w, -h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(-w, h, d, 1));
Mesh.prototype.addVertex.call(this, new Vector4(-w, h, -d, 1));

  // TexCoords
Mesh.prototype.addTexCoord.call(this,0.0, 1.0);
Mesh.prototype.addTexCoord.call(this,0.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 1.0);

Mesh.prototype.addTexCoord.call(this,0,0);
Mesh.prototype.addTexCoord.call(this,1,0);
Mesh.prototype.addTexCoord.call(this,1,1);
Mesh.prototype.addTexCoord.call(this,0,1);

Mesh.prototype.addTexCoord.call(this,0.0, 1.0);
Mesh.prototype.addTexCoord.call(this,0.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 1.0);

Mesh.prototype.addTexCoord.call(this,1.0, 1.0);
Mesh.prototype.addTexCoord.call(this,0.0, 1.0);
Mesh.prototype.addTexCoord.call(this,0.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 0.0);

Mesh.prototype.addTexCoord.call(this,1.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 1.0);
Mesh.prototype.addTexCoord.call(this,0.0, 1.0);
Mesh.prototype.addTexCoord.call(this,0.0, 0.0);

Mesh.prototype.addTexCoord.call(this,0.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 0.0);
Mesh.prototype.addTexCoord.call(this,1.0, 1.0);
Mesh.prototype.addTexCoord.call(this,0.0, 1.0);

  // Normals

  // Front face
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));

  // Back face
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,0,1,0));

  // Top face
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));

  // Bottom face
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(0,1,0,0));

  // Right face
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));

  // Left face
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));
Mesh.prototype.addNormal.call(this,new Vector4(1,0,0,0));




  // Faces

Mesh.prototype.addFace.call(this,0,1,2);
Mesh.prototype.addFace.call(this,0,2,3);

Mesh.prototype.addFace.call(this,4,  5,  6);
Mesh.prototype.addFace.call(this,4,  6,  7);

Mesh.prototype.addFace.call(this,8,  9,  10);
Mesh.prototype.addFace.call(this,8,  10, 11);

Mesh.prototype.addFace.call(this,12, 13, 14);
Mesh.prototype.addFace.call(this,12, 14, 15);

Mesh.prototype.addFace.call(this,16, 17, 18);
Mesh.prototype.addFace.call(this,16, 18, 19);

Mesh.prototype.addFace.call(this, 20, 21, 22);
Mesh.prototype.addFace.call(this, 20, 22, 23);
};

CubeMesh.prototype = new Mesh();
CubeMesh.prototype.constructor = CubeMesh;
/**
* @class
* @classdesc This class manages multiple sprites wich have the same texture.
*/
var SpriteBatch = function (material){
  this.material = material;
  this.renderers = {};
  this.renderContext = null;
  this.vboColor = 0;

};

SpriteBatch.mesh = new RectangleMesh();

SpriteBatch.vboPosition = 0;
SpriteBatch.vboElemIndices = 0;
SpriteBatch.vboTexture = 0;
SpriteBatch.vboNormal = 0;
SpriteBatch.vao = 0;

SpriteBatch.binded = false;

//----------------------------------------------------------------------

/**
* Add a sprite renderer.
* @param {SpriteRenderer} renderer The sprite renderer.
*/
SpriteBatch.prototype.add = function (renderer){

  // stored by id
  // if( ! (renderer.getId() in this.renderers))
  //   this.renderers[renderer.getId()] = renderer;

  // sort by layer
  var layer = renderer.getLayer();

  if(!this.renderers[layer])
    this.renderers[layer] = [];

  this.renderers[layer].push(renderer);
};

//----------------------------------------------------------------------

/**
* Binds the batch.
*/
SpriteBatch.prototype.bind = function (){

  this.material.bind();

  // only bind the rectangle once
  if(! SpriteBatch.binded){

    SpriteBatch.binded = true;

    // create VAO
    SpriteBatch.vao = vao_ext.createVertexArrayOES();
    vao_ext.bindVertexArrayOES(SpriteBatch.vao);


    // POSITION
    gl.enableVertexAttribArray(0);
    SpriteBatch.vboPosition = gl.createBuffer();
    gl.bindBuffer(gl.ARRAY_BUFFER, SpriteBatch.vboPosition);
    gl.bufferData(gl.ARRAY_BUFFER, new Float32Array(SpriteBatch.mesh.getVerticesData()), gl.STATIC_DRAW);
    gl.vertexAttribPointer(0, 4, gl.FLOAT, false, 0, 0);


    // TEXTURE
    gl.enableVertexAttribArray(1);
    SpriteBatch.vboTexture = gl.createBuffer();
    gl.bindBuffer(gl.ARRAY_BUFFER, SpriteBatch.vboTexture);
    gl.bufferData(gl.ARRAY_BUFFER, new Float32Array(SpriteBatch.mesh.getTexCoordData()), gl.STATIC_DRAW);
    gl.vertexAttribPointer(1, 2, gl.FLOAT, false, 0, 0);


    // NORMALS
    gl.enableVertexAttribArray(3);
    SpriteBatch.vboNormal = gl.createBuffer();
    gl.bindBuffer(gl.ARRAY_BUFFER, SpriteBatch.vboNormal);
    gl.bufferData(gl.ARRAY_BUFFER, new Float32Array( SpriteBatch.mesh.getNormalsData()), gl.STATIC_DRAW);
    gl.vertexAttribPointer(3, 4, gl.FLOAT, false, 0, 0);


    // ELEMENTS
    SpriteBatch.vboElemIndices = gl.createBuffer();
    gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, SpriteBatch.vboElemIndices);
    gl.bufferData(gl.ELEMENT_ARRAY_BUFFER, new Uint16Array(SpriteBatch.mesh.getFacesData()), gl.STATIC_DRAW);

    // Finised setting up VAO
    vao_ext.bindVertexArrayOES(null);


    }


  // COLOR
  gl.enableVertexAttribArray(2);
  this.vboColor = gl.createBuffer();

};

//----------------------------------------------------------------------

/**
* Update the batch.
* @param {renderContext} renderContext The render context.
*/
SpriteBatch.prototype.update = function (renderContext){
  this.renderContext = renderContext;

	this.material.enable();

  this.material.getShader().addMatrix(this.renderContext.getCamera().getProjectionMatrix(), "projectionMatrix");
	this.material.getShader().addMatrix(this.renderContext.getCamera().getViewMatrix(), "viewMatrix");

	this.material.disable();

};

//----------------------------------------------------------------------

/**
* Renders a layer of the batch.
* @param {Number} layer The layer to render.
*/
SpriteBatch.prototype.render = function (layer){

  // PATCH: if layer is empty, create empty array
  if( ! this.renderers[layer])
    this.renderers[layer] = [];

  this.material.enable();

  vao_ext.bindVertexArrayOES(SpriteBatch.vao);

  gl.enableVertexAttribArray(0);

  gl.enableVertexAttribArray(1);

  gl.enableVertexAttribArray(3);

  var cam = this.renderContext.getCamera();

  for (var i = 0; i < this.renderers[layer].length; i++) {

    var renderer = this.renderers[layer][i];

    if(/*renderer.getLayer() === layer && */ renderer.isEnabled() && !renderer.isDestroyed()){

      var isInFrustum = cam.getFrustum().testSphere(renderer.getGameObject().getTransform().getPosition(), renderer.getRadius());

      if(isInFrustum){

        gl.enableVertexAttribArray(2);

        gl.bindBuffer(gl.ARRAY_BUFFER, this.vboColor);

        // create color buffer
      	var color = [];
      	for (var j = 0; j < SpriteBatch.mesh.getVerticesData().length/4; j++)
      	   color = color.concat(renderer.getMaterial().getColor().toArray());

      	gl.bufferData(gl.ARRAY_BUFFER, new Float32Array(color), gl.STATIC_DRAW);
      	gl.vertexAttribPointer(2, 4, gl.FLOAT, false, 0, 0);

        renderer.gameObject.getTransform().generateMatrix();
        this.material.getShader().addMatrix(renderer.gameObject.getTransform().getMatrix(), "modelMatrix");

        renderer.updateMaterial(this.material);

        gl.drawElements(gl.TRIANGLES, SpriteBatch.mesh.getNumFaces()*3, gl.UNSIGNED_SHORT, 0);

        this.material.reset();
      }
    }
  }

  gl.disableVertexAttribArray(0);
	gl.disableVertexAttribArray(1);
	gl.disableVertexAttribArray(2);
	gl.disableVertexAttribArray(3);

	this.material.disable();
};

//----------------------------------------------------------------------
gl = null;

/**
* @class
* @classdesc This class manages the graphics of the application.
*/
var RenderEngine = function (){

  this.color = new Color(0,0,0,1);
  this.numLayers = 0;
  this.binded = false;

  var canvas = Canvas.get();

  // ########################################
  // PATCH
  // http://webglfundamentals.org/webgl/lessons/webgl-resizing-the-canvas.html
  // ########################################
  var realToCSSPixels = window.devicePixelRatio || 1; // FOR HD RETINA SCREEN

  // Lookup the size the browser is displaying the canvas in CSS pixels
  // and compute a size needed to make our drawingbuffer match it in
  // device pixels.
  var displayWidth  = Math.floor(canvas.clientWidth  * realToCSSPixels);
  var displayHeight = Math.floor(canvas.clientHeight * realToCSSPixels);

  canvas.width = displayWidth;
  canvas.height = displayHeight;

  // ########################################
  try {
    // Try to grab the standard context. If it fails, fallback to experimental.
    gl = canvas.getContext("webgl") || canvas.getContext("experimental-webgl");

  } catch(e) {
    alert("Unable to initialize WebGL. Your browser may not support it.");
  }

  // If we don't have a GL context.
  if (!gl) {
    alert("Unable to initialize WebGL. Your browser may not support it.");
    gl = null;
  }

  vao_ext = gl.getExtension ("OES_vertex_array_object");
  instance_ext = gl.getExtension("ANGLE_instanced_arrays");

  if (!vao_ext) {
    alert("ERROR: Your browser does not support WebGL 'VAO' extension");
  }

  if (!instance_ext) {
    alert("ERROR: Your browser does not support WebGL 'ANGLE Instanced Rendering' extension");
  }

  // Only continue if WebGL is available and working

  if (gl) {

    gl.viewport(0, 0, gl.drawingBufferWidth, gl.drawingBufferHeight);
    gl.clearColor(this.color.r, this.color.g, this.color.b, this.color.a); // Set clear color.

    gl.enable(gl.DEPTH_TEST); // Enable depth testing
    gl.depthFunc(gl.LEQUAL); // Near things obscure far things
    gl.enable(gl.CULL_FACE); // BACK by default
    gl.cullFace(gl.BACK);

    gl.blendFunc(gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA);
    gl.enable(gl.BLEND);

    gl.clear(gl.COLOR_BUFFER_BIT|gl.DEPTH_BUFFER_BIT);      // Clear the color and the depth buffer.
  }

    this.clear();

    DebugRenderer.init();
};

//----------------------------------------------------------------------

/**
* Clears all the renderers and the render context.
*/
RenderEngine.prototype.clear = function (){
  this.textureBatches = {};
  this.noTextureBatch = null;
  this.renderContext = null;


};

//----------------------------------------------------------------------

/**
* DESCRIPTION
* @param {TYPE} NAME DESCRIPTION
* @returns {TYPE} DESCRIPTION
*/
RenderEngine.prototype.isBinded = function (){
  return this.binded;
};

//----------------------------------------------------------------------

/**
* DESCRIPTION
* @param {TYPE} NAME DESCRIPTION
* @returns {TYPE} DESCRIPTION
*/
RenderEngine.prototype.setClearColor = function (color){
  this.color.r = color.r;
  this.color.g = color.g;
  this.color.b = color.b;
  this.color.a = color.a;

  gl.clearColor(this.color.r, this.color.g, this.color.b, this.color.a);
};

//----------------------------------------------------------------------

/**
* Add a list of renderers.
* @param {Array} renderers The renderers.
*/
RenderEngine.prototype.addRenderers = function (renderers){

  this.binded = false;

  for (var renderer of renderers) {


    this.numLayers = Math.max(this.numLayers,renderer.getLayer()); // Always check the max number of layers.

    // BATCHING BY TEXTURE

    var tex = renderer.getMaterial().getTexture();

    // if renderer has a texture.
    if(tex !== null){

      var texName = tex.getName();

      // if the batch doesn't exist.
      if( ! (texName in this.textureBatches))
          this.textureBatches[texName] = new SpriteBatch(renderer.getMaterial());

      this.textureBatches[texName].add(renderer);

    }else{ // if renderer hasn't a texture.

      if(this.noTextureBatch === null)
        this.noTextureBatch = new SpriteBatch(renderer.getMaterial());

      this.noTextureBatch.add(renderer);
    }

  }
};



//----------------------------------------------------------------------

/**
* Return the render context.
* @returns {renderContext} The render context.
*/
RenderEngine.prototype.getRenderContext = function (){
	return this.renderContext;
};

//----------------------------------------------------------------------

/**
* Set the render context.
* @param {renderContext} renderContext The render context.
*/
RenderEngine.prototype.setRenderContext = function (renderContext){
	this.renderContext=renderContext;
};

//----------------------------------------------------------------------

/**
* Update the render engine.
*/
RenderEngine.prototype.update = function (){

  // RE-BUILD frustum
  this.renderContext.getCamera().getFrustum().build();

  if(this.textureBatches !== null)
    for (var i in this.textureBatches)
      this.textureBatches[i].update(this.renderContext);

  if(this.noTextureBatch !== null)
    this.noTextureBatch.update(this.renderContext);

  DebugRenderer.update(this.renderContext);

};

//----------------------------------------------------------------------

/**
* Binds all the batches.
*/
RenderEngine.prototype.bind = function (){

  if(this.textureBatches !== null)
    for (var i in this.textureBatches)
      this.textureBatches[i].bind();

  if(this.noTextureBatch !== null)
    this.noTextureBatch.bind();

  this.binded = true;
};

//----------------------------------------------------------------------

/**
* Renders all the batches and the debug renderer.
*/
RenderEngine.prototype.render = function (){

  gl.clear(gl.COLOR_BUFFER_BIT|gl.DEPTH_BUFFER_BIT);

  for (var i = 0; i <= this.numLayers; i++) {

    if(this.textureBatches !== null)
      for (var j in this.textureBatches){

        this.textureBatches[j].render(i);
      }

      if(this.noTextureBatch !== null)
        this.noTextureBatch.render(i);

  }

  DebugRenderer.render();
  DebugRenderer.clear();

};

//----------------------------------------------------------------------

/**
* @class
* @classdesc This class offers line rendering.
*/
var DebugRenderer = function (){
};

DebugRenderer.shader = null;
DebugRenderer.modelMatrix = Matrix4.identity();

DebugRenderer.list = [];

//----------------------------------------------------------------------

/**
* Return a list of renderers.
* @returns {Array} The renderers.
*/
DebugRenderer.getRenderers = function () {
    return DebugRenderer.list;
};

//----------------------------------------------------------------------

/**
* Clears the list of renderers.
*/
DebugRenderer.clear = function () {
    DebugRenderer.list = [];
};

//----------------------------------------------------------------------

/**
* Inits the debug renderer.
*/
DebugRenderer.init = function() {
    DebugRenderer.shader = Shader.create('debug');

    DebugRenderer.shader.compile();
};

//----------------------------------------------------------------------

/**
* Set the transformation matrix. If the matrix is null, the transformation
* matrix is setted to Identity.
* @param {Matrix4} matrix The matrix.
*/
DebugRenderer.setTransformationMatrix = function (matrix) {
    if(matrix === null)
        DebugRenderer.modelMatrix = Matrix4.identity();
    else
        DebugRenderer.modelMatrix = matrix;
};

//----------------------------------------------------------------------

/**
* Update the debug renderer.
* @param {RenderContext} renderContext The render context.
*/
DebugRenderer.update = function (renderContext) {
	DebugRenderer.shader.enable();

	DebugRenderer.shader.addMatrix(renderContext.getCamera().getProjectionMatrix(), "projectionMatrix");
	DebugRenderer.shader.addMatrix(renderContext.getCamera().getViewMatrix(), "viewMatrix");

	DebugRenderer.shader.disable();
};
//----------------------------------------------------------------------

/**
* Renders the debug renderer.
*/
DebugRenderer.render = function () {
  for (var lineRenderer of this.list){
    lineRenderer.bind();
    lineRenderer.render();
  }

};

//----------------------------------------------------------------------

/**
* Draws a line.
* @param {Vector3} start The start.
* @param {Vector3} end The end.
* @param {Color} color The color.
*/
DebugRenderer.drawLine = function (start,end,color){
    DebugRenderer.list.push(new LineRenderer(DebugRenderer.shader,start,end,color,this.modelMatrix.cpy()));
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This is the root class for classes that need an ID, like Component or GameObject.
*/
var BaseObject = function (){
    this.id = BaseObject.lastId;
    BaseObject.lastId++;
};

BaseObject.lastId = 0;

//----------------------------------------------------------------------

/**
* Return the id of the object.
* @returns {Number} The id.
*/
BaseObject.prototype.getId = function (){
	return this.id;
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc Represents a game object, every entity in our game is a GameObject. This class needs
* the Component class to have functionality, like rendering or physics properties.
*/
var GameObject = function (){
    BaseObject.call(this);
    this.parent = null;
    this.children = [];
    this.components = [];
    this.scene = null;
    this.static = false;
    this.name = null;

    this.transform = null;
};

GameObject.prototype = new BaseObject();
GameObject.prototype.constructor = GameObject;

//----------------------------------------------------------------------

/**
* Return the transform of the game object. This function is more useful than getComponent(Transform)
* because this function avoid the search of the transform component in the components list.
* @returns {Transform} The transform of the game object.
*/
GameObject.prototype.getTransform = function (){
	return this.transform;
};

//----------------------------------------------------------------------

/**
* Return the name of the game object.
* @returns {String} The name of the game object.
*/
GameObject.prototype.getName = function (){
	return this.name;
};

//----------------------------------------------------------------------

/**
* Set the name of the game object.
* @param {String} name The name of the game object.
*/
GameObject.prototype.setName = function (name){
	this.name=name;
};
//----------------------------------------------------------------------

/**
* Return the parent of the game object.
* @returns {GameObject} The parent of the game object.
*/
GameObject.prototype.getParent = function (){
	return this.parent;
};

//----------------------------------------------------------------------

/**
* Set the parent of the game object.
* @param {GameObject} parent The parent of the game object.
*/
GameObject.prototype.setParent = function (parent){
	this.parent=parent;
};

//----------------------------------------------------------------------

/**
* Set the game object as static.
* @param {Boolean} bool The boolean value.
*/
GameObject.prototype.setStatic = function (bool){
	this.static = bool;
};

//----------------------------------------------------------------------

/**
* Return true if the game object is static.
* @returns Boolean True if the game object is static.
*/
GameObject.prototype.isStatic = function (){
	return this.static;
};

//----------------------------------------------------------------------

/**
* Return the scene where the game object is.
* @returns {Scene} The scene where the game object is.
*/
GameObject.prototype.getScene = function (){
	return this.scene;
};

//----------------------------------------------------------------------

/**
* Set the scene where the game object is.
* @param {Scene} scene The scene where the game object is.
*/
GameObject.prototype.setScene = function (scene){
	this.scene=scene;
};

//----------------------------------------------------------------------

/**
* Return the children of the game object.
* @returns {Array} The children of the game object.
*/
GameObject.prototype.getChildren = function (){
	return this.children;
};

//----------------------------------------------------------------------

/**
* Set the children of the game object.
* @param {Array} children The children of the game object.
*/
GameObject.prototype.setChildren = function (children){
    for (var child of children) {
        child.setParent(this);
    }

	this.children=children;
};

//----------------------------------------------------------------------

/**
* Return the components of the game object.
* @returns {Array} The components of the game object.
*/
GameObject.prototype.getComponents = function (){
	return this.components;
};

//----------------------------------------------------------------------

/**
* Enables all the components.
*/
GameObject.prototype.enable = function (){
	for (var component of this.components) {
    component.enable();
  }
};

//----------------------------------------------------------------------

/**
* Disable all the components.
*/
GameObject.prototype.disable = function (){
  for (var component of this.components) {
    component.disable();
  }
};

//----------------------------------------------------------------------

/**
* Add a child and sets this game object as its parent.
* @param {GameObject} child The child.
*/
GameObject.prototype.addChild = function (child){
  if(child !== null){
    child.setParent(this);
    this.children.push(child);
  }
};

//----------------------------------------------------------------------

// TODO: create function to get only one child ???
// GameObject.prototype.getChild = function (){
//
// };

//----------------------------------------------------------------------

/**
* Add a component.
* @param {Component} component The component.
*/
GameObject.prototype.addComponent = function (component){

  if(component !== null){

    // TODO: only allow one transform component. What if there are many?
    if( (component instanceof Transform) && (this.transform === null)){

      this.transform = component;

      component.setGameObject(this);
      this.components.push(component);
    }else {
      component.setGameObject(this);
      this.components.push(component);
    }

  }

};

//----------------------------------------------------------------------

/**
* Return all the components in this game object and in children.
* @param {function} componentClass The component class.
* @returns {Array} The components.
*/
GameObject.prototype.getAllComponents = function (componentClass){

    var componentList = [];

    component = this.getComponent(componentClass);

    if(component !== null)
      componentList.push(component);

    for (var child of this.children) {
        componentList = componentList.concat(child.getAllComponents(componentClass));
    }



    return componentList;

};

//----------------------------------------------------------------------

/**
* Return one component in this game object.
* @param {function} componentClass The component class.
* @returns {Component} The components.
*/
GameObject.prototype.getComponent = function (componentClass){

    for (var component of this.components) {

        if(component instanceof componentClass){
            return component;
        }
    }

    return null;
};

//----------------------------------------------------------------------

/**
* Return all the components in children.
* @param {function} componentClass The component class.
* @returns {Array} The components.
*/
GameObject.prototype.getComponentsInChildren = function (componentClass){
    var componentList = [];

    for (var child of this.children) {
        componentList = componentList.concat(child.getAllComponents(componentClass));
    }

    return componentList;
};

//----------------------------------------------------------------------

/**
* Destroys the children of the game object.
*/
GameObject.prototype.destroyChildren = function (){
  for (var child of this.children)
    child.destroy();

};

//----------------------------------------------------------------------

/**
* Destroys the components of the game object.
*/
GameObject.prototype.destroyAllComponents = function (){
  for (var component of this.components)
    component.destroy();
};


//----------------------------------------------------------------------

/**
* Destroys the game object.
*/
GameObject.prototype.destroy = function (){
  // this.setParent(null);
  this.disable();
	this.scene.deleteObject(this);
  this.destroyAllComponents();
  this.destroyChildren();
  // this.children = null;
  // this.components = null;
};

//----------------------------------------------------------------------
/**
* @class
* @extends {BaseObject}
* @classdesc Represents a component of a game object. A component provides specific functionality to the game object.
*/
var Component = function (){
    BaseObject.call(this);
    this.gameObject = null;
    this.enabled = true;
    this.destroyed = false;
};

Component.prototype = new BaseObject();
Component.prototype.constructor = Component;

//----------------------------------------------------------------------

/**
* Return the game object.
* @returns {GameObject} The game object.
*/
Component.prototype.getGameObject = function (){
	return this.gameObject;
};

//----------------------------------------------------------------------

/**
* Set the game object.
* @param {GameObject} gameObject The Game object.
*/
Component.prototype.setGameObject = function (gameObject){
	this.gameObject=gameObject;
};

//----------------------------------------------------------------------

/**
* Enables the component.
*/
Component.prototype.enable = function (){
	this.enabled=true;
};

//----------------------------------------------------------------------

/**
* Disable the component.
*/
Component.prototype.disable = function (){
	this.enabled=false;
};

//----------------------------------------------------------------------

/**
* Return true if component is enabled.
* @returns {Boolean} True if component is enabled.
*/
Component.prototype.isEnabled = function (){
	return this.enabled;
};

//----------------------------------------------------------------------

/**
* Return the parent of this component. The parent of this component is the component ,with the same class of
* this component, in the parent of the game object.
* @returns {Component} The parent of this component.
*/
Component.prototype.getParent = function(){
    var parent = this.gameObject.getParent();

    if(parent !== null)
      return parent.getComponent(this.constructor);

    return null;

};

//----------------------------------------------------------------------

/**
* Return the children of the component. Return all the components, with the same class of this component,
* in the children of the game component.
* @returns {Component} The children of the component.
*/
Component.prototype.getChildren = function (){
    return this.gameObject.getComponentsInChildren(this.constructor);
};

//----------------------------------------------------------------------

/**
* Destroys the component.
*/
Component.prototype.destroy = function (){
  // this.gameObject = null;
  this.destroyed = true;
};

//----------------------------------------------------------------------

/**
* Return true if the component is destroyed.
* @returns {Boolean} True if the component is destroyed.
*/
Component.prototype.isDestroyed = function (){
	return this.destroyed;
};

//----------------------------------------------------------------------
var Box2D={};
(function(F,G){function K(){}if(!(Object.prototype.defineProperty instanceof Function)&&Object.prototype.__defineGetter__ instanceof Function&&Object.prototype.__defineSetter__ instanceof Function)Object.defineProperty=function(y,w,A){A.get instanceof Function&&y.__defineGetter__(w,A.get);A.set instanceof Function&&y.__defineSetter__(w,A.set)};F.inherit=function(y,w){K.prototype=w.prototype;y.prototype=new K;y.prototype.constructor=y};F.generateCallback=function(y,w){return function(){w.apply(y,arguments)}};
F.NVector=function(y){if(y===G)y=0;for(var w=Array(y||0),A=0;A<y;++A)w[A]=0;return w};F.is=function(y,w){if(y===null)return false;if(w instanceof Function&&y instanceof w)return true;if(y.constructor.__implements!=G&&y.constructor.__implements[w])return true;return false};F.parseUInt=function(y){return Math.abs(parseInt(y))}})(Box2D);var Vector=Array,Vector_a2j_Number=Box2D.NVector;if(typeof Box2D==="undefined")Box2D={};if(typeof Box2D.Collision==="undefined")Box2D.Collision={};
if(typeof Box2D.Collision.Shapes==="undefined")Box2D.Collision.Shapes={};if(typeof Box2D.Common==="undefined")Box2D.Common={};if(typeof Box2D.Common.Math==="undefined")Box2D.Common.Math={};if(typeof Box2D.Dynamics==="undefined")Box2D.Dynamics={};if(typeof Box2D.Dynamics.Contacts==="undefined")Box2D.Dynamics.Contacts={};if(typeof Box2D.Dynamics.Controllers==="undefined")Box2D.Dynamics.Controllers={};if(typeof Box2D.Dynamics.Joints==="undefined")Box2D.Dynamics.Joints={};
(function(){function F(){F.b2AABB.apply(this,arguments)}function G(){G.b2Bound.apply(this,arguments)}function K(){K.b2BoundValues.apply(this,arguments);this.constructor===K&&this.b2BoundValues.apply(this,arguments)}function y(){y.b2Collision.apply(this,arguments)}function w(){w.b2ContactID.apply(this,arguments);this.constructor===w&&this.b2ContactID.apply(this,arguments)}function A(){A.b2ContactPoint.apply(this,arguments)}function U(){U.b2Distance.apply(this,arguments)}function p(){p.b2DistanceInput.apply(this,
arguments)}function B(){B.b2DistanceOutput.apply(this,arguments)}function Q(){Q.b2DistanceProxy.apply(this,arguments)}function V(){V.b2DynamicTree.apply(this,arguments);this.constructor===V&&this.b2DynamicTree.apply(this,arguments)}function M(){M.b2DynamicTreeBroadPhase.apply(this,arguments)}function L(){L.b2DynamicTreeNode.apply(this,arguments)}function I(){I.b2DynamicTreePair.apply(this,arguments)}function W(){W.b2Manifold.apply(this,arguments);this.constructor===W&&this.b2Manifold.apply(this,arguments)}
function Y(){Y.b2ManifoldPoint.apply(this,arguments);this.constructor===Y&&this.b2ManifoldPoint.apply(this,arguments)}function k(){k.b2Point.apply(this,arguments)}function z(){z.b2RayCastInput.apply(this,arguments);this.constructor===z&&this.b2RayCastInput.apply(this,arguments)}function u(){u.b2RayCastOutput.apply(this,arguments)}function D(){D.b2Segment.apply(this,arguments)}function H(){H.b2SeparationFunction.apply(this,arguments)}function O(){O.b2Simplex.apply(this,arguments);this.constructor===
O&&this.b2Simplex.apply(this,arguments)}function E(){E.b2SimplexCache.apply(this,arguments)}function R(){R.b2SimplexVertex.apply(this,arguments)}function N(){N.b2TimeOfImpact.apply(this,arguments)}function S(){S.b2TOIInput.apply(this,arguments)}function aa(){aa.b2WorldManifold.apply(this,arguments);this.constructor===aa&&this.b2WorldManifold.apply(this,arguments)}function Z(){Z.ClipVertex.apply(this,arguments)}function d(){d.Features.apply(this,arguments)}function h(){h.b2CircleShape.apply(this,arguments);
this.constructor===h&&this.b2CircleShape.apply(this,arguments)}function l(){l.b2EdgeChainDef.apply(this,arguments);this.constructor===l&&this.b2EdgeChainDef.apply(this,arguments)}function j(){j.b2EdgeShape.apply(this,arguments);this.constructor===j&&this.b2EdgeShape.apply(this,arguments)}function o(){o.b2MassData.apply(this,arguments)}function q(){q.b2PolygonShape.apply(this,arguments);this.constructor===q&&this.b2PolygonShape.apply(this,arguments)}function n(){n.b2Shape.apply(this,arguments);this.constructor===
n&&this.b2Shape.apply(this,arguments)}function a(){a.b2Color.apply(this,arguments);this.constructor===a&&this.b2Color.apply(this,arguments)}function c(){c.b2Settings.apply(this,arguments)}function g(){g.b2Mat22.apply(this,arguments);this.constructor===g&&this.b2Mat22.apply(this,arguments)}function b(){b.b2Mat33.apply(this,arguments);this.constructor===b&&this.b2Mat33.apply(this,arguments)}function e(){e.b2Math.apply(this,arguments)}function f(){f.b2Sweep.apply(this,arguments)}function m(){m.b2Transform.apply(this,
arguments);this.constructor===m&&this.b2Transform.apply(this,arguments)}function r(){r.b2Vec2.apply(this,arguments);this.constructor===r&&this.b2Vec2.apply(this,arguments)}function s(){s.b2Vec3.apply(this,arguments);this.constructor===s&&this.b2Vec3.apply(this,arguments)}function v(){v.b2Body.apply(this,arguments);this.constructor===v&&this.b2Body.apply(this,arguments)}function t(){t.b2BodyDef.apply(this,arguments);this.constructor===t&&this.b2BodyDef.apply(this,arguments)}function x(){x.b2ContactFilter.apply(this,
arguments)}function C(){C.b2ContactImpulse.apply(this,arguments)}function J(){J.b2ContactListener.apply(this,arguments)}function T(){T.b2ContactManager.apply(this,arguments);this.constructor===T&&this.b2ContactManager.apply(this,arguments)}function P(){P.b2DebugDraw.apply(this,arguments);this.constructor===P&&this.b2DebugDraw.apply(this,arguments)}function X(){X.b2DestructionListener.apply(this,arguments)}function $(){$.b2FilterData.apply(this,arguments)}function ba(){ba.b2Fixture.apply(this,arguments);
this.constructor===ba&&this.b2Fixture.apply(this,arguments)}function ca(){ca.b2FixtureDef.apply(this,arguments);this.constructor===ca&&this.b2FixtureDef.apply(this,arguments)}function da(){da.b2Island.apply(this,arguments);this.constructor===da&&this.b2Island.apply(this,arguments)}function Fa(){Fa.b2TimeStep.apply(this,arguments)}function ea(){ea.b2World.apply(this,arguments);this.constructor===ea&&this.b2World.apply(this,arguments)}function Ga(){Ga.b2CircleContact.apply(this,arguments)}function fa(){fa.b2Contact.apply(this,
arguments);this.constructor===fa&&this.b2Contact.apply(this,arguments)}function ga(){ga.b2ContactConstraint.apply(this,arguments);this.constructor===ga&&this.b2ContactConstraint.apply(this,arguments)}function Ha(){Ha.b2ContactConstraintPoint.apply(this,arguments)}function Ia(){Ia.b2ContactEdge.apply(this,arguments)}function ha(){ha.b2ContactFactory.apply(this,arguments);this.constructor===ha&&this.b2ContactFactory.apply(this,arguments)}function Ja(){Ja.b2ContactRegister.apply(this,arguments)}function Ka(){Ka.b2ContactResult.apply(this,
arguments)}function ia(){ia.b2ContactSolver.apply(this,arguments);this.constructor===ia&&this.b2ContactSolver.apply(this,arguments)}function La(){La.b2EdgeAndCircleContact.apply(this,arguments)}function ja(){ja.b2NullContact.apply(this,arguments);this.constructor===ja&&this.b2NullContact.apply(this,arguments)}function Ma(){Ma.b2PolyAndCircleContact.apply(this,arguments)}function Na(){Na.b2PolyAndEdgeContact.apply(this,arguments)}function Oa(){Oa.b2PolygonContact.apply(this,arguments)}function ka(){ka.b2PositionSolverManifold.apply(this,
arguments);this.constructor===ka&&this.b2PositionSolverManifold.apply(this,arguments)}function Pa(){Pa.b2BuoyancyController.apply(this,arguments)}function Qa(){Qa.b2ConstantAccelController.apply(this,arguments)}function Ra(){Ra.b2ConstantForceController.apply(this,arguments)}function Sa(){Sa.b2Controller.apply(this,arguments)}function Ta(){Ta.b2ControllerEdge.apply(this,arguments)}function Ua(){Ua.b2GravityController.apply(this,arguments)}function Va(){Va.b2TensorDampingController.apply(this,arguments)}
function la(){la.b2DistanceJoint.apply(this,arguments);this.constructor===la&&this.b2DistanceJoint.apply(this,arguments)}function ma(){ma.b2DistanceJointDef.apply(this,arguments);this.constructor===ma&&this.b2DistanceJointDef.apply(this,arguments)}function na(){na.b2FrictionJoint.apply(this,arguments);this.constructor===na&&this.b2FrictionJoint.apply(this,arguments)}function oa(){oa.b2FrictionJointDef.apply(this,arguments);this.constructor===oa&&this.b2FrictionJointDef.apply(this,arguments)}function pa(){pa.b2GearJoint.apply(this,
arguments);this.constructor===pa&&this.b2GearJoint.apply(this,arguments)}function qa(){qa.b2GearJointDef.apply(this,arguments);this.constructor===qa&&this.b2GearJointDef.apply(this,arguments)}function Wa(){Wa.b2Jacobian.apply(this,arguments)}function ra(){ra.b2Joint.apply(this,arguments);this.constructor===ra&&this.b2Joint.apply(this,arguments)}function sa(){sa.b2JointDef.apply(this,arguments);this.constructor===sa&&this.b2JointDef.apply(this,arguments)}function Xa(){Xa.b2JointEdge.apply(this,arguments)}
function ta(){ta.b2LineJoint.apply(this,arguments);this.constructor===ta&&this.b2LineJoint.apply(this,arguments)}function ua(){ua.b2LineJointDef.apply(this,arguments);this.constructor===ua&&this.b2LineJointDef.apply(this,arguments)}function va(){va.b2MouseJoint.apply(this,arguments);this.constructor===va&&this.b2MouseJoint.apply(this,arguments)}function wa(){wa.b2MouseJointDef.apply(this,arguments);this.constructor===wa&&this.b2MouseJointDef.apply(this,arguments)}function xa(){xa.b2PrismaticJoint.apply(this,
arguments);this.constructor===xa&&this.b2PrismaticJoint.apply(this,arguments)}function ya(){ya.b2PrismaticJointDef.apply(this,arguments);this.constructor===ya&&this.b2PrismaticJointDef.apply(this,arguments)}function za(){za.b2PulleyJoint.apply(this,arguments);this.constructor===za&&this.b2PulleyJoint.apply(this,arguments)}function Aa(){Aa.b2PulleyJointDef.apply(this,arguments);this.constructor===Aa&&this.b2PulleyJointDef.apply(this,arguments)}function Ba(){Ba.b2RevoluteJoint.apply(this,arguments);
this.constructor===Ba&&this.b2RevoluteJoint.apply(this,arguments)}function Ca(){Ca.b2RevoluteJointDef.apply(this,arguments);this.constructor===Ca&&this.b2RevoluteJointDef.apply(this,arguments)}function Da(){Da.b2WeldJoint.apply(this,arguments);this.constructor===Da&&this.b2WeldJoint.apply(this,arguments)}function Ea(){Ea.b2WeldJointDef.apply(this,arguments);this.constructor===Ea&&this.b2WeldJointDef.apply(this,arguments)}Box2D.Collision.IBroadPhase="Box2D.Collision.IBroadPhase";Box2D.Collision.b2AABB=
F;Box2D.Collision.b2Bound=G;Box2D.Collision.b2BoundValues=K;Box2D.Collision.b2Collision=y;Box2D.Collision.b2ContactID=w;Box2D.Collision.b2ContactPoint=A;Box2D.Collision.b2Distance=U;Box2D.Collision.b2DistanceInput=p;Box2D.Collision.b2DistanceOutput=B;Box2D.Collision.b2DistanceProxy=Q;Box2D.Collision.b2DynamicTree=V;Box2D.Collision.b2DynamicTreeBroadPhase=M;Box2D.Collision.b2DynamicTreeNode=L;Box2D.Collision.b2DynamicTreePair=I;Box2D.Collision.b2Manifold=W;Box2D.Collision.b2ManifoldPoint=Y;Box2D.Collision.b2Point=
k;Box2D.Collision.b2RayCastInput=z;Box2D.Collision.b2RayCastOutput=u;Box2D.Collision.b2Segment=D;Box2D.Collision.b2SeparationFunction=H;Box2D.Collision.b2Simplex=O;Box2D.Collision.b2SimplexCache=E;Box2D.Collision.b2SimplexVertex=R;Box2D.Collision.b2TimeOfImpact=N;Box2D.Collision.b2TOIInput=S;Box2D.Collision.b2WorldManifold=aa;Box2D.Collision.ClipVertex=Z;Box2D.Collision.Features=d;Box2D.Collision.Shapes.b2CircleShape=h;Box2D.Collision.Shapes.b2EdgeChainDef=l;Box2D.Collision.Shapes.b2EdgeShape=j;Box2D.Collision.Shapes.b2MassData=
o;Box2D.Collision.Shapes.b2PolygonShape=q;Box2D.Collision.Shapes.b2Shape=n;Box2D.Common.b2internal="Box2D.Common.b2internal";Box2D.Common.b2Color=a;Box2D.Common.b2Settings=c;Box2D.Common.Math.b2Mat22=g;Box2D.Common.Math.b2Mat33=b;Box2D.Common.Math.b2Math=e;Box2D.Common.Math.b2Sweep=f;Box2D.Common.Math.b2Transform=m;Box2D.Common.Math.b2Vec2=r;Box2D.Common.Math.b2Vec3=s;Box2D.Dynamics.b2Body=v;Box2D.Dynamics.b2BodyDef=t;Box2D.Dynamics.b2ContactFilter=x;Box2D.Dynamics.b2ContactImpulse=C;Box2D.Dynamics.b2ContactListener=
J;Box2D.Dynamics.b2ContactManager=T;Box2D.Dynamics.b2DebugDraw=P;Box2D.Dynamics.b2DestructionListener=X;Box2D.Dynamics.b2FilterData=$;Box2D.Dynamics.b2Fixture=ba;Box2D.Dynamics.b2FixtureDef=ca;Box2D.Dynamics.b2Island=da;Box2D.Dynamics.b2TimeStep=Fa;Box2D.Dynamics.b2World=ea;Box2D.Dynamics.Contacts.b2CircleContact=Ga;Box2D.Dynamics.Contacts.b2Contact=fa;Box2D.Dynamics.Contacts.b2ContactConstraint=ga;Box2D.Dynamics.Contacts.b2ContactConstraintPoint=Ha;Box2D.Dynamics.Contacts.b2ContactEdge=Ia;Box2D.Dynamics.Contacts.b2ContactFactory=
ha;Box2D.Dynamics.Contacts.b2ContactRegister=Ja;Box2D.Dynamics.Contacts.b2ContactResult=Ka;Box2D.Dynamics.Contacts.b2ContactSolver=ia;Box2D.Dynamics.Contacts.b2EdgeAndCircleContact=La;Box2D.Dynamics.Contacts.b2NullContact=ja;Box2D.Dynamics.Contacts.b2PolyAndCircleContact=Ma;Box2D.Dynamics.Contacts.b2PolyAndEdgeContact=Na;Box2D.Dynamics.Contacts.b2PolygonContact=Oa;Box2D.Dynamics.Contacts.b2PositionSolverManifold=ka;Box2D.Dynamics.Controllers.b2BuoyancyController=Pa;Box2D.Dynamics.Controllers.b2ConstantAccelController=
Qa;Box2D.Dynamics.Controllers.b2ConstantForceController=Ra;Box2D.Dynamics.Controllers.b2Controller=Sa;Box2D.Dynamics.Controllers.b2ControllerEdge=Ta;Box2D.Dynamics.Controllers.b2GravityController=Ua;Box2D.Dynamics.Controllers.b2TensorDampingController=Va;Box2D.Dynamics.Joints.b2DistanceJoint=la;Box2D.Dynamics.Joints.b2DistanceJointDef=ma;Box2D.Dynamics.Joints.b2FrictionJoint=na;Box2D.Dynamics.Joints.b2FrictionJointDef=oa;Box2D.Dynamics.Joints.b2GearJoint=pa;Box2D.Dynamics.Joints.b2GearJointDef=qa;
Box2D.Dynamics.Joints.b2Jacobian=Wa;Box2D.Dynamics.Joints.b2Joint=ra;Box2D.Dynamics.Joints.b2JointDef=sa;Box2D.Dynamics.Joints.b2JointEdge=Xa;Box2D.Dynamics.Joints.b2LineJoint=ta;Box2D.Dynamics.Joints.b2LineJointDef=ua;Box2D.Dynamics.Joints.b2MouseJoint=va;Box2D.Dynamics.Joints.b2MouseJointDef=wa;Box2D.Dynamics.Joints.b2PrismaticJoint=xa;Box2D.Dynamics.Joints.b2PrismaticJointDef=ya;Box2D.Dynamics.Joints.b2PulleyJoint=za;Box2D.Dynamics.Joints.b2PulleyJointDef=Aa;Box2D.Dynamics.Joints.b2RevoluteJoint=
Ba;Box2D.Dynamics.Joints.b2RevoluteJointDef=Ca;Box2D.Dynamics.Joints.b2WeldJoint=Da;Box2D.Dynamics.Joints.b2WeldJointDef=Ea})();Box2D.postDefs=[];
(function(){var F=Box2D.Collision.Shapes.b2CircleShape,G=Box2D.Collision.Shapes.b2PolygonShape,K=Box2D.Collision.Shapes.b2Shape,y=Box2D.Common.b2Settings,w=Box2D.Common.Math.b2Math,A=Box2D.Common.Math.b2Sweep,U=Box2D.Common.Math.b2Transform,p=Box2D.Common.Math.b2Vec2,B=Box2D.Collision.b2AABB,Q=Box2D.Collision.b2Bound,V=Box2D.Collision.b2BoundValues,M=Box2D.Collision.b2Collision,L=Box2D.Collision.b2ContactID,I=Box2D.Collision.b2ContactPoint,W=Box2D.Collision.b2Distance,Y=Box2D.Collision.b2DistanceInput,
k=Box2D.Collision.b2DistanceOutput,z=Box2D.Collision.b2DistanceProxy,u=Box2D.Collision.b2DynamicTree,D=Box2D.Collision.b2DynamicTreeBroadPhase,H=Box2D.Collision.b2DynamicTreeNode,O=Box2D.Collision.b2DynamicTreePair,E=Box2D.Collision.b2Manifold,R=Box2D.Collision.b2ManifoldPoint,N=Box2D.Collision.b2Point,S=Box2D.Collision.b2RayCastInput,aa=Box2D.Collision.b2RayCastOutput,Z=Box2D.Collision.b2Segment,d=Box2D.Collision.b2SeparationFunction,h=Box2D.Collision.b2Simplex,l=Box2D.Collision.b2SimplexCache,j=
Box2D.Collision.b2SimplexVertex,o=Box2D.Collision.b2TimeOfImpact,q=Box2D.Collision.b2TOIInput,n=Box2D.Collision.b2WorldManifold,a=Box2D.Collision.ClipVertex,c=Box2D.Collision.Features,g=Box2D.Collision.IBroadPhase;B.b2AABB=function(){this.lowerBound=new p;this.upperBound=new p};B.prototype.IsValid=function(){var b=this.upperBound.y-this.lowerBound.y;return b=(b=this.upperBound.x-this.lowerBound.x>=0&&b>=0)&&this.lowerBound.IsValid()&&this.upperBound.IsValid()};B.prototype.GetCenter=function(){return new p((this.lowerBound.x+
this.upperBound.x)/2,(this.lowerBound.y+this.upperBound.y)/2)};B.prototype.GetExtents=function(){return new p((this.upperBound.x-this.lowerBound.x)/2,(this.upperBound.y-this.lowerBound.y)/2)};B.prototype.Contains=function(b){var e=true;return e=(e=(e=(e=e&&this.lowerBound.x<=b.lowerBound.x)&&this.lowerBound.y<=b.lowerBound.y)&&b.upperBound.x<=this.upperBound.x)&&b.upperBound.y<=this.upperBound.y};B.prototype.RayCast=function(b,e){var f=-Number.MAX_VALUE,m=Number.MAX_VALUE,r=e.p1.x,s=e.p1.y,v=e.p2.x-
e.p1.x,t=e.p2.y-e.p1.y,x=Math.abs(t),C=b.normal,J=0,T=0,P=J=0;P=0;if(Math.abs(v)<Number.MIN_VALUE){if(r<this.lowerBound.x||this.upperBound.x<r)return false}else{J=1/v;T=(this.lowerBound.x-r)*J;J=(this.upperBound.x-r)*J;P=-1;if(T>J){P=T;T=J;J=P;P=1}if(T>f){C.x=P;C.y=0;f=T}m=Math.min(m,J);if(f>m)return false}if(x<Number.MIN_VALUE){if(s<this.lowerBound.y||this.upperBound.y<s)return false}else{J=1/t;T=(this.lowerBound.y-s)*J;J=(this.upperBound.y-s)*J;P=-1;if(T>J){P=T;T=J;J=P;P=1}if(T>f){C.y=P;C.x=0;f=
T}m=Math.min(m,J);if(f>m)return false}b.fraction=f;return true};B.prototype.TestOverlap=function(b){var e=b.lowerBound.y-this.upperBound.y,f=this.lowerBound.y-b.upperBound.y;if(b.lowerBound.x-this.upperBound.x>0||e>0)return false;if(this.lowerBound.x-b.upperBound.x>0||f>0)return false;return true};B.Combine=function(b,e){var f=new B;f.Combine(b,e);return f};B.prototype.Combine=function(b,e){this.lowerBound.x=Math.min(b.lowerBound.x,e.lowerBound.x);this.lowerBound.y=Math.min(b.lowerBound.y,e.lowerBound.y);
this.upperBound.x=Math.max(b.upperBound.x,e.upperBound.x);this.upperBound.y=Math.max(b.upperBound.y,e.upperBound.y)};Q.b2Bound=function(){};Q.prototype.IsLower=function(){return(this.value&1)==0};Q.prototype.IsUpper=function(){return(this.value&1)==1};Q.prototype.Swap=function(b){var e=this.value,f=this.proxy,m=this.stabbingCount;this.value=b.value;this.proxy=b.proxy;this.stabbingCount=b.stabbingCount;b.value=e;b.proxy=f;b.stabbingCount=m};V.b2BoundValues=function(){};V.prototype.b2BoundValues=function(){this.lowerValues=
new Vector_a2j_Number;this.lowerValues[0]=0;this.lowerValues[1]=0;this.upperValues=new Vector_a2j_Number;this.upperValues[0]=0;this.upperValues[1]=0};M.b2Collision=function(){};M.ClipSegmentToLine=function(b,e,f,m){if(m===undefined)m=0;var r,s=0;r=e[0];var v=r.v;r=e[1];var t=r.v,x=f.x*v.x+f.y*v.y-m;r=f.x*t.x+f.y*t.y-m;x<=0&&b[s++].Set(e[0]);r<=0&&b[s++].Set(e[1]);if(x*r<0){f=x/(x-r);r=b[s];r=r.v;r.x=v.x+f*(t.x-v.x);r.y=v.y+f*(t.y-v.y);r=b[s];r.id=(x>0?e[0]:e[1]).id;++s}return s};M.EdgeSeparation=
function(b,e,f,m,r){if(f===undefined)f=0;parseInt(b.m_vertexCount);var s=b.m_vertices;b=b.m_normals;var v=parseInt(m.m_vertexCount),t=m.m_vertices,x,C;x=e.R;C=b[f];b=x.col1.x*C.x+x.col2.x*C.y;m=x.col1.y*C.x+x.col2.y*C.y;x=r.R;var J=x.col1.x*b+x.col1.y*m;x=x.col2.x*b+x.col2.y*m;for(var T=0,P=Number.MAX_VALUE,X=0;X<v;++X){C=t[X];C=C.x*J+C.y*x;if(C<P){P=C;T=X}}C=s[f];x=e.R;f=e.position.x+(x.col1.x*C.x+x.col2.x*C.y);e=e.position.y+(x.col1.y*C.x+x.col2.y*C.y);C=t[T];x=r.R;s=r.position.x+(x.col1.x*C.x+
x.col2.x*C.y);r=r.position.y+(x.col1.y*C.x+x.col2.y*C.y);s-=f;r-=e;return s*b+r*m};M.FindMaxSeparation=function(b,e,f,m,r){var s=parseInt(e.m_vertexCount),v=e.m_normals,t,x;x=r.R;t=m.m_centroid;var C=r.position.x+(x.col1.x*t.x+x.col2.x*t.y),J=r.position.y+(x.col1.y*t.x+x.col2.y*t.y);x=f.R;t=e.m_centroid;C-=f.position.x+(x.col1.x*t.x+x.col2.x*t.y);J-=f.position.y+(x.col1.y*t.x+x.col2.y*t.y);x=C*f.R.col1.x+J*f.R.col1.y;J=C*f.R.col2.x+J*f.R.col2.y;C=0;for(var T=-Number.MAX_VALUE,P=0;P<s;++P){t=v[P];
t=t.x*x+t.y*J;if(t>T){T=t;C=P}}v=M.EdgeSeparation(e,f,C,m,r);t=parseInt(C-1>=0?C-1:s-1);x=M.EdgeSeparation(e,f,t,m,r);J=parseInt(C+1<s?C+1:0);T=M.EdgeSeparation(e,f,J,m,r);var X=P=0,$=0;if(x>v&&x>T){$=-1;P=t;X=x}else if(T>v){$=1;P=J;X=T}else{b[0]=C;return v}for(;;){C=$==-1?P-1>=0?P-1:s-1:P+1<s?P+1:0;v=M.EdgeSeparation(e,f,C,m,r);if(v>X){P=C;X=v}else break}b[0]=P;return X};M.FindIncidentEdge=function(b,e,f,m,r,s){if(m===undefined)m=0;parseInt(e.m_vertexCount);var v=e.m_normals,t=parseInt(r.m_vertexCount);
e=r.m_vertices;r=r.m_normals;var x;x=f.R;f=v[m];v=x.col1.x*f.x+x.col2.x*f.y;var C=x.col1.y*f.x+x.col2.y*f.y;x=s.R;f=x.col1.x*v+x.col1.y*C;C=x.col2.x*v+x.col2.y*C;v=f;x=0;for(var J=Number.MAX_VALUE,T=0;T<t;++T){f=r[T];f=v*f.x+C*f.y;if(f<J){J=f;x=T}}r=parseInt(x);v=parseInt(r+1<t?r+1:0);t=b[0];f=e[r];x=s.R;t.v.x=s.position.x+(x.col1.x*f.x+x.col2.x*f.y);t.v.y=s.position.y+(x.col1.y*f.x+x.col2.y*f.y);t.id.features.referenceEdge=m;t.id.features.incidentEdge=r;t.id.features.incidentVertex=0;t=b[1];f=e[v];
x=s.R;t.v.x=s.position.x+(x.col1.x*f.x+x.col2.x*f.y);t.v.y=s.position.y+(x.col1.y*f.x+x.col2.y*f.y);t.id.features.referenceEdge=m;t.id.features.incidentEdge=v;t.id.features.incidentVertex=1};M.MakeClipPointVector=function(){var b=new Vector(2);b[0]=new a;b[1]=new a;return b};M.CollidePolygons=function(b,e,f,m,r){var s;b.m_pointCount=0;var v=e.m_radius+m.m_radius;s=0;M.s_edgeAO[0]=s;var t=M.FindMaxSeparation(M.s_edgeAO,e,f,m,r);s=M.s_edgeAO[0];if(!(t>v)){var x=0;M.s_edgeBO[0]=x;var C=M.FindMaxSeparation(M.s_edgeBO,
m,r,e,f);x=M.s_edgeBO[0];if(!(C>v)){var J=0,T=0;if(C>0.98*t+0.0010){t=m;m=e;e=r;f=f;J=x;b.m_type=E.e_faceB;T=1}else{t=e;m=m;e=f;f=r;J=s;b.m_type=E.e_faceA;T=0}s=M.s_incidentEdge;M.FindIncidentEdge(s,t,e,J,m,f);x=parseInt(t.m_vertexCount);r=t.m_vertices;t=r[J];var P;P=J+1<x?r[parseInt(J+1)]:r[0];J=M.s_localTangent;J.Set(P.x-t.x,P.y-t.y);J.Normalize();r=M.s_localNormal;r.x=J.y;r.y=-J.x;m=M.s_planePoint;m.Set(0.5*(t.x+P.x),0.5*(t.y+P.y));C=M.s_tangent;x=e.R;C.x=x.col1.x*J.x+x.col2.x*J.y;C.y=x.col1.y*
J.x+x.col2.y*J.y;var X=M.s_tangent2;X.x=-C.x;X.y=-C.y;J=M.s_normal;J.x=C.y;J.y=-C.x;var $=M.s_v11,ba=M.s_v12;$.x=e.position.x+(x.col1.x*t.x+x.col2.x*t.y);$.y=e.position.y+(x.col1.y*t.x+x.col2.y*t.y);ba.x=e.position.x+(x.col1.x*P.x+x.col2.x*P.y);ba.y=e.position.y+(x.col1.y*P.x+x.col2.y*P.y);e=J.x*$.x+J.y*$.y;x=C.x*ba.x+C.y*ba.y+v;P=M.s_clipPoints1;t=M.s_clipPoints2;ba=0;ba=M.ClipSegmentToLine(P,s,X,-C.x*$.x-C.y*$.y+v);if(!(ba<2)){ba=M.ClipSegmentToLine(t,P,C,x);if(!(ba<2)){b.m_localPlaneNormal.SetV(r);
b.m_localPoint.SetV(m);for(m=r=0;m<y.b2_maxManifoldPoints;++m){s=t[m];if(J.x*s.v.x+J.y*s.v.y-e<=v){C=b.m_points[r];x=f.R;X=s.v.x-f.position.x;$=s.v.y-f.position.y;C.m_localPoint.x=X*x.col1.x+$*x.col1.y;C.m_localPoint.y=X*x.col2.x+$*x.col2.y;C.m_id.Set(s.id);C.m_id.features.flip=T;++r}}b.m_pointCount=r}}}}};M.CollideCircles=function(b,e,f,m,r){b.m_pointCount=0;var s,v;s=f.R;v=e.m_p;var t=f.position.x+(s.col1.x*v.x+s.col2.x*v.y);f=f.position.y+(s.col1.y*v.x+s.col2.y*v.y);s=r.R;v=m.m_p;t=r.position.x+
(s.col1.x*v.x+s.col2.x*v.y)-t;r=r.position.y+(s.col1.y*v.x+s.col2.y*v.y)-f;s=e.m_radius+m.m_radius;if(!(t*t+r*r>s*s)){b.m_type=E.e_circles;b.m_localPoint.SetV(e.m_p);b.m_localPlaneNormal.SetZero();b.m_pointCount=1;b.m_points[0].m_localPoint.SetV(m.m_p);b.m_points[0].m_id.key=0}};M.CollidePolygonAndCircle=function(b,e,f,m,r){var s=b.m_pointCount=0,v=0,t,x;x=r.R;t=m.m_p;var C=r.position.y+(x.col1.y*t.x+x.col2.y*t.y);s=r.position.x+(x.col1.x*t.x+x.col2.x*t.y)-f.position.x;v=C-f.position.y;x=f.R;f=s*
x.col1.x+v*x.col1.y;x=s*x.col2.x+v*x.col2.y;var J=0;C=-Number.MAX_VALUE;r=e.m_radius+m.m_radius;var T=parseInt(e.m_vertexCount),P=e.m_vertices;e=e.m_normals;for(var X=0;X<T;++X){t=P[X];s=f-t.x;v=x-t.y;t=e[X];s=t.x*s+t.y*v;if(s>r)return;if(s>C){C=s;J=X}}s=parseInt(J);v=parseInt(s+1<T?s+1:0);t=P[s];P=P[v];if(C<Number.MIN_VALUE){b.m_pointCount=1;b.m_type=E.e_faceA;b.m_localPlaneNormal.SetV(e[J]);b.m_localPoint.x=0.5*(t.x+P.x);b.m_localPoint.y=0.5*(t.y+P.y)}else{C=(f-P.x)*(t.x-P.x)+(x-P.y)*(t.y-P.y);
if((f-t.x)*(P.x-t.x)+(x-t.y)*(P.y-t.y)<=0){if((f-t.x)*(f-t.x)+(x-t.y)*(x-t.y)>r*r)return;b.m_pointCount=1;b.m_type=E.e_faceA;b.m_localPlaneNormal.x=f-t.x;b.m_localPlaneNormal.y=x-t.y;b.m_localPlaneNormal.Normalize();b.m_localPoint.SetV(t)}else if(C<=0){if((f-P.x)*(f-P.x)+(x-P.y)*(x-P.y)>r*r)return;b.m_pointCount=1;b.m_type=E.e_faceA;b.m_localPlaneNormal.x=f-P.x;b.m_localPlaneNormal.y=x-P.y;b.m_localPlaneNormal.Normalize();b.m_localPoint.SetV(P)}else{J=0.5*(t.x+P.x);t=0.5*(t.y+P.y);C=(f-J)*e[s].x+
(x-t)*e[s].y;if(C>r)return;b.m_pointCount=1;b.m_type=E.e_faceA;b.m_localPlaneNormal.x=e[s].x;b.m_localPlaneNormal.y=e[s].y;b.m_localPlaneNormal.Normalize();b.m_localPoint.Set(J,t)}}b.m_points[0].m_localPoint.SetV(m.m_p);b.m_points[0].m_id.key=0};M.TestOverlap=function(b,e){var f=e.lowerBound,m=b.upperBound,r=f.x-m.x,s=f.y-m.y;f=b.lowerBound;m=e.upperBound;var v=f.y-m.y;if(r>0||s>0)return false;if(f.x-m.x>0||v>0)return false;return true};Box2D.postDefs.push(function(){Box2D.Collision.b2Collision.s_incidentEdge=
M.MakeClipPointVector();Box2D.Collision.b2Collision.s_clipPoints1=M.MakeClipPointVector();Box2D.Collision.b2Collision.s_clipPoints2=M.MakeClipPointVector();Box2D.Collision.b2Collision.s_edgeAO=new Vector_a2j_Number(1);Box2D.Collision.b2Collision.s_edgeBO=new Vector_a2j_Number(1);Box2D.Collision.b2Collision.s_localTangent=new p;Box2D.Collision.b2Collision.s_localNormal=new p;Box2D.Collision.b2Collision.s_planePoint=new p;Box2D.Collision.b2Collision.s_normal=new p;Box2D.Collision.b2Collision.s_tangent=
new p;Box2D.Collision.b2Collision.s_tangent2=new p;Box2D.Collision.b2Collision.s_v11=new p;Box2D.Collision.b2Collision.s_v12=new p;Box2D.Collision.b2Collision.b2CollidePolyTempVec=new p;Box2D.Collision.b2Collision.b2_nullFeature=255});L.b2ContactID=function(){this.features=new c};L.prototype.b2ContactID=function(){this.features._m_id=this};L.prototype.Set=function(b){this.key=b._key};L.prototype.Copy=function(){var b=new L;b.key=this.key;return b};Object.defineProperty(L.prototype,"key",{enumerable:false,
configurable:true,get:function(){return this._key}});Object.defineProperty(L.prototype,"key",{enumerable:false,configurable:true,set:function(b){if(b===undefined)b=0;this._key=b;this.features._referenceEdge=this._key&255;this.features._incidentEdge=(this._key&65280)>>8&255;this.features._incidentVertex=(this._key&16711680)>>16&255;this.features._flip=(this._key&4278190080)>>24&255}});I.b2ContactPoint=function(){this.position=new p;this.velocity=new p;this.normal=new p;this.id=new L};W.b2Distance=
function(){};W.Distance=function(b,e,f){++W.b2_gjkCalls;var m=f.proxyA,r=f.proxyB,s=f.transformA,v=f.transformB,t=W.s_simplex;t.ReadCache(e,m,s,r,v);var x=t.m_vertices,C=W.s_saveA,J=W.s_saveB,T=0;t.GetClosestPoint().LengthSquared();for(var P=0,X,$=0;$<20;){T=t.m_count;for(P=0;P<T;P++){C[P]=x[P].indexA;J[P]=x[P].indexB}switch(t.m_count){case 1:break;case 2:t.Solve2();break;case 3:t.Solve3();break;default:y.b2Assert(false)}if(t.m_count==3)break;X=t.GetClosestPoint();X.LengthSquared();P=t.GetSearchDirection();
if(P.LengthSquared()<Number.MIN_VALUE*Number.MIN_VALUE)break;X=x[t.m_count];X.indexA=m.GetSupport(w.MulTMV(s.R,P.GetNegative()));X.wA=w.MulX(s,m.GetVertex(X.indexA));X.indexB=r.GetSupport(w.MulTMV(v.R,P));X.wB=w.MulX(v,r.GetVertex(X.indexB));X.w=w.SubtractVV(X.wB,X.wA);++$;++W.b2_gjkIters;var ba=false;for(P=0;P<T;P++)if(X.indexA==C[P]&&X.indexB==J[P]){ba=true;break}if(ba)break;++t.m_count}W.b2_gjkMaxIters=w.Max(W.b2_gjkMaxIters,$);t.GetWitnessPoints(b.pointA,b.pointB);b.distance=w.SubtractVV(b.pointA,
b.pointB).Length();b.iterations=$;t.WriteCache(e);if(f.useRadii){e=m.m_radius;r=r.m_radius;if(b.distance>e+r&&b.distance>Number.MIN_VALUE){b.distance-=e+r;f=w.SubtractVV(b.pointB,b.pointA);f.Normalize();b.pointA.x+=e*f.x;b.pointA.y+=e*f.y;b.pointB.x-=r*f.x;b.pointB.y-=r*f.y}else{X=new p;X.x=0.5*(b.pointA.x+b.pointB.x);X.y=0.5*(b.pointA.y+b.pointB.y);b.pointA.x=b.pointB.x=X.x;b.pointA.y=b.pointB.y=X.y;b.distance=0}}};Box2D.postDefs.push(function(){Box2D.Collision.b2Distance.s_simplex=new h;Box2D.Collision.b2Distance.s_saveA=
new Vector_a2j_Number(3);Box2D.Collision.b2Distance.s_saveB=new Vector_a2j_Number(3)});Y.b2DistanceInput=function(){};k.b2DistanceOutput=function(){this.pointA=new p;this.pointB=new p};z.b2DistanceProxy=function(){};z.prototype.Set=function(b){switch(b.GetType()){case K.e_circleShape:b=b instanceof F?b:null;this.m_vertices=new Vector(1,true);this.m_vertices[0]=b.m_p;this.m_count=1;this.m_radius=b.m_radius;break;case K.e_polygonShape:b=b instanceof G?b:null;this.m_vertices=b.m_vertices;this.m_count=
b.m_vertexCount;this.m_radius=b.m_radius;break;default:y.b2Assert(false)}};z.prototype.GetSupport=function(b){for(var e=0,f=this.m_vertices[0].x*b.x+this.m_vertices[0].y*b.y,m=1;m<this.m_count;++m){var r=this.m_vertices[m].x*b.x+this.m_vertices[m].y*b.y;if(r>f){e=m;f=r}}return e};z.prototype.GetSupportVertex=function(b){for(var e=0,f=this.m_vertices[0].x*b.x+this.m_vertices[0].y*b.y,m=1;m<this.m_count;++m){var r=this.m_vertices[m].x*b.x+this.m_vertices[m].y*b.y;if(r>f){e=m;f=r}}return this.m_vertices[e]};
z.prototype.GetVertexCount=function(){return this.m_count};z.prototype.GetVertex=function(b){if(b===undefined)b=0;y.b2Assert(0<=b&&b<this.m_count);return this.m_vertices[b]};u.b2DynamicTree=function(){};u.prototype.b2DynamicTree=function(){this.m_freeList=this.m_root=null;this.m_insertionCount=this.m_path=0};u.prototype.CreateProxy=function(b,e){var f=this.AllocateNode(),m=y.b2_aabbExtension,r=y.b2_aabbExtension;f.aabb.lowerBound.x=b.lowerBound.x-m;f.aabb.lowerBound.y=b.lowerBound.y-r;f.aabb.upperBound.x=
b.upperBound.x+m;f.aabb.upperBound.y=b.upperBound.y+r;f.userData=e;this.InsertLeaf(f);return f};u.prototype.DestroyProxy=function(b){this.RemoveLeaf(b);this.FreeNode(b)};u.prototype.MoveProxy=function(b,e,f){y.b2Assert(b.IsLeaf());if(b.aabb.Contains(e))return false;this.RemoveLeaf(b);var m=y.b2_aabbExtension+y.b2_aabbMultiplier*(f.x>0?f.x:-f.x);f=y.b2_aabbExtension+y.b2_aabbMultiplier*(f.y>0?f.y:-f.y);b.aabb.lowerBound.x=e.lowerBound.x-m;b.aabb.lowerBound.y=e.lowerBound.y-f;b.aabb.upperBound.x=e.upperBound.x+
m;b.aabb.upperBound.y=e.upperBound.y+f;this.InsertLeaf(b);return true};u.prototype.Rebalance=function(b){if(b===undefined)b=0;if(this.m_root!=null)for(var e=0;e<b;e++){for(var f=this.m_root,m=0;f.IsLeaf()==false;){f=this.m_path>>m&1?f.child2:f.child1;m=m+1&31}++this.m_path;this.RemoveLeaf(f);this.InsertLeaf(f)}};u.prototype.GetFatAABB=function(b){return b.aabb};u.prototype.GetUserData=function(b){return b.userData};u.prototype.Query=function(b,e){if(this.m_root!=null){var f=new Vector,m=0;for(f[m++]=
this.m_root;m>0;){var r=f[--m];if(r.aabb.TestOverlap(e))if(r.IsLeaf()){if(!b(r))break}else{f[m++]=r.child1;f[m++]=r.child2}}}};u.prototype.RayCast=function(b,e){if(this.m_root!=null){var f=e.p1,m=e.p2,r=w.SubtractVV(f,m);r.Normalize();r=w.CrossFV(1,r);var s=w.AbsV(r),v=e.maxFraction,t=new B,x=0,C=0;x=f.x+v*(m.x-f.x);C=f.y+v*(m.y-f.y);t.lowerBound.x=Math.min(f.x,x);t.lowerBound.y=Math.min(f.y,C);t.upperBound.x=Math.max(f.x,x);t.upperBound.y=Math.max(f.y,C);var J=new Vector,T=0;for(J[T++]=this.m_root;T>
0;){v=J[--T];if(v.aabb.TestOverlap(t)!=false){x=v.aabb.GetCenter();C=v.aabb.GetExtents();if(!(Math.abs(r.x*(f.x-x.x)+r.y*(f.y-x.y))-s.x*C.x-s.y*C.y>0))if(v.IsLeaf()){x=new S;x.p1=e.p1;x.p2=e.p2;x.maxFraction=e.maxFraction;v=b(x,v);if(v==0)break;if(v>0){x=f.x+v*(m.x-f.x);C=f.y+v*(m.y-f.y);t.lowerBound.x=Math.min(f.x,x);t.lowerBound.y=Math.min(f.y,C);t.upperBound.x=Math.max(f.x,x);t.upperBound.y=Math.max(f.y,C)}}else{J[T++]=v.child1;J[T++]=v.child2}}}}};u.prototype.AllocateNode=function(){if(this.m_freeList){var b=
this.m_freeList;this.m_freeList=b.parent;b.parent=null;b.child1=null;b.child2=null;return b}return new H};u.prototype.FreeNode=function(b){b.parent=this.m_freeList;this.m_freeList=b};u.prototype.InsertLeaf=function(b){++this.m_insertionCount;if(this.m_root==null){this.m_root=b;this.m_root.parent=null}else{var e=b.aabb.GetCenter(),f=this.m_root;if(f.IsLeaf()==false){do{var m=f.child1;f=f.child2;f=Math.abs((m.aabb.lowerBound.x+m.aabb.upperBound.x)/2-e.x)+Math.abs((m.aabb.lowerBound.y+m.aabb.upperBound.y)/
2-e.y)<Math.abs((f.aabb.lowerBound.x+f.aabb.upperBound.x)/2-e.x)+Math.abs((f.aabb.lowerBound.y+f.aabb.upperBound.y)/2-e.y)?m:f}while(f.IsLeaf()==false)}e=f.parent;m=this.AllocateNode();m.parent=e;m.userData=null;m.aabb.Combine(b.aabb,f.aabb);if(e){if(f.parent.child1==f)e.child1=m;else e.child2=m;m.child1=f;m.child2=b;f.parent=m;b.parent=m;do{if(e.aabb.Contains(m.aabb))break;e.aabb.Combine(e.child1.aabb,e.child2.aabb);m=e;e=e.parent}while(e)}else{m.child1=f;m.child2=b;f.parent=m;this.m_root=b.parent=
m}}};u.prototype.RemoveLeaf=function(b){if(b==this.m_root)this.m_root=null;else{var e=b.parent,f=e.parent;b=e.child1==b?e.child2:e.child1;if(f){if(f.child1==e)f.child1=b;else f.child2=b;b.parent=f;for(this.FreeNode(e);f;){e=f.aabb;f.aabb=B.Combine(f.child1.aabb,f.child2.aabb);if(e.Contains(f.aabb))break;f=f.parent}}else{this.m_root=b;b.parent=null;this.FreeNode(e)}}};D.b2DynamicTreeBroadPhase=function(){this.m_tree=new u;this.m_moveBuffer=new Vector;this.m_pairBuffer=new Vector;this.m_pairCount=0};
D.prototype.CreateProxy=function(b,e){var f=this.m_tree.CreateProxy(b,e);++this.m_proxyCount;this.BufferMove(f);return f};D.prototype.DestroyProxy=function(b){this.UnBufferMove(b);--this.m_proxyCount;this.m_tree.DestroyProxy(b)};D.prototype.MoveProxy=function(b,e,f){this.m_tree.MoveProxy(b,e,f)&&this.BufferMove(b)};D.prototype.TestOverlap=function(b,e){var f=this.m_tree.GetFatAABB(b),m=this.m_tree.GetFatAABB(e);return f.TestOverlap(m)};D.prototype.GetUserData=function(b){return this.m_tree.GetUserData(b)};
D.prototype.GetFatAABB=function(b){return this.m_tree.GetFatAABB(b)};D.prototype.GetProxyCount=function(){return this.m_proxyCount};D.prototype.UpdatePairs=function(b){var e=this;var f=e.m_pairCount=0,m;for(f=0;f<e.m_moveBuffer.length;++f){m=e.m_moveBuffer[f];var r=e.m_tree.GetFatAABB(m);e.m_tree.Query(function(t){if(t==m)return true;if(e.m_pairCount==e.m_pairBuffer.length)e.m_pairBuffer[e.m_pairCount]=new O;var x=e.m_pairBuffer[e.m_pairCount];x.proxyA=t<m?t:m;x.proxyB=t>=m?t:m;++e.m_pairCount;return true},
r)}for(f=e.m_moveBuffer.length=0;f<e.m_pairCount;){r=e.m_pairBuffer[f];var s=e.m_tree.GetUserData(r.proxyA),v=e.m_tree.GetUserData(r.proxyB);b(s,v);for(++f;f<e.m_pairCount;){s=e.m_pairBuffer[f];if(s.proxyA!=r.proxyA||s.proxyB!=r.proxyB)break;++f}}};D.prototype.Query=function(b,e){this.m_tree.Query(b,e)};D.prototype.RayCast=function(b,e){this.m_tree.RayCast(b,e)};D.prototype.Validate=function(){};D.prototype.Rebalance=function(b){if(b===undefined)b=0;this.m_tree.Rebalance(b)};D.prototype.BufferMove=
function(b){this.m_moveBuffer[this.m_moveBuffer.length]=b};D.prototype.UnBufferMove=function(b){this.m_moveBuffer.splice(parseInt(this.m_moveBuffer.indexOf(b)),1)};D.prototype.ComparePairs=function(){return 0};D.__implements={};D.__implements[g]=true;H.b2DynamicTreeNode=function(){this.aabb=new B};H.prototype.IsLeaf=function(){return this.child1==null};O.b2DynamicTreePair=function(){};E.b2Manifold=function(){this.m_pointCount=0};E.prototype.b2Manifold=function(){this.m_points=new Vector(y.b2_maxManifoldPoints);
for(var b=0;b<y.b2_maxManifoldPoints;b++)this.m_points[b]=new R;this.m_localPlaneNormal=new p;this.m_localPoint=new p};E.prototype.Reset=function(){for(var b=0;b<y.b2_maxManifoldPoints;b++)(this.m_points[b]instanceof R?this.m_points[b]:null).Reset();this.m_localPlaneNormal.SetZero();this.m_localPoint.SetZero();this.m_pointCount=this.m_type=0};E.prototype.Set=function(b){this.m_pointCount=b.m_pointCount;for(var e=0;e<y.b2_maxManifoldPoints;e++)(this.m_points[e]instanceof R?this.m_points[e]:null).Set(b.m_points[e]);
this.m_localPlaneNormal.SetV(b.m_localPlaneNormal);this.m_localPoint.SetV(b.m_localPoint);this.m_type=b.m_type};E.prototype.Copy=function(){var b=new E;b.Set(this);return b};Box2D.postDefs.push(function(){Box2D.Collision.b2Manifold.e_circles=1;Box2D.Collision.b2Manifold.e_faceA=2;Box2D.Collision.b2Manifold.e_faceB=4});R.b2ManifoldPoint=function(){this.m_localPoint=new p;this.m_id=new L};R.prototype.b2ManifoldPoint=function(){this.Reset()};R.prototype.Reset=function(){this.m_localPoint.SetZero();this.m_tangentImpulse=
this.m_normalImpulse=0;this.m_id.key=0};R.prototype.Set=function(b){this.m_localPoint.SetV(b.m_localPoint);this.m_normalImpulse=b.m_normalImpulse;this.m_tangentImpulse=b.m_tangentImpulse;this.m_id.Set(b.m_id)};N.b2Point=function(){this.p=new p};N.prototype.Support=function(){return this.p};N.prototype.GetFirstVertex=function(){return this.p};S.b2RayCastInput=function(){this.p1=new p;this.p2=new p};S.prototype.b2RayCastInput=function(b,e,f){if(b===undefined)b=null;if(e===undefined)e=null;if(f===undefined)f=
1;b&&this.p1.SetV(b);e&&this.p2.SetV(e);this.maxFraction=f};aa.b2RayCastOutput=function(){this.normal=new p};Z.b2Segment=function(){this.p1=new p;this.p2=new p};Z.prototype.TestSegment=function(b,e,f,m){if(m===undefined)m=0;var r=f.p1,s=f.p2.x-r.x,v=f.p2.y-r.y;f=this.p2.y-this.p1.y;var t=-(this.p2.x-this.p1.x),x=100*Number.MIN_VALUE,C=-(s*f+v*t);if(C>x){var J=r.x-this.p1.x,T=r.y-this.p1.y;r=J*f+T*t;if(0<=r&&r<=m*C){m=-s*T+v*J;if(-x*C<=m&&m<=C*(1+x)){r/=C;m=Math.sqrt(f*f+t*t);f/=m;t/=m;b[0]=r;e.Set(f,
t);return true}}}return false};Z.prototype.Extend=function(b){this.ExtendForward(b);this.ExtendBackward(b)};Z.prototype.ExtendForward=function(b){var e=this.p2.x-this.p1.x,f=this.p2.y-this.p1.y;b=Math.min(e>0?(b.upperBound.x-this.p1.x)/e:e<0?(b.lowerBound.x-this.p1.x)/e:Number.POSITIVE_INFINITY,f>0?(b.upperBound.y-this.p1.y)/f:f<0?(b.lowerBound.y-this.p1.y)/f:Number.POSITIVE_INFINITY);this.p2.x=this.p1.x+e*b;this.p2.y=this.p1.y+f*b};Z.prototype.ExtendBackward=function(b){var e=-this.p2.x+this.p1.x,
f=-this.p2.y+this.p1.y;b=Math.min(e>0?(b.upperBound.x-this.p2.x)/e:e<0?(b.lowerBound.x-this.p2.x)/e:Number.POSITIVE_INFINITY,f>0?(b.upperBound.y-this.p2.y)/f:f<0?(b.lowerBound.y-this.p2.y)/f:Number.POSITIVE_INFINITY);this.p1.x=this.p2.x+e*b;this.p1.y=this.p2.y+f*b};d.b2SeparationFunction=function(){this.m_localPoint=new p;this.m_axis=new p};d.prototype.Initialize=function(b,e,f,m,r){this.m_proxyA=e;this.m_proxyB=m;var s=parseInt(b.count);y.b2Assert(0<s&&s<3);var v,t,x,C,J=C=x=m=e=0,T=0;J=0;if(s==
1){this.m_type=d.e_points;v=this.m_proxyA.GetVertex(b.indexA[0]);t=this.m_proxyB.GetVertex(b.indexB[0]);s=v;b=f.R;e=f.position.x+(b.col1.x*s.x+b.col2.x*s.y);m=f.position.y+(b.col1.y*s.x+b.col2.y*s.y);s=t;b=r.R;x=r.position.x+(b.col1.x*s.x+b.col2.x*s.y);C=r.position.y+(b.col1.y*s.x+b.col2.y*s.y);this.m_axis.x=x-e;this.m_axis.y=C-m;this.m_axis.Normalize()}else{if(b.indexB[0]==b.indexB[1]){this.m_type=d.e_faceA;e=this.m_proxyA.GetVertex(b.indexA[0]);m=this.m_proxyA.GetVertex(b.indexA[1]);t=this.m_proxyB.GetVertex(b.indexB[0]);
this.m_localPoint.x=0.5*(e.x+m.x);this.m_localPoint.y=0.5*(e.y+m.y);this.m_axis=w.CrossVF(w.SubtractVV(m,e),1);this.m_axis.Normalize();s=this.m_axis;b=f.R;J=b.col1.x*s.x+b.col2.x*s.y;T=b.col1.y*s.x+b.col2.y*s.y;s=this.m_localPoint;b=f.R;e=f.position.x+(b.col1.x*s.x+b.col2.x*s.y);m=f.position.y+(b.col1.y*s.x+b.col2.y*s.y);s=t;b=r.R;x=r.position.x+(b.col1.x*s.x+b.col2.x*s.y);C=r.position.y+(b.col1.y*s.x+b.col2.y*s.y);J=(x-e)*J+(C-m)*T}else if(b.indexA[0]==b.indexA[0]){this.m_type=d.e_faceB;x=this.m_proxyB.GetVertex(b.indexB[0]);
C=this.m_proxyB.GetVertex(b.indexB[1]);v=this.m_proxyA.GetVertex(b.indexA[0]);this.m_localPoint.x=0.5*(x.x+C.x);this.m_localPoint.y=0.5*(x.y+C.y);this.m_axis=w.CrossVF(w.SubtractVV(C,x),1);this.m_axis.Normalize();s=this.m_axis;b=r.R;J=b.col1.x*s.x+b.col2.x*s.y;T=b.col1.y*s.x+b.col2.y*s.y;s=this.m_localPoint;b=r.R;x=r.position.x+(b.col1.x*s.x+b.col2.x*s.y);C=r.position.y+(b.col1.y*s.x+b.col2.y*s.y);s=v;b=f.R;e=f.position.x+(b.col1.x*s.x+b.col2.x*s.y);m=f.position.y+(b.col1.y*s.x+b.col2.y*s.y);J=(e-
x)*J+(m-C)*T}else{e=this.m_proxyA.GetVertex(b.indexA[0]);m=this.m_proxyA.GetVertex(b.indexA[1]);x=this.m_proxyB.GetVertex(b.indexB[0]);C=this.m_proxyB.GetVertex(b.indexB[1]);w.MulX(f,v);v=w.MulMV(f.R,w.SubtractVV(m,e));w.MulX(r,t);J=w.MulMV(r.R,w.SubtractVV(C,x));r=v.x*v.x+v.y*v.y;t=J.x*J.x+J.y*J.y;b=w.SubtractVV(J,v);f=v.x*b.x+v.y*b.y;b=J.x*b.x+J.y*b.y;v=v.x*J.x+v.y*J.y;T=r*t-v*v;J=0;if(T!=0)J=w.Clamp((v*b-f*t)/T,0,1);if((v*J+b)/t<0)J=w.Clamp((v-f)/r,0,1);v=new p;v.x=e.x+J*(m.x-e.x);v.y=e.y+J*(m.y-
e.y);t=new p;t.x=x.x+J*(C.x-x.x);t.y=x.y+J*(C.y-x.y);if(J==0||J==1){this.m_type=d.e_faceB;this.m_axis=w.CrossVF(w.SubtractVV(C,x),1);this.m_axis.Normalize();this.m_localPoint=t}else{this.m_type=d.e_faceA;this.m_axis=w.CrossVF(w.SubtractVV(m,e),1);this.m_localPoint=v}}J<0&&this.m_axis.NegativeSelf()}};d.prototype.Evaluate=function(b,e){var f,m,r=0;switch(this.m_type){case d.e_points:f=w.MulTMV(b.R,this.m_axis);m=w.MulTMV(e.R,this.m_axis.GetNegative());f=this.m_proxyA.GetSupportVertex(f);m=this.m_proxyB.GetSupportVertex(m);
f=w.MulX(b,f);m=w.MulX(e,m);return r=(m.x-f.x)*this.m_axis.x+(m.y-f.y)*this.m_axis.y;case d.e_faceA:r=w.MulMV(b.R,this.m_axis);f=w.MulX(b,this.m_localPoint);m=w.MulTMV(e.R,r.GetNegative());m=this.m_proxyB.GetSupportVertex(m);m=w.MulX(e,m);return r=(m.x-f.x)*r.x+(m.y-f.y)*r.y;case d.e_faceB:r=w.MulMV(e.R,this.m_axis);m=w.MulX(e,this.m_localPoint);f=w.MulTMV(b.R,r.GetNegative());f=this.m_proxyA.GetSupportVertex(f);f=w.MulX(b,f);return r=(f.x-m.x)*r.x+(f.y-m.y)*r.y;default:y.b2Assert(false);return 0}};
Box2D.postDefs.push(function(){Box2D.Collision.b2SeparationFunction.e_points=1;Box2D.Collision.b2SeparationFunction.e_faceA=2;Box2D.Collision.b2SeparationFunction.e_faceB=4});h.b2Simplex=function(){this.m_v1=new j;this.m_v2=new j;this.m_v3=new j;this.m_vertices=new Vector(3)};h.prototype.b2Simplex=function(){this.m_vertices[0]=this.m_v1;this.m_vertices[1]=this.m_v2;this.m_vertices[2]=this.m_v3};h.prototype.ReadCache=function(b,e,f,m,r){y.b2Assert(0<=b.count&&b.count<=3);var s,v;this.m_count=b.count;
for(var t=this.m_vertices,x=0;x<this.m_count;x++){var C=t[x];C.indexA=b.indexA[x];C.indexB=b.indexB[x];s=e.GetVertex(C.indexA);v=m.GetVertex(C.indexB);C.wA=w.MulX(f,s);C.wB=w.MulX(r,v);C.w=w.SubtractVV(C.wB,C.wA);C.a=0}if(this.m_count>1){b=b.metric;s=this.GetMetric();if(s<0.5*b||2*b<s||s<Number.MIN_VALUE)this.m_count=0}if(this.m_count==0){C=t[0];C.indexA=0;C.indexB=0;s=e.GetVertex(0);v=m.GetVertex(0);C.wA=w.MulX(f,s);C.wB=w.MulX(r,v);C.w=w.SubtractVV(C.wB,C.wA);this.m_count=1}};h.prototype.WriteCache=
function(b){b.metric=this.GetMetric();b.count=Box2D.parseUInt(this.m_count);for(var e=this.m_vertices,f=0;f<this.m_count;f++){b.indexA[f]=Box2D.parseUInt(e[f].indexA);b.indexB[f]=Box2D.parseUInt(e[f].indexB)}};h.prototype.GetSearchDirection=function(){switch(this.m_count){case 1:return this.m_v1.w.GetNegative();case 2:var b=w.SubtractVV(this.m_v2.w,this.m_v1.w);return w.CrossVV(b,this.m_v1.w.GetNegative())>0?w.CrossFV(1,b):w.CrossVF(b,1);default:y.b2Assert(false);return new p}};h.prototype.GetClosestPoint=
function(){switch(this.m_count){case 0:y.b2Assert(false);return new p;case 1:return this.m_v1.w;case 2:return new p(this.m_v1.a*this.m_v1.w.x+this.m_v2.a*this.m_v2.w.x,this.m_v1.a*this.m_v1.w.y+this.m_v2.a*this.m_v2.w.y);default:y.b2Assert(false);return new p}};h.prototype.GetWitnessPoints=function(b,e){switch(this.m_count){case 0:y.b2Assert(false);break;case 1:b.SetV(this.m_v1.wA);e.SetV(this.m_v1.wB);break;case 2:b.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x;b.y=this.m_v1.a*this.m_v1.wA.y+
this.m_v2.a*this.m_v2.wA.y;e.x=this.m_v1.a*this.m_v1.wB.x+this.m_v2.a*this.m_v2.wB.x;e.y=this.m_v1.a*this.m_v1.wB.y+this.m_v2.a*this.m_v2.wB.y;break;case 3:e.x=b.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x+this.m_v3.a*this.m_v3.wA.x;e.y=b.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y+this.m_v3.a*this.m_v3.wA.y;break;default:y.b2Assert(false)}};h.prototype.GetMetric=function(){switch(this.m_count){case 0:y.b2Assert(false);return 0;case 1:return 0;case 2:return w.SubtractVV(this.m_v1.w,
this.m_v2.w).Length();case 3:return w.CrossVV(w.SubtractVV(this.m_v2.w,this.m_v1.w),w.SubtractVV(this.m_v3.w,this.m_v1.w));default:y.b2Assert(false);return 0}};h.prototype.Solve2=function(){var b=this.m_v1.w,e=this.m_v2.w,f=w.SubtractVV(e,b);b=-(b.x*f.x+b.y*f.y);if(b<=0)this.m_count=this.m_v1.a=1;else{e=e.x*f.x+e.y*f.y;if(e<=0){this.m_count=this.m_v2.a=1;this.m_v1.Set(this.m_v2)}else{f=1/(e+b);this.m_v1.a=e*f;this.m_v2.a=b*f;this.m_count=2}}};h.prototype.Solve3=function(){var b=this.m_v1.w,e=this.m_v2.w,
f=this.m_v3.w,m=w.SubtractVV(e,b),r=w.Dot(b,m),s=w.Dot(e,m);r=-r;var v=w.SubtractVV(f,b),t=w.Dot(b,v),x=w.Dot(f,v);t=-t;var C=w.SubtractVV(f,e),J=w.Dot(e,C);C=w.Dot(f,C);J=-J;v=w.CrossVV(m,v);m=v*w.CrossVV(e,f);f=v*w.CrossVV(f,b);b=v*w.CrossVV(b,e);if(r<=0&&t<=0)this.m_count=this.m_v1.a=1;else if(s>0&&r>0&&b<=0){x=1/(s+r);this.m_v1.a=s*x;this.m_v2.a=r*x;this.m_count=2}else if(x>0&&t>0&&f<=0){s=1/(x+t);this.m_v1.a=x*s;this.m_v3.a=t*s;this.m_count=2;this.m_v2.Set(this.m_v3)}else if(s<=0&&J<=0){this.m_count=
this.m_v2.a=1;this.m_v1.Set(this.m_v2)}else if(x<=0&&C<=0){this.m_count=this.m_v3.a=1;this.m_v1.Set(this.m_v3)}else if(C>0&&J>0&&m<=0){s=1/(C+J);this.m_v2.a=C*s;this.m_v3.a=J*s;this.m_count=2;this.m_v1.Set(this.m_v3)}else{s=1/(m+f+b);this.m_v1.a=m*s;this.m_v2.a=f*s;this.m_v3.a=b*s;this.m_count=3}};l.b2SimplexCache=function(){this.indexA=new Vector_a2j_Number(3);this.indexB=new Vector_a2j_Number(3)};j.b2SimplexVertex=function(){};j.prototype.Set=function(b){this.wA.SetV(b.wA);this.wB.SetV(b.wB);this.w.SetV(b.w);
this.a=b.a;this.indexA=b.indexA;this.indexB=b.indexB};o.b2TimeOfImpact=function(){};o.TimeOfImpact=function(b){++o.b2_toiCalls;var e=b.proxyA,f=b.proxyB,m=b.sweepA,r=b.sweepB;y.b2Assert(m.t0==r.t0);y.b2Assert(1-m.t0>Number.MIN_VALUE);var s=e.m_radius+f.m_radius;b=b.tolerance;var v=0,t=0,x=0;o.s_cache.count=0;for(o.s_distanceInput.useRadii=false;;){m.GetTransform(o.s_xfA,v);r.GetTransform(o.s_xfB,v);o.s_distanceInput.proxyA=e;o.s_distanceInput.proxyB=f;o.s_distanceInput.transformA=o.s_xfA;o.s_distanceInput.transformB=
o.s_xfB;W.Distance(o.s_distanceOutput,o.s_cache,o.s_distanceInput);if(o.s_distanceOutput.distance<=0){v=1;break}o.s_fcn.Initialize(o.s_cache,e,o.s_xfA,f,o.s_xfB);var C=o.s_fcn.Evaluate(o.s_xfA,o.s_xfB);if(C<=0){v=1;break}if(t==0)x=C>s?w.Max(s-b,0.75*s):w.Max(C-b,0.02*s);if(C-x<0.5*b){if(t==0){v=1;break}break}var J=v,T=v,P=1;C=C;m.GetTransform(o.s_xfA,P);r.GetTransform(o.s_xfB,P);var X=o.s_fcn.Evaluate(o.s_xfA,o.s_xfB);if(X>=x){v=1;break}for(var $=0;;){var ba=0;ba=$&1?T+(x-C)*(P-T)/(X-C):0.5*(T+P);
m.GetTransform(o.s_xfA,ba);r.GetTransform(o.s_xfB,ba);var ca=o.s_fcn.Evaluate(o.s_xfA,o.s_xfB);if(w.Abs(ca-x)<0.025*b){J=ba;break}if(ca>x){T=ba;C=ca}else{P=ba;X=ca}++$;++o.b2_toiRootIters;if($==50)break}o.b2_toiMaxRootIters=w.Max(o.b2_toiMaxRootIters,$);if(J<(1+100*Number.MIN_VALUE)*v)break;v=J;t++;++o.b2_toiIters;if(t==1E3)break}o.b2_toiMaxIters=w.Max(o.b2_toiMaxIters,t);return v};Box2D.postDefs.push(function(){Box2D.Collision.b2TimeOfImpact.b2_toiCalls=0;Box2D.Collision.b2TimeOfImpact.b2_toiIters=
0;Box2D.Collision.b2TimeOfImpact.b2_toiMaxIters=0;Box2D.Collision.b2TimeOfImpact.b2_toiRootIters=0;Box2D.Collision.b2TimeOfImpact.b2_toiMaxRootIters=0;Box2D.Collision.b2TimeOfImpact.s_cache=new l;Box2D.Collision.b2TimeOfImpact.s_distanceInput=new Y;Box2D.Collision.b2TimeOfImpact.s_xfA=new U;Box2D.Collision.b2TimeOfImpact.s_xfB=new U;Box2D.Collision.b2TimeOfImpact.s_fcn=new d;Box2D.Collision.b2TimeOfImpact.s_distanceOutput=new k});q.b2TOIInput=function(){this.proxyA=new z;this.proxyB=new z;this.sweepA=
new A;this.sweepB=new A};n.b2WorldManifold=function(){this.m_normal=new p};n.prototype.b2WorldManifold=function(){this.m_points=new Vector(y.b2_maxManifoldPoints);for(var b=0;b<y.b2_maxManifoldPoints;b++)this.m_points[b]=new p};n.prototype.Initialize=function(b,e,f,m,r){if(f===undefined)f=0;if(r===undefined)r=0;if(b.m_pointCount!=0){var s=0,v,t,x=0,C=0,J=0,T=0,P=0;v=0;switch(b.m_type){case E.e_circles:t=e.R;v=b.m_localPoint;s=e.position.x+t.col1.x*v.x+t.col2.x*v.y;e=e.position.y+t.col1.y*v.x+t.col2.y*
v.y;t=m.R;v=b.m_points[0].m_localPoint;b=m.position.x+t.col1.x*v.x+t.col2.x*v.y;m=m.position.y+t.col1.y*v.x+t.col2.y*v.y;v=b-s;t=m-e;x=v*v+t*t;if(x>Number.MIN_VALUE*Number.MIN_VALUE){x=Math.sqrt(x);this.m_normal.x=v/x;this.m_normal.y=t/x}else{this.m_normal.x=1;this.m_normal.y=0}v=e+f*this.m_normal.y;m=m-r*this.m_normal.y;this.m_points[0].x=0.5*(s+f*this.m_normal.x+(b-r*this.m_normal.x));this.m_points[0].y=0.5*(v+m);break;case E.e_faceA:t=e.R;v=b.m_localPlaneNormal;x=t.col1.x*v.x+t.col2.x*v.y;C=t.col1.y*
v.x+t.col2.y*v.y;t=e.R;v=b.m_localPoint;J=e.position.x+t.col1.x*v.x+t.col2.x*v.y;T=e.position.y+t.col1.y*v.x+t.col2.y*v.y;this.m_normal.x=x;this.m_normal.y=C;for(s=0;s<b.m_pointCount;s++){t=m.R;v=b.m_points[s].m_localPoint;P=m.position.x+t.col1.x*v.x+t.col2.x*v.y;v=m.position.y+t.col1.y*v.x+t.col2.y*v.y;this.m_points[s].x=P+0.5*(f-(P-J)*x-(v-T)*C-r)*x;this.m_points[s].y=v+0.5*(f-(P-J)*x-(v-T)*C-r)*C}break;case E.e_faceB:t=m.R;v=b.m_localPlaneNormal;x=t.col1.x*v.x+t.col2.x*v.y;C=t.col1.y*v.x+t.col2.y*
v.y;t=m.R;v=b.m_localPoint;J=m.position.x+t.col1.x*v.x+t.col2.x*v.y;T=m.position.y+t.col1.y*v.x+t.col2.y*v.y;this.m_normal.x=-x;this.m_normal.y=-C;for(s=0;s<b.m_pointCount;s++){t=e.R;v=b.m_points[s].m_localPoint;P=e.position.x+t.col1.x*v.x+t.col2.x*v.y;v=e.position.y+t.col1.y*v.x+t.col2.y*v.y;this.m_points[s].x=P+0.5*(r-(P-J)*x-(v-T)*C-f)*x;this.m_points[s].y=v+0.5*(r-(P-J)*x-(v-T)*C-f)*C}}}};a.ClipVertex=function(){this.v=new p;this.id=new L};a.prototype.Set=function(b){this.v.SetV(b.v);this.id.Set(b.id)};
c.Features=function(){};Object.defineProperty(c.prototype,"referenceEdge",{enumerable:false,configurable:true,get:function(){return this._referenceEdge}});Object.defineProperty(c.prototype,"referenceEdge",{enumerable:false,configurable:true,set:function(b){if(b===undefined)b=0;this._referenceEdge=b;this._m_id._key=this._m_id._key&4294967040|this._referenceEdge&255}});Object.defineProperty(c.prototype,"incidentEdge",{enumerable:false,configurable:true,get:function(){return this._incidentEdge}});Object.defineProperty(c.prototype,
"incidentEdge",{enumerable:false,configurable:true,set:function(b){if(b===undefined)b=0;this._incidentEdge=b;this._m_id._key=this._m_id._key&4294902015|this._incidentEdge<<8&65280}});Object.defineProperty(c.prototype,"incidentVertex",{enumerable:false,configurable:true,get:function(){return this._incidentVertex}});Object.defineProperty(c.prototype,"incidentVertex",{enumerable:false,configurable:true,set:function(b){if(b===undefined)b=0;this._incidentVertex=b;this._m_id._key=this._m_id._key&4278255615|
this._incidentVertex<<16&16711680}});Object.defineProperty(c.prototype,"flip",{enumerable:false,configurable:true,get:function(){return this._flip}});Object.defineProperty(c.prototype,"flip",{enumerable:false,configurable:true,set:function(b){if(b===undefined)b=0;this._flip=b;this._m_id._key=this._m_id._key&16777215|this._flip<<24&4278190080}})})();
(function(){var F=Box2D.Common.b2Settings,G=Box2D.Collision.Shapes.b2CircleShape,K=Box2D.Collision.Shapes.b2EdgeChainDef,y=Box2D.Collision.Shapes.b2EdgeShape,w=Box2D.Collision.Shapes.b2MassData,A=Box2D.Collision.Shapes.b2PolygonShape,U=Box2D.Collision.Shapes.b2Shape,p=Box2D.Common.Math.b2Mat22,B=Box2D.Common.Math.b2Math,Q=Box2D.Common.Math.b2Transform,V=Box2D.Common.Math.b2Vec2,M=Box2D.Collision.b2Distance,L=Box2D.Collision.b2DistanceInput,I=Box2D.Collision.b2DistanceOutput,W=Box2D.Collision.b2DistanceProxy,
Y=Box2D.Collision.b2SimplexCache;Box2D.inherit(G,Box2D.Collision.Shapes.b2Shape);G.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype;G.b2CircleShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments);this.m_p=new V};G.prototype.Copy=function(){var k=new G;k.Set(this);return k};G.prototype.Set=function(k){this.__super.Set.call(this,k);if(Box2D.is(k,G))this.m_p.SetV((k instanceof G?k:null).m_p)};G.prototype.TestPoint=function(k,z){var u=k.R,D=k.position.x+(u.col1.x*this.m_p.x+
u.col2.x*this.m_p.y);u=k.position.y+(u.col1.y*this.m_p.x+u.col2.y*this.m_p.y);D=z.x-D;u=z.y-u;return D*D+u*u<=this.m_radius*this.m_radius};G.prototype.RayCast=function(k,z,u){var D=u.R,H=z.p1.x-(u.position.x+(D.col1.x*this.m_p.x+D.col2.x*this.m_p.y));u=z.p1.y-(u.position.y+(D.col1.y*this.m_p.x+D.col2.y*this.m_p.y));D=z.p2.x-z.p1.x;var O=z.p2.y-z.p1.y,E=H*D+u*O,R=D*D+O*O,N=E*E-R*(H*H+u*u-this.m_radius*this.m_radius);if(N<0||R<Number.MIN_VALUE)return false;E=-(E+Math.sqrt(N));if(0<=E&&E<=z.maxFraction*
R){E/=R;k.fraction=E;k.normal.x=H+E*D;k.normal.y=u+E*O;k.normal.Normalize();return true}return false};G.prototype.ComputeAABB=function(k,z){var u=z.R,D=z.position.x+(u.col1.x*this.m_p.x+u.col2.x*this.m_p.y);u=z.position.y+(u.col1.y*this.m_p.x+u.col2.y*this.m_p.y);k.lowerBound.Set(D-this.m_radius,u-this.m_radius);k.upperBound.Set(D+this.m_radius,u+this.m_radius)};G.prototype.ComputeMass=function(k,z){if(z===undefined)z=0;k.mass=z*F.b2_pi*this.m_radius*this.m_radius;k.center.SetV(this.m_p);k.I=k.mass*
(0.5*this.m_radius*this.m_radius+(this.m_p.x*this.m_p.x+this.m_p.y*this.m_p.y))};G.prototype.ComputeSubmergedArea=function(k,z,u,D){if(z===undefined)z=0;u=B.MulX(u,this.m_p);var H=-(B.Dot(k,u)-z);if(H<-this.m_radius+Number.MIN_VALUE)return 0;if(H>this.m_radius){D.SetV(u);return Math.PI*this.m_radius*this.m_radius}z=this.m_radius*this.m_radius;var O=H*H;H=z*(Math.asin(H/this.m_radius)+Math.PI/2)+H*Math.sqrt(z-O);z=-2/3*Math.pow(z-O,1.5)/H;D.x=u.x+k.x*z;D.y=u.y+k.y*z;return H};G.prototype.GetLocalPosition=
function(){return this.m_p};G.prototype.SetLocalPosition=function(k){this.m_p.SetV(k)};G.prototype.GetRadius=function(){return this.m_radius};G.prototype.SetRadius=function(k){if(k===undefined)k=0;this.m_radius=k};G.prototype.b2CircleShape=function(k){if(k===undefined)k=0;this.__super.b2Shape.call(this);this.m_type=U.e_circleShape;this.m_radius=k};K.b2EdgeChainDef=function(){};K.prototype.b2EdgeChainDef=function(){this.vertexCount=0;this.isALoop=true;this.vertices=[]};Box2D.inherit(y,Box2D.Collision.Shapes.b2Shape);
y.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype;y.b2EdgeShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments);this.s_supportVec=new V;this.m_v1=new V;this.m_v2=new V;this.m_coreV1=new V;this.m_coreV2=new V;this.m_normal=new V;this.m_direction=new V;this.m_cornerDir1=new V;this.m_cornerDir2=new V};y.prototype.TestPoint=function(){return false};y.prototype.RayCast=function(k,z,u){var D,H=z.p2.x-z.p1.x,O=z.p2.y-z.p1.y;D=u.R;var E=u.position.x+(D.col1.x*this.m_v1.x+
D.col2.x*this.m_v1.y),R=u.position.y+(D.col1.y*this.m_v1.x+D.col2.y*this.m_v1.y),N=u.position.y+(D.col1.y*this.m_v2.x+D.col2.y*this.m_v2.y)-R;u=-(u.position.x+(D.col1.x*this.m_v2.x+D.col2.x*this.m_v2.y)-E);D=100*Number.MIN_VALUE;var S=-(H*N+O*u);if(S>D){E=z.p1.x-E;var aa=z.p1.y-R;R=E*N+aa*u;if(0<=R&&R<=z.maxFraction*S){z=-H*aa+O*E;if(-D*S<=z&&z<=S*(1+D)){R/=S;k.fraction=R;z=Math.sqrt(N*N+u*u);k.normal.x=N/z;k.normal.y=u/z;return true}}}return false};y.prototype.ComputeAABB=function(k,z){var u=z.R,
D=z.position.x+(u.col1.x*this.m_v1.x+u.col2.x*this.m_v1.y),H=z.position.y+(u.col1.y*this.m_v1.x+u.col2.y*this.m_v1.y),O=z.position.x+(u.col1.x*this.m_v2.x+u.col2.x*this.m_v2.y);u=z.position.y+(u.col1.y*this.m_v2.x+u.col2.y*this.m_v2.y);if(D<O){k.lowerBound.x=D;k.upperBound.x=O}else{k.lowerBound.x=O;k.upperBound.x=D}if(H<u){k.lowerBound.y=H;k.upperBound.y=u}else{k.lowerBound.y=u;k.upperBound.y=H}};y.prototype.ComputeMass=function(k){k.mass=0;k.center.SetV(this.m_v1);k.I=0};y.prototype.ComputeSubmergedArea=
function(k,z,u,D){if(z===undefined)z=0;var H=new V(k.x*z,k.y*z),O=B.MulX(u,this.m_v1);u=B.MulX(u,this.m_v2);var E=B.Dot(k,O)-z;k=B.Dot(k,u)-z;if(E>0)if(k>0)return 0;else{O.x=-k/(E-k)*O.x+E/(E-k)*u.x;O.y=-k/(E-k)*O.y+E/(E-k)*u.y}else if(k>0){u.x=-k/(E-k)*O.x+E/(E-k)*u.x;u.y=-k/(E-k)*O.y+E/(E-k)*u.y}D.x=(H.x+O.x+u.x)/3;D.y=(H.y+O.y+u.y)/3;return 0.5*((O.x-H.x)*(u.y-H.y)-(O.y-H.y)*(u.x-H.x))};y.prototype.GetLength=function(){return this.m_length};y.prototype.GetVertex1=function(){return this.m_v1};y.prototype.GetVertex2=
function(){return this.m_v2};y.prototype.GetCoreVertex1=function(){return this.m_coreV1};y.prototype.GetCoreVertex2=function(){return this.m_coreV2};y.prototype.GetNormalVector=function(){return this.m_normal};y.prototype.GetDirectionVector=function(){return this.m_direction};y.prototype.GetCorner1Vector=function(){return this.m_cornerDir1};y.prototype.GetCorner2Vector=function(){return this.m_cornerDir2};y.prototype.Corner1IsConvex=function(){return this.m_cornerConvex1};y.prototype.Corner2IsConvex=
function(){return this.m_cornerConvex2};y.prototype.GetFirstVertex=function(k){var z=k.R;return new V(k.position.x+(z.col1.x*this.m_coreV1.x+z.col2.x*this.m_coreV1.y),k.position.y+(z.col1.y*this.m_coreV1.x+z.col2.y*this.m_coreV1.y))};y.prototype.GetNextEdge=function(){return this.m_nextEdge};y.prototype.GetPrevEdge=function(){return this.m_prevEdge};y.prototype.Support=function(k,z,u){if(z===undefined)z=0;if(u===undefined)u=0;var D=k.R,H=k.position.x+(D.col1.x*this.m_coreV1.x+D.col2.x*this.m_coreV1.y),
O=k.position.y+(D.col1.y*this.m_coreV1.x+D.col2.y*this.m_coreV1.y),E=k.position.x+(D.col1.x*this.m_coreV2.x+D.col2.x*this.m_coreV2.y);k=k.position.y+(D.col1.y*this.m_coreV2.x+D.col2.y*this.m_coreV2.y);if(H*z+O*u>E*z+k*u){this.s_supportVec.x=H;this.s_supportVec.y=O}else{this.s_supportVec.x=E;this.s_supportVec.y=k}return this.s_supportVec};y.prototype.b2EdgeShape=function(k,z){this.__super.b2Shape.call(this);this.m_type=U.e_edgeShape;this.m_nextEdge=this.m_prevEdge=null;this.m_v1=k;this.m_v2=z;this.m_direction.Set(this.m_v2.x-
this.m_v1.x,this.m_v2.y-this.m_v1.y);this.m_length=this.m_direction.Normalize();this.m_normal.Set(this.m_direction.y,-this.m_direction.x);this.m_coreV1.Set(-F.b2_toiSlop*(this.m_normal.x-this.m_direction.x)+this.m_v1.x,-F.b2_toiSlop*(this.m_normal.y-this.m_direction.y)+this.m_v1.y);this.m_coreV2.Set(-F.b2_toiSlop*(this.m_normal.x+this.m_direction.x)+this.m_v2.x,-F.b2_toiSlop*(this.m_normal.y+this.m_direction.y)+this.m_v2.y);this.m_cornerDir1=this.m_normal;this.m_cornerDir2.Set(-this.m_normal.x,-this.m_normal.y)};
y.prototype.SetPrevEdge=function(k,z,u,D){this.m_prevEdge=k;this.m_coreV1=z;this.m_cornerDir1=u;this.m_cornerConvex1=D};y.prototype.SetNextEdge=function(k,z,u,D){this.m_nextEdge=k;this.m_coreV2=z;this.m_cornerDir2=u;this.m_cornerConvex2=D};w.b2MassData=function(){this.mass=0;this.center=new V(0,0);this.I=0};Box2D.inherit(A,Box2D.Collision.Shapes.b2Shape);A.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype;A.b2PolygonShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments)};
A.prototype.Copy=function(){var k=new A;k.Set(this);return k};A.prototype.Set=function(k){this.__super.Set.call(this,k);if(Box2D.is(k,A)){k=k instanceof A?k:null;this.m_centroid.SetV(k.m_centroid);this.m_vertexCount=k.m_vertexCount;this.Reserve(this.m_vertexCount);for(var z=0;z<this.m_vertexCount;z++){this.m_vertices[z].SetV(k.m_vertices[z]);this.m_normals[z].SetV(k.m_normals[z])}}};A.prototype.SetAsArray=function(k,z){if(z===undefined)z=0;var u=new Vector,D=0,H;for(D=0;D<k.length;++D){H=k[D];u.push(H)}this.SetAsVector(u,
z)};A.AsArray=function(k,z){if(z===undefined)z=0;var u=new A;u.SetAsArray(k,z);return u};A.prototype.SetAsVector=function(k,z){if(z===undefined)z=0;if(z==0)z=k.length;F.b2Assert(2<=z);this.m_vertexCount=z;this.Reserve(z);var u=0;for(u=0;u<this.m_vertexCount;u++)this.m_vertices[u].SetV(k[u]);for(u=0;u<this.m_vertexCount;++u){var D=parseInt(u),H=parseInt(u+1<this.m_vertexCount?u+1:0);D=B.SubtractVV(this.m_vertices[H],this.m_vertices[D]);F.b2Assert(D.LengthSquared()>Number.MIN_VALUE);this.m_normals[u].SetV(B.CrossVF(D,
1));this.m_normals[u].Normalize()}this.m_centroid=A.ComputeCentroid(this.m_vertices,this.m_vertexCount)};A.AsVector=function(k,z){if(z===undefined)z=0;var u=new A;u.SetAsVector(k,z);return u};A.prototype.SetAsBox=function(k,z){if(k===undefined)k=0;if(z===undefined)z=0;this.m_vertexCount=4;this.Reserve(4);this.m_vertices[0].Set(-k,-z);this.m_vertices[1].Set(k,-z);this.m_vertices[2].Set(k,z);this.m_vertices[3].Set(-k,z);this.m_normals[0].Set(0,-1);this.m_normals[1].Set(1,0);this.m_normals[2].Set(0,
1);this.m_normals[3].Set(-1,0);this.m_centroid.SetZero()};A.AsBox=function(k,z){if(k===undefined)k=0;if(z===undefined)z=0;var u=new A;u.SetAsBox(k,z);return u};A.prototype.SetAsOrientedBox=function(k,z,u,D){if(k===undefined)k=0;if(z===undefined)z=0;if(u===undefined)u=null;if(D===undefined)D=0;this.m_vertexCount=4;this.Reserve(4);this.m_vertices[0].Set(-k,-z);this.m_vertices[1].Set(k,-z);this.m_vertices[2].Set(k,z);this.m_vertices[3].Set(-k,z);this.m_normals[0].Set(0,-1);this.m_normals[1].Set(1,0);
this.m_normals[2].Set(0,1);this.m_normals[3].Set(-1,0);this.m_centroid=u;k=new Q;k.position=u;k.R.Set(D);for(u=0;u<this.m_vertexCount;++u){this.m_vertices[u]=B.MulX(k,this.m_vertices[u]);this.m_normals[u]=B.MulMV(k.R,this.m_normals[u])}};A.AsOrientedBox=function(k,z,u,D){if(k===undefined)k=0;if(z===undefined)z=0;if(u===undefined)u=null;if(D===undefined)D=0;var H=new A;H.SetAsOrientedBox(k,z,u,D);return H};A.prototype.SetAsEdge=function(k,z){this.m_vertexCount=2;this.Reserve(2);this.m_vertices[0].SetV(k);
this.m_vertices[1].SetV(z);this.m_centroid.x=0.5*(k.x+z.x);this.m_centroid.y=0.5*(k.y+z.y);this.m_normals[0]=B.CrossVF(B.SubtractVV(z,k),1);this.m_normals[0].Normalize();this.m_normals[1].x=-this.m_normals[0].x;this.m_normals[1].y=-this.m_normals[0].y};A.AsEdge=function(k,z){var u=new A;u.SetAsEdge(k,z);return u};A.prototype.TestPoint=function(k,z){var u;u=k.R;for(var D=z.x-k.position.x,H=z.y-k.position.y,O=D*u.col1.x+H*u.col1.y,E=D*u.col2.x+H*u.col2.y,R=0;R<this.m_vertexCount;++R){u=this.m_vertices[R];
D=O-u.x;H=E-u.y;u=this.m_normals[R];if(u.x*D+u.y*H>0)return false}return true};A.prototype.RayCast=function(k,z,u){var D=0,H=z.maxFraction,O=0,E=0,R,N;O=z.p1.x-u.position.x;E=z.p1.y-u.position.y;R=u.R;var S=O*R.col1.x+E*R.col1.y,aa=O*R.col2.x+E*R.col2.y;O=z.p2.x-u.position.x;E=z.p2.y-u.position.y;R=u.R;z=O*R.col1.x+E*R.col1.y-S;R=O*R.col2.x+E*R.col2.y-aa;for(var Z=parseInt(-1),d=0;d<this.m_vertexCount;++d){N=this.m_vertices[d];O=N.x-S;E=N.y-aa;N=this.m_normals[d];O=N.x*O+N.y*E;E=N.x*z+N.y*R;if(E==
0){if(O<0)return false}else if(E<0&&O<D*E){D=O/E;Z=d}else if(E>0&&O<H*E)H=O/E;if(H<D-Number.MIN_VALUE)return false}if(Z>=0){k.fraction=D;R=u.R;N=this.m_normals[Z];k.normal.x=R.col1.x*N.x+R.col2.x*N.y;k.normal.y=R.col1.y*N.x+R.col2.y*N.y;return true}return false};A.prototype.ComputeAABB=function(k,z){for(var u=z.R,D=this.m_vertices[0],H=z.position.x+(u.col1.x*D.x+u.col2.x*D.y),O=z.position.y+(u.col1.y*D.x+u.col2.y*D.y),E=H,R=O,N=1;N<this.m_vertexCount;++N){D=this.m_vertices[N];var S=z.position.x+(u.col1.x*
D.x+u.col2.x*D.y);D=z.position.y+(u.col1.y*D.x+u.col2.y*D.y);H=H<S?H:S;O=O<D?O:D;E=E>S?E:S;R=R>D?R:D}k.lowerBound.x=H-this.m_radius;k.lowerBound.y=O-this.m_radius;k.upperBound.x=E+this.m_radius;k.upperBound.y=R+this.m_radius};A.prototype.ComputeMass=function(k,z){if(z===undefined)z=0;if(this.m_vertexCount==2){k.center.x=0.5*(this.m_vertices[0].x+this.m_vertices[1].x);k.center.y=0.5*(this.m_vertices[0].y+this.m_vertices[1].y);k.mass=0;k.I=0}else{for(var u=0,D=0,H=0,O=0,E=1/3,R=0;R<this.m_vertexCount;++R){var N=
this.m_vertices[R],S=R+1<this.m_vertexCount?this.m_vertices[parseInt(R+1)]:this.m_vertices[0],aa=N.x-0,Z=N.y-0,d=S.x-0,h=S.y-0,l=aa*h-Z*d,j=0.5*l;H+=j;u+=j*E*(0+N.x+S.x);D+=j*E*(0+N.y+S.y);N=aa;Z=Z;d=d;h=h;O+=l*(E*(0.25*(N*N+d*N+d*d)+(0*N+0*d))+0+(E*(0.25*(Z*Z+h*Z+h*h)+(0*Z+0*h))+0))}k.mass=z*H;u*=1/H;D*=1/H;k.center.Set(u,D);k.I=z*O}};A.prototype.ComputeSubmergedArea=function(k,z,u,D){if(z===undefined)z=0;var H=B.MulTMV(u.R,k),O=z-B.Dot(k,u.position),E=new Vector_a2j_Number,R=0,N=parseInt(-1);z=
parseInt(-1);var S=false;for(k=k=0;k<this.m_vertexCount;++k){E[k]=B.Dot(H,this.m_vertices[k])-O;var aa=E[k]<-Number.MIN_VALUE;if(k>0)if(aa){if(!S){N=k-1;R++}}else if(S){z=k-1;R++}S=aa}switch(R){case 0:if(S){k=new w;this.ComputeMass(k,1);D.SetV(B.MulX(u,k.center));return k.mass}else return 0;case 1:if(N==-1)N=this.m_vertexCount-1;else z=this.m_vertexCount-1}k=parseInt((N+1)%this.m_vertexCount);H=parseInt((z+1)%this.m_vertexCount);O=(0-E[N])/(E[k]-E[N]);E=(0-E[z])/(E[H]-E[z]);N=new V(this.m_vertices[N].x*
(1-O)+this.m_vertices[k].x*O,this.m_vertices[N].y*(1-O)+this.m_vertices[k].y*O);z=new V(this.m_vertices[z].x*(1-E)+this.m_vertices[H].x*E,this.m_vertices[z].y*(1-E)+this.m_vertices[H].y*E);E=0;O=new V;R=this.m_vertices[k];for(k=k;k!=H;){k=(k+1)%this.m_vertexCount;S=k==H?z:this.m_vertices[k];aa=0.5*((R.x-N.x)*(S.y-N.y)-(R.y-N.y)*(S.x-N.x));E+=aa;O.x+=aa*(N.x+R.x+S.x)/3;O.y+=aa*(N.y+R.y+S.y)/3;R=S}O.Multiply(1/E);D.SetV(B.MulX(u,O));return E};A.prototype.GetVertexCount=function(){return this.m_vertexCount};
A.prototype.GetVertices=function(){return this.m_vertices};A.prototype.GetNormals=function(){return this.m_normals};A.prototype.GetSupport=function(k){for(var z=0,u=this.m_vertices[0].x*k.x+this.m_vertices[0].y*k.y,D=1;D<this.m_vertexCount;++D){var H=this.m_vertices[D].x*k.x+this.m_vertices[D].y*k.y;if(H>u){z=D;u=H}}return z};A.prototype.GetSupportVertex=function(k){for(var z=0,u=this.m_vertices[0].x*k.x+this.m_vertices[0].y*k.y,D=1;D<this.m_vertexCount;++D){var H=this.m_vertices[D].x*k.x+this.m_vertices[D].y*
k.y;if(H>u){z=D;u=H}}return this.m_vertices[z]};A.prototype.Validate=function(){return false};A.prototype.b2PolygonShape=function(){this.__super.b2Shape.call(this);this.m_type=U.e_polygonShape;this.m_centroid=new V;this.m_vertices=new Vector;this.m_normals=new Vector};A.prototype.Reserve=function(k){if(k===undefined)k=0;for(var z=parseInt(this.m_vertices.length);z<k;z++){this.m_vertices[z]=new V;this.m_normals[z]=new V}};A.ComputeCentroid=function(k,z){if(z===undefined)z=0;for(var u=new V,D=0,H=1/
3,O=0;O<z;++O){var E=k[O],R=O+1<z?k[parseInt(O+1)]:k[0],N=0.5*((E.x-0)*(R.y-0)-(E.y-0)*(R.x-0));D+=N;u.x+=N*H*(0+E.x+R.x);u.y+=N*H*(0+E.y+R.y)}u.x*=1/D;u.y*=1/D;return u};A.ComputeOBB=function(k,z,u){if(u===undefined)u=0;var D=0,H=new Vector(u+1);for(D=0;D<u;++D)H[D]=z[D];H[u]=H[0];z=Number.MAX_VALUE;for(D=1;D<=u;++D){var O=H[parseInt(D-1)],E=H[D].x-O.x,R=H[D].y-O.y,N=Math.sqrt(E*E+R*R);E/=N;R/=N;for(var S=-R,aa=E,Z=N=Number.MAX_VALUE,d=-Number.MAX_VALUE,h=-Number.MAX_VALUE,l=0;l<u;++l){var j=H[l].x-
O.x,o=H[l].y-O.y,q=E*j+R*o;j=S*j+aa*o;if(q<N)N=q;if(j<Z)Z=j;if(q>d)d=q;if(j>h)h=j}l=(d-N)*(h-Z);if(l<0.95*z){z=l;k.R.col1.x=E;k.R.col1.y=R;k.R.col2.x=S;k.R.col2.y=aa;E=0.5*(N+d);R=0.5*(Z+h);S=k.R;k.center.x=O.x+(S.col1.x*E+S.col2.x*R);k.center.y=O.y+(S.col1.y*E+S.col2.y*R);k.extents.x=0.5*(d-N);k.extents.y=0.5*(h-Z)}}};Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2PolygonShape.s_mat=new p});U.b2Shape=function(){};U.prototype.Copy=function(){return null};U.prototype.Set=function(k){this.m_radius=
k.m_radius};U.prototype.GetType=function(){return this.m_type};U.prototype.TestPoint=function(){return false};U.prototype.RayCast=function(){return false};U.prototype.ComputeAABB=function(){};U.prototype.ComputeMass=function(){};U.prototype.ComputeSubmergedArea=function(){return 0};U.TestOverlap=function(k,z,u,D){var H=new L;H.proxyA=new W;H.proxyA.Set(k);H.proxyB=new W;H.proxyB.Set(u);H.transformA=z;H.transformB=D;H.useRadii=true;k=new Y;k.count=0;z=new I;M.Distance(z,k,H);return z.distance<10*Number.MIN_VALUE};
U.prototype.b2Shape=function(){this.m_type=U.e_unknownShape;this.m_radius=F.b2_linearSlop};Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2Shape.e_unknownShape=parseInt(-1);Box2D.Collision.Shapes.b2Shape.e_circleShape=0;Box2D.Collision.Shapes.b2Shape.e_polygonShape=1;Box2D.Collision.Shapes.b2Shape.e_edgeShape=2;Box2D.Collision.Shapes.b2Shape.e_shapeTypeCount=3;Box2D.Collision.Shapes.b2Shape.e_hitCollide=1;Box2D.Collision.Shapes.b2Shape.e_missCollide=0;Box2D.Collision.Shapes.b2Shape.e_startsInsideCollide=
parseInt(-1)})})();
(function(){var F=Box2D.Common.b2Color,G=Box2D.Common.b2Settings,K=Box2D.Common.Math.b2Math;F.b2Color=function(){this._b=this._g=this._r=0};F.prototype.b2Color=function(y,w,A){if(y===undefined)y=0;if(w===undefined)w=0;if(A===undefined)A=0;this._r=Box2D.parseUInt(255*K.Clamp(y,0,1));this._g=Box2D.parseUInt(255*K.Clamp(w,0,1));this._b=Box2D.parseUInt(255*K.Clamp(A,0,1))};F.prototype.Set=function(y,w,A){if(y===undefined)y=0;if(w===undefined)w=0;if(A===undefined)A=0;this._r=Box2D.parseUInt(255*K.Clamp(y,
0,1));this._g=Box2D.parseUInt(255*K.Clamp(w,0,1));this._b=Box2D.parseUInt(255*K.Clamp(A,0,1))};Object.defineProperty(F.prototype,"r",{enumerable:false,configurable:true,set:function(y){if(y===undefined)y=0;this._r=Box2D.parseUInt(255*K.Clamp(y,0,1))}});Object.defineProperty(F.prototype,"g",{enumerable:false,configurable:true,set:function(y){if(y===undefined)y=0;this._g=Box2D.parseUInt(255*K.Clamp(y,0,1))}});Object.defineProperty(F.prototype,"b",{enumerable:false,configurable:true,set:function(y){if(y===
undefined)y=0;this._b=Box2D.parseUInt(255*K.Clamp(y,0,1))}});Object.defineProperty(F.prototype,"color",{enumerable:false,configurable:true,get:function(){return this._r<<16|this._g<<8|this._b}});G.b2Settings=function(){};G.b2MixFriction=function(y,w){if(y===undefined)y=0;if(w===undefined)w=0;return Math.sqrt(y*w)};G.b2MixRestitution=function(y,w){if(y===undefined)y=0;if(w===undefined)w=0;return y>w?y:w};G.b2Assert=function(y){if(!y)throw"Assertion Failed";};Box2D.postDefs.push(function(){Box2D.Common.b2Settings.VERSION=
"2.1alpha";Box2D.Common.b2Settings.USHRT_MAX=65535;Box2D.Common.b2Settings.b2_pi=Math.PI;Box2D.Common.b2Settings.b2_maxManifoldPoints=2;Box2D.Common.b2Settings.b2_aabbExtension=0.1;Box2D.Common.b2Settings.b2_aabbMultiplier=2;Box2D.Common.b2Settings.b2_polygonRadius=2*G.b2_linearSlop;Box2D.Common.b2Settings.b2_linearSlop=0.0050;Box2D.Common.b2Settings.b2_angularSlop=2/180*G.b2_pi;Box2D.Common.b2Settings.b2_toiSlop=8*G.b2_linearSlop;Box2D.Common.b2Settings.b2_maxTOIContactsPerIsland=32;Box2D.Common.b2Settings.b2_maxTOIJointsPerIsland=
32;Box2D.Common.b2Settings.b2_velocityThreshold=1;Box2D.Common.b2Settings.b2_maxLinearCorrection=0.2;Box2D.Common.b2Settings.b2_maxAngularCorrection=8/180*G.b2_pi;Box2D.Common.b2Settings.b2_maxTranslation=2;Box2D.Common.b2Settings.b2_maxTranslationSquared=G.b2_maxTranslation*G.b2_maxTranslation;Box2D.Common.b2Settings.b2_maxRotation=0.5*G.b2_pi;Box2D.Common.b2Settings.b2_maxRotationSquared=G.b2_maxRotation*G.b2_maxRotation;Box2D.Common.b2Settings.b2_contactBaumgarte=0.2;Box2D.Common.b2Settings.b2_timeToSleep=
0.5;Box2D.Common.b2Settings.b2_linearSleepTolerance=0.01;Box2D.Common.b2Settings.b2_angularSleepTolerance=2/180*G.b2_pi})})();
(function(){var F=Box2D.Common.Math.b2Mat22,G=Box2D.Common.Math.b2Mat33,K=Box2D.Common.Math.b2Math,y=Box2D.Common.Math.b2Sweep,w=Box2D.Common.Math.b2Transform,A=Box2D.Common.Math.b2Vec2,U=Box2D.Common.Math.b2Vec3;F.b2Mat22=function(){this.col1=new A;this.col2=new A};F.prototype.b2Mat22=function(){this.SetIdentity()};F.FromAngle=function(p){if(p===undefined)p=0;var B=new F;B.Set(p);return B};F.FromVV=function(p,B){var Q=new F;Q.SetVV(p,B);return Q};F.prototype.Set=function(p){if(p===undefined)p=0;
var B=Math.cos(p);p=Math.sin(p);this.col1.x=B;this.col2.x=-p;this.col1.y=p;this.col2.y=B};F.prototype.SetVV=function(p,B){this.col1.SetV(p);this.col2.SetV(B)};F.prototype.Copy=function(){var p=new F;p.SetM(this);return p};F.prototype.SetM=function(p){this.col1.SetV(p.col1);this.col2.SetV(p.col2)};F.prototype.AddM=function(p){this.col1.x+=p.col1.x;this.col1.y+=p.col1.y;this.col2.x+=p.col2.x;this.col2.y+=p.col2.y};F.prototype.SetIdentity=function(){this.col1.x=1;this.col2.x=0;this.col1.y=0;this.col2.y=
1};F.prototype.SetZero=function(){this.col1.x=0;this.col2.x=0;this.col1.y=0;this.col2.y=0};F.prototype.GetAngle=function(){return Math.atan2(this.col1.y,this.col1.x)};F.prototype.GetInverse=function(p){var B=this.col1.x,Q=this.col2.x,V=this.col1.y,M=this.col2.y,L=B*M-Q*V;if(L!=0)L=1/L;p.col1.x=L*M;p.col2.x=-L*Q;p.col1.y=-L*V;p.col2.y=L*B;return p};F.prototype.Solve=function(p,B,Q){if(B===undefined)B=0;if(Q===undefined)Q=0;var V=this.col1.x,M=this.col2.x,L=this.col1.y,I=this.col2.y,W=V*I-M*L;if(W!=
0)W=1/W;p.x=W*(I*B-M*Q);p.y=W*(V*Q-L*B);return p};F.prototype.Abs=function(){this.col1.Abs();this.col2.Abs()};G.b2Mat33=function(){this.col1=new U;this.col2=new U;this.col3=new U};G.prototype.b2Mat33=function(p,B,Q){if(p===undefined)p=null;if(B===undefined)B=null;if(Q===undefined)Q=null;if(!p&&!B&&!Q){this.col1.SetZero();this.col2.SetZero();this.col3.SetZero()}else{this.col1.SetV(p);this.col2.SetV(B);this.col3.SetV(Q)}};G.prototype.SetVVV=function(p,B,Q){this.col1.SetV(p);this.col2.SetV(B);this.col3.SetV(Q)};
G.prototype.Copy=function(){return new G(this.col1,this.col2,this.col3)};G.prototype.SetM=function(p){this.col1.SetV(p.col1);this.col2.SetV(p.col2);this.col3.SetV(p.col3)};G.prototype.AddM=function(p){this.col1.x+=p.col1.x;this.col1.y+=p.col1.y;this.col1.z+=p.col1.z;this.col2.x+=p.col2.x;this.col2.y+=p.col2.y;this.col2.z+=p.col2.z;this.col3.x+=p.col3.x;this.col3.y+=p.col3.y;this.col3.z+=p.col3.z};G.prototype.SetIdentity=function(){this.col1.x=1;this.col2.x=0;this.col3.x=0;this.col1.y=0;this.col2.y=
1;this.col3.y=0;this.col1.z=0;this.col2.z=0;this.col3.z=1};G.prototype.SetZero=function(){this.col1.x=0;this.col2.x=0;this.col3.x=0;this.col1.y=0;this.col2.y=0;this.col3.y=0;this.col1.z=0;this.col2.z=0;this.col3.z=0};G.prototype.Solve22=function(p,B,Q){if(B===undefined)B=0;if(Q===undefined)Q=0;var V=this.col1.x,M=this.col2.x,L=this.col1.y,I=this.col2.y,W=V*I-M*L;if(W!=0)W=1/W;p.x=W*(I*B-M*Q);p.y=W*(V*Q-L*B);return p};G.prototype.Solve33=function(p,B,Q,V){if(B===undefined)B=0;if(Q===undefined)Q=0;
if(V===undefined)V=0;var M=this.col1.x,L=this.col1.y,I=this.col1.z,W=this.col2.x,Y=this.col2.y,k=this.col2.z,z=this.col3.x,u=this.col3.y,D=this.col3.z,H=M*(Y*D-k*u)+L*(k*z-W*D)+I*(W*u-Y*z);if(H!=0)H=1/H;p.x=H*(B*(Y*D-k*u)+Q*(k*z-W*D)+V*(W*u-Y*z));p.y=H*(M*(Q*D-V*u)+L*(V*z-B*D)+I*(B*u-Q*z));p.z=H*(M*(Y*V-k*Q)+L*(k*B-W*V)+I*(W*Q-Y*B));return p};K.b2Math=function(){};K.IsValid=function(p){if(p===undefined)p=0;return isFinite(p)};K.Dot=function(p,B){return p.x*B.x+p.y*B.y};K.CrossVV=function(p,B){return p.x*
B.y-p.y*B.x};K.CrossVF=function(p,B){if(B===undefined)B=0;return new A(B*p.y,-B*p.x)};K.CrossFV=function(p,B){if(p===undefined)p=0;return new A(-p*B.y,p*B.x)};K.MulMV=function(p,B){return new A(p.col1.x*B.x+p.col2.x*B.y,p.col1.y*B.x+p.col2.y*B.y)};K.MulTMV=function(p,B){return new A(K.Dot(B,p.col1),K.Dot(B,p.col2))};K.MulX=function(p,B){var Q=K.MulMV(p.R,B);Q.x+=p.position.x;Q.y+=p.position.y;return Q};K.MulXT=function(p,B){var Q=K.SubtractVV(B,p.position),V=Q.x*p.R.col1.x+Q.y*p.R.col1.y;Q.y=Q.x*
p.R.col2.x+Q.y*p.R.col2.y;Q.x=V;return Q};K.AddVV=function(p,B){return new A(p.x+B.x,p.y+B.y)};K.SubtractVV=function(p,B){return new A(p.x-B.x,p.y-B.y)};K.Distance=function(p,B){var Q=p.x-B.x,V=p.y-B.y;return Math.sqrt(Q*Q+V*V)};K.DistanceSquared=function(p,B){var Q=p.x-B.x,V=p.y-B.y;return Q*Q+V*V};K.MulFV=function(p,B){if(p===undefined)p=0;return new A(p*B.x,p*B.y)};K.AddMM=function(p,B){return F.FromVV(K.AddVV(p.col1,B.col1),K.AddVV(p.col2,B.col2))};K.MulMM=function(p,B){return F.FromVV(K.MulMV(p,
B.col1),K.MulMV(p,B.col2))};K.MulTMM=function(p,B){var Q=new A(K.Dot(p.col1,B.col1),K.Dot(p.col2,B.col1)),V=new A(K.Dot(p.col1,B.col2),K.Dot(p.col2,B.col2));return F.FromVV(Q,V)};K.Abs=function(p){if(p===undefined)p=0;return p>0?p:-p};K.AbsV=function(p){return new A(K.Abs(p.x),K.Abs(p.y))};K.AbsM=function(p){return F.FromVV(K.AbsV(p.col1),K.AbsV(p.col2))};K.Min=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;return p<B?p:B};K.MinV=function(p,B){return new A(K.Min(p.x,B.x),K.Min(p.y,B.y))};
K.Max=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;return p>B?p:B};K.MaxV=function(p,B){return new A(K.Max(p.x,B.x),K.Max(p.y,B.y))};K.Clamp=function(p,B,Q){if(p===undefined)p=0;if(B===undefined)B=0;if(Q===undefined)Q=0;return p<B?B:p>Q?Q:p};K.ClampV=function(p,B,Q){return K.MaxV(B,K.MinV(p,Q))};K.Swap=function(p,B){var Q=p[0];p[0]=B[0];B[0]=Q};K.Random=function(){return Math.random()*2-1};K.RandomRange=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;var Q=Math.random();return Q=
(B-p)*Q+p};K.NextPowerOfTwo=function(p){if(p===undefined)p=0;p|=p>>1&2147483647;p|=p>>2&1073741823;p|=p>>4&268435455;p|=p>>8&16777215;p|=p>>16&65535;return p+1};K.IsPowerOfTwo=function(p){if(p===undefined)p=0;return p>0&&(p&p-1)==0};Box2D.postDefs.push(function(){Box2D.Common.Math.b2Math.b2Vec2_zero=new A(0,0);Box2D.Common.Math.b2Math.b2Mat22_identity=F.FromVV(new A(1,0),new A(0,1));Box2D.Common.Math.b2Math.b2Transform_identity=new w(K.b2Vec2_zero,K.b2Mat22_identity)});y.b2Sweep=function(){this.localCenter=
new A;this.c0=new A;this.c=new A};y.prototype.Set=function(p){this.localCenter.SetV(p.localCenter);this.c0.SetV(p.c0);this.c.SetV(p.c);this.a0=p.a0;this.a=p.a;this.t0=p.t0};y.prototype.Copy=function(){var p=new y;p.localCenter.SetV(this.localCenter);p.c0.SetV(this.c0);p.c.SetV(this.c);p.a0=this.a0;p.a=this.a;p.t0=this.t0;return p};y.prototype.GetTransform=function(p,B){if(B===undefined)B=0;p.position.x=(1-B)*this.c0.x+B*this.c.x;p.position.y=(1-B)*this.c0.y+B*this.c.y;p.R.Set((1-B)*this.a0+B*this.a);
var Q=p.R;p.position.x-=Q.col1.x*this.localCenter.x+Q.col2.x*this.localCenter.y;p.position.y-=Q.col1.y*this.localCenter.x+Q.col2.y*this.localCenter.y};y.prototype.Advance=function(p){if(p===undefined)p=0;if(this.t0<p&&1-this.t0>Number.MIN_VALUE){var B=(p-this.t0)/(1-this.t0);this.c0.x=(1-B)*this.c0.x+B*this.c.x;this.c0.y=(1-B)*this.c0.y+B*this.c.y;this.a0=(1-B)*this.a0+B*this.a;this.t0=p}};w.b2Transform=function(){this.position=new A;this.R=new F};w.prototype.b2Transform=function(p,B){if(p===undefined)p=
null;if(B===undefined)B=null;if(p){this.position.SetV(p);this.R.SetM(B)}};w.prototype.Initialize=function(p,B){this.position.SetV(p);this.R.SetM(B)};w.prototype.SetIdentity=function(){this.position.SetZero();this.R.SetIdentity()};w.prototype.Set=function(p){this.position.SetV(p.position);this.R.SetM(p.R)};w.prototype.GetAngle=function(){return Math.atan2(this.R.col1.y,this.R.col1.x)};A.b2Vec2=function(){};A.prototype.b2Vec2=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;this.x=p;this.y=B};
A.prototype.SetZero=function(){this.y=this.x=0};A.prototype.Set=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;this.x=p;this.y=B};A.prototype.SetV=function(p){this.x=p.x;this.y=p.y};A.prototype.GetNegative=function(){return new A(-this.x,-this.y)};A.prototype.NegativeSelf=function(){this.x=-this.x;this.y=-this.y};A.Make=function(p,B){if(p===undefined)p=0;if(B===undefined)B=0;return new A(p,B)};A.prototype.Copy=function(){return new A(this.x,this.y)};A.prototype.Add=function(p){this.x+=p.x;
this.y+=p.y};A.prototype.Subtract=function(p){this.x-=p.x;this.y-=p.y};A.prototype.Multiply=function(p){if(p===undefined)p=0;this.x*=p;this.y*=p};A.prototype.MulM=function(p){var B=this.x;this.x=p.col1.x*B+p.col2.x*this.y;this.y=p.col1.y*B+p.col2.y*this.y};A.prototype.MulTM=function(p){var B=K.Dot(this,p.col1);this.y=K.Dot(this,p.col2);this.x=B};A.prototype.CrossVF=function(p){if(p===undefined)p=0;var B=this.x;this.x=p*this.y;this.y=-p*B};A.prototype.CrossFV=function(p){if(p===undefined)p=0;var B=
this.x;this.x=-p*this.y;this.y=p*B};A.prototype.MinV=function(p){this.x=this.x<p.x?this.x:p.x;this.y=this.y<p.y?this.y:p.y};A.prototype.MaxV=function(p){this.x=this.x>p.x?this.x:p.x;this.y=this.y>p.y?this.y:p.y};A.prototype.Abs=function(){if(this.x<0)this.x=-this.x;if(this.y<0)this.y=-this.y};A.prototype.Length=function(){return Math.sqrt(this.x*this.x+this.y*this.y)};A.prototype.LengthSquared=function(){return this.x*this.x+this.y*this.y};A.prototype.Normalize=function(){var p=Math.sqrt(this.x*this.x+
this.y*this.y);if(p<Number.MIN_VALUE)return 0;var B=1/p;this.x*=B;this.y*=B;return p};A.prototype.IsValid=function(){return K.IsValid(this.x)&&K.IsValid(this.y)};U.b2Vec3=function(){};U.prototype.b2Vec3=function(p,B,Q){if(p===undefined)p=0;if(B===undefined)B=0;if(Q===undefined)Q=0;this.x=p;this.y=B;this.z=Q};U.prototype.SetZero=function(){this.x=this.y=this.z=0};U.prototype.Set=function(p,B,Q){if(p===undefined)p=0;if(B===undefined)B=0;if(Q===undefined)Q=0;this.x=p;this.y=B;this.z=Q};U.prototype.SetV=
function(p){this.x=p.x;this.y=p.y;this.z=p.z};U.prototype.GetNegative=function(){return new U(-this.x,-this.y,-this.z)};U.prototype.NegativeSelf=function(){this.x=-this.x;this.y=-this.y;this.z=-this.z};U.prototype.Copy=function(){return new U(this.x,this.y,this.z)};U.prototype.Add=function(p){this.x+=p.x;this.y+=p.y;this.z+=p.z};U.prototype.Subtract=function(p){this.x-=p.x;this.y-=p.y;this.z-=p.z};U.prototype.Multiply=function(p){if(p===undefined)p=0;this.x*=p;this.y*=p;this.z*=p}})();
(function(){var F=Box2D.Common.Math.b2Math,G=Box2D.Common.Math.b2Sweep,K=Box2D.Common.Math.b2Transform,y=Box2D.Common.Math.b2Vec2,w=Box2D.Common.b2Color,A=Box2D.Common.b2Settings,U=Box2D.Collision.b2AABB,p=Box2D.Collision.b2ContactPoint,B=Box2D.Collision.b2DynamicTreeBroadPhase,Q=Box2D.Collision.b2RayCastInput,V=Box2D.Collision.b2RayCastOutput,M=Box2D.Collision.Shapes.b2CircleShape,L=Box2D.Collision.Shapes.b2EdgeShape,I=Box2D.Collision.Shapes.b2MassData,W=Box2D.Collision.Shapes.b2PolygonShape,Y=Box2D.Collision.Shapes.b2Shape,
k=Box2D.Dynamics.b2Body,z=Box2D.Dynamics.b2BodyDef,u=Box2D.Dynamics.b2ContactFilter,D=Box2D.Dynamics.b2ContactImpulse,H=Box2D.Dynamics.b2ContactListener,O=Box2D.Dynamics.b2ContactManager,E=Box2D.Dynamics.b2DebugDraw,R=Box2D.Dynamics.b2DestructionListener,N=Box2D.Dynamics.b2FilterData,S=Box2D.Dynamics.b2Fixture,aa=Box2D.Dynamics.b2FixtureDef,Z=Box2D.Dynamics.b2Island,d=Box2D.Dynamics.b2TimeStep,h=Box2D.Dynamics.b2World,l=Box2D.Dynamics.Contacts.b2Contact,j=Box2D.Dynamics.Contacts.b2ContactFactory,
o=Box2D.Dynamics.Contacts.b2ContactSolver,q=Box2D.Dynamics.Joints.b2Joint,n=Box2D.Dynamics.Joints.b2PulleyJoint;k.b2Body=function(){this.m_xf=new K;this.m_sweep=new G;this.m_linearVelocity=new y;this.m_force=new y};k.prototype.connectEdges=function(a,c,g){if(g===undefined)g=0;var b=Math.atan2(c.GetDirectionVector().y,c.GetDirectionVector().x);g=F.MulFV(Math.tan((b-g)*0.5),c.GetDirectionVector());g=F.SubtractVV(g,c.GetNormalVector());g=F.MulFV(A.b2_toiSlop,g);g=F.AddVV(g,c.GetVertex1());var e=F.AddVV(a.GetDirectionVector(),
c.GetDirectionVector());e.Normalize();var f=F.Dot(a.GetDirectionVector(),c.GetNormalVector())>0;a.SetNextEdge(c,g,e,f);c.SetPrevEdge(a,g,e,f);return b};k.prototype.CreateFixture=function(a){if(this.m_world.IsLocked()==true)return null;var c=new S;c.Create(this,this.m_xf,a);this.m_flags&k.e_activeFlag&&c.CreateProxy(this.m_world.m_contactManager.m_broadPhase,this.m_xf);c.m_next=this.m_fixtureList;this.m_fixtureList=c;++this.m_fixtureCount;c.m_body=this;c.m_density>0&&this.ResetMassData();this.m_world.m_flags|=
h.e_newFixture;return c};k.prototype.CreateFixture2=function(a,c){if(c===undefined)c=0;var g=new aa;g.shape=a;g.density=c;return this.CreateFixture(g)};k.prototype.DestroyFixture=function(a){if(this.m_world.IsLocked()!=true){for(var c=this.m_fixtureList,g=null;c!=null;){if(c==a){if(g)g.m_next=a.m_next;else this.m_fixtureList=a.m_next;break}g=c;c=c.m_next}for(c=this.m_contactList;c;){g=c.contact;c=c.next;var b=g.GetFixtureA(),e=g.GetFixtureB();if(a==b||a==e)this.m_world.m_contactManager.Destroy(g)}this.m_flags&
k.e_activeFlag&&a.DestroyProxy(this.m_world.m_contactManager.m_broadPhase);a.Destroy();a.m_body=null;a.m_next=null;--this.m_fixtureCount;this.ResetMassData()}};k.prototype.SetPositionAndAngle=function(a,c){if(c===undefined)c=0;var g;if(this.m_world.IsLocked()!=true){this.m_xf.R.Set(c);this.m_xf.position.SetV(a);g=this.m_xf.R;var b=this.m_sweep.localCenter;this.m_sweep.c.x=g.col1.x*b.x+g.col2.x*b.y;this.m_sweep.c.y=g.col1.y*b.x+g.col2.y*b.y;this.m_sweep.c.x+=this.m_xf.position.x;this.m_sweep.c.y+=
this.m_xf.position.y;this.m_sweep.c0.SetV(this.m_sweep.c);this.m_sweep.a0=this.m_sweep.a=c;b=this.m_world.m_contactManager.m_broadPhase;for(g=this.m_fixtureList;g;g=g.m_next)g.Synchronize(b,this.m_xf,this.m_xf);this.m_world.m_contactManager.FindNewContacts()}};k.prototype.SetTransform=function(a){this.SetPositionAndAngle(a.position,a.GetAngle())};k.prototype.GetTransform=function(){return this.m_xf};k.prototype.GetPosition=function(){return this.m_xf.position};k.prototype.SetPosition=function(a){this.SetPositionAndAngle(a,
this.GetAngle())};k.prototype.GetAngle=function(){return this.m_sweep.a};k.prototype.SetAngle=function(a){if(a===undefined)a=0;this.SetPositionAndAngle(this.GetPosition(),a)};k.prototype.GetWorldCenter=function(){return this.m_sweep.c};k.prototype.GetLocalCenter=function(){return this.m_sweep.localCenter};k.prototype.SetLinearVelocity=function(a){this.m_type!=k.b2_staticBody&&this.m_linearVelocity.SetV(a)};k.prototype.GetLinearVelocity=function(){return this.m_linearVelocity};k.prototype.SetAngularVelocity=
function(a){if(a===undefined)a=0;if(this.m_type!=k.b2_staticBody)this.m_angularVelocity=a};k.prototype.GetAngularVelocity=function(){return this.m_angularVelocity};k.prototype.GetDefinition=function(){var a=new z;a.type=this.GetType();a.allowSleep=(this.m_flags&k.e_allowSleepFlag)==k.e_allowSleepFlag;a.angle=this.GetAngle();a.angularDamping=this.m_angularDamping;a.angularVelocity=this.m_angularVelocity;a.fixedRotation=(this.m_flags&k.e_fixedRotationFlag)==k.e_fixedRotationFlag;a.bullet=(this.m_flags&
k.e_bulletFlag)==k.e_bulletFlag;a.awake=(this.m_flags&k.e_awakeFlag)==k.e_awakeFlag;a.linearDamping=this.m_linearDamping;a.linearVelocity.SetV(this.GetLinearVelocity());a.position=this.GetPosition();a.userData=this.GetUserData();return a};k.prototype.ApplyForce=function(a,c){if(this.m_type==k.b2_dynamicBody){this.IsAwake()==false&&this.SetAwake(true);this.m_force.x+=a.x;this.m_force.y+=a.y;this.m_torque+=(c.x-this.m_sweep.c.x)*a.y-(c.y-this.m_sweep.c.y)*a.x}};k.prototype.ApplyTorque=function(a){if(a===
undefined)a=0;if(this.m_type==k.b2_dynamicBody){this.IsAwake()==false&&this.SetAwake(true);this.m_torque+=a}};k.prototype.ApplyImpulse=function(a,c){if(this.m_type==k.b2_dynamicBody){this.IsAwake()==false&&this.SetAwake(true);this.m_linearVelocity.x+=this.m_invMass*a.x;this.m_linearVelocity.y+=this.m_invMass*a.y;this.m_angularVelocity+=this.m_invI*((c.x-this.m_sweep.c.x)*a.y-(c.y-this.m_sweep.c.y)*a.x)}};k.prototype.Split=function(a){for(var c=this.GetLinearVelocity().Copy(),g=this.GetAngularVelocity(),
b=this.GetWorldCenter(),e=this.m_world.CreateBody(this.GetDefinition()),f,m=this.m_fixtureList;m;)if(a(m)){var r=m.m_next;if(f)f.m_next=r;else this.m_fixtureList=r;this.m_fixtureCount--;m.m_next=e.m_fixtureList;e.m_fixtureList=m;e.m_fixtureCount++;m.m_body=e;m=r}else{f=m;m=m.m_next}this.ResetMassData();e.ResetMassData();f=this.GetWorldCenter();a=e.GetWorldCenter();f=F.AddVV(c,F.CrossFV(g,F.SubtractVV(f,b)));c=F.AddVV(c,F.CrossFV(g,F.SubtractVV(a,b)));this.SetLinearVelocity(f);e.SetLinearVelocity(c);
this.SetAngularVelocity(g);e.SetAngularVelocity(g);this.SynchronizeFixtures();e.SynchronizeFixtures();return e};k.prototype.Merge=function(a){var c;for(c=a.m_fixtureList;c;){var g=c.m_next;a.m_fixtureCount--;c.m_next=this.m_fixtureList;this.m_fixtureList=c;this.m_fixtureCount++;c.m_body=e;c=g}b.m_fixtureCount=0;var b=this,e=a;b.GetWorldCenter();e.GetWorldCenter();b.GetLinearVelocity().Copy();e.GetLinearVelocity().Copy();b.GetAngularVelocity();e.GetAngularVelocity();b.ResetMassData();this.SynchronizeFixtures()};
k.prototype.GetMass=function(){return this.m_mass};k.prototype.GetInertia=function(){return this.m_I};k.prototype.GetMassData=function(a){a.mass=this.m_mass;a.I=this.m_I;a.center.SetV(this.m_sweep.localCenter)};k.prototype.SetMassData=function(a){A.b2Assert(this.m_world.IsLocked()==false);if(this.m_world.IsLocked()!=true)if(this.m_type==k.b2_dynamicBody){this.m_invI=this.m_I=this.m_invMass=0;this.m_mass=a.mass;if(this.m_mass<=0)this.m_mass=1;this.m_invMass=1/this.m_mass;if(a.I>0&&(this.m_flags&k.e_fixedRotationFlag)==
0){this.m_I=a.I-this.m_mass*(a.center.x*a.center.x+a.center.y*a.center.y);this.m_invI=1/this.m_I}var c=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(a.center);this.m_sweep.c0.SetV(F.MulX(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.SetV(this.m_sweep.c0);this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-c.y);this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-c.x)}};k.prototype.ResetMassData=function(){this.m_invI=this.m_I=this.m_invMass=this.m_mass=0;this.m_sweep.localCenter.SetZero();
if(!(this.m_type==k.b2_staticBody||this.m_type==k.b2_kinematicBody)){for(var a=y.Make(0,0),c=this.m_fixtureList;c;c=c.m_next)if(c.m_density!=0){var g=c.GetMassData();this.m_mass+=g.mass;a.x+=g.center.x*g.mass;a.y+=g.center.y*g.mass;this.m_I+=g.I}if(this.m_mass>0){this.m_invMass=1/this.m_mass;a.x*=this.m_invMass;a.y*=this.m_invMass}else this.m_invMass=this.m_mass=1;if(this.m_I>0&&(this.m_flags&k.e_fixedRotationFlag)==0){this.m_I-=this.m_mass*(a.x*a.x+a.y*a.y);this.m_I*=this.m_inertiaScale;A.b2Assert(this.m_I>
0);this.m_invI=1/this.m_I}else this.m_invI=this.m_I=0;c=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(a);this.m_sweep.c0.SetV(F.MulX(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.SetV(this.m_sweep.c0);this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-c.y);this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-c.x)}};k.prototype.GetWorldPoint=function(a){var c=this.m_xf.R;a=new y(c.col1.x*a.x+c.col2.x*a.y,c.col1.y*a.x+c.col2.y*a.y);a.x+=this.m_xf.position.x;
a.y+=this.m_xf.position.y;return a};k.prototype.GetWorldVector=function(a){return F.MulMV(this.m_xf.R,a)};k.prototype.GetLocalPoint=function(a){return F.MulXT(this.m_xf,a)};k.prototype.GetLocalVector=function(a){return F.MulTMV(this.m_xf.R,a)};k.prototype.GetLinearVelocityFromWorldPoint=function(a){return new y(this.m_linearVelocity.x-this.m_angularVelocity*(a.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(a.x-this.m_sweep.c.x))};k.prototype.GetLinearVelocityFromLocalPoint=function(a){var c=
this.m_xf.R;a=new y(c.col1.x*a.x+c.col2.x*a.y,c.col1.y*a.x+c.col2.y*a.y);a.x+=this.m_xf.position.x;a.y+=this.m_xf.position.y;return new y(this.m_linearVelocity.x-this.m_angularVelocity*(a.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(a.x-this.m_sweep.c.x))};k.prototype.GetLinearDamping=function(){return this.m_linearDamping};k.prototype.SetLinearDamping=function(a){if(a===undefined)a=0;this.m_linearDamping=a};k.prototype.GetAngularDamping=function(){return this.m_angularDamping};
k.prototype.SetAngularDamping=function(a){if(a===undefined)a=0;this.m_angularDamping=a};k.prototype.SetType=function(a){if(a===undefined)a=0;if(this.m_type!=a){this.m_type=a;this.ResetMassData();if(this.m_type==k.b2_staticBody){this.m_linearVelocity.SetZero();this.m_angularVelocity=0}this.SetAwake(true);this.m_force.SetZero();this.m_torque=0;for(a=this.m_contactList;a;a=a.next)a.contact.FlagForFiltering()}};k.prototype.GetType=function(){return this.m_type};k.prototype.SetBullet=function(a){if(a)this.m_flags|=
k.e_bulletFlag;else this.m_flags&=~k.e_bulletFlag};k.prototype.IsBullet=function(){return(this.m_flags&k.e_bulletFlag)==k.e_bulletFlag};k.prototype.SetSleepingAllowed=function(a){if(a)this.m_flags|=k.e_allowSleepFlag;else{this.m_flags&=~k.e_allowSleepFlag;this.SetAwake(true)}};k.prototype.SetAwake=function(a){if(a){this.m_flags|=k.e_awakeFlag;this.m_sleepTime=0}else{this.m_flags&=~k.e_awakeFlag;this.m_sleepTime=0;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;this.m_force.SetZero();this.m_torque=
0}};k.prototype.IsAwake=function(){return(this.m_flags&k.e_awakeFlag)==k.e_awakeFlag};k.prototype.SetFixedRotation=function(a){if(a)this.m_flags|=k.e_fixedRotationFlag;else this.m_flags&=~k.e_fixedRotationFlag;this.ResetMassData()};k.prototype.IsFixedRotation=function(){return(this.m_flags&k.e_fixedRotationFlag)==k.e_fixedRotationFlag};k.prototype.SetActive=function(a){if(a!=this.IsActive()){var c;if(a){this.m_flags|=k.e_activeFlag;a=this.m_world.m_contactManager.m_broadPhase;for(c=this.m_fixtureList;c;c=
c.m_next)c.CreateProxy(a,this.m_xf)}else{this.m_flags&=~k.e_activeFlag;a=this.m_world.m_contactManager.m_broadPhase;for(c=this.m_fixtureList;c;c=c.m_next)c.DestroyProxy(a);for(a=this.m_contactList;a;){c=a;a=a.next;this.m_world.m_contactManager.Destroy(c.contact)}this.m_contactList=null}}};k.prototype.IsActive=function(){return(this.m_flags&k.e_activeFlag)==k.e_activeFlag};k.prototype.IsSleepingAllowed=function(){return(this.m_flags&k.e_allowSleepFlag)==k.e_allowSleepFlag};k.prototype.GetFixtureList=
function(){return this.m_fixtureList};k.prototype.GetJointList=function(){return this.m_jointList};k.prototype.GetControllerList=function(){return this.m_controllerList};k.prototype.GetContactList=function(){return this.m_contactList};k.prototype.GetNext=function(){return this.m_next};k.prototype.GetUserData=function(){return this.m_userData};k.prototype.SetUserData=function(a){this.m_userData=a};k.prototype.GetWorld=function(){return this.m_world};k.prototype.b2Body=function(a,c){this.m_flags=0;
if(a.bullet)this.m_flags|=k.e_bulletFlag;if(a.fixedRotation)this.m_flags|=k.e_fixedRotationFlag;if(a.allowSleep)this.m_flags|=k.e_allowSleepFlag;if(a.awake)this.m_flags|=k.e_awakeFlag;if(a.active)this.m_flags|=k.e_activeFlag;this.m_world=c;this.m_xf.position.SetV(a.position);this.m_xf.R.Set(a.angle);this.m_sweep.localCenter.SetZero();this.m_sweep.t0=1;this.m_sweep.a0=this.m_sweep.a=a.angle;var g=this.m_xf.R,b=this.m_sweep.localCenter;this.m_sweep.c.x=g.col1.x*b.x+g.col2.x*b.y;this.m_sweep.c.y=g.col1.y*
b.x+g.col2.y*b.y;this.m_sweep.c.x+=this.m_xf.position.x;this.m_sweep.c.y+=this.m_xf.position.y;this.m_sweep.c0.SetV(this.m_sweep.c);this.m_contactList=this.m_controllerList=this.m_jointList=null;this.m_controllerCount=0;this.m_next=this.m_prev=null;this.m_linearVelocity.SetV(a.linearVelocity);this.m_angularVelocity=a.angularVelocity;this.m_linearDamping=a.linearDamping;this.m_angularDamping=a.angularDamping;this.m_force.Set(0,0);this.m_sleepTime=this.m_torque=0;this.m_type=a.type;if(this.m_type==
k.b2_dynamicBody)this.m_invMass=this.m_mass=1;else this.m_invMass=this.m_mass=0;this.m_invI=this.m_I=0;this.m_inertiaScale=a.inertiaScale;this.m_userData=a.userData;this.m_fixtureList=null;this.m_fixtureCount=0};k.prototype.SynchronizeFixtures=function(){var a=k.s_xf1;a.R.Set(this.m_sweep.a0);var c=a.R,g=this.m_sweep.localCenter;a.position.x=this.m_sweep.c0.x-(c.col1.x*g.x+c.col2.x*g.y);a.position.y=this.m_sweep.c0.y-(c.col1.y*g.x+c.col2.y*g.y);g=this.m_world.m_contactManager.m_broadPhase;for(c=this.m_fixtureList;c;c=
c.m_next)c.Synchronize(g,a,this.m_xf)};k.prototype.SynchronizeTransform=function(){this.m_xf.R.Set(this.m_sweep.a);var a=this.m_xf.R,c=this.m_sweep.localCenter;this.m_xf.position.x=this.m_sweep.c.x-(a.col1.x*c.x+a.col2.x*c.y);this.m_xf.position.y=this.m_sweep.c.y-(a.col1.y*c.x+a.col2.y*c.y)};k.prototype.ShouldCollide=function(a){if(this.m_type!=k.b2_dynamicBody&&a.m_type!=k.b2_dynamicBody)return false;for(var c=this.m_jointList;c;c=c.next)if(c.other==a)if(c.joint.m_collideConnected==false)return false;
return true};k.prototype.Advance=function(a){if(a===undefined)a=0;this.m_sweep.Advance(a);this.m_sweep.c.SetV(this.m_sweep.c0);this.m_sweep.a=this.m_sweep.a0;this.SynchronizeTransform()};Box2D.postDefs.push(function(){Box2D.Dynamics.b2Body.s_xf1=new K;Box2D.Dynamics.b2Body.e_islandFlag=1;Box2D.Dynamics.b2Body.e_awakeFlag=2;Box2D.Dynamics.b2Body.e_allowSleepFlag=4;Box2D.Dynamics.b2Body.e_bulletFlag=8;Box2D.Dynamics.b2Body.e_fixedRotationFlag=16;Box2D.Dynamics.b2Body.e_activeFlag=32;Box2D.Dynamics.b2Body.b2_staticBody=
0;Box2D.Dynamics.b2Body.b2_kinematicBody=1;Box2D.Dynamics.b2Body.b2_dynamicBody=2});z.b2BodyDef=function(){this.position=new y;this.linearVelocity=new y};z.prototype.b2BodyDef=function(){this.userData=null;this.position.Set(0,0);this.angle=0;this.linearVelocity.Set(0,0);this.angularDamping=this.linearDamping=this.angularVelocity=0;this.awake=this.allowSleep=true;this.bullet=this.fixedRotation=false;this.type=k.b2_staticBody;this.active=true;this.inertiaScale=1};u.b2ContactFilter=function(){};u.prototype.ShouldCollide=
function(a,c){var g=a.GetFilterData(),b=c.GetFilterData();if(g.groupIndex==b.groupIndex&&g.groupIndex!=0)return g.groupIndex>0;return(g.maskBits&b.categoryBits)!=0&&(g.categoryBits&b.maskBits)!=0};u.prototype.RayCollide=function(a,c){if(!a)return true;return this.ShouldCollide(a instanceof S?a:null,c)};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactFilter.b2_defaultFilter=new u});D.b2ContactImpulse=function(){this.normalImpulses=new Vector_a2j_Number(A.b2_maxManifoldPoints);this.tangentImpulses=
new Vector_a2j_Number(A.b2_maxManifoldPoints)};H.b2ContactListener=function(){};H.prototype.BeginContact=function(){};H.prototype.EndContact=function(){};H.prototype.PreSolve=function(){};H.prototype.PostSolve=function(){};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactListener.b2_defaultListener=new H});O.b2ContactManager=function(){};O.prototype.b2ContactManager=function(){this.m_world=null;this.m_contactCount=0;this.m_contactFilter=u.b2_defaultFilter;this.m_contactListener=H.b2_defaultListener;
this.m_contactFactory=new j(this.m_allocator);this.m_broadPhase=new B};O.prototype.AddPair=function(a,c){var g=a instanceof S?a:null,b=c instanceof S?c:null,e=g.GetBody(),f=b.GetBody();if(e!=f){for(var m=f.GetContactList();m;){if(m.other==e){var r=m.contact.GetFixtureA(),s=m.contact.GetFixtureB();if(r==g&&s==b)return;if(r==b&&s==g)return}m=m.next}if(f.ShouldCollide(e)!=false)if(this.m_contactFilter.ShouldCollide(g,b)!=false){m=this.m_contactFactory.Create(g,b);g=m.GetFixtureA();b=m.GetFixtureB();
e=g.m_body;f=b.m_body;m.m_prev=null;m.m_next=this.m_world.m_contactList;if(this.m_world.m_contactList!=null)this.m_world.m_contactList.m_prev=m;this.m_world.m_contactList=m;m.m_nodeA.contact=m;m.m_nodeA.other=f;m.m_nodeA.prev=null;m.m_nodeA.next=e.m_contactList;if(e.m_contactList!=null)e.m_contactList.prev=m.m_nodeA;e.m_contactList=m.m_nodeA;m.m_nodeB.contact=m;m.m_nodeB.other=e;m.m_nodeB.prev=null;m.m_nodeB.next=f.m_contactList;if(f.m_contactList!=null)f.m_contactList.prev=m.m_nodeB;f.m_contactList=
m.m_nodeB;++this.m_world.m_contactCount}}};O.prototype.FindNewContacts=function(){this.m_broadPhase.UpdatePairs(Box2D.generateCallback(this,this.AddPair))};O.prototype.Destroy=function(a){var c=a.GetFixtureA(),g=a.GetFixtureB();c=c.GetBody();g=g.GetBody();a.IsTouching()&&this.m_contactListener.EndContact(a);if(a.m_prev)a.m_prev.m_next=a.m_next;if(a.m_next)a.m_next.m_prev=a.m_prev;if(a==this.m_world.m_contactList)this.m_world.m_contactList=a.m_next;if(a.m_nodeA.prev)a.m_nodeA.prev.next=a.m_nodeA.next;
if(a.m_nodeA.next)a.m_nodeA.next.prev=a.m_nodeA.prev;if(a.m_nodeA==c.m_contactList)c.m_contactList=a.m_nodeA.next;if(a.m_nodeB.prev)a.m_nodeB.prev.next=a.m_nodeB.next;if(a.m_nodeB.next)a.m_nodeB.next.prev=a.m_nodeB.prev;if(a.m_nodeB==g.m_contactList)g.m_contactList=a.m_nodeB.next;this.m_contactFactory.Destroy(a);--this.m_contactCount};O.prototype.Collide=function(){for(var a=this.m_world.m_contactList;a;){var c=a.GetFixtureA(),g=a.GetFixtureB(),b=c.GetBody(),e=g.GetBody();if(b.IsAwake()==false&&e.IsAwake()==
false)a=a.GetNext();else{if(a.m_flags&l.e_filterFlag){if(e.ShouldCollide(b)==false){c=a;a=c.GetNext();this.Destroy(c);continue}if(this.m_contactFilter.ShouldCollide(c,g)==false){c=a;a=c.GetNext();this.Destroy(c);continue}a.m_flags&=~l.e_filterFlag}if(this.m_broadPhase.TestOverlap(c.m_proxy,g.m_proxy)==false){c=a;a=c.GetNext();this.Destroy(c)}else{a.Update(this.m_contactListener);a=a.GetNext()}}}};Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactManager.s_evalCP=new p});E.b2DebugDraw=function(){};
E.prototype.b2DebugDraw=function(){};E.prototype.SetFlags=function(){};E.prototype.GetFlags=function(){};E.prototype.AppendFlags=function(){};E.prototype.ClearFlags=function(){};E.prototype.SetSprite=function(){};E.prototype.GetSprite=function(){};E.prototype.SetDrawScale=function(){};E.prototype.GetDrawScale=function(){};E.prototype.SetLineThickness=function(){};E.prototype.GetLineThickness=function(){};E.prototype.SetAlpha=function(){};E.prototype.GetAlpha=function(){};E.prototype.SetFillAlpha=
function(){};E.prototype.GetFillAlpha=function(){};E.prototype.SetXFormScale=function(){};E.prototype.GetXFormScale=function(){};E.prototype.DrawPolygon=function(){};E.prototype.DrawSolidPolygon=function(){};E.prototype.DrawCircle=function(){};E.prototype.DrawSolidCircle=function(){};E.prototype.DrawSegment=function(){};E.prototype.DrawTransform=function(){};Box2D.postDefs.push(function(){Box2D.Dynamics.b2DebugDraw.e_shapeBit=1;Box2D.Dynamics.b2DebugDraw.e_jointBit=2;Box2D.Dynamics.b2DebugDraw.e_aabbBit=
4;Box2D.Dynamics.b2DebugDraw.e_pairBit=8;Box2D.Dynamics.b2DebugDraw.e_centerOfMassBit=16;Box2D.Dynamics.b2DebugDraw.e_controllerBit=32});R.b2DestructionListener=function(){};R.prototype.SayGoodbyeJoint=function(){};R.prototype.SayGoodbyeFixture=function(){};N.b2FilterData=function(){this.categoryBits=1;this.maskBits=65535;this.groupIndex=0};N.prototype.Copy=function(){var a=new N;a.categoryBits=this.categoryBits;a.maskBits=this.maskBits;a.groupIndex=this.groupIndex;return a};S.b2Fixture=function(){this.m_filter=
new N};S.prototype.GetType=function(){return this.m_shape.GetType()};S.prototype.GetShape=function(){return this.m_shape};S.prototype.SetSensor=function(a){if(this.m_isSensor!=a){this.m_isSensor=a;if(this.m_body!=null)for(a=this.m_body.GetContactList();a;){var c=a.contact,g=c.GetFixtureA(),b=c.GetFixtureB();if(g==this||b==this)c.SetSensor(g.IsSensor()||b.IsSensor());a=a.next}}};S.prototype.IsSensor=function(){return this.m_isSensor};S.prototype.SetFilterData=function(a){this.m_filter=a.Copy();if(!this.m_body)for(a=
this.m_body.GetContactList();a;){var c=a.contact,g=c.GetFixtureA(),b=c.GetFixtureB();if(g==this||b==this)c.FlagForFiltering();a=a.next}};S.prototype.GetFilterData=function(){return this.m_filter.Copy()};S.prototype.GetBody=function(){return this.m_body};S.prototype.GetNext=function(){return this.m_next};S.prototype.GetUserData=function(){return this.m_userData};S.prototype.SetUserData=function(a){this.m_userData=a};S.prototype.TestPoint=function(a){return this.m_shape.TestPoint(this.m_body.GetTransform(),
a)};S.prototype.RayCast=function(a,c){return this.m_shape.RayCast(a,c,this.m_body.GetTransform())};S.prototype.GetMassData=function(a){if(a===undefined)a=null;if(a==null)a=new I;this.m_shape.ComputeMass(a,this.m_density);return a};S.prototype.SetDensity=function(a){if(a===undefined)a=0;this.m_density=a};S.prototype.GetDensity=function(){return this.m_density};S.prototype.GetFriction=function(){return this.m_friction};S.prototype.SetFriction=function(a){if(a===undefined)a=0;this.m_friction=a};S.prototype.GetRestitution=
function(){return this.m_restitution};S.prototype.SetRestitution=function(a){if(a===undefined)a=0;this.m_restitution=a};S.prototype.GetAABB=function(){return this.m_aabb};S.prototype.b2Fixture=function(){this.m_aabb=new U;this.m_shape=this.m_next=this.m_body=this.m_userData=null;this.m_restitution=this.m_friction=this.m_density=0};S.prototype.Create=function(a,c,g){this.m_userData=g.userData;this.m_friction=g.friction;this.m_restitution=g.restitution;this.m_body=a;this.m_next=null;this.m_filter=g.filter.Copy();
this.m_isSensor=g.isSensor;this.m_shape=g.shape.Copy();this.m_density=g.density};S.prototype.Destroy=function(){this.m_shape=null};S.prototype.CreateProxy=function(a,c){this.m_shape.ComputeAABB(this.m_aabb,c);this.m_proxy=a.CreateProxy(this.m_aabb,this)};S.prototype.DestroyProxy=function(a){if(this.m_proxy!=null){a.DestroyProxy(this.m_proxy);this.m_proxy=null}};S.prototype.Synchronize=function(a,c,g){if(this.m_proxy){var b=new U,e=new U;this.m_shape.ComputeAABB(b,c);this.m_shape.ComputeAABB(e,g);
this.m_aabb.Combine(b,e);c=F.SubtractVV(g.position,c.position);a.MoveProxy(this.m_proxy,this.m_aabb,c)}};aa.b2FixtureDef=function(){this.filter=new N};aa.prototype.b2FixtureDef=function(){this.userData=this.shape=null;this.friction=0.2;this.density=this.restitution=0;this.filter.categoryBits=1;this.filter.maskBits=65535;this.filter.groupIndex=0;this.isSensor=false};Z.b2Island=function(){};Z.prototype.b2Island=function(){this.m_bodies=new Vector;this.m_contacts=new Vector;this.m_joints=new Vector};
Z.prototype.Initialize=function(a,c,g,b,e,f){if(a===undefined)a=0;if(c===undefined)c=0;if(g===undefined)g=0;var m=0;this.m_bodyCapacity=a;this.m_contactCapacity=c;this.m_jointCapacity=g;this.m_jointCount=this.m_contactCount=this.m_bodyCount=0;this.m_allocator=b;this.m_listener=e;this.m_contactSolver=f;for(m=this.m_bodies.length;m<a;m++)this.m_bodies[m]=null;for(m=this.m_contacts.length;m<c;m++)this.m_contacts[m]=null;for(m=this.m_joints.length;m<g;m++)this.m_joints[m]=null};Z.prototype.Clear=function(){this.m_jointCount=
this.m_contactCount=this.m_bodyCount=0};Z.prototype.Solve=function(a,c,g){var b=0,e=0,f;for(b=0;b<this.m_bodyCount;++b){e=this.m_bodies[b];if(e.GetType()==k.b2_dynamicBody){e.m_linearVelocity.x+=a.dt*(c.x+e.m_invMass*e.m_force.x);e.m_linearVelocity.y+=a.dt*(c.y+e.m_invMass*e.m_force.y);e.m_angularVelocity+=a.dt*e.m_invI*e.m_torque;e.m_linearVelocity.Multiply(F.Clamp(1-a.dt*e.m_linearDamping,0,1));e.m_angularVelocity*=F.Clamp(1-a.dt*e.m_angularDamping,0,1)}}this.m_contactSolver.Initialize(a,this.m_contacts,
this.m_contactCount,this.m_allocator);c=this.m_contactSolver;c.InitVelocityConstraints(a);for(b=0;b<this.m_jointCount;++b){f=this.m_joints[b];f.InitVelocityConstraints(a)}for(b=0;b<a.velocityIterations;++b){for(e=0;e<this.m_jointCount;++e){f=this.m_joints[e];f.SolveVelocityConstraints(a)}c.SolveVelocityConstraints()}for(b=0;b<this.m_jointCount;++b){f=this.m_joints[b];f.FinalizeVelocityConstraints()}c.FinalizeVelocityConstraints();for(b=0;b<this.m_bodyCount;++b){e=this.m_bodies[b];if(e.GetType()!=
k.b2_staticBody){var m=a.dt*e.m_linearVelocity.x,r=a.dt*e.m_linearVelocity.y;if(m*m+r*r>A.b2_maxTranslationSquared){e.m_linearVelocity.Normalize();e.m_linearVelocity.x*=A.b2_maxTranslation*a.inv_dt;e.m_linearVelocity.y*=A.b2_maxTranslation*a.inv_dt}m=a.dt*e.m_angularVelocity;if(m*m>A.b2_maxRotationSquared)e.m_angularVelocity=e.m_angularVelocity<0?-A.b2_maxRotation*a.inv_dt:A.b2_maxRotation*a.inv_dt;e.m_sweep.c0.SetV(e.m_sweep.c);e.m_sweep.a0=e.m_sweep.a;e.m_sweep.c.x+=a.dt*e.m_linearVelocity.x;e.m_sweep.c.y+=
a.dt*e.m_linearVelocity.y;e.m_sweep.a+=a.dt*e.m_angularVelocity;e.SynchronizeTransform()}}for(b=0;b<a.positionIterations;++b){m=c.SolvePositionConstraints(A.b2_contactBaumgarte);r=true;for(e=0;e<this.m_jointCount;++e){f=this.m_joints[e];f=f.SolvePositionConstraints(A.b2_contactBaumgarte);r=r&&f}if(m&&r)break}this.Report(c.m_constraints);if(g){g=Number.MAX_VALUE;c=A.b2_linearSleepTolerance*A.b2_linearSleepTolerance;m=A.b2_angularSleepTolerance*A.b2_angularSleepTolerance;for(b=0;b<this.m_bodyCount;++b){e=
this.m_bodies[b];if(e.GetType()!=k.b2_staticBody){if((e.m_flags&k.e_allowSleepFlag)==0)g=e.m_sleepTime=0;if((e.m_flags&k.e_allowSleepFlag)==0||e.m_angularVelocity*e.m_angularVelocity>m||F.Dot(e.m_linearVelocity,e.m_linearVelocity)>c)g=e.m_sleepTime=0;else{e.m_sleepTime+=a.dt;g=F.Min(g,e.m_sleepTime)}}}if(g>=A.b2_timeToSleep)for(b=0;b<this.m_bodyCount;++b){e=this.m_bodies[b];e.SetAwake(false)}}};Z.prototype.SolveTOI=function(a){var c=0,g=0;this.m_contactSolver.Initialize(a,this.m_contacts,this.m_contactCount,
this.m_allocator);var b=this.m_contactSolver;for(c=0;c<this.m_jointCount;++c)this.m_joints[c].InitVelocityConstraints(a);for(c=0;c<a.velocityIterations;++c){b.SolveVelocityConstraints();for(g=0;g<this.m_jointCount;++g)this.m_joints[g].SolveVelocityConstraints(a)}for(c=0;c<this.m_bodyCount;++c){g=this.m_bodies[c];if(g.GetType()!=k.b2_staticBody){var e=a.dt*g.m_linearVelocity.x,f=a.dt*g.m_linearVelocity.y;if(e*e+f*f>A.b2_maxTranslationSquared){g.m_linearVelocity.Normalize();g.m_linearVelocity.x*=A.b2_maxTranslation*
a.inv_dt;g.m_linearVelocity.y*=A.b2_maxTranslation*a.inv_dt}e=a.dt*g.m_angularVelocity;if(e*e>A.b2_maxRotationSquared)g.m_angularVelocity=g.m_angularVelocity<0?-A.b2_maxRotation*a.inv_dt:A.b2_maxRotation*a.inv_dt;g.m_sweep.c0.SetV(g.m_sweep.c);g.m_sweep.a0=g.m_sweep.a;g.m_sweep.c.x+=a.dt*g.m_linearVelocity.x;g.m_sweep.c.y+=a.dt*g.m_linearVelocity.y;g.m_sweep.a+=a.dt*g.m_angularVelocity;g.SynchronizeTransform()}}for(c=0;c<a.positionIterations;++c){e=b.SolvePositionConstraints(0.75);f=true;for(g=0;g<
this.m_jointCount;++g){var m=this.m_joints[g].SolvePositionConstraints(A.b2_contactBaumgarte);f=f&&m}if(e&&f)break}this.Report(b.m_constraints)};Z.prototype.Report=function(a){if(this.m_listener!=null)for(var c=0;c<this.m_contactCount;++c){for(var g=this.m_contacts[c],b=a[c],e=0;e<b.pointCount;++e){Z.s_impulse.normalImpulses[e]=b.points[e].normalImpulse;Z.s_impulse.tangentImpulses[e]=b.points[e].tangentImpulse}this.m_listener.PostSolve(g,Z.s_impulse)}};Z.prototype.AddBody=function(a){a.m_islandIndex=
this.m_bodyCount;this.m_bodies[this.m_bodyCount++]=a};Z.prototype.AddContact=function(a){this.m_contacts[this.m_contactCount++]=a};Z.prototype.AddJoint=function(a){this.m_joints[this.m_jointCount++]=a};Box2D.postDefs.push(function(){Box2D.Dynamics.b2Island.s_impulse=new D});d.b2TimeStep=function(){};d.prototype.Set=function(a){this.dt=a.dt;this.inv_dt=a.inv_dt;this.positionIterations=a.positionIterations;this.velocityIterations=a.velocityIterations;this.warmStarting=a.warmStarting};h.b2World=function(){this.s_stack=
new Vector;this.m_contactManager=new O;this.m_contactSolver=new o;this.m_island=new Z};h.prototype.b2World=function(a,c){this.m_controllerList=this.m_jointList=this.m_contactList=this.m_bodyList=this.m_debugDraw=this.m_destructionListener=null;this.m_controllerCount=this.m_jointCount=this.m_contactCount=this.m_bodyCount=0;h.m_warmStarting=true;h.m_continuousPhysics=true;this.m_allowSleep=c;this.m_gravity=a;this.m_inv_dt0=0;this.m_contactManager.m_world=this;this.m_groundBody=this.CreateBody(new z)};
h.prototype.SetDestructionListener=function(a){this.m_destructionListener=a};h.prototype.SetContactFilter=function(a){this.m_contactManager.m_contactFilter=a};h.prototype.SetContactListener=function(a){this.m_contactManager.m_contactListener=a};h.prototype.SetDebugDraw=function(a){this.m_debugDraw=a};h.prototype.SetBroadPhase=function(a){var c=this.m_contactManager.m_broadPhase;this.m_contactManager.m_broadPhase=a;for(var g=this.m_bodyList;g;g=g.m_next)for(var b=g.m_fixtureList;b;b=b.m_next)b.m_proxy=
a.CreateProxy(c.GetFatAABB(b.m_proxy),b)};h.prototype.Validate=function(){this.m_contactManager.m_broadPhase.Validate()};h.prototype.GetProxyCount=function(){return this.m_contactManager.m_broadPhase.GetProxyCount()};h.prototype.CreateBody=function(a){if(this.IsLocked()==true)return null;a=new k(a,this);a.m_prev=null;if(a.m_next=this.m_bodyList)this.m_bodyList.m_prev=a;this.m_bodyList=a;++this.m_bodyCount;return a};h.prototype.DestroyBody=function(a){if(this.IsLocked()!=true){for(var c=a.m_jointList;c;){var g=
c;c=c.next;this.m_destructionListener&&this.m_destructionListener.SayGoodbyeJoint(g.joint);this.DestroyJoint(g.joint)}for(c=a.m_controllerList;c;){g=c;c=c.nextController;g.controller.RemoveBody(a)}for(c=a.m_contactList;c;){g=c;c=c.next;this.m_contactManager.Destroy(g.contact)}a.m_contactList=null;for(c=a.m_fixtureList;c;){g=c;c=c.m_next;this.m_destructionListener&&this.m_destructionListener.SayGoodbyeFixture(g);g.DestroyProxy(this.m_contactManager.m_broadPhase);g.Destroy()}a.m_fixtureList=null;a.m_fixtureCount=
0;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;--this.m_bodyCount}};h.prototype.CreateJoint=function(a){var c=q.Create(a,null);c.m_prev=null;if(c.m_next=this.m_jointList)this.m_jointList.m_prev=c;this.m_jointList=c;++this.m_jointCount;c.m_edgeA.joint=c;c.m_edgeA.other=c.m_bodyB;c.m_edgeA.prev=null;if(c.m_edgeA.next=c.m_bodyA.m_jointList)c.m_bodyA.m_jointList.prev=c.m_edgeA;c.m_bodyA.m_jointList=c.m_edgeA;c.m_edgeB.joint=c;
c.m_edgeB.other=c.m_bodyA;c.m_edgeB.prev=null;if(c.m_edgeB.next=c.m_bodyB.m_jointList)c.m_bodyB.m_jointList.prev=c.m_edgeB;c.m_bodyB.m_jointList=c.m_edgeB;var g=a.bodyA,b=a.bodyB;if(a.collideConnected==false)for(a=b.GetContactList();a;){a.other==g&&a.contact.FlagForFiltering();a=a.next}return c};h.prototype.DestroyJoint=function(a){var c=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 g=a.m_bodyA,b=
a.m_bodyB;g.SetAwake(true);b.SetAwake(true);if(a.m_edgeA.prev)a.m_edgeA.prev.next=a.m_edgeA.next;if(a.m_edgeA.next)a.m_edgeA.next.prev=a.m_edgeA.prev;if(a.m_edgeA==g.m_jointList)g.m_jointList=a.m_edgeA.next;a.m_edgeA.prev=null;a.m_edgeA.next=null;if(a.m_edgeB.prev)a.m_edgeB.prev.next=a.m_edgeB.next;if(a.m_edgeB.next)a.m_edgeB.next.prev=a.m_edgeB.prev;if(a.m_edgeB==b.m_jointList)b.m_jointList=a.m_edgeB.next;a.m_edgeB.prev=null;a.m_edgeB.next=null;q.Destroy(a,null);--this.m_jointCount;if(c==false)for(a=
b.GetContactList();a;){a.other==g&&a.contact.FlagForFiltering();a=a.next}};h.prototype.AddController=function(a){a.m_next=this.m_controllerList;a.m_prev=null;this.m_controllerList=a;a.m_world=this;this.m_controllerCount++;return a};h.prototype.RemoveController=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(this.m_controllerList==a)this.m_controllerList=a.m_next;this.m_controllerCount--};h.prototype.CreateController=function(a){if(a.m_world!=this)throw Error("Controller can only be a member of one world");
a.m_next=this.m_controllerList;a.m_prev=null;if(this.m_controllerList)this.m_controllerList.m_prev=a;this.m_controllerList=a;++this.m_controllerCount;a.m_world=this;return a};h.prototype.DestroyController=function(a){a.Clear();if(a.m_next)a.m_next.m_prev=a.m_prev;if(a.m_prev)a.m_prev.m_next=a.m_next;if(a==this.m_controllerList)this.m_controllerList=a.m_next;--this.m_controllerCount};h.prototype.SetWarmStarting=function(a){h.m_warmStarting=a};h.prototype.SetContinuousPhysics=function(a){h.m_continuousPhysics=
a};h.prototype.GetBodyCount=function(){return this.m_bodyCount};h.prototype.GetJointCount=function(){return this.m_jointCount};h.prototype.GetContactCount=function(){return this.m_contactCount};h.prototype.SetGravity=function(a){this.m_gravity=a};h.prototype.GetGravity=function(){return this.m_gravity};h.prototype.GetGroundBody=function(){return this.m_groundBody};h.prototype.Step=function(a,c,g){if(a===undefined)a=0;if(c===undefined)c=0;if(g===undefined)g=0;if(this.m_flags&h.e_newFixture){this.m_contactManager.FindNewContacts();
this.m_flags&=~h.e_newFixture}this.m_flags|=h.e_locked;var b=h.s_timestep2;b.dt=a;b.velocityIterations=c;b.positionIterations=g;b.inv_dt=a>0?1/a:0;b.dtRatio=this.m_inv_dt0*a;b.warmStarting=h.m_warmStarting;this.m_contactManager.Collide();b.dt>0&&this.Solve(b);h.m_continuousPhysics&&b.dt>0&&this.SolveTOI(b);if(b.dt>0)this.m_inv_dt0=b.inv_dt;this.m_flags&=~h.e_locked};h.prototype.ClearForces=function(){for(var a=this.m_bodyList;a;a=a.m_next){a.m_force.SetZero();a.m_torque=0}};h.prototype.DrawDebugData=
function(){if(this.m_debugDraw!=null){this.m_debugDraw.m_sprite.graphics.clear();var a=this.m_debugDraw.GetFlags(),c,g,b;new y;new y;new y;var e;new U;new U;e=[new y,new y,new y,new y];var f=new w(0,0,0);if(a&E.e_shapeBit)for(c=this.m_bodyList;c;c=c.m_next){e=c.m_xf;for(g=c.GetFixtureList();g;g=g.m_next){b=g.GetShape();if(c.IsActive()==false)f.Set(0.5,0.5,0.3);else if(c.GetType()==k.b2_staticBody)f.Set(0.5,0.9,0.5);else if(c.GetType()==k.b2_kinematicBody)f.Set(0.5,0.5,0.9);else c.IsAwake()==false?
f.Set(0.6,0.6,0.6):f.Set(0.9,0.7,0.7);this.DrawShape(b,e,f)}}if(a&E.e_jointBit)for(c=this.m_jointList;c;c=c.m_next)this.DrawJoint(c);if(a&E.e_controllerBit)for(c=this.m_controllerList;c;c=c.m_next)c.Draw(this.m_debugDraw);if(a&E.e_pairBit){f.Set(0.3,0.9,0.9);for(c=this.m_contactManager.m_contactList;c;c=c.GetNext()){b=c.GetFixtureA();g=c.GetFixtureB();b=b.GetAABB().GetCenter();g=g.GetAABB().GetCenter();this.m_debugDraw.DrawSegment(b,g,f)}}if(a&E.e_aabbBit){b=this.m_contactManager.m_broadPhase;e=[new y,
new y,new y,new y];for(c=this.m_bodyList;c;c=c.GetNext())if(c.IsActive()!=false)for(g=c.GetFixtureList();g;g=g.GetNext()){var m=b.GetFatAABB(g.m_proxy);e[0].Set(m.lowerBound.x,m.lowerBound.y);e[1].Set(m.upperBound.x,m.lowerBound.y);e[2].Set(m.upperBound.x,m.upperBound.y);e[3].Set(m.lowerBound.x,m.upperBound.y);this.m_debugDraw.DrawPolygon(e,4,f)}}if(a&E.e_centerOfMassBit)for(c=this.m_bodyList;c;c=c.m_next){e=h.s_xf;e.R=c.m_xf.R;e.position=c.GetWorldCenter();this.m_debugDraw.DrawTransform(e)}}};h.prototype.QueryAABB=
function(a,c){var g=this.m_contactManager.m_broadPhase;g.Query(function(b){return a(g.GetUserData(b))},c)};h.prototype.QueryShape=function(a,c,g){if(g===undefined)g=null;if(g==null){g=new K;g.SetIdentity()}var b=this.m_contactManager.m_broadPhase,e=new U;c.ComputeAABB(e,g);b.Query(function(f){f=b.GetUserData(f)instanceof S?b.GetUserData(f):null;if(Y.TestOverlap(c,g,f.GetShape(),f.GetBody().GetTransform()))return a(f);return true},e)};h.prototype.QueryPoint=function(a,c){var g=this.m_contactManager.m_broadPhase,
b=new U;b.lowerBound.Set(c.x-A.b2_linearSlop,c.y-A.b2_linearSlop);b.upperBound.Set(c.x+A.b2_linearSlop,c.y+A.b2_linearSlop);g.Query(function(e){e=g.GetUserData(e)instanceof S?g.GetUserData(e):null;if(e.TestPoint(c))return a(e);return true},b)};h.prototype.RayCast=function(a,c,g){var b=this.m_contactManager.m_broadPhase,e=new V,f=new Q(c,g);b.RayCast(function(m,r){var s=b.GetUserData(r);s=s instanceof S?s:null;if(s.RayCast(e,m)){var v=e.fraction,t=new y((1-v)*c.x+v*g.x,(1-v)*c.y+v*g.y);return a(s,
t,e.normal,v)}return m.maxFraction},f)};h.prototype.RayCastOne=function(a,c){var g;this.RayCast(function(b,e,f,m){if(m===undefined)m=0;g=b;return m},a,c);return g};h.prototype.RayCastAll=function(a,c){var g=new Vector;this.RayCast(function(b){g[g.length]=b;return 1},a,c);return g};h.prototype.GetBodyList=function(){return this.m_bodyList};h.prototype.GetJointList=function(){return this.m_jointList};h.prototype.GetContactList=function(){return this.m_contactList};h.prototype.IsLocked=function(){return(this.m_flags&
h.e_locked)>0};h.prototype.Solve=function(a){for(var c,g=this.m_controllerList;g;g=g.m_next)g.Step(a);g=this.m_island;g.Initialize(this.m_bodyCount,this.m_contactCount,this.m_jointCount,null,this.m_contactManager.m_contactListener,this.m_contactSolver);for(c=this.m_bodyList;c;c=c.m_next)c.m_flags&=~k.e_islandFlag;for(var b=this.m_contactList;b;b=b.m_next)b.m_flags&=~l.e_islandFlag;for(b=this.m_jointList;b;b=b.m_next)b.m_islandFlag=false;parseInt(this.m_bodyCount);b=this.s_stack;for(var e=this.m_bodyList;e;e=
e.m_next)if(!(e.m_flags&k.e_islandFlag))if(!(e.IsAwake()==false||e.IsActive()==false))if(e.GetType()!=k.b2_staticBody){g.Clear();var f=0;b[f++]=e;for(e.m_flags|=k.e_islandFlag;f>0;){c=b[--f];g.AddBody(c);c.IsAwake()==false&&c.SetAwake(true);if(c.GetType()!=k.b2_staticBody){for(var m,r=c.m_contactList;r;r=r.next)if(!(r.contact.m_flags&l.e_islandFlag))if(!(r.contact.IsSensor()==true||r.contact.IsEnabled()==false||r.contact.IsTouching()==false)){g.AddContact(r.contact);r.contact.m_flags|=l.e_islandFlag;
m=r.other;if(!(m.m_flags&k.e_islandFlag)){b[f++]=m;m.m_flags|=k.e_islandFlag}}for(c=c.m_jointList;c;c=c.next)if(c.joint.m_islandFlag!=true){m=c.other;if(m.IsActive()!=false){g.AddJoint(c.joint);c.joint.m_islandFlag=true;if(!(m.m_flags&k.e_islandFlag)){b[f++]=m;m.m_flags|=k.e_islandFlag}}}}}g.Solve(a,this.m_gravity,this.m_allowSleep);for(f=0;f<g.m_bodyCount;++f){c=g.m_bodies[f];if(c.GetType()==k.b2_staticBody)c.m_flags&=~k.e_islandFlag}}for(f=0;f<b.length;++f){if(!b[f])break;b[f]=null}for(c=this.m_bodyList;c;c=
c.m_next)c.IsAwake()==false||c.IsActive()==false||c.GetType()!=k.b2_staticBody&&c.SynchronizeFixtures();this.m_contactManager.FindNewContacts()};h.prototype.SolveTOI=function(a){var c,g,b,e=this.m_island;e.Initialize(this.m_bodyCount,A.b2_maxTOIContactsPerIsland,A.b2_maxTOIJointsPerIsland,null,this.m_contactManager.m_contactListener,this.m_contactSolver);var f=h.s_queue;for(c=this.m_bodyList;c;c=c.m_next){c.m_flags&=~k.e_islandFlag;c.m_sweep.t0=0}for(b=this.m_contactList;b;b=b.m_next)b.m_flags&=~(l.e_toiFlag|
l.e_islandFlag);for(b=this.m_jointList;b;b=b.m_next)b.m_islandFlag=false;for(;;){var m=null,r=1;for(b=this.m_contactList;b;b=b.m_next)if(!(b.IsSensor()==true||b.IsEnabled()==false||b.IsContinuous()==false)){c=1;if(b.m_flags&l.e_toiFlag)c=b.m_toi;else{c=b.m_fixtureA;g=b.m_fixtureB;c=c.m_body;g=g.m_body;if((c.GetType()!=k.b2_dynamicBody||c.IsAwake()==false)&&(g.GetType()!=k.b2_dynamicBody||g.IsAwake()==false))continue;var s=c.m_sweep.t0;if(c.m_sweep.t0<g.m_sweep.t0){s=g.m_sweep.t0;c.m_sweep.Advance(s)}else if(g.m_sweep.t0<
c.m_sweep.t0){s=c.m_sweep.t0;g.m_sweep.Advance(s)}c=b.ComputeTOI(c.m_sweep,g.m_sweep);A.b2Assert(0<=c&&c<=1);if(c>0&&c<1){c=(1-c)*s+c;if(c>1)c=1}b.m_toi=c;b.m_flags|=l.e_toiFlag}if(Number.MIN_VALUE<c&&c<r){m=b;r=c}}if(m==null||1-100*Number.MIN_VALUE<r)break;c=m.m_fixtureA;g=m.m_fixtureB;c=c.m_body;g=g.m_body;h.s_backupA.Set(c.m_sweep);h.s_backupB.Set(g.m_sweep);c.Advance(r);g.Advance(r);m.Update(this.m_contactManager.m_contactListener);m.m_flags&=~l.e_toiFlag;if(m.IsSensor()==true||m.IsEnabled()==
false){c.m_sweep.Set(h.s_backupA);g.m_sweep.Set(h.s_backupB);c.SynchronizeTransform();g.SynchronizeTransform()}else if(m.IsTouching()!=false){c=c;if(c.GetType()!=k.b2_dynamicBody)c=g;e.Clear();m=b=0;f[b+m++]=c;for(c.m_flags|=k.e_islandFlag;m>0;){c=f[b++];--m;e.AddBody(c);c.IsAwake()==false&&c.SetAwake(true);if(c.GetType()==k.b2_dynamicBody){for(g=c.m_contactList;g;g=g.next){if(e.m_contactCount==e.m_contactCapacity)break;if(!(g.contact.m_flags&l.e_islandFlag))if(!(g.contact.IsSensor()==true||g.contact.IsEnabled()==
false||g.contact.IsTouching()==false)){e.AddContact(g.contact);g.contact.m_flags|=l.e_islandFlag;s=g.other;if(!(s.m_flags&k.e_islandFlag)){if(s.GetType()!=k.b2_staticBody){s.Advance(r);s.SetAwake(true)}f[b+m]=s;++m;s.m_flags|=k.e_islandFlag}}}for(c=c.m_jointList;c;c=c.next)if(e.m_jointCount!=e.m_jointCapacity)if(c.joint.m_islandFlag!=true){s=c.other;if(s.IsActive()!=false){e.AddJoint(c.joint);c.joint.m_islandFlag=true;if(!(s.m_flags&k.e_islandFlag)){if(s.GetType()!=k.b2_staticBody){s.Advance(r);s.SetAwake(true)}f[b+
m]=s;++m;s.m_flags|=k.e_islandFlag}}}}}b=h.s_timestep;b.warmStarting=false;b.dt=(1-r)*a.dt;b.inv_dt=1/b.dt;b.dtRatio=0;b.velocityIterations=a.velocityIterations;b.positionIterations=a.positionIterations;e.SolveTOI(b);for(r=r=0;r<e.m_bodyCount;++r){c=e.m_bodies[r];c.m_flags&=~k.e_islandFlag;if(c.IsAwake()!=false)if(c.GetType()==k.b2_dynamicBody){c.SynchronizeFixtures();for(g=c.m_contactList;g;g=g.next)g.contact.m_flags&=~l.e_toiFlag}}for(r=0;r<e.m_contactCount;++r){b=e.m_contacts[r];b.m_flags&=~(l.e_toiFlag|
l.e_islandFlag)}for(r=0;r<e.m_jointCount;++r){b=e.m_joints[r];b.m_islandFlag=false}this.m_contactManager.FindNewContacts()}}};h.prototype.DrawJoint=function(a){var c=a.GetBodyA(),g=a.GetBodyB(),b=c.m_xf.position,e=g.m_xf.position,f=a.GetAnchorA(),m=a.GetAnchorB(),r=h.s_jointColor;switch(a.m_type){case q.e_distanceJoint:this.m_debugDraw.DrawSegment(f,m,r);break;case q.e_pulleyJoint:c=a instanceof n?a:null;a=c.GetGroundAnchorA();c=c.GetGroundAnchorB();this.m_debugDraw.DrawSegment(a,f,r);this.m_debugDraw.DrawSegment(c,
m,r);this.m_debugDraw.DrawSegment(a,c,r);break;case q.e_mouseJoint:this.m_debugDraw.DrawSegment(f,m,r);break;default:c!=this.m_groundBody&&this.m_debugDraw.DrawSegment(b,f,r);this.m_debugDraw.DrawSegment(f,m,r);g!=this.m_groundBody&&this.m_debugDraw.DrawSegment(e,m,r)}};h.prototype.DrawShape=function(a,c,g){switch(a.m_type){case Y.e_circleShape:var b=a instanceof M?a:null;this.m_debugDraw.DrawSolidCircle(F.MulX(c,b.m_p),b.m_radius,c.R.col1,g);break;case Y.e_polygonShape:b=0;b=a instanceof W?a:null;
a=parseInt(b.GetVertexCount());var e=b.GetVertices(),f=new Vector(a);for(b=0;b<a;++b)f[b]=F.MulX(c,e[b]);this.m_debugDraw.DrawSolidPolygon(f,a,g);break;case Y.e_edgeShape:b=a instanceof L?a:null;this.m_debugDraw.DrawSegment(F.MulX(c,b.GetVertex1()),F.MulX(c,b.GetVertex2()),g)}};Box2D.postDefs.push(function(){Box2D.Dynamics.b2World.s_timestep2=new d;Box2D.Dynamics.b2World.s_xf=new K;Box2D.Dynamics.b2World.s_backupA=new G;Box2D.Dynamics.b2World.s_backupB=new G;Box2D.Dynamics.b2World.s_timestep=new d;
Box2D.Dynamics.b2World.s_queue=new Vector;Box2D.Dynamics.b2World.s_jointColor=new w(0.5,0.8,0.8);Box2D.Dynamics.b2World.e_newFixture=1;Box2D.Dynamics.b2World.e_locked=2})})();
(function(){var F=Box2D.Collision.Shapes.b2CircleShape,G=Box2D.Collision.Shapes.b2EdgeShape,K=Box2D.Collision.Shapes.b2PolygonShape,y=Box2D.Collision.Shapes.b2Shape,w=Box2D.Dynamics.Contacts.b2CircleContact,A=Box2D.Dynamics.Contacts.b2Contact,U=Box2D.Dynamics.Contacts.b2ContactConstraint,p=Box2D.Dynamics.Contacts.b2ContactConstraintPoint,B=Box2D.Dynamics.Contacts.b2ContactEdge,Q=Box2D.Dynamics.Contacts.b2ContactFactory,V=Box2D.Dynamics.Contacts.b2ContactRegister,M=Box2D.Dynamics.Contacts.b2ContactResult,
L=Box2D.Dynamics.Contacts.b2ContactSolver,I=Box2D.Dynamics.Contacts.b2EdgeAndCircleContact,W=Box2D.Dynamics.Contacts.b2NullContact,Y=Box2D.Dynamics.Contacts.b2PolyAndCircleContact,k=Box2D.Dynamics.Contacts.b2PolyAndEdgeContact,z=Box2D.Dynamics.Contacts.b2PolygonContact,u=Box2D.Dynamics.Contacts.b2PositionSolverManifold,D=Box2D.Dynamics.b2Body,H=Box2D.Dynamics.b2TimeStep,O=Box2D.Common.b2Settings,E=Box2D.Common.Math.b2Mat22,R=Box2D.Common.Math.b2Math,N=Box2D.Common.Math.b2Vec2,S=Box2D.Collision.b2Collision,
aa=Box2D.Collision.b2ContactID,Z=Box2D.Collision.b2Manifold,d=Box2D.Collision.b2TimeOfImpact,h=Box2D.Collision.b2TOIInput,l=Box2D.Collision.b2WorldManifold;Box2D.inherit(w,Box2D.Dynamics.Contacts.b2Contact);w.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;w.b2CircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};w.Create=function(){return new w};w.Destroy=function(){};w.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o)};w.prototype.Evaluate=
function(){var j=this.m_fixtureA.GetBody(),o=this.m_fixtureB.GetBody();S.CollideCircles(this.m_manifold,this.m_fixtureA.GetShape()instanceof F?this.m_fixtureA.GetShape():null,j.m_xf,this.m_fixtureB.GetShape()instanceof F?this.m_fixtureB.GetShape():null,o.m_xf)};A.b2Contact=function(){this.m_nodeA=new B;this.m_nodeB=new B;this.m_manifold=new Z;this.m_oldManifold=new Z};A.prototype.GetManifold=function(){return this.m_manifold};A.prototype.GetWorldManifold=function(j){var o=this.m_fixtureA.GetBody(),
q=this.m_fixtureB.GetBody(),n=this.m_fixtureA.GetShape(),a=this.m_fixtureB.GetShape();j.Initialize(this.m_manifold,o.GetTransform(),n.m_radius,q.GetTransform(),a.m_radius)};A.prototype.IsTouching=function(){return(this.m_flags&A.e_touchingFlag)==A.e_touchingFlag};A.prototype.IsContinuous=function(){return(this.m_flags&A.e_continuousFlag)==A.e_continuousFlag};A.prototype.SetSensor=function(j){if(j)this.m_flags|=A.e_sensorFlag;else this.m_flags&=~A.e_sensorFlag};A.prototype.IsSensor=function(){return(this.m_flags&
A.e_sensorFlag)==A.e_sensorFlag};A.prototype.SetEnabled=function(j){if(j)this.m_flags|=A.e_enabledFlag;else this.m_flags&=~A.e_enabledFlag};A.prototype.IsEnabled=function(){return(this.m_flags&A.e_enabledFlag)==A.e_enabledFlag};A.prototype.GetNext=function(){return this.m_next};A.prototype.GetFixtureA=function(){return this.m_fixtureA};A.prototype.GetFixtureB=function(){return this.m_fixtureB};A.prototype.FlagForFiltering=function(){this.m_flags|=A.e_filterFlag};A.prototype.b2Contact=function(){};
A.prototype.Reset=function(j,o){if(j===undefined)j=null;if(o===undefined)o=null;this.m_flags=A.e_enabledFlag;if(!j||!o)this.m_fixtureB=this.m_fixtureA=null;else{if(j.IsSensor()||o.IsSensor())this.m_flags|=A.e_sensorFlag;var q=j.GetBody(),n=o.GetBody();if(q.GetType()!=D.b2_dynamicBody||q.IsBullet()||n.GetType()!=D.b2_dynamicBody||n.IsBullet())this.m_flags|=A.e_continuousFlag;this.m_fixtureA=j;this.m_fixtureB=o;this.m_manifold.m_pointCount=0;this.m_next=this.m_prev=null;this.m_nodeA.contact=null;this.m_nodeA.prev=
null;this.m_nodeA.next=null;this.m_nodeA.other=null;this.m_nodeB.contact=null;this.m_nodeB.prev=null;this.m_nodeB.next=null;this.m_nodeB.other=null}};A.prototype.Update=function(j){var o=this.m_oldManifold;this.m_oldManifold=this.m_manifold;this.m_manifold=o;this.m_flags|=A.e_enabledFlag;var q=false;o=(this.m_flags&A.e_touchingFlag)==A.e_touchingFlag;var n=this.m_fixtureA.m_body,a=this.m_fixtureB.m_body,c=this.m_fixtureA.m_aabb.TestOverlap(this.m_fixtureB.m_aabb);if(this.m_flags&A.e_sensorFlag){if(c){q=
this.m_fixtureA.GetShape();c=this.m_fixtureB.GetShape();n=n.GetTransform();a=a.GetTransform();q=y.TestOverlap(q,n,c,a)}this.m_manifold.m_pointCount=0}else{if(n.GetType()!=D.b2_dynamicBody||n.IsBullet()||a.GetType()!=D.b2_dynamicBody||a.IsBullet())this.m_flags|=A.e_continuousFlag;else this.m_flags&=~A.e_continuousFlag;if(c){this.Evaluate();q=this.m_manifold.m_pointCount>0;for(c=0;c<this.m_manifold.m_pointCount;++c){var g=this.m_manifold.m_points[c];g.m_normalImpulse=0;g.m_tangentImpulse=0;for(var b=
g.m_id,e=0;e<this.m_oldManifold.m_pointCount;++e){var f=this.m_oldManifold.m_points[e];if(f.m_id.key==b.key){g.m_normalImpulse=f.m_normalImpulse;g.m_tangentImpulse=f.m_tangentImpulse;break}}}}else this.m_manifold.m_pointCount=0;if(q!=o){n.SetAwake(true);a.SetAwake(true)}}if(q)this.m_flags|=A.e_touchingFlag;else this.m_flags&=~A.e_touchingFlag;o==false&&q==true&&j.BeginContact(this);o==true&&q==false&&j.EndContact(this);(this.m_flags&A.e_sensorFlag)==0&&j.PreSolve(this,this.m_oldManifold)};A.prototype.Evaluate=
function(){};A.prototype.ComputeTOI=function(j,o){A.s_input.proxyA.Set(this.m_fixtureA.GetShape());A.s_input.proxyB.Set(this.m_fixtureB.GetShape());A.s_input.sweepA=j;A.s_input.sweepB=o;A.s_input.tolerance=O.b2_linearSlop;return d.TimeOfImpact(A.s_input)};Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2Contact.e_sensorFlag=1;Box2D.Dynamics.Contacts.b2Contact.e_continuousFlag=2;Box2D.Dynamics.Contacts.b2Contact.e_islandFlag=4;Box2D.Dynamics.Contacts.b2Contact.e_toiFlag=8;Box2D.Dynamics.Contacts.b2Contact.e_touchingFlag=
16;Box2D.Dynamics.Contacts.b2Contact.e_enabledFlag=32;Box2D.Dynamics.Contacts.b2Contact.e_filterFlag=64;Box2D.Dynamics.Contacts.b2Contact.s_input=new h});U.b2ContactConstraint=function(){this.localPlaneNormal=new N;this.localPoint=new N;this.normal=new N;this.normalMass=new E;this.K=new E};U.prototype.b2ContactConstraint=function(){this.points=new Vector(O.b2_maxManifoldPoints);for(var j=0;j<O.b2_maxManifoldPoints;j++)this.points[j]=new p};p.b2ContactConstraintPoint=function(){this.localPoint=new N;
this.rA=new N;this.rB=new N};B.b2ContactEdge=function(){};Q.b2ContactFactory=function(){};Q.prototype.b2ContactFactory=function(j){this.m_allocator=j;this.InitializeRegisters()};Q.prototype.AddType=function(j,o,q,n){if(q===undefined)q=0;if(n===undefined)n=0;this.m_registers[q][n].createFcn=j;this.m_registers[q][n].destroyFcn=o;this.m_registers[q][n].primary=true;if(q!=n){this.m_registers[n][q].createFcn=j;this.m_registers[n][q].destroyFcn=o;this.m_registers[n][q].primary=false}};Q.prototype.InitializeRegisters=
function(){this.m_registers=new Vector(y.e_shapeTypeCount);for(var j=0;j<y.e_shapeTypeCount;j++){this.m_registers[j]=new Vector(y.e_shapeTypeCount);for(var o=0;o<y.e_shapeTypeCount;o++)this.m_registers[j][o]=new V}this.AddType(w.Create,w.Destroy,y.e_circleShape,y.e_circleShape);this.AddType(Y.Create,Y.Destroy,y.e_polygonShape,y.e_circleShape);this.AddType(z.Create,z.Destroy,y.e_polygonShape,y.e_polygonShape);this.AddType(I.Create,I.Destroy,y.e_edgeShape,y.e_circleShape);this.AddType(k.Create,k.Destroy,
y.e_polygonShape,y.e_edgeShape)};Q.prototype.Create=function(j,o){var q=parseInt(j.GetType()),n=parseInt(o.GetType());q=this.m_registers[q][n];if(q.pool){n=q.pool;q.pool=n.m_next;q.poolCount--;n.Reset(j,o);return n}n=q.createFcn;if(n!=null){if(q.primary){n=n(this.m_allocator);n.Reset(j,o)}else{n=n(this.m_allocator);n.Reset(o,j)}return n}else return null};Q.prototype.Destroy=function(j){if(j.m_manifold.m_pointCount>0){j.m_fixtureA.m_body.SetAwake(true);j.m_fixtureB.m_body.SetAwake(true)}var o=parseInt(j.m_fixtureA.GetType()),
q=parseInt(j.m_fixtureB.GetType());o=this.m_registers[o][q];o.poolCount++;j.m_next=o.pool;o.pool=j;o=o.destroyFcn;o(j,this.m_allocator)};V.b2ContactRegister=function(){};M.b2ContactResult=function(){this.position=new N;this.normal=new N;this.id=new aa};L.b2ContactSolver=function(){this.m_step=new H;this.m_constraints=new Vector};L.prototype.b2ContactSolver=function(){};L.prototype.Initialize=function(j,o,q,n){if(q===undefined)q=0;var a;this.m_step.Set(j);this.m_allocator=n;j=0;for(this.m_constraintCount=
q;this.m_constraints.length<this.m_constraintCount;)this.m_constraints[this.m_constraints.length]=new U;for(j=0;j<q;++j){a=o[j];n=a.m_fixtureA;var c=a.m_fixtureB,g=n.m_shape.m_radius,b=c.m_shape.m_radius,e=n.m_body,f=c.m_body,m=a.GetManifold(),r=O.b2MixFriction(n.GetFriction(),c.GetFriction()),s=O.b2MixRestitution(n.GetRestitution(),c.GetRestitution()),v=e.m_linearVelocity.x,t=e.m_linearVelocity.y,x=f.m_linearVelocity.x,C=f.m_linearVelocity.y,J=e.m_angularVelocity,T=f.m_angularVelocity;O.b2Assert(m.m_pointCount>
0);L.s_worldManifold.Initialize(m,e.m_xf,g,f.m_xf,b);c=L.s_worldManifold.m_normal.x;a=L.s_worldManifold.m_normal.y;n=this.m_constraints[j];n.bodyA=e;n.bodyB=f;n.manifold=m;n.normal.x=c;n.normal.y=a;n.pointCount=m.m_pointCount;n.friction=r;n.restitution=s;n.localPlaneNormal.x=m.m_localPlaneNormal.x;n.localPlaneNormal.y=m.m_localPlaneNormal.y;n.localPoint.x=m.m_localPoint.x;n.localPoint.y=m.m_localPoint.y;n.radius=g+b;n.type=m.m_type;for(g=0;g<n.pointCount;++g){r=m.m_points[g];b=n.points[g];b.normalImpulse=
r.m_normalImpulse;b.tangentImpulse=r.m_tangentImpulse;b.localPoint.SetV(r.m_localPoint);r=b.rA.x=L.s_worldManifold.m_points[g].x-e.m_sweep.c.x;s=b.rA.y=L.s_worldManifold.m_points[g].y-e.m_sweep.c.y;var P=b.rB.x=L.s_worldManifold.m_points[g].x-f.m_sweep.c.x,X=b.rB.y=L.s_worldManifold.m_points[g].y-f.m_sweep.c.y,$=r*a-s*c,ba=P*a-X*c;$*=$;ba*=ba;b.normalMass=1/(e.m_invMass+f.m_invMass+e.m_invI*$+f.m_invI*ba);var ca=e.m_mass*e.m_invMass+f.m_mass*f.m_invMass;ca+=e.m_mass*e.m_invI*$+f.m_mass*f.m_invI*ba;
b.equalizedMass=1/ca;ba=a;ca=-c;$=r*ca-s*ba;ba=P*ca-X*ba;$*=$;ba*=ba;b.tangentMass=1/(e.m_invMass+f.m_invMass+e.m_invI*$+f.m_invI*ba);b.velocityBias=0;r=n.normal.x*(x+-T*X-v- -J*s)+n.normal.y*(C+T*P-t-J*r);if(r<-O.b2_velocityThreshold)b.velocityBias+=-n.restitution*r}if(n.pointCount==2){C=n.points[0];x=n.points[1];m=e.m_invMass;e=e.m_invI;v=f.m_invMass;f=f.m_invI;t=C.rA.x*a-C.rA.y*c;C=C.rB.x*a-C.rB.y*c;J=x.rA.x*a-x.rA.y*c;x=x.rB.x*a-x.rB.y*c;c=m+v+e*t*t+f*C*C;a=m+v+e*J*J+f*x*x;f=m+v+e*t*J+f*C*x;if(c*
c<100*(c*a-f*f)){n.K.col1.Set(c,f);n.K.col2.Set(f,a);n.K.GetInverse(n.normalMass)}else n.pointCount=1}}};L.prototype.InitVelocityConstraints=function(j){for(var o=0;o<this.m_constraintCount;++o){var q=this.m_constraints[o],n=q.bodyA,a=q.bodyB,c=n.m_invMass,g=n.m_invI,b=a.m_invMass,e=a.m_invI,f=q.normal.x,m=q.normal.y,r=m,s=-f,v=0,t=0;if(j.warmStarting){t=q.pointCount;for(v=0;v<t;++v){var x=q.points[v];x.normalImpulse*=j.dtRatio;x.tangentImpulse*=j.dtRatio;var C=x.normalImpulse*f+x.tangentImpulse*
r,J=x.normalImpulse*m+x.tangentImpulse*s;n.m_angularVelocity-=g*(x.rA.x*J-x.rA.y*C);n.m_linearVelocity.x-=c*C;n.m_linearVelocity.y-=c*J;a.m_angularVelocity+=e*(x.rB.x*J-x.rB.y*C);a.m_linearVelocity.x+=b*C;a.m_linearVelocity.y+=b*J}}else{t=q.pointCount;for(v=0;v<t;++v){n=q.points[v];n.normalImpulse=0;n.tangentImpulse=0}}}};L.prototype.SolveVelocityConstraints=function(){for(var j=0,o,q=0,n=0,a=0,c=n=n=q=q=0,g=q=q=0,b=q=a=0,e=0,f,m=0;m<this.m_constraintCount;++m){a=this.m_constraints[m];var r=a.bodyA,
s=a.bodyB,v=r.m_angularVelocity,t=s.m_angularVelocity,x=r.m_linearVelocity,C=s.m_linearVelocity,J=r.m_invMass,T=r.m_invI,P=s.m_invMass,X=s.m_invI;b=a.normal.x;var $=e=a.normal.y;f=-b;g=a.friction;for(j=0;j<a.pointCount;j++){o=a.points[j];q=C.x-t*o.rB.y-x.x+v*o.rA.y;n=C.y+t*o.rB.x-x.y-v*o.rA.x;q=q*$+n*f;q=o.tangentMass*-q;n=g*o.normalImpulse;n=R.Clamp(o.tangentImpulse+q,-n,n);q=n-o.tangentImpulse;c=q*$;q=q*f;x.x-=J*c;x.y-=J*q;v-=T*(o.rA.x*q-o.rA.y*c);C.x+=P*c;C.y+=P*q;t+=X*(o.rB.x*q-o.rB.y*c);o.tangentImpulse=
n}parseInt(a.pointCount);if(a.pointCount==1){o=a.points[0];q=C.x+-t*o.rB.y-x.x- -v*o.rA.y;n=C.y+t*o.rB.x-x.y-v*o.rA.x;a=q*b+n*e;q=-o.normalMass*(a-o.velocityBias);n=o.normalImpulse+q;n=n>0?n:0;q=n-o.normalImpulse;c=q*b;q=q*e;x.x-=J*c;x.y-=J*q;v-=T*(o.rA.x*q-o.rA.y*c);C.x+=P*c;C.y+=P*q;t+=X*(o.rB.x*q-o.rB.y*c);o.normalImpulse=n}else{o=a.points[0];j=a.points[1];q=o.normalImpulse;g=j.normalImpulse;var ba=(C.x-t*o.rB.y-x.x+v*o.rA.y)*b+(C.y+t*o.rB.x-x.y-v*o.rA.x)*e,ca=(C.x-t*j.rB.y-x.x+v*j.rA.y)*b+(C.y+
t*j.rB.x-x.y-v*j.rA.x)*e;n=ba-o.velocityBias;c=ca-j.velocityBias;f=a.K;n-=f.col1.x*q+f.col2.x*g;for(c-=f.col1.y*q+f.col2.y*g;;){f=a.normalMass;$=-(f.col1.x*n+f.col2.x*c);f=-(f.col1.y*n+f.col2.y*c);if($>=0&&f>=0){q=$-q;g=f-g;a=q*b;q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}$=-o.normalMass*n;f=0;ca=a.K.col1.y*$+c;if($>=0&&ca>=0){q=$-q;g=f-g;a=q*b;
q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}$=0;f=-j.normalMass*c;ba=a.K.col2.x*f+n;if(f>=0&&ba>=0){q=$-q;g=f-g;a=q*b;q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}f=$=0;ba=n;ca=c;if(ba>=0&&ca>=0){q=
$-q;g=f-g;a=q*b;q=q*e;b=g*b;e=g*e;x.x-=J*(a+b);x.y-=J*(q+e);v-=T*(o.rA.x*q-o.rA.y*a+j.rA.x*e-j.rA.y*b);C.x+=P*(a+b);C.y+=P*(q+e);t+=X*(o.rB.x*q-o.rB.y*a+j.rB.x*e-j.rB.y*b);o.normalImpulse=$;j.normalImpulse=f;break}break}}r.m_angularVelocity=v;s.m_angularVelocity=t}};L.prototype.FinalizeVelocityConstraints=function(){for(var j=0;j<this.m_constraintCount;++j)for(var o=this.m_constraints[j],q=o.manifold,n=0;n<o.pointCount;++n){var a=q.m_points[n],c=o.points[n];a.m_normalImpulse=c.normalImpulse;a.m_tangentImpulse=
c.tangentImpulse}};L.prototype.SolvePositionConstraints=function(j){if(j===undefined)j=0;for(var o=0,q=0;q<this.m_constraintCount;q++){var n=this.m_constraints[q],a=n.bodyA,c=n.bodyB,g=a.m_mass*a.m_invMass,b=a.m_mass*a.m_invI,e=c.m_mass*c.m_invMass,f=c.m_mass*c.m_invI;L.s_psm.Initialize(n);for(var m=L.s_psm.m_normal,r=0;r<n.pointCount;r++){var s=n.points[r],v=L.s_psm.m_points[r],t=L.s_psm.m_separations[r],x=v.x-a.m_sweep.c.x,C=v.y-a.m_sweep.c.y,J=v.x-c.m_sweep.c.x;v=v.y-c.m_sweep.c.y;o=o<t?o:t;t=
R.Clamp(j*(t+O.b2_linearSlop),-O.b2_maxLinearCorrection,0);t=-s.equalizedMass*t;s=t*m.x;t=t*m.y;a.m_sweep.c.x-=g*s;a.m_sweep.c.y-=g*t;a.m_sweep.a-=b*(x*t-C*s);a.SynchronizeTransform();c.m_sweep.c.x+=e*s;c.m_sweep.c.y+=e*t;c.m_sweep.a+=f*(J*t-v*s);c.SynchronizeTransform()}}return o>-1.5*O.b2_linearSlop};Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2ContactSolver.s_worldManifold=new l;Box2D.Dynamics.Contacts.b2ContactSolver.s_psm=new u});Box2D.inherit(I,Box2D.Dynamics.Contacts.b2Contact);
I.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;I.b2EdgeAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};I.Create=function(){return new I};I.Destroy=function(){};I.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o)};I.prototype.Evaluate=function(){var j=this.m_fixtureA.GetBody(),o=this.m_fixtureB.GetBody();this.b2CollideEdgeAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof G?this.m_fixtureA.GetShape():null,j.m_xf,
this.m_fixtureB.GetShape()instanceof F?this.m_fixtureB.GetShape():null,o.m_xf)};I.prototype.b2CollideEdgeAndCircle=function(){};Box2D.inherit(W,Box2D.Dynamics.Contacts.b2Contact);W.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;W.b2NullContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};W.prototype.b2NullContact=function(){this.__super.b2Contact.call(this)};W.prototype.Evaluate=function(){};Box2D.inherit(Y,Box2D.Dynamics.Contacts.b2Contact);Y.prototype.__super=
Box2D.Dynamics.Contacts.b2Contact.prototype;Y.b2PolyAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};Y.Create=function(){return new Y};Y.Destroy=function(){};Y.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o);O.b2Assert(j.GetType()==y.e_polygonShape);O.b2Assert(o.GetType()==y.e_circleShape)};Y.prototype.Evaluate=function(){var j=this.m_fixtureA.m_body,o=this.m_fixtureB.m_body;S.CollidePolygonAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof
K?this.m_fixtureA.GetShape():null,j.m_xf,this.m_fixtureB.GetShape()instanceof F?this.m_fixtureB.GetShape():null,o.m_xf)};Box2D.inherit(k,Box2D.Dynamics.Contacts.b2Contact);k.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;k.b2PolyAndEdgeContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};k.Create=function(){return new k};k.Destroy=function(){};k.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o);O.b2Assert(j.GetType()==y.e_polygonShape);
O.b2Assert(o.GetType()==y.e_edgeShape)};k.prototype.Evaluate=function(){var j=this.m_fixtureA.GetBody(),o=this.m_fixtureB.GetBody();this.b2CollidePolyAndEdge(this.m_manifold,this.m_fixtureA.GetShape()instanceof K?this.m_fixtureA.GetShape():null,j.m_xf,this.m_fixtureB.GetShape()instanceof G?this.m_fixtureB.GetShape():null,o.m_xf)};k.prototype.b2CollidePolyAndEdge=function(){};Box2D.inherit(z,Box2D.Dynamics.Contacts.b2Contact);z.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype;z.b2PolygonContact=
function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)};z.Create=function(){return new z};z.Destroy=function(){};z.prototype.Reset=function(j,o){this.__super.Reset.call(this,j,o)};z.prototype.Evaluate=function(){var j=this.m_fixtureA.GetBody(),o=this.m_fixtureB.GetBody();S.CollidePolygons(this.m_manifold,this.m_fixtureA.GetShape()instanceof K?this.m_fixtureA.GetShape():null,j.m_xf,this.m_fixtureB.GetShape()instanceof K?this.m_fixtureB.GetShape():null,o.m_xf)};u.b2PositionSolverManifold=
function(){};u.prototype.b2PositionSolverManifold=function(){this.m_normal=new N;this.m_separations=new Vector_a2j_Number(O.b2_maxManifoldPoints);this.m_points=new Vector(O.b2_maxManifoldPoints);for(var j=0;j<O.b2_maxManifoldPoints;j++)this.m_points[j]=new N};u.prototype.Initialize=function(j){O.b2Assert(j.pointCount>0);var o=0,q=0,n=0,a,c=0,g=0;switch(j.type){case Z.e_circles:a=j.bodyA.m_xf.R;n=j.localPoint;o=j.bodyA.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);q=j.bodyA.m_xf.position.y+(a.col1.y*
n.x+a.col2.y*n.y);a=j.bodyB.m_xf.R;n=j.points[0].localPoint;c=j.bodyB.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);a=j.bodyB.m_xf.position.y+(a.col1.y*n.x+a.col2.y*n.y);n=c-o;g=a-q;var b=n*n+g*g;if(b>Number.MIN_VALUE*Number.MIN_VALUE){b=Math.sqrt(b);this.m_normal.x=n/b;this.m_normal.y=g/b}else{this.m_normal.x=1;this.m_normal.y=0}this.m_points[0].x=0.5*(o+c);this.m_points[0].y=0.5*(q+a);this.m_separations[0]=n*this.m_normal.x+g*this.m_normal.y-j.radius;break;case Z.e_faceA:a=j.bodyA.m_xf.R;n=j.localPlaneNormal;
this.m_normal.x=a.col1.x*n.x+a.col2.x*n.y;this.m_normal.y=a.col1.y*n.x+a.col2.y*n.y;a=j.bodyA.m_xf.R;n=j.localPoint;c=j.bodyA.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);g=j.bodyA.m_xf.position.y+(a.col1.y*n.x+a.col2.y*n.y);a=j.bodyB.m_xf.R;for(o=0;o<j.pointCount;++o){n=j.points[o].localPoint;q=j.bodyB.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);n=j.bodyB.m_xf.position.y+(a.col1.y*n.x+a.col2.y*n.y);this.m_separations[o]=(q-c)*this.m_normal.x+(n-g)*this.m_normal.y-j.radius;this.m_points[o].x=q;this.m_points[o].y=
n}break;case Z.e_faceB:a=j.bodyB.m_xf.R;n=j.localPlaneNormal;this.m_normal.x=a.col1.x*n.x+a.col2.x*n.y;this.m_normal.y=a.col1.y*n.x+a.col2.y*n.y;a=j.bodyB.m_xf.R;n=j.localPoint;c=j.bodyB.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);g=j.bodyB.m_xf.position.y+(a.col1.y*n.x+a.col2.y*n.y);a=j.bodyA.m_xf.R;for(o=0;o<j.pointCount;++o){n=j.points[o].localPoint;q=j.bodyA.m_xf.position.x+(a.col1.x*n.x+a.col2.x*n.y);n=j.bodyA.m_xf.position.y+(a.col1.y*n.x+a.col2.y*n.y);this.m_separations[o]=(q-c)*this.m_normal.x+
(n-g)*this.m_normal.y-j.radius;this.m_points[o].Set(q,n)}this.m_normal.x*=-1;this.m_normal.y*=-1}};Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointA=new N;Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointB=new N})})();
(function(){var F=Box2D.Common.Math.b2Mat22,G=Box2D.Common.Math.b2Math,K=Box2D.Common.Math.b2Vec2,y=Box2D.Common.b2Color,w=Box2D.Dynamics.Controllers.b2BuoyancyController,A=Box2D.Dynamics.Controllers.b2ConstantAccelController,U=Box2D.Dynamics.Controllers.b2ConstantForceController,p=Box2D.Dynamics.Controllers.b2Controller,B=Box2D.Dynamics.Controllers.b2ControllerEdge,Q=Box2D.Dynamics.Controllers.b2GravityController,V=Box2D.Dynamics.Controllers.b2TensorDampingController;Box2D.inherit(w,Box2D.Dynamics.Controllers.b2Controller);
w.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype;w.b2BuoyancyController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments);this.normal=new K(0,-1);this.density=this.offset=0;this.velocity=new K(0,0);this.linearDrag=2;this.angularDrag=1;this.useDensity=false;this.useWorldGravity=true;this.gravity=null};w.prototype.Step=function(){if(this.m_bodyList){if(this.useWorldGravity)this.gravity=this.GetWorld().GetGravity().Copy();for(var M=this.m_bodyList;M;M=
M.nextBody){var L=M.body;if(L.IsAwake()!=false){for(var I=new K,W=new K,Y=0,k=0,z=L.GetFixtureList();z;z=z.GetNext()){var u=new K,D=z.GetShape().ComputeSubmergedArea(this.normal,this.offset,L.GetTransform(),u);Y+=D;I.x+=D*u.x;I.y+=D*u.y;var H=0;H=1;k+=D*H;W.x+=D*u.x*H;W.y+=D*u.y*H}I.x/=Y;I.y/=Y;W.x/=k;W.y/=k;if(!(Y<Number.MIN_VALUE)){k=this.gravity.GetNegative();k.Multiply(this.density*Y);L.ApplyForce(k,W);W=L.GetLinearVelocityFromWorldPoint(I);W.Subtract(this.velocity);W.Multiply(-this.linearDrag*
Y);L.ApplyForce(W,I);L.ApplyTorque(-L.GetInertia()/L.GetMass()*Y*L.GetAngularVelocity()*this.angularDrag)}}}}};w.prototype.Draw=function(M){var L=new K,I=new K;L.x=this.normal.x*this.offset+this.normal.y*1E3;L.y=this.normal.y*this.offset-this.normal.x*1E3;I.x=this.normal.x*this.offset-this.normal.y*1E3;I.y=this.normal.y*this.offset+this.normal.x*1E3;var W=new y(0,0,1);M.DrawSegment(L,I,W)};Box2D.inherit(A,Box2D.Dynamics.Controllers.b2Controller);A.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype;
A.b2ConstantAccelController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments);this.A=new K(0,0)};A.prototype.Step=function(M){M=new K(this.A.x*M.dt,this.A.y*M.dt);for(var L=this.m_bodyList;L;L=L.nextBody){var I=L.body;I.IsAwake()&&I.SetLinearVelocity(new K(I.GetLinearVelocity().x+M.x,I.GetLinearVelocity().y+M.y))}};Box2D.inherit(U,Box2D.Dynamics.Controllers.b2Controller);U.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype;U.b2ConstantForceController=
function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments);this.F=new K(0,0)};U.prototype.Step=function(){for(var M=this.m_bodyList;M;M=M.nextBody){var L=M.body;L.IsAwake()&&L.ApplyForce(this.F,L.GetWorldCenter())}};p.b2Controller=function(){};p.prototype.Step=function(){};p.prototype.Draw=function(){};p.prototype.AddBody=function(M){var L=new B;L.controller=this;L.body=M;L.nextBody=this.m_bodyList;L.prevBody=null;this.m_bodyList=L;if(L.nextBody)L.nextBody.prevBody=L;this.m_bodyCount++;
L.nextController=M.m_controllerList;L.prevController=null;M.m_controllerList=L;if(L.nextController)L.nextController.prevController=L;M.m_controllerCount++};p.prototype.RemoveBody=function(M){for(var L=M.m_controllerList;L&&L.controller!=this;)L=L.nextController;if(L.prevBody)L.prevBody.nextBody=L.nextBody;if(L.nextBody)L.nextBody.prevBody=L.prevBody;if(L.nextController)L.nextController.prevController=L.prevController;if(L.prevController)L.prevController.nextController=L.nextController;if(this.m_bodyList==
L)this.m_bodyList=L.nextBody;if(M.m_controllerList==L)M.m_controllerList=L.nextController;M.m_controllerCount--;this.m_bodyCount--};p.prototype.Clear=function(){for(;this.m_bodyList;)this.RemoveBody(this.m_bodyList.body)};p.prototype.GetNext=function(){return this.m_next};p.prototype.GetWorld=function(){return this.m_world};p.prototype.GetBodyList=function(){return this.m_bodyList};B.b2ControllerEdge=function(){};Box2D.inherit(Q,Box2D.Dynamics.Controllers.b2Controller);Q.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype;
Q.b2GravityController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments);this.G=1;this.invSqr=true};Q.prototype.Step=function(){var M=null,L=null,I=null,W=0,Y=null,k=null,z=null,u=0,D=0,H=0;u=null;if(this.invSqr)for(M=this.m_bodyList;M;M=M.nextBody){L=M.body;I=L.GetWorldCenter();W=L.GetMass();for(Y=this.m_bodyList;Y!=M;Y=Y.nextBody){k=Y.body;z=k.GetWorldCenter();u=z.x-I.x;D=z.y-I.y;H=u*u+D*D;if(!(H<Number.MIN_VALUE)){u=new K(u,D);u.Multiply(this.G/H/Math.sqrt(H)*
W*k.GetMass());L.IsAwake()&&L.ApplyForce(u,I);u.Multiply(-1);k.IsAwake()&&k.ApplyForce(u,z)}}}else for(M=this.m_bodyList;M;M=M.nextBody){L=M.body;I=L.GetWorldCenter();W=L.GetMass();for(Y=this.m_bodyList;Y!=M;Y=Y.nextBody){k=Y.body;z=k.GetWorldCenter();u=z.x-I.x;D=z.y-I.y;H=u*u+D*D;if(!(H<Number.MIN_VALUE)){u=new K(u,D);u.Multiply(this.G/H*W*k.GetMass());L.IsAwake()&&L.ApplyForce(u,I);u.Multiply(-1);k.IsAwake()&&k.ApplyForce(u,z)}}}};Box2D.inherit(V,Box2D.Dynamics.Controllers.b2Controller);V.prototype.__super=
Box2D.Dynamics.Controllers.b2Controller.prototype;V.b2TensorDampingController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments);this.T=new F;this.maxTimestep=0};V.prototype.SetAxisAligned=function(M,L){if(M===undefined)M=0;if(L===undefined)L=0;this.T.col1.x=-M;this.T.col1.y=0;this.T.col2.x=0;this.T.col2.y=-L;this.maxTimestep=M>0||L>0?1/Math.max(M,L):0};V.prototype.Step=function(M){M=M.dt;if(!(M<=Number.MIN_VALUE)){if(M>this.maxTimestep&&this.maxTimestep>0)M=this.maxTimestep;
for(var L=this.m_bodyList;L;L=L.nextBody){var I=L.body;if(I.IsAwake()){var W=I.GetWorldVector(G.MulMV(this.T,I.GetLocalVector(I.GetLinearVelocity())));I.SetLinearVelocity(new K(I.GetLinearVelocity().x+W.x*M,I.GetLinearVelocity().y+W.y*M))}}}}})();
(function(){var F=Box2D.Common.b2Settings,G=Box2D.Common.Math.b2Mat22,K=Box2D.Common.Math.b2Mat33,y=Box2D.Common.Math.b2Math,w=Box2D.Common.Math.b2Vec2,A=Box2D.Common.Math.b2Vec3,U=Box2D.Dynamics.Joints.b2DistanceJoint,p=Box2D.Dynamics.Joints.b2DistanceJointDef,B=Box2D.Dynamics.Joints.b2FrictionJoint,Q=Box2D.Dynamics.Joints.b2FrictionJointDef,V=Box2D.Dynamics.Joints.b2GearJoint,M=Box2D.Dynamics.Joints.b2GearJointDef,L=Box2D.Dynamics.Joints.b2Jacobian,I=Box2D.Dynamics.Joints.b2Joint,W=Box2D.Dynamics.Joints.b2JointDef,
Y=Box2D.Dynamics.Joints.b2JointEdge,k=Box2D.Dynamics.Joints.b2LineJoint,z=Box2D.Dynamics.Joints.b2LineJointDef,u=Box2D.Dynamics.Joints.b2MouseJoint,D=Box2D.Dynamics.Joints.b2MouseJointDef,H=Box2D.Dynamics.Joints.b2PrismaticJoint,O=Box2D.Dynamics.Joints.b2PrismaticJointDef,E=Box2D.Dynamics.Joints.b2PulleyJoint,R=Box2D.Dynamics.Joints.b2PulleyJointDef,N=Box2D.Dynamics.Joints.b2RevoluteJoint,S=Box2D.Dynamics.Joints.b2RevoluteJointDef,aa=Box2D.Dynamics.Joints.b2WeldJoint,Z=Box2D.Dynamics.Joints.b2WeldJointDef;
Box2D.inherit(U,Box2D.Dynamics.Joints.b2Joint);U.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;U.b2DistanceJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_u=new w};U.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};U.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};U.prototype.GetReactionForce=function(d){if(d===undefined)d=
0;return new w(d*this.m_impulse*this.m_u.x,d*this.m_impulse*this.m_u.y)};U.prototype.GetReactionTorque=function(){return 0};U.prototype.GetLength=function(){return this.m_length};U.prototype.SetLength=function(d){if(d===undefined)d=0;this.m_length=d};U.prototype.GetFrequency=function(){return this.m_frequencyHz};U.prototype.SetFrequency=function(d){if(d===undefined)d=0;this.m_frequencyHz=d};U.prototype.GetDampingRatio=function(){return this.m_dampingRatio};U.prototype.SetDampingRatio=function(d){if(d===
undefined)d=0;this.m_dampingRatio=d};U.prototype.b2DistanceJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_length=d.length;this.m_frequencyHz=d.frequencyHz;this.m_dampingRatio=d.dampingRatio;this.m_bias=this.m_gamma=this.m_impulse=0};U.prototype.InitVelocityConstraints=function(d){var h,l=0,j=this.m_bodyA,o=this.m_bodyB;h=j.m_xf.R;var q=this.m_localAnchor1.x-j.m_sweep.localCenter.x,n=this.m_localAnchor1.y-
j.m_sweep.localCenter.y;l=h.col1.x*q+h.col2.x*n;n=h.col1.y*q+h.col2.y*n;q=l;h=o.m_xf.R;var a=this.m_localAnchor2.x-o.m_sweep.localCenter.x,c=this.m_localAnchor2.y-o.m_sweep.localCenter.y;l=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=l;this.m_u.x=o.m_sweep.c.x+a-j.m_sweep.c.x-q;this.m_u.y=o.m_sweep.c.y+c-j.m_sweep.c.y-n;l=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);l>F.b2_linearSlop?this.m_u.Multiply(1/l):this.m_u.SetZero();h=q*this.m_u.y-n*this.m_u.x;var g=a*this.m_u.y-c*this.m_u.x;
h=j.m_invMass+j.m_invI*h*h+o.m_invMass+o.m_invI*g*g;this.m_mass=h!=0?1/h:0;if(this.m_frequencyHz>0){l=l-this.m_length;g=2*Math.PI*this.m_frequencyHz;var b=this.m_mass*g*g;this.m_gamma=d.dt*(2*this.m_mass*this.m_dampingRatio*g+d.dt*b);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_bias=l*d.dt*b*this.m_gamma;this.m_mass=h+this.m_gamma;this.m_mass=this.m_mass!=0?1/this.m_mass:0}if(d.warmStarting){this.m_impulse*=d.dtRatio;d=this.m_impulse*this.m_u.x;h=this.m_impulse*this.m_u.y;j.m_linearVelocity.x-=
j.m_invMass*d;j.m_linearVelocity.y-=j.m_invMass*h;j.m_angularVelocity-=j.m_invI*(q*h-n*d);o.m_linearVelocity.x+=o.m_invMass*d;o.m_linearVelocity.y+=o.m_invMass*h;o.m_angularVelocity+=o.m_invI*(a*h-c*d)}else this.m_impulse=0};U.prototype.SolveVelocityConstraints=function(){var d,h=this.m_bodyA,l=this.m_bodyB;d=h.m_xf.R;var j=this.m_localAnchor1.x-h.m_sweep.localCenter.x,o=this.m_localAnchor1.y-h.m_sweep.localCenter.y,q=d.col1.x*j+d.col2.x*o;o=d.col1.y*j+d.col2.y*o;j=q;d=l.m_xf.R;var n=this.m_localAnchor2.x-
l.m_sweep.localCenter.x,a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;q=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=q;q=-this.m_mass*(this.m_u.x*(l.m_linearVelocity.x+-l.m_angularVelocity*a-(h.m_linearVelocity.x+-h.m_angularVelocity*o))+this.m_u.y*(l.m_linearVelocity.y+l.m_angularVelocity*n-(h.m_linearVelocity.y+h.m_angularVelocity*j))+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=q;d=q*this.m_u.x;q=q*this.m_u.y;h.m_linearVelocity.x-=h.m_invMass*d;h.m_linearVelocity.y-=h.m_invMass*
q;h.m_angularVelocity-=h.m_invI*(j*q-o*d);l.m_linearVelocity.x+=l.m_invMass*d;l.m_linearVelocity.y+=l.m_invMass*q;l.m_angularVelocity+=l.m_invI*(n*q-a*d)};U.prototype.SolvePositionConstraints=function(){var d;if(this.m_frequencyHz>0)return true;var h=this.m_bodyA,l=this.m_bodyB;d=h.m_xf.R;var j=this.m_localAnchor1.x-h.m_sweep.localCenter.x,o=this.m_localAnchor1.y-h.m_sweep.localCenter.y,q=d.col1.x*j+d.col2.x*o;o=d.col1.y*j+d.col2.y*o;j=q;d=l.m_xf.R;var n=this.m_localAnchor2.x-l.m_sweep.localCenter.x,
a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;q=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=q;q=l.m_sweep.c.x+n-h.m_sweep.c.x-j;var c=l.m_sweep.c.y+a-h.m_sweep.c.y-o;d=Math.sqrt(q*q+c*c);q/=d;c/=d;d=d-this.m_length;d=y.Clamp(d,-F.b2_maxLinearCorrection,F.b2_maxLinearCorrection);var g=-this.m_mass*d;this.m_u.Set(q,c);q=g*this.m_u.x;c=g*this.m_u.y;h.m_sweep.c.x-=h.m_invMass*q;h.m_sweep.c.y-=h.m_invMass*c;h.m_sweep.a-=h.m_invI*(j*c-o*q);l.m_sweep.c.x+=l.m_invMass*q;l.m_sweep.c.y+=l.m_invMass*c;
l.m_sweep.a+=l.m_invI*(n*c-a*q);h.SynchronizeTransform();l.SynchronizeTransform();return y.Abs(d)<F.b2_linearSlop};Box2D.inherit(p,Box2D.Dynamics.Joints.b2JointDef);p.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;p.b2DistanceJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w};p.prototype.b2DistanceJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_distanceJoint;this.length=1;this.dampingRatio=
this.frequencyHz=0};p.prototype.Initialize=function(d,h,l,j){this.bodyA=d;this.bodyB=h;this.localAnchorA.SetV(this.bodyA.GetLocalPoint(l));this.localAnchorB.SetV(this.bodyB.GetLocalPoint(j));d=j.x-l.x;l=j.y-l.y;this.length=Math.sqrt(d*d+l*l);this.dampingRatio=this.frequencyHz=0};Box2D.inherit(B,Box2D.Dynamics.Joints.b2Joint);B.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;B.b2FrictionJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchorA=new w;
this.m_localAnchorB=new w;this.m_linearMass=new G;this.m_linearImpulse=new w};B.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)};B.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)};B.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*this.m_linearImpulse.x,d*this.m_linearImpulse.y)};B.prototype.GetReactionTorque=function(d){if(d===undefined)d=0;return d*this.m_angularImpulse};B.prototype.SetMaxForce=
function(d){if(d===undefined)d=0;this.m_maxForce=d};B.prototype.GetMaxForce=function(){return this.m_maxForce};B.prototype.SetMaxTorque=function(d){if(d===undefined)d=0;this.m_maxTorque=d};B.prototype.GetMaxTorque=function(){return this.m_maxTorque};B.prototype.b2FrictionJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchorA.SetV(d.localAnchorA);this.m_localAnchorB.SetV(d.localAnchorB);this.m_linearMass.SetZero();this.m_angularMass=0;this.m_linearImpulse.SetZero();this.m_angularImpulse=
0;this.m_maxForce=d.maxForce;this.m_maxTorque=d.maxTorque};B.prototype.InitVelocityConstraints=function(d){var h,l=0,j=this.m_bodyA,o=this.m_bodyB;h=j.m_xf.R;var q=this.m_localAnchorA.x-j.m_sweep.localCenter.x,n=this.m_localAnchorA.y-j.m_sweep.localCenter.y;l=h.col1.x*q+h.col2.x*n;n=h.col1.y*q+h.col2.y*n;q=l;h=o.m_xf.R;var a=this.m_localAnchorB.x-o.m_sweep.localCenter.x,c=this.m_localAnchorB.y-o.m_sweep.localCenter.y;l=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=l;h=j.m_invMass;l=o.m_invMass;
var g=j.m_invI,b=o.m_invI,e=new G;e.col1.x=h+l;e.col2.x=0;e.col1.y=0;e.col2.y=h+l;e.col1.x+=g*n*n;e.col2.x+=-g*q*n;e.col1.y+=-g*q*n;e.col2.y+=g*q*q;e.col1.x+=b*c*c;e.col2.x+=-b*a*c;e.col1.y+=-b*a*c;e.col2.y+=b*a*a;e.GetInverse(this.m_linearMass);this.m_angularMass=g+b;if(this.m_angularMass>0)this.m_angularMass=1/this.m_angularMass;if(d.warmStarting){this.m_linearImpulse.x*=d.dtRatio;this.m_linearImpulse.y*=d.dtRatio;this.m_angularImpulse*=d.dtRatio;d=this.m_linearImpulse;j.m_linearVelocity.x-=h*d.x;
j.m_linearVelocity.y-=h*d.y;j.m_angularVelocity-=g*(q*d.y-n*d.x+this.m_angularImpulse);o.m_linearVelocity.x+=l*d.x;o.m_linearVelocity.y+=l*d.y;o.m_angularVelocity+=b*(a*d.y-c*d.x+this.m_angularImpulse)}else{this.m_linearImpulse.SetZero();this.m_angularImpulse=0}};B.prototype.SolveVelocityConstraints=function(d){var h,l=0,j=this.m_bodyA,o=this.m_bodyB,q=j.m_linearVelocity,n=j.m_angularVelocity,a=o.m_linearVelocity,c=o.m_angularVelocity,g=j.m_invMass,b=o.m_invMass,e=j.m_invI,f=o.m_invI;h=j.m_xf.R;var m=
this.m_localAnchorA.x-j.m_sweep.localCenter.x,r=this.m_localAnchorA.y-j.m_sweep.localCenter.y;l=h.col1.x*m+h.col2.x*r;r=h.col1.y*m+h.col2.y*r;m=l;h=o.m_xf.R;var s=this.m_localAnchorB.x-o.m_sweep.localCenter.x,v=this.m_localAnchorB.y-o.m_sweep.localCenter.y;l=h.col1.x*s+h.col2.x*v;v=h.col1.y*s+h.col2.y*v;s=l;h=0;l=-this.m_angularMass*(c-n);var t=this.m_angularImpulse;h=d.dt*this.m_maxTorque;this.m_angularImpulse=y.Clamp(this.m_angularImpulse+l,-h,h);l=this.m_angularImpulse-t;n-=e*l;c+=f*l;h=y.MulMV(this.m_linearMass,
new w(-(a.x-c*v-q.x+n*r),-(a.y+c*s-q.y-n*m)));l=this.m_linearImpulse.Copy();this.m_linearImpulse.Add(h);h=d.dt*this.m_maxForce;if(this.m_linearImpulse.LengthSquared()>h*h){this.m_linearImpulse.Normalize();this.m_linearImpulse.Multiply(h)}h=y.SubtractVV(this.m_linearImpulse,l);q.x-=g*h.x;q.y-=g*h.y;n-=e*(m*h.y-r*h.x);a.x+=b*h.x;a.y+=b*h.y;c+=f*(s*h.y-v*h.x);j.m_angularVelocity=n;o.m_angularVelocity=c};B.prototype.SolvePositionConstraints=function(){return true};Box2D.inherit(Q,Box2D.Dynamics.Joints.b2JointDef);
Q.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;Q.b2FrictionJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w};Q.prototype.b2FrictionJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_frictionJoint;this.maxTorque=this.maxForce=0};Q.prototype.Initialize=function(d,h,l){this.bodyA=d;this.bodyB=h;this.localAnchorA.SetV(this.bodyA.GetLocalPoint(l));this.localAnchorB.SetV(this.bodyB.GetLocalPoint(l))};
Box2D.inherit(V,Box2D.Dynamics.Joints.b2Joint);V.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;V.b2GearJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_groundAnchor1=new w;this.m_groundAnchor2=new w;this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_J=new L};V.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};V.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};V.prototype.GetReactionForce=
function(d){if(d===undefined)d=0;return new w(d*this.m_impulse*this.m_J.linearB.x,d*this.m_impulse*this.m_J.linearB.y)};V.prototype.GetReactionTorque=function(d){if(d===undefined)d=0;var h=this.m_bodyB.m_xf.R,l=this.m_localAnchor1.x-this.m_bodyB.m_sweep.localCenter.x,j=this.m_localAnchor1.y-this.m_bodyB.m_sweep.localCenter.y,o=h.col1.x*l+h.col2.x*j;j=h.col1.y*l+h.col2.y*j;l=o;return d*(this.m_impulse*this.m_J.angularB-l*this.m_impulse*this.m_J.linearB.y+j*this.m_impulse*this.m_J.linearB.x)};V.prototype.GetRatio=
function(){return this.m_ratio};V.prototype.SetRatio=function(d){if(d===undefined)d=0;this.m_ratio=d};V.prototype.b2GearJoint=function(d){this.__super.b2Joint.call(this,d);var h=parseInt(d.joint1.m_type),l=parseInt(d.joint2.m_type);this.m_prismatic2=this.m_revolute2=this.m_prismatic1=this.m_revolute1=null;var j=0,o=0;this.m_ground1=d.joint1.GetBodyA();this.m_bodyA=d.joint1.GetBodyB();if(h==I.e_revoluteJoint){this.m_revolute1=d.joint1 instanceof N?d.joint1:null;this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);
this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);j=this.m_revolute1.GetJointAngle()}else{this.m_prismatic1=d.joint1 instanceof H?d.joint1:null;this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);j=this.m_prismatic1.GetJointTranslation()}this.m_ground2=d.joint2.GetBodyA();this.m_bodyB=d.joint2.GetBodyB();if(l==I.e_revoluteJoint){this.m_revolute2=d.joint2 instanceof N?d.joint2:null;this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);
this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);o=this.m_revolute2.GetJointAngle()}else{this.m_prismatic2=d.joint2 instanceof H?d.joint2:null;this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);o=this.m_prismatic2.GetJointTranslation()}this.m_ratio=d.ratio;this.m_constant=j+this.m_ratio*o;this.m_impulse=0};V.prototype.InitVelocityConstraints=function(d){var h=this.m_ground1,l=this.m_ground2,j=this.m_bodyA,o=this.m_bodyB,
q=0,n=0,a=0,c=0,g=a=0,b=0;this.m_J.SetZero();if(this.m_revolute1){this.m_J.angularA=-1;b+=j.m_invI}else{h=h.m_xf.R;n=this.m_prismatic1.m_localXAxis1;q=h.col1.x*n.x+h.col2.x*n.y;n=h.col1.y*n.x+h.col2.y*n.y;h=j.m_xf.R;a=this.m_localAnchor1.x-j.m_sweep.localCenter.x;c=this.m_localAnchor1.y-j.m_sweep.localCenter.y;g=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=g;a=a*n-c*q;this.m_J.linearA.Set(-q,-n);this.m_J.angularA=-a;b+=j.m_invMass+j.m_invI*a*a}if(this.m_revolute2){this.m_J.angularB=-this.m_ratio;
b+=this.m_ratio*this.m_ratio*o.m_invI}else{h=l.m_xf.R;n=this.m_prismatic2.m_localXAxis1;q=h.col1.x*n.x+h.col2.x*n.y;n=h.col1.y*n.x+h.col2.y*n.y;h=o.m_xf.R;a=this.m_localAnchor2.x-o.m_sweep.localCenter.x;c=this.m_localAnchor2.y-o.m_sweep.localCenter.y;g=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=g;a=a*n-c*q;this.m_J.linearB.Set(-this.m_ratio*q,-this.m_ratio*n);this.m_J.angularB=-this.m_ratio*a;b+=this.m_ratio*this.m_ratio*(o.m_invMass+o.m_invI*a*a)}this.m_mass=b>0?1/b:0;if(d.warmStarting){j.m_linearVelocity.x+=
j.m_invMass*this.m_impulse*this.m_J.linearA.x;j.m_linearVelocity.y+=j.m_invMass*this.m_impulse*this.m_J.linearA.y;j.m_angularVelocity+=j.m_invI*this.m_impulse*this.m_J.angularA;o.m_linearVelocity.x+=o.m_invMass*this.m_impulse*this.m_J.linearB.x;o.m_linearVelocity.y+=o.m_invMass*this.m_impulse*this.m_J.linearB.y;o.m_angularVelocity+=o.m_invI*this.m_impulse*this.m_J.angularB}else this.m_impulse=0};V.prototype.SolveVelocityConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l=-this.m_mass*this.m_J.Compute(d.m_linearVelocity,
d.m_angularVelocity,h.m_linearVelocity,h.m_angularVelocity);this.m_impulse+=l;d.m_linearVelocity.x+=d.m_invMass*l*this.m_J.linearA.x;d.m_linearVelocity.y+=d.m_invMass*l*this.m_J.linearA.y;d.m_angularVelocity+=d.m_invI*l*this.m_J.angularA;h.m_linearVelocity.x+=h.m_invMass*l*this.m_J.linearB.x;h.m_linearVelocity.y+=h.m_invMass*l*this.m_J.linearB.y;h.m_angularVelocity+=h.m_invI*l*this.m_J.angularB};V.prototype.SolvePositionConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l=0,j=0;l=this.m_revolute1?
this.m_revolute1.GetJointAngle():this.m_prismatic1.GetJointTranslation();j=this.m_revolute2?this.m_revolute2.GetJointAngle():this.m_prismatic2.GetJointTranslation();l=-this.m_mass*(this.m_constant-(l+this.m_ratio*j));d.m_sweep.c.x+=d.m_invMass*l*this.m_J.linearA.x;d.m_sweep.c.y+=d.m_invMass*l*this.m_J.linearA.y;d.m_sweep.a+=d.m_invI*l*this.m_J.angularA;h.m_sweep.c.x+=h.m_invMass*l*this.m_J.linearB.x;h.m_sweep.c.y+=h.m_invMass*l*this.m_J.linearB.y;h.m_sweep.a+=h.m_invI*l*this.m_J.angularB;d.SynchronizeTransform();
h.SynchronizeTransform();return 0<F.b2_linearSlop};Box2D.inherit(M,Box2D.Dynamics.Joints.b2JointDef);M.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;M.b2GearJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments)};M.prototype.b2GearJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_gearJoint;this.joint2=this.joint1=null;this.ratio=1};L.b2Jacobian=function(){this.linearA=new w;this.linearB=new w};L.prototype.SetZero=function(){this.linearA.SetZero();
this.angularA=0;this.linearB.SetZero();this.angularB=0};L.prototype.Set=function(d,h,l,j){if(h===undefined)h=0;if(j===undefined)j=0;this.linearA.SetV(d);this.angularA=h;this.linearB.SetV(l);this.angularB=j};L.prototype.Compute=function(d,h,l,j){if(h===undefined)h=0;if(j===undefined)j=0;return this.linearA.x*d.x+this.linearA.y*d.y+this.angularA*h+(this.linearB.x*l.x+this.linearB.y*l.y)+this.angularB*j};I.b2Joint=function(){this.m_edgeA=new Y;this.m_edgeB=new Y;this.m_localCenterA=new w;this.m_localCenterB=
new w};I.prototype.GetType=function(){return this.m_type};I.prototype.GetAnchorA=function(){return null};I.prototype.GetAnchorB=function(){return null};I.prototype.GetReactionForce=function(){return null};I.prototype.GetReactionTorque=function(){return 0};I.prototype.GetBodyA=function(){return this.m_bodyA};I.prototype.GetBodyB=function(){return this.m_bodyB};I.prototype.GetNext=function(){return this.m_next};I.prototype.GetUserData=function(){return this.m_userData};I.prototype.SetUserData=function(d){this.m_userData=
d};I.prototype.IsActive=function(){return this.m_bodyA.IsActive()&&this.m_bodyB.IsActive()};I.Create=function(d){var h=null;switch(d.type){case I.e_distanceJoint:h=new U(d instanceof p?d:null);break;case I.e_mouseJoint:h=new u(d instanceof D?d:null);break;case I.e_prismaticJoint:h=new H(d instanceof O?d:null);break;case I.e_revoluteJoint:h=new N(d instanceof S?d:null);break;case I.e_pulleyJoint:h=new E(d instanceof R?d:null);break;case I.e_gearJoint:h=new V(d instanceof M?d:null);break;case I.e_lineJoint:h=
new k(d instanceof z?d:null);break;case I.e_weldJoint:h=new aa(d instanceof Z?d:null);break;case I.e_frictionJoint:h=new B(d instanceof Q?d:null)}return h};I.Destroy=function(){};I.prototype.b2Joint=function(d){F.b2Assert(d.bodyA!=d.bodyB);this.m_type=d.type;this.m_next=this.m_prev=null;this.m_bodyA=d.bodyA;this.m_bodyB=d.bodyB;this.m_collideConnected=d.collideConnected;this.m_islandFlag=false;this.m_userData=d.userData};I.prototype.InitVelocityConstraints=function(){};I.prototype.SolveVelocityConstraints=
function(){};I.prototype.FinalizeVelocityConstraints=function(){};I.prototype.SolvePositionConstraints=function(){return false};Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2Joint.e_unknownJoint=0;Box2D.Dynamics.Joints.b2Joint.e_revoluteJoint=1;Box2D.Dynamics.Joints.b2Joint.e_prismaticJoint=2;Box2D.Dynamics.Joints.b2Joint.e_distanceJoint=3;Box2D.Dynamics.Joints.b2Joint.e_pulleyJoint=4;Box2D.Dynamics.Joints.b2Joint.e_mouseJoint=5;Box2D.Dynamics.Joints.b2Joint.e_gearJoint=6;Box2D.Dynamics.Joints.b2Joint.e_lineJoint=
7;Box2D.Dynamics.Joints.b2Joint.e_weldJoint=8;Box2D.Dynamics.Joints.b2Joint.e_frictionJoint=9;Box2D.Dynamics.Joints.b2Joint.e_inactiveLimit=0;Box2D.Dynamics.Joints.b2Joint.e_atLowerLimit=1;Box2D.Dynamics.Joints.b2Joint.e_atUpperLimit=2;Box2D.Dynamics.Joints.b2Joint.e_equalLimits=3});W.b2JointDef=function(){};W.prototype.b2JointDef=function(){this.type=I.e_unknownJoint;this.bodyB=this.bodyA=this.userData=null;this.collideConnected=false};Y.b2JointEdge=function(){};Box2D.inherit(k,Box2D.Dynamics.Joints.b2Joint);
k.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;k.b2LineJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_localXAxis1=new w;this.m_localYAxis1=new w;this.m_axis=new w;this.m_perp=new w;this.m_K=new G;this.m_impulse=new w};k.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};k.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};k.prototype.GetReactionForce=
function(d){if(d===undefined)d=0;return new w(d*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.x),d*(this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.y))};k.prototype.GetReactionTorque=function(d){if(d===undefined)d=0;return d*this.m_impulse.y};k.prototype.GetJointTranslation=function(){var d=this.m_bodyA,h=this.m_bodyB,l=d.GetWorldPoint(this.m_localAnchor1),j=h.GetWorldPoint(this.m_localAnchor2);h=j.x-l.x;l=j.y-l.y;d=d.GetWorldVector(this.m_localXAxis1);
return d.x*h+d.y*l};k.prototype.GetJointSpeed=function(){var d=this.m_bodyA,h=this.m_bodyB,l;l=d.m_xf.R;var j=this.m_localAnchor1.x-d.m_sweep.localCenter.x,o=this.m_localAnchor1.y-d.m_sweep.localCenter.y,q=l.col1.x*j+l.col2.x*o;o=l.col1.y*j+l.col2.y*o;j=q;l=h.m_xf.R;var n=this.m_localAnchor2.x-h.m_sweep.localCenter.x,a=this.m_localAnchor2.y-h.m_sweep.localCenter.y;q=l.col1.x*n+l.col2.x*a;a=l.col1.y*n+l.col2.y*a;n=q;l=h.m_sweep.c.x+n-(d.m_sweep.c.x+j);q=h.m_sweep.c.y+a-(d.m_sweep.c.y+o);var c=d.GetWorldVector(this.m_localXAxis1),
g=d.m_linearVelocity,b=h.m_linearVelocity;d=d.m_angularVelocity;h=h.m_angularVelocity;return l*-d*c.y+q*d*c.x+(c.x*(b.x+-h*a-g.x- -d*o)+c.y*(b.y+h*n-g.y-d*j))};k.prototype.IsLimitEnabled=function(){return this.m_enableLimit};k.prototype.EnableLimit=function(d){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableLimit=d};k.prototype.GetLowerLimit=function(){return this.m_lowerTranslation};k.prototype.GetUpperLimit=function(){return this.m_upperTranslation};k.prototype.SetLimits=function(d,
h){if(d===undefined)d=0;if(h===undefined)h=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_lowerTranslation=d;this.m_upperTranslation=h};k.prototype.IsMotorEnabled=function(){return this.m_enableMotor};k.prototype.EnableMotor=function(d){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableMotor=d};k.prototype.SetMotorSpeed=function(d){if(d===undefined)d=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_motorSpeed=d};k.prototype.GetMotorSpeed=function(){return this.m_motorSpeed};
k.prototype.SetMaxMotorForce=function(d){if(d===undefined)d=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_maxMotorForce=d};k.prototype.GetMaxMotorForce=function(){return this.m_maxMotorForce};k.prototype.GetMotorForce=function(){return this.m_motorImpulse};k.prototype.b2LineJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_localXAxis1.SetV(d.localAxisA);this.m_localYAxis1.x=-this.m_localXAxis1.y;
this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_impulse.SetZero();this.m_motorImpulse=this.m_motorMass=0;this.m_lowerTranslation=d.lowerTranslation;this.m_upperTranslation=d.upperTranslation;this.m_maxMotorForce=d.maxMotorForce;this.m_motorSpeed=d.motorSpeed;this.m_enableLimit=d.enableLimit;this.m_enableMotor=d.enableMotor;this.m_limitState=I.e_inactiveLimit;this.m_axis.SetZero();this.m_perp.SetZero()};k.prototype.InitVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j,o=0;this.m_localCenterA.SetV(h.GetLocalCenter());
this.m_localCenterB.SetV(l.GetLocalCenter());var q=h.GetTransform();l.GetTransform();j=h.m_xf.R;var n=this.m_localAnchor1.x-this.m_localCenterA.x,a=this.m_localAnchor1.y-this.m_localCenterA.y;o=j.col1.x*n+j.col2.x*a;a=j.col1.y*n+j.col2.y*a;n=o;j=l.m_xf.R;var c=this.m_localAnchor2.x-this.m_localCenterB.x,g=this.m_localAnchor2.y-this.m_localCenterB.y;o=j.col1.x*c+j.col2.x*g;g=j.col1.y*c+j.col2.y*g;c=o;j=l.m_sweep.c.x+c-h.m_sweep.c.x-n;o=l.m_sweep.c.y+g-h.m_sweep.c.y-a;this.m_invMassA=h.m_invMass;this.m_invMassB=
l.m_invMass;this.m_invIA=h.m_invI;this.m_invIB=l.m_invI;this.m_axis.SetV(y.MulMV(q.R,this.m_localXAxis1));this.m_a1=(j+n)*this.m_axis.y-(o+a)*this.m_axis.x;this.m_a2=c*this.m_axis.y-g*this.m_axis.x;this.m_motorMass=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_a1*this.m_a1+this.m_invIB*this.m_a2*this.m_a2;this.m_motorMass=this.m_motorMass>Number.MIN_VALUE?1/this.m_motorMass:0;this.m_perp.SetV(y.MulMV(q.R,this.m_localYAxis1));this.m_s1=(j+n)*this.m_perp.y-(o+a)*this.m_perp.x;this.m_s2=c*this.m_perp.y-
g*this.m_perp.x;q=this.m_invMassA;n=this.m_invMassB;a=this.m_invIA;c=this.m_invIB;this.m_K.col1.x=q+n+a*this.m_s1*this.m_s1+c*this.m_s2*this.m_s2;this.m_K.col1.y=a*this.m_s1*this.m_a1+c*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=q+n+a*this.m_a1*this.m_a1+c*this.m_a2*this.m_a2;if(this.m_enableLimit){j=this.m_axis.x*j+this.m_axis.y*o;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop)this.m_limitState=I.e_equalLimits;else if(j<=this.m_lowerTranslation){if(this.m_limitState!=
I.e_atLowerLimit){this.m_limitState=I.e_atLowerLimit;this.m_impulse.y=0}}else if(j>=this.m_upperTranslation){if(this.m_limitState!=I.e_atUpperLimit){this.m_limitState=I.e_atUpperLimit;this.m_impulse.y=0}}else{this.m_limitState=I.e_inactiveLimit;this.m_impulse.y=0}}else this.m_limitState=I.e_inactiveLimit;if(this.m_enableMotor==false)this.m_motorImpulse=0;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_motorImpulse*=d.dtRatio;d=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+
this.m_impulse.y)*this.m_axis.x;j=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.y;o=this.m_impulse.x*this.m_s1+(this.m_motorImpulse+this.m_impulse.y)*this.m_a1;q=this.m_impulse.x*this.m_s2+(this.m_motorImpulse+this.m_impulse.y)*this.m_a2;h.m_linearVelocity.x-=this.m_invMassA*d;h.m_linearVelocity.y-=this.m_invMassA*j;h.m_angularVelocity-=this.m_invIA*o;l.m_linearVelocity.x+=this.m_invMassB*d;l.m_linearVelocity.y+=this.m_invMassB*j;l.m_angularVelocity+=this.m_invIB*
q}else{this.m_impulse.SetZero();this.m_motorImpulse=0}};k.prototype.SolveVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j=h.m_linearVelocity,o=h.m_angularVelocity,q=l.m_linearVelocity,n=l.m_angularVelocity,a=0,c=0,g=0,b=0;if(this.m_enableMotor&&this.m_limitState!=I.e_equalLimits){b=this.m_motorMass*(this.m_motorSpeed-(this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o));a=this.m_motorImpulse;c=d.dt*this.m_maxMotorForce;this.m_motorImpulse=y.Clamp(this.m_motorImpulse+
b,-c,c);b=this.m_motorImpulse-a;a=b*this.m_axis.x;c=b*this.m_axis.y;g=b*this.m_a1;b=b*this.m_a2;j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b}c=this.m_perp.x*(q.x-j.x)+this.m_perp.y*(q.y-j.y)+this.m_s2*n-this.m_s1*o;if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){g=this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o;a=this.m_impulse.Copy();d=this.m_K.Solve(new w,-c,-g);this.m_impulse.Add(d);
if(this.m_limitState==I.e_atLowerLimit)this.m_impulse.y=y.Max(this.m_impulse.y,0);else if(this.m_limitState==I.e_atUpperLimit)this.m_impulse.y=y.Min(this.m_impulse.y,0);c=-c-(this.m_impulse.y-a.y)*this.m_K.col2.x;g=0;g=this.m_K.col1.x!=0?c/this.m_K.col1.x+a.x:a.x;this.m_impulse.x=g;d.x=this.m_impulse.x-a.x;d.y=this.m_impulse.y-a.y;a=d.x*this.m_perp.x+d.y*this.m_axis.x;c=d.x*this.m_perp.y+d.y*this.m_axis.y;g=d.x*this.m_s1+d.y*this.m_a1;b=d.x*this.m_s2+d.y*this.m_a2}else{d=0;d=this.m_K.col1.x!=0?-c/
this.m_K.col1.x:0;this.m_impulse.x+=d;a=d*this.m_perp.x;c=d*this.m_perp.y;g=d*this.m_s1;b=d*this.m_s2}j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b;h.m_linearVelocity.SetV(j);h.m_angularVelocity=o;l.m_linearVelocity.SetV(q);l.m_angularVelocity=n};k.prototype.SolvePositionConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l=d.m_sweep.c,j=d.m_sweep.a,o=h.m_sweep.c,q=h.m_sweep.a,n,a=0,c=0,g=0,b=0,e=n=0,f=0;c=false;
var m=0,r=G.FromAngle(j);g=G.FromAngle(q);n=r;f=this.m_localAnchor1.x-this.m_localCenterA.x;var s=this.m_localAnchor1.y-this.m_localCenterA.y;a=n.col1.x*f+n.col2.x*s;s=n.col1.y*f+n.col2.y*s;f=a;n=g;g=this.m_localAnchor2.x-this.m_localCenterB.x;b=this.m_localAnchor2.y-this.m_localCenterB.y;a=n.col1.x*g+n.col2.x*b;b=n.col1.y*g+n.col2.y*b;g=a;n=o.x+g-l.x-f;a=o.y+b-l.y-s;if(this.m_enableLimit){this.m_axis=y.MulMV(r,this.m_localXAxis1);this.m_a1=(n+f)*this.m_axis.y-(a+s)*this.m_axis.x;this.m_a2=g*this.m_axis.y-
b*this.m_axis.x;var v=this.m_axis.x*n+this.m_axis.y*a;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop){m=y.Clamp(v,-F.b2_maxLinearCorrection,F.b2_maxLinearCorrection);e=y.Abs(v);c=true}else if(v<=this.m_lowerTranslation){m=y.Clamp(v-this.m_lowerTranslation+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);e=this.m_lowerTranslation-v;c=true}else if(v>=this.m_upperTranslation){m=y.Clamp(v-this.m_upperTranslation+F.b2_linearSlop,0,F.b2_maxLinearCorrection);e=v-this.m_upperTranslation;
c=true}}this.m_perp=y.MulMV(r,this.m_localYAxis1);this.m_s1=(n+f)*this.m_perp.y-(a+s)*this.m_perp.x;this.m_s2=g*this.m_perp.y-b*this.m_perp.x;r=new w;s=this.m_perp.x*n+this.m_perp.y*a;e=y.Max(e,y.Abs(s));f=0;if(c){c=this.m_invMassA;g=this.m_invMassB;b=this.m_invIA;n=this.m_invIB;this.m_K.col1.x=c+g+b*this.m_s1*this.m_s1+n*this.m_s2*this.m_s2;this.m_K.col1.y=b*this.m_s1*this.m_a1+n*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=c+g+b*this.m_a1*this.m_a1+n*this.m_a2*this.m_a2;this.m_K.Solve(r,
-s,-m)}else{c=this.m_invMassA;g=this.m_invMassB;b=this.m_invIA;n=this.m_invIB;m=c+g+b*this.m_s1*this.m_s1+n*this.m_s2*this.m_s2;c=0;c=m!=0?-s/m:0;r.x=c;r.y=0}m=r.x*this.m_perp.x+r.y*this.m_axis.x;c=r.x*this.m_perp.y+r.y*this.m_axis.y;s=r.x*this.m_s1+r.y*this.m_a1;r=r.x*this.m_s2+r.y*this.m_a2;l.x-=this.m_invMassA*m;l.y-=this.m_invMassA*c;j-=this.m_invIA*s;o.x+=this.m_invMassB*m;o.y+=this.m_invMassB*c;q+=this.m_invIB*r;d.m_sweep.a=j;h.m_sweep.a=q;d.SynchronizeTransform();h.SynchronizeTransform();return e<=
F.b2_linearSlop&&f<=F.b2_angularSlop};Box2D.inherit(z,Box2D.Dynamics.Joints.b2JointDef);z.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;z.b2LineJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w;this.localAxisA=new w};z.prototype.b2LineJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_lineJoint;this.localAxisA.Set(1,0);this.enableLimit=false;this.upperTranslation=this.lowerTranslation=
0;this.enableMotor=false;this.motorSpeed=this.maxMotorForce=0};z.prototype.Initialize=function(d,h,l,j){this.bodyA=d;this.bodyB=h;this.localAnchorA=this.bodyA.GetLocalPoint(l);this.localAnchorB=this.bodyB.GetLocalPoint(l);this.localAxisA=this.bodyA.GetLocalVector(j)};Box2D.inherit(u,Box2D.Dynamics.Joints.b2Joint);u.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;u.b2MouseJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.K=new G;this.K1=new G;this.K2=new G;
this.m_localAnchor=new w;this.m_target=new w;this.m_impulse=new w;this.m_mass=new G;this.m_C=new w};u.prototype.GetAnchorA=function(){return this.m_target};u.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor)};u.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*this.m_impulse.x,d*this.m_impulse.y)};u.prototype.GetReactionTorque=function(){return 0};u.prototype.GetTarget=function(){return this.m_target};u.prototype.SetTarget=function(d){this.m_bodyB.IsAwake()==
false&&this.m_bodyB.SetAwake(true);this.m_target=d};u.prototype.GetMaxForce=function(){return this.m_maxForce};u.prototype.SetMaxForce=function(d){if(d===undefined)d=0;this.m_maxForce=d};u.prototype.GetFrequency=function(){return this.m_frequencyHz};u.prototype.SetFrequency=function(d){if(d===undefined)d=0;this.m_frequencyHz=d};u.prototype.GetDampingRatio=function(){return this.m_dampingRatio};u.prototype.SetDampingRatio=function(d){if(d===undefined)d=0;this.m_dampingRatio=d};u.prototype.b2MouseJoint=
function(d){this.__super.b2Joint.call(this,d);this.m_target.SetV(d.target);var h=this.m_target.x-this.m_bodyB.m_xf.position.x,l=this.m_target.y-this.m_bodyB.m_xf.position.y,j=this.m_bodyB.m_xf.R;this.m_localAnchor.x=h*j.col1.x+l*j.col1.y;this.m_localAnchor.y=h*j.col2.x+l*j.col2.y;this.m_maxForce=d.maxForce;this.m_impulse.SetZero();this.m_frequencyHz=d.frequencyHz;this.m_dampingRatio=d.dampingRatio;this.m_gamma=this.m_beta=0};u.prototype.InitVelocityConstraints=function(d){var h=this.m_bodyB,l=h.GetMass(),
j=2*Math.PI*this.m_frequencyHz,o=l*j*j;this.m_gamma=d.dt*(2*l*this.m_dampingRatio*j+d.dt*o);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_beta=d.dt*o*this.m_gamma;o=h.m_xf.R;l=this.m_localAnchor.x-h.m_sweep.localCenter.x;j=this.m_localAnchor.y-h.m_sweep.localCenter.y;var q=o.col1.x*l+o.col2.x*j;j=o.col1.y*l+o.col2.y*j;l=q;o=h.m_invMass;q=h.m_invI;this.K1.col1.x=o;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=o;this.K2.col1.x=q*j*j;this.K2.col2.x=-q*l*j;this.K2.col1.y=-q*l*j;this.K2.col2.y=
q*l*l;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.col1.x+=this.m_gamma;this.K.col2.y+=this.m_gamma;this.K.GetInverse(this.m_mass);this.m_C.x=h.m_sweep.c.x+l-this.m_target.x;this.m_C.y=h.m_sweep.c.y+j-this.m_target.y;h.m_angularVelocity*=0.98;this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;h.m_linearVelocity.x+=o*this.m_impulse.x;h.m_linearVelocity.y+=o*this.m_impulse.y;h.m_angularVelocity+=q*(l*this.m_impulse.y-j*this.m_impulse.x)};u.prototype.SolveVelocityConstraints=function(d){var h=
this.m_bodyB,l,j=0,o=0;l=h.m_xf.R;var q=this.m_localAnchor.x-h.m_sweep.localCenter.x,n=this.m_localAnchor.y-h.m_sweep.localCenter.y;j=l.col1.x*q+l.col2.x*n;n=l.col1.y*q+l.col2.y*n;q=j;j=h.m_linearVelocity.x+-h.m_angularVelocity*n;var a=h.m_linearVelocity.y+h.m_angularVelocity*q;l=this.m_mass;j=j+this.m_beta*this.m_C.x+this.m_gamma*this.m_impulse.x;o=a+this.m_beta*this.m_C.y+this.m_gamma*this.m_impulse.y;a=-(l.col1.x*j+l.col2.x*o);o=-(l.col1.y*j+l.col2.y*o);l=this.m_impulse.x;j=this.m_impulse.y;this.m_impulse.x+=
a;this.m_impulse.y+=o;d=d.dt*this.m_maxForce;this.m_impulse.LengthSquared()>d*d&&this.m_impulse.Multiply(d/this.m_impulse.Length());a=this.m_impulse.x-l;o=this.m_impulse.y-j;h.m_linearVelocity.x+=h.m_invMass*a;h.m_linearVelocity.y+=h.m_invMass*o;h.m_angularVelocity+=h.m_invI*(q*o-n*a)};u.prototype.SolvePositionConstraints=function(){return true};Box2D.inherit(D,Box2D.Dynamics.Joints.b2JointDef);D.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;D.b2MouseJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,
arguments);this.target=new w};D.prototype.b2MouseJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_mouseJoint;this.maxForce=0;this.frequencyHz=5;this.dampingRatio=0.7};Box2D.inherit(H,Box2D.Dynamics.Joints.b2Joint);H.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;H.b2PrismaticJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_localXAxis1=new w;this.m_localYAxis1=new w;this.m_axis=new w;
this.m_perp=new w;this.m_K=new K;this.m_impulse=new A};H.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};H.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};H.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x),d*(this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y))};H.prototype.GetReactionTorque=
function(d){if(d===undefined)d=0;return d*this.m_impulse.y};H.prototype.GetJointTranslation=function(){var d=this.m_bodyA,h=this.m_bodyB,l=d.GetWorldPoint(this.m_localAnchor1),j=h.GetWorldPoint(this.m_localAnchor2);h=j.x-l.x;l=j.y-l.y;d=d.GetWorldVector(this.m_localXAxis1);return d.x*h+d.y*l};H.prototype.GetJointSpeed=function(){var d=this.m_bodyA,h=this.m_bodyB,l;l=d.m_xf.R;var j=this.m_localAnchor1.x-d.m_sweep.localCenter.x,o=this.m_localAnchor1.y-d.m_sweep.localCenter.y,q=l.col1.x*j+l.col2.x*o;
o=l.col1.y*j+l.col2.y*o;j=q;l=h.m_xf.R;var n=this.m_localAnchor2.x-h.m_sweep.localCenter.x,a=this.m_localAnchor2.y-h.m_sweep.localCenter.y;q=l.col1.x*n+l.col2.x*a;a=l.col1.y*n+l.col2.y*a;n=q;l=h.m_sweep.c.x+n-(d.m_sweep.c.x+j);q=h.m_sweep.c.y+a-(d.m_sweep.c.y+o);var c=d.GetWorldVector(this.m_localXAxis1),g=d.m_linearVelocity,b=h.m_linearVelocity;d=d.m_angularVelocity;h=h.m_angularVelocity;return l*-d*c.y+q*d*c.x+(c.x*(b.x+-h*a-g.x- -d*o)+c.y*(b.y+h*n-g.y-d*j))};H.prototype.IsLimitEnabled=function(){return this.m_enableLimit};
H.prototype.EnableLimit=function(d){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableLimit=d};H.prototype.GetLowerLimit=function(){return this.m_lowerTranslation};H.prototype.GetUpperLimit=function(){return this.m_upperTranslation};H.prototype.SetLimits=function(d,h){if(d===undefined)d=0;if(h===undefined)h=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_lowerTranslation=d;this.m_upperTranslation=h};H.prototype.IsMotorEnabled=function(){return this.m_enableMotor};
H.prototype.EnableMotor=function(d){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableMotor=d};H.prototype.SetMotorSpeed=function(d){if(d===undefined)d=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_motorSpeed=d};H.prototype.GetMotorSpeed=function(){return this.m_motorSpeed};H.prototype.SetMaxMotorForce=function(d){if(d===undefined)d=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_maxMotorForce=d};H.prototype.GetMotorForce=function(){return this.m_motorImpulse};
H.prototype.b2PrismaticJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_localXAxis1.SetV(d.localAxisA);this.m_localYAxis1.x=-this.m_localXAxis1.y;this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_refAngle=d.referenceAngle;this.m_impulse.SetZero();this.m_motorImpulse=this.m_motorMass=0;this.m_lowerTranslation=d.lowerTranslation;this.m_upperTranslation=d.upperTranslation;this.m_maxMotorForce=d.maxMotorForce;this.m_motorSpeed=
d.motorSpeed;this.m_enableLimit=d.enableLimit;this.m_enableMotor=d.enableMotor;this.m_limitState=I.e_inactiveLimit;this.m_axis.SetZero();this.m_perp.SetZero()};H.prototype.InitVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j,o=0;this.m_localCenterA.SetV(h.GetLocalCenter());this.m_localCenterB.SetV(l.GetLocalCenter());var q=h.GetTransform();l.GetTransform();j=h.m_xf.R;var n=this.m_localAnchor1.x-this.m_localCenterA.x,a=this.m_localAnchor1.y-this.m_localCenterA.y;o=j.col1.x*n+j.col2.x*
a;a=j.col1.y*n+j.col2.y*a;n=o;j=l.m_xf.R;var c=this.m_localAnchor2.x-this.m_localCenterB.x,g=this.m_localAnchor2.y-this.m_localCenterB.y;o=j.col1.x*c+j.col2.x*g;g=j.col1.y*c+j.col2.y*g;c=o;j=l.m_sweep.c.x+c-h.m_sweep.c.x-n;o=l.m_sweep.c.y+g-h.m_sweep.c.y-a;this.m_invMassA=h.m_invMass;this.m_invMassB=l.m_invMass;this.m_invIA=h.m_invI;this.m_invIB=l.m_invI;this.m_axis.SetV(y.MulMV(q.R,this.m_localXAxis1));this.m_a1=(j+n)*this.m_axis.y-(o+a)*this.m_axis.x;this.m_a2=c*this.m_axis.y-g*this.m_axis.x;this.m_motorMass=
this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_a1*this.m_a1+this.m_invIB*this.m_a2*this.m_a2;if(this.m_motorMass>Number.MIN_VALUE)this.m_motorMass=1/this.m_motorMass;this.m_perp.SetV(y.MulMV(q.R,this.m_localYAxis1));this.m_s1=(j+n)*this.m_perp.y-(o+a)*this.m_perp.x;this.m_s2=c*this.m_perp.y-g*this.m_perp.x;q=this.m_invMassA;n=this.m_invMassB;a=this.m_invIA;c=this.m_invIB;this.m_K.col1.x=q+n+a*this.m_s1*this.m_s1+c*this.m_s2*this.m_s2;this.m_K.col1.y=a*this.m_s1+c*this.m_s2;this.m_K.col1.z=a*
this.m_s1*this.m_a1+c*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=a+c;this.m_K.col2.z=a*this.m_a1+c*this.m_a2;this.m_K.col3.x=this.m_K.col1.z;this.m_K.col3.y=this.m_K.col2.z;this.m_K.col3.z=q+n+a*this.m_a1*this.m_a1+c*this.m_a2*this.m_a2;if(this.m_enableLimit){j=this.m_axis.x*j+this.m_axis.y*o;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop)this.m_limitState=I.e_equalLimits;else if(j<=this.m_lowerTranslation){if(this.m_limitState!=I.e_atLowerLimit){this.m_limitState=
I.e_atLowerLimit;this.m_impulse.z=0}}else if(j>=this.m_upperTranslation){if(this.m_limitState!=I.e_atUpperLimit){this.m_limitState=I.e_atUpperLimit;this.m_impulse.z=0}}else{this.m_limitState=I.e_inactiveLimit;this.m_impulse.z=0}}else this.m_limitState=I.e_inactiveLimit;if(this.m_enableMotor==false)this.m_motorImpulse=0;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_motorImpulse*=d.dtRatio;d=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x;
j=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y;o=this.m_impulse.x*this.m_s1+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a1;q=this.m_impulse.x*this.m_s2+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a2;h.m_linearVelocity.x-=this.m_invMassA*d;h.m_linearVelocity.y-=this.m_invMassA*j;h.m_angularVelocity-=this.m_invIA*o;l.m_linearVelocity.x+=this.m_invMassB*d;l.m_linearVelocity.y+=this.m_invMassB*j;l.m_angularVelocity+=this.m_invIB*
q}else{this.m_impulse.SetZero();this.m_motorImpulse=0}};H.prototype.SolveVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j=h.m_linearVelocity,o=h.m_angularVelocity,q=l.m_linearVelocity,n=l.m_angularVelocity,a=0,c=0,g=0,b=0;if(this.m_enableMotor&&this.m_limitState!=I.e_equalLimits){b=this.m_motorMass*(this.m_motorSpeed-(this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o));a=this.m_motorImpulse;d=d.dt*this.m_maxMotorForce;this.m_motorImpulse=y.Clamp(this.m_motorImpulse+
b,-d,d);b=this.m_motorImpulse-a;a=b*this.m_axis.x;c=b*this.m_axis.y;g=b*this.m_a1;b=b*this.m_a2;j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b}g=this.m_perp.x*(q.x-j.x)+this.m_perp.y*(q.y-j.y)+this.m_s2*n-this.m_s1*o;c=n-o;if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){d=this.m_axis.x*(q.x-j.x)+this.m_axis.y*(q.y-j.y)+this.m_a2*n-this.m_a1*o;a=this.m_impulse.Copy();d=this.m_K.Solve33(new A,-g,-c,-d);this.m_impulse.Add(d);
if(this.m_limitState==I.e_atLowerLimit)this.m_impulse.z=y.Max(this.m_impulse.z,0);else if(this.m_limitState==I.e_atUpperLimit)this.m_impulse.z=y.Min(this.m_impulse.z,0);g=-g-(this.m_impulse.z-a.z)*this.m_K.col3.x;c=-c-(this.m_impulse.z-a.z)*this.m_K.col3.y;c=this.m_K.Solve22(new w,g,c);c.x+=a.x;c.y+=a.y;this.m_impulse.x=c.x;this.m_impulse.y=c.y;d.x=this.m_impulse.x-a.x;d.y=this.m_impulse.y-a.y;d.z=this.m_impulse.z-a.z;a=d.x*this.m_perp.x+d.z*this.m_axis.x;c=d.x*this.m_perp.y+d.z*this.m_axis.y;g=d.x*
this.m_s1+d.y+d.z*this.m_a1;b=d.x*this.m_s2+d.y+d.z*this.m_a2}else{d=this.m_K.Solve22(new w,-g,-c);this.m_impulse.x+=d.x;this.m_impulse.y+=d.y;a=d.x*this.m_perp.x;c=d.x*this.m_perp.y;g=d.x*this.m_s1+d.y;b=d.x*this.m_s2+d.y}j.x-=this.m_invMassA*a;j.y-=this.m_invMassA*c;o-=this.m_invIA*g;q.x+=this.m_invMassB*a;q.y+=this.m_invMassB*c;n+=this.m_invIB*b;h.m_linearVelocity.SetV(j);h.m_angularVelocity=o;l.m_linearVelocity.SetV(q);l.m_angularVelocity=n};H.prototype.SolvePositionConstraints=function(){var d=
this.m_bodyA,h=this.m_bodyB,l=d.m_sweep.c,j=d.m_sweep.a,o=h.m_sweep.c,q=h.m_sweep.a,n,a=0,c=0,g=0,b=a=n=0,e=0;c=false;var f=0,m=G.FromAngle(j),r=G.FromAngle(q);n=m;e=this.m_localAnchor1.x-this.m_localCenterA.x;var s=this.m_localAnchor1.y-this.m_localCenterA.y;a=n.col1.x*e+n.col2.x*s;s=n.col1.y*e+n.col2.y*s;e=a;n=r;r=this.m_localAnchor2.x-this.m_localCenterB.x;g=this.m_localAnchor2.y-this.m_localCenterB.y;a=n.col1.x*r+n.col2.x*g;g=n.col1.y*r+n.col2.y*g;r=a;n=o.x+r-l.x-e;a=o.y+g-l.y-s;if(this.m_enableLimit){this.m_axis=
y.MulMV(m,this.m_localXAxis1);this.m_a1=(n+e)*this.m_axis.y-(a+s)*this.m_axis.x;this.m_a2=r*this.m_axis.y-g*this.m_axis.x;var v=this.m_axis.x*n+this.m_axis.y*a;if(y.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*F.b2_linearSlop){f=y.Clamp(v,-F.b2_maxLinearCorrection,F.b2_maxLinearCorrection);b=y.Abs(v);c=true}else if(v<=this.m_lowerTranslation){f=y.Clamp(v-this.m_lowerTranslation+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);b=this.m_lowerTranslation-v;c=true}else if(v>=this.m_upperTranslation){f=
y.Clamp(v-this.m_upperTranslation+F.b2_linearSlop,0,F.b2_maxLinearCorrection);b=v-this.m_upperTranslation;c=true}}this.m_perp=y.MulMV(m,this.m_localYAxis1);this.m_s1=(n+e)*this.m_perp.y-(a+s)*this.m_perp.x;this.m_s2=r*this.m_perp.y-g*this.m_perp.x;m=new A;s=this.m_perp.x*n+this.m_perp.y*a;r=q-j-this.m_refAngle;b=y.Max(b,y.Abs(s));e=y.Abs(r);if(c){c=this.m_invMassA;g=this.m_invMassB;n=this.m_invIA;a=this.m_invIB;this.m_K.col1.x=c+g+n*this.m_s1*this.m_s1+a*this.m_s2*this.m_s2;this.m_K.col1.y=n*this.m_s1+
a*this.m_s2;this.m_K.col1.z=n*this.m_s1*this.m_a1+a*this.m_s2*this.m_a2;this.m_K.col2.x=this.m_K.col1.y;this.m_K.col2.y=n+a;this.m_K.col2.z=n*this.m_a1+a*this.m_a2;this.m_K.col3.x=this.m_K.col1.z;this.m_K.col3.y=this.m_K.col2.z;this.m_K.col3.z=c+g+n*this.m_a1*this.m_a1+a*this.m_a2*this.m_a2;this.m_K.Solve33(m,-s,-r,-f)}else{c=this.m_invMassA;g=this.m_invMassB;n=this.m_invIA;a=this.m_invIB;f=n*this.m_s1+a*this.m_s2;v=n+a;this.m_K.col1.Set(c+g+n*this.m_s1*this.m_s1+a*this.m_s2*this.m_s2,f,0);this.m_K.col2.Set(f,
v,0);f=this.m_K.Solve22(new w,-s,-r);m.x=f.x;m.y=f.y;m.z=0}f=m.x*this.m_perp.x+m.z*this.m_axis.x;c=m.x*this.m_perp.y+m.z*this.m_axis.y;s=m.x*this.m_s1+m.y+m.z*this.m_a1;m=m.x*this.m_s2+m.y+m.z*this.m_a2;l.x-=this.m_invMassA*f;l.y-=this.m_invMassA*c;j-=this.m_invIA*s;o.x+=this.m_invMassB*f;o.y+=this.m_invMassB*c;q+=this.m_invIB*m;d.m_sweep.a=j;h.m_sweep.a=q;d.SynchronizeTransform();h.SynchronizeTransform();return b<=F.b2_linearSlop&&e<=F.b2_angularSlop};Box2D.inherit(O,Box2D.Dynamics.Joints.b2JointDef);
O.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;O.b2PrismaticJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w;this.localAxisA=new w};O.prototype.b2PrismaticJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_prismaticJoint;this.localAxisA.Set(1,0);this.referenceAngle=0;this.enableLimit=false;this.upperTranslation=this.lowerTranslation=0;this.enableMotor=false;this.motorSpeed=this.maxMotorForce=
0};O.prototype.Initialize=function(d,h,l,j){this.bodyA=d;this.bodyB=h;this.localAnchorA=this.bodyA.GetLocalPoint(l);this.localAnchorB=this.bodyB.GetLocalPoint(l);this.localAxisA=this.bodyA.GetLocalVector(j);this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()};Box2D.inherit(E,Box2D.Dynamics.Joints.b2Joint);E.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;E.b2PulleyJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_groundAnchor1=new w;this.m_groundAnchor2=
new w;this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_u1=new w;this.m_u2=new w};E.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};E.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};E.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*this.m_impulse*this.m_u2.x,d*this.m_impulse*this.m_u2.y)};E.prototype.GetReactionTorque=function(){return 0};E.prototype.GetGroundAnchorA=function(){var d=
this.m_ground.m_xf.position.Copy();d.Add(this.m_groundAnchor1);return d};E.prototype.GetGroundAnchorB=function(){var d=this.m_ground.m_xf.position.Copy();d.Add(this.m_groundAnchor2);return d};E.prototype.GetLength1=function(){var d=this.m_bodyA.GetWorldPoint(this.m_localAnchor1),h=d.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x);d=d.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y);return Math.sqrt(h*h+d*d)};E.prototype.GetLength2=function(){var d=this.m_bodyB.GetWorldPoint(this.m_localAnchor2),
h=d.x-(this.m_ground.m_xf.position.x+this.m_groundAnchor2.x);d=d.y-(this.m_ground.m_xf.position.y+this.m_groundAnchor2.y);return Math.sqrt(h*h+d*d)};E.prototype.GetRatio=function(){return this.m_ratio};E.prototype.b2PulleyJoint=function(d){this.__super.b2Joint.call(this,d);this.m_ground=this.m_bodyA.m_world.m_groundBody;this.m_groundAnchor1.x=d.groundAnchorA.x-this.m_ground.m_xf.position.x;this.m_groundAnchor1.y=d.groundAnchorA.y-this.m_ground.m_xf.position.y;this.m_groundAnchor2.x=d.groundAnchorB.x-
this.m_ground.m_xf.position.x;this.m_groundAnchor2.y=d.groundAnchorB.y-this.m_ground.m_xf.position.y;this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_ratio=d.ratio;this.m_constant=d.lengthA+this.m_ratio*d.lengthB;this.m_maxLength1=y.Min(d.maxLengthA,this.m_constant-this.m_ratio*E.b2_minPulleyLength);this.m_maxLength2=y.Min(d.maxLengthB,(this.m_constant-E.b2_minPulleyLength)/this.m_ratio);this.m_limitImpulse2=this.m_limitImpulse1=this.m_impulse=0};E.prototype.InitVelocityConstraints=
function(d){var h=this.m_bodyA,l=this.m_bodyB,j;j=h.m_xf.R;var o=this.m_localAnchor1.x-h.m_sweep.localCenter.x,q=this.m_localAnchor1.y-h.m_sweep.localCenter.y,n=j.col1.x*o+j.col2.x*q;q=j.col1.y*o+j.col2.y*q;o=n;j=l.m_xf.R;var a=this.m_localAnchor2.x-l.m_sweep.localCenter.x,c=this.m_localAnchor2.y-l.m_sweep.localCenter.y;n=j.col1.x*a+j.col2.x*c;c=j.col1.y*a+j.col2.y*c;a=n;j=l.m_sweep.c.x+a;n=l.m_sweep.c.y+c;var g=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,b=this.m_ground.m_xf.position.y+
this.m_groundAnchor2.y;this.m_u1.Set(h.m_sweep.c.x+o-(this.m_ground.m_xf.position.x+this.m_groundAnchor1.x),h.m_sweep.c.y+q-(this.m_ground.m_xf.position.y+this.m_groundAnchor1.y));this.m_u2.Set(j-g,n-b);j=this.m_u1.Length();n=this.m_u2.Length();j>F.b2_linearSlop?this.m_u1.Multiply(1/j):this.m_u1.SetZero();n>F.b2_linearSlop?this.m_u2.Multiply(1/n):this.m_u2.SetZero();if(this.m_constant-j-this.m_ratio*n>0){this.m_state=I.e_inactiveLimit;this.m_impulse=0}else this.m_state=I.e_atUpperLimit;if(j<this.m_maxLength1){this.m_limitState1=
I.e_inactiveLimit;this.m_limitImpulse1=0}else this.m_limitState1=I.e_atUpperLimit;if(n<this.m_maxLength2){this.m_limitState2=I.e_inactiveLimit;this.m_limitImpulse2=0}else this.m_limitState2=I.e_atUpperLimit;j=o*this.m_u1.y-q*this.m_u1.x;n=a*this.m_u2.y-c*this.m_u2.x;this.m_limitMass1=h.m_invMass+h.m_invI*j*j;this.m_limitMass2=l.m_invMass+l.m_invI*n*n;this.m_pulleyMass=this.m_limitMass1+this.m_ratio*this.m_ratio*this.m_limitMass2;this.m_limitMass1=1/this.m_limitMass1;this.m_limitMass2=1/this.m_limitMass2;
this.m_pulleyMass=1/this.m_pulleyMass;if(d.warmStarting){this.m_impulse*=d.dtRatio;this.m_limitImpulse1*=d.dtRatio;this.m_limitImpulse2*=d.dtRatio;d=(-this.m_impulse-this.m_limitImpulse1)*this.m_u1.x;j=(-this.m_impulse-this.m_limitImpulse1)*this.m_u1.y;n=(-this.m_ratio*this.m_impulse-this.m_limitImpulse2)*this.m_u2.x;g=(-this.m_ratio*this.m_impulse-this.m_limitImpulse2)*this.m_u2.y;h.m_linearVelocity.x+=h.m_invMass*d;h.m_linearVelocity.y+=h.m_invMass*j;h.m_angularVelocity+=h.m_invI*(o*j-q*d);l.m_linearVelocity.x+=
l.m_invMass*n;l.m_linearVelocity.y+=l.m_invMass*g;l.m_angularVelocity+=l.m_invI*(a*g-c*n)}else this.m_limitImpulse2=this.m_limitImpulse1=this.m_impulse=0};E.prototype.SolveVelocityConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l;l=d.m_xf.R;var j=this.m_localAnchor1.x-d.m_sweep.localCenter.x,o=this.m_localAnchor1.y-d.m_sweep.localCenter.y,q=l.col1.x*j+l.col2.x*o;o=l.col1.y*j+l.col2.y*o;j=q;l=h.m_xf.R;var n=this.m_localAnchor2.x-h.m_sweep.localCenter.x,a=this.m_localAnchor2.y-h.m_sweep.localCenter.y;
q=l.col1.x*n+l.col2.x*a;a=l.col1.y*n+l.col2.y*a;n=q;var c=q=l=0,g=0;l=g=l=g=c=q=l=0;if(this.m_state==I.e_atUpperLimit){l=d.m_linearVelocity.x+-d.m_angularVelocity*o;q=d.m_linearVelocity.y+d.m_angularVelocity*j;c=h.m_linearVelocity.x+-h.m_angularVelocity*a;g=h.m_linearVelocity.y+h.m_angularVelocity*n;l=-(this.m_u1.x*l+this.m_u1.y*q)-this.m_ratio*(this.m_u2.x*c+this.m_u2.y*g);g=this.m_pulleyMass*-l;l=this.m_impulse;this.m_impulse=y.Max(0,this.m_impulse+g);g=this.m_impulse-l;l=-g*this.m_u1.x;q=-g*this.m_u1.y;
c=-this.m_ratio*g*this.m_u2.x;g=-this.m_ratio*g*this.m_u2.y;d.m_linearVelocity.x+=d.m_invMass*l;d.m_linearVelocity.y+=d.m_invMass*q;d.m_angularVelocity+=d.m_invI*(j*q-o*l);h.m_linearVelocity.x+=h.m_invMass*c;h.m_linearVelocity.y+=h.m_invMass*g;h.m_angularVelocity+=h.m_invI*(n*g-a*c)}if(this.m_limitState1==I.e_atUpperLimit){l=d.m_linearVelocity.x+-d.m_angularVelocity*o;q=d.m_linearVelocity.y+d.m_angularVelocity*j;l=-(this.m_u1.x*l+this.m_u1.y*q);g=-this.m_limitMass1*l;l=this.m_limitImpulse1;this.m_limitImpulse1=
y.Max(0,this.m_limitImpulse1+g);g=this.m_limitImpulse1-l;l=-g*this.m_u1.x;q=-g*this.m_u1.y;d.m_linearVelocity.x+=d.m_invMass*l;d.m_linearVelocity.y+=d.m_invMass*q;d.m_angularVelocity+=d.m_invI*(j*q-o*l)}if(this.m_limitState2==I.e_atUpperLimit){c=h.m_linearVelocity.x+-h.m_angularVelocity*a;g=h.m_linearVelocity.y+h.m_angularVelocity*n;l=-(this.m_u2.x*c+this.m_u2.y*g);g=-this.m_limitMass2*l;l=this.m_limitImpulse2;this.m_limitImpulse2=y.Max(0,this.m_limitImpulse2+g);g=this.m_limitImpulse2-l;c=-g*this.m_u2.x;
g=-g*this.m_u2.y;h.m_linearVelocity.x+=h.m_invMass*c;h.m_linearVelocity.y+=h.m_invMass*g;h.m_angularVelocity+=h.m_invI*(n*g-a*c)}};E.prototype.SolvePositionConstraints=function(){var d=this.m_bodyA,h=this.m_bodyB,l,j=this.m_ground.m_xf.position.x+this.m_groundAnchor1.x,o=this.m_ground.m_xf.position.y+this.m_groundAnchor1.y,q=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,n=this.m_ground.m_xf.position.y+this.m_groundAnchor2.y,a=0,c=0,g=0,b=0,e=l=0,f=0,m=0,r=e=m=l=e=l=0;if(this.m_state==I.e_atUpperLimit){l=
d.m_xf.R;a=this.m_localAnchor1.x-d.m_sweep.localCenter.x;c=this.m_localAnchor1.y-d.m_sweep.localCenter.y;e=l.col1.x*a+l.col2.x*c;c=l.col1.y*a+l.col2.y*c;a=e;l=h.m_xf.R;g=this.m_localAnchor2.x-h.m_sweep.localCenter.x;b=this.m_localAnchor2.y-h.m_sweep.localCenter.y;e=l.col1.x*g+l.col2.x*b;b=l.col1.y*g+l.col2.y*b;g=e;l=d.m_sweep.c.x+a;e=d.m_sweep.c.y+c;f=h.m_sweep.c.x+g;m=h.m_sweep.c.y+b;this.m_u1.Set(l-j,e-o);this.m_u2.Set(f-q,m-n);l=this.m_u1.Length();e=this.m_u2.Length();l>F.b2_linearSlop?this.m_u1.Multiply(1/
l):this.m_u1.SetZero();e>F.b2_linearSlop?this.m_u2.Multiply(1/e):this.m_u2.SetZero();l=this.m_constant-l-this.m_ratio*e;r=y.Max(r,-l);l=y.Clamp(l+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);m=-this.m_pulleyMass*l;l=-m*this.m_u1.x;e=-m*this.m_u1.y;f=-this.m_ratio*m*this.m_u2.x;m=-this.m_ratio*m*this.m_u2.y;d.m_sweep.c.x+=d.m_invMass*l;d.m_sweep.c.y+=d.m_invMass*e;d.m_sweep.a+=d.m_invI*(a*e-c*l);h.m_sweep.c.x+=h.m_invMass*f;h.m_sweep.c.y+=h.m_invMass*m;h.m_sweep.a+=h.m_invI*(g*m-b*f);d.SynchronizeTransform();
h.SynchronizeTransform()}if(this.m_limitState1==I.e_atUpperLimit){l=d.m_xf.R;a=this.m_localAnchor1.x-d.m_sweep.localCenter.x;c=this.m_localAnchor1.y-d.m_sweep.localCenter.y;e=l.col1.x*a+l.col2.x*c;c=l.col1.y*a+l.col2.y*c;a=e;l=d.m_sweep.c.x+a;e=d.m_sweep.c.y+c;this.m_u1.Set(l-j,e-o);l=this.m_u1.Length();if(l>F.b2_linearSlop){this.m_u1.x*=1/l;this.m_u1.y*=1/l}else this.m_u1.SetZero();l=this.m_maxLength1-l;r=y.Max(r,-l);l=y.Clamp(l+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);m=-this.m_limitMass1*l;
l=-m*this.m_u1.x;e=-m*this.m_u1.y;d.m_sweep.c.x+=d.m_invMass*l;d.m_sweep.c.y+=d.m_invMass*e;d.m_sweep.a+=d.m_invI*(a*e-c*l);d.SynchronizeTransform()}if(this.m_limitState2==I.e_atUpperLimit){l=h.m_xf.R;g=this.m_localAnchor2.x-h.m_sweep.localCenter.x;b=this.m_localAnchor2.y-h.m_sweep.localCenter.y;e=l.col1.x*g+l.col2.x*b;b=l.col1.y*g+l.col2.y*b;g=e;f=h.m_sweep.c.x+g;m=h.m_sweep.c.y+b;this.m_u2.Set(f-q,m-n);e=this.m_u2.Length();if(e>F.b2_linearSlop){this.m_u2.x*=1/e;this.m_u2.y*=1/e}else this.m_u2.SetZero();
l=this.m_maxLength2-e;r=y.Max(r,-l);l=y.Clamp(l+F.b2_linearSlop,-F.b2_maxLinearCorrection,0);m=-this.m_limitMass2*l;f=-m*this.m_u2.x;m=-m*this.m_u2.y;h.m_sweep.c.x+=h.m_invMass*f;h.m_sweep.c.y+=h.m_invMass*m;h.m_sweep.a+=h.m_invI*(g*m-b*f);h.SynchronizeTransform()}return r<F.b2_linearSlop};Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2PulleyJoint.b2_minPulleyLength=2});Box2D.inherit(R,Box2D.Dynamics.Joints.b2JointDef);R.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;R.b2PulleyJointDef=
function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.groundAnchorA=new w;this.groundAnchorB=new w;this.localAnchorA=new w;this.localAnchorB=new w};R.prototype.b2PulleyJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_pulleyJoint;this.groundAnchorA.Set(-1,1);this.groundAnchorB.Set(1,1);this.localAnchorA.Set(-1,0);this.localAnchorB.Set(1,0);this.maxLengthB=this.lengthB=this.maxLengthA=this.lengthA=0;this.ratio=1;this.collideConnected=true};R.prototype.Initialize=
function(d,h,l,j,o,q,n){if(n===undefined)n=0;this.bodyA=d;this.bodyB=h;this.groundAnchorA.SetV(l);this.groundAnchorB.SetV(j);this.localAnchorA=this.bodyA.GetLocalPoint(o);this.localAnchorB=this.bodyB.GetLocalPoint(q);d=o.x-l.x;l=o.y-l.y;this.lengthA=Math.sqrt(d*d+l*l);l=q.x-j.x;j=q.y-j.y;this.lengthB=Math.sqrt(l*l+j*j);this.ratio=n;n=this.lengthA+this.ratio*this.lengthB;this.maxLengthA=n-this.ratio*E.b2_minPulleyLength;this.maxLengthB=(n-E.b2_minPulleyLength)/this.ratio};Box2D.inherit(N,Box2D.Dynamics.Joints.b2Joint);
N.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;N.b2RevoluteJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.K=new G;this.K1=new G;this.K2=new G;this.K3=new G;this.impulse3=new A;this.impulse2=new w;this.reduced=new w;this.m_localAnchor1=new w;this.m_localAnchor2=new w;this.m_impulse=new A;this.m_mass=new K};N.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)};N.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)};
N.prototype.GetReactionForce=function(d){if(d===undefined)d=0;return new w(d*this.m_impulse.x,d*this.m_impulse.y)};N.prototype.GetReactionTorque=function(d){if(d===undefined)d=0;return d*this.m_impulse.z};N.prototype.GetJointAngle=function(){return this.m_bodyB.m_sweep.a-this.m_bodyA.m_sweep.a-this.m_referenceAngle};N.prototype.GetJointSpeed=function(){return this.m_bodyB.m_angularVelocity-this.m_bodyA.m_angularVelocity};N.prototype.IsLimitEnabled=function(){return this.m_enableLimit};N.prototype.EnableLimit=
function(d){this.m_enableLimit=d};N.prototype.GetLowerLimit=function(){return this.m_lowerAngle};N.prototype.GetUpperLimit=function(){return this.m_upperAngle};N.prototype.SetLimits=function(d,h){if(d===undefined)d=0;if(h===undefined)h=0;this.m_lowerAngle=d;this.m_upperAngle=h};N.prototype.IsMotorEnabled=function(){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);return this.m_enableMotor};N.prototype.EnableMotor=function(d){this.m_enableMotor=d};N.prototype.SetMotorSpeed=function(d){if(d===
undefined)d=0;this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_motorSpeed=d};N.prototype.GetMotorSpeed=function(){return this.m_motorSpeed};N.prototype.SetMaxMotorTorque=function(d){if(d===undefined)d=0;this.m_maxMotorTorque=d};N.prototype.GetMotorTorque=function(){return this.m_maxMotorTorque};N.prototype.b2RevoluteJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchor1.SetV(d.localAnchorA);this.m_localAnchor2.SetV(d.localAnchorB);this.m_referenceAngle=d.referenceAngle;
this.m_impulse.SetZero();this.m_motorImpulse=0;this.m_lowerAngle=d.lowerAngle;this.m_upperAngle=d.upperAngle;this.m_maxMotorTorque=d.maxMotorTorque;this.m_motorSpeed=d.motorSpeed;this.m_enableLimit=d.enableLimit;this.m_enableMotor=d.enableMotor;this.m_limitState=I.e_inactiveLimit};N.prototype.InitVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j,o=0;j=h.m_xf.R;var q=this.m_localAnchor1.x-h.m_sweep.localCenter.x,n=this.m_localAnchor1.y-h.m_sweep.localCenter.y;o=j.col1.x*q+j.col2.x*
n;n=j.col1.y*q+j.col2.y*n;q=o;j=l.m_xf.R;var a=this.m_localAnchor2.x-l.m_sweep.localCenter.x,c=this.m_localAnchor2.y-l.m_sweep.localCenter.y;o=j.col1.x*a+j.col2.x*c;c=j.col1.y*a+j.col2.y*c;a=o;j=h.m_invMass;o=l.m_invMass;var g=h.m_invI,b=l.m_invI;this.m_mass.col1.x=j+o+n*n*g+c*c*b;this.m_mass.col2.x=-n*q*g-c*a*b;this.m_mass.col3.x=-n*g-c*b;this.m_mass.col1.y=this.m_mass.col2.x;this.m_mass.col2.y=j+o+q*q*g+a*a*b;this.m_mass.col3.y=q*g+a*b;this.m_mass.col1.z=this.m_mass.col3.x;this.m_mass.col2.z=this.m_mass.col3.y;
this.m_mass.col3.z=g+b;this.m_motorMass=1/(g+b);if(this.m_enableMotor==false)this.m_motorImpulse=0;if(this.m_enableLimit){var e=l.m_sweep.a-h.m_sweep.a-this.m_referenceAngle;if(y.Abs(this.m_upperAngle-this.m_lowerAngle)<2*F.b2_angularSlop)this.m_limitState=I.e_equalLimits;else if(e<=this.m_lowerAngle){if(this.m_limitState!=I.e_atLowerLimit)this.m_impulse.z=0;this.m_limitState=I.e_atLowerLimit}else if(e>=this.m_upperAngle){if(this.m_limitState!=I.e_atUpperLimit)this.m_impulse.z=0;this.m_limitState=
I.e_atUpperLimit}else{this.m_limitState=I.e_inactiveLimit;this.m_impulse.z=0}}else this.m_limitState=I.e_inactiveLimit;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_motorImpulse*=d.dtRatio;d=this.m_impulse.x;e=this.m_impulse.y;h.m_linearVelocity.x-=j*d;h.m_linearVelocity.y-=j*e;h.m_angularVelocity-=g*(q*e-n*d+this.m_motorImpulse+this.m_impulse.z);l.m_linearVelocity.x+=o*d;l.m_linearVelocity.y+=o*e;l.m_angularVelocity+=b*(a*e-c*d+this.m_motorImpulse+this.m_impulse.z)}else{this.m_impulse.SetZero();
this.m_motorImpulse=0}};N.prototype.SolveVelocityConstraints=function(d){var h=this.m_bodyA,l=this.m_bodyB,j=0,o=j=0,q=0,n=0,a=0,c=h.m_linearVelocity,g=h.m_angularVelocity,b=l.m_linearVelocity,e=l.m_angularVelocity,f=h.m_invMass,m=l.m_invMass,r=h.m_invI,s=l.m_invI;if(this.m_enableMotor&&this.m_limitState!=I.e_equalLimits){o=this.m_motorMass*-(e-g-this.m_motorSpeed);q=this.m_motorImpulse;n=d.dt*this.m_maxMotorTorque;this.m_motorImpulse=y.Clamp(this.m_motorImpulse+o,-n,n);o=this.m_motorImpulse-q;g-=
r*o;e+=s*o}if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){d=h.m_xf.R;o=this.m_localAnchor1.x-h.m_sweep.localCenter.x;q=this.m_localAnchor1.y-h.m_sweep.localCenter.y;j=d.col1.x*o+d.col2.x*q;q=d.col1.y*o+d.col2.y*q;o=j;d=l.m_xf.R;n=this.m_localAnchor2.x-l.m_sweep.localCenter.x;a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;j=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=j;d=b.x+-e*a-c.x- -g*q;var v=b.y+e*n-c.y-g*o;this.m_mass.Solve33(this.impulse3,-d,-v,-(e-g));if(this.m_limitState==
I.e_equalLimits)this.m_impulse.Add(this.impulse3);else if(this.m_limitState==I.e_atLowerLimit){j=this.m_impulse.z+this.impulse3.z;if(j<0){this.m_mass.Solve22(this.reduced,-d,-v);this.impulse3.x=this.reduced.x;this.impulse3.y=this.reduced.y;this.impulse3.z=-this.m_impulse.z;this.m_impulse.x+=this.reduced.x;this.m_impulse.y+=this.reduced.y;this.m_impulse.z=0}}else if(this.m_limitState==I.e_atUpperLimit){j=this.m_impulse.z+this.impulse3.z;if(j>0){this.m_mass.Solve22(this.reduced,-d,-v);this.impulse3.x=
this.reduced.x;this.impulse3.y=this.reduced.y;this.impulse3.z=-this.m_impulse.z;this.m_impulse.x+=this.reduced.x;this.m_impulse.y+=this.reduced.y;this.m_impulse.z=0}}c.x-=f*this.impulse3.x;c.y-=f*this.impulse3.y;g-=r*(o*this.impulse3.y-q*this.impulse3.x+this.impulse3.z);b.x+=m*this.impulse3.x;b.y+=m*this.impulse3.y;e+=s*(n*this.impulse3.y-a*this.impulse3.x+this.impulse3.z)}else{d=h.m_xf.R;o=this.m_localAnchor1.x-h.m_sweep.localCenter.x;q=this.m_localAnchor1.y-h.m_sweep.localCenter.y;j=d.col1.x*o+
d.col2.x*q;q=d.col1.y*o+d.col2.y*q;o=j;d=l.m_xf.R;n=this.m_localAnchor2.x-l.m_sweep.localCenter.x;a=this.m_localAnchor2.y-l.m_sweep.localCenter.y;j=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=j;this.m_mass.Solve22(this.impulse2,-(b.x+-e*a-c.x- -g*q),-(b.y+e*n-c.y-g*o));this.m_impulse.x+=this.impulse2.x;this.m_impulse.y+=this.impulse2.y;c.x-=f*this.impulse2.x;c.y-=f*this.impulse2.y;g-=r*(o*this.impulse2.y-q*this.impulse2.x);b.x+=m*this.impulse2.x;b.y+=m*this.impulse2.y;e+=s*(n*this.impulse2.y-
a*this.impulse2.x)}h.m_linearVelocity.SetV(c);h.m_angularVelocity=g;l.m_linearVelocity.SetV(b);l.m_angularVelocity=e};N.prototype.SolvePositionConstraints=function(){var d=0,h,l=this.m_bodyA,j=this.m_bodyB,o=0,q=h=0,n=0,a=0;if(this.m_enableLimit&&this.m_limitState!=I.e_inactiveLimit){d=j.m_sweep.a-l.m_sweep.a-this.m_referenceAngle;var c=0;if(this.m_limitState==I.e_equalLimits){d=y.Clamp(d-this.m_lowerAngle,-F.b2_maxAngularCorrection,F.b2_maxAngularCorrection);c=-this.m_motorMass*d;o=y.Abs(d)}else if(this.m_limitState==
I.e_atLowerLimit){d=d-this.m_lowerAngle;o=-d;d=y.Clamp(d+F.b2_angularSlop,-F.b2_maxAngularCorrection,0);c=-this.m_motorMass*d}else if(this.m_limitState==I.e_atUpperLimit){o=d=d-this.m_upperAngle;d=y.Clamp(d-F.b2_angularSlop,0,F.b2_maxAngularCorrection);c=-this.m_motorMass*d}l.m_sweep.a-=l.m_invI*c;j.m_sweep.a+=j.m_invI*c;l.SynchronizeTransform();j.SynchronizeTransform()}h=l.m_xf.R;c=this.m_localAnchor1.x-l.m_sweep.localCenter.x;d=this.m_localAnchor1.y-l.m_sweep.localCenter.y;q=h.col1.x*c+h.col2.x*
d;d=h.col1.y*c+h.col2.y*d;c=q;h=j.m_xf.R;var g=this.m_localAnchor2.x-j.m_sweep.localCenter.x,b=this.m_localAnchor2.y-j.m_sweep.localCenter.y;q=h.col1.x*g+h.col2.x*b;b=h.col1.y*g+h.col2.y*b;g=q;n=j.m_sweep.c.x+g-l.m_sweep.c.x-c;a=j.m_sweep.c.y+b-l.m_sweep.c.y-d;var e=n*n+a*a;h=Math.sqrt(e);q=l.m_invMass;var f=j.m_invMass,m=l.m_invI,r=j.m_invI,s=10*F.b2_linearSlop;if(e>s*s){e=1/(q+f);n=e*-n;a=e*-a;l.m_sweep.c.x-=0.5*q*n;l.m_sweep.c.y-=0.5*q*a;j.m_sweep.c.x+=0.5*f*n;j.m_sweep.c.y+=0.5*f*a;n=j.m_sweep.c.x+
g-l.m_sweep.c.x-c;a=j.m_sweep.c.y+b-l.m_sweep.c.y-d}this.K1.col1.x=q+f;this.K1.col2.x=0;this.K1.col1.y=0;this.K1.col2.y=q+f;this.K2.col1.x=m*d*d;this.K2.col2.x=-m*c*d;this.K2.col1.y=-m*c*d;this.K2.col2.y=m*c*c;this.K3.col1.x=r*b*b;this.K3.col2.x=-r*g*b;this.K3.col1.y=-r*g*b;this.K3.col2.y=r*g*g;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(N.tImpulse,-n,-a);n=N.tImpulse.x;a=N.tImpulse.y;l.m_sweep.c.x-=l.m_invMass*n;l.m_sweep.c.y-=l.m_invMass*a;l.m_sweep.a-=l.m_invI*(c*
a-d*n);j.m_sweep.c.x+=j.m_invMass*n;j.m_sweep.c.y+=j.m_invMass*a;j.m_sweep.a+=j.m_invI*(g*a-b*n);l.SynchronizeTransform();j.SynchronizeTransform();return h<=F.b2_linearSlop&&o<=F.b2_angularSlop};Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2RevoluteJoint.tImpulse=new w});Box2D.inherit(S,Box2D.Dynamics.Joints.b2JointDef);S.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;S.b2RevoluteJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=
new w;this.localAnchorB=new w};S.prototype.b2RevoluteJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_revoluteJoint;this.localAnchorA.Set(0,0);this.localAnchorB.Set(0,0);this.motorSpeed=this.maxMotorTorque=this.upperAngle=this.lowerAngle=this.referenceAngle=0;this.enableMotor=this.enableLimit=false};S.prototype.Initialize=function(d,h,l){this.bodyA=d;this.bodyB=h;this.localAnchorA=this.bodyA.GetLocalPoint(l);this.localAnchorB=this.bodyB.GetLocalPoint(l);this.referenceAngle=this.bodyB.GetAngle()-
this.bodyA.GetAngle()};Box2D.inherit(aa,Box2D.Dynamics.Joints.b2Joint);aa.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype;aa.b2WeldJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments);this.m_localAnchorA=new w;this.m_localAnchorB=new w;this.m_impulse=new A;this.m_mass=new K};aa.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)};aa.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)};aa.prototype.GetReactionForce=
function(d){if(d===undefined)d=0;return new w(d*this.m_impulse.x,d*this.m_impulse.y)};aa.prototype.GetReactionTorque=function(d){if(d===undefined)d=0;return d*this.m_impulse.z};aa.prototype.b2WeldJoint=function(d){this.__super.b2Joint.call(this,d);this.m_localAnchorA.SetV(d.localAnchorA);this.m_localAnchorB.SetV(d.localAnchorB);this.m_referenceAngle=d.referenceAngle;this.m_impulse.SetZero();this.m_mass=new K};aa.prototype.InitVelocityConstraints=function(d){var h,l=0,j=this.m_bodyA,o=this.m_bodyB;
h=j.m_xf.R;var q=this.m_localAnchorA.x-j.m_sweep.localCenter.x,n=this.m_localAnchorA.y-j.m_sweep.localCenter.y;l=h.col1.x*q+h.col2.x*n;n=h.col1.y*q+h.col2.y*n;q=l;h=o.m_xf.R;var a=this.m_localAnchorB.x-o.m_sweep.localCenter.x,c=this.m_localAnchorB.y-o.m_sweep.localCenter.y;l=h.col1.x*a+h.col2.x*c;c=h.col1.y*a+h.col2.y*c;a=l;h=j.m_invMass;l=o.m_invMass;var g=j.m_invI,b=o.m_invI;this.m_mass.col1.x=h+l+n*n*g+c*c*b;this.m_mass.col2.x=-n*q*g-c*a*b;this.m_mass.col3.x=-n*g-c*b;this.m_mass.col1.y=this.m_mass.col2.x;
this.m_mass.col2.y=h+l+q*q*g+a*a*b;this.m_mass.col3.y=q*g+a*b;this.m_mass.col1.z=this.m_mass.col3.x;this.m_mass.col2.z=this.m_mass.col3.y;this.m_mass.col3.z=g+b;if(d.warmStarting){this.m_impulse.x*=d.dtRatio;this.m_impulse.y*=d.dtRatio;this.m_impulse.z*=d.dtRatio;j.m_linearVelocity.x-=h*this.m_impulse.x;j.m_linearVelocity.y-=h*this.m_impulse.y;j.m_angularVelocity-=g*(q*this.m_impulse.y-n*this.m_impulse.x+this.m_impulse.z);o.m_linearVelocity.x+=l*this.m_impulse.x;o.m_linearVelocity.y+=l*this.m_impulse.y;
o.m_angularVelocity+=b*(a*this.m_impulse.y-c*this.m_impulse.x+this.m_impulse.z)}else this.m_impulse.SetZero()};aa.prototype.SolveVelocityConstraints=function(){var d,h=0,l=this.m_bodyA,j=this.m_bodyB,o=l.m_linearVelocity,q=l.m_angularVelocity,n=j.m_linearVelocity,a=j.m_angularVelocity,c=l.m_invMass,g=j.m_invMass,b=l.m_invI,e=j.m_invI;d=l.m_xf.R;var f=this.m_localAnchorA.x-l.m_sweep.localCenter.x,m=this.m_localAnchorA.y-l.m_sweep.localCenter.y;h=d.col1.x*f+d.col2.x*m;m=d.col1.y*f+d.col2.y*m;f=h;d=
j.m_xf.R;var r=this.m_localAnchorB.x-j.m_sweep.localCenter.x,s=this.m_localAnchorB.y-j.m_sweep.localCenter.y;h=d.col1.x*r+d.col2.x*s;s=d.col1.y*r+d.col2.y*s;r=h;d=n.x-a*s-o.x+q*m;h=n.y+a*r-o.y-q*f;var v=a-q,t=new A;this.m_mass.Solve33(t,-d,-h,-v);this.m_impulse.Add(t);o.x-=c*t.x;o.y-=c*t.y;q-=b*(f*t.y-m*t.x+t.z);n.x+=g*t.x;n.y+=g*t.y;a+=e*(r*t.y-s*t.x+t.z);l.m_angularVelocity=q;j.m_angularVelocity=a};aa.prototype.SolvePositionConstraints=function(){var d,h=0,l=this.m_bodyA,j=this.m_bodyB;d=l.m_xf.R;
var o=this.m_localAnchorA.x-l.m_sweep.localCenter.x,q=this.m_localAnchorA.y-l.m_sweep.localCenter.y;h=d.col1.x*o+d.col2.x*q;q=d.col1.y*o+d.col2.y*q;o=h;d=j.m_xf.R;var n=this.m_localAnchorB.x-j.m_sweep.localCenter.x,a=this.m_localAnchorB.y-j.m_sweep.localCenter.y;h=d.col1.x*n+d.col2.x*a;a=d.col1.y*n+d.col2.y*a;n=h;d=l.m_invMass;h=j.m_invMass;var c=l.m_invI,g=j.m_invI,b=j.m_sweep.c.x+n-l.m_sweep.c.x-o,e=j.m_sweep.c.y+a-l.m_sweep.c.y-q,f=j.m_sweep.a-l.m_sweep.a-this.m_referenceAngle,m=10*F.b2_linearSlop,
r=Math.sqrt(b*b+e*e),s=y.Abs(f);if(r>m){c*=1;g*=1}this.m_mass.col1.x=d+h+q*q*c+a*a*g;this.m_mass.col2.x=-q*o*c-a*n*g;this.m_mass.col3.x=-q*c-a*g;this.m_mass.col1.y=this.m_mass.col2.x;this.m_mass.col2.y=d+h+o*o*c+n*n*g;this.m_mass.col3.y=o*c+n*g;this.m_mass.col1.z=this.m_mass.col3.x;this.m_mass.col2.z=this.m_mass.col3.y;this.m_mass.col3.z=c+g;m=new A;this.m_mass.Solve33(m,-b,-e,-f);l.m_sweep.c.x-=d*m.x;l.m_sweep.c.y-=d*m.y;l.m_sweep.a-=c*(o*m.y-q*m.x+m.z);j.m_sweep.c.x+=h*m.x;j.m_sweep.c.y+=h*m.y;
j.m_sweep.a+=g*(n*m.y-a*m.x+m.z);l.SynchronizeTransform();j.SynchronizeTransform();return r<=F.b2_linearSlop&&s<=F.b2_angularSlop};Box2D.inherit(Z,Box2D.Dynamics.Joints.b2JointDef);Z.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype;Z.b2WeldJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments);this.localAnchorA=new w;this.localAnchorB=new w};Z.prototype.b2WeldJointDef=function(){this.__super.b2JointDef.call(this);this.type=I.e_weldJoint;this.referenceAngle=
0};Z.prototype.Initialize=function(d,h,l){this.bodyA=d;this.bodyB=h;this.localAnchorA.SetV(this.bodyA.GetLocalPoint(l));this.localAnchorB.SetV(this.bodyB.GetLocalPoint(l));this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}})();
(function(){var F=Box2D.Dynamics.b2DebugDraw;F.b2DebugDraw=function(){this.m_xformScale=this.m_fillAlpha=this.m_alpha=this.m_lineThickness=this.m_drawScale=1;var G=this;this.m_sprite={graphics:{clear:function(){G.m_ctx.clearRect(0,0,G.m_ctx.canvas.width,G.m_ctx.canvas.height)}}}};F.prototype._color=function(G,K){return"rgba("+((G&16711680)>>16)+","+((G&65280)>>8)+","+(G&255)+","+K+")"};F.prototype.b2DebugDraw=function(){this.m_drawFlags=0};F.prototype.SetFlags=function(G){if(G===undefined)G=0;this.m_drawFlags=
G};F.prototype.GetFlags=function(){return this.m_drawFlags};F.prototype.AppendFlags=function(G){if(G===undefined)G=0;this.m_drawFlags|=G};F.prototype.ClearFlags=function(G){if(G===undefined)G=0;this.m_drawFlags&=~G};F.prototype.SetSprite=function(G){this.m_ctx=G};F.prototype.GetSprite=function(){return this.m_ctx};F.prototype.SetDrawScale=function(G){if(G===undefined)G=0;this.m_drawScale=G};F.prototype.GetDrawScale=function(){return this.m_drawScale};F.prototype.SetLineThickness=function(G){if(G===
undefined)G=0;this.m_lineThickness=G;this.m_ctx.strokeWidth=G};F.prototype.GetLineThickness=function(){return this.m_lineThickness};F.prototype.SetAlpha=function(G){if(G===undefined)G=0;this.m_alpha=G};F.prototype.GetAlpha=function(){return this.m_alpha};F.prototype.SetFillAlpha=function(G){if(G===undefined)G=0;this.m_fillAlpha=G};F.prototype.GetFillAlpha=function(){return this.m_fillAlpha};F.prototype.SetXFormScale=function(G){if(G===undefined)G=0;this.m_xformScale=G};F.prototype.GetXFormScale=function(){return this.m_xformScale};
F.prototype.DrawPolygon=function(G,K,y){if(K){var w=this.m_ctx,A=this.m_drawScale;w.beginPath();w.strokeStyle=this._color(y.color,this.m_alpha);w.moveTo(G[0].x*A,G[0].y*A);for(y=1;y<K;y++)w.lineTo(G[y].x*A,G[y].y*A);w.lineTo(G[0].x*A,G[0].y*A);w.closePath();w.stroke()}};F.prototype.DrawSolidPolygon=function(G,K,y){if(K){var w=this.m_ctx,A=this.m_drawScale;w.beginPath();w.strokeStyle=this._color(y.color,this.m_alpha);w.fillStyle=this._color(y.color,this.m_fillAlpha);w.moveTo(G[0].x*A,G[0].y*A);for(y=
1;y<K;y++)w.lineTo(G[y].x*A,G[y].y*A);w.lineTo(G[0].x*A,G[0].y*A);w.closePath();w.fill();w.stroke()}};F.prototype.DrawCircle=function(G,K,y){if(K){var w=this.m_ctx,A=this.m_drawScale;w.beginPath();w.strokeStyle=this._color(y.color,this.m_alpha);w.arc(G.x*A,G.y*A,K*A,0,Math.PI*2,true);w.closePath();w.stroke()}};F.prototype.DrawSolidCircle=function(G,K,y,w){if(K){var A=this.m_ctx,U=this.m_drawScale,p=G.x*U,B=G.y*U;A.moveTo(0,0);A.beginPath();A.strokeStyle=this._color(w.color,this.m_alpha);A.fillStyle=
this._color(w.color,this.m_fillAlpha);A.arc(p,B,K*U,0,Math.PI*2,true);A.moveTo(p,B);A.lineTo((G.x+y.x*K)*U,(G.y+y.y*K)*U);A.closePath();A.fill();A.stroke()}};F.prototype.DrawSegment=function(G,K,y){var w=this.m_ctx,A=this.m_drawScale;w.strokeStyle=this._color(y.color,this.m_alpha);w.beginPath();w.moveTo(G.x*A,G.y*A);w.lineTo(K.x*A,K.y*A);w.closePath();w.stroke()};F.prototype.DrawTransform=function(G){var K=this.m_ctx,y=this.m_drawScale;K.beginPath();K.strokeStyle=this._color(16711680,this.m_alpha);
K.moveTo(G.position.x*y,G.position.y*y);K.lineTo((G.position.x+this.m_xformScale*G.R.col1.x)*y,(G.position.y+this.m_xformScale*G.R.col1.y)*y);K.strokeStyle=this._color(65280,this.m_alpha);K.moveTo(G.position.x*y,G.position.y*y);K.lineTo((G.position.x+this.m_xformScale*G.R.col2.x)*y,(G.position.y+this.m_xformScale*G.R.col2.y)*y);K.closePath();K.stroke()}})();var i;for(i=0;i<Box2D.postDefs.length;++i)Box2D.postDefs[i]();delete Box2D.postDefs;
// var Box2D = {};
// using(Box2D, "b2.+");

  b2Vec2 = Box2D.Common.Math.b2Vec2,
 b2BodyDef = Box2D.Dynamics.b2BodyDef,
 b2Body = Box2D.Dynamics.b2Body,
 b2FixtureDef = Box2D.Dynamics.b2FixtureDef,
 b2Fixture = Box2D.Dynamics.b2Fixture,
 b2World = Box2D.Dynamics.b2World,
 b2MassData = Box2D.Collision.Shapes.b2MassData,
 b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape,
 b2CircleShape = Box2D.Collision.Shapes.b2CircleShape,
 b2DebugDraw = Box2D.Dynamics.b2DebugDraw,
b2Listener = Box2D.Dynamics.b2ContactListener;
// b2Listener = b2ContactListener;
// console.log(Box2D);

// var Box2D = {};
// pattern = new RegExp("b2.+");
//
// for (var name in this) {
//   if (name.match(pattern)) {
//       console.log(this[name]);
//   }
// }

var PhysicsEngine = function (){
    this.bodies = [];
    this.destroyList = [];
    this.fixtures = [];


    this.listener = new b2Listener();

    this.listener.BeginContact = function(contact) {

        var gameObjectA = contact.GetFixtureA().GetBody().GetUserData();
        var gameObjectB = contact.GetFixtureB().GetBody().GetUserData();

        var bodyA = gameObjectA.getComponent(RigidBody);
        var bodyB = gameObjectB.getComponent(RigidBody);

        if(((! bodyA.isDestroyed()) && bodyA.isEnabled()) && ((! bodyB.isDestroyed()) && bodyB.isEnabled())){

          var listA = gameObjectA.getAllComponents(Script);
          var listB = gameObjectB.getAllComponents(Script);

          for (script of listA) {
            if(script !== null && (! script.isDestroyed()) && script.isEnabled())
              script.onEnterCollision(gameObjectB,contact);
          }

          for (script of listB) {
            if(script !== null && (! script.isDestroyed()) && script.isEnabled())
              script.onEnterCollision(gameObjectA,contact);
          }

        }
    };

    this.listener.EndContact = function(contact) {

        var gameObjectA = contact.GetFixtureA().GetBody().GetUserData();
        var gameObjectB = contact.GetFixtureB().GetBody().GetUserData();

        var bodyA = gameObjectA.getComponent(RigidBody);
        var bodyB = gameObjectB.getComponent(RigidBody);

        if(((! bodyA.isDestroyed()) && bodyA.isEnabled()) && ((! bodyB.isDestroyed()) && bodyB.isEnabled())){

          var listA = gameObjectA.getAllComponents(Script);
          var listB = gameObjectB.getAllComponents(Script);

          for (script of listA) {
            if(script !== null && (! script.isDestroyed()) && script.isEnabled())
              script.onExitCollision(gameObjectB,contact);
          }

          for (script of listB) {
            if(script !== null && (! script.isDestroyed()) && script.isEnabled())
              script.onExitCollision(gameObjectA,contact);
          }
        }
    };

    this.init();
};

//----------------------------------------------------------------------

PhysicsEngine.prototype.init = function (){
  this.world = new b2World(
        new b2Vec2(0,0),    //NO gravity
        false                 //allow sleep
  );

  this.world.SetContactListener(this.listener);
};


//----------------------------------------------------------------------

PhysicsEngine.prototype.setGravity = function (gravity){
  this.world.SetGravity(new b2Vec2(gravity.x,gravity.y));
};

//----------------------------------------------------------------------

PhysicsEngine.prototype.getBox2dWorld = function (){
  return this.world;
};

//----------------------------------------------------------------------

PhysicsEngine.prototype.addBodies = function (bodies){
  for (var i = 0; i < bodies.length; i++) {
    this.addBody(bodies[i]);
	}
};

//----------------------------------------------------------------------

PhysicsEngine.prototype.addBody = function (body){
  this.bodies.push(body);

  body.adapt(this.world);

};

//----------------------------------------------------------------------

PhysicsEngine.prototype.clear = function (){
	this.bodies = [];

  for (var i = 0; i < this.bodies.length; i++) {
    this.world.DestroyBody(this.bodies[i].getBox2dBody());
  }

  this.init();
};

//----------------------------------------------------------------------

PhysicsEngine.prototype.update = function (dt){



  this.world.Step(
        dt,   //frame-rate
        6,       //velocity iterations
        3       //position iterations
  );

  var newList = [];

  for (var i = 0; i < this.bodies.length; i++) {

    var body = this.bodies[i];

    if(!body.isStatic() && body.isEnabled() && !body.isDestroyed()){

      var v = body.getBox2dBody().GetLinearVelocity();
      var x = body.getBox2dBody().GetPosition().x;
      var y = body.getBox2dBody().GetPosition().y;

      var angle = body.getBox2dBody().GetAngle();

      body.gameObject.getTransform().setPosition(new Vector2(x,y));
      body.gameObject.getTransform().setRotation(new Vector3(0,0,angle));

      newList.push(body);

    }else if(body.isDestroyed()){
      this.destroyList.push(body);
    }

  }

  this.bodies = newList;

  this.world.ClearForces();

  for (var i = 0; i < this.destroyList.length; i++){

    var box2dBody = this.destroyList[i].getBox2dBody();

    box2dBody.GetWorld().DestroyBody(box2dBody);
    this.destroyList[i].body = null;
  }

  this.destroyList = [];


  // this.world.DrawDebugData();


};
/**
* @class
* @classdesc This component provides physics characteristics to a game object.
* @extends {Component}
* @param {Number} density The density.
* @param {Number} friction The friction.
* @param {Number} restitution The restitution.
*/
var RigidBody = function (density, friction, restitution){
	Component.call(this);

	this.fixDef = new b2FixtureDef;
	this.fixDef.density = density;
	this.fixDef.friction = friction;
	this.fixDef.restitution = restitution;

	this.bodyDef = new b2BodyDef;
	this.bodyDef.type = b2Body.b2_dynamicBody;

	this.fixture = null;

	this.body = null;

	this.world = null;
};

RigidBody.prototype = new Component();
RigidBody.prototype.constructor = RigidBody;

//----------------------------------------------------------------------

// Adapt the rigid body to the world and the shape of the collider.

RigidBody.prototype.adapt = function (world) {

	this.world = world;

	this.getCollider().adapt(this.fixDef);

	if(this.isStatic())
		this.bodyDef.type = b2Body.b2_staticBody;
	else
		this.bodyDef.type = b2Body.b2_dynamicBody;

	this.bodyDef.fixedRotation = this.isStatic();

	var t = this.gameObject.getTransform();

  this.bodyDef.position.x = t.position.x;
  this.bodyDef.position.y = t.position.y;

	this.bodyDef.angle = t.rotation.z;

	this.body = this.world.CreateBody(this.bodyDef);
	this.body.SetUserData(this.gameObject);


  this.fixture = this.body.CreateFixture(this.fixDef);

};

//----------------------------------------------------------------------

/**
* Return the Box2D Body.
* @return {b2Body} The body.
*/
RigidBody.prototype.getBox2dBody = function () {
	return this.body;
};

//----------------------------------------------------------------------

/**
* Return the collider.
* @return {Collider} The collider.
*/
RigidBody.prototype.getCollider = function () {
	return this.gameObject.getComponent(Collider);
};

//----------------------------------------------------------------------


/**
* Return the collider.
* @return {Collider} The collider.
*/
RigidBody.prototype.getCollider = function () {
	return this.gameObject.getComponent(Collider);
};

//----------------------------------------------------------------------

/**
* Return if the game object is static.
* @return {Boolean} True if the game object is static.
*/
RigidBody.prototype.isStatic = function () {
	return this.gameObject.isStatic();
};

//----------------------------------------------------------------------

/**
* Disable this rigid body.
* @override
*/
RigidBody.prototype.disable = function () {
	Component.prototype.disable.call(this);
	// for(var i=0; i<this.body.GetFixtureList().length;i++){
  //     this.body.GetFixtureList().get(i).setSensor(true);
  // }
	// this.body.SetActive(false); //freeze
};

//----------------------------------------------------------------------

/**
* Enable this rigid body.
* @override
*/
RigidBody.prototype.enable = function () {
	Component.prototype.enable.call(this);
	// for(var i=0; i<this.body.GetFixtureList().length;i++){
  //     this.body.GetFixtureList().get(i).setSensor(true);
  // }
	// this.body.SetActive(true); //unfreeze
};

//----------------------------------------------------------------------
/**
* @class
* @extends {Component}
* @classdesc  This component provides collision capabilities.
* @param {Boolean} isSensor True if the collider is a sensor.
*/
var Collider = function (isSensor) {
	Component.call(this);
	this.sensor = isSensor || false;
};

Collider.prototype = new Component();
Collider.prototype.constructor = Collider;

//----------------------------------------------------------------------

/**
* Return if collider is a sensor.
* @returns {Boolean} True if collider is a sensor.
*/
Collider.prototype.isSensor = function () {
	return this.sensor;
};

//----------------------------------------------------------------------

Collider.prototype.adapt = function(fixDef){
  fixDef.isSensor = this.isSensor();
};

//----------------------------------------------------------------------
/**
* @class
* @extends {Collider}
* @classdesc  This collider has a rectangle shape. It is axis aligned.
* @param {Number} width The width.
* @param {Number} height The height.
* @param {Boolean} isSensor True if the collider is a sensor.
*/
var BoxCollider = function (width, height, isSensor) {
    Collider.call(this, isSensor);
    this.width = width;
    this.height = height;
};

BoxCollider.prototype = new Collider();
BoxCollider.prototype.constructor = BoxCollider;

//----------------------------------------------------------------------

BoxCollider.prototype.adapt = function(fixDef){

  Collider.prototype.adapt.call(this,fixDef);

  fixDef.shape = new b2PolygonShape;
  fixDef.shape.SetAsBox(
        this.width/2 //half width
        ,this.height/2 //half height
  );
};

//----------------------------------------------------------------------
/**
* @class
* @extends {Collider}
* @classdesc  This collider has a circle shape.
* @param {Number} radius The radius.
* @param {Boolean} isSensor True if the collider is a sensor.
*/
var CircleCollider = function (radius, isSensor) {
    Collider.call(this, isSensor);
    this.radius = radius;
};

CircleCollider.prototype = new Collider();
CircleCollider.prototype.constructor = CircleCollider;

//----------------------------------------------------------------------

CircleCollider.prototype.adapt = function(fixDef){

  Collider.prototype.adapt.call(this,fixDef);

  fixDef.shape = new b2CircleShape();
  fixDef.shape.SetRadius(this.radius);
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents a scene. Contains a camera, a render context and the game objects.
* @param {String} name The name of the scene.
*/
var Scene = function (name){

  this.name = name;

  this.root = new GameObject();
  this.camera = null;
  this.renderContext = null;

  this.newsRoot = new GameObject(); // Root Node where the new objects are stored.

  this.newObjects = false;
  this.loaded = false;

  this.trash = [];

};


//----------------------------------------------------------------------

/**
* Return the name of the scene.
* @returns {String} The name.
*/
Scene.prototype.getName = function (){
	return this.name;
};

//----------------------------------------------------------------------

/**
* Set the scene as loaded.
* @param {Boolean} bool The boolean.
*/
Scene.prototype.setLoaded = function (bool){
	this.loaded=bool;
};

//----------------------------------------------------------------------

/**
* Return true if the scene is loaded.
* @returns {Boolean} True if the scene is loaded.
*/
Scene.prototype.isLoaded = function (){
	return this.loaded;
};

//----------------------------------------------------------------------

/**
* Return the root of the scene,
* @returns {GameObject} The root.
*/
Scene.prototype.getRoot = function (){
  return this.root;
};

//----------------------------------------------------------------------

/**
* Return the root that contains the new game objects added.
* @returns {GameObject} The news-root.
*/
Scene.prototype.getNewsRoot = function (){
	return this.newsRoot;
};

//----------------------------------------------------------------------

/**
* Add all the new game objects to the main root. Clears the news-root
*/
Scene.prototype.flush = function (){
  this.root.setChildren(this.root.getChildren().concat(this.newsRoot.getChildren()));
  this.newsRoot.setChildren([]);
  this.newObjects = false;
  this.loaded = true;
};

//----------------------------------------------------------------------

/**
* un-flush
*/
Scene.prototype.reset = function (){
  if(this.loaded){
    this.newsRoot.setChildren(this.root.getChildren());
    this.root.setChildren([]);
  }
  this.newObjects = true;
  this.loaded = false;
};

//----------------------------------------------------------------------

/**
* Return true if the scene has new game objects.
* @returns {Boolean} True if the scene has new game objects.
*/
Scene.prototype.hasNewObjects = function (){
	return this.newObjects;
};

//----------------------------------------------------------------------

/**
* Add a game object.
* @param {GameObject} obj The game object.
*/
Scene.prototype.addObject = function (obj){
  // console.log("ADD OBJECT: " + obj.getId());
  this.newObjects = true;

  obj.setScene(this);
  obj.getTransform().initMatrix();
  this.newsRoot.addChild(obj);
};

//----------------------------------------------------------------------

/**
* Delete a game object.
* @param {GameObject} obj The game object.
*/
Scene.prototype.deleteObject = function (obj){
  this.trash.push(obj);
};

//----------------------------------------------------------------------

/**
* Cleans the destroyed objects.
*/
Scene.prototype.cleanTrash = function (){

  for (var i = 0; i < this.trash.length; i++) {
    // TODO remove deleted objects

    var gameObject = this.trash[i];

    var script = gameObject.getComponent(Script);

    if(script !== null){
      script.onDestroy();
    }
  }

  this.trash = [];
};

//----------------------------------------------------------------------

/**
* Return the render context.
* @returns {RenderContext} The render context.
*/
Scene.prototype.getRenderContext = function (){
	return this.renderContext;
};

//----------------------------------------------------------------------

/**
* Set the render context.
* @param {RenderContext} renderContext The render context.
*/
Scene.prototype.setRenderContext = function (renderContext){
	this.renderContext=renderContext;
};

//----------------------------------------------------------------------

/**
* Return the camera.
* @returns {Camera} The camera.
*/
Scene.prototype.getCamera = function (){
	return this.camera;
};

//----------------------------------------------------------------------

/**
* Set the camera.
* @param {Camera} camera The camera.
*/
Scene.prototype.setCamera = function (camera){
	this.camera=camera;
};

//----------------------------------------------------------------------
/**
* @class
* @extends {Component}
* @classdesc This class holds de position, rotation and scale of the game object.
*/
var Transform = function (){
	Component.call(this);

	this.position = new Vector3(0,0,0);
	this.rotation = new Vector3(0,0,0);
	this.scale = new Vector3(1,1,1);

	this.right = new Vector3(1,0,0);
	this.up = new Vector3(0,1,0);
	this.forward = new Vector3(0,0,1);

  this.matrix = Matrix4.identity();
  this.translationMatrix = Matrix4.identity();
  this.rotationMatrix = Matrix4.identity();
  this.scaleMatrix = Matrix4.identity();

	this.target = this.forward.cpy();

	this.dirty = true;
};

Transform.prototype = new Component();
Transform.prototype.constructor = Transform;

//----------------------------------------------------------------------

/**
* Return true if the game object is static.
* @returns {Boolean} True if the game object is static.
*/
Transform.prototype.isStatic = function () {
	return this.gameObject.isStatic();
};

//----------------------------------------------------------------------

/**
* Return true if the game object is dirty.
* @returns {Boolean} True if the game object is dirty.
*/
Transform.prototype.isDirty = function () {
	return this.dirty;
};

//----------------------------------------------------------------------

/**
* Generates the local space model matrix.
*/
Transform.prototype.generateLocalSpaceMatrix = function (){

	// this.translationMatrix = Matrix4.identity();
	this.rotationMatrix = Matrix4.identity();
	// this.scaleMatrix = Matrix4.identity();

	this.scaleMatrix = Matrix4.scale(this.scale);
	this.translationMatrix = Matrix4.translation(this.position);

	if(this.rotation.x !== 0)
		this.rotationMatrix = Matrix4.mulMM(this.rotationMatrix, Matrix4.rotation(new Vector3(this.rotation.x, 0, 0)));
	if(this.rotation.y !== 0)
		this.rotationMatrix = Matrix4.mulMM(this.rotationMatrix, Matrix4.rotation(new Vector3(0, this.rotation.y, 0)));
	if(this.rotation.z !== 0)
		this.rotationMatrix = Matrix4.mulMM(this.rotationMatrix, Matrix4.rotation(new Vector3(0, 0, this.rotation.z)));

	this.matrix = Matrix4.mulMM(this.rotationMatrix, Matrix4.mulMM(this.translationMatrix, this.scaleMatrix));



};

//----------------------------------------------------------------------

/**
* Initializes the model matrix.
*/
Transform.prototype.initMatrix = function (){

	this.generateLocalSpaceMatrix();

	var parent = this.getParent();

	if(parent !== null)
		this.matrix = Matrix4.mulMM(parent.getMatrix(), this.matrix);

	var children = this.getChildren();

	for (var c of children){
		c.initMatrix();
	}
};


//----------------------------------------------------------------------

/**
* Return the model matrix.
* @returns {Matrix4} The model matrix.
*/
Transform.prototype.getMatrix = function (){
	return this.matrix;
};

//----------------------------------------------------------------------

/**
* Generates the model matrix.
*/
Transform.prototype.generateMatrix = function (){

	// If this transform is not static
	if(! this.isStatic()){

		var parent = this.getParent();

		// If this transform has parent -> generate local + parent matrix
		if(parent !== null && parent.isDirty()){
			this.generateLocalSpaceMatrix();
			this.matrix = Matrix4.mulMM(parent.getMatrix(),this.matrix);

		// Else, generate only local matrix
		}else if(this.dirty)
			this.generateLocalSpaceMatrix();
	}

	// update children
	for (var c of this.getChildren()){
		c.generateMatrix();
	}

	this.dirty = false; // clear dirty flag

	// var pos = this.getPosition();

	// DebugRenderer.drawLine(pos,this.right.cpy().add(pos),Color.RED);
	// DebugRenderer.drawLine(pos,this.up.cpy().add(pos),Color.BLUE);
	// DebugRenderer.drawLine(pos,this.forward.cpy().add(pos),Color.GREEN);

};

//----------------------------------------------------------------------

/**
* Set the model matrix.
* @param {Matrix4} matrix The model matrix.
*/
Transform.prototype.setMatrix = function(matrix){
	this.matrix = matrix;

	this.dirty = true;
};

//----------------------------------------------------------------------

/**
* Set the Position.
* @param {Vector3} vec The Position.
*/
Transform.prototype.setPosition = function (vec){

	if( ! this.position.equals(vec)){
		this.dirty = true;

		this.position.set(vec);

	}
};

//----------------------------------------------------------------------

/**
* Set the Rotation.
* @param {Vector3} vec The Rotation.
*/
Transform.prototype.setRotation = function (vec){

	if( ! this.rotation.equals(vec)){
		this.dirty = true;
		this.rotation.set(vec);
	}
};

//----------------------------------------------------------------------

/**
* Set the Scale.
* @param {Vector3} vec The Scale.
*/
Transform.prototype.setScale = function (vec){

	if( ! this.scale.equals(vec)){
		this.dirty = true;
		this.scale.set(vec);
	}
};

//----------------------------------------------------------------------

/**
* Return the Position.
* @returns {Vector3} The Position.
*/
Transform.prototype.getPosition = function (){

	var parent = this.getParent();
	if(parent !== null){

		this.position.w = 1;

		var worldPos = Matrix4.mulMV(this.translationMatrix, Matrix4.mulMM(Matrix4.mulMM(parent.translationMatrix,parent.rotationMatrix)),this.position);
		return worldPos;
	}

	return this.position;
};

//----------------------------------------------------------------------

/**
* Return the Rotation.
* @returns {Vector3} The Rotation.
*/
Transform.prototype.getRotation = function (){
	return this.rotation;
};

//----------------------------------------------------------------------

/**
* Return the Scale.
* @returns {Vector3} The Scale.
*/
Transform.prototype.getScale = function (){
	return this.scale;
};

//----------------------------------------------------------------------


/**
* Translates the game object.
* @param {Vector3} vec The vector.
*/
Transform.prototype.translate = function (vec){

	if(vec.len() > 0)
		this.setPosition(this.position.cpy().add(vec));
};

//----------------------------------------------------------------------

/**
* Rotates the game object.
* @param {Vector3} vec The vector.
*/
Transform.prototype.rotate = function (vec){

	if(vec.len() > 0){

		this.rotation.add(vec);

		this.dirty = true;
	}
};

//----------------------------------------------------------------------

Transform.prototype.lookAt = function (vec){

	this.dirty = true;

	this.target = vec.cpy();

	var pos = this.getPosition().cpy();

	this.forward = this.target.cpy().sub(pos).nor();
	// this.forward = pos.sub(this.target).nor();
	// console.log(this.forward);

	var yAxis = new Vector3(0,1,0);
	this.right = yAxis.cross(this.forward).nor();
	this.up = this.forward.cpy().cross(this.right);

};

//----------------------------------------------------------------------
/**
* @class
* @extends {Component}
* @classdesc This class renders a Mesh.
*/
var MeshRenderer = function (){
	Component.call(this);
	this.mesh = null;
	this.material = null;

	// texture region
  this.regionPosition = new Vector2(0.0,0.0);
  this.regionWidth = 1.0;
  this.regionHeight = 1.0;

  // alpha color
  this.alphaColor = new Color(-1,-1,-1,-1);

	//layer
	this.layer = 0;

	// Animations
  this.animations = [];
  this.animation = null;
};

MeshRenderer.prototype = new Component();
MeshRenderer.prototype.constructor = MeshRenderer;

//----------------------------------------------------------------------

/**
* Return the layer where the mesh is.
* @returns {Number} The layer.
*/
MeshRenderer.prototype.getLayer = function (){
	return this.layer;
};

//----------------------------------------------------------------------

/**
* Set the layer of the mesh.
* @param {Number} layer The layer.
*/
MeshRenderer.prototype.setLayer = function (layer){
	if(layer < 0)
		this.layer = 0;
	else
		this.layer=layer;
};

//----------------------------------------------------------------------

/**
* Return the mesh.
* @returns {Mesh} The mesh.
*/
MeshRenderer.prototype.getMesh = function (){
	return this.mesh;
};

//----------------------------------------------------------------------

/**
* Set the mesh.
* @param {Mesh} mesh The mesh.
*/
MeshRenderer.prototype.setMesh = function (mesh){
	this.mesh=mesh;
};

//----------------------------------------------------------------------

/**
* Return the material.
* @returns {Material} The material.
*/
MeshRenderer.prototype.getMaterial = function (){
	return this.material;
};

//----------------------------------------------------------------------

/**
* Set the material.
* @param {Material} material The material.
*/
MeshRenderer.prototype.setMaterial = function (material){
	this.material=material;
};

//----------------------------------------------------------------------

/**
* Return the radius.
* @returns {Number} The radius.
*/
MeshRenderer.prototype.getRadius = function () {

	var t = this.gameObject.getTransform();
	var scale = t.getScale();

	var max = this.mesh.getMax();

	var width = max.x * scale.x;
	var height = max.y * scale.y;
	var depth = max.z * scale.z;

	return Math.sqrt(( width * width ) + (  height * height ) + (  depth * depth )) / 2.0;
};

//----------------------------------------------------------------------

/**
* Return the radius.
* @returns {Number} The radius.
*/
MeshRenderer.prototype.getAlphaColor = function (){
	return this.alphaColor;
};

//----------------------------------------------------------------------

/**
* Return the alpha color.
* @param {Color} color The alpha color.
*/
MeshRenderer.prototype.setAlphaColor = function (color){
	this.alphaColor = color;
};

//----------------------------------------------------------------------

/**
* Selects a region of the texture.
* @param {Vector2} pos The position (in texture coordinates).
* @param {Number} width The width of the region.
* @param {Number} height The height of the region.
*/
MeshRenderer.prototype.setRegion = function (pos, width, height){
  this.regionPosition = pos;
  this.regionWidth = width;
  this.regionHeight = height;
};

//----------------------------------------------------------------------

/**
* Return the position of the region.
* @returns {TYPE} The position.
*/
MeshRenderer.prototype.getRegionPosition = function (){
	return this.regionPosition;
};

//----------------------------------------------------------------------

/**
* Return the width of the region.
* @returns {TYPE} The width.
*/
MeshRenderer.prototype.getRegionWidth = function (){
	return this.regionWidth;
};

//----------------------------------------------------------------------

/**
* Return the height of the region.
* @returns {TYPE} The height.
*/
MeshRenderer.prototype.getRegionHeight = function (){
	return this.regionHeight;
};

//----------------------------------------------------------------------


/**
* Set the animation, by name.
* @param {String} name The name.
*/
MeshRenderer.prototype.setAnimation = function (name){
	this.animation = this.animations[name];
};

//----------------------------------------------------------------------

/**
* Add an animation, by name.
* @param {String} name The name.
* @param {Animation} animation The animation.
*/
MeshRenderer.prototype.addAnimation = function (name, animation){
	this.animations[name] = animation;
};


//----------------------------------------------------------------------

/**
* Update de material with information about the region, the alphacolor and the animation.
* @param {Material} material The material.
*/
MeshRenderer.prototype.updateMaterial = function (material){
  if(material.getTexture() !== null){


    var shader = material.getShader();

    shader.addFloatVector(this.alphaColor.toArray(),"alphacolor");

    shader.addFloat(this.getRegionPosition().x, "regionX");
    shader.addFloat(this.getRegionPosition().y, "regionY");
    shader.addFloat(this.getRegionWidth(), "regionWidth");
    shader.addFloat(this.getRegionHeight(), "regionHeight");

    if(this.animation !== null){
      var frame = this.animation.getNextFrame();

      shader.addFloat(frame.getPosition().x, "animationX");
    	shader.addFloat(frame.getPosition().y, "animationY");
    	shader.addFloat(frame.getWidth(), "animationWidth");
    	shader.addFloat(frame.getHeight(), "animationHeight");
    }


  }
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents line renderer. (NOTE: This class doesn't extend from MeshRenderer !).
* @param {Shader} shader The number of vertices.
* @param {Vector3} start The number of vertices.
* @param {Vector3} end The number of vertices.
* @param {Color} color The number of vertices.
* @param {Matrix4} modelMatrix The number of vertices.
*/
var LineRenderer = function (shader,start,end,color, modelMatrix){
    this.shader = shader;
    this.color = color;

    this.modelMatrix = modelMatrix;

    this.start = start.cpy();
    this.end = end.cpy();

    this.start.w = 1;
    this.end.w = 1;

    this.vertices = this.start.toArray().concat(this.end.toArray());

    this.colors = this.color.toArray().concat(this.color.toArray());

    this.elem = [0,1];

    this.vboPosition = 0;
  	this.vboColor = 0;
  	this.vboElemIndices = 0;

  	this.vao = 0;
};

//----------------------------------------------------------------------

/**
* Binds the line renderer. (Sends data to WebGL)
*/
LineRenderer.prototype.bind = function () {

    this.vao = vao_ext.createVertexArrayOES();

    vao_ext.bindVertexArrayOES(this.vao);

    gl.enableVertexAttribArray(0);

  	// Create some buffers
  	this.vboPosition = gl.createBuffer();
  	gl.bindBuffer(gl.ARRAY_BUFFER, this.vboPosition);
  	gl.bufferData(gl.ARRAY_BUFFER, new Float32Array(this.vertices), gl.STATIC_DRAW); // TODO DYNAMIC
  	gl.vertexAttribPointer(0, 4, gl.FLOAT, false, 0, 0);

  	gl.enableVertexAttribArray(1);

    this.vboColor = gl.createBuffer();
  	gl.bindBuffer(gl.ARRAY_BUFFER, this.vboColor);
  	gl.bufferData(gl.ARRAY_BUFFER, new Float32Array(this.colors), gl.STATIC_DRAW); // TODO DYNAMIC
  	gl.vertexAttribPointer(1, 4, gl.FLOAT, false, 0, 0);


    this.vboElemIndices = gl.createBuffer();
  	gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, this.vboElemIndices);
  	gl.bufferData(gl.ELEMENT_ARRAY_BUFFER, new Uint16Array(this.elem), gl.STATIC_DRAW);

    vao_ext.bindVertexArrayOES(null);
};

//----------------------------------------------------------------------


/**
* Renders the line.
*/
LineRenderer.prototype.render = function () {
    this.shader.enable();

    this.shader.addMatrix(this.modelMatrix, "modelMatrix");

  	vao_ext.bindVertexArrayOES(this.vao);

  	gl.enableVertexAttribArray(0);
  	gl.enableVertexAttribArray(1);

  	gl.drawElements(gl.LINES, 2, gl.UNSIGNED_SHORT, 0);

    this.shader.disable();

  	gl.disableVertexAttribArray(0);
  	gl.disableVertexAttribArray(1);

};

//----------------------------------------------------------------------
/**
* @class
* @extends {MeshRenderer}
* @classdesc This class renders a sprite, and manages the animations.
*/
var SpriteRenderer = function (){
  MeshRenderer.call(this);
  this.setMesh(SpriteRenderer.rectangleMesh); // All sprites share the same mesh.
};

SpriteRenderer.rectangleMesh = new RectangleMesh();

SpriteRenderer.prototype = new MeshRenderer();
SpriteRenderer.prototype.constructor = SpriteRenderer;

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class represents a Frustum
*	(see: https://en.wikipedia.org/wiki/Frustum).
*/
var Frustum = function (camera){
	this.camera = camera;
	this.planes = new Array(6);

  for (var i = 0; i < this.planes.length; i++) {
      this.planes[i] = new Vector3(0,0,0); // x,y,z,w <=> A,B,C,D
  }

	this.VPmatrix = Matrix4.identity();
};

//----------------------------------------------------------------------

/**
* Tests if sphere is touching the frustum.
* @param {Vector3} center The center.
* @param {Number} radius The radius.
* @returns {Boolean} True if sphere is touching the frustum.
*/
Frustum.prototype.testSphere = function (center, radius){
	// console.log("TEST SPHERE");
	for (var i = 0; i < this.planes.length; i++) {

		var A = this.planes[i].x;
		var B = this.planes[i].y;
		var C = this.planes[i].z;
		var D = this.planes[i].w;

		// console.log(A+" "+B+" "+C+" "+D);
		// console.log(-radius);
		// console.log((A*center.x)+(B*center.y)+(C*center.z)+D);

		if((A*center.x)+(B*center.y)+(C*center.z)+D <= -radius)
			return false;
	}

	return true;
};

//----------------------------------------------------------------------

/**
* Builds the frustum planes.
*/
Frustum.prototype.build = function (){

	var t = this.camera.getGameObject().getTransform();

	if(t.isDirty()){

	  var LEFT = 0;
	  var RIGHT = 1;
	  var BOTTOM = 2;
	  var TOP = 3;
	  var NEAR = 4;
	  var FAR = 5;

		// var camPos = t.position;

	  // this.VPmatrix = Matrix4.mulMM(this.camera.getProjectionMatrix(),this.camera.getViewMatrix());
	  this.VPmatrix = Matrix4.mulMM(this.camera.getViewMatrix().transpose(),this.camera.getProjectionMatrix().transpose());
		this.VPmatrix = this.VPmatrix.transpose();

		// this.VPmatrix = Matrix4.mulMM(Matrix4.translation(new Vector3(-3,0,0)),this.VPmatrix)

		var d = new Array(6);

		/*
		* LEFT
		*/
	  this.planes[LEFT].x = this.VPmatrix.get(0,0) + this.VPmatrix.get(3,0);
	  this.planes[LEFT].y = this.VPmatrix.get(0,1) + this.VPmatrix.get(3,1);
	  this.planes[LEFT].z = this.VPmatrix.get(0,2) + this.VPmatrix.get(3,2);
		d[LEFT] =  this.VPmatrix.get(0,3) + this.VPmatrix.get(3,3);

		/*
		* RIGHT
		*/
	  this.planes[RIGHT].x = -this.VPmatrix.get(0,0) + this.VPmatrix.get(3,0);
	  this.planes[RIGHT].y = -this.VPmatrix.get(0,1) + this.VPmatrix.get(3,1);
	  this.planes[RIGHT].z = -this.VPmatrix.get(0,2) + this.VPmatrix.get(3,2);
		d[RIGHT] =  -this.VPmatrix.get(0,3) + this.VPmatrix.get(3,3);

		/*
		* BOTTOM
		*/
	  this.planes[BOTTOM].x = this.VPmatrix.get(1,0) + this.VPmatrix.get(3,0);
	  this.planes[BOTTOM].y = this.VPmatrix.get(1,1) + this.VPmatrix.get(3,1);
	  this.planes[BOTTOM].z = this.VPmatrix.get(1,2) + this.VPmatrix.get(3,2);
	  d[BOTTOM] =  this.VPmatrix.get(1,3) + this.VPmatrix.get(3,3);

		/*
		* TOP
		*/
	  this.planes[TOP].x = -this.VPmatrix.get(1,0) + this.VPmatrix.get(3,0);
	  this.planes[TOP].y = -this.VPmatrix.get(1,1) + this.VPmatrix.get(3,1);
	  this.planes[TOP].z = -this.VPmatrix.get(1,2) + this.VPmatrix.get(3,2);
	  d[TOP] =  -this.VPmatrix.get(1,3) + this.VPmatrix.get(3,3);

		/*
		* NEAR
		*/
	  this.planes[NEAR].x = this.VPmatrix.get(2,0) + this.VPmatrix.get(3,0);
	  this.planes[NEAR].y = this.VPmatrix.get(2,1) + this.VPmatrix.get(3,1);
	  this.planes[NEAR].z = this.VPmatrix.get(2,2) + this.VPmatrix.get(3,2);
	  d[NEAR] =  this.VPmatrix.get(2,3) + this.VPmatrix.get(3,3);

		/*
		* FAR
		*/
	  this.planes[FAR].x = -this.VPmatrix.get(2,0) + this.VPmatrix.get(3,0);
	  this.planes[FAR].y = -this.VPmatrix.get(2,1) + this.VPmatrix.get(3,1);
	  this.planes[FAR].z = -this.VPmatrix.get(2,2) + this.VPmatrix.get(3,2);
	  d[FAR] =  -this.VPmatrix.get(2,3) + this.VPmatrix.get(3,3);


    for (var i = 0; i < this.planes.length; i++) {

			if(this.planes[i].len() > 0){

				d[i] = d[i]/this.planes[i].len();

				this.planes[i] = this.planes[i].nor();

				this.planes[i].w = d[i];
			}
    }
	}
};

//----------------------------------------------------------------------

/**
* @class
* @extends {Component}
* @classdesc This class represents a camera.
* @param {Matrix4} matrix The matrix. The matrix can be Perspective or Orthogonal.
*/
var Camera = function (matrix){
	Component.call(this);
	this.target = null;
	this.projectionMatrix = matrix;
	this.frustum = new Frustum(this);
	this.viewMatrix = Matrix4.identity();
};

Camera.prototype = new Component();
Camera.prototype.constructor = Camera;

//----------------------------------------------------------------------

/**
* Return the frustum.
* @returns {Frustum} The frustum.
*/
Camera.prototype.getFrustum = function (){
	return this.frustum;
};

//----------------------------------------------------------------------

/**
* Set the projection matrix.
* @param {Matrix4} projectionMatrix The projection matrix.
*/
Camera.prototype.setProjection = function (projectionMatrix){
    this.projectionMatrix = projectionMatrix;
};

//----------------------------------------------------------------------

/**
* Return the projection matrix.
* @returns {Matrix4} The projectionMatrix.
*/
Camera.prototype.getProjectionMatrix = function (){
    return this.projectionMatrix;
};

//----------------------------------------------------------------------

/**
* Return the view matrix.
* @returns {Matrix4} The viewMatrix.
*/
Camera.prototype.getViewMatrix = function (){

	var t = this.gameObject.getTransform();

	if(t.isDirty()){
		
		var rotationMatrix = new Matrix4(
	        t.right,
	        t.up,
	        t.forward,
	        new Vector4(0,0,0,1));

		var translationMatrix = Matrix4.translation(t.getPosition().cpy().mulScl(-1));

		this.viewMatrix = Matrix4.mulMM(translationMatrix, rotationMatrix);
	}

	return this.viewMatrix;
};

//----------------------------------------------------------------------
/**
* @class
* @extends {Camera}
* @classdesc This class represents an Orthographic Projection camera.
* @param {Number} left The distance of the left plane.
* @param {Number} right The distance of the right plane.
* @param {Number} bottom The distance of the bottom plane.
* @param {Number} top The distance of the top plane.
* @param {Number} near The distance of the near plane.
* @param {Number} far The distance of the far plane.
*/
var OrthoCamera = function (left, right, bottom, top, near, far){
	Camera.call(this,Matrix4.ortho(left, right, bottom, top, near, far));

    this.left = left;
    this.right = right;
    this.bottom = bottom;
    this.top = top;
    this.near = near;
    this.far = far;

};

OrthoCamera.prototype = new Camera();
OrthoCamera.prototype.constructor = OrthoCamera;

//----------------------------------------------------------------------
/**
* @class
* @extends {Camera}
* @classdesc This class represents an Perspective Projection camera.
* @param {Number} near The distance of the near plane.
* @param {Number} far The distance of the far plane.
* @param {Number} aspect The aspect ratio.
* @param {Number} fov The Field of View, in degrees.
*/
var PerspectiveCamera = function (near, far, aspect, fov){
	Camera.call(this,Matrix4.perspective(near, far, aspect, fov));

	this.near = near;
	this.far = far;
	this.aspect = aspect;
	this.fov = fov;
};

PerspectiveCamera.prototype = new Camera();
PerspectiveCamera.prototype.constructor = PerspectiveCamera;

//----------------------------------------------------------------------

/**
* @class
* @classdesc This class provides time-related functionality.
*/
var Time = function () {

};

Time.lastTime = 0.0;
Time.delta = 0.0;
Time.deltaInSeconds = 0.0;
Time.lastTimeInSeconds = 0.0;

//----------------------------------------------------------------------

/**
* Starts the timestamp.
*/
Time.init = function () {
    Time.lastTime = Date.now();
};

//----------------------------------------------------------------------

/**
* Generates the timestamp and calculates the delta time
* that has passed from the last timestamp.
*/
Time.tick = function () {
    var now = Date.now();

    Time.delta = now-Time.lastTime;
    Time.deltaInSeconds = Time.delta/1000;

    Time.lastTime = now;
    Time.lastTimeInSeconds = Time.lastTime/1000;
};

//----------------------------------------------------------------------

// This time is the same for the whole frame (engine loop).
// This allows synchronize the animations !!!!

/**
* This function is used to obtain, within the same engine iteration, the
* same timestamp. For example: This allows synchronize the animations.
* @returns {Number} now.
*/
Time.now = function () {
    return Time.lastTimeInSeconds;
};

//----------------------------------------------------------------------

/**
* Return the delta time.
* @returns {Number} The delta time.
*/
Time.deltaTime = function () {
    return Time.deltaInSeconds;
};

//----------------------------------------------------------------------

/**
* @class
* @classdesc This class is the heart of the application.
* It holds all the scenes and objects.
*/
var Engine = function (){

  this.fps = 30;

  this.renderEngine = null;
  this.physicsEngine = null;
  this.scriptEngine = null;
  this.currentScene = null;
  this.scenes = {};
  this.input = new Input();

  this.loaded = false;
  this.physicsEnabled = true;
};

//----------------------------------------------------------------------

// TODO: Singleton

/**
* Return the current scene.
* @returns {Scene} The current scene.
*/
Engine.prototype.getCurrentScene = function (){
	return this.currentScene;
};

//----------------------------------------------------------------------

/**
* Add a new scene.
* @param {Scene} scene The new scene.
*/
Engine.prototype.addScene = function (scene){
	this.scenes[scene.getName()] = scene;
};

//----------------------------------------------------------------------

/**
* Set the current scene as the scene named as 'name'.
* @param {String} name The name of the scene.
*/
Engine.prototype.setCurrentScene = function (name){

  if(this.currentScene === null)
    this.currentScene=this.scenes[name];
  else if(this.currentScene.getName() !== name){
    this.currentScene.reset(); // reset old scene
    this.currentScene=this.scenes[name];
  }


};

//----------------------------------------------------------------------

/**
* Return the scenes.
* @returns {Array} The scenes.
*/
Engine.prototype.getScenes = function (){
	return this.scenes;
};

//----------------------------------------------------------------------

/**
* Set the clear color. WebGL will use this value to repaint the screen.
* @param {Color} color The color.
*/
Engine.prototype.setClearColor = function (color){
  this.renderEngine.setClearColor(color);
};

//----------------------------------------------------------------------

/**
* Enables the physics engine,
*/
Engine.prototype.enablePhysics = function (){
  this.physicsEnabled = true;
};

//----------------------------------------------------------------------

/**
* Set the gravity.
* @param {Vector4} gravity The gravity.
*/
Engine.prototype.setGravity = function (gravity){
  this.physicsEngine.setGravity(gravity);
};

//----------------------------------------------------------------------

/**
* Disable the physics engine,
*/
Engine.prototype.disablePhysics = function (){
  this.physicsEnabled = false;
};

//----------------------------------------------------------------------

/**
* Set the fps.
* @param {Number} fps The fps.
*/
Engine.prototype.setFPS = function (fps){
  this.fps = fps;
};

//----------------------------------------------------------------------

/**
* Starts the engine.
*/
Engine.prototype.init = function (){

  this.renderEngine = new RenderEngine();
  this.physicsEngine = new PhysicsEngine();
  this.scriptEngine = new ScriptEngine();

};

//----------------------------------------------------------------------

/**
* Update the current scene.
*/
Engine.prototype.updateScene = function(){

  var root = this.currentScene.getNewsRoot();

  var renderers = root.getComponentsInChildren(MeshRenderer);
  var rigidBodies = root.getComponentsInChildren(RigidBody);
  var scripts = root.getComponentsInChildren(Script);

  this.currentScene.flush();


  this.renderEngine.addRenderers(renderers);
  this.renderEngine.setRenderContext(this.currentScene.getRenderContext());

  this.physicsEngine.addBodies(rigidBodies);

  this.scriptEngine.addScripts(scripts);

  // console.log("update");

};

//----------------------------------------------------------------------

/**
* Load the current scene.
*/
Engine.prototype.loadScene = function(){

  this.renderEngine.clear();
  this.physicsEngine.clear();
  this.scriptEngine.clear();

  this.updateScene();

  this.loaded = false;

  // console.log("load");

};

//----------------------------------------------------------------------


/**
* Runs the engine.
*/
Engine.prototype.run = function () {

  var step = (1/this.fps);

  window.requestAnimFrame = (function(){
    return  window.requestAnimationFrame       ||
            window.webkitRequestAnimationFrame ||
            window.mozRequestAnimationFrame    ||
            function( callback ){
              window.setTimeout(callback, step*1000);
            };
  })();

  var renderEngine = this.renderEngine;
  var physicsEngine = this.physicsEngine;
  var scriptEngine = this.scriptEngine;

  var engine = this;

  var accumulator = 0;

  var main = function () {

    Time.tick();

    accumulator += Time.deltaTime();

    if(! engine.getCurrentScene().isLoaded())
      engine.loadScene();

    if(engine.getCurrentScene().hasNewObjects())
      engine.updateScene();

    if(Loader.isDone() && !renderEngine.isBinded()){
      engine.loaded = true;
      renderEngine.bind();
    }

    if(engine.loaded){

      scriptEngine.update();

      while(accumulator >= step){
        accumulator -= step;

        if(engine.physicsEnabled){
          physicsEngine.update(step);
        }
      }

      renderEngine.update();
      renderEngine.render();

      engine.getCurrentScene().cleanTrash();

    }

    window.requestAnimFrame(main);
  };

  Time.init();

  window.requestAnimFrame(main);

};

//----------------------------------------------------------------------

/**
* @class
* @classdesc This loader stores textures and avoid duplication of them.
*/
var Loader = function (){

};

Loader.images = {};
Loader.textures = {};
Loader.materials = {};

Loader.requests = 0;
Loader.loaded = 0;
Loader.done = false;
Loader.hasImageRequests = false;
// Loader.running = false;

// TODO: Loader.LoadTextFile(path) ==> The text file will be included
// within a div element like this ==> <div id=path> plain text </div>

//----------------------------------------------------------------------

/**
* Return if all loads have finished.
* @returns {Boolean} If all loads have finished.
*/
Loader.isDone = function(){

    // if( ! Loader.hasImageRequests)
    //     return true;

    return Loader.done;
};

//----------------------------------------------------------------------

/**
* Reset the loader.
*/
Loader.reset = function(){
  Loader.done = false;
};

//----------------------------------------------------------------------

/**
* Load the image in async mode.
* NOTE: Do not worry about the 'async' word.
* The engine will wait until all the images are loaded.
* @param {String} path The path.
*/
Loader.loadImageFile = function (path){

    Loader.hasImageRequests = true;

    if((path in Loader.images)){
        return Loader.images[path];

    }else{
        Loader.requests++;
        var img = new Image();

        Loader.images[path] = img;

        img.src = path; // DOWNLOADING!

        img.onload = function(){
            Loader.loaded++;
            if(Loader.requests == Loader.loaded)
                Loader.done = true;
            else
                Loader.done = false;
        };

        return Loader.images[path];
    }

};

//----------------------------------------------------------------------

/**
* Load the texture in async mode.
* NOTE: Do not worry about the 'async' word.
* The engine will wait until all the images are loaded.
* @param {String} path The path.
*/
Loader.loadTexture = function (path) {
    if( ! (path in Loader.textures)){
        var img = Loader.loadImageFile(path);

        var texture = new Texture(path,img);
        Loader.textures[path] = texture;
    }

    return Loader.textures[path];
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc Provides a simple input facade.
*/
var Input = function (){

    var onKeyDown = function(event){

        // Input.key = event.keyCode;

        var found = false;

        for (var i = 0; i < Input.stack.length && !found; i++) {

          var key = Input.stack[i];

          if(key === event.keyCode)
            found = true;
        }

        if(!found)
          Input.stack.push(event.keyCode);

        // this allow reload page with F5
        // if(event.keyCode !== 116)
        //     event.preventDefault();

    };

    var onKeyUp = function(event){
        // Input.key = -1;

        var newStack = [];

        for (var i = 0; i < Input.stack.length; i++) {

          var key = Input.stack[i];

          if(key !== event.keyCode)
            newStack.push(key);

        }

        Input.stack = newStack;

        // event.preventDefault();

    };

    var onMouseMove = function(event){

      var canvas = Canvas.get();


        Input.cursorPos.x = event.clientX;
        Input.cursorPos.y = event.clientY * -1;

        Input.cursorPos.x -= canvas.width/2;
        Input.cursorPos.y += canvas.height/2;


        // event.preventDefault();

    };

    var onMouseDown = function(event){

        Input.button = event.button;

        // event.preventDefault();

    };

    var onMouseUp = function(event){

        Input.button = -1;

        // event.preventDefault();

    };

    document.addEventListener("keydown", onKeyDown,false);
    document.addEventListener("keyup", onKeyUp,false);

    var canvas = Canvas.get();
    canvas.addEventListener("mousedown", onMouseDown,false);
    canvas.addEventListener("mouseup", onMouseUp,false);
    canvas.addEventListener("mousemove", onMouseMove,false);

    canvas.addEventListener("contextmenu", function(event){
        event.preventDefault();
        return false;
    },false);

};

Input.key = -1;
Input.stack = [];
Input.button = -1;

Input.cursorPos = new Vector2(0,0);

//----------------------------------------------------------------------

/**
* Return the key wich is being pressed.
* @returns {Number} The key.
*/
Input.getKey = function (){
	return Input.key;
};

//----------------------------------------------------------------------

/**
* Return the key wich is being pressed.
* @returns {Number} The key.
*/
Input.isKeyPressed = function (key){
	// return Input.key === key;

  var found = false;

  for (var i = 0; i < Input.stack.length && !found; i++) {
    if(key === Input.stack[i])
      found = true;
  }

  return found;
};

//----------------------------------------------------------------------

/**
* Return the button wich is being pressed.
* @returns {Number} The button.
*/
Input.getButton = function (){
	return Input.button;
};

//----------------------------------------------------------------------

/**
* Return cursor position.
* @returns {Vector2} The cursor position.
*/
Input.getCursorPosition = function (){

	return Input.cursorPos;
};

//----------------------------------------------------------------------

// TODO: Implement input stack, implement key codes, char?

/**
* @class
* @extends {Component}
* @classdesc This class represents a script.
*/
var Script = function (){
    Component.call(this);
};

Script.prototype = new Component();
Script.prototype.constructor = Script;

//----------------------------------------------------------------------

/**
* This function runs when the engine starts at first time.
*/
Script.prototype.start = function (){
  throw new Error("Abstract method!");
};

//----------------------------------------------------------------------

/**
* This function runs each frame.
*/
Script.prototype.update = function (){
  throw new Error("Abstract method!");
};

//----------------------------------------------------------------------

/**
* This function runs when the game element collides with other game element.
* @param {GameObject} otherGameObject The other gameobject.
* @param {b2Contact} contact The contact.
*/
Script.prototype.onEnterCollision = function (otherGameObject, contact){
  throw new Error("Abstract method!");
};

//----------------------------------------------------------------------

/**
* This function runs when the collision is finished.
* @param {GameObject} otherGameObject The other gameobject.
* @param {b2Contact} contact The contact.
*/
Script.prototype.onExitCollision = function (otherGameObject, contact){
  throw new Error("Abstract method!");
};

//----------------------------------------------------------------------

/**
* This function runs when the game element is destroyed.
*/
Script.prototype.onDestroy = function (){
  throw new Error("Abstract method!");
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class manages all the scripts.
*/
var ScriptEngine = function (){
  this.scripts = [];
};

//----------------------------------------------------------------------

/**
* Return the scritps to the engine.
* @return {Array} The scripts.
*/
ScriptEngine.prototype.getScripts = function (){
	return this.scripts;
};

//----------------------------------------------------------------------

/**
* Add the scritps to the engine.
* @param {Array} scripts The scripts.
*/
ScriptEngine.prototype.addScripts = function (scripts){
  for (var i = 0; i < scripts.length; i++) {
    scripts[i].start();
    this.scripts.push(scripts[i]);
	}
};

//----------------------------------------------------------------------

/**
* Clear all the scripts.
*/
ScriptEngine.prototype.clear = function (){
	this.scripts = [];
};

//----------------------------------------------------------------------

/**
* Update all the scripts.
*/
ScriptEngine.prototype.update = function (){
    for (script of this.scripts){

      if(!script.isDestroyed() && script.isEnabled())
        script.update();
    }

};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class provides seedable random.
* @param {Number} seed The seed.
*/
var Random = function(seed){
    this.seed = seed;
};

//----------------------------------------------------------------------

//

/**
* Return a random number, in a range. If max and min are undefined, they are setted to 1 and 0.
* @link  http://indiegamr.com/generate-repeatable-random-numbers-in-js/
* @param {Number} max The max.
* @param {Number} min The min.
* @returns {Number} The randon number.
*/
Random.prototype.seededRandom = function(max, min) {

    var _max = max || 1;
    var _min = min || 0;

    this.seed = (this.seed * 9301 + 49297) % 233280;
    var rnd = this.seed / 233280;

    return _min + rnd * (_max - _min);
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class provides seedable random.
* @param {Number} seed The seed.
* @param {Number} n The number of gradients.
*/
var PerlinNoise = function(n,seed){

    this.random = new Random(seed);
    this.n = n;
    // this.posOffset = posOffset.cpy();

    this.gradients = new Array(this.n);

    // -------------------------------

    // Shuffle function
    function shuffle(array, randomGenerator) {

      var currentIndex = array.length;
      var aux;
      var randomIndex;

      while (currentIndex !== 0) {
        // Pick a remaining element...
        randomIndex = Math.floor(randomGenerator.seededRandom() * currentIndex);
        currentIndex -= 1; // lenght--

        // swap
        aux = array[currentIndex];
        array[currentIndex] = array[randomIndex];
        array[randomIndex] = aux;
      }

      return array;
    }

    // -------------------------------

    // Gradients array
    for ( var i=0; i<this.n; i++) {
      this.gradients[ i ] = new Vector2(0,0);

      this.gradients[ i ].x = this.random.seededRandom() * 2.0 - 1.0;
      this.gradients[ i ].y = this.random.seededRandom() * 2.0 - 1.0;

      var lengthSq = this.gradients[ i ].x * this.gradients[ i ].x + this.gradients[ i ].y * this.gradients[ i ].y;
      var length = Math.sqrt( lengthSq );

      this.gradients[ i ].x /= length;
      this.gradients[ i ].y /= length;
    }

    // -------------------------------

    // Permutations array
    this.permutation = new Array(this.n);

    for (var i = 0; i < this.n; i++)
        this.permutation.push(i);

    this.permutation = shuffle(this.permutation, this.random);

    // -------------------------------
};

//----------------------------------------------------------------------


PerlinNoise.prototype.getGradient = function( x,y ){
    // TODO: use & or mod % ????

    var index = y  & (this.n - 1);
    index = ( x + this.permutation[ index ] ) & (this.n - 1);

    return this.gradients[ index ];
};

//----------------------------------------------------------------------

PerlinNoise.prototype.lerp = function(a, b, t) {
     return (1.0 - t)*a + t*b;
};

//----------------------------------------------------------------------

// Compute the dot product of the distance and gradient vectors.
PerlinNoise.prototype.dotGridGradient = function(ix, iy, x, y) {

  // Compute the distance vector
  var offset = new Vector2(x - ix, y - iy);

  var grad = this.getGradient(new Vector2(ix,iy));

  // Compute the dot-product
  return grad.dot(offset);
};

//----------------------------------------------------------------------

/**
* Return a random number.
* @param {Number} x The x coordinate.
* @param {Number} y The y coordinate.
* @returns {Number} The randon number.
*/
PerlinNoise.prototype.generate = function(x, y){

  x += this.random.seededRandom(); // in [0,1] range
  y += this.random.seededRandom(); // in [0,1] range

  var xCoord = Math.floor(x);
  var yCoord = Math.floor(y);

  // Determine grid cell coordinates
  var x0 = (xCoord > 0.0 ? xCoord : xCoord - 1);
  var x1 = x0 + 1;
  var y0 = (yCoord > 0.0 ? yCoord : yCoord - 1);
  var y1 = y0 + 1;

  // Determine interpolation weights
  // Could also use higher order polynomial/s-curve here
  var sx = xCoord - x0;
  var sy = yCoord - y0;

  // Interpolate between grid point gradients
  var n0, n1, ix0, ix1, value;

  n0 = this.dotGridGradient(x0, y0, x, y);
  n1 = this.dotGridGradient(x1, y0, x, y);
  ix0 = this.lerp(n0, n1, sx);
  n0 = this.dotGridGradient(x0, y1, x, y);
  n1 = this.dotGridGradient(x1, y1, x, y);
  ix1 = this.lerp(n0, n1, sx);

  // console.log(ix0);
  // console.log(ix1);
  value = this.lerp(ix0, ix1, sy);

  // console.log(value);

  return value;
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class is a game object builder.
*/
var GameObjectBuilder = function (){
  this.tmpObj = null;
};

//----------------------------------------------------------------------

/**
* Return an empty game object that just contains its Transform.
* @returns {GameObject} The game object.
*/
GameObjectBuilder.empty = function () {
  var obj = new GameObject();

  var transform = new Transform();
  obj.addComponent(transform);

  return obj;
};

//----------------------------------------------------------------------

/**
* Create an empty game object.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.begin = function () {
  this.tmpObj = GameObjectBuilder.empty();
  return this;
};

//----------------------------------------------------------------------

/**
* Set the name.
* @param {String} name The name.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setName = function (name){
  this.tmpObj.setName(name);
  return this;
};


//----------------------------------------------------------------------

/**
* Set if is static.
* @param {Boolean} isStatic True if is static.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setStatic = function (isStatic){
 this.tmpObj.setStatic(isStatic);
 return this;
};


//----------------------------------------------------------------------

/**
* Set the position.
* @param {Vector2} position The position.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setPosition = function (position){
  this.tmpObj.getTransform().setPosition(position);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the rotation.
* @param {Vector2} vec The vector.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setRotation = function (vec){
  this.tmpObj.getTransform().setRotation(vec);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the scale.
* @param {Vector2} vec The vector.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setScale = function (vec){
  this.tmpObj.getTransform().setScale(vec);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the physic properties.
* @param {Number} density The density.
* @param {Number} friction The friction.
* @param {Number} restitution The restitution.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setRigidBody = function (density, friction, restitution){
  var rigidBody = new RigidBody(density, friction, restitution);
  this.tmpObj.addComponent(rigidBody);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the collider.
* @param {Collider} collider The collider.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setCollider = function (collider){
  this.tmpObj.addComponent(collider);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the renderer.
* @param {MeshRenderer} renderer The renderer.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setRenderer = function (renderer) {
  this.tmpObj.addComponent(renderer);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the mesh.
* @param {Mesh} mesh The mesh.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setMesh = function (mesh) {
  this.tmpObj.getComponent(MeshRenderer).setMesh(mesh);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the layer.
* @param {Number} layer The layer.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setLayer = function (layer) {
  this.tmpObj.getComponent(MeshRenderer).setLayer(layer);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the material.
* @param {Material} material The material.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setMaterial = function (material) {
  this.tmpObj.getComponent(MeshRenderer).setMaterial(material);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the color.
* @param {Color} color The color.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setColor = function (color) {
  this.tmpObj.getComponent(MeshRenderer).getMaterial().setColor(color);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the alpha color.
* @param {Color} color The color.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setAlphaColor = function (color) {
  this.tmpObj.getComponent(MeshRenderer).setAlphaColor(color);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the texture region.
* @param {Vector2} texCoord The texCoord.
* @param {Number} width The width.
* @param {Number} height The height.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setTextureRegion = function (texCoord, width, height) {
  this.tmpObj.getComponent(MeshRenderer).setRegion(texCoord, width, height);
  return this;
};

//----------------------------------------------------------------------

/**
* Add an animation.
* @param {String} name The name.
* @param {Number} frameCount The frameCount.
* @param {Number} horizontal The horizontal.
* @param {Number} reverse The reverse.
* @param {Vector2} startPosition The startPosition.
* @param {Number} width The width.
* @param {Number} height The height.
* @param {Number} speed The speed.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.addAnimation = function (name, frameCount, horizontal, reverse, startPosition, width, height, speed) {

  var animation = Animation.create(frameCount, horizontal, reverse, startPosition, width, height, speed);

  this.tmpObj.getComponent(MeshRenderer).addAnimation(name,animation);

  return this;
};

//----------------------------------------------------------------------

/**
* Set the name.
* @param {String} name The name.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.setAnimation = function (name) {

  this.tmpObj.getComponent(MeshRenderer).setAnimation(name);
  return this;
};

//----------------------------------------------------------------------

/**
* Set the script.
* @param {Script} script The script.
* @returns {GameObjectBuilder} this.
*/
GameObjectBuilder.prototype.addScript = function (script) {
  this.tmpObj.addComponent(script);
  return this;
};

//----------------------------------------------------------------------

/**
* Return the game object.
* @returns {GameObject} The game object.
*/
GameObjectBuilder.prototype.end = function () {
  return this.tmpObj;
};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class is a sprite builder.
* @extends {GameObjectBuilder}
*/
var SpriteBuilder = function (){
  GameObjectBuilder.call(this);
};

SpriteBuilder.prototype = new GameObjectBuilder();
SpriteBuilder.prototype.constructor = SpriteBuilder;

//----------------------------------------------------------------------


SpriteBuilder.prototype.begin = function () {
  GameObjectBuilder.prototype.begin.call(this);

  this.setRenderer(new SpriteRenderer());

  var material = new Material();
  material.setColor(Color.NONE);
  this.setMaterial(material);

  return this;
};

//----------------------------------------------------------------------

/**
* Set the texture.
* @param {String} textureName The texture.
* @returns {SpriteBuilder} this.
*/
SpriteBuilder.prototype.setTexture = function (textureName) {

  var material = this.tmpObj.getComponent(MeshRenderer).getMaterial();

  if(material !== null && textureName !== null && textureName !== "")
    material.setTexture(Loader.loadTexture(textureName));

  return this;
};

//----------------------------------------------------------------------


/**
* Set the size of the sprite.
* @param {Number} size The size.
* @returns {SpriteBuilder} this.
*/
SpriteBuilder.prototype.setSize = function (size) {
  this.setScale(new Vector2(size,size));
  return this;
};

//----------------------------------------------------------------------

/**
* Create a sprite.
* @param {String} textureName The texture.
* @param {Vector2} pos The position.
* @param {Number} width The width.
* @param {Number} height The height.
* @returns {SpriteBuilder} this.
*/
SpriteBuilder.prototype.create = function (textureName,pos,width,height) {

    return this.begin().
		setTexture(textureName).
    setPosition(pos).
    setScale(new Vector2(width,height));

};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class is a camera builder.
* @extends {GameObjectBuilder}
*/
var CameraBuilder = function (){
  GameObjectBuilder.call(this);
};

CameraBuilder.prototype = new GameObjectBuilder();
CameraBuilder.prototype.constructor = CameraBuilder;

//----------------------------------------------------------------------

/**
* Set orthographic projection.
* @param {Number} width The width.
* @param {Number} height The height.
* @param {Number} far The far.
* @param {Number} near The near.
* @returns {CameraBuilder} this.
*/
CameraBuilder.prototype.setOrtho = function (width,height,far,near) {

  // TODO: implement zoom into OrthoCamera class.
  this.cam = new OrthoCamera(-width,width,-height,height, far,near);
  this.tmpObj.addComponent(this.cam);

  return this;
};

//----------------------------------------------------------------------

/**
* Set perspective projection.
* @param {Number} far The far.
* @param {Number} near The near.
* @param {Number} aspect The aspect.
* @param {Number} fov The fov.
* @returns {CameraBuilder} this.
*/
CameraBuilder.prototype.setPerspective = function (far,near,aspect,fov) {

  this.cam = new PerspectiveCamera(far,near,aspect,fov);
  this.tmpObj.addComponent(this.cam);

  return this;
};

//----------------------------------------------------------------------


/**
* Create a camera.
* @param {TYPE} pos The position
* @returns {CameraBuilder} this.
*/
CameraBuilder.prototype.create = function (pos) {

  return this.begin().setPosition(pos);

};

//----------------------------------------------------------------------
/**
* @class
* @classdesc This class is a facade for the user.
*/
var Thief = function() {

};

Thief.engine = null;
Thief.currentScene = null;

//----------------------------------------------------------------------

/**
* Initialize the engine.
*/
Thief.init = function () {
  Thief.engine = new Engine();
  Thief.engine.init();
};

//----------------------------------------------------------------------

/**
* Return an empty game object that just contains its Transform.
*/
Thief.empty = function () {
  var obj = new GameObject();

  var transform = new Transform();
  obj.addComponent(transform);

  return obj;
};

//----------------------------------------------------------------------

/**
* Set the clear color.
* @param {Color} color The color.
*/
Thief.setClearColor = function (color) {
  Thief.engine.setClearColor(color);
};

//----------------------------------------------------------------------

/**
* Set the gravity.
* @param {Number} gravity The gravity.
*/
Thief.setGravity = function (gravity) {
  Thief.engine.setGravity(gravity);
};

//----------------------------------------------------------------------

/**
* Enable the physics engine.
*/
Thief.enablePhysics = function () {
  Thief.engine.enablePhysics();
};

//----------------------------------------------------------------------

/**
* Disable the physics engine.
*/
Thief.disablePhysics = function () {
  Thief.engine.disablePhysics();
};

//----------------------------------------------------------------------

/**
* Run the engine.
*/
Thief.run = function () {
  Thief.engine.run();
};

//----------------------------------------------------------------------

/**
* Create a new scene.
* @param {String} name The name.
*/
Thief.createScene = function (name) {
  Thief.currentScene = new Scene(name);
  Thief.engine.addScene(this.currentScene);
};

//----------------------------------------------------------------------

/**
* Set a scene.
* @param {String} name The name.
*/
Thief.setScene = function (name) {
  Thief.engine.setCurrentScene(name);
};

//----------------------------------------------------------------------

Thief.getScene = function () {
  return Thief.engine.getCurrentScene();
};

//----------------------------------------------------------------------

/**
* Create and set a new scene.
* @param {String} name The name.
*/
Thief.createAndSetScene = function (name) {
  Thief.createScene(name);
  Thief.setScene(name);
};

//----------------------------------------------------------------------

/**
* Set the camera. Note that, cam is a GameObject not a Camera Component.
* @param {GameObject} cam The camera.
*/
Thief.setCamera = function (cam) {
  var renderContext = new RenderContext();

  renderContext.setCamera(cam.getComponent(Camera));

  Thief.getScene().setRenderContext(renderContext);

};

//----------------------------------------------------------------------

/**
* Add a game object to the current scene.
* @param {GameObject} obj The game object.
*/
Thief.addGameObjectToScene = function (obj) {
  Thief.currentScene.addObject(obj);
};

//----------------------------------------------------------------------