cinegift: comparison integ/js/vs/lib/Box2DWeb/Box2DWeb-2.1.a.3.js

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integ/js/vs/lib/Box2DWeb/Box2DWeb-2.1.a.3.js

changeset 28

84719280c84d

equal deleted inserted replaced

-:c21cffd36f98
+:84719280c84d
+/*
+* Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+var Box2D = {};
+(function (a2j, undefined) {
+if(!(Object.prototype.defineProperty instanceof Function)
+&& Object.prototype.__defineGetter__ instanceof Function
+&& Object.prototype.__defineSetter__ instanceof Function)
+{
+Object.defineProperty = function(obj, p, cfg) {
+if(cfg.get instanceof Function)
+obj.__defineGetter__(p, cfg.get);
+if(cfg.set instanceof Function)
+obj.__defineSetter__(p, cfg.set);
+}
+}
+function emptyFn() {};
+a2j.inherit = function(cls, base) {
+var tmpCtr = cls;
+emptyFn.prototype = base.prototype;
+cls.prototype = new emptyFn;
+cls.prototype.constructor = tmpCtr;
+};
+a2j.generateCallback = function generateCallback(context, cb) {
+return function () {
+cb.apply(context, arguments);
+};
+};
+a2j.NVector = function NVector(length) {
+if (length === undefined) length = 0;
+var tmp = new Array(length || 0);
+for (var i = 0; i < length; ++i)
+tmp[i] = 0;
+return tmp;
+};
+a2j.is = function is(o1, o2) {
+if (o1 === null) return false;
+if ((o2 instanceof Function) && (o1 instanceof o2)) return true;
+if ((o1.constructor.__implements != undefined) && (o1.constructor.__implements[o2])) return true;
+return false;
+};
+a2j.parseUInt = function(v) {
+return Math.abs(parseInt(v));
+}
+})(Box2D);
+//#TODO remove assignments from global namespace
+var Vector = Array;
+var Vector_a2j_Number = Box2D.NVector;
+//package structure
+if (typeof(Box2D) === "undefined") Box2D = {};
+if (typeof(Box2D.Collision) === "undefined") Box2D.Collision = {};
+if (typeof(Box2D.Collision.Shapes) === "undefined") Box2D.Collision.Shapes = {};
+if (typeof(Box2D.Common) === "undefined") Box2D.Common = {};
+if (typeof(Box2D.Common.Math) === "undefined") Box2D.Common.Math = {};
+if (typeof(Box2D.Dynamics) === "undefined") Box2D.Dynamics = {};
+if (typeof(Box2D.Dynamics.Contacts) === "undefined") Box2D.Dynamics.Contacts = {};
+if (typeof(Box2D.Dynamics.Controllers) === "undefined") Box2D.Dynamics.Controllers = {};
+if (typeof(Box2D.Dynamics.Joints) === "undefined") Box2D.Dynamics.Joints = {};
+//pre-definitions
+(function () {
+Box2D.Collision.IBroadPhase = 'Box2D.Collision.IBroadPhase';
+function b2AABB() {
+b2AABB.b2AABB.apply(this, arguments);
+};
+Box2D.Collision.b2AABB = b2AABB;
+function b2Bound() {
+b2Bound.b2Bound.apply(this, arguments);
+};
+Box2D.Collision.b2Bound = b2Bound;
+function b2BoundValues() {
+b2BoundValues.b2BoundValues.apply(this, arguments);
+if (this.constructor === b2BoundValues) this.b2BoundValues.apply(this, arguments);
+};
+Box2D.Collision.b2BoundValues = b2BoundValues;
+function b2Collision() {
+b2Collision.b2Collision.apply(this, arguments);
+};
+Box2D.Collision.b2Collision = b2Collision;
+function b2ContactID() {
+b2ContactID.b2ContactID.apply(this, arguments);
+if (this.constructor === b2ContactID) this.b2ContactID.apply(this, arguments);
+};
+Box2D.Collision.b2ContactID = b2ContactID;
+function b2ContactPoint() {
+b2ContactPoint.b2ContactPoint.apply(this, arguments);
+};
+Box2D.Collision.b2ContactPoint = b2ContactPoint;
+function b2Distance() {
+b2Distance.b2Distance.apply(this, arguments);
+};
+Box2D.Collision.b2Distance = b2Distance;
+function b2DistanceInput() {
+b2DistanceInput.b2DistanceInput.apply(this, arguments);
+};
+Box2D.Collision.b2DistanceInput = b2DistanceInput;
+function b2DistanceOutput() {
+b2DistanceOutput.b2DistanceOutput.apply(this, arguments);
+};
+Box2D.Collision.b2DistanceOutput = b2DistanceOutput;
+function b2DistanceProxy() {
+b2DistanceProxy.b2DistanceProxy.apply(this, arguments);
+};
+Box2D.Collision.b2DistanceProxy = b2DistanceProxy;
+function b2DynamicTree() {
+b2DynamicTree.b2DynamicTree.apply(this, arguments);
+if (this.constructor === b2DynamicTree) this.b2DynamicTree.apply(this, arguments);
+};
+Box2D.Collision.b2DynamicTree = b2DynamicTree;
+function b2DynamicTreeBroadPhase() {
+b2DynamicTreeBroadPhase.b2DynamicTreeBroadPhase.apply(this, arguments);
+};
+Box2D.Collision.b2DynamicTreeBroadPhase = b2DynamicTreeBroadPhase;
+function b2DynamicTreeNode() {
+b2DynamicTreeNode.b2DynamicTreeNode.apply(this, arguments);
+};
+Box2D.Collision.b2DynamicTreeNode = b2DynamicTreeNode;
+function b2DynamicTreePair() {
+b2DynamicTreePair.b2DynamicTreePair.apply(this, arguments);
+};
+Box2D.Collision.b2DynamicTreePair = b2DynamicTreePair;
+function b2Manifold() {
+b2Manifold.b2Manifold.apply(this, arguments);
+if (this.constructor === b2Manifold) this.b2Manifold.apply(this, arguments);
+};
+Box2D.Collision.b2Manifold = b2Manifold;
+function b2ManifoldPoint() {
+b2ManifoldPoint.b2ManifoldPoint.apply(this, arguments);
+if (this.constructor === b2ManifoldPoint) this.b2ManifoldPoint.apply(this, arguments);
+};
+Box2D.Collision.b2ManifoldPoint = b2ManifoldPoint;
+function b2Point() {
+b2Point.b2Point.apply(this, arguments);
+};
+Box2D.Collision.b2Point = b2Point;
+function b2RayCastInput() {
+b2RayCastInput.b2RayCastInput.apply(this, arguments);
+if (this.constructor === b2RayCastInput) this.b2RayCastInput.apply(this, arguments);
+};
+Box2D.Collision.b2RayCastInput = b2RayCastInput;
+function b2RayCastOutput() {
+b2RayCastOutput.b2RayCastOutput.apply(this, arguments);
+};
+Box2D.Collision.b2RayCastOutput = b2RayCastOutput;
+function b2Segment() {
+b2Segment.b2Segment.apply(this, arguments);
+};
+Box2D.Collision.b2Segment = b2Segment;
+function b2SeparationFunction() {
+b2SeparationFunction.b2SeparationFunction.apply(this, arguments);
+};
+Box2D.Collision.b2SeparationFunction = b2SeparationFunction;
+function b2Simplex() {
+b2Simplex.b2Simplex.apply(this, arguments);
+if (this.constructor === b2Simplex) this.b2Simplex.apply(this, arguments);
+};
+Box2D.Collision.b2Simplex = b2Simplex;
+function b2SimplexCache() {
+b2SimplexCache.b2SimplexCache.apply(this, arguments);
+};
+Box2D.Collision.b2SimplexCache = b2SimplexCache;
+function b2SimplexVertex() {
+b2SimplexVertex.b2SimplexVertex.apply(this, arguments);
+};
+Box2D.Collision.b2SimplexVertex = b2SimplexVertex;
+function b2TimeOfImpact() {
+b2TimeOfImpact.b2TimeOfImpact.apply(this, arguments);
+};
+Box2D.Collision.b2TimeOfImpact = b2TimeOfImpact;
+function b2TOIInput() {
+b2TOIInput.b2TOIInput.apply(this, arguments);
+};
+Box2D.Collision.b2TOIInput = b2TOIInput;
+function b2WorldManifold() {
+b2WorldManifold.b2WorldManifold.apply(this, arguments);
+if (this.constructor === b2WorldManifold) this.b2WorldManifold.apply(this, arguments);
+};
+Box2D.Collision.b2WorldManifold = b2WorldManifold;
+function ClipVertex() {
+ClipVertex.ClipVertex.apply(this, arguments);
+};
+Box2D.Collision.ClipVertex = ClipVertex;
+function Features() {
+Features.Features.apply(this, arguments);
+};
+Box2D.Collision.Features = Features;
+function b2CircleShape() {
+b2CircleShape.b2CircleShape.apply(this, arguments);
+if (this.constructor === b2CircleShape) this.b2CircleShape.apply(this, arguments);
+};
+Box2D.Collision.Shapes.b2CircleShape = b2CircleShape;
+function b2EdgeChainDef() {
+b2EdgeChainDef.b2EdgeChainDef.apply(this, arguments);
+if (this.constructor === b2EdgeChainDef) this.b2EdgeChainDef.apply(this, arguments);
+};
+Box2D.Collision.Shapes.b2EdgeChainDef = b2EdgeChainDef;
+function b2EdgeShape() {
+b2EdgeShape.b2EdgeShape.apply(this, arguments);
+if (this.constructor === b2EdgeShape) this.b2EdgeShape.apply(this, arguments);
+};
+Box2D.Collision.Shapes.b2EdgeShape = b2EdgeShape;
+function b2MassData() {
+b2MassData.b2MassData.apply(this, arguments);
+};
+Box2D.Collision.Shapes.b2MassData = b2MassData;
+function b2PolygonShape() {
+b2PolygonShape.b2PolygonShape.apply(this, arguments);
+if (this.constructor === b2PolygonShape) this.b2PolygonShape.apply(this, arguments);
+};
+Box2D.Collision.Shapes.b2PolygonShape = b2PolygonShape;
+function b2Shape() {
+b2Shape.b2Shape.apply(this, arguments);
+if (this.constructor === b2Shape) this.b2Shape.apply(this, arguments);
+};
+Box2D.Collision.Shapes.b2Shape = b2Shape;
+Box2D.Common.b2internal = 'Box2D.Common.b2internal';
+function b2Color() {
+b2Color.b2Color.apply(this, arguments);
+if (this.constructor === b2Color) this.b2Color.apply(this, arguments);
+};
+Box2D.Common.b2Color = b2Color;
+function b2Settings() {
+b2Settings.b2Settings.apply(this, arguments);
+};
+Box2D.Common.b2Settings = b2Settings;
+function b2Mat22() {
+b2Mat22.b2Mat22.apply(this, arguments);
+if (this.constructor === b2Mat22) this.b2Mat22.apply(this, arguments);
+};
+Box2D.Common.Math.b2Mat22 = b2Mat22;
+function b2Mat33() {
+b2Mat33.b2Mat33.apply(this, arguments);
+if (this.constructor === b2Mat33) this.b2Mat33.apply(this, arguments);
+};
+Box2D.Common.Math.b2Mat33 = b2Mat33;
+function b2Math() {
+b2Math.b2Math.apply(this, arguments);
+};
+Box2D.Common.Math.b2Math = b2Math;
+function b2Sweep() {
+b2Sweep.b2Sweep.apply(this, arguments);
+};
+Box2D.Common.Math.b2Sweep = b2Sweep;
+function b2Transform() {
+b2Transform.b2Transform.apply(this, arguments);
+if (this.constructor === b2Transform) this.b2Transform.apply(this, arguments);
+};
+Box2D.Common.Math.b2Transform = b2Transform;
+function b2Vec2() {
+b2Vec2.b2Vec2.apply(this, arguments);
+if (this.constructor === b2Vec2) this.b2Vec2.apply(this, arguments);
+};
+Box2D.Common.Math.b2Vec2 = b2Vec2;
+function b2Vec3() {
+b2Vec3.b2Vec3.apply(this, arguments);
+if (this.constructor === b2Vec3) this.b2Vec3.apply(this, arguments);
+};
+Box2D.Common.Math.b2Vec3 = b2Vec3;
+function b2Body() {
+b2Body.b2Body.apply(this, arguments);
+if (this.constructor === b2Body) this.b2Body.apply(this, arguments);
+};
+Box2D.Dynamics.b2Body = b2Body;
+function b2BodyDef() {
+b2BodyDef.b2BodyDef.apply(this, arguments);
+if (this.constructor === b2BodyDef) this.b2BodyDef.apply(this, arguments);
+};
+Box2D.Dynamics.b2BodyDef = b2BodyDef;
+function b2ContactFilter() {
+b2ContactFilter.b2ContactFilter.apply(this, arguments);
+};
+Box2D.Dynamics.b2ContactFilter = b2ContactFilter;
+function b2ContactImpulse() {
+b2ContactImpulse.b2ContactImpulse.apply(this, arguments);
+};
+Box2D.Dynamics.b2ContactImpulse = b2ContactImpulse;
+function b2ContactListener() {
+b2ContactListener.b2ContactListener.apply(this, arguments);
+};
+Box2D.Dynamics.b2ContactListener = b2ContactListener;
+function b2ContactManager() {
+b2ContactManager.b2ContactManager.apply(this, arguments);
+if (this.constructor === b2ContactManager) this.b2ContactManager.apply(this, arguments);
+};
+Box2D.Dynamics.b2ContactManager = b2ContactManager;
+function b2DebugDraw() {
+b2DebugDraw.b2DebugDraw.apply(this, arguments);
+if (this.constructor === b2DebugDraw) this.b2DebugDraw.apply(this, arguments);
+};
+Box2D.Dynamics.b2DebugDraw = b2DebugDraw;
+function b2DestructionListener() {
+b2DestructionListener.b2DestructionListener.apply(this, arguments);
+};
+Box2D.Dynamics.b2DestructionListener = b2DestructionListener;
+function b2FilterData() {
+b2FilterData.b2FilterData.apply(this, arguments);
+};
+Box2D.Dynamics.b2FilterData = b2FilterData;
+function b2Fixture() {
+b2Fixture.b2Fixture.apply(this, arguments);
+if (this.constructor === b2Fixture) this.b2Fixture.apply(this, arguments);
+};
+Box2D.Dynamics.b2Fixture = b2Fixture;
+function b2FixtureDef() {
+b2FixtureDef.b2FixtureDef.apply(this, arguments);
+if (this.constructor === b2FixtureDef) this.b2FixtureDef.apply(this, arguments);
+};
+Box2D.Dynamics.b2FixtureDef = b2FixtureDef;
+function b2Island() {
+b2Island.b2Island.apply(this, arguments);
+if (this.constructor === b2Island) this.b2Island.apply(this, arguments);
+};
+Box2D.Dynamics.b2Island = b2Island;
+function b2TimeStep() {
+b2TimeStep.b2TimeStep.apply(this, arguments);
+};
+Box2D.Dynamics.b2TimeStep = b2TimeStep;
+function b2World() {
+b2World.b2World.apply(this, arguments);
+if (this.constructor === b2World) this.b2World.apply(this, arguments);
+};
+Box2D.Dynamics.b2World = b2World;
+function b2CircleContact() {
+b2CircleContact.b2CircleContact.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2CircleContact = b2CircleContact;
+function b2Contact() {
+b2Contact.b2Contact.apply(this, arguments);
+if (this.constructor === b2Contact) this.b2Contact.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2Contact = b2Contact;
+function b2ContactConstraint() {
+b2ContactConstraint.b2ContactConstraint.apply(this, arguments);
+if (this.constructor === b2ContactConstraint) this.b2ContactConstraint.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2ContactConstraint = b2ContactConstraint;
+function b2ContactConstraintPoint() {
+b2ContactConstraintPoint.b2ContactConstraintPoint.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2ContactConstraintPoint = b2ContactConstraintPoint;
+function b2ContactEdge() {
+b2ContactEdge.b2ContactEdge.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2ContactEdge = b2ContactEdge;
+function b2ContactFactory() {
+b2ContactFactory.b2ContactFactory.apply(this, arguments);
+if (this.constructor === b2ContactFactory) this.b2ContactFactory.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2ContactFactory = b2ContactFactory;
+function b2ContactRegister() {
+b2ContactRegister.b2ContactRegister.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2ContactRegister = b2ContactRegister;
+function b2ContactResult() {
+b2ContactResult.b2ContactResult.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2ContactResult = b2ContactResult;
+function b2ContactSolver() {
+b2ContactSolver.b2ContactSolver.apply(this, arguments);
+if (this.constructor === b2ContactSolver) this.b2ContactSolver.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2ContactSolver = b2ContactSolver;
+function b2EdgeAndCircleContact() {
+b2EdgeAndCircleContact.b2EdgeAndCircleContact.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2EdgeAndCircleContact = b2EdgeAndCircleContact;
+function b2NullContact() {
+b2NullContact.b2NullContact.apply(this, arguments);
+if (this.constructor === b2NullContact) this.b2NullContact.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2NullContact = b2NullContact;
+function b2PolyAndCircleContact() {
+b2PolyAndCircleContact.b2PolyAndCircleContact.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2PolyAndCircleContact = b2PolyAndCircleContact;
+function b2PolyAndEdgeContact() {
+b2PolyAndEdgeContact.b2PolyAndEdgeContact.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2PolyAndEdgeContact = b2PolyAndEdgeContact;
+function b2PolygonContact() {
+b2PolygonContact.b2PolygonContact.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2PolygonContact = b2PolygonContact;
+function b2PositionSolverManifold() {
+b2PositionSolverManifold.b2PositionSolverManifold.apply(this, arguments);
+if (this.constructor === b2PositionSolverManifold) this.b2PositionSolverManifold.apply(this, arguments);
+};
+Box2D.Dynamics.Contacts.b2PositionSolverManifold = b2PositionSolverManifold;
+function b2BuoyancyController() {
+b2BuoyancyController.b2BuoyancyController.apply(this, arguments);
+};
+Box2D.Dynamics.Controllers.b2BuoyancyController = b2BuoyancyController;
+function b2ConstantAccelController() {
+b2ConstantAccelController.b2ConstantAccelController.apply(this, arguments);
+};
+Box2D.Dynamics.Controllers.b2ConstantAccelController = b2ConstantAccelController;
+function b2ConstantForceController() {
+b2ConstantForceController.b2ConstantForceController.apply(this, arguments);
+};
+Box2D.Dynamics.Controllers.b2ConstantForceController = b2ConstantForceController;
+function b2Controller() {
+b2Controller.b2Controller.apply(this, arguments);
+};
+Box2D.Dynamics.Controllers.b2Controller = b2Controller;
+function b2ControllerEdge() {
+b2ControllerEdge.b2ControllerEdge.apply(this, arguments);
+};
+Box2D.Dynamics.Controllers.b2ControllerEdge = b2ControllerEdge;
+function b2GravityController() {
+b2GravityController.b2GravityController.apply(this, arguments);
+};
+Box2D.Dynamics.Controllers.b2GravityController = b2GravityController;
+function b2TensorDampingController() {
+b2TensorDampingController.b2TensorDampingController.apply(this, arguments);
+};
+Box2D.Dynamics.Controllers.b2TensorDampingController = b2TensorDampingController;
+function b2DistanceJoint() {
+b2DistanceJoint.b2DistanceJoint.apply(this, arguments);
+if (this.constructor === b2DistanceJoint) this.b2DistanceJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2DistanceJoint = b2DistanceJoint;
+function b2DistanceJointDef() {
+b2DistanceJointDef.b2DistanceJointDef.apply(this, arguments);
+if (this.constructor === b2DistanceJointDef) this.b2DistanceJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2DistanceJointDef = b2DistanceJointDef;
+function b2FrictionJoint() {
+b2FrictionJoint.b2FrictionJoint.apply(this, arguments);
+if (this.constructor === b2FrictionJoint) this.b2FrictionJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2FrictionJoint = b2FrictionJoint;
+function b2FrictionJointDef() {
+b2FrictionJointDef.b2FrictionJointDef.apply(this, arguments);
+if (this.constructor === b2FrictionJointDef) this.b2FrictionJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2FrictionJointDef = b2FrictionJointDef;
+function b2GearJoint() {
+b2GearJoint.b2GearJoint.apply(this, arguments);
+if (this.constructor === b2GearJoint) this.b2GearJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2GearJoint = b2GearJoint;
+function b2GearJointDef() {
+b2GearJointDef.b2GearJointDef.apply(this, arguments);
+if (this.constructor === b2GearJointDef) this.b2GearJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2GearJointDef = b2GearJointDef;
+function b2Jacobian() {
+b2Jacobian.b2Jacobian.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2Jacobian = b2Jacobian;
+function b2Joint() {
+b2Joint.b2Joint.apply(this, arguments);
+if (this.constructor === b2Joint) this.b2Joint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2Joint = b2Joint;
+function b2JointDef() {
+b2JointDef.b2JointDef.apply(this, arguments);
+if (this.constructor === b2JointDef) this.b2JointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2JointDef = b2JointDef;
+function b2JointEdge() {
+b2JointEdge.b2JointEdge.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2JointEdge = b2JointEdge;
+function b2LineJoint() {
+b2LineJoint.b2LineJoint.apply(this, arguments);
+if (this.constructor === b2LineJoint) this.b2LineJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2LineJoint = b2LineJoint;
+function b2LineJointDef() {
+b2LineJointDef.b2LineJointDef.apply(this, arguments);
+if (this.constructor === b2LineJointDef) this.b2LineJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2LineJointDef = b2LineJointDef;
+function b2MouseJoint() {
+b2MouseJoint.b2MouseJoint.apply(this, arguments);
+if (this.constructor === b2MouseJoint) this.b2MouseJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2MouseJoint = b2MouseJoint;
+function b2MouseJointDef() {
+b2MouseJointDef.b2MouseJointDef.apply(this, arguments);
+if (this.constructor === b2MouseJointDef) this.b2MouseJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2MouseJointDef = b2MouseJointDef;
+function b2PrismaticJoint() {
+b2PrismaticJoint.b2PrismaticJoint.apply(this, arguments);
+if (this.constructor === b2PrismaticJoint) this.b2PrismaticJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2PrismaticJoint = b2PrismaticJoint;
+function b2PrismaticJointDef() {
+b2PrismaticJointDef.b2PrismaticJointDef.apply(this, arguments);
+if (this.constructor === b2PrismaticJointDef) this.b2PrismaticJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2PrismaticJointDef = b2PrismaticJointDef;
+function b2PulleyJoint() {
+b2PulleyJoint.b2PulleyJoint.apply(this, arguments);
+if (this.constructor === b2PulleyJoint) this.b2PulleyJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2PulleyJoint = b2PulleyJoint;
+function b2PulleyJointDef() {
+b2PulleyJointDef.b2PulleyJointDef.apply(this, arguments);
+if (this.constructor === b2PulleyJointDef) this.b2PulleyJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2PulleyJointDef = b2PulleyJointDef;
+function b2RevoluteJoint() {
+b2RevoluteJoint.b2RevoluteJoint.apply(this, arguments);
+if (this.constructor === b2RevoluteJoint) this.b2RevoluteJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2RevoluteJoint = b2RevoluteJoint;
+function b2RevoluteJointDef() {
+b2RevoluteJointDef.b2RevoluteJointDef.apply(this, arguments);
+if (this.constructor === b2RevoluteJointDef) this.b2RevoluteJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2RevoluteJointDef = b2RevoluteJointDef;
+function b2WeldJoint() {
+b2WeldJoint.b2WeldJoint.apply(this, arguments);
+if (this.constructor === b2WeldJoint) this.b2WeldJoint.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2WeldJoint = b2WeldJoint;
+function b2WeldJointDef() {
+b2WeldJointDef.b2WeldJointDef.apply(this, arguments);
+if (this.constructor === b2WeldJointDef) this.b2WeldJointDef.apply(this, arguments);
+};
+Box2D.Dynamics.Joints.b2WeldJointDef = b2WeldJointDef;
+})(); //definitions
+Box2D.postDefs = [];
+(function () {
+var b2CircleShape = Box2D.Collision.Shapes.b2CircleShape,
+b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef,
+b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape,
+b2MassData = Box2D.Collision.Shapes.b2MassData,
+b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape,
+b2Shape = Box2D.Collision.Shapes.b2Shape,
+b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3,
+b2AABB = Box2D.Collision.b2AABB,
+b2Bound = Box2D.Collision.b2Bound,
+b2BoundValues = Box2D.Collision.b2BoundValues,
+b2Collision = Box2D.Collision.b2Collision,
+b2ContactID = Box2D.Collision.b2ContactID,
+b2ContactPoint = Box2D.Collision.b2ContactPoint,
+b2Distance = Box2D.Collision.b2Distance,
+b2DistanceInput = Box2D.Collision.b2DistanceInput,
+b2DistanceOutput = Box2D.Collision.b2DistanceOutput,
+b2DistanceProxy = Box2D.Collision.b2DistanceProxy,
+b2DynamicTree = Box2D.Collision.b2DynamicTree,
+b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase,
+b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode,
+b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair,
+b2Manifold = Box2D.Collision.b2Manifold,
+b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint,
+b2Point = Box2D.Collision.b2Point,
+b2RayCastInput = Box2D.Collision.b2RayCastInput,
+b2RayCastOutput = Box2D.Collision.b2RayCastOutput,
+b2Segment = Box2D.Collision.b2Segment,
+b2SeparationFunction = Box2D.Collision.b2SeparationFunction,
+b2Simplex = Box2D.Collision.b2Simplex,
+b2SimplexCache = Box2D.Collision.b2SimplexCache,
+b2SimplexVertex = Box2D.Collision.b2SimplexVertex,
+b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact,
+b2TOIInput = Box2D.Collision.b2TOIInput,
+b2WorldManifold = Box2D.Collision.b2WorldManifold,
+ClipVertex = Box2D.Collision.ClipVertex,
+Features = Box2D.Collision.Features,
+IBroadPhase = Box2D.Collision.IBroadPhase;
+b2AABB.b2AABB = function () {
+this.lowerBound = new b2Vec2();
+this.upperBound = new b2Vec2();
+};
+b2AABB.prototype.IsValid = function () {
+var dX = this.upperBound.x - this.lowerBound.x;
+var dY = this.upperBound.y - this.lowerBound.y;
+var valid = dX >= 0.0 && dY >= 0.0;
+valid = valid && this.lowerBound.IsValid() && this.upperBound.IsValid();
+return valid;
+}
+b2AABB.prototype.GetCenter = function () {
+return new b2Vec2((this.lowerBound.x + this.upperBound.x) / 2, (this.lowerBound.y + this.upperBound.y) / 2);
+}
+b2AABB.prototype.GetExtents = function () {
+return new b2Vec2((this.upperBound.x - this.lowerBound.x) / 2, (this.upperBound.y - this.lowerBound.y) / 2);
+}
+b2AABB.prototype.Contains = function (aabb) {
+var result = true;
+result = result && this.lowerBound.x <= aabb.lowerBound.x;
+result = result && this.lowerBound.y <= aabb.lowerBound.y;
+result = result && aabb.upperBound.x <= this.upperBound.x;
+result = result && aabb.upperBound.y <= this.upperBound.y;
+return result;
+}
+b2AABB.prototype.RayCast = function (output, input) {
+var tmin = (-Number.MAX_VALUE);
+var tmax = Number.MAX_VALUE;
+var pX = input.p1.x;
+var pY = input.p1.y;
+var dX = input.p2.x - input.p1.x;
+var dY = input.p2.y - input.p1.y;
+var absDX = Math.abs(dX);
+var absDY = Math.abs(dY);
+var normal = output.normal;
+var inv_d = 0;
+var t1 = 0;
+var t2 = 0;
+var t3 = 0;
+var s = 0; {
+if (absDX < Number.MIN_VALUE) {
+if (pX < this.lowerBound.x || this.upperBound.x < pX) return false;
+}
+else {
+inv_d = 1.0 / dX;
+t1 = (this.lowerBound.x - pX) * inv_d;
+t2 = (this.upperBound.x - pX) * inv_d;
+s = (-1.0);
+if (t1 > t2) {
+t3 = t1;
+t1 = t2;
+t2 = t3;
+s = 1.0;
+}
+if (t1 > tmin) {
+normal.x = s;
+normal.y = 0;
+tmin = t1;
+}
+tmax = Math.min(tmax, t2);
+if (tmin > tmax) return false;
+}
+} {
+if (absDY < Number.MIN_VALUE) {
+if (pY < this.lowerBound.y || this.upperBound.y < pY) return false;
+}
+else {
+inv_d = 1.0 / dY;
+t1 = (this.lowerBound.y - pY) * inv_d;
+t2 = (this.upperBound.y - pY) * inv_d;
+s = (-1.0);
+if (t1 > t2) {
+t3 = t1;
+t1 = t2;
+t2 = t3;
+s = 1.0;
+}
+if (t1 > tmin) {
+normal.y = s;
+normal.x = 0;
+tmin = t1;
+}
+tmax = Math.min(tmax, t2);
+if (tmin > tmax) return false;
+}
+}
+output.fraction = tmin;
+return true;
+}
+b2AABB.prototype.TestOverlap = function (other) {
+var d1X = other.lowerBound.x - this.upperBound.x;
+var d1Y = other.lowerBound.y - this.upperBound.y;
+var d2X = this.lowerBound.x - other.upperBound.x;
+var d2Y = this.lowerBound.y - other.upperBound.y;
+if (d1X > 0.0 || d1Y > 0.0) return false;
+if (d2X > 0.0 || d2Y > 0.0) return false;
+return true;
+}
+b2AABB.Combine = function (aabb1, aabb2) {
+var aabb = new b2AABB();
+aabb.Combine(aabb1, aabb2);
+return aabb;
+}
+b2AABB.prototype.Combine = function (aabb1, aabb2) {
+this.lowerBound.x = Math.min(aabb1.lowerBound.x, aabb2.lowerBound.x);
+this.lowerBound.y = Math.min(aabb1.lowerBound.y, aabb2.lowerBound.y);
+this.upperBound.x = Math.max(aabb1.upperBound.x, aabb2.upperBound.x);
+this.upperBound.y = Math.max(aabb1.upperBound.y, aabb2.upperBound.y);
+}
+b2Bound.b2Bound = function () {};
+b2Bound.prototype.IsLower = function () {
+return (this.value & 1) == 0;
+}
+b2Bound.prototype.IsUpper = function () {
+return (this.value & 1) == 1;
+}
+b2Bound.prototype.Swap = function (b) {
+var tempValue = this.value;
+var tempProxy = this.proxy;
+var tempStabbingCount = this.stabbingCount;
+this.value = b.value;
+this.proxy = b.proxy;
+this.stabbingCount = b.stabbingCount;
+b.value = tempValue;
+b.proxy = tempProxy;
+b.stabbingCount = tempStabbingCount;
+}
+b2BoundValues.b2BoundValues = function () {};
+b2BoundValues.prototype.b2BoundValues = function () {
+this.lowerValues = new Vector_a2j_Number();
+this.lowerValues[0] = 0.0;
+this.lowerValues[1] = 0.0;
+this.upperValues = new Vector_a2j_Number();
+this.upperValues[0] = 0.0;
+this.upperValues[1] = 0.0;
+}
+b2Collision.b2Collision = function () {};
+b2Collision.ClipSegmentToLine = function (vOut, vIn, normal, offset) {
+if (offset === undefined) offset = 0;
+var cv;
+var numOut = 0;
+cv = vIn[0];
+var vIn0 = cv.v;
+cv = vIn[1];
+var vIn1 = cv.v;
+var distance0 = normal.x * vIn0.x + normal.y * vIn0.y - offset;
+var distance1 = normal.x * vIn1.x + normal.y * vIn1.y - offset;
+if (distance0 <= 0.0) vOut[numOut++].Set(vIn[0]);
+if (distance1 <= 0.0) vOut[numOut++].Set(vIn[1]);
+if (distance0 * distance1 < 0.0) {
+var interp = distance0 / (distance0 - distance1);
+cv = vOut[numOut];
+var tVec = cv.v;
+tVec.x = vIn0.x + interp * (vIn1.x - vIn0.x);
+tVec.y = vIn0.y + interp * (vIn1.y - vIn0.y);
+cv = vOut[numOut];
+var cv2;
+if (distance0 > 0.0) {
+cv2 = vIn[0];
+cv.id = cv2.id;
+}
+else {
+cv2 = vIn[1];
+cv.id = cv2.id;
+}++numOut;
+}
+return numOut;
+}
+b2Collision.EdgeSeparation = function (poly1, xf1, edge1, poly2, xf2) {
+if (edge1 === undefined) edge1 = 0;
+var count1 = parseInt(poly1.m_vertexCount);
+var vertices1 = poly1.m_vertices;
+var normals1 = poly1.m_normals;
+var count2 = parseInt(poly2.m_vertexCount);
+var vertices2 = poly2.m_vertices;
+var tMat;
+var tVec;
+tMat = xf1.R;
+tVec = normals1[edge1];
+var normal1WorldX = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var normal1WorldY = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tMat = xf2.R;
+var normal1X = (tMat.col1.x * normal1WorldX + tMat.col1.y * normal1WorldY);
+var normal1Y = (tMat.col2.x * normal1WorldX + tMat.col2.y * normal1WorldY);
+var index = 0;
+var minDot = Number.MAX_VALUE;
+for (var i = 0; i < count2; ++i) {
+tVec = vertices2[i];
+var dot = tVec.x * normal1X + tVec.y * normal1Y;
+if (dot < minDot) {
+minDot = dot;
+index = i;
+}
+}
+tVec = vertices1[edge1];
+tMat = xf1.R;
+var v1X = xf1.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var v1Y = xf1.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tVec = vertices2[index];
+tMat = xf2.R;
+var v2X = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var v2Y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+v2X -= v1X;
+v2Y -= v1Y;
+var separation = v2X * normal1WorldX + v2Y * normal1WorldY;
+return separation;
+}
+b2Collision.FindMaxSeparation = function (edgeIndex, poly1, xf1, poly2, xf2) {
+var count1 = parseInt(poly1.m_vertexCount);
+var normals1 = poly1.m_normals;
+var tVec;
+var tMat;
+tMat = xf2.R;
+tVec = poly2.m_centroid;
+var dX = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var dY = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tMat = xf1.R;
+tVec = poly1.m_centroid;
+dX -= xf1.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+dY -= xf1.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+var dLocal1X = (dX * xf1.R.col1.x + dY * xf1.R.col1.y);
+var dLocal1Y = (dX * xf1.R.col2.x + dY * xf1.R.col2.y);
+var edge = 0;
+var maxDot = (-Number.MAX_VALUE);
+for (var i = 0; i < count1; ++i) {
+tVec = normals1[i];
+var dot = (tVec.x * dLocal1X + tVec.y * dLocal1Y);
+if (dot > maxDot) {
+maxDot = dot;
+edge = i;
+}
+}
+var s = b2Collision.EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+var prevEdge = parseInt(edge - 1 >= 0 ? edge - 1 : count1 - 1);
+var sPrev = b2Collision.EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
+var nextEdge = parseInt(edge + 1 < count1 ? edge + 1 : 0);
+var sNext = b2Collision.EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
+var bestEdge = 0;
+var bestSeparation = 0;
+var increment = 0;
+if (sPrev > s && sPrev > sNext) {
+increment = (-1);
+bestEdge = prevEdge;
+bestSeparation = sPrev;
+}
+else if (sNext > s) {
+increment = 1;
+bestEdge = nextEdge;
+bestSeparation = sNext;
+}
+else {
+edgeIndex[0] = edge;
+return s;
+}
+while (true) {
+if (increment == (-1)) edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
+else edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;s = b2Collision.EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+if (s > bestSeparation) {
+bestEdge = edge;
+bestSeparation = s;
+}
+else {
+break;
+}
+}
+edgeIndex[0] = bestEdge;
+return bestSeparation;
+}
+b2Collision.FindIncidentEdge = function (c, poly1, xf1, edge1, poly2, xf2) {
+if (edge1 === undefined) edge1 = 0;
+var count1 = parseInt(poly1.m_vertexCount);
+var normals1 = poly1.m_normals;
+var count2 = parseInt(poly2.m_vertexCount);
+var vertices2 = poly2.m_vertices;
+var normals2 = poly2.m_normals;
+var tMat;
+var tVec;
+tMat = xf1.R;
+tVec = normals1[edge1];
+var normal1X = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var normal1Y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tMat = xf2.R;
+var tX = (tMat.col1.x * normal1X + tMat.col1.y * normal1Y);
+normal1Y = (tMat.col2.x * normal1X + tMat.col2.y * normal1Y);
+normal1X = tX;
+var index = 0;
+var minDot = Number.MAX_VALUE;
+for (var i = 0; i < count2; ++i) {
+tVec = normals2[i];
+var dot = (normal1X * tVec.x + normal1Y * tVec.y);
+if (dot < minDot) {
+minDot = dot;
+index = i;
+}
+}
+var tClip;
+var i1 = parseInt(index);
+var i2 = parseInt(i1 + 1 < count2 ? i1 + 1 : 0);
+tClip = c[0];
+tVec = vertices2[i1];
+tMat = xf2.R;
+tClip.v.x = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+tClip.v.y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tClip.id.features.referenceEdge = edge1;
+tClip.id.features.incidentEdge = i1;
+tClip.id.features.incidentVertex = 0;
+tClip = c[1];
+tVec = vertices2[i2];
+tMat = xf2.R;
+tClip.v.x = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+tClip.v.y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tClip.id.features.referenceEdge = edge1;
+tClip.id.features.incidentEdge = i2;
+tClip.id.features.incidentVertex = 1;
+}
+b2Collision.MakeClipPointVector = function () {
+var r = new Vector(2);
+r[0] = new ClipVertex();
+r[1] = new ClipVertex();
+return r;
+}
+b2Collision.CollidePolygons = function (manifold, polyA, xfA, polyB, xfB) {
+var cv;
+manifold.m_pointCount = 0;
+var totalRadius = polyA.m_radius + polyB.m_radius;
+var edgeA = 0;
+b2Collision.s_edgeAO[0] = edgeA;
+var separationA = b2Collision.FindMaxSeparation(b2Collision.s_edgeAO, polyA, xfA, polyB, xfB);
+edgeA = b2Collision.s_edgeAO[0];
+if (separationA > totalRadius) return;
+var edgeB = 0;
+b2Collision.s_edgeBO[0] = edgeB;
+var separationB = b2Collision.FindMaxSeparation(b2Collision.s_edgeBO, polyB, xfB, polyA, xfA);
+edgeB = b2Collision.s_edgeBO[0];
+if (separationB > totalRadius) return;
+var poly1;
+var poly2;
+var xf1;
+var xf2;
+var edge1 = 0;
+var flip = 0;
+var k_relativeTol = 0.98;
+var k_absoluteTol = 0.001;
+var tMat;
+if (separationB > k_relativeTol * separationA + k_absoluteTol) {
+poly1 = polyB;
+poly2 = polyA;
+xf1 = xfB;
+xf2 = xfA;
+edge1 = edgeB;
+manifold.m_type = b2Manifold.e_faceB;
+flip = 1;
+}
+else {
+poly1 = polyA;
+poly2 = polyB;
+xf1 = xfA;
+xf2 = xfB;
+edge1 = edgeA;
+manifold.m_type = b2Manifold.e_faceA;
+flip = 0;
+}
+var incidentEdge = b2Collision.s_incidentEdge;
+b2Collision.FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
+var count1 = parseInt(poly1.m_vertexCount);
+var vertices1 = poly1.m_vertices;
+var local_v11 = vertices1[edge1];
+var local_v12;
+if (edge1 + 1 < count1) {
+local_v12 = vertices1[parseInt(edge1 + 1)];
+}
+else {
+local_v12 = vertices1[0];
+}
+var localTangent = b2Collision.s_localTangent;
+localTangent.Set(local_v12.x - local_v11.x, local_v12.y - local_v11.y);
+localTangent.Normalize();
+var localNormal = b2Collision.s_localNormal;
+localNormal.x = localTangent.y;
+localNormal.y = (-localTangent.x);
+var planePoint = b2Collision.s_planePoint;
+planePoint.Set(0.5 * (local_v11.x + local_v12.x), 0.5 * (local_v11.y + local_v12.y));
+var tangent = b2Collision.s_tangent;
+tMat = xf1.R;
+tangent.x = (tMat.col1.x * localTangent.x + tMat.col2.x * localTangent.y);
+tangent.y = (tMat.col1.y * localTangent.x + tMat.col2.y * localTangent.y);
+var tangent2 = b2Collision.s_tangent2;
+tangent2.x = (-tangent.x);
+tangent2.y = (-tangent.y);
+var normal = b2Collision.s_normal;
+normal.x = tangent.y;
+normal.y = (-tangent.x);
+var v11 = b2Collision.s_v11;
+var v12 = b2Collision.s_v12;
+v11.x = xf1.position.x + (tMat.col1.x * local_v11.x + tMat.col2.x * local_v11.y);
+v11.y = xf1.position.y + (tMat.col1.y * local_v11.x + tMat.col2.y * local_v11.y);
+v12.x = xf1.position.x + (tMat.col1.x * local_v12.x + tMat.col2.x * local_v12.y);
+v12.y = xf1.position.y + (tMat.col1.y * local_v12.x + tMat.col2.y * local_v12.y);
+var frontOffset = normal.x * v11.x + normal.y * v11.y;
+var sideOffset1 = (-tangent.x * v11.x) - tangent.y * v11.y + totalRadius;
+var sideOffset2 = tangent.x * v12.x + tangent.y * v12.y + totalRadius;
+var clipPoints1 = b2Collision.s_clipPoints1;
+var clipPoints2 = b2Collision.s_clipPoints2;
+var np = 0;
+np = b2Collision.ClipSegmentToLine(clipPoints1, incidentEdge, tangent2, sideOffset1);
+if (np < 2) return;
+np = b2Collision.ClipSegmentToLine(clipPoints2, clipPoints1, tangent, sideOffset2);
+if (np < 2) return;
+manifold.m_localPlaneNormal.SetV(localNormal);
+manifold.m_localPoint.SetV(planePoint);
+var pointCount = 0;
+for (var i = 0; i < b2Settings.b2_maxManifoldPoints; ++i) {
+cv = clipPoints2[i];
+var separation = normal.x * cv.v.x + normal.y * cv.v.y - frontOffset;
+if (separation <= totalRadius) {
+var cp = manifold.m_points[pointCount];
+tMat = xf2.R;
+var tX = cv.v.x - xf2.position.x;
+var tY = cv.v.y - xf2.position.y;
+cp.m_localPoint.x = (tX * tMat.col1.x + tY * tMat.col1.y);
+cp.m_localPoint.y = (tX * tMat.col2.x + tY * tMat.col2.y);
+cp.m_id.Set(cv.id);
+cp.m_id.features.flip = flip;
+++pointCount;
+}
+}
+manifold.m_pointCount = pointCount;
+}
+b2Collision.CollideCircles = function (manifold, circle1, xf1, circle2, xf2) {
+manifold.m_pointCount = 0;
+var tMat;
+var tVec;
+tMat = xf1.R;
+tVec = circle1.m_p;
+var p1X = xf1.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var p1Y = xf1.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tMat = xf2.R;
+tVec = circle2.m_p;
+var p2X = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var p2Y = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+var dX = p2X - p1X;
+var dY = p2Y - p1Y;
+var distSqr = dX * dX + dY * dY;
+var radius = circle1.m_radius + circle2.m_radius;
+if (distSqr > radius * radius) {
+return;
+}
+manifold.m_type = b2Manifold.e_circles;
+manifold.m_localPoint.SetV(circle1.m_p);
+manifold.m_localPlaneNormal.SetZero();
+manifold.m_pointCount = 1;
+manifold.m_points[0].m_localPoint.SetV(circle2.m_p);
+manifold.m_points[0].m_id.key = 0;
+}
+b2Collision.CollidePolygonAndCircle = function (manifold, polygon, xf1, circle, xf2) {
+manifold.m_pointCount = 0;
+var tPoint;
+var dX = 0;
+var dY = 0;
+var positionX = 0;
+var positionY = 0;
+var tVec;
+var tMat;
+tMat = xf2.R;
+tVec = circle.m_p;
+var cX = xf2.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var cY = xf2.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+dX = cX - xf1.position.x;
+dY = cY - xf1.position.y;
+tMat = xf1.R;
+var cLocalX = (dX * tMat.col1.x + dY * tMat.col1.y);
+var cLocalY = (dX * tMat.col2.x + dY * tMat.col2.y);
+var dist = 0;
+var normalIndex = 0;
+var separation = (-Number.MAX_VALUE);
+var radius = polygon.m_radius + circle.m_radius;
+var vertexCount = parseInt(polygon.m_vertexCount);
+var vertices = polygon.m_vertices;
+var normals = polygon.m_normals;
+for (var i = 0; i < vertexCount; ++i) {
+tVec = vertices[i];
+dX = cLocalX - tVec.x;
+dY = cLocalY - tVec.y;
+tVec = normals[i];
+var s = tVec.x * dX + tVec.y * dY;
+if (s > radius) {
+return;
+}
+if (s > separation) {
+separation = s;
+normalIndex = i;
+}
+}
+var vertIndex1 = parseInt(normalIndex);
+var vertIndex2 = parseInt(vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0);
+var v1 = vertices[vertIndex1];
+var v2 = vertices[vertIndex2];
+if (separation < Number.MIN_VALUE) {
+manifold.m_pointCount = 1;
+manifold.m_type = b2Manifold.e_faceA;
+manifold.m_localPlaneNormal.SetV(normals[normalIndex]);
+manifold.m_localPoint.x = 0.5 * (v1.x + v2.x);
+manifold.m_localPoint.y = 0.5 * (v1.y + v2.y);
+manifold.m_points[0].m_localPoint.SetV(circle.m_p);
+manifold.m_points[0].m_id.key = 0;
+return;
+}
+var u1 = (cLocalX - v1.x) * (v2.x - v1.x) + (cLocalY - v1.y) * (v2.y - v1.y);
+var u2 = (cLocalX - v2.x) * (v1.x - v2.x) + (cLocalY - v2.y) * (v1.y - v2.y);
+if (u1 <= 0.0) {
+if ((cLocalX - v1.x) * (cLocalX - v1.x) + (cLocalY - v1.y) * (cLocalY - v1.y) > radius * radius) return;
+manifold.m_pointCount = 1;
+manifold.m_type = b2Manifold.e_faceA;
+manifold.m_localPlaneNormal.x = cLocalX - v1.x;
+manifold.m_localPlaneNormal.y = cLocalY - v1.y;
+manifold.m_localPlaneNormal.Normalize();
+manifold.m_localPoint.SetV(v1);
+manifold.m_points[0].m_localPoint.SetV(circle.m_p);
+manifold.m_points[0].m_id.key = 0;
+}
+else if (u2 <= 0) {
+if ((cLocalX - v2.x) * (cLocalX - v2.x) + (cLocalY - v2.y) * (cLocalY - v2.y) > radius * radius) return;
+manifold.m_pointCount = 1;
+manifold.m_type = b2Manifold.e_faceA;
+manifold.m_localPlaneNormal.x = cLocalX - v2.x;
+manifold.m_localPlaneNormal.y = cLocalY - v2.y;
+manifold.m_localPlaneNormal.Normalize();
+manifold.m_localPoint.SetV(v2);
+manifold.m_points[0].m_localPoint.SetV(circle.m_p);
+manifold.m_points[0].m_id.key = 0;
+}
+else {
+var faceCenterX = 0.5 * (v1.x + v2.x);
+var faceCenterY = 0.5 * (v1.y + v2.y);
+separation = (cLocalX - faceCenterX) * normals[vertIndex1].x + (cLocalY - faceCenterY) * normals[vertIndex1].y;
+if (separation > radius) return;
+manifold.m_pointCount = 1;
+manifold.m_type = b2Manifold.e_faceA;
+manifold.m_localPlaneNormal.x = normals[vertIndex1].x;
+manifold.m_localPlaneNormal.y = normals[vertIndex1].y;
+manifold.m_localPlaneNormal.Normalize();
+manifold.m_localPoint.Set(faceCenterX, faceCenterY);
+manifold.m_points[0].m_localPoint.SetV(circle.m_p);
+manifold.m_points[0].m_id.key = 0;
+}
+}
+b2Collision.TestOverlap = function (a, b) {
+var t1 = b.lowerBound;
+var t2 = a.upperBound;
+var d1X = t1.x - t2.x;
+var d1Y = t1.y - t2.y;
+t1 = a.lowerBound;
+t2 = b.upperBound;
+var d2X = t1.x - t2.x;
+var d2Y = t1.y - t2.y;
+if (d1X > 0.0 || d1Y > 0.0) return false;
+if (d2X > 0.0 || d2Y > 0.0) return false;
+return true;
+}
+Box2D.postDefs.push(function () {
+Box2D.Collision.b2Collision.s_incidentEdge = b2Collision.MakeClipPointVector();
+Box2D.Collision.b2Collision.s_clipPoints1 = b2Collision.MakeClipPointVector();
+Box2D.Collision.b2Collision.s_clipPoints2 = b2Collision.MakeClipPointVector();
+Box2D.Collision.b2Collision.s_edgeAO = new Vector_a2j_Number(1);
+Box2D.Collision.b2Collision.s_edgeBO = new Vector_a2j_Number(1);
+Box2D.Collision.b2Collision.s_localTangent = new b2Vec2();
+Box2D.Collision.b2Collision.s_localNormal = new b2Vec2();
+Box2D.Collision.b2Collision.s_planePoint = new b2Vec2();
+Box2D.Collision.b2Collision.s_normal = new b2Vec2();
+Box2D.Collision.b2Collision.s_tangent = new b2Vec2();
+Box2D.Collision.b2Collision.s_tangent2 = new b2Vec2();
+Box2D.Collision.b2Collision.s_v11 = new b2Vec2();
+Box2D.Collision.b2Collision.s_v12 = new b2Vec2();
+Box2D.Collision.b2Collision.b2CollidePolyTempVec = new b2Vec2();
+Box2D.Collision.b2Collision.b2_nullFeature = 0x000000ff;
+});
+b2ContactID.b2ContactID = function () {
+this.features = new Features();
+};
+b2ContactID.prototype.b2ContactID = function () {
+this.features._m_id = this;
+}
+b2ContactID.prototype.Set = function (id) {
+this.key = id._key;
+}
+b2ContactID.prototype.Copy = function () {
+var id = new b2ContactID();
+id.key = this.key;
+return id;
+}
+Object.defineProperty(b2ContactID.prototype, 'key', {
+enumerable: false,
+configurable: true,
+get: function () {
+return this._key;
+}
+});
+Object.defineProperty(b2ContactID.prototype, 'key', {
+enumerable: false,
+configurable: true,
+set: function (value) {
+if (value === undefined) value = 0;
+this._key = value;
+this.features._referenceEdge = this._key & 0x000000ff;
+this.features._incidentEdge = ((this._key & 0x0000ff00) >> 8) & 0x000000ff;
+this.features._incidentVertex = ((this._key & 0x00ff0000) >> 16) & 0x000000ff;
+this.features._flip = ((this._key & 0xff000000) >> 24) & 0x000000ff;
+}
+});
+b2ContactPoint.b2ContactPoint = function () {
+this.position = new b2Vec2();
+this.velocity = new b2Vec2();
+this.normal = new b2Vec2();
+this.id = new b2ContactID();
+};
+b2Distance.b2Distance = function () {};
+b2Distance.Distance = function (output, cache, input) {
+++b2Distance.b2_gjkCalls;
+var proxyA = input.proxyA;
+var proxyB = input.proxyB;
+var transformA = input.transformA;
+var transformB = input.transformB;
+var simplex = b2Distance.s_simplex;
+simplex.ReadCache(cache, proxyA, transformA, proxyB, transformB);
+var vertices = simplex.m_vertices;
+var k_maxIters = 20;
+var saveA = b2Distance.s_saveA;
+var saveB = b2Distance.s_saveB;
+var saveCount = 0;
+var closestPoint = simplex.GetClosestPoint();
+var distanceSqr1 = closestPoint.LengthSquared();
+var distanceSqr2 = distanceSqr1;
+var i = 0;
+var p;
+var iter = 0;
+while (iter < k_maxIters) {
+saveCount = simplex.m_count;
+for (i = 0;
+i < saveCount; i++) {
+saveA[i] = vertices[i].indexA;
+saveB[i] = vertices[i].indexB;
+}
+switch (simplex.m_count) {
+case 1:
+break;
+case 2:
+simplex.Solve2();
+break;
+case 3:
+simplex.Solve3();
+break;
+default:
+b2Settings.b2Assert(false);
+}
+if (simplex.m_count == 3) {
+break;
+}
+p = simplex.GetClosestPoint();
+distanceSqr2 = p.LengthSquared();
+if (distanceSqr2 > distanceSqr1) {}
+distanceSqr1 = distanceSqr2;
+var d = simplex.GetSearchDirection();
+if (d.LengthSquared() < Number.MIN_VALUE * Number.MIN_VALUE) {
+break;
+}
+var vertex = vertices[simplex.m_count];
+vertex.indexA = proxyA.GetSupport(b2Math.MulTMV(transformA.R, d.GetNegative()));
+vertex.wA = b2Math.MulX(transformA, proxyA.GetVertex(vertex.indexA));
+vertex.indexB = proxyB.GetSupport(b2Math.MulTMV(transformB.R, d));
+vertex.wB = b2Math.MulX(transformB, proxyB.GetVertex(vertex.indexB));
+vertex.w = b2Math.SubtractVV(vertex.wB, vertex.wA);
+++iter;
+++b2Distance.b2_gjkIters;
+var duplicate = false;
+for (i = 0;
+i < saveCount; i++) {
+if (vertex.indexA == saveA[i] && vertex.indexB == saveB[i]) {
+duplicate = true;
+break;
+}
+}
+if (duplicate) {
+break;
+}++simplex.m_count;
+}
+b2Distance.b2_gjkMaxIters = b2Math.Max(b2Distance.b2_gjkMaxIters, iter);
+simplex.GetWitnessPoints(output.pointA, output.pointB);
+output.distance = b2Math.SubtractVV(output.pointA, output.pointB).Length();
+output.iterations = iter;
+simplex.WriteCache(cache);
+if (input.useRadii) {
+var rA = proxyA.m_radius;
+var rB = proxyB.m_radius;
+if (output.distance > rA + rB && output.distance > Number.MIN_VALUE) {
+output.distance -= rA + rB;
+var normal = b2Math.SubtractVV(output.pointB, output.pointA);
+normal.Normalize();
+output.pointA.x += rA * normal.x;
+output.pointA.y += rA * normal.y;
+output.pointB.x -= rB * normal.x;
+output.pointB.y -= rB * normal.y;
+}
+else {
+p = new b2Vec2();
+p.x = .5 * (output.pointA.x + output.pointB.x);
+p.y = .5 * (output.pointA.y + output.pointB.y);
+output.pointA.x = output.pointB.x = p.x;
+output.pointA.y = output.pointB.y = p.y;
+output.distance = 0.0;
+}
+}
+}
+Box2D.postDefs.push(function () {
+Box2D.Collision.b2Distance.s_simplex = new b2Simplex();
+Box2D.Collision.b2Distance.s_saveA = new Vector_a2j_Number(3);
+Box2D.Collision.b2Distance.s_saveB = new Vector_a2j_Number(3);
+});
+b2DistanceInput.b2DistanceInput = function () {};
+b2DistanceOutput.b2DistanceOutput = function () {
+this.pointA = new b2Vec2();
+this.pointB = new b2Vec2();
+};
+b2DistanceProxy.b2DistanceProxy = function () {};
+b2DistanceProxy.prototype.Set = function (shape) {
+switch (shape.GetType()) {
+case b2Shape.e_circleShape:
+{
+var circle = (shape instanceof b2CircleShape ? shape : null);
+this.m_vertices = new Vector(1, true);
+this.m_vertices[0] = circle.m_p;
+this.m_count = 1;
+this.m_radius = circle.m_radius;
+}
+break;
+case b2Shape.e_polygonShape:
+{
+var polygon = (shape instanceof b2PolygonShape ? shape : null);
+this.m_vertices = polygon.m_vertices;
+this.m_count = polygon.m_vertexCount;
+this.m_radius = polygon.m_radius;
+}
+break;
+default:
+b2Settings.b2Assert(false);
+}
+}
+b2DistanceProxy.prototype.GetSupport = function (d) {
+var bestIndex = 0;
+var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y;
+for (var i = 1; i < this.m_count; ++i) {
+var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y;
+if (value > bestValue) {
+bestIndex = i;
+bestValue = value;
+}
+}
+return bestIndex;
+}
+b2DistanceProxy.prototype.GetSupportVertex = function (d) {
+var bestIndex = 0;
+var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y;
+for (var i = 1; i < this.m_count; ++i) {
+var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y;
+if (value > bestValue) {
+bestIndex = i;
+bestValue = value;
+}
+}
+return this.m_vertices[bestIndex];
+}
+b2DistanceProxy.prototype.GetVertexCount = function () {
+return this.m_count;
+}
+b2DistanceProxy.prototype.GetVertex = function (index) {
+if (index === undefined) index = 0;
+b2Settings.b2Assert(0 <= index && index < this.m_count);
+return this.m_vertices[index];
+}
+b2DynamicTree.b2DynamicTree = function () {};
+b2DynamicTree.prototype.b2DynamicTree = function () {
+this.m_root = null;
+this.m_freeList = null;
+this.m_path = 0;
+this.m_insertionCount = 0;
+}
+b2DynamicTree.prototype.CreateProxy = function (aabb, userData) {
+var node = this.AllocateNode();
+var extendX = b2Settings.b2_aabbExtension;
+var extendY = b2Settings.b2_aabbExtension;
+node.aabb.lowerBound.x = aabb.lowerBound.x - extendX;
+node.aabb.lowerBound.y = aabb.lowerBound.y - extendY;
+node.aabb.upperBound.x = aabb.upperBound.x + extendX;
+node.aabb.upperBound.y = aabb.upperBound.y + extendY;
+node.userData = userData;
+this.InsertLeaf(node);
+return node;
+}
+b2DynamicTree.prototype.DestroyProxy = function (proxy) {
+this.RemoveLeaf(proxy);
+this.FreeNode(proxy);
+}
+b2DynamicTree.prototype.MoveProxy = function (proxy, aabb, displacement) {
+b2Settings.b2Assert(proxy.IsLeaf());
+if (proxy.aabb.Contains(aabb)) {
+return false;
+}
+this.RemoveLeaf(proxy);
+var extendX = b2Settings.b2_aabbExtension + b2Settings.b2_aabbMultiplier * (displacement.x > 0 ? displacement.x : (-displacement.x));
+var extendY = b2Settings.b2_aabbExtension + b2Settings.b2_aabbMultiplier * (displacement.y > 0 ? displacement.y : (-displacement.y));
+proxy.aabb.lowerBound.x = aabb.lowerBound.x - extendX;
+proxy.aabb.lowerBound.y = aabb.lowerBound.y - extendY;
+proxy.aabb.upperBound.x = aabb.upperBound.x + extendX;
+proxy.aabb.upperBound.y = aabb.upperBound.y + extendY;
+this.InsertLeaf(proxy);
+return true;
+}
+b2DynamicTree.prototype.Rebalance = function (iterations) {
+if (iterations === undefined) iterations = 0;
+if (this.m_root == null) return;
+for (var i = 0; i < iterations; i++) {
+var node = this.m_root;
+var bit = 0;
+while (node.IsLeaf() == false) {
+node = (this.m_path >> bit) & 1 ? node.child2 : node.child1;
+bit = (bit + 1) & 31;
+}++this.m_path;
+this.RemoveLeaf(node);
+this.InsertLeaf(node);
+}
+}
+b2DynamicTree.prototype.GetFatAABB = function (proxy) {
+return proxy.aabb;
+}
+b2DynamicTree.prototype.GetUserData = function (proxy) {
+return proxy.userData;
+}
+b2DynamicTree.prototype.Query = function (callback, aabb) {
+if (this.m_root == null) return;
+var stack = new Vector();
+var count = 0;
+stack[count++] = this.m_root;
+while (count > 0) {
+var node = stack[--count];
+if (node.aabb.TestOverlap(aabb)) {
+if (node.IsLeaf()) {
+var proceed = callback(node);
+if (!proceed) return;
+}
+else {
+stack[count++] = node.child1;
+stack[count++] = node.child2;
+}
+}
+}
+}
+b2DynamicTree.prototype.RayCast = function (callback, input) {
+if (this.m_root == null) return;
+var p1 = input.p1;
+var p2 = input.p2;
+var r = b2Math.SubtractVV(p1, p2);
+r.Normalize();
+var v = b2Math.CrossFV(1.0, r);
+var abs_v = b2Math.AbsV(v);
+var maxFraction = input.maxFraction;
+var segmentAABB = new b2AABB();
+var tX = 0;
+var tY = 0; {
+tX = p1.x + maxFraction * (p2.x - p1.x);
+tY = p1.y + maxFraction * (p2.y - p1.y);
+segmentAABB.lowerBound.x = Math.min(p1.x, tX);
+segmentAABB.lowerBound.y = Math.min(p1.y, tY);
+segmentAABB.upperBound.x = Math.max(p1.x, tX);
+segmentAABB.upperBound.y = Math.max(p1.y, tY);
+}
+var stack = new Vector();
+var count = 0;
+stack[count++] = this.m_root;
+while (count > 0) {
+var node = stack[--count];
+if (node.aabb.TestOverlap(segmentAABB) == false) {
+continue;
+}
+var c = node.aabb.GetCenter();
+var h = node.aabb.GetExtents();
+var separation = Math.abs(v.x * (p1.x - c.x) + v.y * (p1.y - c.y)) - abs_v.x * h.x - abs_v.y * h.y;
+if (separation > 0.0) continue;
+if (node.IsLeaf()) {
+var subInput = new b2RayCastInput();
+subInput.p1 = input.p1;
+subInput.p2 = input.p2;
+subInput.maxFraction = input.maxFraction;
+maxFraction = callback(subInput, node);
+if (maxFraction == 0.0) return;
+if (maxFraction > 0.0) {
+tX = p1.x + maxFraction * (p2.x - p1.x);
+tY = p1.y + maxFraction * (p2.y - p1.y);
+segmentAABB.lowerBound.x = Math.min(p1.x, tX);
+segmentAABB.lowerBound.y = Math.min(p1.y, tY);
+segmentAABB.upperBound.x = Math.max(p1.x, tX);
+segmentAABB.upperBound.y = Math.max(p1.y, tY);
+}
+}
+else {
+stack[count++] = node.child1;
+stack[count++] = node.child2;
+}
+}
+}
+b2DynamicTree.prototype.AllocateNode = function () {
+if (this.m_freeList) {
+var node = this.m_freeList;
+this.m_freeList = node.parent;
+node.parent = null;
+node.child1 = null;
+node.child2 = null;
+return node;
+}
+return new b2DynamicTreeNode();
+}
+b2DynamicTree.prototype.FreeNode = function (node) {
+node.parent = this.m_freeList;
+this.m_freeList = node;
+}
+b2DynamicTree.prototype.InsertLeaf = function (leaf) {
+++this.m_insertionCount;
+if (this.m_root == null) {
+this.m_root = leaf;
+this.m_root.parent = null;
+return;
+}
+var center = leaf.aabb.GetCenter();
+var sibling = this.m_root;
+if (sibling.IsLeaf() == false) {
+do {
+var child1 = sibling.child1;
+var child2 = sibling.child2;
+var norm1 = Math.abs((child1.aabb.lowerBound.x + child1.aabb.upperBound.x) / 2 - center.x) + Math.abs((child1.aabb.lowerBound.y + child1.aabb.upperBound.y) / 2 - center.y);
+var norm2 = Math.abs((child2.aabb.lowerBound.x + child2.aabb.upperBound.x) / 2 - center.x) + Math.abs((child2.aabb.lowerBound.y + child2.aabb.upperBound.y) / 2 - center.y);
+if (norm1 < norm2) {
+sibling = child1;
+}
+else {
+sibling = child2;
+}
+}
+while (sibling.IsLeaf() == false)
+}
+var node1 = sibling.parent;
+var node2 = this.AllocateNode();
+node2.parent = node1;
+node2.userData = null;
+node2.aabb.Combine(leaf.aabb, sibling.aabb);
+if (node1) {
+if (sibling.parent.child1 == sibling) {
+node1.child1 = node2;
+}
+else {
+node1.child2 = node2;
+}
+node2.child1 = sibling;
+node2.child2 = leaf;
+sibling.parent = node2;
+leaf.parent = node2;
+do {
+if (node1.aabb.Contains(node2.aabb)) break;
+node1.aabb.Combine(node1.child1.aabb, node1.child2.aabb);
+node2 = node1;
+node1 = node1.parent;
+}
+while (node1)
+}
+else {
+node2.child1 = sibling;
+node2.child2 = leaf;
+sibling.parent = node2;
+leaf.parent = node2;
+this.m_root = node2;
+}
+}
+b2DynamicTree.prototype.RemoveLeaf = function (leaf) {
+if (leaf == this.m_root) {
+this.m_root = null;
+return;
+}
+var node2 = leaf.parent;
+var node1 = node2.parent;
+var sibling;
+if (node2.child1 == leaf) {
+sibling = node2.child2;
+}
+else {
+sibling = node2.child1;
+}
+if (node1) {
+if (node1.child1 == node2) {
+node1.child1 = sibling;
+}
+else {
+node1.child2 = sibling;
+}
+sibling.parent = node1;
+this.FreeNode(node2);
+while (node1) {
+var oldAABB = node1.aabb;
+node1.aabb = b2AABB.Combine(node1.child1.aabb, node1.child2.aabb);
+if (oldAABB.Contains(node1.aabb)) break;
+node1 = node1.parent;
+}
+}
+else {
+this.m_root = sibling;
+sibling.parent = null;
+this.FreeNode(node2);
+}
+}
+b2DynamicTreeBroadPhase.b2DynamicTreeBroadPhase = function () {
+this.m_tree = new b2DynamicTree();
+this.m_moveBuffer = new Vector();
+this.m_pairBuffer = new Vector();
+this.m_pairCount = 0;
+};
+b2DynamicTreeBroadPhase.prototype.CreateProxy = function (aabb, userData) {
+var proxy = this.m_tree.CreateProxy(aabb, userData);
+++this.m_proxyCount;
+this.BufferMove(proxy);
+return proxy;
+}
+b2DynamicTreeBroadPhase.prototype.DestroyProxy = function (proxy) {
+this.UnBufferMove(proxy);
+--this.m_proxyCount;
+this.m_tree.DestroyProxy(proxy);
+}
+b2DynamicTreeBroadPhase.prototype.MoveProxy = function (proxy, aabb, displacement) {
+var buffer = this.m_tree.MoveProxy(proxy, aabb, displacement);
+if (buffer) {
+this.BufferMove(proxy);
+}
+}
+b2DynamicTreeBroadPhase.prototype.TestOverlap = function (proxyA, proxyB) {
+var aabbA = this.m_tree.GetFatAABB(proxyA);
+var aabbB = this.m_tree.GetFatAABB(proxyB);
+return aabbA.TestOverlap(aabbB);
+}
+b2DynamicTreeBroadPhase.prototype.GetUserData = function (proxy) {
+return this.m_tree.GetUserData(proxy);
+}
+b2DynamicTreeBroadPhase.prototype.GetFatAABB = function (proxy) {
+return this.m_tree.GetFatAABB(proxy);
+}
+b2DynamicTreeBroadPhase.prototype.GetProxyCount = function () {
+return this.m_proxyCount;
+}
+b2DynamicTreeBroadPhase.prototype.UpdatePairs = function (callback) {
+var __this = this;
+__this.m_pairCount = 0;
+var i = 0,
+queryProxy;
+for (i = 0;
+i < __this.m_moveBuffer.length; ++i) {
+queryProxy = __this.m_moveBuffer[i];
+function QueryCallback(proxy) {
+if (proxy == queryProxy) return true;
+if (__this.m_pairCount == __this.m_pairBuffer.length) {
+__this.m_pairBuffer[__this.m_pairCount] = new b2DynamicTreePair();
+}
+var pair = __this.m_pairBuffer[__this.m_pairCount];
+pair.proxyA = proxy < queryProxy ? proxy : queryProxy;
+pair.proxyB = proxy >= queryProxy ? proxy : queryProxy;++__this.m_pairCount;
+return true;
+};
+var fatAABB = __this.m_tree.GetFatAABB(queryProxy);
+__this.m_tree.Query(QueryCallback, fatAABB);
+}
+__this.m_moveBuffer.length = 0;
+for (var i = 0; i < __this.m_pairCount;) {
+var primaryPair = __this.m_pairBuffer[i];
+var userDataA = __this.m_tree.GetUserData(primaryPair.proxyA);
+var userDataB = __this.m_tree.GetUserData(primaryPair.proxyB);
+callback(userDataA, userDataB);
+++i;
+while (i < __this.m_pairCount) {
+var pair = __this.m_pairBuffer[i];
+if (pair.proxyA != primaryPair.proxyA || pair.proxyB != primaryPair.proxyB) {
+break;
+}++i;
+}
+}
+}
+b2DynamicTreeBroadPhase.prototype.Query = function (callback, aabb) {
+this.m_tree.Query(callback, aabb);
+}
+b2DynamicTreeBroadPhase.prototype.RayCast = function (callback, input) {
+this.m_tree.RayCast(callback, input);
+}
+b2DynamicTreeBroadPhase.prototype.Validate = function () {}
+b2DynamicTreeBroadPhase.prototype.Rebalance = function (iterations) {
+if (iterations === undefined) iterations = 0;
+this.m_tree.Rebalance(iterations);
+}
+b2DynamicTreeBroadPhase.prototype.BufferMove = function (proxy) {
+this.m_moveBuffer[this.m_moveBuffer.length] = proxy;
+}
+b2DynamicTreeBroadPhase.prototype.UnBufferMove = function (proxy) {
+var i = parseInt(this.m_moveBuffer.indexOf(proxy));
+this.m_moveBuffer.splice(i, 1);
+}
+b2DynamicTreeBroadPhase.prototype.ComparePairs = function (pair1, pair2) {
+return 0;
+}
+b2DynamicTreeBroadPhase.__implements = {};
+b2DynamicTreeBroadPhase.__implements[IBroadPhase] = true;
+b2DynamicTreeNode.b2DynamicTreeNode = function () {
+this.aabb = new b2AABB();
+};
+b2DynamicTreeNode.prototype.IsLeaf = function () {
+return this.child1 == null;
+}
+b2DynamicTreePair.b2DynamicTreePair = function () {};
+b2Manifold.b2Manifold = function () {
+this.m_pointCount = 0;
+};
+b2Manifold.prototype.b2Manifold = function () {
+this.m_points = new Vector(b2Settings.b2_maxManifoldPoints);
+for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) {
+this.m_points[i] = new b2ManifoldPoint();
+}
+this.m_localPlaneNormal = new b2Vec2();
+this.m_localPoint = new b2Vec2();
+}
+b2Manifold.prototype.Reset = function () {
+for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) {
+((this.m_points[i] instanceof b2ManifoldPoint ? this.m_points[i] : null)).Reset();
+}
+this.m_localPlaneNormal.SetZero();
+this.m_localPoint.SetZero();
+this.m_type = 0;
+this.m_pointCount = 0;
+}
+b2Manifold.prototype.Set = function (m) {
+this.m_pointCount = m.m_pointCount;
+for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) {
+((this.m_points[i] instanceof b2ManifoldPoint ? this.m_points[i] : null)).Set(m.m_points[i]);
+}
+this.m_localPlaneNormal.SetV(m.m_localPlaneNormal);
+this.m_localPoint.SetV(m.m_localPoint);
+this.m_type = m.m_type;
+}
+b2Manifold.prototype.Copy = function () {
+var copy = new b2Manifold();
+copy.Set(this);
+return copy;
+}
+Box2D.postDefs.push(function () {
+Box2D.Collision.b2Manifold.e_circles = 0x0001;
+Box2D.Collision.b2Manifold.e_faceA = 0x0002;
+Box2D.Collision.b2Manifold.e_faceB = 0x0004;
+});
+b2ManifoldPoint.b2ManifoldPoint = function () {
+this.m_localPoint = new b2Vec2();
+this.m_id = new b2ContactID();
+};
+b2ManifoldPoint.prototype.b2ManifoldPoint = function () {
+this.Reset();
+}
+b2ManifoldPoint.prototype.Reset = function () {
+this.m_localPoint.SetZero();
+this.m_normalImpulse = 0.0;
+this.m_tangentImpulse = 0.0;
+this.m_id.key = 0;
+}
+b2ManifoldPoint.prototype.Set = function (m) {
+this.m_localPoint.SetV(m.m_localPoint);
+this.m_normalImpulse = m.m_normalImpulse;
+this.m_tangentImpulse = m.m_tangentImpulse;
+this.m_id.Set(m.m_id);
+}
+b2Point.b2Point = function () {
+this.p = new b2Vec2();
+};
+b2Point.prototype.Support = function (xf, vX, vY) {
+if (vX === undefined) vX = 0;
+if (vY === undefined) vY = 0;
+return this.p;
+}
+b2Point.prototype.GetFirstVertex = function (xf) {
+return this.p;
+}
+b2RayCastInput.b2RayCastInput = function () {
+this.p1 = new b2Vec2();
+this.p2 = new b2Vec2();
+};
+b2RayCastInput.prototype.b2RayCastInput = function (p1, p2, maxFraction) {
+if (p1 === undefined) p1 = null;
+if (p2 === undefined) p2 = null;
+if (maxFraction === undefined) maxFraction = 1;
+if (p1) this.p1.SetV(p1);
+if (p2) this.p2.SetV(p2);
+this.maxFraction = maxFraction;
+}
+b2RayCastOutput.b2RayCastOutput = function () {
+this.normal = new b2Vec2();
+};
+b2Segment.b2Segment = function () {
+this.p1 = new b2Vec2();
+this.p2 = new b2Vec2();
+};
+b2Segment.prototype.TestSegment = function (lambda, normal, segment, maxLambda) {
+if (maxLambda === undefined) maxLambda = 0;
+var s = segment.p1;
+var rX = segment.p2.x - s.x;
+var rY = segment.p2.y - s.y;
+var dX = this.p2.x - this.p1.x;
+var dY = this.p2.y - this.p1.y;
+var nX = dY;
+var nY = (-dX);
+var k_slop = 100.0 * Number.MIN_VALUE;
+var denom = (-(rX * nX + rY * nY));
+if (denom > k_slop) {
+var bX = s.x - this.p1.x;
+var bY = s.y - this.p1.y;
+var a = (bX * nX + bY * nY);
+if (0.0 <= a && a <= maxLambda * denom) {
+var mu2 = (-rX * bY) + rY * bX;
+if ((-k_slop * denom) <= mu2 && mu2 <= denom * (1.0 + k_slop)) {
+a /= denom;
+var nLen = Math.sqrt(nX * nX + nY * nY);
+nX /= nLen;
+nY /= nLen;
+lambda[0] = a;
+normal.Set(nX, nY);
+return true;
+}
+}
+}
+return false;
+}
+b2Segment.prototype.Extend = function (aabb) {
+this.ExtendForward(aabb);
+this.ExtendBackward(aabb);
+}
+b2Segment.prototype.ExtendForward = function (aabb) {
+var dX = this.p2.x - this.p1.x;
+var dY = this.p2.y - this.p1.y;
+var lambda = Math.min(dX > 0 ? (aabb.upperBound.x - this.p1.x) / dX : dX < 0 ? (aabb.lowerBound.x - this.p1.x) / dX : Number.POSITIVE_INFINITY,
+dY > 0 ? (aabb.upperBound.y - this.p1.y) / dY : dY < 0 ? (aabb.lowerBound.y - this.p1.y) / dY : Number.POSITIVE_INFINITY);
+this.p2.x = this.p1.x + dX * lambda;
+this.p2.y = this.p1.y + dY * lambda;
+}
+b2Segment.prototype.ExtendBackward = function (aabb) {
+var dX = (-this.p2.x) + this.p1.x;
+var dY = (-this.p2.y) + this.p1.y;
+var lambda = Math.min(dX > 0 ? (aabb.upperBound.x - this.p2.x) / dX : dX < 0 ? (aabb.lowerBound.x - this.p2.x) / dX : Number.POSITIVE_INFINITY,
+dY > 0 ? (aabb.upperBound.y - this.p2.y) / dY : dY < 0 ? (aabb.lowerBound.y - this.p2.y) / dY : Number.POSITIVE_INFINITY);
+this.p1.x = this.p2.x + dX * lambda;
+this.p1.y = this.p2.y + dY * lambda;
+}
+b2SeparationFunction.b2SeparationFunction = function () {
+this.m_localPoint = new b2Vec2();
+this.m_axis = new b2Vec2();
+};
+b2SeparationFunction.prototype.Initialize = function (cache, proxyA, transformA, proxyB, transformB) {
+this.m_proxyA = proxyA;
+this.m_proxyB = proxyB;
+var count = parseInt(cache.count);
+b2Settings.b2Assert(0 < count && count < 3);
+var localPointA;
+var localPointA1;
+var localPointA2;
+var localPointB;
+var localPointB1;
+var localPointB2;
+var pointAX = 0;
+var pointAY = 0;
+var pointBX = 0;
+var pointBY = 0;
+var normalX = 0;
+var normalY = 0;
+var tMat;
+var tVec;
+var s = 0;
+var sgn = 0;
+if (count == 1) {
+this.m_type = b2SeparationFunction.e_points;
+localPointA = this.m_proxyA.GetVertex(cache.indexA[0]);
+localPointB = this.m_proxyB.GetVertex(cache.indexB[0]);
+tVec = localPointA;
+tMat = transformA.R;
+pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tVec = localPointB;
+tMat = transformB.R;
+pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+this.m_axis.x = pointBX - pointAX;
+this.m_axis.y = pointBY - pointAY;
+this.m_axis.Normalize();
+}
+else if (cache.indexB[0] == cache.indexB[1]) {
+this.m_type = b2SeparationFunction.e_faceA;
+localPointA1 = this.m_proxyA.GetVertex(cache.indexA[0]);
+localPointA2 = this.m_proxyA.GetVertex(cache.indexA[1]);
+localPointB = this.m_proxyB.GetVertex(cache.indexB[0]);
+this.m_localPoint.x = 0.5 * (localPointA1.x + localPointA2.x);
+this.m_localPoint.y = 0.5 * (localPointA1.y + localPointA2.y);
+this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointA2, localPointA1), 1.0);
+this.m_axis.Normalize();
+tVec = this.m_axis;
+tMat = transformA.R;
+normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tVec = this.m_localPoint;
+tMat = transformA.R;
+pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tVec = localPointB;
+tMat = transformB.R;
+pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+s = (pointBX - pointAX) * normalX + (pointBY - pointAY) * normalY;
+if (s < 0.0) {
+this.m_axis.NegativeSelf();
+}
+}
+else if (cache.indexA[0] == cache.indexA[0]) {
+this.m_type = b2SeparationFunction.e_faceB;
+localPointB1 = this.m_proxyB.GetVertex(cache.indexB[0]);
+localPointB2 = this.m_proxyB.GetVertex(cache.indexB[1]);
+localPointA = this.m_proxyA.GetVertex(cache.indexA[0]);
+this.m_localPoint.x = 0.5 * (localPointB1.x + localPointB2.x);
+this.m_localPoint.y = 0.5 * (localPointB1.y + localPointB2.y);
+this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointB2, localPointB1), 1.0);
+this.m_axis.Normalize();
+tVec = this.m_axis;
+tMat = transformB.R;
+normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tVec = this.m_localPoint;
+tMat = transformB.R;
+pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tVec = localPointA;
+tMat = transformA.R;
+pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+s = (pointAX - pointBX) * normalX + (pointAY - pointBY) * normalY;
+if (s < 0.0) {
+this.m_axis.NegativeSelf();
+}
+}
+else {
+localPointA1 = this.m_proxyA.GetVertex(cache.indexA[0]);
+localPointA2 = this.m_proxyA.GetVertex(cache.indexA[1]);
+localPointB1 = this.m_proxyB.GetVertex(cache.indexB[0]);
+localPointB2 = this.m_proxyB.GetVertex(cache.indexB[1]);
+var pA = b2Math.MulX(transformA, localPointA);
+var dA = b2Math.MulMV(transformA.R, b2Math.SubtractVV(localPointA2, localPointA1));
+var pB = b2Math.MulX(transformB, localPointB);
+var dB = b2Math.MulMV(transformB.R, b2Math.SubtractVV(localPointB2, localPointB1));
+var a = dA.x * dA.x + dA.y * dA.y;
+var e = dB.x * dB.x + dB.y * dB.y;
+var r = b2Math.SubtractVV(dB, dA);
+var c = dA.x * r.x + dA.y * r.y;
+var f = dB.x * r.x + dB.y * r.y;
+var b = dA.x * dB.x + dA.y * dB.y;
+var denom = a * e - b * b;
+s = 0.0;
+if (denom != 0.0) {
+s = b2Math.Clamp((b * f - c * e) / denom, 0.0, 1.0);
+}
+var t = (b * s + f) / e;
+if (t < 0.0) {
+t = 0.0;
+s = b2Math.Clamp((b - c) / a, 0.0, 1.0);
+}
+localPointA = new b2Vec2();
+localPointA.x = localPointA1.x + s * (localPointA2.x - localPointA1.x);
+localPointA.y = localPointA1.y + s * (localPointA2.y - localPointA1.y);
+localPointB = new b2Vec2();
+localPointB.x = localPointB1.x + s * (localPointB2.x - localPointB1.x);
+localPointB.y = localPointB1.y + s * (localPointB2.y - localPointB1.y);
+if (s == 0.0 || s == 1.0) {
+this.m_type = b2SeparationFunction.e_faceB;
+this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointB2, localPointB1), 1.0);
+this.m_axis.Normalize();
+this.m_localPoint = localPointB;
+tVec = this.m_axis;
+tMat = transformB.R;
+normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tVec = this.m_localPoint;
+tMat = transformB.R;
+pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tVec = localPointA;
+tMat = transformA.R;
+pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+sgn = (pointAX - pointBX) * normalX + (pointAY - pointBY) * normalY;
+if (s < 0.0) {
+this.m_axis.NegativeSelf();
+}
+}
+else {
+this.m_type = b2SeparationFunction.e_faceA;
+this.m_axis = b2Math.CrossVF(b2Math.SubtractVV(localPointA2, localPointA1), 1.0);
+this.m_localPoint = localPointA;
+tVec = this.m_axis;
+tMat = transformA.R;
+normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tVec = this.m_localPoint;
+tMat = transformA.R;
+pointAX = transformA.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointAY = transformA.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tVec = localPointB;
+tMat = transformB.R;
+pointBX = transformB.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+pointBY = transformB.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+sgn = (pointBX - pointAX) * normalX + (pointBY - pointAY) * normalY;
+if (s < 0.0) {
+this.m_axis.NegativeSelf();
+}
+}
+}
+}
+b2SeparationFunction.prototype.Evaluate = function (transformA, transformB) {
+var axisA;
+var axisB;
+var localPointA;
+var localPointB;
+var pointA;
+var pointB;
+var seperation = 0;
+var normal;
+switch (this.m_type) {
+case b2SeparationFunction.e_points:
+{
+axisA = b2Math.MulTMV(transformA.R, this.m_axis);
+axisB = b2Math.MulTMV(transformB.R, this.m_axis.GetNegative());
+localPointA = this.m_proxyA.GetSupportVertex(axisA);
+localPointB = this.m_proxyB.GetSupportVertex(axisB);
+pointA = b2Math.MulX(transformA, localPointA);
+pointB = b2Math.MulX(transformB, localPointB);
+seperation = (pointB.x - pointA.x) * this.m_axis.x + (pointB.y - pointA.y) * this.m_axis.y;
+return seperation;
+}
+case b2SeparationFunction.e_faceA:
+{
+normal = b2Math.MulMV(transformA.R, this.m_axis);
+pointA = b2Math.MulX(transformA, this.m_localPoint);
+axisB = b2Math.MulTMV(transformB.R, normal.GetNegative());
+localPointB = this.m_proxyB.GetSupportVertex(axisB);
+pointB = b2Math.MulX(transformB, localPointB);
+seperation = (pointB.x - pointA.x) * normal.x + (pointB.y - pointA.y) * normal.y;
+return seperation;
+}
+case b2SeparationFunction.e_faceB:
+{
+normal = b2Math.MulMV(transformB.R, this.m_axis);
+pointB = b2Math.MulX(transformB, this.m_localPoint);
+axisA = b2Math.MulTMV(transformA.R, normal.GetNegative());
+localPointA = this.m_proxyA.GetSupportVertex(axisA);
+pointA = b2Math.MulX(transformA, localPointA);
+seperation = (pointA.x - pointB.x) * normal.x + (pointA.y - pointB.y) * normal.y;
+return seperation;
+}
+default:
+b2Settings.b2Assert(false);
+return 0.0;
+}
+}
+Box2D.postDefs.push(function () {
+Box2D.Collision.b2SeparationFunction.e_points = 0x01;
+Box2D.Collision.b2SeparationFunction.e_faceA = 0x02;
+Box2D.Collision.b2SeparationFunction.e_faceB = 0x04;
+});
+b2Simplex.b2Simplex = function () {
+this.m_v1 = new b2SimplexVertex();
+this.m_v2 = new b2SimplexVertex();
+this.m_v3 = new b2SimplexVertex();
+this.m_vertices = new Vector(3);
+};
+b2Simplex.prototype.b2Simplex = function () {
+this.m_vertices[0] = this.m_v1;
+this.m_vertices[1] = this.m_v2;
+this.m_vertices[2] = this.m_v3;
+}
+b2Simplex.prototype.ReadCache = function (cache, proxyA, transformA, proxyB, transformB) {
+b2Settings.b2Assert(0 <= cache.count && cache.count <= 3);
+var wALocal;
+var wBLocal;
+this.m_count = cache.count;
+var vertices = this.m_vertices;
+for (var i = 0; i < this.m_count; i++) {
+var v = vertices[i];
+v.indexA = cache.indexA[i];
+v.indexB = cache.indexB[i];
+wALocal = proxyA.GetVertex(v.indexA);
+wBLocal = proxyB.GetVertex(v.indexB);
+v.wA = b2Math.MulX(transformA, wALocal);
+v.wB = b2Math.MulX(transformB, wBLocal);
+v.w = b2Math.SubtractVV(v.wB, v.wA);
+v.a = 0;
+}
+if (this.m_count > 1) {
+var metric1 = cache.metric;
+var metric2 = this.GetMetric();
+if (metric2 < .5 * metric1 || 2.0 * metric1 < metric2 || metric2 < Number.MIN_VALUE) {
+this.m_count = 0;
+}
+}
+if (this.m_count == 0) {
+v = vertices[0];
+v.indexA = 0;
+v.indexB = 0;
+wALocal = proxyA.GetVertex(0);
+wBLocal = proxyB.GetVertex(0);
+v.wA = b2Math.MulX(transformA, wALocal);
+v.wB = b2Math.MulX(transformB, wBLocal);
+v.w = b2Math.SubtractVV(v.wB, v.wA);
+this.m_count = 1;
+}
+}
+b2Simplex.prototype.WriteCache = function (cache) {
+cache.metric = this.GetMetric();
+cache.count = Box2D.parseUInt(this.m_count);
+var vertices = this.m_vertices;
+for (var i = 0; i < this.m_count; i++) {
+cache.indexA[i] = Box2D.parseUInt(vertices[i].indexA);
+cache.indexB[i] = Box2D.parseUInt(vertices[i].indexB);
+}
+}
+b2Simplex.prototype.GetSearchDirection = function () {
+switch (this.m_count) {
+case 1:
+return this.m_v1.w.GetNegative();
+case 2:
+{
+var e12 = b2Math.SubtractVV(this.m_v2.w, this.m_v1.w);
+var sgn = b2Math.CrossVV(e12, this.m_v1.w.GetNegative());
+if (sgn > 0.0) {
+return b2Math.CrossFV(1.0, e12);
+}
+else {
+return b2Math.CrossVF(e12, 1.0);
+}
+}
+default:
+b2Settings.b2Assert(false);
+return new b2Vec2();
+}
+}
+b2Simplex.prototype.GetClosestPoint = function () {
+switch (this.m_count) {
+case 0:
+b2Settings.b2Assert(false);
+return new b2Vec2();
+case 1:
+return this.m_v1.w;
+case 2:
+return new b2Vec2(this.m_v1.a * this.m_v1.w.x + this.m_v2.a * this.m_v2.w.x, this.m_v1.a * this.m_v1.w.y + this.m_v2.a * this.m_v2.w.y);
+default:
+b2Settings.b2Assert(false);
+return new b2Vec2();
+}
+}
+b2Simplex.prototype.GetWitnessPoints = function (pA, pB) {
+switch (this.m_count) {
+case 0:
+b2Settings.b2Assert(false);
+break;
+case 1:
+pA.SetV(this.m_v1.wA);
+pB.SetV(this.m_v1.wB);
+break;
+case 2:
+pA.x = this.m_v1.a * this.m_v1.wA.x + this.m_v2.a * this.m_v2.wA.x;
+pA.y = this.m_v1.a * this.m_v1.wA.y + this.m_v2.a * this.m_v2.wA.y;
+pB.x = this.m_v1.a * this.m_v1.wB.x + this.m_v2.a * this.m_v2.wB.x;
+pB.y = this.m_v1.a * this.m_v1.wB.y + this.m_v2.a * this.m_v2.wB.y;
+break;
+case 3:
+pB.x = pA.x = this.m_v1.a * this.m_v1.wA.x + this.m_v2.a * this.m_v2.wA.x + this.m_v3.a * this.m_v3.wA.x;
+pB.y = pA.y = this.m_v1.a * this.m_v1.wA.y + this.m_v2.a * this.m_v2.wA.y + this.m_v3.a * this.m_v3.wA.y;
+break;
+default:
+b2Settings.b2Assert(false);
+break;
+}
+}
+b2Simplex.prototype.GetMetric = function () {
+switch (this.m_count) {
+case 0:
+b2Settings.b2Assert(false);
+return 0.0;
+case 1:
+return 0.0;
+case 2:
+return b2Math.SubtractVV(this.m_v1.w, this.m_v2.w).Length();
+case 3:
+return b2Math.CrossVV(b2Math.SubtractVV(this.m_v2.w, this.m_v1.w), b2Math.SubtractVV(this.m_v3.w, this.m_v1.w));
+default:
+b2Settings.b2Assert(false);
+return 0.0;
+}
+}
+b2Simplex.prototype.Solve2 = function () {
+var w1 = this.m_v1.w;
+var w2 = this.m_v2.w;
+var e12 = b2Math.SubtractVV(w2, w1);
+var d12_2 = (-(w1.x * e12.x + w1.y * e12.y));
+if (d12_2 <= 0.0) {
+this.m_v1.a = 1.0;
+this.m_count = 1;
+return;
+}
+var d12_1 = (w2.x * e12.x + w2.y * e12.y);
+if (d12_1 <= 0.0) {
+this.m_v2.a = 1.0;
+this.m_count = 1;
+this.m_v1.Set(this.m_v2);
+return;
+}
+var inv_d12 = 1.0 / (d12_1 + d12_2);
+this.m_v1.a = d12_1 * inv_d12;
+this.m_v2.a = d12_2 * inv_d12;
+this.m_count = 2;
+}
+b2Simplex.prototype.Solve3 = function () {
+var w1 = this.m_v1.w;
+var w2 = this.m_v2.w;
+var w3 = this.m_v3.w;
+var e12 = b2Math.SubtractVV(w2, w1);
+var w1e12 = b2Math.Dot(w1, e12);
+var w2e12 = b2Math.Dot(w2, e12);
+var d12_1 = w2e12;
+var d12_2 = (-w1e12);
+var e13 = b2Math.SubtractVV(w3, w1);
+var w1e13 = b2Math.Dot(w1, e13);
+var w3e13 = b2Math.Dot(w3, e13);
+var d13_1 = w3e13;
+var d13_2 = (-w1e13);
+var e23 = b2Math.SubtractVV(w3, w2);
+var w2e23 = b2Math.Dot(w2, e23);
+var w3e23 = b2Math.Dot(w3, e23);
+var d23_1 = w3e23;
+var d23_2 = (-w2e23);
+var n123 = b2Math.CrossVV(e12, e13);
+var d123_1 = n123 * b2Math.CrossVV(w2, w3);
+var d123_2 = n123 * b2Math.CrossVV(w3, w1);
+var d123_3 = n123 * b2Math.CrossVV(w1, w2);
+if (d12_2 <= 0.0 && d13_2 <= 0.0) {
+this.m_v1.a = 1.0;
+this.m_count = 1;
+return;
+}
+if (d12_1 > 0.0 && d12_2 > 0.0 && d123_3 <= 0.0) {
+var inv_d12 = 1.0 / (d12_1 + d12_2);
+this.m_v1.a = d12_1 * inv_d12;
+this.m_v2.a = d12_2 * inv_d12;
+this.m_count = 2;
+return;
+}
+if (d13_1 > 0.0 && d13_2 > 0.0 && d123_2 <= 0.0) {
+var inv_d13 = 1.0 / (d13_1 + d13_2);
+this.m_v1.a = d13_1 * inv_d13;
+this.m_v3.a = d13_2 * inv_d13;
+this.m_count = 2;
+this.m_v2.Set(this.m_v3);
+return;
+}
+if (d12_1 <= 0.0 && d23_2 <= 0.0) {
+this.m_v2.a = 1.0;
+this.m_count = 1;
+this.m_v1.Set(this.m_v2);
+return;
+}
+if (d13_1 <= 0.0 && d23_1 <= 0.0) {
+this.m_v3.a = 1.0;
+this.m_count = 1;
+this.m_v1.Set(this.m_v3);
+return;
+}
+if (d23_1 > 0.0 && d23_2 > 0.0 && d123_1 <= 0.0) {
+var inv_d23 = 1.0 / (d23_1 + d23_2);
+this.m_v2.a = d23_1 * inv_d23;
+this.m_v3.a = d23_2 * inv_d23;
+this.m_count = 2;
+this.m_v1.Set(this.m_v3);
+return;
+}
+var inv_d123 = 1.0 / (d123_1 + d123_2 + d123_3);
+this.m_v1.a = d123_1 * inv_d123;
+this.m_v2.a = d123_2 * inv_d123;
+this.m_v3.a = d123_3 * inv_d123;
+this.m_count = 3;
+}
+b2SimplexCache.b2SimplexCache = function () {
+this.indexA = new Vector_a2j_Number(3);
+this.indexB = new Vector_a2j_Number(3);
+};
+b2SimplexVertex.b2SimplexVertex = function () {};
+b2SimplexVertex.prototype.Set = function (other) {
+this.wA.SetV(other.wA);
+this.wB.SetV(other.wB);
+this.w.SetV(other.w);
+this.a = other.a;
+this.indexA = other.indexA;
+this.indexB = other.indexB;
+}
+b2TimeOfImpact.b2TimeOfImpact = function () {};
+b2TimeOfImpact.TimeOfImpact = function (input) {
+++b2TimeOfImpact.b2_toiCalls;
+var proxyA = input.proxyA;
+var proxyB = input.proxyB;
+var sweepA = input.sweepA;
+var sweepB = input.sweepB;
+b2Settings.b2Assert(sweepA.t0 == sweepB.t0);
+b2Settings.b2Assert(1.0 - sweepA.t0 > Number.MIN_VALUE);
+var radius = proxyA.m_radius + proxyB.m_radius;
+var tolerance = input.tolerance;
+var alpha = 0.0;
+var k_maxIterations = 1000;
+var iter = 0;
+var target = 0.0;
+b2TimeOfImpact.s_cache.count = 0;
+b2TimeOfImpact.s_distanceInput.useRadii = false;
+for (;;) {
+sweepA.GetTransform(b2TimeOfImpact.s_xfA, alpha);
+sweepB.GetTransform(b2TimeOfImpact.s_xfB, alpha);
+b2TimeOfImpact.s_distanceInput.proxyA = proxyA;
+b2TimeOfImpact.s_distanceInput.proxyB = proxyB;
+b2TimeOfImpact.s_distanceInput.transformA = b2TimeOfImpact.s_xfA;
+b2TimeOfImpact.s_distanceInput.transformB = b2TimeOfImpact.s_xfB;
+b2Distance.Distance(b2TimeOfImpact.s_distanceOutput, b2TimeOfImpact.s_cache, b2TimeOfImpact.s_distanceInput);
+if (b2TimeOfImpact.s_distanceOutput.distance <= 0.0) {
+alpha = 1.0;
+break;
+}
+b2TimeOfImpact.s_fcn.Initialize(b2TimeOfImpact.s_cache, proxyA, b2TimeOfImpact.s_xfA, proxyB, b2TimeOfImpact.s_xfB);
+var separation = b2TimeOfImpact.s_fcn.Evaluate(b2TimeOfImpact.s_xfA, b2TimeOfImpact.s_xfB);
+if (separation <= 0.0) {
+alpha = 1.0;
+break;
+}
+if (iter == 0) {
+if (separation > radius) {
+target = b2Math.Max(radius - tolerance, 0.75 * radius);
+}
+else {
+target = b2Math.Max(separation - tolerance, 0.02 * radius);
+}
+}
+if (separation - target < 0.5 * tolerance) {
+if (iter == 0) {
+alpha = 1.0;
+break;
+}
+break;
+}
+var newAlpha = alpha; {
+var x1 = alpha;
+var x2 = 1.0;
+var f1 = separation;
+sweepA.GetTransform(b2TimeOfImpact.s_xfA, x2);
+sweepB.GetTransform(b2TimeOfImpact.s_xfB, x2);
+var f2 = b2TimeOfImpact.s_fcn.Evaluate(b2TimeOfImpact.s_xfA, b2TimeOfImpact.s_xfB);
+if (f2 >= target) {
+alpha = 1.0;
+break;
+}
+var rootIterCount = 0;
+for (;;) {
+var x = 0;
+if (rootIterCount & 1) {
+x = x1 + (target - f1) * (x2 - x1) / (f2 - f1);
+}
+else {
+x = 0.5 * (x1 + x2);
+}
+sweepA.GetTransform(b2TimeOfImpact.s_xfA, x);
+sweepB.GetTransform(b2TimeOfImpact.s_xfB, x);
+var f = b2TimeOfImpact.s_fcn.Evaluate(b2TimeOfImpact.s_xfA, b2TimeOfImpact.s_xfB);
+if (b2Math.Abs(f - target) < 0.025 * tolerance) {
+newAlpha = x;
+break;
+}
+if (f > target) {
+x1 = x;
+f1 = f;
+}
+else {
+x2 = x;
+f2 = f;
+}++rootIterCount;
+++b2TimeOfImpact.b2_toiRootIters;
+if (rootIterCount == 50) {
+break;
+}
+}
+b2TimeOfImpact.b2_toiMaxRootIters = b2Math.Max(b2TimeOfImpact.b2_toiMaxRootIters, rootIterCount);
+}
+if (newAlpha < (1.0 + 100.0 * Number.MIN_VALUE) * alpha) {
+break;
+}
+alpha = newAlpha;
+iter++;
+++b2TimeOfImpact.b2_toiIters;
+if (iter == k_maxIterations) {
+break;
+}
+}
+b2TimeOfImpact.b2_toiMaxIters = b2Math.Max(b2TimeOfImpact.b2_toiMaxIters, iter);
+return alpha;
+}
+Box2D.postDefs.push(function () {
+Box2D.Collision.b2TimeOfImpact.b2_toiCalls = 0;
+Box2D.Collision.b2TimeOfImpact.b2_toiIters = 0;
+Box2D.Collision.b2TimeOfImpact.b2_toiMaxIters = 0;
+Box2D.Collision.b2TimeOfImpact.b2_toiRootIters = 0;
+Box2D.Collision.b2TimeOfImpact.b2_toiMaxRootIters = 0;
+Box2D.Collision.b2TimeOfImpact.s_cache = new b2SimplexCache();
+Box2D.Collision.b2TimeOfImpact.s_distanceInput = new b2DistanceInput();
+Box2D.Collision.b2TimeOfImpact.s_xfA = new b2Transform();
+Box2D.Collision.b2TimeOfImpact.s_xfB = new b2Transform();
+Box2D.Collision.b2TimeOfImpact.s_fcn = new b2SeparationFunction();
+Box2D.Collision.b2TimeOfImpact.s_distanceOutput = new b2DistanceOutput();
+});
+b2TOIInput.b2TOIInput = function () {
+this.proxyA = new b2DistanceProxy();
+this.proxyB = new b2DistanceProxy();
+this.sweepA = new b2Sweep();
+this.sweepB = new b2Sweep();
+};
+b2WorldManifold.b2WorldManifold = function () {
+this.m_normal = new b2Vec2();
+};
+b2WorldManifold.prototype.b2WorldManifold = function () {
+this.m_points = new Vector(b2Settings.b2_maxManifoldPoints);
+for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) {
+this.m_points[i] = new b2Vec2();
+}
+}
+b2WorldManifold.prototype.Initialize = function (manifold, xfA, radiusA, xfB, radiusB) {
+if (radiusA === undefined) radiusA = 0;
+if (radiusB === undefined) radiusB = 0;
+if (manifold.m_pointCount == 0) {
+return;
+}
+var i = 0;
+var tVec;
+var tMat;
+var normalX = 0;
+var normalY = 0;
+var planePointX = 0;
+var planePointY = 0;
+var clipPointX = 0;
+var clipPointY = 0;
+switch (manifold.m_type) {
+case b2Manifold.e_circles:
+{
+tMat = xfA.R;
+tVec = manifold.m_localPoint;
+var pointAX = xfA.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+var pointAY = xfA.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tMat = xfB.R;
+tVec = manifold.m_points[0].m_localPoint;
+var pointBX = xfB.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+var pointBY = xfB.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+var dX = pointBX - pointAX;
+var dY = pointBY - pointAY;
+var d2 = dX * dX + dY * dY;
+if (d2 > Number.MIN_VALUE * Number.MIN_VALUE) {
+var d = Math.sqrt(d2);
+this.m_normal.x = dX / d;
+this.m_normal.y = dY / d;
+}
+else {
+this.m_normal.x = 1;
+this.m_normal.y = 0;
+}
+var cAX = pointAX + radiusA * this.m_normal.x;
+var cAY = pointAY + radiusA * this.m_normal.y;
+var cBX = pointBX - radiusB * this.m_normal.x;
+var cBY = pointBY - radiusB * this.m_normal.y;
+this.m_points[0].x = 0.5 * (cAX + cBX);
+this.m_points[0].y = 0.5 * (cAY + cBY);
+}
+break;
+case b2Manifold.e_faceA:
+{
+tMat = xfA.R;
+tVec = manifold.m_localPlaneNormal;
+normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tMat = xfA.R;
+tVec = manifold.m_localPoint;
+planePointX = xfA.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+planePointY = xfA.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+this.m_normal.x = normalX;
+this.m_normal.y = normalY;
+for (i = 0;
+i < manifold.m_pointCount; i++) {
+tMat = xfB.R;
+tVec = manifold.m_points[i].m_localPoint;
+clipPointX = xfB.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+clipPointY = xfB.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+this.m_points[i].x = clipPointX + 0.5 * (radiusA - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusB) * normalX;
+this.m_points[i].y = clipPointY + 0.5 * (radiusA - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusB) * normalY;
+}
+}
+break;
+case b2Manifold.e_faceB:
+{
+tMat = xfB.R;
+tVec = manifold.m_localPlaneNormal;
+normalX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+normalY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tMat = xfB.R;
+tVec = manifold.m_localPoint;
+planePointX = xfB.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+planePointY = xfB.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+this.m_normal.x = (-normalX);
+this.m_normal.y = (-normalY);
+for (i = 0;
+i < manifold.m_pointCount; i++) {
+tMat = xfA.R;
+tVec = manifold.m_points[i].m_localPoint;
+clipPointX = xfA.position.x + tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+clipPointY = xfA.position.y + tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+this.m_points[i].x = clipPointX + 0.5 * (radiusB - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusA) * normalX;
+this.m_points[i].y = clipPointY + 0.5 * (radiusB - (clipPointX - planePointX) * normalX - (clipPointY - planePointY) * normalY - radiusA) * normalY;
+}
+}
+break;
+}
+}
+ClipVertex.ClipVertex = function () {
+this.v = new b2Vec2();
+this.id = new b2ContactID();
+};
+ClipVertex.prototype.Set = function (other) {
+this.v.SetV(other.v);
+this.id.Set(other.id);
+}
+Features.Features = function () {};
+Object.defineProperty(Features.prototype, 'referenceEdge', {
+enumerable: false,
+configurable: true,
+get: function () {
+return this._referenceEdge;
+}
+});
+Object.defineProperty(Features.prototype, 'referenceEdge', {
+enumerable: false,
+configurable: true,
+set: function (value) {
+if (value === undefined) value = 0;
+this._referenceEdge = value;
+this._m_id._key = (this._m_id._key & 0xffffff00) | (this._referenceEdge & 0x000000ff);
+}
+});
+Object.defineProperty(Features.prototype, 'incidentEdge', {
+enumerable: false,
+configurable: true,
+get: function () {
+return this._incidentEdge;
+}
+});
+Object.defineProperty(Features.prototype, 'incidentEdge', {
+enumerable: false,
+configurable: true,
+set: function (value) {
+if (value === undefined) value = 0;
+this._incidentEdge = value;
+this._m_id._key = (this._m_id._key & 0xffff00ff) | ((this._incidentEdge << 8) & 0x0000ff00);
+}
+});
+Object.defineProperty(Features.prototype, 'incidentVertex', {
+enumerable: false,
+configurable: true,
+get: function () {
+return this._incidentVertex;
+}
+});
+Object.defineProperty(Features.prototype, 'incidentVertex', {
+enumerable: false,
+configurable: true,
+set: function (value) {
+if (value === undefined) value = 0;
+this._incidentVertex = value;
+this._m_id._key = (this._m_id._key & 0xff00ffff) | ((this._incidentVertex << 16) & 0x00ff0000);
+}
+});
+Object.defineProperty(Features.prototype, 'flip', {
+enumerable: false,
+configurable: true,
+get: function () {
+return this._flip;
+}
+});
+Object.defineProperty(Features.prototype, 'flip', {
+enumerable: false,
+configurable: true,
+set: function (value) {
+if (value === undefined) value = 0;
+this._flip = value;
+this._m_id._key = (this._m_id._key & 0x00ffffff) | ((this._flip << 24) & 0xff000000);
+}
+});
+})();
+(function () {
+var b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2CircleShape = Box2D.Collision.Shapes.b2CircleShape,
+b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef,
+b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape,
+b2MassData = Box2D.Collision.Shapes.b2MassData,
+b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape,
+b2Shape = Box2D.Collision.Shapes.b2Shape,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3,
+b2Body = Box2D.Dynamics.b2Body,
+b2BodyDef = Box2D.Dynamics.b2BodyDef,
+b2ContactFilter = Box2D.Dynamics.b2ContactFilter,
+b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse,
+b2ContactListener = Box2D.Dynamics.b2ContactListener,
+b2ContactManager = Box2D.Dynamics.b2ContactManager,
+b2DebugDraw = Box2D.Dynamics.b2DebugDraw,
+b2DestructionListener = Box2D.Dynamics.b2DestructionListener,
+b2FilterData = Box2D.Dynamics.b2FilterData,
+b2Fixture = Box2D.Dynamics.b2Fixture,
+b2FixtureDef = Box2D.Dynamics.b2FixtureDef,
+b2Island = Box2D.Dynamics.b2Island,
+b2TimeStep = Box2D.Dynamics.b2TimeStep,
+b2World = Box2D.Dynamics.b2World,
+b2AABB = Box2D.Collision.b2AABB,
+b2Bound = Box2D.Collision.b2Bound,
+b2BoundValues = Box2D.Collision.b2BoundValues,
+b2Collision = Box2D.Collision.b2Collision,
+b2ContactID = Box2D.Collision.b2ContactID,
+b2ContactPoint = Box2D.Collision.b2ContactPoint,
+b2Distance = Box2D.Collision.b2Distance,
+b2DistanceInput = Box2D.Collision.b2DistanceInput,
+b2DistanceOutput = Box2D.Collision.b2DistanceOutput,
+b2DistanceProxy = Box2D.Collision.b2DistanceProxy,
+b2DynamicTree = Box2D.Collision.b2DynamicTree,
+b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase,
+b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode,
+b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair,
+b2Manifold = Box2D.Collision.b2Manifold,
+b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint,
+b2Point = Box2D.Collision.b2Point,
+b2RayCastInput = Box2D.Collision.b2RayCastInput,
+b2RayCastOutput = Box2D.Collision.b2RayCastOutput,
+b2Segment = Box2D.Collision.b2Segment,
+b2SeparationFunction = Box2D.Collision.b2SeparationFunction,
+b2Simplex = Box2D.Collision.b2Simplex,
+b2SimplexCache = Box2D.Collision.b2SimplexCache,
+b2SimplexVertex = Box2D.Collision.b2SimplexVertex,
+b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact,
+b2TOIInput = Box2D.Collision.b2TOIInput,
+b2WorldManifold = Box2D.Collision.b2WorldManifold,
+ClipVertex = Box2D.Collision.ClipVertex,
+Features = Box2D.Collision.Features,
+IBroadPhase = Box2D.Collision.IBroadPhase;
+Box2D.inherit(b2CircleShape, Box2D.Collision.Shapes.b2Shape);
+b2CircleShape.prototype.__super = Box2D.Collision.Shapes.b2Shape.prototype;
+b2CircleShape.b2CircleShape = function () {
+Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this, arguments);
+this.m_p = new b2Vec2();
+};
+b2CircleShape.prototype.Copy = function () {
+var s = new b2CircleShape();
+s.Set(this);
+return s;
+}
+b2CircleShape.prototype.Set = function (other) {
+this.__super.Set.call(this, other);
+if (Box2D.is(other, b2CircleShape)) {
+var other2 = (other instanceof b2CircleShape ? other : null);
+this.m_p.SetV(other2.m_p);
+}
+}
+b2CircleShape.prototype.TestPoint = function (transform, p) {
+var tMat = transform.R;
+var dX = transform.position.x + (tMat.col1.x * this.m_p.x + tMat.col2.x * this.m_p.y);
+var dY = transform.position.y + (tMat.col1.y * this.m_p.x + tMat.col2.y * this.m_p.y);
+dX = p.x - dX;
+dY = p.y - dY;
+return (dX * dX + dY * dY) <= this.m_radius * this.m_radius;
+}
+b2CircleShape.prototype.RayCast = function (output, input, transform) {
+var tMat = transform.R;
+var positionX = transform.position.x + (tMat.col1.x * this.m_p.x + tMat.col2.x * this.m_p.y);
+var positionY = transform.position.y + (tMat.col1.y * this.m_p.x + tMat.col2.y * this.m_p.y);
+var sX = input.p1.x - positionX;
+var sY = input.p1.y - positionY;
+var b = (sX * sX + sY * sY) - this.m_radius * this.m_radius;
+var rX = input.p2.x - input.p1.x;
+var rY = input.p2.y - input.p1.y;
+var c = (sX * rX + sY * rY);
+var rr = (rX * rX + rY * rY);
+var sigma = c * c - rr * b;
+if (sigma < 0.0 || rr < Number.MIN_VALUE) {
+return false;
+}
+var a = (-(c + Math.sqrt(sigma)));
+if (0.0 <= a && a <= input.maxFraction * rr) {
+a /= rr;
+output.fraction = a;
+output.normal.x = sX + a * rX;
+output.normal.y = sY + a * rY;
+output.normal.Normalize();
+return true;
+}
+return false;
+}
+b2CircleShape.prototype.ComputeAABB = function (aabb, transform) {
+var tMat = transform.R;
+var pX = transform.position.x + (tMat.col1.x * this.m_p.x + tMat.col2.x * this.m_p.y);
+var pY = transform.position.y + (tMat.col1.y * this.m_p.x + tMat.col2.y * this.m_p.y);
+aabb.lowerBound.Set(pX - this.m_radius, pY - this.m_radius);
+aabb.upperBound.Set(pX + this.m_radius, pY + this.m_radius);
+}
+b2CircleShape.prototype.ComputeMass = function (massData, density) {
+if (density === undefined) density = 0;
+massData.mass = density * b2Settings.b2_pi * this.m_radius * this.m_radius;
+massData.center.SetV(this.m_p);
+massData.I = massData.mass * (0.5 * this.m_radius * this.m_radius + (this.m_p.x * this.m_p.x + this.m_p.y * this.m_p.y));
+}
+b2CircleShape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) {
+if (offset === undefined) offset = 0;
+var p = b2Math.MulX(xf, this.m_p);
+var l = (-(b2Math.Dot(normal, p) - offset));
+if (l < (-this.m_radius) + Number.MIN_VALUE) {
+return 0;
+}
+if (l > this.m_radius) {
+c.SetV(p);
+return Math.PI * this.m_radius * this.m_radius;
+}
+var r2 = this.m_radius * this.m_radius;
+var l2 = l * l;
+var area = r2 * (Math.asin(l / this.m_radius) + Math.PI / 2) + l * Math.sqrt(r2 - l2);
+var com = (-2 / 3 * Math.pow(r2 - l2, 1.5) / area);
+c.x = p.x + normal.x * com;
+c.y = p.y + normal.y * com;
+return area;
+}
+b2CircleShape.prototype.GetLocalPosition = function () {
+return this.m_p;
+}
+b2CircleShape.prototype.SetLocalPosition = function (position) {
+this.m_p.SetV(position);
+}
+b2CircleShape.prototype.GetRadius = function () {
+return this.m_radius;
+}
+b2CircleShape.prototype.SetRadius = function (radius) {
+if (radius === undefined) radius = 0;
+this.m_radius = radius;
+}
+b2CircleShape.prototype.b2CircleShape = function (radius) {
+if (radius === undefined) radius = 0;
+this.__super.b2Shape.call(this);
+this.m_type = b2Shape.e_circleShape;
+this.m_radius = radius;
+}
+b2EdgeChainDef.b2EdgeChainDef = function () {};
+b2EdgeChainDef.prototype.b2EdgeChainDef = function () {
+this.vertexCount = 0;
+this.isALoop = true;
+this.vertices = [];
+}
+Box2D.inherit(b2EdgeShape, Box2D.Collision.Shapes.b2Shape);
+b2EdgeShape.prototype.__super = Box2D.Collision.Shapes.b2Shape.prototype;
+b2EdgeShape.b2EdgeShape = function () {
+Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this, arguments);
+this.s_supportVec = new b2Vec2();
+this.m_v1 = new b2Vec2();
+this.m_v2 = new b2Vec2();
+this.m_coreV1 = new b2Vec2();
+this.m_coreV2 = new b2Vec2();
+this.m_normal = new b2Vec2();
+this.m_direction = new b2Vec2();
+this.m_cornerDir1 = new b2Vec2();
+this.m_cornerDir2 = new b2Vec2();
+};
+b2EdgeShape.prototype.TestPoint = function (transform, p) {
+return false;
+}
+b2EdgeShape.prototype.RayCast = function (output, input, transform) {
+var tMat;
+var rX = input.p2.x - input.p1.x;
+var rY = input.p2.y - input.p1.y;
+tMat = transform.R;
+var v1X = transform.position.x + (tMat.col1.x * this.m_v1.x + tMat.col2.x * this.m_v1.y);
+var v1Y = transform.position.y + (tMat.col1.y * this.m_v1.x + tMat.col2.y * this.m_v1.y);
+var nX = transform.position.y + (tMat.col1.y * this.m_v2.x + tMat.col2.y * this.m_v2.y) - v1Y;
+var nY = (-(transform.position.x + (tMat.col1.x * this.m_v2.x + tMat.col2.x * this.m_v2.y) - v1X));
+var k_slop = 100.0 * Number.MIN_VALUE;
+var denom = (-(rX * nX + rY * nY));
+if (denom > k_slop) {
+var bX = input.p1.x - v1X;
+var bY = input.p1.y - v1Y;
+var a = (bX * nX + bY * nY);
+if (0.0 <= a && a <= input.maxFraction * denom) {
+var mu2 = (-rX * bY) + rY * bX;
+if ((-k_slop * denom) <= mu2 && mu2 <= denom * (1.0 + k_slop)) {
+a /= denom;
+output.fraction = a;
+var nLen = Math.sqrt(nX * nX + nY * nY);
+output.normal.x = nX / nLen;
+output.normal.y = nY / nLen;
+return true;
+}
+}
+}
+return false;
+}
+b2EdgeShape.prototype.ComputeAABB = function (aabb, transform) {
+var tMat = transform.R;
+var v1X = transform.position.x + (tMat.col1.x * this.m_v1.x + tMat.col2.x * this.m_v1.y);
+var v1Y = transform.position.y + (tMat.col1.y * this.m_v1.x + tMat.col2.y * this.m_v1.y);
+var v2X = transform.position.x + (tMat.col1.x * this.m_v2.x + tMat.col2.x * this.m_v2.y);
+var v2Y = transform.position.y + (tMat.col1.y * this.m_v2.x + tMat.col2.y * this.m_v2.y);
+if (v1X < v2X) {
+aabb.lowerBound.x = v1X;
+aabb.upperBound.x = v2X;
+}
+else {
+aabb.lowerBound.x = v2X;
+aabb.upperBound.x = v1X;
+}
+if (v1Y < v2Y) {
+aabb.lowerBound.y = v1Y;
+aabb.upperBound.y = v2Y;
+}
+else {
+aabb.lowerBound.y = v2Y;
+aabb.upperBound.y = v1Y;
+}
+}
+b2EdgeShape.prototype.ComputeMass = function (massData, density) {
+if (density === undefined) density = 0;
+massData.mass = 0;
+massData.center.SetV(this.m_v1);
+massData.I = 0;
+}
+b2EdgeShape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) {
+if (offset === undefined) offset = 0;
+var v0 = new b2Vec2(normal.x * offset, normal.y * offset);
+var v1 = b2Math.MulX(xf, this.m_v1);
+var v2 = b2Math.MulX(xf, this.m_v2);
+var d1 = b2Math.Dot(normal, v1) - offset;
+var d2 = b2Math.Dot(normal, v2) - offset;
+if (d1 > 0) {
+if (d2 > 0) {
+return 0;
+}
+else {
+v1.x = (-d2 / (d1 - d2) * v1.x) + d1 / (d1 - d2) * v2.x;
+v1.y = (-d2 / (d1 - d2) * v1.y) + d1 / (d1 - d2) * v2.y;
+}
+}
+else {
+if (d2 > 0) {
+v2.x = (-d2 / (d1 - d2) * v1.x) + d1 / (d1 - d2) * v2.x;
+v2.y = (-d2 / (d1 - d2) * v1.y) + d1 / (d1 - d2) * v2.y;
+}
+else {}
+}
+c.x = (v0.x + v1.x + v2.x) / 3;
+c.y = (v0.y + v1.y + v2.y) / 3;
+return 0.5 * ((v1.x - v0.x) * (v2.y - v0.y) - (v1.y - v0.y) * (v2.x - v0.x));
+}
+b2EdgeShape.prototype.GetLength = function () {
+return this.m_length;
+}
+b2EdgeShape.prototype.GetVertex1 = function () {
+return this.m_v1;
+}
+b2EdgeShape.prototype.GetVertex2 = function () {
+return this.m_v2;
+}
+b2EdgeShape.prototype.GetCoreVertex1 = function () {
+return this.m_coreV1;
+}
+b2EdgeShape.prototype.GetCoreVertex2 = function () {
+return this.m_coreV2;
+}
+b2EdgeShape.prototype.GetNormalVector = function () {
+return this.m_normal;
+}
+b2EdgeShape.prototype.GetDirectionVector = function () {
+return this.m_direction;
+}
+b2EdgeShape.prototype.GetCorner1Vector = function () {
+return this.m_cornerDir1;
+}
+b2EdgeShape.prototype.GetCorner2Vector = function () {
+return this.m_cornerDir2;
+}
+b2EdgeShape.prototype.Corner1IsConvex = function () {
+return this.m_cornerConvex1;
+}
+b2EdgeShape.prototype.Corner2IsConvex = function () {
+return this.m_cornerConvex2;
+}
+b2EdgeShape.prototype.GetFirstVertex = function (xf) {
+var tMat = xf.R;
+return new b2Vec2(xf.position.x + (tMat.col1.x * this.m_coreV1.x + tMat.col2.x * this.m_coreV1.y), xf.position.y + (tMat.col1.y * this.m_coreV1.x + tMat.col2.y * this.m_coreV1.y));
+}
+b2EdgeShape.prototype.GetNextEdge = function () {
+return this.m_nextEdge;
+}
+b2EdgeShape.prototype.GetPrevEdge = function () {
+return this.m_prevEdge;
+}
+b2EdgeShape.prototype.Support = function (xf, dX, dY) {
+if (dX === undefined) dX = 0;
+if (dY === undefined) dY = 0;
+var tMat = xf.R;
+var v1X = xf.position.x + (tMat.col1.x * this.m_coreV1.x + tMat.col2.x * this.m_coreV1.y);
+var v1Y = xf.position.y + (tMat.col1.y * this.m_coreV1.x + tMat.col2.y * this.m_coreV1.y);
+var v2X = xf.position.x + (tMat.col1.x * this.m_coreV2.x + tMat.col2.x * this.m_coreV2.y);
+var v2Y = xf.position.y + (tMat.col1.y * this.m_coreV2.x + tMat.col2.y * this.m_coreV2.y);
+if ((v1X * dX + v1Y * dY) > (v2X * dX + v2Y * dY)) {
+this.s_supportVec.x = v1X;
+this.s_supportVec.y = v1Y;
+}
+else {
+this.s_supportVec.x = v2X;
+this.s_supportVec.y = v2Y;
+}
+return this.s_supportVec;
+}
+b2EdgeShape.prototype.b2EdgeShape = function (v1, v2) {
+this.__super.b2Shape.call(this);
+this.m_type = b2Shape.e_edgeShape;
+this.m_prevEdge = null;
+this.m_nextEdge = null;
+this.m_v1 = v1;
+this.m_v2 = v2;
+this.m_direction.Set(this.m_v2.x - this.m_v1.x, this.m_v2.y - this.m_v1.y);
+this.m_length = this.m_direction.Normalize();
+this.m_normal.Set(this.m_direction.y, (-this.m_direction.x));
+this.m_coreV1.Set((-b2Settings.b2_toiSlop * (this.m_normal.x - this.m_direction.x)) + this.m_v1.x, (-b2Settings.b2_toiSlop * (this.m_normal.y - this.m_direction.y)) + this.m_v1.y);
+this.m_coreV2.Set((-b2Settings.b2_toiSlop * (this.m_normal.x + this.m_direction.x)) + this.m_v2.x, (-b2Settings.b2_toiSlop * (this.m_normal.y + this.m_direction.y)) + this.m_v2.y);
+this.m_cornerDir1 = this.m_normal;
+this.m_cornerDir2.Set((-this.m_normal.x), (-this.m_normal.y));
+}
+b2EdgeShape.prototype.SetPrevEdge = function (edge, core, cornerDir, convex) {
+this.m_prevEdge = edge;
+this.m_coreV1 = core;
+this.m_cornerDir1 = cornerDir;
+this.m_cornerConvex1 = convex;
+}
+b2EdgeShape.prototype.SetNextEdge = function (edge, core, cornerDir, convex) {
+this.m_nextEdge = edge;
+this.m_coreV2 = core;
+this.m_cornerDir2 = cornerDir;
+this.m_cornerConvex2 = convex;
+}
+b2MassData.b2MassData = function () {
+this.mass = 0.0;
+this.center = new b2Vec2(0, 0);
+this.I = 0.0;
+};
+Box2D.inherit(b2PolygonShape, Box2D.Collision.Shapes.b2Shape);
+b2PolygonShape.prototype.__super = Box2D.Collision.Shapes.b2Shape.prototype;
+b2PolygonShape.b2PolygonShape = function () {
+Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this, arguments);
+};
+b2PolygonShape.prototype.Copy = function () {
+var s = new b2PolygonShape();
+s.Set(this);
+return s;
+}
+b2PolygonShape.prototype.Set = function (other) {
+this.__super.Set.call(this, other);
+if (Box2D.is(other, b2PolygonShape)) {
+var other2 = (other instanceof b2PolygonShape ? other : null);
+this.m_centroid.SetV(other2.m_centroid);
+this.m_vertexCount = other2.m_vertexCount;
+this.Reserve(this.m_vertexCount);
+for (var i = 0; i < this.m_vertexCount; i++) {
+this.m_vertices[i].SetV(other2.m_vertices[i]);
+this.m_normals[i].SetV(other2.m_normals[i]);
+}
+}
+}
+b2PolygonShape.prototype.SetAsArray = function (vertices, vertexCount) {
+if (vertexCount === undefined) vertexCount = 0;
+var v = new Vector();
+var i = 0,
+tVec;
+for (i = 0;
+i < vertices.length; ++i) {
+tVec = vertices[i];
+v.push(tVec);
+}
+this.SetAsVector(v, vertexCount);
+}
+b2PolygonShape.AsArray = function (vertices, vertexCount) {
+if (vertexCount === undefined) vertexCount = 0;
+var polygonShape = new b2PolygonShape();
+polygonShape.SetAsArray(vertices, vertexCount);
+return polygonShape;
+}
+b2PolygonShape.prototype.SetAsVector = function (vertices, vertexCount) {
+if (vertexCount === undefined) vertexCount = 0;
+if (vertexCount == 0) vertexCount = vertices.length;
+b2Settings.b2Assert(2 <= vertexCount);
+this.m_vertexCount = vertexCount;
+this.Reserve(vertexCount);
+var i = 0;
+for (i = 0;
+i < this.m_vertexCount; i++) {
+this.m_vertices[i].SetV(vertices[i]);
+}
+for (i = 0;
+i < this.m_vertexCount; ++i) {
+var i1 = parseInt(i);
+var i2 = parseInt(i + 1 < this.m_vertexCount ? i + 1 : 0);
+var edge = b2Math.SubtractVV(this.m_vertices[i2], this.m_vertices[i1]);
+b2Settings.b2Assert(edge.LengthSquared() > Number.MIN_VALUE);
+this.m_normals[i].SetV(b2Math.CrossVF(edge, 1.0));
+this.m_normals[i].Normalize();
+}
+this.m_centroid = b2PolygonShape.ComputeCentroid(this.m_vertices, this.m_vertexCount);
+}
+b2PolygonShape.AsVector = function (vertices, vertexCount) {
+if (vertexCount === undefined) vertexCount = 0;
+var polygonShape = new b2PolygonShape();
+polygonShape.SetAsVector(vertices, vertexCount);
+return polygonShape;
+}
+b2PolygonShape.prototype.SetAsBox = function (hx, hy) {
+if (hx === undefined) hx = 0;
+if (hy === undefined) hy = 0;
+this.m_vertexCount = 4;
+this.Reserve(4);
+this.m_vertices[0].Set((-hx), (-hy));
+this.m_vertices[1].Set(hx, (-hy));
+this.m_vertices[2].Set(hx, hy);
+this.m_vertices[3].Set((-hx), hy);
+this.m_normals[0].Set(0.0, (-1.0));
+this.m_normals[1].Set(1.0, 0.0);
+this.m_normals[2].Set(0.0, 1.0);
+this.m_normals[3].Set((-1.0), 0.0);
+this.m_centroid.SetZero();
+}
+b2PolygonShape.AsBox = function (hx, hy) {
+if (hx === undefined) hx = 0;
+if (hy === undefined) hy = 0;
+var polygonShape = new b2PolygonShape();
+polygonShape.SetAsBox(hx, hy);
+return polygonShape;
+}
+b2PolygonShape.prototype.SetAsOrientedBox = function (hx, hy, center, angle) {
+if (hx === undefined) hx = 0;
+if (hy === undefined) hy = 0;
+if (center === undefined) center = null;
+if (angle === undefined) angle = 0.0;
+this.m_vertexCount = 4;
+this.Reserve(4);
+this.m_vertices[0].Set((-hx), (-hy));
+this.m_vertices[1].Set(hx, (-hy));
+this.m_vertices[2].Set(hx, hy);
+this.m_vertices[3].Set((-hx), hy);
+this.m_normals[0].Set(0.0, (-1.0));
+this.m_normals[1].Set(1.0, 0.0);
+this.m_normals[2].Set(0.0, 1.0);
+this.m_normals[3].Set((-1.0), 0.0);
+this.m_centroid = center;
+var xf = new b2Transform();
+xf.position = center;
+xf.R.Set(angle);
+for (var i = 0; i < this.m_vertexCount; ++i) {
+this.m_vertices[i] = b2Math.MulX(xf, this.m_vertices[i]);
+this.m_normals[i] = b2Math.MulMV(xf.R, this.m_normals[i]);
+}
+}
+b2PolygonShape.AsOrientedBox = function (hx, hy, center, angle) {
+if (hx === undefined) hx = 0;
+if (hy === undefined) hy = 0;
+if (center === undefined) center = null;
+if (angle === undefined) angle = 0.0;
+var polygonShape = new b2PolygonShape();
+polygonShape.SetAsOrientedBox(hx, hy, center, angle);
+return polygonShape;
+}
+b2PolygonShape.prototype.SetAsEdge = function (v1, v2) {
+this.m_vertexCount = 2;
+this.Reserve(2);
+this.m_vertices[0].SetV(v1);
+this.m_vertices[1].SetV(v2);
+this.m_centroid.x = 0.5 * (v1.x + v2.x);
+this.m_centroid.y = 0.5 * (v1.y + v2.y);
+this.m_normals[0] = b2Math.CrossVF(b2Math.SubtractVV(v2, v1), 1.0);
+this.m_normals[0].Normalize();
+this.m_normals[1].x = (-this.m_normals[0].x);
+this.m_normals[1].y = (-this.m_normals[0].y);
+}
+b2PolygonShape.AsEdge = function (v1, v2) {
+var polygonShape = new b2PolygonShape();
+polygonShape.SetAsEdge(v1, v2);
+return polygonShape;
+}
+b2PolygonShape.prototype.TestPoint = function (xf, p) {
+var tVec;
+var tMat = xf.R;
+var tX = p.x - xf.position.x;
+var tY = p.y - xf.position.y;
+var pLocalX = (tX * tMat.col1.x + tY * tMat.col1.y);
+var pLocalY = (tX * tMat.col2.x + tY * tMat.col2.y);
+for (var i = 0; i < this.m_vertexCount; ++i) {
+tVec = this.m_vertices[i];
+tX = pLocalX - tVec.x;
+tY = pLocalY - tVec.y;
+tVec = this.m_normals[i];
+var dot = (tVec.x * tX + tVec.y * tY);
+if (dot > 0.0) {
+return false;
+}
+}
+return true;
+}
+b2PolygonShape.prototype.RayCast = function (output, input, transform) {
+var lower = 0.0;
+var upper = input.maxFraction;
+var tX = 0;
+var tY = 0;
+var tMat;
+var tVec;
+tX = input.p1.x - transform.position.x;
+tY = input.p1.y - transform.position.y;
+tMat = transform.R;
+var p1X = (tX * tMat.col1.x + tY * tMat.col1.y);
+var p1Y = (tX * tMat.col2.x + tY * tMat.col2.y);
+tX = input.p2.x - transform.position.x;
+tY = input.p2.y - transform.position.y;
+tMat = transform.R;
+var p2X = (tX * tMat.col1.x + tY * tMat.col1.y);
+var p2Y = (tX * tMat.col2.x + tY * tMat.col2.y);
+var dX = p2X - p1X;
+var dY = p2Y - p1Y;
+var index = parseInt((-1));
+for (var i = 0; i < this.m_vertexCount; ++i) {
+tVec = this.m_vertices[i];
+tX = tVec.x - p1X;
+tY = tVec.y - p1Y;
+tVec = this.m_normals[i];
+var numerator = (tVec.x * tX + tVec.y * tY);
+var denominator = (tVec.x * dX + tVec.y * dY);
+if (denominator == 0.0) {
+if (numerator < 0.0) {
+return false;
+}
+}
+else {
+if (denominator < 0.0 && numerator < lower * denominator) {
+lower = numerator / denominator;
+index = i;
+}
+else if (denominator > 0.0 && numerator < upper * denominator) {
+upper = numerator / denominator;
+}
+}
+if (upper < lower - Number.MIN_VALUE) {
+return false;
+}
+}
+if (index >= 0) {
+output.fraction = lower;
+tMat = transform.R;
+tVec = this.m_normals[index];
+output.normal.x = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+output.normal.y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+return true;
+}
+return false;
+}
+b2PolygonShape.prototype.ComputeAABB = function (aabb, xf) {
+var tMat = xf.R;
+var tVec = this.m_vertices[0];
+var lowerX = xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var lowerY = xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+var upperX = lowerX;
+var upperY = lowerY;
+for (var i = 1; i < this.m_vertexCount; ++i) {
+tVec = this.m_vertices[i];
+var vX = xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var vY = xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+lowerX = lowerX < vX ? lowerX : vX;
+lowerY = lowerY < vY ? lowerY : vY;
+upperX = upperX > vX ? upperX : vX;
+upperY = upperY > vY ? upperY : vY;
+}
+aabb.lowerBound.x = lowerX - this.m_radius;
+aabb.lowerBound.y = lowerY - this.m_radius;
+aabb.upperBound.x = upperX + this.m_radius;
+aabb.upperBound.y = upperY + this.m_radius;
+}
+b2PolygonShape.prototype.ComputeMass = function (massData, density) {
+if (density === undefined) density = 0;
+if (this.m_vertexCount == 2) {
+massData.center.x = 0.5 * (this.m_vertices[0].x + this.m_vertices[1].x);
+massData.center.y = 0.5 * (this.m_vertices[0].y + this.m_vertices[1].y);
+massData.mass = 0.0;
+massData.I = 0.0;
+return;
+}
+var centerX = 0.0;
+var centerY = 0.0;
+var area = 0.0;
+var I = 0.0;
+var p1X = 0.0;
+var p1Y = 0.0;
+var k_inv3 = 1.0 / 3.0;
+for (var i = 0; i < this.m_vertexCount; ++i) {
+var p2 = this.m_vertices[i];
+var p3 = i + 1 < this.m_vertexCount ? this.m_vertices[parseInt(i + 1)] : this.m_vertices[0];
+var e1X = p2.x - p1X;
+var e1Y = p2.y - p1Y;
+var e2X = p3.x - p1X;
+var e2Y = p3.y - p1Y;
+var D = e1X * e2Y - e1Y * e2X;
+var triangleArea = 0.5 * D;area += triangleArea;
+centerX += triangleArea * k_inv3 * (p1X + p2.x + p3.x);
+centerY += triangleArea * k_inv3 * (p1Y + p2.y + p3.y);
+var px = p1X;
+var py = p1Y;
+var ex1 = e1X;
+var ey1 = e1Y;
+var ex2 = e2X;
+var ey2 = e2Y;
+var intx2 = k_inv3 * (0.25 * (ex1 * ex1 + ex2 * ex1 + ex2 * ex2) + (px * ex1 + px * ex2)) + 0.5 * px * px;
+var inty2 = k_inv3 * (0.25 * (ey1 * ey1 + ey2 * ey1 + ey2 * ey2) + (py * ey1 + py * ey2)) + 0.5 * py * py;I += D * (intx2 + inty2);
+}
+massData.mass = density * area;
+centerX *= 1.0 / area;
+centerY *= 1.0 / area;
+massData.center.Set(centerX, centerY);
+massData.I = density * I;
+}
+b2PolygonShape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) {
+if (offset === undefined) offset = 0;
+var normalL = b2Math.MulTMV(xf.R, normal);
+var offsetL = offset - b2Math.Dot(normal, xf.position);
+var depths = new Vector_a2j_Number();
+var diveCount = 0;
+var intoIndex = parseInt((-1));
+var outoIndex = parseInt((-1));
+var lastSubmerged = false;
+var i = 0;
+for (i = 0;
+i < this.m_vertexCount; ++i) {
+depths[i] = b2Math.Dot(normalL, this.m_vertices[i]) - offsetL;
+var isSubmerged = depths[i] < (-Number.MIN_VALUE);
+if (i > 0) {
+if (isSubmerged) {
+if (!lastSubmerged) {
+intoIndex = i - 1;
+diveCount++;
+}
+}
+else {
+if (lastSubmerged) {
+outoIndex = i - 1;
+diveCount++;
+}
+}
+}
+lastSubmerged = isSubmerged;
+}
+switch (diveCount) {
+case 0:
+if (lastSubmerged) {
+var md = new b2MassData();
+this.ComputeMass(md, 1);
+c.SetV(b2Math.MulX(xf, md.center));
+return md.mass;
+}
+else {
+return 0;
+}
+break;
+case 1:
+if (intoIndex == (-1)) {
+intoIndex = this.m_vertexCount - 1;
+}
+else {
+outoIndex = this.m_vertexCount - 1;
+}
+break;
+}
+var intoIndex2 = parseInt((intoIndex + 1) % this.m_vertexCount);
+var outoIndex2 = parseInt((outoIndex + 1) % this.m_vertexCount);
+var intoLamdda = (0 - depths[intoIndex]) / (depths[intoIndex2] - depths[intoIndex]);
+var outoLamdda = (0 - depths[outoIndex]) / (depths[outoIndex2] - depths[outoIndex]);
+var intoVec = new b2Vec2(this.m_vertices[intoIndex].x * (1 - intoLamdda) + this.m_vertices[intoIndex2].x * intoLamdda, this.m_vertices[intoIndex].y * (1 - intoLamdda) + this.m_vertices[intoIndex2].y * intoLamdda);
+var outoVec = new b2Vec2(this.m_vertices[outoIndex].x * (1 - outoLamdda) + this.m_vertices[outoIndex2].x * outoLamdda, this.m_vertices[outoIndex].y * (1 - outoLamdda) + this.m_vertices[outoIndex2].y * outoLamdda);
+var area = 0;
+var center = new b2Vec2();
+var p2 = this.m_vertices[intoIndex2];
+var p3;
+i = intoIndex2;
+while (i != outoIndex2) {
+i = (i + 1) % this.m_vertexCount;
+if (i == outoIndex2) p3 = outoVec;
+else p3 = this.m_vertices[i];
+var triangleArea = 0.5 * ((p2.x - intoVec.x) * (p3.y - intoVec.y) - (p2.y - intoVec.y) * (p3.x - intoVec.x));
+area += triangleArea;
+center.x += triangleArea * (intoVec.x + p2.x + p3.x) / 3;
+center.y += triangleArea * (intoVec.y + p2.y + p3.y) / 3;
+p2 = p3;
+}
+center.Multiply(1 / area);
+c.SetV(b2Math.MulX(xf, center));
+return area;
+}
+b2PolygonShape.prototype.GetVertexCount = function () {
+return this.m_vertexCount;
+}
+b2PolygonShape.prototype.GetVertices = function () {
+return this.m_vertices;
+}
+b2PolygonShape.prototype.GetNormals = function () {
+return this.m_normals;
+}
+b2PolygonShape.prototype.GetSupport = function (d) {
+var bestIndex = 0;
+var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y;
+for (var i = 1; i < this.m_vertexCount; ++i) {
+var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y;
+if (value > bestValue) {
+bestIndex = i;
+bestValue = value;
+}
+}
+return bestIndex;
+}
+b2PolygonShape.prototype.GetSupportVertex = function (d) {
+var bestIndex = 0;
+var bestValue = this.m_vertices[0].x * d.x + this.m_vertices[0].y * d.y;
+for (var i = 1; i < this.m_vertexCount; ++i) {
+var value = this.m_vertices[i].x * d.x + this.m_vertices[i].y * d.y;
+if (value > bestValue) {
+bestIndex = i;
+bestValue = value;
+}
+}
+return this.m_vertices[bestIndex];
+}
+b2PolygonShape.prototype.Validate = function () {
+return false;
+}
+b2PolygonShape.prototype.b2PolygonShape = function () {
+this.__super.b2Shape.call(this);
+this.m_type = b2Shape.e_polygonShape;
+this.m_centroid = new b2Vec2();
+this.m_vertices = new Vector();
+this.m_normals = new Vector();
+}
+b2PolygonShape.prototype.Reserve = function (count) {
+if (count === undefined) count = 0;
+for (var i = parseInt(this.m_vertices.length); i < count; i++) {
+this.m_vertices[i] = new b2Vec2();
+this.m_normals[i] = new b2Vec2();
+}
+}
+b2PolygonShape.ComputeCentroid = function (vs, count) {
+if (count === undefined) count = 0;
+var c = new b2Vec2();
+var area = 0.0;
+var p1X = 0.0;
+var p1Y = 0.0;
+var inv3 = 1.0 / 3.0;
+for (var i = 0; i < count; ++i) {
+var p2 = vs[i];
+var p3 = i + 1 < count ? vs[parseInt(i + 1)] : vs[0];
+var e1X = p2.x - p1X;
+var e1Y = p2.y - p1Y;
+var e2X = p3.x - p1X;
+var e2Y = p3.y - p1Y;
+var D = (e1X * e2Y - e1Y * e2X);
+var triangleArea = 0.5 * D;area += triangleArea;
+c.x += triangleArea * inv3 * (p1X + p2.x + p3.x);
+c.y += triangleArea * inv3 * (p1Y + p2.y + p3.y);
+}
+c.x *= 1.0 / area;
+c.y *= 1.0 / area;
+return c;
+}
+b2PolygonShape.ComputeOBB = function (obb, vs, count) {
+if (count === undefined) count = 0;
+var i = 0;
+var p = new Vector(count + 1);
+for (i = 0;
+i < count; ++i) {
+p[i] = vs[i];
+}
+p[count] = p[0];
+var minArea = Number.MAX_VALUE;
+for (i = 1;
+i <= count; ++i) {
+var root = p[parseInt(i - 1)];
+var uxX = p[i].x - root.x;
+var uxY = p[i].y - root.y;
+var length = Math.sqrt(uxX * uxX + uxY * uxY);
+uxX /= length;
+uxY /= length;
+var uyX = (-uxY);
+var uyY = uxX;
+var lowerX = Number.MAX_VALUE;
+var lowerY = Number.MAX_VALUE;
+var upperX = (-Number.MAX_VALUE);
+var upperY = (-Number.MAX_VALUE);
+for (var j = 0; j < count; ++j) {
+var dX = p[j].x - root.x;
+var dY = p[j].y - root.y;
+var rX = (uxX * dX + uxY * dY);
+var rY = (uyX * dX + uyY * dY);
+if (rX < lowerX) lowerX = rX;
+if (rY < lowerY) lowerY = rY;
+if (rX > upperX) upperX = rX;
+if (rY > upperY) upperY = rY;
+}
+var area = (upperX - lowerX) * (upperY - lowerY);
+if (area < 0.95 * minArea) {
+minArea = area;
+obb.R.col1.x = uxX;
+obb.R.col1.y = uxY;
+obb.R.col2.x = uyX;
+obb.R.col2.y = uyY;
+var centerX = 0.5 * (lowerX + upperX);
+var centerY = 0.5 * (lowerY + upperY);
+var tMat = obb.R;
+obb.center.x = root.x + (tMat.col1.x * centerX + tMat.col2.x * centerY);
+obb.center.y = root.y + (tMat.col1.y * centerX + tMat.col2.y * centerY);
+obb.extents.x = 0.5 * (upperX - lowerX);
+obb.extents.y = 0.5 * (upperY - lowerY);
+}
+}
+}
+Box2D.postDefs.push(function () {
+Box2D.Collision.Shapes.b2PolygonShape.s_mat = new b2Mat22();
+});
+b2Shape.b2Shape = function () {};
+b2Shape.prototype.Copy = function () {
+return null;
+}
+b2Shape.prototype.Set = function (other) {
+this.m_radius = other.m_radius;
+}
+b2Shape.prototype.GetType = function () {
+return this.m_type;
+}
+b2Shape.prototype.TestPoint = function (xf, p) {
+return false;
+}
+b2Shape.prototype.RayCast = function (output, input, transform) {
+return false;
+}
+b2Shape.prototype.ComputeAABB = function (aabb, xf) {}
+b2Shape.prototype.ComputeMass = function (massData, density) {
+if (density === undefined) density = 0;
+}
+b2Shape.prototype.ComputeSubmergedArea = function (normal, offset, xf, c) {
+if (offset === undefined) offset = 0;
+return 0;
+}
+b2Shape.TestOverlap = function (shape1, transform1, shape2, transform2) {
+var input = new b2DistanceInput();
+input.proxyA = new b2DistanceProxy();
+input.proxyA.Set(shape1);
+input.proxyB = new b2DistanceProxy();
+input.proxyB.Set(shape2);
+input.transformA = transform1;
+input.transformB = transform2;
+input.useRadii = true;
+var simplexCache = new b2SimplexCache();
+simplexCache.count = 0;
+var output = new b2DistanceOutput();
+b2Distance.Distance(output, simplexCache, input);
+return output.distance < 10.0 * Number.MIN_VALUE;
+}
+b2Shape.prototype.b2Shape = function () {
+this.m_type = b2Shape.e_unknownShape;
+this.m_radius = b2Settings.b2_linearSlop;
+}
+Box2D.postDefs.push(function () {
+Box2D.Collision.Shapes.b2Shape.e_unknownShape = parseInt((-1));
+Box2D.Collision.Shapes.b2Shape.e_circleShape = 0;
+Box2D.Collision.Shapes.b2Shape.e_polygonShape = 1;
+Box2D.Collision.Shapes.b2Shape.e_edgeShape = 2;
+Box2D.Collision.Shapes.b2Shape.e_shapeTypeCount = 3;
+Box2D.Collision.Shapes.b2Shape.e_hitCollide = 1;
+Box2D.Collision.Shapes.b2Shape.e_missCollide = 0;
+Box2D.Collision.Shapes.b2Shape.e_startsInsideCollide = parseInt((-1));
+});
+})();
+(function () {
+var b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3;
+b2Color.b2Color = function () {
+this._r = 0;
+this._g = 0;
+this._b = 0;
+};
+b2Color.prototype.b2Color = function (rr, gg, bb) {
+if (rr === undefined) rr = 0;
+if (gg === undefined) gg = 0;
+if (bb === undefined) bb = 0;
+this._r = Box2D.parseUInt(255 * b2Math.Clamp(rr, 0.0, 1.0));
+this._g = Box2D.parseUInt(255 * b2Math.Clamp(gg, 0.0, 1.0));
+this._b = Box2D.parseUInt(255 * b2Math.Clamp(bb, 0.0, 1.0));
+}
+b2Color.prototype.Set = function (rr, gg, bb) {
+if (rr === undefined) rr = 0;
+if (gg === undefined) gg = 0;
+if (bb === undefined) bb = 0;
+this._r = Box2D.parseUInt(255 * b2Math.Clamp(rr, 0.0, 1.0));
+this._g = Box2D.parseUInt(255 * b2Math.Clamp(gg, 0.0, 1.0));
+this._b = Box2D.parseUInt(255 * b2Math.Clamp(bb, 0.0, 1.0));
+}
+Object.defineProperty(b2Color.prototype, 'r', {
+enumerable: false,
+configurable: true,
+set: function (rr) {
+if (rr === undefined) rr = 0;
+this._r = Box2D.parseUInt(255 * b2Math.Clamp(rr, 0.0, 1.0));
+}
+});
+Object.defineProperty(b2Color.prototype, 'g', {
+enumerable: false,
+configurable: true,
+set: function (gg) {
+if (gg === undefined) gg = 0;
+this._g = Box2D.parseUInt(255 * b2Math.Clamp(gg, 0.0, 1.0));
+}
+});
+Object.defineProperty(b2Color.prototype, 'b', {
+enumerable: false,
+configurable: true,
+set: function (bb) {
+if (bb === undefined) bb = 0;
+this._b = Box2D.parseUInt(255 * b2Math.Clamp(bb, 0.0, 1.0));
+}
+});
+Object.defineProperty(b2Color.prototype, 'color', {
+enumerable: false,
+configurable: true,
+get: function () {
+return (this._r << 16) | (this._g << 8) | (this._b);
+}
+});
+b2Settings.b2Settings = function () {};
+b2Settings.b2MixFriction = function (friction1, friction2) {
+if (friction1 === undefined) friction1 = 0;
+if (friction2 === undefined) friction2 = 0;
+return Math.sqrt(friction1 * friction2);
+}
+b2Settings.b2MixRestitution = function (restitution1, restitution2) {
+if (restitution1 === undefined) restitution1 = 0;
+if (restitution2 === undefined) restitution2 = 0;
+return restitution1 > restitution2 ? restitution1 : restitution2;
+}
+b2Settings.b2Assert = function (a) {
+if (!a) {
+throw "Assertion Failed";
+}
+}
+Box2D.postDefs.push(function () {
+Box2D.Common.b2Settings.VERSION = "2.1alpha";
+Box2D.Common.b2Settings.USHRT_MAX = 0x0000ffff;
+Box2D.Common.b2Settings.b2_pi = Math.PI;
+Box2D.Common.b2Settings.b2_maxManifoldPoints = 2;
+Box2D.Common.b2Settings.b2_aabbExtension = 0.1;
+Box2D.Common.b2Settings.b2_aabbMultiplier = 2.0;
+Box2D.Common.b2Settings.b2_polygonRadius = 2.0 * b2Settings.b2_linearSlop;
+Box2D.Common.b2Settings.b2_linearSlop = 0.005;
+Box2D.Common.b2Settings.b2_angularSlop = 2.0 / 180.0 * b2Settings.b2_pi;
+Box2D.Common.b2Settings.b2_toiSlop = 8.0 * b2Settings.b2_linearSlop;
+Box2D.Common.b2Settings.b2_maxTOIContactsPerIsland = 32;
+Box2D.Common.b2Settings.b2_maxTOIJointsPerIsland = 32;
+Box2D.Common.b2Settings.b2_velocityThreshold = 1.0;
+Box2D.Common.b2Settings.b2_maxLinearCorrection = 0.2;
+Box2D.Common.b2Settings.b2_maxAngularCorrection = 8.0 / 180.0 * b2Settings.b2_pi;
+Box2D.Common.b2Settings.b2_maxTranslation = 2.0;
+Box2D.Common.b2Settings.b2_maxTranslationSquared = b2Settings.b2_maxTranslation * b2Settings.b2_maxTranslation;
+Box2D.Common.b2Settings.b2_maxRotation = 0.5 * b2Settings.b2_pi;
+Box2D.Common.b2Settings.b2_maxRotationSquared = b2Settings.b2_maxRotation * b2Settings.b2_maxRotation;
+Box2D.Common.b2Settings.b2_contactBaumgarte = 0.2;
+Box2D.Common.b2Settings.b2_timeToSleep = 0.5;
+Box2D.Common.b2Settings.b2_linearSleepTolerance = 0.01;
+Box2D.Common.b2Settings.b2_angularSleepTolerance = 2.0 / 180.0 * b2Settings.b2_pi;
+});
+})();
+(function () {
+var b2AABB = Box2D.Collision.b2AABB,
+b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3;
+b2Mat22.b2Mat22 = function () {
+this.col1 = new b2Vec2();
+this.col2 = new b2Vec2();
+};
+b2Mat22.prototype.b2Mat22 = function () {
+this.SetIdentity();
+}
+b2Mat22.FromAngle = function (angle) {
+if (angle === undefined) angle = 0;
+var mat = new b2Mat22();
+mat.Set(angle);
+return mat;
+}
+b2Mat22.FromVV = function (c1, c2) {
+var mat = new b2Mat22();
+mat.SetVV(c1, c2);
+return mat;
+}
+b2Mat22.prototype.Set = function (angle) {
+if (angle === undefined) angle = 0;
+var c = Math.cos(angle);
+var s = Math.sin(angle);
+this.col1.x = c;
+this.col2.x = (-s);
+this.col1.y = s;
+this.col2.y = c;
+}
+b2Mat22.prototype.SetVV = function (c1, c2) {
+this.col1.SetV(c1);
+this.col2.SetV(c2);
+}
+b2Mat22.prototype.Copy = function () {
+var mat = new b2Mat22();
+mat.SetM(this);
+return mat;
+}
+b2Mat22.prototype.SetM = function (m) {
+this.col1.SetV(m.col1);
+this.col2.SetV(m.col2);
+}
+b2Mat22.prototype.AddM = function (m) {
+this.col1.x += m.col1.x;
+this.col1.y += m.col1.y;
+this.col2.x += m.col2.x;
+this.col2.y += m.col2.y;
+}
+b2Mat22.prototype.SetIdentity = function () {
+this.col1.x = 1.0;
+this.col2.x = 0.0;
+this.col1.y = 0.0;
+this.col2.y = 1.0;
+}
+b2Mat22.prototype.SetZero = function () {
+this.col1.x = 0.0;
+this.col2.x = 0.0;
+this.col1.y = 0.0;
+this.col2.y = 0.0;
+}
+b2Mat22.prototype.GetAngle = function () {
+return Math.atan2(this.col1.y, this.col1.x);
+}
+b2Mat22.prototype.GetInverse = function (out) {
+var a = this.col1.x;
+var b = this.col2.x;
+var c = this.col1.y;
+var d = this.col2.y;
+var det = a * d - b * c;
+if (det != 0.0) {
+det = 1.0 / det;
+}
+out.col1.x = det * d;
+out.col2.x = (-det * b);
+out.col1.y = (-det * c);
+out.col2.y = det * a;
+return out;
+}
+b2Mat22.prototype.Solve = function (out, bX, bY) {
+if (bX === undefined) bX = 0;
+if (bY === undefined) bY = 0;
+var a11 = this.col1.x;
+var a12 = this.col2.x;
+var a21 = this.col1.y;
+var a22 = this.col2.y;
+var det = a11 * a22 - a12 * a21;
+if (det != 0.0) {
+det = 1.0 / det;
+}
+out.x = det * (a22 * bX - a12 * bY);
+out.y = det * (a11 * bY - a21 * bX);
+return out;
+}
+b2Mat22.prototype.Abs = function () {
+this.col1.Abs();
+this.col2.Abs();
+}
+b2Mat33.b2Mat33 = function () {
+this.col1 = new b2Vec3();
+this.col2 = new b2Vec3();
+this.col3 = new b2Vec3();
+};
+b2Mat33.prototype.b2Mat33 = function (c1, c2, c3) {
+if (c1 === undefined) c1 = null;
+if (c2 === undefined) c2 = null;
+if (c3 === undefined) c3 = null;
+if (!c1 && !c2 && !c3) {
+this.col1.SetZero();
+this.col2.SetZero();
+this.col3.SetZero();
+}
+else {
+this.col1.SetV(c1);
+this.col2.SetV(c2);
+this.col3.SetV(c3);
+}
+}
+b2Mat33.prototype.SetVVV = function (c1, c2, c3) {
+this.col1.SetV(c1);
+this.col2.SetV(c2);
+this.col3.SetV(c3);
+}
+b2Mat33.prototype.Copy = function () {
+return new b2Mat33(this.col1, this.col2, this.col3);
+}
+b2Mat33.prototype.SetM = function (m) {
+this.col1.SetV(m.col1);
+this.col2.SetV(m.col2);
+this.col3.SetV(m.col3);
+}
+b2Mat33.prototype.AddM = function (m) {
+this.col1.x += m.col1.x;
+this.col1.y += m.col1.y;
+this.col1.z += m.col1.z;
+this.col2.x += m.col2.x;
+this.col2.y += m.col2.y;
+this.col2.z += m.col2.z;
+this.col3.x += m.col3.x;
+this.col3.y += m.col3.y;
+this.col3.z += m.col3.z;
+}
+b2Mat33.prototype.SetIdentity = function () {
+this.col1.x = 1.0;
+this.col2.x = 0.0;
+this.col3.x = 0.0;
+this.col1.y = 0.0;
+this.col2.y = 1.0;
+this.col3.y = 0.0;
+this.col1.z = 0.0;
+this.col2.z = 0.0;
+this.col3.z = 1.0;
+}
+b2Mat33.prototype.SetZero = function () {
+this.col1.x = 0.0;
+this.col2.x = 0.0;
+this.col3.x = 0.0;
+this.col1.y = 0.0;
+this.col2.y = 0.0;
+this.col3.y = 0.0;
+this.col1.z = 0.0;
+this.col2.z = 0.0;
+this.col3.z = 0.0;
+}
+b2Mat33.prototype.Solve22 = function (out, bX, bY) {
+if (bX === undefined) bX = 0;
+if (bY === undefined) bY = 0;
+var a11 = this.col1.x;
+var a12 = this.col2.x;
+var a21 = this.col1.y;
+var a22 = this.col2.y;
+var det = a11 * a22 - a12 * a21;
+if (det != 0.0) {
+det = 1.0 / det;
+}
+out.x = det * (a22 * bX - a12 * bY);
+out.y = det * (a11 * bY - a21 * bX);
+return out;
+}
+b2Mat33.prototype.Solve33 = function (out, bX, bY, bZ) {
+if (bX === undefined) bX = 0;
+if (bY === undefined) bY = 0;
+if (bZ === undefined) bZ = 0;
+var a11 = this.col1.x;
+var a21 = this.col1.y;
+var a31 = this.col1.z;
+var a12 = this.col2.x;
+var a22 = this.col2.y;
+var a32 = this.col2.z;
+var a13 = this.col3.x;
+var a23 = this.col3.y;
+var a33 = this.col3.z;
+var det = a11 * (a22 * a33 - a32 * a23) + a21 * (a32 * a13 - a12 * a33) + a31 * (a12 * a23 - a22 * a13);
+if (det != 0.0) {
+det = 1.0 / det;
+}
+out.x = det * (bX * (a22 * a33 - a32 * a23) + bY * (a32 * a13 - a12 * a33) + bZ * (a12 * a23 - a22 * a13));
+out.y = det * (a11 * (bY * a33 - bZ * a23) + a21 * (bZ * a13 - bX * a33) + a31 * (bX * a23 - bY * a13));
+out.z = det * (a11 * (a22 * bZ - a32 * bY) + a21 * (a32 * bX - a12 * bZ) + a31 * (a12 * bY - a22 * bX));
+return out;
+}
+b2Math.b2Math = function () {};
+b2Math.IsValid = function (x) {
+if (x === undefined) x = 0;
+return isFinite(x);
+}
+b2Math.Dot = function (a, b) {
+return a.x * b.x + a.y * b.y;
+}
+b2Math.CrossVV = function (a, b) {
+return a.x * b.y - a.y * b.x;
+}
+b2Math.CrossVF = function (a, s) {
+if (s === undefined) s = 0;
+var v = new b2Vec2(s * a.y, (-s * a.x));
+return v;
+}
+b2Math.CrossFV = function (s, a) {
+if (s === undefined) s = 0;
+var v = new b2Vec2((-s * a.y), s * a.x);
+return v;
+}
+b2Math.MulMV = function (A, v) {
+var u = new b2Vec2(A.col1.x * v.x + A.col2.x * v.y, A.col1.y * v.x + A.col2.y * v.y);
+return u;
+}
+b2Math.MulTMV = function (A, v) {
+var u = new b2Vec2(b2Math.Dot(v, A.col1), b2Math.Dot(v, A.col2));
+return u;
+}
+b2Math.MulX = function (T, v) {
+var a = b2Math.MulMV(T.R, v);
+a.x += T.position.x;
+a.y += T.position.y;
+return a;
+}
+b2Math.MulXT = function (T, v) {
+var a = b2Math.SubtractVV(v, T.position);
+var tX = (a.x * T.R.col1.x + a.y * T.R.col1.y);
+a.y = (a.x * T.R.col2.x + a.y * T.R.col2.y);
+a.x = tX;
+return a;
+}
+b2Math.AddVV = function (a, b) {
+var v = new b2Vec2(a.x + b.x, a.y + b.y);
+return v;
+}
+b2Math.SubtractVV = function (a, b) {
+var v = new b2Vec2(a.x - b.x, a.y - b.y);
+return v;
+}
+b2Math.Distance = function (a, b) {
+var cX = a.x - b.x;
+var cY = a.y - b.y;
+return Math.sqrt(cX * cX + cY * cY);
+}
+b2Math.DistanceSquared = function (a, b) {
+var cX = a.x - b.x;
+var cY = a.y - b.y;
+return (cX * cX + cY * cY);
+}
+b2Math.MulFV = function (s, a) {
+if (s === undefined) s = 0;
+var v = new b2Vec2(s * a.x, s * a.y);
+return v;
+}
+b2Math.AddMM = function (A, B) {
+var C = b2Mat22.FromVV(b2Math.AddVV(A.col1, B.col1), b2Math.AddVV(A.col2, B.col2));
+return C;
+}
+b2Math.MulMM = function (A, B) {
+var C = b2Mat22.FromVV(b2Math.MulMV(A, B.col1), b2Math.MulMV(A, B.col2));
+return C;
+}
+b2Math.MulTMM = function (A, B) {
+var c1 = new b2Vec2(b2Math.Dot(A.col1, B.col1), b2Math.Dot(A.col2, B.col1));
+var c2 = new b2Vec2(b2Math.Dot(A.col1, B.col2), b2Math.Dot(A.col2, B.col2));
+var C = b2Mat22.FromVV(c1, c2);
+return C;
+}
+b2Math.Abs = function (a) {
+if (a === undefined) a = 0;
+return a > 0.0 ? a : (-a);
+}
+b2Math.AbsV = function (a) {
+var b = new b2Vec2(b2Math.Abs(a.x), b2Math.Abs(a.y));
+return b;
+}
+b2Math.AbsM = function (A) {
+var B = b2Mat22.FromVV(b2Math.AbsV(A.col1), b2Math.AbsV(A.col2));
+return B;
+}
+b2Math.Min = function (a, b) {
+if (a === undefined) a = 0;
+if (b === undefined) b = 0;
+return a < b ? a : b;
+}
+b2Math.MinV = function (a, b) {
+var c = new b2Vec2(b2Math.Min(a.x, b.x), b2Math.Min(a.y, b.y));
+return c;
+}
+b2Math.Max = function (a, b) {
+if (a === undefined) a = 0;
+if (b === undefined) b = 0;
+return a > b ? a : b;
+}
+b2Math.MaxV = function (a, b) {
+var c = new b2Vec2(b2Math.Max(a.x, b.x), b2Math.Max(a.y, b.y));
+return c;
+}
+b2Math.Clamp = function (a, low, high) {
+if (a === undefined) a = 0;
+if (low === undefined) low = 0;
+if (high === undefined) high = 0;
+return a < low ? low : a > high ? high : a;
+}
+b2Math.ClampV = function (a, low, high) {
+return b2Math.MaxV(low, b2Math.MinV(a, high));
+}
+b2Math.Swap = function (a, b) {
+var tmp = a[0];
+a[0] = b[0];
+b[0] = tmp;
+}
+b2Math.Random = function () {
+return Math.random() * 2 - 1;
+}
+b2Math.RandomRange = function (lo, hi) {
+if (lo === undefined) lo = 0;
+if (hi === undefined) hi = 0;
+var r = Math.random();
+r = (hi - lo) * r + lo;
+return r;
+}
+b2Math.NextPowerOfTwo = function (x) {
+if (x === undefined) x = 0;
+x |= (x >> 1) & 0x7FFFFFFF;
+x |= (x >> 2) & 0x3FFFFFFF;
+x |= (x >> 4) & 0x0FFFFFFF;
+x |= (x >> 8) & 0x00FFFFFF;
+x |= (x >> 16) & 0x0000FFFF;
+return x + 1;
+}
+b2Math.IsPowerOfTwo = function (x) {
+if (x === undefined) x = 0;
+var result = x > 0 && (x & (x - 1)) == 0;
+return result;
+}
+Box2D.postDefs.push(function () {
+Box2D.Common.Math.b2Math.b2Vec2_zero = new b2Vec2(0.0, 0.0);
+Box2D.Common.Math.b2Math.b2Mat22_identity = b2Mat22.FromVV(new b2Vec2(1.0, 0.0), new b2Vec2(0.0, 1.0));
+Box2D.Common.Math.b2Math.b2Transform_identity = new b2Transform(b2Math.b2Vec2_zero, b2Math.b2Mat22_identity);
+});
+b2Sweep.b2Sweep = function () {
+this.localCenter = new b2Vec2();
+this.c0 = new b2Vec2;
+this.c = new b2Vec2();
+};
+b2Sweep.prototype.Set = function (other) {
+this.localCenter.SetV(other.localCenter);
+this.c0.SetV(other.c0);
+this.c.SetV(other.c);
+this.a0 = other.a0;
+this.a = other.a;
+this.t0 = other.t0;
+}
+b2Sweep.prototype.Copy = function () {
+var copy = new b2Sweep();
+copy.localCenter.SetV(this.localCenter);
+copy.c0.SetV(this.c0);
+copy.c.SetV(this.c);
+copy.a0 = this.a0;
+copy.a = this.a;
+copy.t0 = this.t0;
+return copy;
+}
+b2Sweep.prototype.GetTransform = function (xf, alpha) {
+if (alpha === undefined) alpha = 0;
+xf.position.x = (1.0 - alpha) * this.c0.x + alpha * this.c.x;
+xf.position.y = (1.0 - alpha) * this.c0.y + alpha * this.c.y;
+var angle = (1.0 - alpha) * this.a0 + alpha * this.a;
+xf.R.Set(angle);
+var tMat = xf.R;
+xf.position.x -= (tMat.col1.x * this.localCenter.x + tMat.col2.x * this.localCenter.y);
+xf.position.y -= (tMat.col1.y * this.localCenter.x + tMat.col2.y * this.localCenter.y);
+}
+b2Sweep.prototype.Advance = function (t) {
+if (t === undefined) t = 0;
+if (this.t0 < t && 1.0 - this.t0 > Number.MIN_VALUE) {
+var alpha = (t - this.t0) / (1.0 - this.t0);
+this.c0.x = (1.0 - alpha) * this.c0.x + alpha * this.c.x;
+this.c0.y = (1.0 - alpha) * this.c0.y + alpha * this.c.y;
+this.a0 = (1.0 - alpha) * this.a0 + alpha * this.a;
+this.t0 = t;
+}
+}
+b2Transform.b2Transform = function () {
+this.position = new b2Vec2;
+this.R = new b2Mat22();
+};
+b2Transform.prototype.b2Transform = function (pos, r) {
+if (pos === undefined) pos = null;
+if (r === undefined) r = null;
+if (pos) {
+this.position.SetV(pos);
+this.R.SetM(r);
+}
+}
+b2Transform.prototype.Initialize = function (pos, r) {
+this.position.SetV(pos);
+this.R.SetM(r);
+}
+b2Transform.prototype.SetIdentity = function () {
+this.position.SetZero();
+this.R.SetIdentity();
+}
+b2Transform.prototype.Set = function (x) {
+this.position.SetV(x.position);
+this.R.SetM(x.R);
+}
+b2Transform.prototype.GetAngle = function () {
+return Math.atan2(this.R.col1.y, this.R.col1.x);
+}
+b2Vec2.b2Vec2 = function () {};
+b2Vec2.prototype.b2Vec2 = function (x_, y_) {
+if (x_ === undefined) x_ = 0;
+if (y_ === undefined) y_ = 0;
+this.x = x_;
+this.y = y_;
+}
+b2Vec2.prototype.SetZero = function () {
+this.x = 0.0;
+this.y = 0.0;
+}
+b2Vec2.prototype.Set = function (x_, y_) {
+if (x_ === undefined) x_ = 0;
+if (y_ === undefined) y_ = 0;
+this.x = x_;
+this.y = y_;
+}
+b2Vec2.prototype.SetV = function (v) {
+this.x = v.x;
+this.y = v.y;
+}
+b2Vec2.prototype.GetNegative = function () {
+return new b2Vec2((-this.x), (-this.y));
+}
+b2Vec2.prototype.NegativeSelf = function () {
+this.x = (-this.x);
+this.y = (-this.y);
+}
+b2Vec2.Make = function (x_, y_) {
+if (x_ === undefined) x_ = 0;
+if (y_ === undefined) y_ = 0;
+return new b2Vec2(x_, y_);
+}
+b2Vec2.prototype.Copy = function () {
+return new b2Vec2(this.x, this.y);
+}
+b2Vec2.prototype.Add = function (v) {
+this.x += v.x;
+this.y += v.y;
+}
+b2Vec2.prototype.Subtract = function (v) {
+this.x -= v.x;
+this.y -= v.y;
+}
+b2Vec2.prototype.Multiply = function (a) {
+if (a === undefined) a = 0;
+this.x *= a;
+this.y *= a;
+}
+b2Vec2.prototype.MulM = function (A) {
+var tX = this.x;
+this.x = A.col1.x * tX + A.col2.x * this.y;
+this.y = A.col1.y * tX + A.col2.y * this.y;
+}
+b2Vec2.prototype.MulTM = function (A) {
+var tX = b2Math.Dot(this, A.col1);
+this.y = b2Math.Dot(this, A.col2);
+this.x = tX;
+}
+b2Vec2.prototype.CrossVF = function (s) {
+if (s === undefined) s = 0;
+var tX = this.x;
+this.x = s * this.y;
+this.y = (-s * tX);
+}
+b2Vec2.prototype.CrossFV = function (s) {
+if (s === undefined) s = 0;
+var tX = this.x;
+this.x = (-s * this.y);
+this.y = s * tX;
+}
+b2Vec2.prototype.MinV = function (b) {
+this.x = this.x < b.x ? this.x : b.x;
+this.y = this.y < b.y ? this.y : b.y;
+}
+b2Vec2.prototype.MaxV = function (b) {
+this.x = this.x > b.x ? this.x : b.x;
+this.y = this.y > b.y ? this.y : b.y;
+}
+b2Vec2.prototype.Abs = function () {
+if (this.x < 0) this.x = (-this.x);
+if (this.y < 0) this.y = (-this.y);
+}
+b2Vec2.prototype.Length = function () {
+return Math.sqrt(this.x * this.x + this.y * this.y);
+}
+b2Vec2.prototype.LengthSquared = function () {
+return (this.x * this.x + this.y * this.y);
+}
+b2Vec2.prototype.Normalize = function () {
+var length = Math.sqrt(this.x * this.x + this.y * this.y);
+if (length < Number.MIN_VALUE) {
+return 0.0;
+}
+var invLength = 1.0 / length;
+this.x *= invLength;
+this.y *= invLength;
+return length;
+}
+b2Vec2.prototype.IsValid = function () {
+return b2Math.IsValid(this.x) && b2Math.IsValid(this.y);
+}
+b2Vec3.b2Vec3 = function () {};
+b2Vec3.prototype.b2Vec3 = function (x, y, z) {
+if (x === undefined) x = 0;
+if (y === undefined) y = 0;
+if (z === undefined) z = 0;
+this.x = x;
+this.y = y;
+this.z = z;
+}
+b2Vec3.prototype.SetZero = function () {
+this.x = this.y = this.z = 0.0;
+}
+b2Vec3.prototype.Set = function (x, y, z) {
+if (x === undefined) x = 0;
+if (y === undefined) y = 0;
+if (z === undefined) z = 0;
+this.x = x;
+this.y = y;
+this.z = z;
+}
+b2Vec3.prototype.SetV = function (v) {
+this.x = v.x;
+this.y = v.y;
+this.z = v.z;
+}
+b2Vec3.prototype.GetNegative = function () {
+return new b2Vec3((-this.x), (-this.y), (-this.z));
+}
+b2Vec3.prototype.NegativeSelf = function () {
+this.x = (-this.x);
+this.y = (-this.y);
+this.z = (-this.z);
+}
+b2Vec3.prototype.Copy = function () {
+return new b2Vec3(this.x, this.y, this.z);
+}
+b2Vec3.prototype.Add = function (v) {
+this.x += v.x;
+this.y += v.y;
+this.z += v.z;
+}
+b2Vec3.prototype.Subtract = function (v) {
+this.x -= v.x;
+this.y -= v.y;
+this.z -= v.z;
+}
+b2Vec3.prototype.Multiply = function (a) {
+if (a === undefined) a = 0;
+this.x *= a;
+this.y *= a;
+this.z *= a;
+}
+})();
+(function () {
+var b2ControllerEdge = Box2D.Dynamics.Controllers.b2ControllerEdge,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3,
+b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2AABB = Box2D.Collision.b2AABB,
+b2Bound = Box2D.Collision.b2Bound,
+b2BoundValues = Box2D.Collision.b2BoundValues,
+b2Collision = Box2D.Collision.b2Collision,
+b2ContactID = Box2D.Collision.b2ContactID,
+b2ContactPoint = Box2D.Collision.b2ContactPoint,
+b2Distance = Box2D.Collision.b2Distance,
+b2DistanceInput = Box2D.Collision.b2DistanceInput,
+b2DistanceOutput = Box2D.Collision.b2DistanceOutput,
+b2DistanceProxy = Box2D.Collision.b2DistanceProxy,
+b2DynamicTree = Box2D.Collision.b2DynamicTree,
+b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase,
+b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode,
+b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair,
+b2Manifold = Box2D.Collision.b2Manifold,
+b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint,
+b2Point = Box2D.Collision.b2Point,
+b2RayCastInput = Box2D.Collision.b2RayCastInput,
+b2RayCastOutput = Box2D.Collision.b2RayCastOutput,
+b2Segment = Box2D.Collision.b2Segment,
+b2SeparationFunction = Box2D.Collision.b2SeparationFunction,
+b2Simplex = Box2D.Collision.b2Simplex,
+b2SimplexCache = Box2D.Collision.b2SimplexCache,
+b2SimplexVertex = Box2D.Collision.b2SimplexVertex,
+b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact,
+b2TOIInput = Box2D.Collision.b2TOIInput,
+b2WorldManifold = Box2D.Collision.b2WorldManifold,
+ClipVertex = Box2D.Collision.ClipVertex,
+Features = Box2D.Collision.Features,
+IBroadPhase = Box2D.Collision.IBroadPhase,
+b2CircleShape = Box2D.Collision.Shapes.b2CircleShape,
+b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef,
+b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape,
+b2MassData = Box2D.Collision.Shapes.b2MassData,
+b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape,
+b2Shape = Box2D.Collision.Shapes.b2Shape,
+b2Body = Box2D.Dynamics.b2Body,
+b2BodyDef = Box2D.Dynamics.b2BodyDef,
+b2ContactFilter = Box2D.Dynamics.b2ContactFilter,
+b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse,
+b2ContactListener = Box2D.Dynamics.b2ContactListener,
+b2ContactManager = Box2D.Dynamics.b2ContactManager,
+b2DebugDraw = Box2D.Dynamics.b2DebugDraw,
+b2DestructionListener = Box2D.Dynamics.b2DestructionListener,
+b2FilterData = Box2D.Dynamics.b2FilterData,
+b2Fixture = Box2D.Dynamics.b2Fixture,
+b2FixtureDef = Box2D.Dynamics.b2FixtureDef,
+b2Island = Box2D.Dynamics.b2Island,
+b2TimeStep = Box2D.Dynamics.b2TimeStep,
+b2World = Box2D.Dynamics.b2World,
+b2CircleContact = Box2D.Dynamics.Contacts.b2CircleContact,
+b2Contact = Box2D.Dynamics.Contacts.b2Contact,
+b2ContactConstraint = Box2D.Dynamics.Contacts.b2ContactConstraint,
+b2ContactConstraintPoint = Box2D.Dynamics.Contacts.b2ContactConstraintPoint,
+b2ContactEdge = Box2D.Dynamics.Contacts.b2ContactEdge,
+b2ContactFactory = Box2D.Dynamics.Contacts.b2ContactFactory,
+b2ContactRegister = Box2D.Dynamics.Contacts.b2ContactRegister,
+b2ContactResult = Box2D.Dynamics.Contacts.b2ContactResult,
+b2ContactSolver = Box2D.Dynamics.Contacts.b2ContactSolver,
+b2EdgeAndCircleContact = Box2D.Dynamics.Contacts.b2EdgeAndCircleContact,
+b2NullContact = Box2D.Dynamics.Contacts.b2NullContact,
+b2PolyAndCircleContact = Box2D.Dynamics.Contacts.b2PolyAndCircleContact,
+b2PolyAndEdgeContact = Box2D.Dynamics.Contacts.b2PolyAndEdgeContact,
+b2PolygonContact = Box2D.Dynamics.Contacts.b2PolygonContact,
+b2PositionSolverManifold = Box2D.Dynamics.Contacts.b2PositionSolverManifold,
+b2Controller = Box2D.Dynamics.Controllers.b2Controller,
+b2DistanceJoint = Box2D.Dynamics.Joints.b2DistanceJoint,
+b2DistanceJointDef = Box2D.Dynamics.Joints.b2DistanceJointDef,
+b2FrictionJoint = Box2D.Dynamics.Joints.b2FrictionJoint,
+b2FrictionJointDef = Box2D.Dynamics.Joints.b2FrictionJointDef,
+b2GearJoint = Box2D.Dynamics.Joints.b2GearJoint,
+b2GearJointDef = Box2D.Dynamics.Joints.b2GearJointDef,
+b2Jacobian = Box2D.Dynamics.Joints.b2Jacobian,
+b2Joint = Box2D.Dynamics.Joints.b2Joint,
+b2JointDef = Box2D.Dynamics.Joints.b2JointDef,
+b2JointEdge = Box2D.Dynamics.Joints.b2JointEdge,
+b2LineJoint = Box2D.Dynamics.Joints.b2LineJoint,
+b2LineJointDef = Box2D.Dynamics.Joints.b2LineJointDef,
+b2MouseJoint = Box2D.Dynamics.Joints.b2MouseJoint,
+b2MouseJointDef = Box2D.Dynamics.Joints.b2MouseJointDef,
+b2PrismaticJoint = Box2D.Dynamics.Joints.b2PrismaticJoint,
+b2PrismaticJointDef = Box2D.Dynamics.Joints.b2PrismaticJointDef,
+b2PulleyJoint = Box2D.Dynamics.Joints.b2PulleyJoint,
+b2PulleyJointDef = Box2D.Dynamics.Joints.b2PulleyJointDef,
+b2RevoluteJoint = Box2D.Dynamics.Joints.b2RevoluteJoint,
+b2RevoluteJointDef = Box2D.Dynamics.Joints.b2RevoluteJointDef,
+b2WeldJoint = Box2D.Dynamics.Joints.b2WeldJoint,
+b2WeldJointDef = Box2D.Dynamics.Joints.b2WeldJointDef;
+b2Body.b2Body = function () {
+this.m_xf = new b2Transform();
+this.m_sweep = new b2Sweep();
+this.m_linearVelocity = new b2Vec2();
+this.m_force = new b2Vec2();
+};
+b2Body.prototype.connectEdges = function (s1, s2, angle1) {
+if (angle1 === undefined) angle1 = 0;
+var angle2 = Math.atan2(s2.GetDirectionVector().y, s2.GetDirectionVector().x);
+var coreOffset = Math.tan((angle2 - angle1) * 0.5);
+var core = b2Math.MulFV(coreOffset, s2.GetDirectionVector());
+core = b2Math.SubtractVV(core, s2.GetNormalVector());
+core = b2Math.MulFV(b2Settings.b2_toiSlop, core);
+core = b2Math.AddVV(core, s2.GetVertex1());
+var cornerDir = b2Math.AddVV(s1.GetDirectionVector(), s2.GetDirectionVector());
+cornerDir.Normalize();
+var convex = b2Math.Dot(s1.GetDirectionVector(), s2.GetNormalVector()) > 0.0;
+s1.SetNextEdge(s2, core, cornerDir, convex);
+s2.SetPrevEdge(s1, core, cornerDir, convex);
+return angle2;
+}
+b2Body.prototype.CreateFixture = function (def) {
+if (this.m_world.IsLocked() == true) {
+return null;
+}
+var fixture = new b2Fixture();
+fixture.Create(this, this.m_xf, def);
+if (this.m_flags & b2Body.e_activeFlag) {
+var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+fixture.CreateProxy(broadPhase, this.m_xf);
+}
+fixture.m_next = this.m_fixtureList;
+this.m_fixtureList = fixture;
+++this.m_fixtureCount;
+fixture.m_body = this;
+if (fixture.m_density > 0.0) {
+this.ResetMassData();
+}
+this.m_world.m_flags |= b2World.e_newFixture;
+return fixture;
+}
+b2Body.prototype.CreateFixture2 = function (shape, density) {
+if (density === undefined) density = 0.0;
+var def = new b2FixtureDef();
+def.shape = shape;
+def.density = density;
+return this.CreateFixture(def);
+}
+b2Body.prototype.DestroyFixture = function (fixture) {
+if (this.m_world.IsLocked() == true) {
+return;
+}
+var node = this.m_fixtureList;
+var ppF = null;
+var found = false;
+while (node != null) {
+if (node == fixture) {
+if (ppF) ppF.m_next = fixture.m_next;
+else this.m_fixtureList = fixture.m_next;
+found = true;
+break;
+}
+ppF = node;
+node = node.m_next;
+}
+var edge = this.m_contactList;
+while (edge) {
+var c = edge.contact;
+edge = edge.next;
+var fixtureA = c.GetFixtureA();
+var fixtureB = c.GetFixtureB();
+if (fixture == fixtureA || fixture == fixtureB) {
+this.m_world.m_contactManager.Destroy(c);
+}
+}
+if (this.m_flags & b2Body.e_activeFlag) {
+var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+fixture.DestroyProxy(broadPhase);
+}
+else {}
+fixture.Destroy();
+fixture.m_body = null;
+fixture.m_next = null;
+--this.m_fixtureCount;
+this.ResetMassData();
+}
+b2Body.prototype.SetPositionAndAngle = function (position, angle) {
+if (angle === undefined) angle = 0;
+var f;
+if (this.m_world.IsLocked() == true) {
+return;
+}
+this.m_xf.R.Set(angle);
+this.m_xf.position.SetV(position);
+var tMat = this.m_xf.R;
+var tVec = this.m_sweep.localCenter;
+this.m_sweep.c.x = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+this.m_sweep.c.y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+this.m_sweep.c.x += this.m_xf.position.x;
+this.m_sweep.c.y += this.m_xf.position.y;
+this.m_sweep.c0.SetV(this.m_sweep.c);
+this.m_sweep.a0 = this.m_sweep.a = angle;
+var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+for (f = this.m_fixtureList;
+f; f = f.m_next) {
+f.Synchronize(broadPhase, this.m_xf, this.m_xf);
+}
+this.m_world.m_contactManager.FindNewContacts();
+}
+b2Body.prototype.SetTransform = function (xf) {
+this.SetPositionAndAngle(xf.position, xf.GetAngle());
+}
+b2Body.prototype.GetTransform = function () {
+return this.m_xf;
+}
+b2Body.prototype.GetPosition = function () {
+return this.m_xf.position;
+}
+b2Body.prototype.SetPosition = function (position) {
+this.SetPositionAndAngle(position, this.GetAngle());
+}
+b2Body.prototype.GetAngle = function () {
+return this.m_sweep.a;
+}
+b2Body.prototype.SetAngle = function (angle) {
+if (angle === undefined) angle = 0;
+this.SetPositionAndAngle(this.GetPosition(), angle);
+}
+b2Body.prototype.GetWorldCenter = function () {
+return this.m_sweep.c;
+}
+b2Body.prototype.GetLocalCenter = function () {
+return this.m_sweep.localCenter;
+}
+b2Body.prototype.SetLinearVelocity = function (v) {
+if (this.m_type == b2Body.b2_staticBody) {
+return;
+}
+this.m_linearVelocity.SetV(v);
+}
+b2Body.prototype.GetLinearVelocity = function () {
+return this.m_linearVelocity;
+}
+b2Body.prototype.SetAngularVelocity = function (omega) {
+if (omega === undefined) omega = 0;
+if (this.m_type == b2Body.b2_staticBody) {
+return;
+}
+this.m_angularVelocity = omega;
+}
+b2Body.prototype.GetAngularVelocity = function () {
+return this.m_angularVelocity;
+}
+b2Body.prototype.GetDefinition = function () {
+var bd = new b2BodyDef();
+bd.type = this.GetType();
+bd.allowSleep = (this.m_flags & b2Body.e_allowSleepFlag) == b2Body.e_allowSleepFlag;
+bd.angle = this.GetAngle();
+bd.angularDamping = this.m_angularDamping;
+bd.angularVelocity = this.m_angularVelocity;
+bd.fixedRotation = (this.m_flags & b2Body.e_fixedRotationFlag) == b2Body.e_fixedRotationFlag;
+bd.bullet = (this.m_flags & b2Body.e_bulletFlag) == b2Body.e_bulletFlag;
+bd.awake = (this.m_flags & b2Body.e_awakeFlag) == b2Body.e_awakeFlag;
+bd.linearDamping = this.m_linearDamping;
+bd.linearVelocity.SetV(this.GetLinearVelocity());
+bd.position = this.GetPosition();
+bd.userData = this.GetUserData();
+return bd;
+}
+b2Body.prototype.ApplyForce = function (force, point) {
+if (this.m_type != b2Body.b2_dynamicBody) {
+return;
+}
+if (this.IsAwake() == false) {
+this.SetAwake(true);
+}
+this.m_force.x += force.x;
+this.m_force.y += force.y;
+this.m_torque += ((point.x - this.m_sweep.c.x) * force.y - (point.y - this.m_sweep.c.y) * force.x);
+}
+b2Body.prototype.ApplyTorque = function (torque) {
+if (torque === undefined) torque = 0;
+if (this.m_type != b2Body.b2_dynamicBody) {
+return;
+}
+if (this.IsAwake() == false) {
+this.SetAwake(true);
+}
+this.m_torque += torque;
+}
+b2Body.prototype.ApplyImpulse = function (impulse, point) {
+if (this.m_type != b2Body.b2_dynamicBody) {
+return;
+}
+if (this.IsAwake() == false) {
+this.SetAwake(true);
+}
+this.m_linearVelocity.x += this.m_invMass * impulse.x;
+this.m_linearVelocity.y += this.m_invMass * impulse.y;
+this.m_angularVelocity += this.m_invI * ((point.x - this.m_sweep.c.x) * impulse.y - (point.y - this.m_sweep.c.y) * impulse.x);
+}
+b2Body.prototype.Split = function (callback) {
+var linearVelocity = this.GetLinearVelocity().Copy();
+var angularVelocity = this.GetAngularVelocity();
+var center = this.GetWorldCenter();
+var body1 = this;
+var body2 = this.m_world.CreateBody(this.GetDefinition());
+var prev;
+for (var f = body1.m_fixtureList; f;) {
+if (callback(f)) {
+var next = f.m_next;
+if (prev) {
+prev.m_next = next;
+}
+else {
+body1.m_fixtureList = next;
+}
+body1.m_fixtureCount--;
+f.m_next = body2.m_fixtureList;
+body2.m_fixtureList = f;
+body2.m_fixtureCount++;
+f.m_body = body2;
+f = next;
+}
+else {
+prev = f;
+f = f.m_next;
+}
+}
+body1.ResetMassData();
+body2.ResetMassData();
+var center1 = body1.GetWorldCenter();
+var center2 = body2.GetWorldCenter();
+var velocity1 = b2Math.AddVV(linearVelocity, b2Math.CrossFV(angularVelocity, b2Math.SubtractVV(center1, center)));
+var velocity2 = b2Math.AddVV(linearVelocity, b2Math.CrossFV(angularVelocity, b2Math.SubtractVV(center2, center)));
+body1.SetLinearVelocity(velocity1);
+body2.SetLinearVelocity(velocity2);
+body1.SetAngularVelocity(angularVelocity);
+body2.SetAngularVelocity(angularVelocity);
+body1.SynchronizeFixtures();
+body2.SynchronizeFixtures();
+return body2;
+}
+b2Body.prototype.Merge = function (other) {
+var f;
+for (f = other.m_fixtureList;
+f;) {
+var next = f.m_next;
+other.m_fixtureCount--;
+f.m_next = this.m_fixtureList;
+this.m_fixtureList = f;
+this.m_fixtureCount++;
+f.m_body = body2;
+f = next;
+}
+body1.m_fixtureCount = 0;
+var body1 = this;
+var body2 = other;
+var center1 = body1.GetWorldCenter();
+var center2 = body2.GetWorldCenter();
+var velocity1 = body1.GetLinearVelocity().Copy();
+var velocity2 = body2.GetLinearVelocity().Copy();
+var angular1 = body1.GetAngularVelocity();
+var angular = body2.GetAngularVelocity();
+body1.ResetMassData();
+this.SynchronizeFixtures();
+}
+b2Body.prototype.GetMass = function () {
+return this.m_mass;
+}
+b2Body.prototype.GetInertia = function () {
+return this.m_I;
+}
+b2Body.prototype.GetMassData = function (data) {
+data.mass = this.m_mass;
+data.I = this.m_I;
+data.center.SetV(this.m_sweep.localCenter);
+}
+b2Body.prototype.SetMassData = function (massData) {
+b2Settings.b2Assert(this.m_world.IsLocked() == false);
+if (this.m_world.IsLocked() == true) {
+return;
+}
+if (this.m_type != b2Body.b2_dynamicBody) {
+return;
+}
+this.m_invMass = 0.0;
+this.m_I = 0.0;
+this.m_invI = 0.0;
+this.m_mass = massData.mass;
+if (this.m_mass <= 0.0) {
+this.m_mass = 1.0;
+}
+this.m_invMass = 1.0 / this.m_mass;
+if (massData.I > 0.0 && (this.m_flags & b2Body.e_fixedRotationFlag) == 0) {
+this.m_I = massData.I - this.m_mass * (massData.center.x * massData.center.x + massData.center.y * massData.center.y);
+this.m_invI = 1.0 / this.m_I;
+}
+var oldCenter = this.m_sweep.c.Copy();
+this.m_sweep.localCenter.SetV(massData.center);
+this.m_sweep.c0.SetV(b2Math.MulX(this.m_xf, this.m_sweep.localCenter));
+this.m_sweep.c.SetV(this.m_sweep.c0);
+this.m_linearVelocity.x += this.m_angularVelocity * (-(this.m_sweep.c.y - oldCenter.y));
+this.m_linearVelocity.y += this.m_angularVelocity * (+(this.m_sweep.c.x - oldCenter.x));
+}
+b2Body.prototype.ResetMassData = function () {
+this.m_mass = 0.0;
+this.m_invMass = 0.0;
+this.m_I = 0.0;
+this.m_invI = 0.0;
+this.m_sweep.localCenter.SetZero();
+if (this.m_type == b2Body.b2_staticBody || this.m_type == b2Body.b2_kinematicBody) {
+return;
+}
+var center = b2Vec2.Make(0, 0);
+for (var f = this.m_fixtureList; f; f = f.m_next) {
+if (f.m_density == 0.0) {
+continue;
+}
+var massData = f.GetMassData();
+this.m_mass += massData.mass;
+center.x += massData.center.x * massData.mass;
+center.y += massData.center.y * massData.mass;
+this.m_I += massData.I;
+}
+if (this.m_mass > 0.0) {
+this.m_invMass = 1.0 / this.m_mass;
+center.x *= this.m_invMass;
+center.y *= this.m_invMass;
+}
+else {
+this.m_mass = 1.0;
+this.m_invMass = 1.0;
+}
+if (this.m_I > 0.0 && (this.m_flags & b2Body.e_fixedRotationFlag) == 0) {
+this.m_I -= this.m_mass * (center.x * center.x + center.y * center.y);
+this.m_I *= this.m_inertiaScale;
+b2Settings.b2Assert(this.m_I > 0);
+this.m_invI = 1.0 / this.m_I;
+}
+else {
+this.m_I = 0.0;
+this.m_invI = 0.0;
+}
+var oldCenter = this.m_sweep.c.Copy();
+this.m_sweep.localCenter.SetV(center);
+this.m_sweep.c0.SetV(b2Math.MulX(this.m_xf, this.m_sweep.localCenter));
+this.m_sweep.c.SetV(this.m_sweep.c0);
+this.m_linearVelocity.x += this.m_angularVelocity * (-(this.m_sweep.c.y - oldCenter.y));
+this.m_linearVelocity.y += this.m_angularVelocity * (+(this.m_sweep.c.x - oldCenter.x));
+}
+b2Body.prototype.GetWorldPoint = function (localPoint) {
+var A = this.m_xf.R;
+var u = new b2Vec2(A.col1.x * localPoint.x + A.col2.x * localPoint.y, A.col1.y * localPoint.x + A.col2.y * localPoint.y);
+u.x += this.m_xf.position.x;
+u.y += this.m_xf.position.y;
+return u;
+}
+b2Body.prototype.GetWorldVector = function (localVector) {
+return b2Math.MulMV(this.m_xf.R, localVector);
+}
+b2Body.prototype.GetLocalPoint = function (worldPoint) {
+return b2Math.MulXT(this.m_xf, worldPoint);
+}
+b2Body.prototype.GetLocalVector = function (worldVector) {
+return b2Math.MulTMV(this.m_xf.R, worldVector);
+}
+b2Body.prototype.GetLinearVelocityFromWorldPoint = function (worldPoint) {
+return new b2Vec2(this.m_linearVelocity.x - this.m_angularVelocity * (worldPoint.y - this.m_sweep.c.y), this.m_linearVelocity.y + this.m_angularVelocity * (worldPoint.x - this.m_sweep.c.x));
+}
+b2Body.prototype.GetLinearVelocityFromLocalPoint = function (localPoint) {
+var A = this.m_xf.R;
+var worldPoint = new b2Vec2(A.col1.x * localPoint.x + A.col2.x * localPoint.y, A.col1.y * localPoint.x + A.col2.y * localPoint.y);
+worldPoint.x += this.m_xf.position.x;
+worldPoint.y += this.m_xf.position.y;
+return new b2Vec2(this.m_linearVelocity.x - this.m_angularVelocity * (worldPoint.y - this.m_sweep.c.y), this.m_linearVelocity.y + this.m_angularVelocity * (worldPoint.x - this.m_sweep.c.x));
+}
+b2Body.prototype.GetLinearDamping = function () {
+return this.m_linearDamping;
+}
+b2Body.prototype.SetLinearDamping = function (linearDamping) {
+if (linearDamping === undefined) linearDamping = 0;
+this.m_linearDamping = linearDamping;
+}
+b2Body.prototype.GetAngularDamping = function () {
+return this.m_angularDamping;
+}
+b2Body.prototype.SetAngularDamping = function (angularDamping) {
+if (angularDamping === undefined) angularDamping = 0;
+this.m_angularDamping = angularDamping;
+}
+b2Body.prototype.SetType = function (type) {
+if (type === undefined) type = 0;
+if (this.m_type == type) {
+return;
+}
+this.m_type = type;
+this.ResetMassData();
+if (this.m_type == b2Body.b2_staticBody) {
+this.m_linearVelocity.SetZero();
+this.m_angularVelocity = 0.0;
+}
+this.SetAwake(true);
+this.m_force.SetZero();
+this.m_torque = 0.0;
+for (var ce = this.m_contactList; ce; ce = ce.next) {
+ce.contact.FlagForFiltering();
+}
+}
+b2Body.prototype.GetType = function () {
+return this.m_type;
+}
+b2Body.prototype.SetBullet = function (flag) {
+if (flag) {
+this.m_flags |= b2Body.e_bulletFlag;
+}
+else {
+this.m_flags &= ~b2Body.e_bulletFlag;
+}
+}
+b2Body.prototype.IsBullet = function () {
+return (this.m_flags & b2Body.e_bulletFlag) == b2Body.e_bulletFlag;
+}
+b2Body.prototype.SetSleepingAllowed = function (flag) {
+if (flag) {
+this.m_flags |= b2Body.e_allowSleepFlag;
+}
+else {
+this.m_flags &= ~b2Body.e_allowSleepFlag;
+this.SetAwake(true);
+}
+}
+b2Body.prototype.SetAwake = function (flag) {
+if (flag) {
+this.m_flags |= b2Body.e_awakeFlag;
+this.m_sleepTime = 0.0;
+}
+else {
+this.m_flags &= ~b2Body.e_awakeFlag;
+this.m_sleepTime = 0.0;
+this.m_linearVelocity.SetZero();
+this.m_angularVelocity = 0.0;
+this.m_force.SetZero();
+this.m_torque = 0.0;
+}
+}
+b2Body.prototype.IsAwake = function () {
+return (this.m_flags & b2Body.e_awakeFlag) == b2Body.e_awakeFlag;
+}
+b2Body.prototype.SetFixedRotation = function (fixed) {
+if (fixed) {
+this.m_flags |= b2Body.e_fixedRotationFlag;
+}
+else {
+this.m_flags &= ~b2Body.e_fixedRotationFlag;
+}
+this.ResetMassData();
+}
+b2Body.prototype.IsFixedRotation = function () {
+return (this.m_flags & b2Body.e_fixedRotationFlag) == b2Body.e_fixedRotationFlag;
+}
+b2Body.prototype.SetActive = function (flag) {
+if (flag == this.IsActive()) {
+return;
+}
+var broadPhase;
+var f;
+if (flag) {
+this.m_flags |= b2Body.e_activeFlag;
+broadPhase = this.m_world.m_contactManager.m_broadPhase;
+for (f = this.m_fixtureList;
+f; f = f.m_next) {
+f.CreateProxy(broadPhase, this.m_xf);
+}
+}
+else {
+this.m_flags &= ~b2Body.e_activeFlag;
+broadPhase = this.m_world.m_contactManager.m_broadPhase;
+for (f = this.m_fixtureList;
+f; f = f.m_next) {
+f.DestroyProxy(broadPhase);
+}
+var ce = this.m_contactList;
+while (ce) {
+var ce0 = ce;
+ce = ce.next;
+this.m_world.m_contactManager.Destroy(ce0.contact);
+}
+this.m_contactList = null;
+}
+}
+b2Body.prototype.IsActive = function () {
+return (this.m_flags & b2Body.e_activeFlag) == b2Body.e_activeFlag;
+}
+b2Body.prototype.IsSleepingAllowed = function () {
+return (this.m_flags & b2Body.e_allowSleepFlag) == b2Body.e_allowSleepFlag;
+}
+b2Body.prototype.GetFixtureList = function () {
+return this.m_fixtureList;
+}
+b2Body.prototype.GetJointList = function () {
+return this.m_jointList;
+}
+b2Body.prototype.GetControllerList = function () {
+return this.m_controllerList;
+}
+b2Body.prototype.GetContactList = function () {
+return this.m_contactList;
+}
+b2Body.prototype.GetNext = function () {
+return this.m_next;
+}
+b2Body.prototype.GetUserData = function () {
+return this.m_userData;
+}
+b2Body.prototype.SetUserData = function (data) {
+this.m_userData = data;
+}
+b2Body.prototype.GetWorld = function () {
+return this.m_world;
+}
+b2Body.prototype.b2Body = function (bd, world) {
+this.m_flags = 0;
+if (bd.bullet) {
+this.m_flags |= b2Body.e_bulletFlag;
+}
+if (bd.fixedRotation) {
+this.m_flags |= b2Body.e_fixedRotationFlag;
+}
+if (bd.allowSleep) {
+this.m_flags |= b2Body.e_allowSleepFlag;
+}
+if (bd.awake) {
+this.m_flags |= b2Body.e_awakeFlag;
+}
+if (bd.active) {
+this.m_flags |= b2Body.e_activeFlag;
+}
+this.m_world = world;
+this.m_xf.position.SetV(bd.position);
+this.m_xf.R.Set(bd.angle);
+this.m_sweep.localCenter.SetZero();
+this.m_sweep.t0 = 1.0;
+this.m_sweep.a0 = this.m_sweep.a = bd.angle;
+var tMat = this.m_xf.R;
+var tVec = this.m_sweep.localCenter;
+this.m_sweep.c.x = (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+this.m_sweep.c.y = (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+this.m_sweep.c.x += this.m_xf.position.x;
+this.m_sweep.c.y += this.m_xf.position.y;
+this.m_sweep.c0.SetV(this.m_sweep.c);
+this.m_jointList = null;
+this.m_controllerList = null;
+this.m_contactList = null;
+this.m_controllerCount = 0;
+this.m_prev = null;
+this.m_next = null;
+this.m_linearVelocity.SetV(bd.linearVelocity);
+this.m_angularVelocity = bd.angularVelocity;
+this.m_linearDamping = bd.linearDamping;
+this.m_angularDamping = bd.angularDamping;
+this.m_force.Set(0.0, 0.0);
+this.m_torque = 0.0;
+this.m_sleepTime = 0.0;
+this.m_type = bd.type;
+if (this.m_type == b2Body.b2_dynamicBody) {
+this.m_mass = 1.0;
+this.m_invMass = 1.0;
+}
+else {
+this.m_mass = 0.0;
+this.m_invMass = 0.0;
+}
+this.m_I = 0.0;
+this.m_invI = 0.0;
+this.m_inertiaScale = bd.inertiaScale;
+this.m_userData = bd.userData;
+this.m_fixtureList = null;
+this.m_fixtureCount = 0;
+}
+b2Body.prototype.SynchronizeFixtures = function () {
+var xf1 = b2Body.s_xf1;
+xf1.R.Set(this.m_sweep.a0);
+var tMat = xf1.R;
+var tVec = this.m_sweep.localCenter;
+xf1.position.x = this.m_sweep.c0.x - (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+xf1.position.y = this.m_sweep.c0.y - (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+var f;
+var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+for (f = this.m_fixtureList;
+f; f = f.m_next) {
+f.Synchronize(broadPhase, xf1, this.m_xf);
+}
+}
+b2Body.prototype.SynchronizeTransform = function () {
+this.m_xf.R.Set(this.m_sweep.a);
+var tMat = this.m_xf.R;
+var tVec = this.m_sweep.localCenter;
+this.m_xf.position.x = this.m_sweep.c.x - (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+this.m_xf.position.y = this.m_sweep.c.y - (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+}
+b2Body.prototype.ShouldCollide = function (other) {
+if (this.m_type != b2Body.b2_dynamicBody && other.m_type != b2Body.b2_dynamicBody) {
+return false;
+}
+for (var jn = this.m_jointList; jn; jn = jn.next) {
+if (jn.other == other) if (jn.joint.m_collideConnected == false) {
+return false;
+}
+}
+return true;
+}
+b2Body.prototype.Advance = function (t) {
+if (t === undefined) t = 0;
+this.m_sweep.Advance(t);
+this.m_sweep.c.SetV(this.m_sweep.c0);
+this.m_sweep.a = this.m_sweep.a0;
+this.SynchronizeTransform();
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.b2Body.s_xf1 = new b2Transform();
+Box2D.Dynamics.b2Body.e_islandFlag = 0x0001;
+Box2D.Dynamics.b2Body.e_awakeFlag = 0x0002;
+Box2D.Dynamics.b2Body.e_allowSleepFlag = 0x0004;
+Box2D.Dynamics.b2Body.e_bulletFlag = 0x0008;
+Box2D.Dynamics.b2Body.e_fixedRotationFlag = 0x0010;
+Box2D.Dynamics.b2Body.e_activeFlag = 0x0020;
+Box2D.Dynamics.b2Body.b2_staticBody = 0;
+Box2D.Dynamics.b2Body.b2_kinematicBody = 1;
+Box2D.Dynamics.b2Body.b2_dynamicBody = 2;
+});
+b2BodyDef.b2BodyDef = function () {
+this.position = new b2Vec2();
+this.linearVelocity = new b2Vec2();
+};
+b2BodyDef.prototype.b2BodyDef = function () {
+this.userData = null;
+this.position.Set(0.0, 0.0);
+this.angle = 0.0;
+this.linearVelocity.Set(0, 0);
+this.angularVelocity = 0.0;
+this.linearDamping = 0.0;
+this.angularDamping = 0.0;
+this.allowSleep = true;
+this.awake = true;
+this.fixedRotation = false;
+this.bullet = false;
+this.type = b2Body.b2_staticBody;
+this.active = true;
+this.inertiaScale = 1.0;
+}
+b2ContactFilter.b2ContactFilter = function () {};
+b2ContactFilter.prototype.ShouldCollide = function (fixtureA, fixtureB) {
+var filter1 = fixtureA.GetFilterData();
+var filter2 = fixtureB.GetFilterData();
+if (filter1.groupIndex == filter2.groupIndex && filter1.groupIndex != 0) {
+return filter1.groupIndex > 0;
+}
+var collide = (filter1.maskBits & filter2.categoryBits) != 0 && (filter1.categoryBits & filter2.maskBits) != 0;
+return collide;
+}
+b2ContactFilter.prototype.RayCollide = function (userData, fixture) {
+if (!userData) return true;
+return this.ShouldCollide((userData instanceof b2Fixture ? userData : null), fixture);
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.b2ContactFilter.b2_defaultFilter = new b2ContactFilter();
+});
+b2ContactImpulse.b2ContactImpulse = function () {
+this.normalImpulses = new Vector_a2j_Number(b2Settings.b2_maxManifoldPoints);
+this.tangentImpulses = new Vector_a2j_Number(b2Settings.b2_maxManifoldPoints);
+};
+b2ContactListener.b2ContactListener = function () {};
+b2ContactListener.prototype.BeginContact = function (contact) {}
+b2ContactListener.prototype.EndContact = function (contact) {}
+b2ContactListener.prototype.PreSolve = function (contact, oldManifold) {}
+b2ContactListener.prototype.PostSolve = function (contact, impulse) {}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.b2ContactListener.b2_defaultListener = new b2ContactListener();
+});
+b2ContactManager.b2ContactManager = function () {};
+b2ContactManager.prototype.b2ContactManager = function () {
+this.m_world = null;
+this.m_contactCount = 0;
+this.m_contactFilter = b2ContactFilter.b2_defaultFilter;
+this.m_contactListener = b2ContactListener.b2_defaultListener;
+this.m_contactFactory = new b2ContactFactory(this.m_allocator);
+this.m_broadPhase = new b2DynamicTreeBroadPhase();
+}
+b2ContactManager.prototype.AddPair = function (proxyUserDataA, proxyUserDataB) {
+var fixtureA = (proxyUserDataA instanceof b2Fixture ? proxyUserDataA : null);
+var fixtureB = (proxyUserDataB instanceof b2Fixture ? proxyUserDataB : null);
+var bodyA = fixtureA.GetBody();
+var bodyB = fixtureB.GetBody();
+if (bodyA == bodyB) return;
+var edge = bodyB.GetContactList();
+while (edge) {
+if (edge.other == bodyA) {
+var fA = edge.contact.GetFixtureA();
+var fB = edge.contact.GetFixtureB();
+if (fA == fixtureA && fB == fixtureB) return;
+if (fA == fixtureB && fB == fixtureA) return;
+}
+edge = edge.next;
+}
+if (bodyB.ShouldCollide(bodyA) == false) {
+return;
+}
+if (this.m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false) {
+return;
+}
+var c = this.m_contactFactory.Create(fixtureA, fixtureB);
+fixtureA = c.GetFixtureA();
+fixtureB = c.GetFixtureB();
+bodyA = fixtureA.m_body;
+bodyB = fixtureB.m_body;
+c.m_prev = null;
+c.m_next = this.m_world.m_contactList;
+if (this.m_world.m_contactList != null) {
+this.m_world.m_contactList.m_prev = c;
+}
+this.m_world.m_contactList = c;
+c.m_nodeA.contact = c;
+c.m_nodeA.other = bodyB;
+c.m_nodeA.prev = null;
+c.m_nodeA.next = bodyA.m_contactList;
+if (bodyA.m_contactList != null) {
+bodyA.m_contactList.prev = c.m_nodeA;
+}
+bodyA.m_contactList = c.m_nodeA;
+c.m_nodeB.contact = c;
+c.m_nodeB.other = bodyA;
+c.m_nodeB.prev = null;
+c.m_nodeB.next = bodyB.m_contactList;
+if (bodyB.m_contactList != null) {
+bodyB.m_contactList.prev = c.m_nodeB;
+}
+bodyB.m_contactList = c.m_nodeB;
+++this.m_world.m_contactCount;
+return;
+}
+b2ContactManager.prototype.FindNewContacts = function () {
+this.m_broadPhase.UpdatePairs(Box2D.generateCallback(this, this.AddPair));
+}
+b2ContactManager.prototype.Destroy = function (c) {
+var fixtureA = c.GetFixtureA();
+var fixtureB = c.GetFixtureB();
+var bodyA = fixtureA.GetBody();
+var bodyB = fixtureB.GetBody();
+if (c.IsTouching()) {
+this.m_contactListener.EndContact(c);
+}
+if (c.m_prev) {
+c.m_prev.m_next = c.m_next;
+}
+if (c.m_next) {
+c.m_next.m_prev = c.m_prev;
+}
+if (c == this.m_world.m_contactList) {
+this.m_world.m_contactList = c.m_next;
+}
+if (c.m_nodeA.prev) {
+c.m_nodeA.prev.next = c.m_nodeA.next;
+}
+if (c.m_nodeA.next) {
+c.m_nodeA.next.prev = c.m_nodeA.prev;
+}
+if (c.m_nodeA == bodyA.m_contactList) {
+bodyA.m_contactList = c.m_nodeA.next;
+}
+if (c.m_nodeB.prev) {
+c.m_nodeB.prev.next = c.m_nodeB.next;
+}
+if (c.m_nodeB.next) {
+c.m_nodeB.next.prev = c.m_nodeB.prev;
+}
+if (c.m_nodeB == bodyB.m_contactList) {
+bodyB.m_contactList = c.m_nodeB.next;
+}
+this.m_contactFactory.Destroy(c);
+--this.m_contactCount;
+}
+b2ContactManager.prototype.Collide = function () {
+var c = this.m_world.m_contactList;
+while (c) {
+var fixtureA = c.GetFixtureA();
+var fixtureB = c.GetFixtureB();
+var bodyA = fixtureA.GetBody();
+var bodyB = fixtureB.GetBody();
+if (bodyA.IsAwake() == false && bodyB.IsAwake() == false) {
+c = c.GetNext();
+continue;
+}
+if (c.m_flags & b2Contact.e_filterFlag) {
+if (bodyB.ShouldCollide(bodyA) == false) {
+var cNuke = c;
+c = cNuke.GetNext();
+this.Destroy(cNuke);
+continue;
+}
+if (this.m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false) {
+cNuke = c;
+c = cNuke.GetNext();
+this.Destroy(cNuke);
+continue;
+}
+c.m_flags &= ~b2Contact.e_filterFlag;
+}
+var proxyA = fixtureA.m_proxy;
+var proxyB = fixtureB.m_proxy;
+var overlap = this.m_broadPhase.TestOverlap(proxyA, proxyB);
+if (overlap == false) {
+cNuke = c;
+c = cNuke.GetNext();
+this.Destroy(cNuke);
+continue;
+}
+c.Update(this.m_contactListener);
+c = c.GetNext();
+}
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.b2ContactManager.s_evalCP = new b2ContactPoint();
+});
+b2DebugDraw.b2DebugDraw = function () {};
+b2DebugDraw.prototype.b2DebugDraw = function () {}
+b2DebugDraw.prototype.SetFlags = function (flags) {
+if (flags === undefined) flags = 0;
+}
+b2DebugDraw.prototype.GetFlags = function () {}
+b2DebugDraw.prototype.AppendFlags = function (flags) {
+if (flags === undefined) flags = 0;
+}
+b2DebugDraw.prototype.ClearFlags = function (flags) {
+if (flags === undefined) flags = 0;
+}
+b2DebugDraw.prototype.SetSprite = function (sprite) {}
+b2DebugDraw.prototype.GetSprite = function () {}
+b2DebugDraw.prototype.SetDrawScale = function (drawScale) {
+if (drawScale === undefined) drawScale = 0;
+}
+b2DebugDraw.prototype.GetDrawScale = function () {}
+b2DebugDraw.prototype.SetLineThickness = function (lineThickness) {
+if (lineThickness === undefined) lineThickness = 0;
+}
+b2DebugDraw.prototype.GetLineThickness = function () {}
+b2DebugDraw.prototype.SetAlpha = function (alpha) {
+if (alpha === undefined) alpha = 0;
+}
+b2DebugDraw.prototype.GetAlpha = function () {}
+b2DebugDraw.prototype.SetFillAlpha = function (alpha) {
+if (alpha === undefined) alpha = 0;
+}
+b2DebugDraw.prototype.GetFillAlpha = function () {}
+b2DebugDraw.prototype.SetXFormScale = function (xformScale) {
+if (xformScale === undefined) xformScale = 0;
+}
+b2DebugDraw.prototype.GetXFormScale = function () {}
+b2DebugDraw.prototype.DrawPolygon = function (vertices, vertexCount, color) {
+if (vertexCount === undefined) vertexCount = 0;
+}
+b2DebugDraw.prototype.DrawSolidPolygon = function (vertices, vertexCount, color) {
+if (vertexCount === undefined) vertexCount = 0;
+}
+b2DebugDraw.prototype.DrawCircle = function (center, radius, color) {
+if (radius === undefined) radius = 0;
+}
+b2DebugDraw.prototype.DrawSolidCircle = function (center, radius, axis, color) {
+if (radius === undefined) radius = 0;
+}
+b2DebugDraw.prototype.DrawSegment = function (p1, p2, color) {}
+b2DebugDraw.prototype.DrawTransform = function (xf) {}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.b2DebugDraw.e_shapeBit = 0x0001;
+Box2D.Dynamics.b2DebugDraw.e_jointBit = 0x0002;
+Box2D.Dynamics.b2DebugDraw.e_aabbBit = 0x0004;
+Box2D.Dynamics.b2DebugDraw.e_pairBit = 0x0008;
+Box2D.Dynamics.b2DebugDraw.e_centerOfMassBit = 0x0010;
+Box2D.Dynamics.b2DebugDraw.e_controllerBit = 0x0020;
+});
+b2DestructionListener.b2DestructionListener = function () {};
+b2DestructionListener.prototype.SayGoodbyeJoint = function (joint) {}
+b2DestructionListener.prototype.SayGoodbyeFixture = function (fixture) {}
+b2FilterData.b2FilterData = function () {
+this.categoryBits = 0x0001;
+this.maskBits = 0xFFFF;
+this.groupIndex = 0;
+};
+b2FilterData.prototype.Copy = function () {
+var copy = new b2FilterData();
+copy.categoryBits = this.categoryBits;
+copy.maskBits = this.maskBits;
+copy.groupIndex = this.groupIndex;
+return copy;
+}
+b2Fixture.b2Fixture = function () {
+this.m_filter = new b2FilterData();
+};
+b2Fixture.prototype.GetType = function () {
+return this.m_shape.GetType();
+}
+b2Fixture.prototype.GetShape = function () {
+return this.m_shape;
+}
+b2Fixture.prototype.SetSensor = function (sensor) {
+if (this.m_isSensor == sensor) return;
+this.m_isSensor = sensor;
+if (this.m_body == null) return;
+var edge = this.m_body.GetContactList();
+while (edge) {
+var contact = edge.contact;
+var fixtureA = contact.GetFixtureA();
+var fixtureB = contact.GetFixtureB();
+if (fixtureA == this || fixtureB == this) contact.SetSensor(fixtureA.IsSensor() || fixtureB.IsSensor());
+edge = edge.next;
+}
+}
+b2Fixture.prototype.IsSensor = function () {
+return this.m_isSensor;
+}
+b2Fixture.prototype.SetFilterData = function (filter) {
+this.m_filter = filter.Copy();
+if (this.m_body) return;
+var edge = this.m_body.GetContactList();
+while (edge) {
+var contact = edge.contact;
+var fixtureA = contact.GetFixtureA();
+var fixtureB = contact.GetFixtureB();
+if (fixtureA == this || fixtureB == this) contact.FlagForFiltering();
+edge = edge.next;
+}
+}
+b2Fixture.prototype.GetFilterData = function () {
+return this.m_filter.Copy();
+}
+b2Fixture.prototype.GetBody = function () {
+return this.m_body;
+}
+b2Fixture.prototype.GetNext = function () {
+return this.m_next;
+}
+b2Fixture.prototype.GetUserData = function () {
+return this.m_userData;
+}
+b2Fixture.prototype.SetUserData = function (data) {
+this.m_userData = data;
+}
+b2Fixture.prototype.TestPoint = function (p) {
+return this.m_shape.TestPoint(this.m_body.GetTransform(), p);
+}
+b2Fixture.prototype.RayCast = function (output, input) {
+return this.m_shape.RayCast(output, input, this.m_body.GetTransform());
+}
+b2Fixture.prototype.GetMassData = function (massData) {
+if (massData === undefined) massData = null;
+if (massData == null) {
+massData = new b2MassData();
+}
+this.m_shape.ComputeMass(massData, this.m_density);
+return massData;
+}
+b2Fixture.prototype.SetDensity = function (density) {
+if (density === undefined) density = 0;
+this.m_density = density;
+}
+b2Fixture.prototype.GetDensity = function () {
+return this.m_density;
+}
+b2Fixture.prototype.GetFriction = function () {
+return this.m_friction;
+}
+b2Fixture.prototype.SetFriction = function (friction) {
+if (friction === undefined) friction = 0;
+this.m_friction = friction;
+}
+b2Fixture.prototype.GetRestitution = function () {
+return this.m_restitution;
+}
+b2Fixture.prototype.SetRestitution = function (restitution) {
+if (restitution === undefined) restitution = 0;
+this.m_restitution = restitution;
+}
+b2Fixture.prototype.GetAABB = function () {
+return this.m_aabb;
+}
+b2Fixture.prototype.b2Fixture = function () {
+this.m_aabb = new b2AABB();
+this.m_userData = null;
+this.m_body = null;
+this.m_next = null;
+this.m_shape = null;
+this.m_density = 0.0;
+this.m_friction = 0.0;
+this.m_restitution = 0.0;
+}
+b2Fixture.prototype.Create = function (body, xf, def) {
+this.m_userData = def.userData;
+this.m_friction = def.friction;
+this.m_restitution = def.restitution;
+this.m_body = body;
+this.m_next = null;
+this.m_filter = def.filter.Copy();
+this.m_isSensor = def.isSensor;
+this.m_shape = def.shape.Copy();
+this.m_density = def.density;
+}
+b2Fixture.prototype.Destroy = function () {
+this.m_shape = null;
+}
+b2Fixture.prototype.CreateProxy = function (broadPhase, xf) {
+this.m_shape.ComputeAABB(this.m_aabb, xf);
+this.m_proxy = broadPhase.CreateProxy(this.m_aabb, this);
+}
+b2Fixture.prototype.DestroyProxy = function (broadPhase) {
+if (this.m_proxy == null) {
+return;
+}
+broadPhase.DestroyProxy(this.m_proxy);
+this.m_proxy = null;
+}
+b2Fixture.prototype.Synchronize = function (broadPhase, transform1, transform2) {
+if (!this.m_proxy) return;
+var aabb1 = new b2AABB();
+var aabb2 = new b2AABB();
+this.m_shape.ComputeAABB(aabb1, transform1);
+this.m_shape.ComputeAABB(aabb2, transform2);
+this.m_aabb.Combine(aabb1, aabb2);
+var displacement = b2Math.SubtractVV(transform2.position, transform1.position);
+broadPhase.MoveProxy(this.m_proxy, this.m_aabb, displacement);
+}
+b2FixtureDef.b2FixtureDef = function () {
+this.filter = new b2FilterData();
+};
+b2FixtureDef.prototype.b2FixtureDef = function () {
+this.shape = null;
+this.userData = null;
+this.friction = 0.2;
+this.restitution = 0.0;
+this.density = 0.0;
+this.filter.categoryBits = 0x0001;
+this.filter.maskBits = 0xFFFF;
+this.filter.groupIndex = 0;
+this.isSensor = false;
+}
+b2Island.b2Island = function () {};
+b2Island.prototype.b2Island = function () {
+this.m_bodies = new Vector();
+this.m_contacts = new Vector();
+this.m_joints = new Vector();
+}
+b2Island.prototype.Initialize = function (bodyCapacity, contactCapacity, jointCapacity, allocator, listener, contactSolver) {
+if (bodyCapacity === undefined) bodyCapacity = 0;
+if (contactCapacity === undefined) contactCapacity = 0;
+if (jointCapacity === undefined) jointCapacity = 0;
+var i = 0;
+this.m_bodyCapacity = bodyCapacity;
+this.m_contactCapacity = contactCapacity;
+this.m_jointCapacity = jointCapacity;
+this.m_bodyCount = 0;
+this.m_contactCount = 0;
+this.m_jointCount = 0;
+this.m_allocator = allocator;
+this.m_listener = listener;
+this.m_contactSolver = contactSolver;
+for (i = this.m_bodies.length;
+i < bodyCapacity; i++)
+this.m_bodies[i] = null;
+for (i = this.m_contacts.length;
+i < contactCapacity; i++)
+this.m_contacts[i] = null;
+for (i = this.m_joints.length;
+i < jointCapacity; i++)
+this.m_joints[i] = null;
+}
+b2Island.prototype.Clear = function () {
+this.m_bodyCount = 0;
+this.m_contactCount = 0;
+this.m_jointCount = 0;
+}
+b2Island.prototype.Solve = function (step, gravity, allowSleep) {
+var i = 0;
+var j = 0;
+var b;
+var joint;
+for (i = 0;
+i < this.m_bodyCount; ++i) {
+b = this.m_bodies[i];
+if (b.GetType() != b2Body.b2_dynamicBody) continue;
+b.m_linearVelocity.x += step.dt * (gravity.x + b.m_invMass * b.m_force.x);
+b.m_linearVelocity.y += step.dt * (gravity.y + b.m_invMass * b.m_force.y);
+b.m_angularVelocity += step.dt * b.m_invI * b.m_torque;
+b.m_linearVelocity.Multiply(b2Math.Clamp(1.0 - step.dt * b.m_linearDamping, 0.0, 1.0));
+b.m_angularVelocity *= b2Math.Clamp(1.0 - step.dt * b.m_angularDamping, 0.0, 1.0);
+}
+this.m_contactSolver.Initialize(step, this.m_contacts, this.m_contactCount, this.m_allocator);
+var contactSolver = this.m_contactSolver;
+contactSolver.InitVelocityConstraints(step);
+for (i = 0;
+i < this.m_jointCount; ++i) {
+joint = this.m_joints[i];
+joint.InitVelocityConstraints(step);
+}
+for (i = 0;
+i < step.velocityIterations; ++i) {
+for (j = 0;
+j < this.m_jointCount; ++j) {
+joint = this.m_joints[j];
+joint.SolveVelocityConstraints(step);
+}
+contactSolver.SolveVelocityConstraints();
+}
+for (i = 0;
+i < this.m_jointCount; ++i) {
+joint = this.m_joints[i];
+joint.FinalizeVelocityConstraints();
+}
+contactSolver.FinalizeVelocityConstraints();
+for (i = 0;
+i < this.m_bodyCount; ++i) {
+b = this.m_bodies[i];
+if (b.GetType() == b2Body.b2_staticBody) continue;
+var translationX = step.dt * b.m_linearVelocity.x;
+var translationY = step.dt * b.m_linearVelocity.y;
+if ((translationX * translationX + translationY * translationY) > b2Settings.b2_maxTranslationSquared) {
+b.m_linearVelocity.Normalize();
+b.m_linearVelocity.x *= b2Settings.b2_maxTranslation * step.inv_dt;
+b.m_linearVelocity.y *= b2Settings.b2_maxTranslation * step.inv_dt;
+}
+var rotation = step.dt * b.m_angularVelocity;
+if (rotation * rotation > b2Settings.b2_maxRotationSquared) {
+if (b.m_angularVelocity < 0.0) {
+b.m_angularVelocity = (-b2Settings.b2_maxRotation * step.inv_dt);
+}
+else {
+b.m_angularVelocity = b2Settings.b2_maxRotation * step.inv_dt;
+}
+}
+b.m_sweep.c0.SetV(b.m_sweep.c);
+b.m_sweep.a0 = b.m_sweep.a;
+b.m_sweep.c.x += step.dt * b.m_linearVelocity.x;
+b.m_sweep.c.y += step.dt * b.m_linearVelocity.y;
+b.m_sweep.a += step.dt * b.m_angularVelocity;
+b.SynchronizeTransform();
+}
+for (i = 0;
+i < step.positionIterations; ++i) {
+var contactsOkay = contactSolver.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);
+var jointsOkay = true;
+for (j = 0;
+j < this.m_jointCount; ++j) {
+joint = this.m_joints[j];
+var jointOkay = joint.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);
+jointsOkay = jointsOkay && jointOkay;
+}
+if (contactsOkay && jointsOkay) {
+break;
+}
+}
+this.Report(contactSolver.m_constraints);
+if (allowSleep) {
+var minSleepTime = Number.MAX_VALUE;
+var linTolSqr = b2Settings.b2_linearSleepTolerance * b2Settings.b2_linearSleepTolerance;
+var angTolSqr = b2Settings.b2_angularSleepTolerance * b2Settings.b2_angularSleepTolerance;
+for (i = 0;
+i < this.m_bodyCount; ++i) {
+b = this.m_bodies[i];
+if (b.GetType() == b2Body.b2_staticBody) {
+continue;
+}
+if ((b.m_flags & b2Body.e_allowSleepFlag) == 0) {
+b.m_sleepTime = 0.0;
+minSleepTime = 0.0;
+}
+if ((b.m_flags & b2Body.e_allowSleepFlag) == 0 || b.m_angularVelocity * b.m_angularVelocity > angTolSqr || b2Math.Dot(b.m_linearVelocity, b.m_linearVelocity) > linTolSqr) {
+b.m_sleepTime = 0.0;
+minSleepTime = 0.0;
+}
+else {
+b.m_sleepTime += step.dt;
+minSleepTime = b2Math.Min(minSleepTime, b.m_sleepTime);
+}
+}
+if (minSleepTime >= b2Settings.b2_timeToSleep) {
+for (i = 0;
+i < this.m_bodyCount; ++i) {
+b = this.m_bodies[i];
+b.SetAwake(false);
+}
+}
+}
+}
+b2Island.prototype.SolveTOI = function (subStep) {
+var i = 0;
+var j = 0;
+this.m_contactSolver.Initialize(subStep, this.m_contacts, this.m_contactCount, this.m_allocator);
+var contactSolver = this.m_contactSolver;
+for (i = 0;
+i < this.m_jointCount; ++i) {
+this.m_joints[i].InitVelocityConstraints(subStep);
+}
+for (i = 0;
+i < subStep.velocityIterations; ++i) {
+contactSolver.SolveVelocityConstraints();
+for (j = 0;
+j < this.m_jointCount; ++j) {
+this.m_joints[j].SolveVelocityConstraints(subStep);
+}
+}
+for (i = 0;
+i < this.m_bodyCount; ++i) {
+var b = this.m_bodies[i];
+if (b.GetType() == b2Body.b2_staticBody) continue;
+var translationX = subStep.dt * b.m_linearVelocity.x;
+var translationY = subStep.dt * b.m_linearVelocity.y;
+if ((translationX * translationX + translationY * translationY) > b2Settings.b2_maxTranslationSquared) {
+b.m_linearVelocity.Normalize();
+b.m_linearVelocity.x *= b2Settings.b2_maxTranslation * subStep.inv_dt;
+b.m_linearVelocity.y *= b2Settings.b2_maxTranslation * subStep.inv_dt;
+}
+var rotation = subStep.dt * b.m_angularVelocity;
+if (rotation * rotation > b2Settings.b2_maxRotationSquared) {
+if (b.m_angularVelocity < 0.0) {
+b.m_angularVelocity = (-b2Settings.b2_maxRotation * subStep.inv_dt);
+}
+else {
+b.m_angularVelocity = b2Settings.b2_maxRotation * subStep.inv_dt;
+}
+}
+b.m_sweep.c0.SetV(b.m_sweep.c);
+b.m_sweep.a0 = b.m_sweep.a;
+b.m_sweep.c.x += subStep.dt * b.m_linearVelocity.x;
+b.m_sweep.c.y += subStep.dt * b.m_linearVelocity.y;
+b.m_sweep.a += subStep.dt * b.m_angularVelocity;
+b.SynchronizeTransform();
+}
+var k_toiBaumgarte = 0.75;
+for (i = 0;
+i < subStep.positionIterations; ++i) {
+var contactsOkay = contactSolver.SolvePositionConstraints(k_toiBaumgarte);
+var jointsOkay = true;
+for (j = 0;
+j < this.m_jointCount; ++j) {
+var jointOkay = this.m_joints[j].SolvePositionConstraints(b2Settings.b2_contactBaumgarte);
+jointsOkay = jointsOkay && jointOkay;
+}
+if (contactsOkay && jointsOkay) {
+break;
+}
+}
+this.Report(contactSolver.m_constraints);
+}
+b2Island.prototype.Report = function (constraints) {
+if (this.m_listener == null) {
+return;
+}
+for (var i = 0; i < this.m_contactCount; ++i) {
+var c = this.m_contacts[i];
+var cc = constraints[i];
+for (var j = 0; j < cc.pointCount; ++j) {
+b2Island.s_impulse.normalImpulses[j] = cc.points[j].normalImpulse;
+b2Island.s_impulse.tangentImpulses[j] = cc.points[j].tangentImpulse;
+}
+this.m_listener.PostSolve(c, b2Island.s_impulse);
+}
+}
+b2Island.prototype.AddBody = function (body) {
+body.m_islandIndex = this.m_bodyCount;
+this.m_bodies[this.m_bodyCount++] = body;
+}
+b2Island.prototype.AddContact = function (contact) {
+this.m_contacts[this.m_contactCount++] = contact;
+}
+b2Island.prototype.AddJoint = function (joint) {
+this.m_joints[this.m_jointCount++] = joint;
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.b2Island.s_impulse = new b2ContactImpulse();
+});
+b2TimeStep.b2TimeStep = function () {};
+b2TimeStep.prototype.Set = function (step) {
+this.dt = step.dt;
+this.inv_dt = step.inv_dt;
+this.positionIterations = step.positionIterations;
+this.velocityIterations = step.velocityIterations;
+this.warmStarting = step.warmStarting;
+}
+b2World.b2World = function () {
+this.s_stack = new Vector();
+this.m_contactManager = new b2ContactManager();
+this.m_contactSolver = new b2ContactSolver();
+this.m_island = new b2Island();
+};
+b2World.prototype.b2World = function (gravity, doSleep) {
+this.m_destructionListener = null;
+this.m_debugDraw = null;
+this.m_bodyList = null;
+this.m_contactList = null;
+this.m_jointList = null;
+this.m_controllerList = null;
+this.m_bodyCount = 0;
+this.m_contactCount = 0;
+this.m_jointCount = 0;
+this.m_controllerCount = 0;
+b2World.m_warmStarting = true;
+b2World.m_continuousPhysics = true;
+this.m_allowSleep = doSleep;
+this.m_gravity = gravity;
+this.m_inv_dt0 = 0.0;
+this.m_contactManager.m_world = this;
+var bd = new b2BodyDef();
+this.m_groundBody = this.CreateBody(bd);
+}
+b2World.prototype.SetDestructionListener = function (listener) {
+this.m_destructionListener = listener;
+}
+b2World.prototype.SetContactFilter = function (filter) {
+this.m_contactManager.m_contactFilter = filter;
+}
+b2World.prototype.SetContactListener = function (listener) {
+this.m_contactManager.m_contactListener = listener;
+}
+b2World.prototype.SetDebugDraw = function (debugDraw) {
+this.m_debugDraw = debugDraw;
+}
+b2World.prototype.SetBroadPhase = function (broadPhase) {
+var oldBroadPhase = this.m_contactManager.m_broadPhase;
+this.m_contactManager.m_broadPhase = broadPhase;
+for (var b = this.m_bodyList; b; b = b.m_next) {
+for (var f = b.m_fixtureList; f; f = f.m_next) {
+f.m_proxy = broadPhase.CreateProxy(oldBroadPhase.GetFatAABB(f.m_proxy), f);
+}
+}
+}
+b2World.prototype.Validate = function () {
+this.m_contactManager.m_broadPhase.Validate();
+}
+b2World.prototype.GetProxyCount = function () {
+return this.m_contactManager.m_broadPhase.GetProxyCount();
+}
+b2World.prototype.CreateBody = function (def) {
+if (this.IsLocked() == true) {
+return null;
+}
+var b = new b2Body(def, this);
+b.m_prev = null;
+b.m_next = this.m_bodyList;
+if (this.m_bodyList) {
+this.m_bodyList.m_prev = b;
+}
+this.m_bodyList = b;
+++this.m_bodyCount;
+return b;
+}
+b2World.prototype.DestroyBody = function (b) {
+if (this.IsLocked() == true) {
+return;
+}
+var jn = b.m_jointList;
+while (jn) {
+var jn0 = jn;
+jn = jn.next;
+if (this.m_destructionListener) {
+this.m_destructionListener.SayGoodbyeJoint(jn0.joint);
+}
+this.DestroyJoint(jn0.joint);
+}
+var coe = b.m_controllerList;
+while (coe) {
+var coe0 = coe;
+coe = coe.nextController;
+coe0.controller.RemoveBody(b);
+}
+var ce = b.m_contactList;
+while (ce) {
+var ce0 = ce;
+ce = ce.next;
+this.m_contactManager.Destroy(ce0.contact);
+}
+b.m_contactList = null;
+var f = b.m_fixtureList;
+while (f) {
+var f0 = f;
+f = f.m_next;
+if (this.m_destructionListener) {
+this.m_destructionListener.SayGoodbyeFixture(f0);
+}
+f0.DestroyProxy(this.m_contactManager.m_broadPhase);
+f0.Destroy();
+}
+b.m_fixtureList = null;
+b.m_fixtureCount = 0;
+if (b.m_prev) {
+b.m_prev.m_next = b.m_next;
+}
+if (b.m_next) {
+b.m_next.m_prev = b.m_prev;
+}
+if (b == this.m_bodyList) {
+this.m_bodyList = b.m_next;
+}--this.m_bodyCount;
+}
+b2World.prototype.CreateJoint = function (def) {
+var j = b2Joint.Create(def, null);
+j.m_prev = null;
+j.m_next = this.m_jointList;
+if (this.m_jointList) {
+this.m_jointList.m_prev = j;
+}
+this.m_jointList = j;
+++this.m_jointCount;
+j.m_edgeA.joint = j;
+j.m_edgeA.other = j.m_bodyB;
+j.m_edgeA.prev = null;
+j.m_edgeA.next = j.m_bodyA.m_jointList;
+if (j.m_bodyA.m_jointList) j.m_bodyA.m_jointList.prev = j.m_edgeA;
+j.m_bodyA.m_jointList = j.m_edgeA;
+j.m_edgeB.joint = j;
+j.m_edgeB.other = j.m_bodyA;
+j.m_edgeB.prev = null;
+j.m_edgeB.next = j.m_bodyB.m_jointList;
+if (j.m_bodyB.m_jointList) j.m_bodyB.m_jointList.prev = j.m_edgeB;
+j.m_bodyB.m_jointList = j.m_edgeB;
+var bodyA = def.bodyA;
+var bodyB = def.bodyB;
+if (def.collideConnected == false) {
+var edge = bodyB.GetContactList();
+while (edge) {
+if (edge.other == bodyA) {
+edge.contact.FlagForFiltering();
+}
+edge = edge.next;
+}
+}
+return j;
+}
+b2World.prototype.DestroyJoint = function (j) {
+var collideConnected = j.m_collideConnected;
+if (j.m_prev) {
+j.m_prev.m_next = j.m_next;
+}
+if (j.m_next) {
+j.m_next.m_prev = j.m_prev;
+}
+if (j == this.m_jointList) {
+this.m_jointList = j.m_next;
+}
+var bodyA = j.m_bodyA;
+var bodyB = j.m_bodyB;
+bodyA.SetAwake(true);
+bodyB.SetAwake(true);
+if (j.m_edgeA.prev) {
+j.m_edgeA.prev.next = j.m_edgeA.next;
+}
+if (j.m_edgeA.next) {
+j.m_edgeA.next.prev = j.m_edgeA.prev;
+}
+if (j.m_edgeA == bodyA.m_jointList) {
+bodyA.m_jointList = j.m_edgeA.next;
+}
+j.m_edgeA.prev = null;
+j.m_edgeA.next = null;
+if (j.m_edgeB.prev) {
+j.m_edgeB.prev.next = j.m_edgeB.next;
+}
+if (j.m_edgeB.next) {
+j.m_edgeB.next.prev = j.m_edgeB.prev;
+}
+if (j.m_edgeB == bodyB.m_jointList) {
+bodyB.m_jointList = j.m_edgeB.next;
+}
+j.m_edgeB.prev = null;
+j.m_edgeB.next = null;
+b2Joint.Destroy(j, null);
+--this.m_jointCount;
+if (collideConnected == false) {
+var edge = bodyB.GetContactList();
+while (edge) {
+if (edge.other == bodyA) {
+edge.contact.FlagForFiltering();
+}
+edge = edge.next;
+}
+}
+}
+b2World.prototype.AddController = function (c) {
+c.m_next = this.m_controllerList;
+c.m_prev = null;
+this.m_controllerList = c;
+c.m_world = this;
+this.m_controllerCount++;
+return c;
+}
+b2World.prototype.RemoveController = function (c) {
+if (c.m_prev) c.m_prev.m_next = c.m_next;
+if (c.m_next) c.m_next.m_prev = c.m_prev;
+if (this.m_controllerList == c) this.m_controllerList = c.m_next;
+this.m_controllerCount--;
+}
+b2World.prototype.CreateController = function (controller) {
+if (controller.m_world != this) throw new Error("Controller can only be a member of one world");
+controller.m_next = this.m_controllerList;
+controller.m_prev = null;
+if (this.m_controllerList) this.m_controllerList.m_prev = controller;
+this.m_controllerList = controller;
+++this.m_controllerCount;
+controller.m_world = this;
+return controller;
+}
+b2World.prototype.DestroyController = function (controller) {
+controller.Clear();
+if (controller.m_next) controller.m_next.m_prev = controller.m_prev;
+if (controller.m_prev) controller.m_prev.m_next = controller.m_next;
+if (controller == this.m_controllerList) this.m_controllerList = controller.m_next;
+--this.m_controllerCount;
+}
+b2World.prototype.SetWarmStarting = function (flag) {
+b2World.m_warmStarting = flag;
+}
+b2World.prototype.SetContinuousPhysics = function (flag) {
+b2World.m_continuousPhysics = flag;
+}
+b2World.prototype.GetBodyCount = function () {
+return this.m_bodyCount;
+}
+b2World.prototype.GetJointCount = function () {
+return this.m_jointCount;
+}
+b2World.prototype.GetContactCount = function () {
+return this.m_contactCount;
+}
+b2World.prototype.SetGravity = function (gravity) {
+this.m_gravity = gravity;
+}
+b2World.prototype.GetGravity = function () {
+return this.m_gravity;
+}
+b2World.prototype.GetGroundBody = function () {
+return this.m_groundBody;
+}
+b2World.prototype.Step = function (dt, velocityIterations, positionIterations) {
+if (dt === undefined) dt = 0;
+if (velocityIterations === undefined) velocityIterations = 0;
+if (positionIterations === undefined) positionIterations = 0;
+if (this.m_flags & b2World.e_newFixture) {
+this.m_contactManager.FindNewContacts();
+this.m_flags &= ~b2World.e_newFixture;
+}
+this.m_flags |= b2World.e_locked;
+var step = b2World.s_timestep2;
+step.dt = dt;
+step.velocityIterations = velocityIterations;
+step.positionIterations = positionIterations;
+if (dt > 0.0) {
+step.inv_dt = 1.0 / dt;
+}
+else {
+step.inv_dt = 0.0;
+}
+step.dtRatio = this.m_inv_dt0 * dt;
+step.warmStarting = b2World.m_warmStarting;
+this.m_contactManager.Collide();
+if (step.dt > 0.0) {
+this.Solve(step);
+}
+if (b2World.m_continuousPhysics && step.dt > 0.0) {
+this.SolveTOI(step);
+}
+if (step.dt > 0.0) {
+this.m_inv_dt0 = step.inv_dt;
+}
+this.m_flags &= ~b2World.e_locked;
+}
+b2World.prototype.ClearForces = function () {
+for (var body = this.m_bodyList; body; body = body.m_next) {
+body.m_force.SetZero();
+body.m_torque = 0.0;
+}
+}
+b2World.prototype.DrawDebugData = function () {
+if (this.m_debugDraw == null) {
+return;
+}
+this.m_debugDraw.m_sprite.graphics.clear();
+var flags = this.m_debugDraw.GetFlags();
+var i = 0;
+var b;
+var f;
+var s;
+var j;
+var bp;
+var invQ = new b2Vec2;
+var x1 = new b2Vec2;
+var x2 = new b2Vec2;
+var xf;
+var b1 = new b2AABB();
+var b2 = new b2AABB();
+var vs = [new b2Vec2(), new b2Vec2(), new b2Vec2(), new b2Vec2()];
+var color = new b2Color(0, 0, 0);
+if (flags & b2DebugDraw.e_shapeBit) {
+for (b = this.m_bodyList;
+b; b = b.m_next) {
+xf = b.m_xf;
+for (f = b.GetFixtureList();
+f; f = f.m_next) {
+s = f.GetShape();
+if (b.IsActive() == false) {
+color.Set(0.5, 0.5, 0.3);
+this.DrawShape(s, xf, color);
+}
+else if (b.GetType() == b2Body.b2_staticBody) {
+color.Set(0.5, 0.9, 0.5);
+this.DrawShape(s, xf, color);
+}
+else if (b.GetType() == b2Body.b2_kinematicBody) {
+color.Set(0.5, 0.5, 0.9);
+this.DrawShape(s, xf, color);
+}
+else if (b.IsAwake() == false) {
+color.Set(0.6, 0.6, 0.6);
+this.DrawShape(s, xf, color);
+}
+else {
+color.Set(0.9, 0.7, 0.7);
+this.DrawShape(s, xf, color);
+}
+}
+}
+}
+if (flags & b2DebugDraw.e_jointBit) {
+for (j = this.m_jointList;
+j; j = j.m_next) {
+this.DrawJoint(j);
+}
+}
+if (flags & b2DebugDraw.e_controllerBit) {
+for (var c = this.m_controllerList; c; c = c.m_next) {
+c.Draw(this.m_debugDraw);
+}
+}
+if (flags & b2DebugDraw.e_pairBit) {
+color.Set(0.3, 0.9, 0.9);
+for (var contact = this.m_contactManager.m_contactList; contact; contact = contact.GetNext()) {
+var fixtureA = contact.GetFixtureA();
+var fixtureB = contact.GetFixtureB();
+var cA = fixtureA.GetAABB().GetCenter();
+var cB = fixtureB.GetAABB().GetCenter();
+this.m_debugDraw.DrawSegment(cA, cB, color);
+}
+}
+if (flags & b2DebugDraw.e_aabbBit) {
+bp = this.m_contactManager.m_broadPhase;
+vs = [new b2Vec2(), new b2Vec2(), new b2Vec2(), new b2Vec2()];
+for (b = this.m_bodyList;
+b; b = b.GetNext()) {
+if (b.IsActive() == false) {
+continue;
+}
+for (f = b.GetFixtureList();
+f; f = f.GetNext()) {
+var aabb = bp.GetFatAABB(f.m_proxy);
+vs[0].Set(aabb.lowerBound.x, aabb.lowerBound.y);
+vs[1].Set(aabb.upperBound.x, aabb.lowerBound.y);
+vs[2].Set(aabb.upperBound.x, aabb.upperBound.y);
+vs[3].Set(aabb.lowerBound.x, aabb.upperBound.y);
+this.m_debugDraw.DrawPolygon(vs, 4, color);
+}
+}
+}
+if (flags & b2DebugDraw.e_centerOfMassBit) {
+for (b = this.m_bodyList;
+b; b = b.m_next) {
+xf = b2World.s_xf;
+xf.R = b.m_xf.R;
+xf.position = b.GetWorldCenter();
+this.m_debugDraw.DrawTransform(xf);
+}
+}
+}
+b2World.prototype.QueryAABB = function (callback, aabb) {
+var __this = this;
+var broadPhase = __this.m_contactManager.m_broadPhase;
+function WorldQueryWrapper(proxy) {
+return callback(broadPhase.GetUserData(proxy));
+};
+broadPhase.Query(WorldQueryWrapper, aabb);
+}
+b2World.prototype.QueryShape = function (callback, shape, transform) {
+var __this = this;
+if (transform === undefined) transform = null;
+if (transform == null) {
+transform = new b2Transform();
+transform.SetIdentity();
+}
+var broadPhase = __this.m_contactManager.m_broadPhase;
+function WorldQueryWrapper(proxy) {
+var fixture = (broadPhase.GetUserData(proxy) instanceof b2Fixture ? broadPhase.GetUserData(proxy) : null);
+if (b2Shape.TestOverlap(shape, transform, fixture.GetShape(), fixture.GetBody().GetTransform())) return callback(fixture);
+return true;
+};
+var aabb = new b2AABB();
+shape.ComputeAABB(aabb, transform);
+broadPhase.Query(WorldQueryWrapper, aabb);
+}
+b2World.prototype.QueryPoint = function (callback, p) {
+var __this = this;
+var broadPhase = __this.m_contactManager.m_broadPhase;
+function WorldQueryWrapper(proxy) {
+var fixture = (broadPhase.GetUserData(proxy) instanceof b2Fixture ? broadPhase.GetUserData(proxy) : null);
+if (fixture.TestPoint(p)) return callback(fixture);
+return true;
+};
+var aabb = new b2AABB();
+aabb.lowerBound.Set(p.x - b2Settings.b2_linearSlop, p.y - b2Settings.b2_linearSlop);
+aabb.upperBound.Set(p.x + b2Settings.b2_linearSlop, p.y + b2Settings.b2_linearSlop);
+broadPhase.Query(WorldQueryWrapper, aabb);
+}
+b2World.prototype.RayCast = function (callback, point1, point2) {
+var __this = this;
+var broadPhase = __this.m_contactManager.m_broadPhase;
+var output = new b2RayCastOutput;
+function RayCastWrapper(input, proxy) {
+var userData = broadPhase.GetUserData(proxy);
+var fixture = (userData instanceof b2Fixture ? userData : null);
+var hit = fixture.RayCast(output, input);
+if (hit) {
+var fraction = output.fraction;
+var point = new b2Vec2((1.0 - fraction) * point1.x + fraction * point2.x, (1.0 - fraction) * point1.y + fraction * point2.y);
+return callback(fixture, point, output.normal, fraction);
+}
+return input.maxFraction;
+};
+var input = new b2RayCastInput(point1, point2);
+broadPhase.RayCast(RayCastWrapper, input);
+}
+b2World.prototype.RayCastOne = function (point1, point2) {
+var __this = this;
+var result;
+function RayCastOneWrapper(fixture, point, normal, fraction) {
+if (fraction === undefined) fraction = 0;
+result = fixture;
+return fraction;
+};
+__this.RayCast(RayCastOneWrapper, point1, point2);
+return result;
+}
+b2World.prototype.RayCastAll = function (point1, point2) {
+var __this = this;
+var result = new Vector();
+function RayCastAllWrapper(fixture, point, normal, fraction) {
+if (fraction === undefined) fraction = 0;
+result[result.length] = fixture;
+return 1;
+};
+__this.RayCast(RayCastAllWrapper, point1, point2);
+return result;
+}
+b2World.prototype.GetBodyList = function () {
+return this.m_bodyList;
+}
+b2World.prototype.GetJointList = function () {
+return this.m_jointList;
+}
+b2World.prototype.GetContactList = function () {
+return this.m_contactList;
+}
+b2World.prototype.IsLocked = function () {
+return (this.m_flags & b2World.e_locked) > 0;
+}
+b2World.prototype.Solve = function (step) {
+var b;
+for (var controller = this.m_controllerList; controller; controller = controller.m_next) {
+controller.Step(step);
+}
+var island = this.m_island;
+island.Initialize(this.m_bodyCount, this.m_contactCount, this.m_jointCount, null, this.m_contactManager.m_contactListener, this.m_contactSolver);
+for (b = this.m_bodyList;
+b; b = b.m_next) {
+b.m_flags &= ~b2Body.e_islandFlag;
+}
+for (var c = this.m_contactList; c; c = c.m_next) {
+c.m_flags &= ~b2Contact.e_islandFlag;
+}
+for (var j = this.m_jointList; j; j = j.m_next) {
+j.m_islandFlag = false;
+}
+var stackSize = parseInt(this.m_bodyCount);
+var stack = this.s_stack;
+for (var seed = this.m_bodyList; seed; seed = seed.m_next) {
+if (seed.m_flags & b2Body.e_islandFlag) {
+continue;
+}
+if (seed.IsAwake() == false || seed.IsActive() == false) {
+continue;
+}
+if (seed.GetType() == b2Body.b2_staticBody) {
+continue;
+}
+island.Clear();
+var stackCount = 0;
+stack[stackCount++] = seed;
+seed.m_flags |= b2Body.e_islandFlag;
+while (stackCount > 0) {
+b = stack[--stackCount];
+island.AddBody(b);
+if (b.IsAwake() == false) {
+b.SetAwake(true);
+}
+if (b.GetType() == b2Body.b2_staticBody) {
+continue;
+}
+var other;
+for (var ce = b.m_contactList; ce; ce = ce.next) {
+if (ce.contact.m_flags & b2Contact.e_islandFlag) {
+continue;
+}
+if (ce.contact.IsSensor() == true || ce.contact.IsEnabled() == false || ce.contact.IsTouching() == false) {
+continue;
+}
+island.AddContact(ce.contact);
+ce.contact.m_flags |= b2Contact.e_islandFlag;
+other = ce.other;
+if (other.m_flags & b2Body.e_islandFlag) {
+continue;
+}
+stack[stackCount++] = other;
+other.m_flags |= b2Body.e_islandFlag;
+}
+for (var jn = b.m_jointList; jn; jn = jn.next) {
+if (jn.joint.m_islandFlag == true) {
+continue;
+}
+other = jn.other;
+if (other.IsActive() == false) {
+continue;
+}
+island.AddJoint(jn.joint);
+jn.joint.m_islandFlag = true;
+if (other.m_flags & b2Body.e_islandFlag) {
+continue;
+}
+stack[stackCount++] = other;
+other.m_flags |= b2Body.e_islandFlag;
+}
+}
+island.Solve(step, this.m_gravity, this.m_allowSleep);
+for (var i = 0; i < island.m_bodyCount; ++i) {
+b = island.m_bodies[i];
+if (b.GetType() == b2Body.b2_staticBody) {
+b.m_flags &= ~b2Body.e_islandFlag;
+}
+}
+}
+for (i = 0;
+i < stack.length; ++i) {
+if (!stack[i]) break;
+stack[i] = null;
+}
+for (b = this.m_bodyList;
+b; b = b.m_next) {
+if (b.IsAwake() == false || b.IsActive() == false) {
+continue;
+}
+if (b.GetType() == b2Body.b2_staticBody) {
+continue;
+}
+b.SynchronizeFixtures();
+}
+this.m_contactManager.FindNewContacts();
+}
+b2World.prototype.SolveTOI = function (step) {
+var b;
+var fA;
+var fB;
+var bA;
+var bB;
+var cEdge;
+var j;
+var island = this.m_island;
+island.Initialize(this.m_bodyCount, b2Settings.b2_maxTOIContactsPerIsland, b2Settings.b2_maxTOIJointsPerIsland, null, this.m_contactManager.m_contactListener, this.m_contactSolver);
+var queue = b2World.s_queue;
+for (b = this.m_bodyList;
+b; b = b.m_next) {
+b.m_flags &= ~b2Body.e_islandFlag;
+b.m_sweep.t0 = 0.0;
+}
+var c;
+for (c = this.m_contactList;
+c; c = c.m_next) {
+c.m_flags &= ~ (b2Contact.e_toiFlag | b2Contact.e_islandFlag);
+}
+for (j = this.m_jointList;
+j; j = j.m_next) {
+j.m_islandFlag = false;
+}
+for (;;) {
+var minContact = null;
+var minTOI = 1.0;
+for (c = this.m_contactList;
+c; c = c.m_next) {
+if (c.IsSensor() == true || c.IsEnabled() == false || c.IsContinuous() == false) {
+continue;
+}
+var toi = 1.0;
+if (c.m_flags & b2Contact.e_toiFlag) {
+toi = c.m_toi;
+}
+else {
+fA = c.m_fixtureA;
+fB = c.m_fixtureB;
+bA = fA.m_body;
+bB = fB.m_body;
+if ((bA.GetType() != b2Body.b2_dynamicBody || bA.IsAwake() == false) && (bB.GetType() != b2Body.b2_dynamicBody || bB.IsAwake() == false)) {
+continue;
+}
+var t0 = bA.m_sweep.t0;
+if (bA.m_sweep.t0 < bB.m_sweep.t0) {
+t0 = bB.m_sweep.t0;
+bA.m_sweep.Advance(t0);
+}
+else if (bB.m_sweep.t0 < bA.m_sweep.t0) {
+t0 = bA.m_sweep.t0;
+bB.m_sweep.Advance(t0);
+}
+toi = c.ComputeTOI(bA.m_sweep, bB.m_sweep);
+b2Settings.b2Assert(0.0 <= toi && toi <= 1.0);
+if (toi > 0.0 && toi < 1.0) {
+toi = (1.0 - toi) * t0 + toi;
+if (toi > 1) toi = 1;
+}
+c.m_toi = toi;
+c.m_flags |= b2Contact.e_toiFlag;
+}
+if (Number.MIN_VALUE < toi && toi < minTOI) {
+minContact = c;
+minTOI = toi;
+}
+}
+if (minContact == null || 1.0 - 100.0 * Number.MIN_VALUE < minTOI) {
+break;
+}
+fA = minContact.m_fixtureA;
+fB = minContact.m_fixtureB;
+bA = fA.m_body;
+bB = fB.m_body;
+b2World.s_backupA.Set(bA.m_sweep);
+b2World.s_backupB.Set(bB.m_sweep);
+bA.Advance(minTOI);
+bB.Advance(minTOI);
+minContact.Update(this.m_contactManager.m_contactListener);
+minContact.m_flags &= ~b2Contact.e_toiFlag;
+if (minContact.IsSensor() == true || minContact.IsEnabled() == false) {
+bA.m_sweep.Set(b2World.s_backupA);
+bB.m_sweep.Set(b2World.s_backupB);
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+continue;
+}
+if (minContact.IsTouching() == false) {
+continue;
+}
+var seed = bA;
+if (seed.GetType() != b2Body.b2_dynamicBody) {
+seed = bB;
+}
+island.Clear();
+var queueStart = 0;
+var queueSize = 0;
+queue[queueStart + queueSize++] = seed;
+seed.m_flags |= b2Body.e_islandFlag;
+while (queueSize > 0) {
+b = queue[queueStart++];
+--queueSize;
+island.AddBody(b);
+if (b.IsAwake() == false) {
+b.SetAwake(true);
+}
+if (b.GetType() != b2Body.b2_dynamicBody) {
+continue;
+}
+for (cEdge = b.m_contactList;
+cEdge; cEdge = cEdge.next) {
+if (island.m_contactCount == island.m_contactCapacity) {
+break;
+}
+if (cEdge.contact.m_flags & b2Contact.e_islandFlag) {
+continue;
+}
+if (cEdge.contact.IsSensor() == true || cEdge.contact.IsEnabled() == false || cEdge.contact.IsTouching() == false) {
+continue;
+}
+island.AddContact(cEdge.contact);
+cEdge.contact.m_flags |= b2Contact.e_islandFlag;
+var other = cEdge.other;
+if (other.m_flags & b2Body.e_islandFlag) {
+continue;
+}
+if (other.GetType() != b2Body.b2_staticBody) {
+other.Advance(minTOI);
+other.SetAwake(true);
+}
+queue[queueStart + queueSize] = other;
+++queueSize;
+other.m_flags |= b2Body.e_islandFlag;
+}
+for (var jEdge = b.m_jointList; jEdge; jEdge = jEdge.next) {
+if (island.m_jointCount == island.m_jointCapacity) continue;
+if (jEdge.joint.m_islandFlag == true) continue;
+other = jEdge.other;
+if (other.IsActive() == false) {
+continue;
+}
+island.AddJoint(jEdge.joint);
+jEdge.joint.m_islandFlag = true;
+if (other.m_flags & b2Body.e_islandFlag) continue;
+if (other.GetType() != b2Body.b2_staticBody) {
+other.Advance(minTOI);
+other.SetAwake(true);
+}
+queue[queueStart + queueSize] = other;
+++queueSize;
+other.m_flags |= b2Body.e_islandFlag;
+}
+}
+var subStep = b2World.s_timestep;
+subStep.warmStarting = false;
+subStep.dt = (1.0 - minTOI) * step.dt;
+subStep.inv_dt = 1.0 / subStep.dt;
+subStep.dtRatio = 0.0;
+subStep.velocityIterations = step.velocityIterations;
+subStep.positionIterations = step.positionIterations;
+island.SolveTOI(subStep);
+var i = 0;
+for (i = 0;
+i < island.m_bodyCount; ++i) {
+b = island.m_bodies[i];
+b.m_flags &= ~b2Body.e_islandFlag;
+if (b.IsAwake() == false) {
+continue;
+}
+if (b.GetType() != b2Body.b2_dynamicBody) {
+continue;
+}
+b.SynchronizeFixtures();
+for (cEdge = b.m_contactList;
+cEdge; cEdge = cEdge.next) {
+cEdge.contact.m_flags &= ~b2Contact.e_toiFlag;
+}
+}
+for (i = 0;
+i < island.m_contactCount; ++i) {
+c = island.m_contacts[i];
+c.m_flags &= ~ (b2Contact.e_toiFlag | b2Contact.e_islandFlag);
+}
+for (i = 0;
+i < island.m_jointCount; ++i) {
+j = island.m_joints[i];
+j.m_islandFlag = false;
+}
+this.m_contactManager.FindNewContacts();
+}
+}
+b2World.prototype.DrawJoint = function (joint) {
+var b1 = joint.GetBodyA();
+var b2 = joint.GetBodyB();
+var xf1 = b1.m_xf;
+var xf2 = b2.m_xf;
+var x1 = xf1.position;
+var x2 = xf2.position;
+var p1 = joint.GetAnchorA();
+var p2 = joint.GetAnchorB();
+var color = b2World.s_jointColor;
+switch (joint.m_type) {
+case b2Joint.e_distanceJoint:
+this.m_debugDraw.DrawSegment(p1, p2, color);
+break;
+case b2Joint.e_pulleyJoint:
+{
+var pulley = ((joint instanceof b2PulleyJoint ? joint : null));
+var s1 = pulley.GetGroundAnchorA();
+var s2 = pulley.GetGroundAnchorB();
+this.m_debugDraw.DrawSegment(s1, p1, color);
+this.m_debugDraw.DrawSegment(s2, p2, color);
+this.m_debugDraw.DrawSegment(s1, s2, color);
+}
+break;
+case b2Joint.e_mouseJoint:
+this.m_debugDraw.DrawSegment(p1, p2, color);
+break;
+default:
+if (b1 != this.m_groundBody) this.m_debugDraw.DrawSegment(x1, p1, color);
+this.m_debugDraw.DrawSegment(p1, p2, color);
+if (b2 != this.m_groundBody) this.m_debugDraw.DrawSegment(x2, p2, color);
+}
+}
+b2World.prototype.DrawShape = function (shape, xf, color) {
+switch (shape.m_type) {
+case b2Shape.e_circleShape:
+{
+var circle = ((shape instanceof b2CircleShape ? shape : null));
+var center = b2Math.MulX(xf, circle.m_p);
+var radius = circle.m_radius;
+var axis = xf.R.col1;
+this.m_debugDraw.DrawSolidCircle(center, radius, axis, color);
+}
+break;
+case b2Shape.e_polygonShape:
+{
+var i = 0;
+var poly = ((shape instanceof b2PolygonShape ? shape : null));
+var vertexCount = parseInt(poly.GetVertexCount());
+var localVertices = poly.GetVertices();
+var vertices = new Vector(vertexCount);
+for (i = 0;
+i < vertexCount; ++i) {
+vertices[i] = b2Math.MulX(xf, localVertices[i]);
+}
+this.m_debugDraw.DrawSolidPolygon(vertices, vertexCount, color);
+}
+break;
+case b2Shape.e_edgeShape:
+{
+var edge = (shape instanceof b2EdgeShape ? shape : null);
+this.m_debugDraw.DrawSegment(b2Math.MulX(xf, edge.GetVertex1()), b2Math.MulX(xf, edge.GetVertex2()), color);
+}
+break;
+}
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.b2World.s_timestep2 = new b2TimeStep();
+Box2D.Dynamics.b2World.s_xf = new b2Transform();
+Box2D.Dynamics.b2World.s_backupA = new b2Sweep();
+Box2D.Dynamics.b2World.s_backupB = new b2Sweep();
+Box2D.Dynamics.b2World.s_timestep = new b2TimeStep();
+Box2D.Dynamics.b2World.s_queue = new Vector();
+Box2D.Dynamics.b2World.s_jointColor = new b2Color(0.5, 0.8, 0.8);
+Box2D.Dynamics.b2World.e_newFixture = 0x0001;
+Box2D.Dynamics.b2World.e_locked = 0x0002;
+});
+})();
+(function () {
+var b2CircleShape = Box2D.Collision.Shapes.b2CircleShape,
+b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef,
+b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape,
+b2MassData = Box2D.Collision.Shapes.b2MassData,
+b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape,
+b2Shape = Box2D.Collision.Shapes.b2Shape,
+b2CircleContact = Box2D.Dynamics.Contacts.b2CircleContact,
+b2Contact = Box2D.Dynamics.Contacts.b2Contact,
+b2ContactConstraint = Box2D.Dynamics.Contacts.b2ContactConstraint,
+b2ContactConstraintPoint = Box2D.Dynamics.Contacts.b2ContactConstraintPoint,
+b2ContactEdge = Box2D.Dynamics.Contacts.b2ContactEdge,
+b2ContactFactory = Box2D.Dynamics.Contacts.b2ContactFactory,
+b2ContactRegister = Box2D.Dynamics.Contacts.b2ContactRegister,
+b2ContactResult = Box2D.Dynamics.Contacts.b2ContactResult,
+b2ContactSolver = Box2D.Dynamics.Contacts.b2ContactSolver,
+b2EdgeAndCircleContact = Box2D.Dynamics.Contacts.b2EdgeAndCircleContact,
+b2NullContact = Box2D.Dynamics.Contacts.b2NullContact,
+b2PolyAndCircleContact = Box2D.Dynamics.Contacts.b2PolyAndCircleContact,
+b2PolyAndEdgeContact = Box2D.Dynamics.Contacts.b2PolyAndEdgeContact,
+b2PolygonContact = Box2D.Dynamics.Contacts.b2PolygonContact,
+b2PositionSolverManifold = Box2D.Dynamics.Contacts.b2PositionSolverManifold,
+b2Body = Box2D.Dynamics.b2Body,
+b2BodyDef = Box2D.Dynamics.b2BodyDef,
+b2ContactFilter = Box2D.Dynamics.b2ContactFilter,
+b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse,
+b2ContactListener = Box2D.Dynamics.b2ContactListener,
+b2ContactManager = Box2D.Dynamics.b2ContactManager,
+b2DebugDraw = Box2D.Dynamics.b2DebugDraw,
+b2DestructionListener = Box2D.Dynamics.b2DestructionListener,
+b2FilterData = Box2D.Dynamics.b2FilterData,
+b2Fixture = Box2D.Dynamics.b2Fixture,
+b2FixtureDef = Box2D.Dynamics.b2FixtureDef,
+b2Island = Box2D.Dynamics.b2Island,
+b2TimeStep = Box2D.Dynamics.b2TimeStep,
+b2World = Box2D.Dynamics.b2World,
+b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3,
+b2AABB = Box2D.Collision.b2AABB,
+b2Bound = Box2D.Collision.b2Bound,
+b2BoundValues = Box2D.Collision.b2BoundValues,
+b2Collision = Box2D.Collision.b2Collision,
+b2ContactID = Box2D.Collision.b2ContactID,
+b2ContactPoint = Box2D.Collision.b2ContactPoint,
+b2Distance = Box2D.Collision.b2Distance,
+b2DistanceInput = Box2D.Collision.b2DistanceInput,
+b2DistanceOutput = Box2D.Collision.b2DistanceOutput,
+b2DistanceProxy = Box2D.Collision.b2DistanceProxy,
+b2DynamicTree = Box2D.Collision.b2DynamicTree,
+b2DynamicTreeBroadPhase = Box2D.Collision.b2DynamicTreeBroadPhase,
+b2DynamicTreeNode = Box2D.Collision.b2DynamicTreeNode,
+b2DynamicTreePair = Box2D.Collision.b2DynamicTreePair,
+b2Manifold = Box2D.Collision.b2Manifold,
+b2ManifoldPoint = Box2D.Collision.b2ManifoldPoint,
+b2Point = Box2D.Collision.b2Point,
+b2RayCastInput = Box2D.Collision.b2RayCastInput,
+b2RayCastOutput = Box2D.Collision.b2RayCastOutput,
+b2Segment = Box2D.Collision.b2Segment,
+b2SeparationFunction = Box2D.Collision.b2SeparationFunction,
+b2Simplex = Box2D.Collision.b2Simplex,
+b2SimplexCache = Box2D.Collision.b2SimplexCache,
+b2SimplexVertex = Box2D.Collision.b2SimplexVertex,
+b2TimeOfImpact = Box2D.Collision.b2TimeOfImpact,
+b2TOIInput = Box2D.Collision.b2TOIInput,
+b2WorldManifold = Box2D.Collision.b2WorldManifold,
+ClipVertex = Box2D.Collision.ClipVertex,
+Features = Box2D.Collision.Features,
+IBroadPhase = Box2D.Collision.IBroadPhase;
+Box2D.inherit(b2CircleContact, Box2D.Dynamics.Contacts.b2Contact);
+b2CircleContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype;
+b2CircleContact.b2CircleContact = function () {
+Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments);
+};
+b2CircleContact.Create = function (allocator) {
+return new b2CircleContact();
+}
+b2CircleContact.Destroy = function (contact, allocator) {}
+b2CircleContact.prototype.Reset = function (fixtureA, fixtureB) {
+this.__super.Reset.call(this, fixtureA, fixtureB);
+}
+b2CircleContact.prototype.Evaluate = function () {
+var bA = this.m_fixtureA.GetBody();
+var bB = this.m_fixtureB.GetBody();
+b2Collision.CollideCircles(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2CircleShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2CircleShape ? this.m_fixtureB.GetShape() : null), bB.m_xf);
+}
+b2Contact.b2Contact = function () {
+this.m_nodeA = new b2ContactEdge();
+this.m_nodeB = new b2ContactEdge();
+this.m_manifold = new b2Manifold();
+this.m_oldManifold = new b2Manifold();
+};
+b2Contact.prototype.GetManifold = function () {
+return this.m_manifold;
+}
+b2Contact.prototype.GetWorldManifold = function (worldManifold) {
+var bodyA = this.m_fixtureA.GetBody();
+var bodyB = this.m_fixtureB.GetBody();
+var shapeA = this.m_fixtureA.GetShape();
+var shapeB = this.m_fixtureB.GetShape();
+worldManifold.Initialize(this.m_manifold, bodyA.GetTransform(), shapeA.m_radius, bodyB.GetTransform(), shapeB.m_radius);
+}
+b2Contact.prototype.IsTouching = function () {
+return (this.m_flags & b2Contact.e_touchingFlag) == b2Contact.e_touchingFlag;
+}
+b2Contact.prototype.IsContinuous = function () {
+return (this.m_flags & b2Contact.e_continuousFlag) == b2Contact.e_continuousFlag;
+}
+b2Contact.prototype.SetSensor = function (sensor) {
+if (sensor) {
+this.m_flags |= b2Contact.e_sensorFlag;
+}
+else {
+this.m_flags &= ~b2Contact.e_sensorFlag;
+}
+}
+b2Contact.prototype.IsSensor = function () {
+return (this.m_flags & b2Contact.e_sensorFlag) == b2Contact.e_sensorFlag;
+}
+b2Contact.prototype.SetEnabled = function (flag) {
+if (flag) {
+this.m_flags |= b2Contact.e_enabledFlag;
+}
+else {
+this.m_flags &= ~b2Contact.e_enabledFlag;
+}
+}
+b2Contact.prototype.IsEnabled = function () {
+return (this.m_flags & b2Contact.e_enabledFlag) == b2Contact.e_enabledFlag;
+}
+b2Contact.prototype.GetNext = function () {
+return this.m_next;
+}
+b2Contact.prototype.GetFixtureA = function () {
+return this.m_fixtureA;
+}
+b2Contact.prototype.GetFixtureB = function () {
+return this.m_fixtureB;
+}
+b2Contact.prototype.FlagForFiltering = function () {
+this.m_flags |= b2Contact.e_filterFlag;
+}
+b2Contact.prototype.b2Contact = function () {}
+b2Contact.prototype.Reset = function (fixtureA, fixtureB) {
+if (fixtureA === undefined) fixtureA = null;
+if (fixtureB === undefined) fixtureB = null;
+this.m_flags = b2Contact.e_enabledFlag;
+if (!fixtureA || !fixtureB) {
+this.m_fixtureA = null;
+this.m_fixtureB = null;
+return;
+}
+if (fixtureA.IsSensor() || fixtureB.IsSensor()) {
+this.m_flags |= b2Contact.e_sensorFlag;
+}
+var bodyA = fixtureA.GetBody();
+var bodyB = fixtureB.GetBody();
+if (bodyA.GetType() != b2Body.b2_dynamicBody || bodyA.IsBullet() || bodyB.GetType() != b2Body.b2_dynamicBody || bodyB.IsBullet()) {
+this.m_flags |= b2Contact.e_continuousFlag;
+}
+this.m_fixtureA = fixtureA;
+this.m_fixtureB = fixtureB;
+this.m_manifold.m_pointCount = 0;
+this.m_prev = null;
+this.m_next = null;
+this.m_nodeA.contact = null;
+this.m_nodeA.prev = null;
+this.m_nodeA.next = null;
+this.m_nodeA.other = null;
+this.m_nodeB.contact = null;
+this.m_nodeB.prev = null;
+this.m_nodeB.next = null;
+this.m_nodeB.other = null;
+}
+b2Contact.prototype.Update = function (listener) {
+var tManifold = this.m_oldManifold;
+this.m_oldManifold = this.m_manifold;
+this.m_manifold = tManifold;
+this.m_flags |= b2Contact.e_enabledFlag;
+var touching = false;
+var wasTouching = (this.m_flags & b2Contact.e_touchingFlag) == b2Contact.e_touchingFlag;
+var bodyA = this.m_fixtureA.m_body;
+var bodyB = this.m_fixtureB.m_body;
+var aabbOverlap = this.m_fixtureA.m_aabb.TestOverlap(this.m_fixtureB.m_aabb);
+if (this.m_flags & b2Contact.e_sensorFlag) {
+if (aabbOverlap) {
+var shapeA = this.m_fixtureA.GetShape();
+var shapeB = this.m_fixtureB.GetShape();
+var xfA = bodyA.GetTransform();
+var xfB = bodyB.GetTransform();
+touching = b2Shape.TestOverlap(shapeA, xfA, shapeB, xfB);
+}
+this.m_manifold.m_pointCount = 0;
+}
+else {
+if (bodyA.GetType() != b2Body.b2_dynamicBody || bodyA.IsBullet() || bodyB.GetType() != b2Body.b2_dynamicBody || bodyB.IsBullet()) {
+this.m_flags |= b2Contact.e_continuousFlag;
+}
+else {
+this.m_flags &= ~b2Contact.e_continuousFlag;
+}
+if (aabbOverlap) {
+this.Evaluate();
+touching = this.m_manifold.m_pointCount > 0;
+for (var i = 0; i < this.m_manifold.m_pointCount; ++i) {
+var mp2 = this.m_manifold.m_points[i];
+mp2.m_normalImpulse = 0.0;
+mp2.m_tangentImpulse = 0.0;
+var id2 = mp2.m_id;
+for (var j = 0; j < this.m_oldManifold.m_pointCount; ++j) {
+var mp1 = this.m_oldManifold.m_points[j];
+if (mp1.m_id.key == id2.key) {
+mp2.m_normalImpulse = mp1.m_normalImpulse;
+mp2.m_tangentImpulse = mp1.m_tangentImpulse;
+break;
+}
+}
+}
+}
+else {
+this.m_manifold.m_pointCount = 0;
+}
+if (touching != wasTouching) {
+bodyA.SetAwake(true);
+bodyB.SetAwake(true);
+}
+}
+if (touching) {
+this.m_flags |= b2Contact.e_touchingFlag;
+}
+else {
+this.m_flags &= ~b2Contact.e_touchingFlag;
+}
+if (wasTouching == false && touching == true) {
+listener.BeginContact(this);
+}
+if (wasTouching == true && touching == false) {
+listener.EndContact(this);
+}
+if ((this.m_flags & b2Contact.e_sensorFlag) == 0) {
+listener.PreSolve(this, this.m_oldManifold);
+}
+}
+b2Contact.prototype.Evaluate = function () {}
+b2Contact.prototype.ComputeTOI = function (sweepA, sweepB) {
+b2Contact.s_input.proxyA.Set(this.m_fixtureA.GetShape());
+b2Contact.s_input.proxyB.Set(this.m_fixtureB.GetShape());
+b2Contact.s_input.sweepA = sweepA;
+b2Contact.s_input.sweepB = sweepB;
+b2Contact.s_input.tolerance = b2Settings.b2_linearSlop;
+return b2TimeOfImpact.TimeOfImpact(b2Contact.s_input);
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.Contacts.b2Contact.e_sensorFlag = 0x0001;
+Box2D.Dynamics.Contacts.b2Contact.e_continuousFlag = 0x0002;
+Box2D.Dynamics.Contacts.b2Contact.e_islandFlag = 0x0004;
+Box2D.Dynamics.Contacts.b2Contact.e_toiFlag = 0x0008;
+Box2D.Dynamics.Contacts.b2Contact.e_touchingFlag = 0x0010;
+Box2D.Dynamics.Contacts.b2Contact.e_enabledFlag = 0x0020;
+Box2D.Dynamics.Contacts.b2Contact.e_filterFlag = 0x0040;
+Box2D.Dynamics.Contacts.b2Contact.s_input = new b2TOIInput();
+});
+b2ContactConstraint.b2ContactConstraint = function () {
+this.localPlaneNormal = new b2Vec2();
+this.localPoint = new b2Vec2();
+this.normal = new b2Vec2();
+this.normalMass = new b2Mat22();
+this.K = new b2Mat22();
+};
+b2ContactConstraint.prototype.b2ContactConstraint = function () {
+this.points = new Vector(b2Settings.b2_maxManifoldPoints);
+for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) {
+this.points[i] = new b2ContactConstraintPoint();
+}
+}
+b2ContactConstraintPoint.b2ContactConstraintPoint = function () {
+this.localPoint = new b2Vec2();
+this.rA = new b2Vec2();
+this.rB = new b2Vec2();
+};
+b2ContactEdge.b2ContactEdge = function () {};
+b2ContactFactory.b2ContactFactory = function () {};
+b2ContactFactory.prototype.b2ContactFactory = function (allocator) {
+this.m_allocator = allocator;
+this.InitializeRegisters();
+}
+b2ContactFactory.prototype.AddType = function (createFcn, destroyFcn, type1, type2) {
+if (type1 === undefined) type1 = 0;
+if (type2 === undefined) type2 = 0;
+this.m_registers[type1][type2].createFcn = createFcn;
+this.m_registers[type1][type2].destroyFcn = destroyFcn;
+this.m_registers[type1][type2].primary = true;
+if (type1 != type2) {
+this.m_registers[type2][type1].createFcn = createFcn;
+this.m_registers[type2][type1].destroyFcn = destroyFcn;
+this.m_registers[type2][type1].primary = false;
+}
+}
+b2ContactFactory.prototype.InitializeRegisters = function () {
+this.m_registers = new Vector(b2Shape.e_shapeTypeCount);
+for (var i = 0; i < b2Shape.e_shapeTypeCount; i++) {
+this.m_registers[i] = new Vector(b2Shape.e_shapeTypeCount);
+for (var j = 0; j < b2Shape.e_shapeTypeCount; j++) {
+this.m_registers[i][j] = new b2ContactRegister();
+}
+}
+this.AddType(b2CircleContact.Create, b2CircleContact.Destroy, b2Shape.e_circleShape, b2Shape.e_circleShape);
+this.AddType(b2PolyAndCircleContact.Create, b2PolyAndCircleContact.Destroy, b2Shape.e_polygonShape, b2Shape.e_circleShape);
+this.AddType(b2PolygonContact.Create, b2PolygonContact.Destroy, b2Shape.e_polygonShape, b2Shape.e_polygonShape);
+this.AddType(b2EdgeAndCircleContact.Create, b2EdgeAndCircleContact.Destroy, b2Shape.e_edgeShape, b2Shape.e_circleShape);
+this.AddType(b2PolyAndEdgeContact.Create, b2PolyAndEdgeContact.Destroy, b2Shape.e_polygonShape, b2Shape.e_edgeShape);
+}
+b2ContactFactory.prototype.Create = function (fixtureA, fixtureB) {
+var type1 = parseInt(fixtureA.GetType());
+var type2 = parseInt(fixtureB.GetType());
+var reg = this.m_registers[type1][type2];
+var c;
+if (reg.pool) {
+c = reg.pool;
+reg.pool = c.m_next;
+reg.poolCount--;
+c.Reset(fixtureA, fixtureB);
+return c;
+}
+var createFcn = reg.createFcn;
+if (createFcn != null) {
+if (reg.primary) {
+c = createFcn(this.m_allocator);
+c.Reset(fixtureA, fixtureB);
+return c;
+}
+else {
+c = createFcn(this.m_allocator);
+c.Reset(fixtureB, fixtureA);
+return c;
+}
+}
+else {
+return null;
+}
+}
+b2ContactFactory.prototype.Destroy = function (contact) {
+if (contact.m_manifold.m_pointCount > 0) {
+contact.m_fixtureA.m_body.SetAwake(true);
+contact.m_fixtureB.m_body.SetAwake(true);
+}
+var type1 = parseInt(contact.m_fixtureA.GetType());
+var type2 = parseInt(contact.m_fixtureB.GetType());
+var reg = this.m_registers[type1][type2];
+if (true) {
+reg.poolCount++;
+contact.m_next = reg.pool;
+reg.pool = contact;
+}
+var destroyFcn = reg.destroyFcn;
+destroyFcn(contact, this.m_allocator);
+}
+b2ContactRegister.b2ContactRegister = function () {};
+b2ContactResult.b2ContactResult = function () {
+this.position = new b2Vec2();
+this.normal = new b2Vec2();
+this.id = new b2ContactID();
+};
+b2ContactSolver.b2ContactSolver = function () {
+this.m_step = new b2TimeStep();
+this.m_constraints = new Vector();
+};
+b2ContactSolver.prototype.b2ContactSolver = function () {}
+b2ContactSolver.prototype.Initialize = function (step, contacts, contactCount, allocator) {
+if (contactCount === undefined) contactCount = 0;
+var contact;
+this.m_step.Set(step);
+this.m_allocator = allocator;
+var i = 0;
+var tVec;
+var tMat;
+this.m_constraintCount = contactCount;
+while (this.m_constraints.length < this.m_constraintCount) {
+this.m_constraints[this.m_constraints.length] = new b2ContactConstraint();
+}
+for (i = 0;
+i < contactCount; ++i) {
+contact = contacts[i];
+var fixtureA = contact.m_fixtureA;
+var fixtureB = contact.m_fixtureB;
+var shapeA = fixtureA.m_shape;
+var shapeB = fixtureB.m_shape;
+var radiusA = shapeA.m_radius;
+var radiusB = shapeB.m_radius;
+var bodyA = fixtureA.m_body;
+var bodyB = fixtureB.m_body;
+var manifold = contact.GetManifold();
+var friction = b2Settings.b2MixFriction(fixtureA.GetFriction(), fixtureB.GetFriction());
+var restitution = b2Settings.b2MixRestitution(fixtureA.GetRestitution(), fixtureB.GetRestitution());
+var vAX = bodyA.m_linearVelocity.x;
+var vAY = bodyA.m_linearVelocity.y;
+var vBX = bodyB.m_linearVelocity.x;
+var vBY = bodyB.m_linearVelocity.y;
+var wA = bodyA.m_angularVelocity;
+var wB = bodyB.m_angularVelocity;
+b2Settings.b2Assert(manifold.m_pointCount > 0);
+b2ContactSolver.s_worldManifold.Initialize(manifold, bodyA.m_xf, radiusA, bodyB.m_xf, radiusB);
+var normalX = b2ContactSolver.s_worldManifold.m_normal.x;
+var normalY = b2ContactSolver.s_worldManifold.m_normal.y;
+var cc = this.m_constraints[i];
+cc.bodyA = bodyA;
+cc.bodyB = bodyB;
+cc.manifold = manifold;
+cc.normal.x = normalX;
+cc.normal.y = normalY;
+cc.pointCount = manifold.m_pointCount;
+cc.friction = friction;
+cc.restitution = restitution;
+cc.localPlaneNormal.x = manifold.m_localPlaneNormal.x;
+cc.localPlaneNormal.y = manifold.m_localPlaneNormal.y;
+cc.localPoint.x = manifold.m_localPoint.x;
+cc.localPoint.y = manifold.m_localPoint.y;
+cc.radius = radiusA + radiusB;
+cc.type = manifold.m_type;
+for (var k = 0; k < cc.pointCount; ++k) {
+var cp = manifold.m_points[k];
+var ccp = cc.points[k];
+ccp.normalImpulse = cp.m_normalImpulse;
+ccp.tangentImpulse = cp.m_tangentImpulse;
+ccp.localPoint.SetV(cp.m_localPoint);
+var rAX = ccp.rA.x = b2ContactSolver.s_worldManifold.m_points[k].x - bodyA.m_sweep.c.x;
+var rAY = ccp.rA.y = b2ContactSolver.s_worldManifold.m_points[k].y - bodyA.m_sweep.c.y;
+var rBX = ccp.rB.x = b2ContactSolver.s_worldManifold.m_points[k].x - bodyB.m_sweep.c.x;
+var rBY = ccp.rB.y = b2ContactSolver.s_worldManifold.m_points[k].y - bodyB.m_sweep.c.y;
+var rnA = rAX * normalY - rAY * normalX;
+var rnB = rBX * normalY - rBY * normalX;
+rnA *= rnA;
+rnB *= rnB;
+var kNormal = bodyA.m_invMass + bodyB.m_invMass + bodyA.m_invI * rnA + bodyB.m_invI * rnB;
+ccp.normalMass = 1.0 / kNormal;
+var kEqualized = bodyA.m_mass * bodyA.m_invMass + bodyB.m_mass * bodyB.m_invMass;
+kEqualized += bodyA.m_mass * bodyA.m_invI * rnA + bodyB.m_mass * bodyB.m_invI * rnB;
+ccp.equalizedMass = 1.0 / kEqualized;
+var tangentX = normalY;
+var tangentY = (-normalX);
+var rtA = rAX * tangentY - rAY * tangentX;
+var rtB = rBX * tangentY - rBY * tangentX;
+rtA *= rtA;
+rtB *= rtB;
+var kTangent = bodyA.m_invMass + bodyB.m_invMass + bodyA.m_invI * rtA + bodyB.m_invI * rtB;
+ccp.tangentMass = 1.0 / kTangent;
+ccp.velocityBias = 0.0;
+var tX = vBX + ((-wB * rBY)) - vAX - ((-wA * rAY));
+var tY = vBY + (wB * rBX) - vAY - (wA * rAX);
+var vRel = cc.normal.x * tX + cc.normal.y * tY;
+if (vRel < (-b2Settings.b2_velocityThreshold)) {
+ccp.velocityBias += (-cc.restitution * vRel);
+}
+}
+if (cc.pointCount == 2) {
+var ccp1 = cc.points[0];
+var ccp2 = cc.points[1];
+var invMassA = bodyA.m_invMass;
+var invIA = bodyA.m_invI;
+var invMassB = bodyB.m_invMass;
+var invIB = bodyB.m_invI;
+var rn1A = ccp1.rA.x * normalY - ccp1.rA.y * normalX;
+var rn1B = ccp1.rB.x * normalY - ccp1.rB.y * normalX;
+var rn2A = ccp2.rA.x * normalY - ccp2.rA.y * normalX;
+var rn2B = ccp2.rB.x * normalY - ccp2.rB.y * normalX;
+var k11 = invMassA + invMassB + invIA * rn1A * rn1A + invIB * rn1B * rn1B;
+var k22 = invMassA + invMassB + invIA * rn2A * rn2A + invIB * rn2B * rn2B;
+var k12 = invMassA + invMassB + invIA * rn1A * rn2A + invIB * rn1B * rn2B;
+var k_maxConditionNumber = 100.0;
+if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12)) {
+cc.K.col1.Set(k11, k12);
+cc.K.col2.Set(k12, k22);
+cc.K.GetInverse(cc.normalMass);
+}
+else {
+cc.pointCount = 1;
+}
+}
+}
+}
+b2ContactSolver.prototype.InitVelocityConstraints = function (step) {
+var tVec;
+var tVec2;
+var tMat;
+for (var i = 0; i < this.m_constraintCount; ++i) {
+var c = this.m_constraints[i];
+var bodyA = c.bodyA;
+var bodyB = c.bodyB;
+var invMassA = bodyA.m_invMass;
+var invIA = bodyA.m_invI;
+var invMassB = bodyB.m_invMass;
+var invIB = bodyB.m_invI;
+var normalX = c.normal.x;
+var normalY = c.normal.y;
+var tangentX = normalY;
+var tangentY = (-normalX);
+var tX = 0;
+var j = 0;
+var tCount = 0;
+if (step.warmStarting) {
+tCount = c.pointCount;
+for (j = 0;
+j < tCount; ++j) {
+var ccp = c.points[j];
+ccp.normalImpulse *= step.dtRatio;
+ccp.tangentImpulse *= step.dtRatio;
+var PX = ccp.normalImpulse * normalX + ccp.tangentImpulse * tangentX;
+var PY = ccp.normalImpulse * normalY + ccp.tangentImpulse * tangentY;
+bodyA.m_angularVelocity -= invIA * (ccp.rA.x * PY - ccp.rA.y * PX);
+bodyA.m_linearVelocity.x -= invMassA * PX;
+bodyA.m_linearVelocity.y -= invMassA * PY;
+bodyB.m_angularVelocity += invIB * (ccp.rB.x * PY - ccp.rB.y * PX);
+bodyB.m_linearVelocity.x += invMassB * PX;
+bodyB.m_linearVelocity.y += invMassB * PY;
+}
+}
+else {
+tCount = c.pointCount;
+for (j = 0;
+j < tCount; ++j) {
+var ccp2 = c.points[j];
+ccp2.normalImpulse = 0.0;
+ccp2.tangentImpulse = 0.0;
+}
+}
+}
+}
+b2ContactSolver.prototype.SolveVelocityConstraints = function () {
+var j = 0;
+var ccp;
+var rAX = 0;
+var rAY = 0;
+var rBX = 0;
+var rBY = 0;
+var dvX = 0;
+var dvY = 0;
+var vn = 0;
+var vt = 0;
+var lambda = 0;
+var maxFriction = 0;
+var newImpulse = 0;
+var PX = 0;
+var PY = 0;
+var dX = 0;
+var dY = 0;
+var P1X = 0;
+var P1Y = 0;
+var P2X = 0;
+var P2Y = 0;
+var tMat;
+var tVec;
+for (var i = 0; i < this.m_constraintCount; ++i) {
+var c = this.m_constraints[i];
+var bodyA = c.bodyA;
+var bodyB = c.bodyB;
+var wA = bodyA.m_angularVelocity;
+var wB = bodyB.m_angularVelocity;
+var vA = bodyA.m_linearVelocity;
+var vB = bodyB.m_linearVelocity;
+var invMassA = bodyA.m_invMass;
+var invIA = bodyA.m_invI;
+var invMassB = bodyB.m_invMass;
+var invIB = bodyB.m_invI;
+var normalX = c.normal.x;
+var normalY = c.normal.y;
+var tangentX = normalY;
+var tangentY = (-normalX);
+var friction = c.friction;
+var tX = 0;
+for (j = 0;
+j < c.pointCount; j++) {
+ccp = c.points[j];
+dvX = vB.x - wB * ccp.rB.y - vA.x + wA * ccp.rA.y;
+dvY = vB.y + wB * ccp.rB.x - vA.y - wA * ccp.rA.x;
+vt = dvX * tangentX + dvY * tangentY;
+lambda = ccp.tangentMass * (-vt);
+maxFriction = friction * ccp.normalImpulse;
+newImpulse = b2Math.Clamp(ccp.tangentImpulse + lambda, (-maxFriction), maxFriction);
+lambda = newImpulse - ccp.tangentImpulse;
+PX = lambda * tangentX;
+PY = lambda * tangentY;
+vA.x -= invMassA * PX;
+vA.y -= invMassA * PY;
+wA -= invIA * (ccp.rA.x * PY - ccp.rA.y * PX);
+vB.x += invMassB * PX;
+vB.y += invMassB * PY;
+wB += invIB * (ccp.rB.x * PY - ccp.rB.y * PX);
+ccp.tangentImpulse = newImpulse;
+}
+var tCount = parseInt(c.pointCount);
+if (c.pointCount == 1) {
+ccp = c.points[0];
+dvX = vB.x + ((-wB * ccp.rB.y)) - vA.x - ((-wA * ccp.rA.y));
+dvY = vB.y + (wB * ccp.rB.x) - vA.y - (wA * ccp.rA.x);
+vn = dvX * normalX + dvY * normalY;
+lambda = (-ccp.normalMass * (vn - ccp.velocityBias));
+newImpulse = ccp.normalImpulse + lambda;
+newImpulse = newImpulse > 0 ? newImpulse : 0.0;
+lambda = newImpulse - ccp.normalImpulse;
+PX = lambda * normalX;
+PY = lambda * normalY;
+vA.x -= invMassA * PX;
+vA.y -= invMassA * PY;
+wA -= invIA * (ccp.rA.x * PY - ccp.rA.y * PX);
+vB.x += invMassB * PX;
+vB.y += invMassB * PY;
+wB += invIB * (ccp.rB.x * PY - ccp.rB.y * PX);
+ccp.normalImpulse = newImpulse;
+}
+else {
+var cp1 = c.points[0];
+var cp2 = c.points[1];
+var aX = cp1.normalImpulse;
+var aY = cp2.normalImpulse;
+var dv1X = vB.x - wB * cp1.rB.y - vA.x + wA * cp1.rA.y;
+var dv1Y = vB.y + wB * cp1.rB.x - vA.y - wA * cp1.rA.x;
+var dv2X = vB.x - wB * cp2.rB.y - vA.x + wA * cp2.rA.y;
+var dv2Y = vB.y + wB * cp2.rB.x - vA.y - wA * cp2.rA.x;
+var vn1 = dv1X * normalX + dv1Y * normalY;
+var vn2 = dv2X * normalX + dv2Y * normalY;
+var bX = vn1 - cp1.velocityBias;
+var bY = vn2 - cp2.velocityBias;
+tMat = c.K;
+bX -= tMat.col1.x * aX + tMat.col2.x * aY;
+bY -= tMat.col1.y * aX + tMat.col2.y * aY;
+var k_errorTol = 0.001;
+for (;;) {
+tMat = c.normalMass;
+var xX = (-(tMat.col1.x * bX + tMat.col2.x * bY));
+var xY = (-(tMat.col1.y * bX + tMat.col2.y * bY));
+if (xX >= 0.0 && xY >= 0.0) {
+dX = xX - aX;
+dY = xY - aY;
+P1X = dX * normalX;
+P1Y = dX * normalY;
+P2X = dY * normalX;
+P2Y = dY * normalY;
+vA.x -= invMassA * (P1X + P2X);
+vA.y -= invMassA * (P1Y + P2Y);
+wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X);
+vB.x += invMassB * (P1X + P2X);
+vB.y += invMassB * (P1Y + P2Y);
+wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X);
+cp1.normalImpulse = xX;
+cp2.normalImpulse = xY;
+break;
+}
+xX = (-cp1.normalMass * bX);
+xY = 0.0;
+vn1 = 0.0;
+vn2 = c.K.col1.y * xX + bY;
+if (xX >= 0.0 && vn2 >= 0.0) {
+dX = xX - aX;
+dY = xY - aY;
+P1X = dX * normalX;
+P1Y = dX * normalY;
+P2X = dY * normalX;
+P2Y = dY * normalY;
+vA.x -= invMassA * (P1X + P2X);
+vA.y -= invMassA * (P1Y + P2Y);
+wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X);
+vB.x += invMassB * (P1X + P2X);
+vB.y += invMassB * (P1Y + P2Y);
+wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X);
+cp1.normalImpulse = xX;
+cp2.normalImpulse = xY;
+break;
+}
+xX = 0.0;
+xY = (-cp2.normalMass * bY);
+vn1 = c.K.col2.x * xY + bX;
+vn2 = 0.0;
+if (xY >= 0.0 && vn1 >= 0.0) {
+dX = xX - aX;
+dY = xY - aY;
+P1X = dX * normalX;
+P1Y = dX * normalY;
+P2X = dY * normalX;
+P2Y = dY * normalY;
+vA.x -= invMassA * (P1X + P2X);
+vA.y -= invMassA * (P1Y + P2Y);
+wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X);
+vB.x += invMassB * (P1X + P2X);
+vB.y += invMassB * (P1Y + P2Y);
+wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X);
+cp1.normalImpulse = xX;
+cp2.normalImpulse = xY;
+break;
+}
+xX = 0.0;
+xY = 0.0;
+vn1 = bX;
+vn2 = bY;
+if (vn1 >= 0.0 && vn2 >= 0.0) {
+dX = xX - aX;
+dY = xY - aY;
+P1X = dX * normalX;
+P1Y = dX * normalY;
+P2X = dY * normalX;
+P2Y = dY * normalY;
+vA.x -= invMassA * (P1X + P2X);
+vA.y -= invMassA * (P1Y + P2Y);
+wA -= invIA * (cp1.rA.x * P1Y - cp1.rA.y * P1X + cp2.rA.x * P2Y - cp2.rA.y * P2X);
+vB.x += invMassB * (P1X + P2X);
+vB.y += invMassB * (P1Y + P2Y);
+wB += invIB * (cp1.rB.x * P1Y - cp1.rB.y * P1X + cp2.rB.x * P2Y - cp2.rB.y * P2X);
+cp1.normalImpulse = xX;
+cp2.normalImpulse = xY;
+break;
+}
+break;
+}
+}
+bodyA.m_angularVelocity = wA;
+bodyB.m_angularVelocity = wB;
+}
+}
+b2ContactSolver.prototype.FinalizeVelocityConstraints = function () {
+for (var i = 0; i < this.m_constraintCount; ++i) {
+var c = this.m_constraints[i];
+var m = c.manifold;
+for (var j = 0; j < c.pointCount; ++j) {
+var point1 = m.m_points[j];
+var point2 = c.points[j];
+point1.m_normalImpulse = point2.normalImpulse;
+point1.m_tangentImpulse = point2.tangentImpulse;
+}
+}
+}
+b2ContactSolver.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var minSeparation = 0.0;
+for (var i = 0; i < this.m_constraintCount; i++) {
+var c = this.m_constraints[i];
+var bodyA = c.bodyA;
+var bodyB = c.bodyB;
+var invMassA = bodyA.m_mass * bodyA.m_invMass;
+var invIA = bodyA.m_mass * bodyA.m_invI;
+var invMassB = bodyB.m_mass * bodyB.m_invMass;
+var invIB = bodyB.m_mass * bodyB.m_invI;
+b2ContactSolver.s_psm.Initialize(c);
+var normal = b2ContactSolver.s_psm.m_normal;
+for (var j = 0; j < c.pointCount; j++) {
+var ccp = c.points[j];
+var point = b2ContactSolver.s_psm.m_points[j];
+var separation = b2ContactSolver.s_psm.m_separations[j];
+var rAX = point.x - bodyA.m_sweep.c.x;
+var rAY = point.y - bodyA.m_sweep.c.y;
+var rBX = point.x - bodyB.m_sweep.c.x;
+var rBY = point.y - bodyB.m_sweep.c.y;
+minSeparation = minSeparation < separation ? minSeparation : separation;
+var C = b2Math.Clamp(baumgarte * (separation + b2Settings.b2_linearSlop), (-b2Settings.b2_maxLinearCorrection), 0.0);
+var impulse = (-ccp.equalizedMass * C);
+var PX = impulse * normal.x;
+var PY = impulse * normal.y;bodyA.m_sweep.c.x -= invMassA * PX;
+bodyA.m_sweep.c.y -= invMassA * PY;
+bodyA.m_sweep.a -= invIA * (rAX * PY - rAY * PX);
+bodyA.SynchronizeTransform();
+bodyB.m_sweep.c.x += invMassB * PX;
+bodyB.m_sweep.c.y += invMassB * PY;
+bodyB.m_sweep.a += invIB * (rBX * PY - rBY * PX);
+bodyB.SynchronizeTransform();
+}
+}
+return minSeparation > (-1.5 * b2Settings.b2_linearSlop);
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.Contacts.b2ContactSolver.s_worldManifold = new b2WorldManifold();
+Box2D.Dynamics.Contacts.b2ContactSolver.s_psm = new b2PositionSolverManifold();
+});
+Box2D.inherit(b2EdgeAndCircleContact, Box2D.Dynamics.Contacts.b2Contact);
+b2EdgeAndCircleContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype;
+b2EdgeAndCircleContact.b2EdgeAndCircleContact = function () {
+Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments);
+};
+b2EdgeAndCircleContact.Create = function (allocator) {
+return new b2EdgeAndCircleContact();
+}
+b2EdgeAndCircleContact.Destroy = function (contact, allocator) {}
+b2EdgeAndCircleContact.prototype.Reset = function (fixtureA, fixtureB) {
+this.__super.Reset.call(this, fixtureA, fixtureB);
+}
+b2EdgeAndCircleContact.prototype.Evaluate = function () {
+var bA = this.m_fixtureA.GetBody();
+var bB = this.m_fixtureB.GetBody();
+this.b2CollideEdgeAndCircle(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2EdgeShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2CircleShape ? this.m_fixtureB.GetShape() : null), bB.m_xf);
+}
+b2EdgeAndCircleContact.prototype.b2CollideEdgeAndCircle = function (manifold, edge, xf1, circle, xf2) {}
+Box2D.inherit(b2NullContact, Box2D.Dynamics.Contacts.b2Contact);
+b2NullContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype;
+b2NullContact.b2NullContact = function () {
+Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments);
+};
+b2NullContact.prototype.b2NullContact = function () {
+this.__super.b2Contact.call(this);
+}
+b2NullContact.prototype.Evaluate = function () {}
+Box2D.inherit(b2PolyAndCircleContact, Box2D.Dynamics.Contacts.b2Contact);
+b2PolyAndCircleContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype;
+b2PolyAndCircleContact.b2PolyAndCircleContact = function () {
+Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments);
+};
+b2PolyAndCircleContact.Create = function (allocator) {
+return new b2PolyAndCircleContact();
+}
+b2PolyAndCircleContact.Destroy = function (contact, allocator) {}
+b2PolyAndCircleContact.prototype.Reset = function (fixtureA, fixtureB) {
+this.__super.Reset.call(this, fixtureA, fixtureB);
+b2Settings.b2Assert(fixtureA.GetType() == b2Shape.e_polygonShape);
+b2Settings.b2Assert(fixtureB.GetType() == b2Shape.e_circleShape);
+}
+b2PolyAndCircleContact.prototype.Evaluate = function () {
+var bA = this.m_fixtureA.m_body;
+var bB = this.m_fixtureB.m_body;
+b2Collision.CollidePolygonAndCircle(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2PolygonShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2CircleShape ? this.m_fixtureB.GetShape() : null), bB.m_xf);
+}
+Box2D.inherit(b2PolyAndEdgeContact, Box2D.Dynamics.Contacts.b2Contact);
+b2PolyAndEdgeContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype;
+b2PolyAndEdgeContact.b2PolyAndEdgeContact = function () {
+Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments);
+};
+b2PolyAndEdgeContact.Create = function (allocator) {
+return new b2PolyAndEdgeContact();
+}
+b2PolyAndEdgeContact.Destroy = function (contact, allocator) {}
+b2PolyAndEdgeContact.prototype.Reset = function (fixtureA, fixtureB) {
+this.__super.Reset.call(this, fixtureA, fixtureB);
+b2Settings.b2Assert(fixtureA.GetType() == b2Shape.e_polygonShape);
+b2Settings.b2Assert(fixtureB.GetType() == b2Shape.e_edgeShape);
+}
+b2PolyAndEdgeContact.prototype.Evaluate = function () {
+var bA = this.m_fixtureA.GetBody();
+var bB = this.m_fixtureB.GetBody();
+this.b2CollidePolyAndEdge(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2PolygonShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2EdgeShape ? this.m_fixtureB.GetShape() : null), bB.m_xf);
+}
+b2PolyAndEdgeContact.prototype.b2CollidePolyAndEdge = function (manifold, polygon, xf1, edge, xf2) {}
+Box2D.inherit(b2PolygonContact, Box2D.Dynamics.Contacts.b2Contact);
+b2PolygonContact.prototype.__super = Box2D.Dynamics.Contacts.b2Contact.prototype;
+b2PolygonContact.b2PolygonContact = function () {
+Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this, arguments);
+};
+b2PolygonContact.Create = function (allocator) {
+return new b2PolygonContact();
+}
+b2PolygonContact.Destroy = function (contact, allocator) {}
+b2PolygonContact.prototype.Reset = function (fixtureA, fixtureB) {
+this.__super.Reset.call(this, fixtureA, fixtureB);
+}
+b2PolygonContact.prototype.Evaluate = function () {
+var bA = this.m_fixtureA.GetBody();
+var bB = this.m_fixtureB.GetBody();
+b2Collision.CollidePolygons(this.m_manifold, (this.m_fixtureA.GetShape() instanceof b2PolygonShape ? this.m_fixtureA.GetShape() : null), bA.m_xf, (this.m_fixtureB.GetShape() instanceof b2PolygonShape ? this.m_fixtureB.GetShape() : null), bB.m_xf);
+}
+b2PositionSolverManifold.b2PositionSolverManifold = function () {};
+b2PositionSolverManifold.prototype.b2PositionSolverManifold = function () {
+this.m_normal = new b2Vec2();
+this.m_separations = new Vector_a2j_Number(b2Settings.b2_maxManifoldPoints);
+this.m_points = new Vector(b2Settings.b2_maxManifoldPoints);
+for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++) {
+this.m_points[i] = new b2Vec2();
+}
+}
+b2PositionSolverManifold.prototype.Initialize = function (cc) {
+b2Settings.b2Assert(cc.pointCount > 0);
+var i = 0;
+var clipPointX = 0;
+var clipPointY = 0;
+var tMat;
+var tVec;
+var planePointX = 0;
+var planePointY = 0;
+switch (cc.type) {
+case b2Manifold.e_circles:
+{
+tMat = cc.bodyA.m_xf.R;
+tVec = cc.localPoint;
+var pointAX = cc.bodyA.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var pointAY = cc.bodyA.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tMat = cc.bodyB.m_xf.R;
+tVec = cc.points[0].localPoint;
+var pointBX = cc.bodyB.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+var pointBY = cc.bodyB.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+var dX = pointBX - pointAX;
+var dY = pointBY - pointAY;
+var d2 = dX * dX + dY * dY;
+if (d2 > Number.MIN_VALUE * Number.MIN_VALUE) {
+var d = Math.sqrt(d2);
+this.m_normal.x = dX / d;
+this.m_normal.y = dY / d;
+}
+else {
+this.m_normal.x = 1.0;
+this.m_normal.y = 0.0;
+}
+this.m_points[0].x = 0.5 * (pointAX + pointBX);
+this.m_points[0].y = 0.5 * (pointAY + pointBY);
+this.m_separations[0] = dX * this.m_normal.x + dY * this.m_normal.y - cc.radius;
+}
+break;
+case b2Manifold.e_faceA:
+{
+tMat = cc.bodyA.m_xf.R;
+tVec = cc.localPlaneNormal;
+this.m_normal.x = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+this.m_normal.y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tMat = cc.bodyA.m_xf.R;
+tVec = cc.localPoint;
+planePointX = cc.bodyA.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+planePointY = cc.bodyA.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tMat = cc.bodyB.m_xf.R;
+for (i = 0;
+i < cc.pointCount; ++i) {
+tVec = cc.points[i].localPoint;
+clipPointX = cc.bodyB.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+clipPointY = cc.bodyB.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+this.m_separations[i] = (clipPointX - planePointX) * this.m_normal.x + (clipPointY - planePointY) * this.m_normal.y - cc.radius;
+this.m_points[i].x = clipPointX;
+this.m_points[i].y = clipPointY;
+}
+}
+break;
+case b2Manifold.e_faceB:
+{
+tMat = cc.bodyB.m_xf.R;
+tVec = cc.localPlaneNormal;
+this.m_normal.x = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+this.m_normal.y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tMat = cc.bodyB.m_xf.R;
+tVec = cc.localPoint;
+planePointX = cc.bodyB.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+planePointY = cc.bodyB.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+tMat = cc.bodyA.m_xf.R;
+for (i = 0;
+i < cc.pointCount; ++i) {
+tVec = cc.points[i].localPoint;
+clipPointX = cc.bodyA.m_xf.position.x + (tMat.col1.x * tVec.x + tMat.col2.x * tVec.y);
+clipPointY = cc.bodyA.m_xf.position.y + (tMat.col1.y * tVec.x + tMat.col2.y * tVec.y);
+this.m_separations[i] = (clipPointX - planePointX) * this.m_normal.x + (clipPointY - planePointY) * this.m_normal.y - cc.radius;
+this.m_points[i].Set(clipPointX, clipPointY);
+}
+this.m_normal.x *= (-1);
+this.m_normal.y *= (-1);
+}
+break;
+}
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointA = new b2Vec2();
+Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointB = new b2Vec2();
+});
+})();
+(function () {
+var b2Body = Box2D.Dynamics.b2Body,
+b2BodyDef = Box2D.Dynamics.b2BodyDef,
+b2ContactFilter = Box2D.Dynamics.b2ContactFilter,
+b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse,
+b2ContactListener = Box2D.Dynamics.b2ContactListener,
+b2ContactManager = Box2D.Dynamics.b2ContactManager,
+b2DebugDraw = Box2D.Dynamics.b2DebugDraw,
+b2DestructionListener = Box2D.Dynamics.b2DestructionListener,
+b2FilterData = Box2D.Dynamics.b2FilterData,
+b2Fixture = Box2D.Dynamics.b2Fixture,
+b2FixtureDef = Box2D.Dynamics.b2FixtureDef,
+b2Island = Box2D.Dynamics.b2Island,
+b2TimeStep = Box2D.Dynamics.b2TimeStep,
+b2World = Box2D.Dynamics.b2World,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3,
+b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2CircleShape = Box2D.Collision.Shapes.b2CircleShape,
+b2EdgeChainDef = Box2D.Collision.Shapes.b2EdgeChainDef,
+b2EdgeShape = Box2D.Collision.Shapes.b2EdgeShape,
+b2MassData = Box2D.Collision.Shapes.b2MassData,
+b2PolygonShape = Box2D.Collision.Shapes.b2PolygonShape,
+b2Shape = Box2D.Collision.Shapes.b2Shape,
+b2BuoyancyController = Box2D.Dynamics.Controllers.b2BuoyancyController,
+b2ConstantAccelController = Box2D.Dynamics.Controllers.b2ConstantAccelController,
+b2ConstantForceController = Box2D.Dynamics.Controllers.b2ConstantForceController,
+b2Controller = Box2D.Dynamics.Controllers.b2Controller,
+b2ControllerEdge = Box2D.Dynamics.Controllers.b2ControllerEdge,
+b2GravityController = Box2D.Dynamics.Controllers.b2GravityController,
+b2TensorDampingController = Box2D.Dynamics.Controllers.b2TensorDampingController;
+Box2D.inherit(b2BuoyancyController, Box2D.Dynamics.Controllers.b2Controller);
+b2BuoyancyController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype;
+b2BuoyancyController.b2BuoyancyController = function () {
+Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments);
+this.normal = new b2Vec2(0, (-1));
+this.offset = 0;
+this.density = 0;
+this.velocity = new b2Vec2(0, 0);
+this.linearDrag = 2;
+this.angularDrag = 1;
+this.useDensity = false;
+this.useWorldGravity = true;
+this.gravity = null;
+};
+b2BuoyancyController.prototype.Step = function (step) {
+if (!this.m_bodyList) return;
+if (this.useWorldGravity) {
+this.gravity = this.GetWorld().GetGravity().Copy();
+}
+for (var i = this.m_bodyList; i; i = i.nextBody) {
+var body = i.body;
+if (body.IsAwake() == false) {
+continue;
+}
+var areac = new b2Vec2();
+var massc = new b2Vec2();
+var area = 0.0;
+var mass = 0.0;
+for (var fixture = body.GetFixtureList(); fixture; fixture = fixture.GetNext()) {
+var sc = new b2Vec2();
+var sarea = fixture.GetShape().ComputeSubmergedArea(this.normal, this.offset, body.GetTransform(), sc);
+area += sarea;
+areac.x += sarea * sc.x;
+areac.y += sarea * sc.y;
+var shapeDensity = 0;
+if (this.useDensity) {
+shapeDensity = 1;
+}
+else {
+shapeDensity = 1;
+}
+mass += sarea * shapeDensity;
+massc.x += sarea * sc.x * shapeDensity;
+massc.y += sarea * sc.y * shapeDensity;
+}
+areac.x /= area;
+areac.y /= area;
+massc.x /= mass;
+massc.y /= mass;
+if (area < Number.MIN_VALUE) continue;
+var buoyancyForce = this.gravity.GetNegative();
+buoyancyForce.Multiply(this.density * area);
+body.ApplyForce(buoyancyForce, massc);
+var dragForce = body.GetLinearVelocityFromWorldPoint(areac);
+dragForce.Subtract(this.velocity);
+dragForce.Multiply((-this.linearDrag * area));
+body.ApplyForce(dragForce, areac);
+body.ApplyTorque((-body.GetInertia() / body.GetMass() * area * body.GetAngularVelocity() * this.angularDrag));
+}
+}
+b2BuoyancyController.prototype.Draw = function (debugDraw) {
+var r = 1000;
+var p1 = new b2Vec2();
+var p2 = new b2Vec2();
+p1.x = this.normal.x * this.offset + this.normal.y * r;
+p1.y = this.normal.y * this.offset - this.normal.x * r;
+p2.x = this.normal.x * this.offset - this.normal.y * r;
+p2.y = this.normal.y * this.offset + this.normal.x * r;
+var color = new b2Color(0, 0, 1);
+debugDraw.DrawSegment(p1, p2, color);
+}
+Box2D.inherit(b2ConstantAccelController, Box2D.Dynamics.Controllers.b2Controller);
+b2ConstantAccelController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype;
+b2ConstantAccelController.b2ConstantAccelController = function () {
+Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments);
+this.A = new b2Vec2(0, 0);
+};
+b2ConstantAccelController.prototype.Step = function (step) {
+var smallA = new b2Vec2(this.A.x * step.dt, this.A.y * step.dt);
+for (var i = this.m_bodyList; i; i = i.nextBody) {
+var body = i.body;
+if (!body.IsAwake()) continue;
+body.SetLinearVelocity(new b2Vec2(body.GetLinearVelocity().x + smallA.x, body.GetLinearVelocity().y + smallA.y));
+}
+}
+Box2D.inherit(b2ConstantForceController, Box2D.Dynamics.Controllers.b2Controller);
+b2ConstantForceController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype;
+b2ConstantForceController.b2ConstantForceController = function () {
+Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments);
+this.F = new b2Vec2(0, 0);
+};
+b2ConstantForceController.prototype.Step = function (step) {
+for (var i = this.m_bodyList; i; i = i.nextBody) {
+var body = i.body;
+if (!body.IsAwake()) continue;
+body.ApplyForce(this.F, body.GetWorldCenter());
+}
+}
+b2Controller.b2Controller = function () {};
+b2Controller.prototype.Step = function (step) {}
+b2Controller.prototype.Draw = function (debugDraw) {}
+b2Controller.prototype.AddBody = function (body) {
+var edge = new b2ControllerEdge();
+edge.controller = this;
+edge.body = body;
+edge.nextBody = this.m_bodyList;
+edge.prevBody = null;
+this.m_bodyList = edge;
+if (edge.nextBody) edge.nextBody.prevBody = edge;
+this.m_bodyCount++;
+edge.nextController = body.m_controllerList;
+edge.prevController = null;
+body.m_controllerList = edge;
+if (edge.nextController) edge.nextController.prevController = edge;
+body.m_controllerCount++;
+}
+b2Controller.prototype.RemoveBody = function (body) {
+var edge = body.m_controllerList;
+while (edge && edge.controller != this)
+edge = edge.nextController;
+if (edge.prevBody) edge.prevBody.nextBody = edge.nextBody;
+if (edge.nextBody) edge.nextBody.prevBody = edge.prevBody;
+if (edge.nextController) edge.nextController.prevController = edge.prevController;
+if (edge.prevController) edge.prevController.nextController = edge.nextController;
+if (this.m_bodyList == edge) this.m_bodyList = edge.nextBody;
+if (body.m_controllerList == edge) body.m_controllerList = edge.nextController;
+body.m_controllerCount--;
+this.m_bodyCount--;
+}
+b2Controller.prototype.Clear = function () {
+while (this.m_bodyList)
+this.RemoveBody(this.m_bodyList.body);
+}
+b2Controller.prototype.GetNext = function () {
+return this.m_next;
+}
+b2Controller.prototype.GetWorld = function () {
+return this.m_world;
+}
+b2Controller.prototype.GetBodyList = function () {
+return this.m_bodyList;
+}
+b2ControllerEdge.b2ControllerEdge = function () {};
+Box2D.inherit(b2GravityController, Box2D.Dynamics.Controllers.b2Controller);
+b2GravityController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype;
+b2GravityController.b2GravityController = function () {
+Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments);
+this.G = 1;
+this.invSqr = true;
+};
+b2GravityController.prototype.Step = function (step) {
+var i = null;
+var body1 = null;
+var p1 = null;
+var mass1 = 0;
+var j = null;
+var body2 = null;
+var p2 = null;
+var dx = 0;
+var dy = 0;
+var r2 = 0;
+var f = null;
+if (this.invSqr) {
+for (i = this.m_bodyList;
+i; i = i.nextBody) {
+body1 = i.body;
+p1 = body1.GetWorldCenter();
+mass1 = body1.GetMass();
+for (j = this.m_bodyList;
+j != i; j = j.nextBody) {
+body2 = j.body;
+p2 = body2.GetWorldCenter();
+dx = p2.x - p1.x;
+dy = p2.y - p1.y;
+r2 = dx * dx + dy * dy;
+if (r2 < Number.MIN_VALUE) continue;
+f = new b2Vec2(dx, dy);
+f.Multiply(this.G / r2 / Math.sqrt(r2) * mass1 * body2.GetMass());
+if (body1.IsAwake()) body1.ApplyForce(f, p1);
+f.Multiply((-1));
+if (body2.IsAwake()) body2.ApplyForce(f, p2);
+}
+}
+}
+else {
+for (i = this.m_bodyList;
+i; i = i.nextBody) {
+body1 = i.body;
+p1 = body1.GetWorldCenter();
+mass1 = body1.GetMass();
+for (j = this.m_bodyList;
+j != i; j = j.nextBody) {
+body2 = j.body;
+p2 = body2.GetWorldCenter();
+dx = p2.x - p1.x;
+dy = p2.y - p1.y;
+r2 = dx * dx + dy * dy;
+if (r2 < Number.MIN_VALUE) continue;
+f = new b2Vec2(dx, dy);
+f.Multiply(this.G / r2 * mass1 * body2.GetMass());
+if (body1.IsAwake()) body1.ApplyForce(f, p1);
+f.Multiply((-1));
+if (body2.IsAwake()) body2.ApplyForce(f, p2);
+}
+}
+}
+}
+Box2D.inherit(b2TensorDampingController, Box2D.Dynamics.Controllers.b2Controller);
+b2TensorDampingController.prototype.__super = Box2D.Dynamics.Controllers.b2Controller.prototype;
+b2TensorDampingController.b2TensorDampingController = function () {
+Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this, arguments);
+this.T = new b2Mat22();
+this.maxTimestep = 0;
+};
+b2TensorDampingController.prototype.SetAxisAligned = function (xDamping, yDamping) {
+if (xDamping === undefined) xDamping = 0;
+if (yDamping === undefined) yDamping = 0;
+this.T.col1.x = (-xDamping);
+this.T.col1.y = 0;
+this.T.col2.x = 0;
+this.T.col2.y = (-yDamping);
+if (xDamping > 0 || yDamping > 0) {
+this.maxTimestep = 1 / Math.max(xDamping, yDamping);
+}
+else {
+this.maxTimestep = 0;
+}
+}
+b2TensorDampingController.prototype.Step = function (step) {
+var timestep = step.dt;
+if (timestep <= Number.MIN_VALUE) return;
+if (timestep > this.maxTimestep && this.maxTimestep > 0) timestep = this.maxTimestep;
+for (var i = this.m_bodyList; i; i = i.nextBody) {
+var body = i.body;
+if (!body.IsAwake()) {
+continue;
+}
+var damping = body.GetWorldVector(b2Math.MulMV(this.T, body.GetLocalVector(body.GetLinearVelocity())));
+body.SetLinearVelocity(new b2Vec2(body.GetLinearVelocity().x + damping.x * timestep, body.GetLinearVelocity().y + damping.y * timestep));
+}
+}
+})();
+(function () {
+var b2Color = Box2D.Common.b2Color,
+b2internal = Box2D.Common.b2internal,
+b2Settings = Box2D.Common.b2Settings,
+b2Mat22 = Box2D.Common.Math.b2Mat22,
+b2Mat33 = Box2D.Common.Math.b2Mat33,
+b2Math = Box2D.Common.Math.b2Math,
+b2Sweep = Box2D.Common.Math.b2Sweep,
+b2Transform = Box2D.Common.Math.b2Transform,
+b2Vec2 = Box2D.Common.Math.b2Vec2,
+b2Vec3 = Box2D.Common.Math.b2Vec3,
+b2DistanceJoint = Box2D.Dynamics.Joints.b2DistanceJoint,
+b2DistanceJointDef = Box2D.Dynamics.Joints.b2DistanceJointDef,
+b2FrictionJoint = Box2D.Dynamics.Joints.b2FrictionJoint,
+b2FrictionJointDef = Box2D.Dynamics.Joints.b2FrictionJointDef,
+b2GearJoint = Box2D.Dynamics.Joints.b2GearJoint,
+b2GearJointDef = Box2D.Dynamics.Joints.b2GearJointDef,
+b2Jacobian = Box2D.Dynamics.Joints.b2Jacobian,
+b2Joint = Box2D.Dynamics.Joints.b2Joint,
+b2JointDef = Box2D.Dynamics.Joints.b2JointDef,
+b2JointEdge = Box2D.Dynamics.Joints.b2JointEdge,
+b2LineJoint = Box2D.Dynamics.Joints.b2LineJoint,
+b2LineJointDef = Box2D.Dynamics.Joints.b2LineJointDef,
+b2MouseJoint = Box2D.Dynamics.Joints.b2MouseJoint,
+b2MouseJointDef = Box2D.Dynamics.Joints.b2MouseJointDef,
+b2PrismaticJoint = Box2D.Dynamics.Joints.b2PrismaticJoint,
+b2PrismaticJointDef = Box2D.Dynamics.Joints.b2PrismaticJointDef,
+b2PulleyJoint = Box2D.Dynamics.Joints.b2PulleyJoint,
+b2PulleyJointDef = Box2D.Dynamics.Joints.b2PulleyJointDef,
+b2RevoluteJoint = Box2D.Dynamics.Joints.b2RevoluteJoint,
+b2RevoluteJointDef = Box2D.Dynamics.Joints.b2RevoluteJointDef,
+b2WeldJoint = Box2D.Dynamics.Joints.b2WeldJoint,
+b2WeldJointDef = Box2D.Dynamics.Joints.b2WeldJointDef,
+b2Body = Box2D.Dynamics.b2Body,
+b2BodyDef = Box2D.Dynamics.b2BodyDef,
+b2ContactFilter = Box2D.Dynamics.b2ContactFilter,
+b2ContactImpulse = Box2D.Dynamics.b2ContactImpulse,
+b2ContactListener = Box2D.Dynamics.b2ContactListener,
+b2ContactManager = Box2D.Dynamics.b2ContactManager,
+b2DebugDraw = Box2D.Dynamics.b2DebugDraw,
+b2DestructionListener = Box2D.Dynamics.b2DestructionListener,
+b2FilterData = Box2D.Dynamics.b2FilterData,
+b2Fixture = Box2D.Dynamics.b2Fixture,
+b2FixtureDef = Box2D.Dynamics.b2FixtureDef,
+b2Island = Box2D.Dynamics.b2Island,
+b2TimeStep = Box2D.Dynamics.b2TimeStep,
+b2World = Box2D.Dynamics.b2World;
+Box2D.inherit(b2DistanceJoint, Box2D.Dynamics.Joints.b2Joint);
+b2DistanceJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2DistanceJoint.b2DistanceJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.m_localAnchor1 = new b2Vec2();
+this.m_localAnchor2 = new b2Vec2();
+this.m_u = new b2Vec2();
+};
+b2DistanceJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
+}
+b2DistanceJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
+}
+b2DistanceJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * this.m_impulse * this.m_u.x, inv_dt * this.m_impulse * this.m_u.y);
+}
+b2DistanceJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return 0.0;
+}
+b2DistanceJoint.prototype.GetLength = function () {
+return this.m_length;
+}
+b2DistanceJoint.prototype.SetLength = function (length) {
+if (length === undefined) length = 0;
+this.m_length = length;
+}
+b2DistanceJoint.prototype.GetFrequency = function () {
+return this.m_frequencyHz;
+}
+b2DistanceJoint.prototype.SetFrequency = function (hz) {
+if (hz === undefined) hz = 0;
+this.m_frequencyHz = hz;
+}
+b2DistanceJoint.prototype.GetDampingRatio = function () {
+return this.m_dampingRatio;
+}
+b2DistanceJoint.prototype.SetDampingRatio = function (ratio) {
+if (ratio === undefined) ratio = 0;
+this.m_dampingRatio = ratio;
+}
+b2DistanceJoint.prototype.b2DistanceJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+var tMat;
+var tX = 0;
+var tY = 0;
+this.m_localAnchor1.SetV(def.localAnchorA);
+this.m_localAnchor2.SetV(def.localAnchorB);
+this.m_length = def.length;
+this.m_frequencyHz = def.frequencyHz;
+this.m_dampingRatio = def.dampingRatio;
+this.m_impulse = 0.0;
+this.m_gamma = 0.0;
+this.m_bias = 0.0;
+}
+b2DistanceJoint.prototype.InitVelocityConstraints = function (step) {
+var tMat;
+var tX = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+this.m_u.x = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X;
+this.m_u.y = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y;
+var length = Math.sqrt(this.m_u.x * this.m_u.x + this.m_u.y * this.m_u.y);
+if (length > b2Settings.b2_linearSlop) {
+this.m_u.Multiply(1.0 / length);
+}
+else {
+this.m_u.SetZero();
+}
+var cr1u = (r1X * this.m_u.y - r1Y * this.m_u.x);
+var cr2u = (r2X * this.m_u.y - r2Y * this.m_u.x);
+var invMass = bA.m_invMass + bA.m_invI * cr1u * cr1u + bB.m_invMass + bB.m_invI * cr2u * cr2u;
+this.m_mass = invMass != 0.0 ? 1.0 / invMass : 0.0;
+if (this.m_frequencyHz > 0.0) {
+var C = length - this.m_length;
+var omega = 2.0 * Math.PI * this.m_frequencyHz;
+var d = 2.0 * this.m_mass * this.m_dampingRatio * omega;
+var k = this.m_mass * omega * omega;
+this.m_gamma = step.dt * (d + step.dt * k);
+this.m_gamma = this.m_gamma != 0.0 ? 1 / this.m_gamma : 0.0;
+this.m_bias = C * step.dt * k * this.m_gamma;
+this.m_mass = invMass + this.m_gamma;
+this.m_mass = this.m_mass != 0.0 ? 1.0 / this.m_mass : 0.0;
+}
+if (step.warmStarting) {
+this.m_impulse *= step.dtRatio;
+var PX = this.m_impulse * this.m_u.x;
+var PY = this.m_impulse * this.m_u.y;
+bA.m_linearVelocity.x -= bA.m_invMass * PX;
+bA.m_linearVelocity.y -= bA.m_invMass * PY;
+bA.m_angularVelocity -= bA.m_invI * (r1X * PY - r1Y * PX);
+bB.m_linearVelocity.x += bB.m_invMass * PX;
+bB.m_linearVelocity.y += bB.m_invMass * PY;
+bB.m_angularVelocity += bB.m_invI * (r2X * PY - r2Y * PX);
+}
+else {
+this.m_impulse = 0.0;
+}
+}
+b2DistanceJoint.prototype.SolveVelocityConstraints = function (step) {
+var tMat;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var v1X = bA.m_linearVelocity.x + ((-bA.m_angularVelocity * r1Y));
+var v1Y = bA.m_linearVelocity.y + (bA.m_angularVelocity * r1X);
+var v2X = bB.m_linearVelocity.x + ((-bB.m_angularVelocity * r2Y));
+var v2Y = bB.m_linearVelocity.y + (bB.m_angularVelocity * r2X);
+var Cdot = (this.m_u.x * (v2X - v1X) + this.m_u.y * (v2Y - v1Y));
+var impulse = (-this.m_mass * (Cdot + this.m_bias + this.m_gamma * this.m_impulse));
+this.m_impulse += impulse;
+var PX = impulse * this.m_u.x;
+var PY = impulse * this.m_u.y;
+bA.m_linearVelocity.x -= bA.m_invMass * PX;
+bA.m_linearVelocity.y -= bA.m_invMass * PY;
+bA.m_angularVelocity -= bA.m_invI * (r1X * PY - r1Y * PX);
+bB.m_linearVelocity.x += bB.m_invMass * PX;
+bB.m_linearVelocity.y += bB.m_invMass * PY;
+bB.m_angularVelocity += bB.m_invI * (r2X * PY - r2Y * PX);
+}
+b2DistanceJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var tMat;
+if (this.m_frequencyHz > 0.0) {
+return true;
+}
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var dX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X;
+var dY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y;
+var length = Math.sqrt(dX * dX + dY * dY);
+dX /= length;
+dY /= length;
+var C = length - this.m_length;
+C = b2Math.Clamp(C, (-b2Settings.b2_maxLinearCorrection), b2Settings.b2_maxLinearCorrection);
+var impulse = (-this.m_mass * C);
+this.m_u.Set(dX, dY);
+var PX = impulse * this.m_u.x;
+var PY = impulse * this.m_u.y;
+bA.m_sweep.c.x -= bA.m_invMass * PX;
+bA.m_sweep.c.y -= bA.m_invMass * PY;
+bA.m_sweep.a -= bA.m_invI * (r1X * PY - r1Y * PX);
+bB.m_sweep.c.x += bB.m_invMass * PX;
+bB.m_sweep.c.y += bB.m_invMass * PY;
+bB.m_sweep.a += bB.m_invI * (r2X * PY - r2Y * PX);
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+return b2Math.Abs(C) < b2Settings.b2_linearSlop;
+}
+Box2D.inherit(b2DistanceJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2DistanceJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2DistanceJointDef.b2DistanceJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.localAnchorA = new b2Vec2();
+this.localAnchorB = new b2Vec2();
+};
+b2DistanceJointDef.prototype.b2DistanceJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_distanceJoint;
+this.length = 1.0;
+this.frequencyHz = 0.0;
+this.dampingRatio = 0.0;
+}
+b2DistanceJointDef.prototype.Initialize = function (bA, bB, anchorA, anchorB) {
+this.bodyA = bA;
+this.bodyB = bB;
+this.localAnchorA.SetV(this.bodyA.GetLocalPoint(anchorA));
+this.localAnchorB.SetV(this.bodyB.GetLocalPoint(anchorB));
+var dX = anchorB.x - anchorA.x;
+var dY = anchorB.y - anchorA.y;
+this.length = Math.sqrt(dX * dX + dY * dY);
+this.frequencyHz = 0.0;
+this.dampingRatio = 0.0;
+}
+Box2D.inherit(b2FrictionJoint, Box2D.Dynamics.Joints.b2Joint);
+b2FrictionJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2FrictionJoint.b2FrictionJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.m_localAnchorA = new b2Vec2();
+this.m_localAnchorB = new b2Vec2();
+this.m_linearMass = new b2Mat22();
+this.m_linearImpulse = new b2Vec2();
+};
+b2FrictionJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchorA);
+}
+b2FrictionJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchorB);
+}
+b2FrictionJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * this.m_linearImpulse.x, inv_dt * this.m_linearImpulse.y);
+}
+b2FrictionJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return inv_dt * this.m_angularImpulse;
+}
+b2FrictionJoint.prototype.SetMaxForce = function (force) {
+if (force === undefined) force = 0;
+this.m_maxForce = force;
+}
+b2FrictionJoint.prototype.GetMaxForce = function () {
+return this.m_maxForce;
+}
+b2FrictionJoint.prototype.SetMaxTorque = function (torque) {
+if (torque === undefined) torque = 0;
+this.m_maxTorque = torque;
+}
+b2FrictionJoint.prototype.GetMaxTorque = function () {
+return this.m_maxTorque;
+}
+b2FrictionJoint.prototype.b2FrictionJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+this.m_localAnchorA.SetV(def.localAnchorA);
+this.m_localAnchorB.SetV(def.localAnchorB);
+this.m_linearMass.SetZero();
+this.m_angularMass = 0.0;
+this.m_linearImpulse.SetZero();
+this.m_angularImpulse = 0.0;
+this.m_maxForce = def.maxForce;
+this.m_maxTorque = def.maxTorque;
+}
+b2FrictionJoint.prototype.InitVelocityConstraints = function (step) {
+var tMat;
+var tX = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+tMat = bA.m_xf.R;
+var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x;
+var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rAX + tMat.col2.x * rAY);
+rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY);
+rAX = tX;
+tMat = bB.m_xf.R;
+var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x;
+var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rBX + tMat.col2.x * rBY);
+rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY);
+rBX = tX;
+var mA = bA.m_invMass;
+var mB = bB.m_invMass;
+var iA = bA.m_invI;
+var iB = bB.m_invI;
+var K = new b2Mat22();
+K.col1.x = mA + mB;
+K.col2.x = 0.0;
+K.col1.y = 0.0;
+K.col2.y = mA + mB;
+K.col1.x += iA * rAY * rAY;
+K.col2.x += (-iA * rAX * rAY);
+K.col1.y += (-iA * rAX * rAY);
+K.col2.y += iA * rAX * rAX;
+K.col1.x += iB * rBY * rBY;
+K.col2.x += (-iB * rBX * rBY);
+K.col1.y += (-iB * rBX * rBY);
+K.col2.y += iB * rBX * rBX;
+K.GetInverse(this.m_linearMass);
+this.m_angularMass = iA + iB;
+if (this.m_angularMass > 0.0) {
+this.m_angularMass = 1.0 / this.m_angularMass;
+}
+if (step.warmStarting) {
+this.m_linearImpulse.x *= step.dtRatio;
+this.m_linearImpulse.y *= step.dtRatio;
+this.m_angularImpulse *= step.dtRatio;
+var P = this.m_linearImpulse;
+bA.m_linearVelocity.x -= mA * P.x;
+bA.m_linearVelocity.y -= mA * P.y;
+bA.m_angularVelocity -= iA * (rAX * P.y - rAY * P.x + this.m_angularImpulse);
+bB.m_linearVelocity.x += mB * P.x;
+bB.m_linearVelocity.y += mB * P.y;
+bB.m_angularVelocity += iB * (rBX * P.y - rBY * P.x + this.m_angularImpulse);
+}
+else {
+this.m_linearImpulse.SetZero();
+this.m_angularImpulse = 0.0;
+}
+}
+b2FrictionJoint.prototype.SolveVelocityConstraints = function (step) {
+var tMat;
+var tX = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var vA = bA.m_linearVelocity;
+var wA = bA.m_angularVelocity;
+var vB = bB.m_linearVelocity;
+var wB = bB.m_angularVelocity;
+var mA = bA.m_invMass;
+var mB = bB.m_invMass;
+var iA = bA.m_invI;
+var iB = bB.m_invI;
+tMat = bA.m_xf.R;
+var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x;
+var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rAX + tMat.col2.x * rAY);
+rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY);
+rAX = tX;
+tMat = bB.m_xf.R;
+var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x;
+var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rBX + tMat.col2.x * rBY);
+rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY);
+rBX = tX;
+var maxImpulse = 0; {
+var Cdot = wB - wA;
+var impulse = (-this.m_angularMass * Cdot);
+var oldImpulse = this.m_angularImpulse;
+maxImpulse = step.dt * this.m_maxTorque;
+this.m_angularImpulse = b2Math.Clamp(this.m_angularImpulse + impulse, (-maxImpulse), maxImpulse);
+impulse = this.m_angularImpulse - oldImpulse;
+wA -= iA * impulse;
+wB += iB * impulse;
+} {
+var CdotX = vB.x - wB * rBY - vA.x + wA * rAY;
+var CdotY = vB.y + wB * rBX - vA.y - wA * rAX;
+var impulseV = b2Math.MulMV(this.m_linearMass, new b2Vec2((-CdotX), (-CdotY)));
+var oldImpulseV = this.m_linearImpulse.Copy();
+this.m_linearImpulse.Add(impulseV);
+maxImpulse = step.dt * this.m_maxForce;
+if (this.m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse) {
+this.m_linearImpulse.Normalize();
+this.m_linearImpulse.Multiply(maxImpulse);
+}
+impulseV = b2Math.SubtractVV(this.m_linearImpulse, oldImpulseV);
+vA.x -= mA * impulseV.x;
+vA.y -= mA * impulseV.y;
+wA -= iA * (rAX * impulseV.y - rAY * impulseV.x);
+vB.x += mB * impulseV.x;
+vB.y += mB * impulseV.y;
+wB += iB * (rBX * impulseV.y - rBY * impulseV.x);
+}
+bA.m_angularVelocity = wA;
+bB.m_angularVelocity = wB;
+}
+b2FrictionJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+return true;
+}
+Box2D.inherit(b2FrictionJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2FrictionJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2FrictionJointDef.b2FrictionJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.localAnchorA = new b2Vec2();
+this.localAnchorB = new b2Vec2();
+};
+b2FrictionJointDef.prototype.b2FrictionJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_frictionJoint;
+this.maxForce = 0.0;
+this.maxTorque = 0.0;
+}
+b2FrictionJointDef.prototype.Initialize = function (bA, bB, anchor) {
+this.bodyA = bA;
+this.bodyB = bB;
+this.localAnchorA.SetV(this.bodyA.GetLocalPoint(anchor));
+this.localAnchorB.SetV(this.bodyB.GetLocalPoint(anchor));
+}
+Box2D.inherit(b2GearJoint, Box2D.Dynamics.Joints.b2Joint);
+b2GearJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2GearJoint.b2GearJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.m_groundAnchor1 = new b2Vec2();
+this.m_groundAnchor2 = new b2Vec2();
+this.m_localAnchor1 = new b2Vec2();
+this.m_localAnchor2 = new b2Vec2();
+this.m_J = new b2Jacobian();
+};
+b2GearJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
+}
+b2GearJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
+}
+b2GearJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * this.m_impulse * this.m_J.linearB.x, inv_dt * this.m_impulse * this.m_J.linearB.y);
+}
+b2GearJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+var tMat = this.m_bodyB.m_xf.R;
+var rX = this.m_localAnchor1.x - this.m_bodyB.m_sweep.localCenter.x;
+var rY = this.m_localAnchor1.y - this.m_bodyB.m_sweep.localCenter.y;
+var tX = tMat.col1.x * rX + tMat.col2.x * rY;
+rY = tMat.col1.y * rX + tMat.col2.y * rY;
+rX = tX;
+var PX = this.m_impulse * this.m_J.linearB.x;
+var PY = this.m_impulse * this.m_J.linearB.y;
+return inv_dt * (this.m_impulse * this.m_J.angularB - rX * PY + rY * PX);
+}
+b2GearJoint.prototype.GetRatio = function () {
+return this.m_ratio;
+}
+b2GearJoint.prototype.SetRatio = function (ratio) {
+if (ratio === undefined) ratio = 0;
+this.m_ratio = ratio;
+}
+b2GearJoint.prototype.b2GearJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+var type1 = parseInt(def.joint1.m_type);
+var type2 = parseInt(def.joint2.m_type);
+this.m_revolute1 = null;
+this.m_prismatic1 = null;
+this.m_revolute2 = null;
+this.m_prismatic2 = null;
+var coordinate1 = 0;
+var coordinate2 = 0;
+this.m_ground1 = def.joint1.GetBodyA();
+this.m_bodyA = def.joint1.GetBodyB();
+if (type1 == b2Joint.e_revoluteJoint) {
+this.m_revolute1 = (def.joint1 instanceof b2RevoluteJoint ? def.joint1 : null);
+this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);
+this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);
+coordinate1 = this.m_revolute1.GetJointAngle();
+}
+else {
+this.m_prismatic1 = (def.joint1 instanceof b2PrismaticJoint ? def.joint1 : null);
+this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);
+this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);
+coordinate1 = this.m_prismatic1.GetJointTranslation();
+}
+this.m_ground2 = def.joint2.GetBodyA();
+this.m_bodyB = def.joint2.GetBodyB();
+if (type2 == b2Joint.e_revoluteJoint) {
+this.m_revolute2 = (def.joint2 instanceof b2RevoluteJoint ? def.joint2 : null);
+this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);
+this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);
+coordinate2 = this.m_revolute2.GetJointAngle();
+}
+else {
+this.m_prismatic2 = (def.joint2 instanceof b2PrismaticJoint ? def.joint2 : null);
+this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);
+this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);
+coordinate2 = this.m_prismatic2.GetJointTranslation();
+}
+this.m_ratio = def.ratio;
+this.m_constant = coordinate1 + this.m_ratio * coordinate2;
+this.m_impulse = 0.0;
+}
+b2GearJoint.prototype.InitVelocityConstraints = function (step) {
+var g1 = this.m_ground1;
+var g2 = this.m_ground2;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var ugX = 0;
+var ugY = 0;
+var rX = 0;
+var rY = 0;
+var tMat;
+var tVec;
+var crug = 0;
+var tX = 0;
+var K = 0.0;
+this.m_J.SetZero();
+if (this.m_revolute1) {
+this.m_J.angularA = (-1.0);
+K += bA.m_invI;
+}
+else {
+tMat = g1.m_xf.R;
+tVec = this.m_prismatic1.m_localXAxis1;
+ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tMat = bA.m_xf.R;
+rX = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+rY = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = tMat.col1.x * rX + tMat.col2.x * rY;
+rY = tMat.col1.y * rX + tMat.col2.y * rY;
+rX = tX;
+crug = rX * ugY - rY * ugX;
+this.m_J.linearA.Set((-ugX), (-ugY));
+this.m_J.angularA = (-crug);
+K += bA.m_invMass + bA.m_invI * crug * crug;
+}
+if (this.m_revolute2) {
+this.m_J.angularB = (-this.m_ratio);
+K += this.m_ratio * this.m_ratio * bB.m_invI;
+}
+else {
+tMat = g2.m_xf.R;
+tVec = this.m_prismatic2.m_localXAxis1;
+ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+tMat = bB.m_xf.R;
+rX = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+rY = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = tMat.col1.x * rX + tMat.col2.x * rY;
+rY = tMat.col1.y * rX + tMat.col2.y * rY;
+rX = tX;
+crug = rX * ugY - rY * ugX;
+this.m_J.linearB.Set((-this.m_ratio * ugX), (-this.m_ratio * ugY));
+this.m_J.angularB = (-this.m_ratio * crug);
+K += this.m_ratio * this.m_ratio * (bB.m_invMass + bB.m_invI * crug * crug);
+}
+this.m_mass = K > 0.0 ? 1.0 / K : 0.0;
+if (step.warmStarting) {
+bA.m_linearVelocity.x += bA.m_invMass * this.m_impulse * this.m_J.linearA.x;
+bA.m_linearVelocity.y += bA.m_invMass * this.m_impulse * this.m_J.linearA.y;
+bA.m_angularVelocity += bA.m_invI * this.m_impulse * this.m_J.angularA;
+bB.m_linearVelocity.x += bB.m_invMass * this.m_impulse * this.m_J.linearB.x;
+bB.m_linearVelocity.y += bB.m_invMass * this.m_impulse * this.m_J.linearB.y;
+bB.m_angularVelocity += bB.m_invI * this.m_impulse * this.m_J.angularB;
+}
+else {
+this.m_impulse = 0.0;
+}
+}
+b2GearJoint.prototype.SolveVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var Cdot = this.m_J.Compute(bA.m_linearVelocity, bA.m_angularVelocity, bB.m_linearVelocity, bB.m_angularVelocity);
+var impulse = (-this.m_mass * Cdot);
+this.m_impulse += impulse;
+bA.m_linearVelocity.x += bA.m_invMass * impulse * this.m_J.linearA.x;
+bA.m_linearVelocity.y += bA.m_invMass * impulse * this.m_J.linearA.y;
+bA.m_angularVelocity += bA.m_invI * impulse * this.m_J.angularA;
+bB.m_linearVelocity.x += bB.m_invMass * impulse * this.m_J.linearB.x;
+bB.m_linearVelocity.y += bB.m_invMass * impulse * this.m_J.linearB.y;
+bB.m_angularVelocity += bB.m_invI * impulse * this.m_J.angularB;
+}
+b2GearJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var linearError = 0.0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var coordinate1 = 0;
+var coordinate2 = 0;
+if (this.m_revolute1) {
+coordinate1 = this.m_revolute1.GetJointAngle();
+}
+else {
+coordinate1 = this.m_prismatic1.GetJointTranslation();
+}
+if (this.m_revolute2) {
+coordinate2 = this.m_revolute2.GetJointAngle();
+}
+else {
+coordinate2 = this.m_prismatic2.GetJointTranslation();
+}
+var C = this.m_constant - (coordinate1 + this.m_ratio * coordinate2);
+var impulse = (-this.m_mass * C);
+bA.m_sweep.c.x += bA.m_invMass * impulse * this.m_J.linearA.x;
+bA.m_sweep.c.y += bA.m_invMass * impulse * this.m_J.linearA.y;
+bA.m_sweep.a += bA.m_invI * impulse * this.m_J.angularA;
+bB.m_sweep.c.x += bB.m_invMass * impulse * this.m_J.linearB.x;
+bB.m_sweep.c.y += bB.m_invMass * impulse * this.m_J.linearB.y;
+bB.m_sweep.a += bB.m_invI * impulse * this.m_J.angularB;
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+return linearError < b2Settings.b2_linearSlop;
+}
+Box2D.inherit(b2GearJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2GearJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2GearJointDef.b2GearJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+};
+b2GearJointDef.prototype.b2GearJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_gearJoint;
+this.joint1 = null;
+this.joint2 = null;
+this.ratio = 1.0;
+}
+b2Jacobian.b2Jacobian = function () {
+this.linearA = new b2Vec2();
+this.linearB = new b2Vec2();
+};
+b2Jacobian.prototype.SetZero = function () {
+this.linearA.SetZero();
+this.angularA = 0.0;
+this.linearB.SetZero();
+this.angularB = 0.0;
+}
+b2Jacobian.prototype.Set = function (x1, a1, x2, a2) {
+if (a1 === undefined) a1 = 0;
+if (a2 === undefined) a2 = 0;
+this.linearA.SetV(x1);
+this.angularA = a1;
+this.linearB.SetV(x2);
+this.angularB = a2;
+}
+b2Jacobian.prototype.Compute = function (x1, a1, x2, a2) {
+if (a1 === undefined) a1 = 0;
+if (a2 === undefined) a2 = 0;
+return (this.linearA.x * x1.x + this.linearA.y * x1.y) + this.angularA * a1 + (this.linearB.x * x2.x + this.linearB.y * x2.y) + this.angularB * a2;
+}
+b2Joint.b2Joint = function () {
+this.m_edgeA = new b2JointEdge();
+this.m_edgeB = new b2JointEdge();
+this.m_localCenterA = new b2Vec2();
+this.m_localCenterB = new b2Vec2();
+};
+b2Joint.prototype.GetType = function () {
+return this.m_type;
+}
+b2Joint.prototype.GetAnchorA = function () {
+return null;
+}
+b2Joint.prototype.GetAnchorB = function () {
+return null;
+}
+b2Joint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return null;
+}
+b2Joint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return 0.0;
+}
+b2Joint.prototype.GetBodyA = function () {
+return this.m_bodyA;
+}
+b2Joint.prototype.GetBodyB = function () {
+return this.m_bodyB;
+}
+b2Joint.prototype.GetNext = function () {
+return this.m_next;
+}
+b2Joint.prototype.GetUserData = function () {
+return this.m_userData;
+}
+b2Joint.prototype.SetUserData = function (data) {
+this.m_userData = data;
+}
+b2Joint.prototype.IsActive = function () {
+return this.m_bodyA.IsActive() && this.m_bodyB.IsActive();
+}
+b2Joint.Create = function (def, allocator) {
+var joint = null;
+switch (def.type) {
+case b2Joint.e_distanceJoint:
+{
+joint = new b2DistanceJoint((def instanceof b2DistanceJointDef ? def : null));
+}
+break;
+case b2Joint.e_mouseJoint:
+{
+joint = new b2MouseJoint((def instanceof b2MouseJointDef ? def : null));
+}
+break;
+case b2Joint.e_prismaticJoint:
+{
+joint = new b2PrismaticJoint((def instanceof b2PrismaticJointDef ? def : null));
+}
+break;
+case b2Joint.e_revoluteJoint:
+{
+joint = new b2RevoluteJoint((def instanceof b2RevoluteJointDef ? def : null));
+}
+break;
+case b2Joint.e_pulleyJoint:
+{
+joint = new b2PulleyJoint((def instanceof b2PulleyJointDef ? def : null));
+}
+break;
+case b2Joint.e_gearJoint:
+{
+joint = new b2GearJoint((def instanceof b2GearJointDef ? def : null));
+}
+break;
+case b2Joint.e_lineJoint:
+{
+joint = new b2LineJoint((def instanceof b2LineJointDef ? def : null));
+}
+break;
+case b2Joint.e_weldJoint:
+{
+joint = new b2WeldJoint((def instanceof b2WeldJointDef ? def : null));
+}
+break;
+case b2Joint.e_frictionJoint:
+{
+joint = new b2FrictionJoint((def instanceof b2FrictionJointDef ? def : null));
+}
+break;
+default:
+break;
+}
+return joint;
+}
+b2Joint.Destroy = function (joint, allocator) {}
+b2Joint.prototype.b2Joint = function (def) {
+b2Settings.b2Assert(def.bodyA != def.bodyB);
+this.m_type = def.type;
+this.m_prev = null;
+this.m_next = null;
+this.m_bodyA = def.bodyA;
+this.m_bodyB = def.bodyB;
+this.m_collideConnected = def.collideConnected;
+this.m_islandFlag = false;
+this.m_userData = def.userData;
+}
+b2Joint.prototype.InitVelocityConstraints = function (step) {}
+b2Joint.prototype.SolveVelocityConstraints = function (step) {}
+b2Joint.prototype.FinalizeVelocityConstraints = function () {}
+b2Joint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+return false;
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.Joints.b2Joint.e_unknownJoint = 0;
+Box2D.Dynamics.Joints.b2Joint.e_revoluteJoint = 1;
+Box2D.Dynamics.Joints.b2Joint.e_prismaticJoint = 2;
+Box2D.Dynamics.Joints.b2Joint.e_distanceJoint = 3;
+Box2D.Dynamics.Joints.b2Joint.e_pulleyJoint = 4;
+Box2D.Dynamics.Joints.b2Joint.e_mouseJoint = 5;
+Box2D.Dynamics.Joints.b2Joint.e_gearJoint = 6;
+Box2D.Dynamics.Joints.b2Joint.e_lineJoint = 7;
+Box2D.Dynamics.Joints.b2Joint.e_weldJoint = 8;
+Box2D.Dynamics.Joints.b2Joint.e_frictionJoint = 9;
+Box2D.Dynamics.Joints.b2Joint.e_inactiveLimit = 0;
+Box2D.Dynamics.Joints.b2Joint.e_atLowerLimit = 1;
+Box2D.Dynamics.Joints.b2Joint.e_atUpperLimit = 2;
+Box2D.Dynamics.Joints.b2Joint.e_equalLimits = 3;
+});
+b2JointDef.b2JointDef = function () {};
+b2JointDef.prototype.b2JointDef = function () {
+this.type = b2Joint.e_unknownJoint;
+this.userData = null;
+this.bodyA = null;
+this.bodyB = null;
+this.collideConnected = false;
+}
+b2JointEdge.b2JointEdge = function () {};
+Box2D.inherit(b2LineJoint, Box2D.Dynamics.Joints.b2Joint);
+b2LineJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2LineJoint.b2LineJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.m_localAnchor1 = new b2Vec2();
+this.m_localAnchor2 = new b2Vec2();
+this.m_localXAxis1 = new b2Vec2();
+this.m_localYAxis1 = new b2Vec2();
+this.m_axis = new b2Vec2();
+this.m_perp = new b2Vec2();
+this.m_K = new b2Mat22();
+this.m_impulse = new b2Vec2();
+};
+b2LineJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
+}
+b2LineJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
+}
+b2LineJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * (this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.x), inv_dt * (this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.y));
+}
+b2LineJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return inv_dt * this.m_impulse.y;
+}
+b2LineJoint.prototype.GetJointTranslation = function () {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+var p1 = bA.GetWorldPoint(this.m_localAnchor1);
+var p2 = bB.GetWorldPoint(this.m_localAnchor2);
+var dX = p2.x - p1.x;
+var dY = p2.y - p1.y;
+var axis = bA.GetWorldVector(this.m_localXAxis1);
+var translation = axis.x * dX + axis.y * dY;
+return translation;
+}
+b2LineJoint.prototype.GetJointSpeed = function () {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var p1X = bA.m_sweep.c.x + r1X;
+var p1Y = bA.m_sweep.c.y + r1Y;
+var p2X = bB.m_sweep.c.x + r2X;
+var p2Y = bB.m_sweep.c.y + r2Y;
+var dX = p2X - p1X;
+var dY = p2Y - p1Y;
+var axis = bA.GetWorldVector(this.m_localXAxis1);
+var v1 = bA.m_linearVelocity;
+var v2 = bB.m_linearVelocity;
+var w1 = bA.m_angularVelocity;
+var w2 = bB.m_angularVelocity;
+var speed = (dX * ((-w1 * axis.y)) + dY * (w1 * axis.x)) + (axis.x * (((v2.x + ((-w2 * r2Y))) - v1.x) - ((-w1 * r1Y))) + axis.y * (((v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X)));
+return speed;
+}
+b2LineJoint.prototype.IsLimitEnabled = function () {
+return this.m_enableLimit;
+}
+b2LineJoint.prototype.EnableLimit = function (flag) {
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_enableLimit = flag;
+}
+b2LineJoint.prototype.GetLowerLimit = function () {
+return this.m_lowerTranslation;
+}
+b2LineJoint.prototype.GetUpperLimit = function () {
+return this.m_upperTranslation;
+}
+b2LineJoint.prototype.SetLimits = function (lower, upper) {
+if (lower === undefined) lower = 0;
+if (upper === undefined) upper = 0;
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_lowerTranslation = lower;
+this.m_upperTranslation = upper;
+}
+b2LineJoint.prototype.IsMotorEnabled = function () {
+return this.m_enableMotor;
+}
+b2LineJoint.prototype.EnableMotor = function (flag) {
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_enableMotor = flag;
+}
+b2LineJoint.prototype.SetMotorSpeed = function (speed) {
+if (speed === undefined) speed = 0;
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_motorSpeed = speed;
+}
+b2LineJoint.prototype.GetMotorSpeed = function () {
+return this.m_motorSpeed;
+}
+b2LineJoint.prototype.SetMaxMotorForce = function (force) {
+if (force === undefined) force = 0;
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_maxMotorForce = force;
+}
+b2LineJoint.prototype.GetMaxMotorForce = function () {
+return this.m_maxMotorForce;
+}
+b2LineJoint.prototype.GetMotorForce = function () {
+return this.m_motorImpulse;
+}
+b2LineJoint.prototype.b2LineJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+var tMat;
+var tX = 0;
+var tY = 0;
+this.m_localAnchor1.SetV(def.localAnchorA);
+this.m_localAnchor2.SetV(def.localAnchorB);
+this.m_localXAxis1.SetV(def.localAxisA);
+this.m_localYAxis1.x = (-this.m_localXAxis1.y);
+this.m_localYAxis1.y = this.m_localXAxis1.x;
+this.m_impulse.SetZero();
+this.m_motorMass = 0.0;
+this.m_motorImpulse = 0.0;
+this.m_lowerTranslation = def.lowerTranslation;
+this.m_upperTranslation = def.upperTranslation;
+this.m_maxMotorForce = def.maxMotorForce;
+this.m_motorSpeed = def.motorSpeed;
+this.m_enableLimit = def.enableLimit;
+this.m_enableMotor = def.enableMotor;
+this.m_limitState = b2Joint.e_inactiveLimit;
+this.m_axis.SetZero();
+this.m_perp.SetZero();
+}
+b2LineJoint.prototype.InitVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+var tX = 0;
+this.m_localCenterA.SetV(bA.GetLocalCenter());
+this.m_localCenterB.SetV(bB.GetLocalCenter());
+var xf1 = bA.GetTransform();
+var xf2 = bB.GetTransform();
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - this.m_localCenterA.x;
+var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - this.m_localCenterB.x;
+var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var dX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X;
+var dY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y;
+this.m_invMassA = bA.m_invMass;
+this.m_invMassB = bB.m_invMass;
+this.m_invIA = bA.m_invI;
+this.m_invIB = bB.m_invI; {
+this.m_axis.SetV(b2Math.MulMV(xf1.R, this.m_localXAxis1));
+this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x;
+this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x;
+this.m_motorMass = this.m_invMassA + this.m_invMassB + this.m_invIA * this.m_a1 * this.m_a1 + this.m_invIB * this.m_a2 * this.m_a2;
+this.m_motorMass = this.m_motorMass > Number.MIN_VALUE ? 1.0 / this.m_motorMass : 0.0;
+} {
+this.m_perp.SetV(b2Math.MulMV(xf1.R, this.m_localYAxis1));
+this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x;
+this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x;
+var m1 = this.m_invMassA;
+var m2 = this.m_invMassB;
+var i1 = this.m_invIA;
+var i2 = this.m_invIB;
+this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2;
+this.m_K.col1.y = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2;
+this.m_K.col2.x = this.m_K.col1.y;
+this.m_K.col2.y = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2;
+}
+if (this.m_enableLimit) {
+var jointTransition = this.m_axis.x * dX + this.m_axis.y * dY;
+if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) {
+this.m_limitState = b2Joint.e_equalLimits;
+}
+else if (jointTransition <= this.m_lowerTranslation) {
+if (this.m_limitState != b2Joint.e_atLowerLimit) {
+this.m_limitState = b2Joint.e_atLowerLimit;
+this.m_impulse.y = 0.0;
+}
+}
+else if (jointTransition >= this.m_upperTranslation) {
+if (this.m_limitState != b2Joint.e_atUpperLimit) {
+this.m_limitState = b2Joint.e_atUpperLimit;
+this.m_impulse.y = 0.0;
+}
+}
+else {
+this.m_limitState = b2Joint.e_inactiveLimit;
+this.m_impulse.y = 0.0;
+}
+}
+else {
+this.m_limitState = b2Joint.e_inactiveLimit;
+}
+if (this.m_enableMotor == false) {
+this.m_motorImpulse = 0.0;
+}
+if (step.warmStarting) {
+this.m_impulse.x *= step.dtRatio;
+this.m_impulse.y *= step.dtRatio;
+this.m_motorImpulse *= step.dtRatio;
+var PX = this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.x;
+var PY = this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.y) * this.m_axis.y;
+var L1 = this.m_impulse.x * this.m_s1 + (this.m_motorImpulse + this.m_impulse.y) * this.m_a1;
+var L2 = this.m_impulse.x * this.m_s2 + (this.m_motorImpulse + this.m_impulse.y) * this.m_a2;
+bA.m_linearVelocity.x -= this.m_invMassA * PX;
+bA.m_linearVelocity.y -= this.m_invMassA * PY;
+bA.m_angularVelocity -= this.m_invIA * L1;
+bB.m_linearVelocity.x += this.m_invMassB * PX;
+bB.m_linearVelocity.y += this.m_invMassB * PY;
+bB.m_angularVelocity += this.m_invIB * L2;
+}
+else {
+this.m_impulse.SetZero();
+this.m_motorImpulse = 0.0;
+}
+}
+b2LineJoint.prototype.SolveVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var v1 = bA.m_linearVelocity;
+var w1 = bA.m_angularVelocity;
+var v2 = bB.m_linearVelocity;
+var w2 = bB.m_angularVelocity;
+var PX = 0;
+var PY = 0;
+var L1 = 0;
+var L2 = 0;
+if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) {
+var Cdot = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1;
+var impulse = this.m_motorMass * (this.m_motorSpeed - Cdot);
+var oldImpulse = this.m_motorImpulse;
+var maxImpulse = step.dt * this.m_maxMotorForce;
+this.m_motorImpulse = b2Math.Clamp(this.m_motorImpulse + impulse, (-maxImpulse), maxImpulse);
+impulse = this.m_motorImpulse - oldImpulse;
+PX = impulse * this.m_axis.x;
+PY = impulse * this.m_axis.y;
+L1 = impulse * this.m_a1;
+L2 = impulse * this.m_a2;
+v1.x -= this.m_invMassA * PX;
+v1.y -= this.m_invMassA * PY;
+w1 -= this.m_invIA * L1;
+v2.x += this.m_invMassB * PX;
+v2.y += this.m_invMassB * PY;
+w2 += this.m_invIB * L2;
+}
+var Cdot1 = this.m_perp.x * (v2.x - v1.x) + this.m_perp.y * (v2.y - v1.y) + this.m_s2 * w2 - this.m_s1 * w1;
+if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) {
+var Cdot2 = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1;
+var f1 = this.m_impulse.Copy();
+var df = this.m_K.Solve(new b2Vec2(), (-Cdot1), (-Cdot2));
+this.m_impulse.Add(df);
+if (this.m_limitState == b2Joint.e_atLowerLimit) {
+this.m_impulse.y = b2Math.Max(this.m_impulse.y, 0.0);
+}
+else if (this.m_limitState == b2Joint.e_atUpperLimit) {
+this.m_impulse.y = b2Math.Min(this.m_impulse.y, 0.0);
+}
+var b = (-Cdot1) - (this.m_impulse.y - f1.y) * this.m_K.col2.x;
+var f2r = 0;
+if (this.m_K.col1.x != 0.0) {
+f2r = b / this.m_K.col1.x + f1.x;
+}
+else {
+f2r = f1.x;
+}
+this.m_impulse.x = f2r;
+df.x = this.m_impulse.x - f1.x;
+df.y = this.m_impulse.y - f1.y;
+PX = df.x * this.m_perp.x + df.y * this.m_axis.x;
+PY = df.x * this.m_perp.y + df.y * this.m_axis.y;
+L1 = df.x * this.m_s1 + df.y * this.m_a1;
+L2 = df.x * this.m_s2 + df.y * this.m_a2;
+v1.x -= this.m_invMassA * PX;
+v1.y -= this.m_invMassA * PY;
+w1 -= this.m_invIA * L1;
+v2.x += this.m_invMassB * PX;
+v2.y += this.m_invMassB * PY;
+w2 += this.m_invIB * L2;
+}
+else {
+var df2 = 0;
+if (this.m_K.col1.x != 0.0) {
+df2 = ((-Cdot1)) / this.m_K.col1.x;
+}
+else {
+df2 = 0.0;
+}
+this.m_impulse.x += df2;
+PX = df2 * this.m_perp.x;
+PY = df2 * this.m_perp.y;
+L1 = df2 * this.m_s1;
+L2 = df2 * this.m_s2;
+v1.x -= this.m_invMassA * PX;
+v1.y -= this.m_invMassA * PY;
+w1 -= this.m_invIA * L1;
+v2.x += this.m_invMassB * PX;
+v2.y += this.m_invMassB * PY;
+w2 += this.m_invIB * L2;
+}
+bA.m_linearVelocity.SetV(v1);
+bA.m_angularVelocity = w1;
+bB.m_linearVelocity.SetV(v2);
+bB.m_angularVelocity = w2;
+}
+b2LineJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var limitC = 0;
+var oldLimitImpulse = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var c1 = bA.m_sweep.c;
+var a1 = bA.m_sweep.a;
+var c2 = bB.m_sweep.c;
+var a2 = bB.m_sweep.a;
+var tMat;
+var tX = 0;
+var m1 = 0;
+var m2 = 0;
+var i1 = 0;
+var i2 = 0;
+var linearError = 0.0;
+var angularError = 0.0;
+var active = false;
+var C2 = 0.0;
+var R1 = b2Mat22.FromAngle(a1);
+var R2 = b2Mat22.FromAngle(a2);
+tMat = R1;
+var r1X = this.m_localAnchor1.x - this.m_localCenterA.x;
+var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = R2;
+var r2X = this.m_localAnchor2.x - this.m_localCenterB.x;
+var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var dX = c2.x + r2X - c1.x - r1X;
+var dY = c2.y + r2Y - c1.y - r1Y;
+if (this.m_enableLimit) {
+this.m_axis = b2Math.MulMV(R1, this.m_localXAxis1);
+this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x;
+this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x;
+var translation = this.m_axis.x * dX + this.m_axis.y * dY;
+if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) {
+C2 = b2Math.Clamp(translation, (-b2Settings.b2_maxLinearCorrection), b2Settings.b2_maxLinearCorrection);
+linearError = b2Math.Abs(translation);
+active = true;
+}
+else if (translation <= this.m_lowerTranslation) {
+C2 = b2Math.Clamp(translation - this.m_lowerTranslation + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0);
+linearError = this.m_lowerTranslation - translation;
+active = true;
+}
+else if (translation >= this.m_upperTranslation) {
+C2 = b2Math.Clamp(translation - this.m_upperTranslation + b2Settings.b2_linearSlop, 0.0, b2Settings.b2_maxLinearCorrection);
+linearError = translation - this.m_upperTranslation;
+active = true;
+}
+}
+this.m_perp = b2Math.MulMV(R1, this.m_localYAxis1);
+this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x;
+this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x;
+var impulse = new b2Vec2();
+var C1 = this.m_perp.x * dX + this.m_perp.y * dY;
+linearError = b2Math.Max(linearError, b2Math.Abs(C1));
+angularError = 0.0;
+if (active) {
+m1 = this.m_invMassA;
+m2 = this.m_invMassB;
+i1 = this.m_invIA;
+i2 = this.m_invIB;
+this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2;
+this.m_K.col1.y = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2;
+this.m_K.col2.x = this.m_K.col1.y;
+this.m_K.col2.y = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2;
+this.m_K.Solve(impulse, (-C1), (-C2));
+}
+else {
+m1 = this.m_invMassA;
+m2 = this.m_invMassB;
+i1 = this.m_invIA;
+i2 = this.m_invIB;
+var k11 = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2;
+var impulse1 = 0;
+if (k11 != 0.0) {
+impulse1 = ((-C1)) / k11;
+}
+else {
+impulse1 = 0.0;
+}
+impulse.x = impulse1;
+impulse.y = 0.0;
+}
+var PX = impulse.x * this.m_perp.x + impulse.y * this.m_axis.x;
+var PY = impulse.x * this.m_perp.y + impulse.y * this.m_axis.y;
+var L1 = impulse.x * this.m_s1 + impulse.y * this.m_a1;
+var L2 = impulse.x * this.m_s2 + impulse.y * this.m_a2;
+c1.x -= this.m_invMassA * PX;
+c1.y -= this.m_invMassA * PY;
+a1 -= this.m_invIA * L1;
+c2.x += this.m_invMassB * PX;
+c2.y += this.m_invMassB * PY;
+a2 += this.m_invIB * L2;
+bA.m_sweep.a = a1;
+bB.m_sweep.a = a2;
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+return linearError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
+}
+Box2D.inherit(b2LineJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2LineJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2LineJointDef.b2LineJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.localAnchorA = new b2Vec2();
+this.localAnchorB = new b2Vec2();
+this.localAxisA = new b2Vec2();
+};
+b2LineJointDef.prototype.b2LineJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_lineJoint;
+this.localAxisA.Set(1.0, 0.0);
+this.enableLimit = false;
+this.lowerTranslation = 0.0;
+this.upperTranslation = 0.0;
+this.enableMotor = false;
+this.maxMotorForce = 0.0;
+this.motorSpeed = 0.0;
+}
+b2LineJointDef.prototype.Initialize = function (bA, bB, anchor, axis) {
+this.bodyA = bA;
+this.bodyB = bB;
+this.localAnchorA = this.bodyA.GetLocalPoint(anchor);
+this.localAnchorB = this.bodyB.GetLocalPoint(anchor);
+this.localAxisA = this.bodyA.GetLocalVector(axis);
+}
+Box2D.inherit(b2MouseJoint, Box2D.Dynamics.Joints.b2Joint);
+b2MouseJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2MouseJoint.b2MouseJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.K = new b2Mat22();
+this.K1 = new b2Mat22();
+this.K2 = new b2Mat22();
+this.m_localAnchor = new b2Vec2();
+this.m_target = new b2Vec2();
+this.m_impulse = new b2Vec2();
+this.m_mass = new b2Mat22();
+this.m_C = new b2Vec2();
+};
+b2MouseJoint.prototype.GetAnchorA = function () {
+return this.m_target;
+}
+b2MouseJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchor);
+}
+b2MouseJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * this.m_impulse.x, inv_dt * this.m_impulse.y);
+}
+b2MouseJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return 0.0;
+}
+b2MouseJoint.prototype.GetTarget = function () {
+return this.m_target;
+}
+b2MouseJoint.prototype.SetTarget = function (target) {
+if (this.m_bodyB.IsAwake() == false) {
+this.m_bodyB.SetAwake(true);
+}
+this.m_target = target;
+}
+b2MouseJoint.prototype.GetMaxForce = function () {
+return this.m_maxForce;
+}
+b2MouseJoint.prototype.SetMaxForce = function (maxForce) {
+if (maxForce === undefined) maxForce = 0;
+this.m_maxForce = maxForce;
+}
+b2MouseJoint.prototype.GetFrequency = function () {
+return this.m_frequencyHz;
+}
+b2MouseJoint.prototype.SetFrequency = function (hz) {
+if (hz === undefined) hz = 0;
+this.m_frequencyHz = hz;
+}
+b2MouseJoint.prototype.GetDampingRatio = function () {
+return this.m_dampingRatio;
+}
+b2MouseJoint.prototype.SetDampingRatio = function (ratio) {
+if (ratio === undefined) ratio = 0;
+this.m_dampingRatio = ratio;
+}
+b2MouseJoint.prototype.b2MouseJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+this.m_target.SetV(def.target);
+var tX = this.m_target.x - this.m_bodyB.m_xf.position.x;
+var tY = this.m_target.y - this.m_bodyB.m_xf.position.y;
+var tMat = this.m_bodyB.m_xf.R;
+this.m_localAnchor.x = (tX * tMat.col1.x + tY * tMat.col1.y);
+this.m_localAnchor.y = (tX * tMat.col2.x + tY * tMat.col2.y);
+this.m_maxForce = def.maxForce;
+this.m_impulse.SetZero();
+this.m_frequencyHz = def.frequencyHz;
+this.m_dampingRatio = def.dampingRatio;
+this.m_beta = 0.0;
+this.m_gamma = 0.0;
+}
+b2MouseJoint.prototype.InitVelocityConstraints = function (step) {
+var b = this.m_bodyB;
+var mass = b.GetMass();
+var omega = 2.0 * Math.PI * this.m_frequencyHz;
+var d = 2.0 * mass * this.m_dampingRatio * omega;
+var k = mass * omega * omega;
+this.m_gamma = step.dt * (d + step.dt * k);
+this.m_gamma = this.m_gamma != 0 ? 1 / this.m_gamma : 0.0;
+this.m_beta = step.dt * k * this.m_gamma;
+var tMat;tMat = b.m_xf.R;
+var rX = this.m_localAnchor.x - b.m_sweep.localCenter.x;
+var rY = this.m_localAnchor.y - b.m_sweep.localCenter.y;
+var tX = (tMat.col1.x * rX + tMat.col2.x * rY);rY = (tMat.col1.y * rX + tMat.col2.y * rY);
+rX = tX;
+var invMass = b.m_invMass;
+var invI = b.m_invI;this.K1.col1.x = invMass;
+this.K1.col2.x = 0.0;
+this.K1.col1.y = 0.0;
+this.K1.col2.y = invMass;
+this.K2.col1.x = invI * rY * rY;
+this.K2.col2.x = (-invI * rX * rY);
+this.K2.col1.y = (-invI * rX * rY);
+this.K2.col2.y = invI * rX * rX;
+this.K.SetM(this.K1);
+this.K.AddM(this.K2);
+this.K.col1.x += this.m_gamma;
+this.K.col2.y += this.m_gamma;
+this.K.GetInverse(this.m_mass);
+this.m_C.x = b.m_sweep.c.x + rX - this.m_target.x;
+this.m_C.y = b.m_sweep.c.y + rY - this.m_target.y;
+b.m_angularVelocity *= 0.98;
+this.m_impulse.x *= step.dtRatio;
+this.m_impulse.y *= step.dtRatio;
+b.m_linearVelocity.x += invMass * this.m_impulse.x;
+b.m_linearVelocity.y += invMass * this.m_impulse.y;
+b.m_angularVelocity += invI * (rX * this.m_impulse.y - rY * this.m_impulse.x);
+}
+b2MouseJoint.prototype.SolveVelocityConstraints = function (step) {
+var b = this.m_bodyB;
+var tMat;
+var tX = 0;
+var tY = 0;
+tMat = b.m_xf.R;
+var rX = this.m_localAnchor.x - b.m_sweep.localCenter.x;
+var rY = this.m_localAnchor.y - b.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rX + tMat.col2.x * rY);
+rY = (tMat.col1.y * rX + tMat.col2.y * rY);
+rX = tX;
+var CdotX = b.m_linearVelocity.x + ((-b.m_angularVelocity * rY));
+var CdotY = b.m_linearVelocity.y + (b.m_angularVelocity * rX);
+tMat = this.m_mass;
+tX = CdotX + this.m_beta * this.m_C.x + this.m_gamma * this.m_impulse.x;
+tY = CdotY + this.m_beta * this.m_C.y + this.m_gamma * this.m_impulse.y;
+var impulseX = (-(tMat.col1.x * tX + tMat.col2.x * tY));
+var impulseY = (-(tMat.col1.y * tX + tMat.col2.y * tY));
+var oldImpulseX = this.m_impulse.x;
+var oldImpulseY = this.m_impulse.y;
+this.m_impulse.x += impulseX;
+this.m_impulse.y += impulseY;
+var maxImpulse = step.dt * this.m_maxForce;
+if (this.m_impulse.LengthSquared() > maxImpulse * maxImpulse) {
+this.m_impulse.Multiply(maxImpulse / this.m_impulse.Length());
+}
+impulseX = this.m_impulse.x - oldImpulseX;
+impulseY = this.m_impulse.y - oldImpulseY;
+b.m_linearVelocity.x += b.m_invMass * impulseX;
+b.m_linearVelocity.y += b.m_invMass * impulseY;
+b.m_angularVelocity += b.m_invI * (rX * impulseY - rY * impulseX);
+}
+b2MouseJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+return true;
+}
+Box2D.inherit(b2MouseJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2MouseJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2MouseJointDef.b2MouseJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.target = new b2Vec2();
+};
+b2MouseJointDef.prototype.b2MouseJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_mouseJoint;
+this.maxForce = 0.0;
+this.frequencyHz = 5.0;
+this.dampingRatio = 0.7;
+}
+Box2D.inherit(b2PrismaticJoint, Box2D.Dynamics.Joints.b2Joint);
+b2PrismaticJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2PrismaticJoint.b2PrismaticJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.m_localAnchor1 = new b2Vec2();
+this.m_localAnchor2 = new b2Vec2();
+this.m_localXAxis1 = new b2Vec2();
+this.m_localYAxis1 = new b2Vec2();
+this.m_axis = new b2Vec2();
+this.m_perp = new b2Vec2();
+this.m_K = new b2Mat33();
+this.m_impulse = new b2Vec3();
+};
+b2PrismaticJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
+}
+b2PrismaticJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
+}
+b2PrismaticJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * (this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.x), inv_dt * (this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.y));
+}
+b2PrismaticJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return inv_dt * this.m_impulse.y;
+}
+b2PrismaticJoint.prototype.GetJointTranslation = function () {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+var p1 = bA.GetWorldPoint(this.m_localAnchor1);
+var p2 = bB.GetWorldPoint(this.m_localAnchor2);
+var dX = p2.x - p1.x;
+var dY = p2.y - p1.y;
+var axis = bA.GetWorldVector(this.m_localXAxis1);
+var translation = axis.x * dX + axis.y * dY;
+return translation;
+}
+b2PrismaticJoint.prototype.GetJointSpeed = function () {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var p1X = bA.m_sweep.c.x + r1X;
+var p1Y = bA.m_sweep.c.y + r1Y;
+var p2X = bB.m_sweep.c.x + r2X;
+var p2Y = bB.m_sweep.c.y + r2Y;
+var dX = p2X - p1X;
+var dY = p2Y - p1Y;
+var axis = bA.GetWorldVector(this.m_localXAxis1);
+var v1 = bA.m_linearVelocity;
+var v2 = bB.m_linearVelocity;
+var w1 = bA.m_angularVelocity;
+var w2 = bB.m_angularVelocity;
+var speed = (dX * ((-w1 * axis.y)) + dY * (w1 * axis.x)) + (axis.x * (((v2.x + ((-w2 * r2Y))) - v1.x) - ((-w1 * r1Y))) + axis.y * (((v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X)));
+return speed;
+}
+b2PrismaticJoint.prototype.IsLimitEnabled = function () {
+return this.m_enableLimit;
+}
+b2PrismaticJoint.prototype.EnableLimit = function (flag) {
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_enableLimit = flag;
+}
+b2PrismaticJoint.prototype.GetLowerLimit = function () {
+return this.m_lowerTranslation;
+}
+b2PrismaticJoint.prototype.GetUpperLimit = function () {
+return this.m_upperTranslation;
+}
+b2PrismaticJoint.prototype.SetLimits = function (lower, upper) {
+if (lower === undefined) lower = 0;
+if (upper === undefined) upper = 0;
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_lowerTranslation = lower;
+this.m_upperTranslation = upper;
+}
+b2PrismaticJoint.prototype.IsMotorEnabled = function () {
+return this.m_enableMotor;
+}
+b2PrismaticJoint.prototype.EnableMotor = function (flag) {
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_enableMotor = flag;
+}
+b2PrismaticJoint.prototype.SetMotorSpeed = function (speed) {
+if (speed === undefined) speed = 0;
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_motorSpeed = speed;
+}
+b2PrismaticJoint.prototype.GetMotorSpeed = function () {
+return this.m_motorSpeed;
+}
+b2PrismaticJoint.prototype.SetMaxMotorForce = function (force) {
+if (force === undefined) force = 0;
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_maxMotorForce = force;
+}
+b2PrismaticJoint.prototype.GetMotorForce = function () {
+return this.m_motorImpulse;
+}
+b2PrismaticJoint.prototype.b2PrismaticJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+var tMat;
+var tX = 0;
+var tY = 0;
+this.m_localAnchor1.SetV(def.localAnchorA);
+this.m_localAnchor2.SetV(def.localAnchorB);
+this.m_localXAxis1.SetV(def.localAxisA);
+this.m_localYAxis1.x = (-this.m_localXAxis1.y);
+this.m_localYAxis1.y = this.m_localXAxis1.x;
+this.m_refAngle = def.referenceAngle;
+this.m_impulse.SetZero();
+this.m_motorMass = 0.0;
+this.m_motorImpulse = 0.0;
+this.m_lowerTranslation = def.lowerTranslation;
+this.m_upperTranslation = def.upperTranslation;
+this.m_maxMotorForce = def.maxMotorForce;
+this.m_motorSpeed = def.motorSpeed;
+this.m_enableLimit = def.enableLimit;
+this.m_enableMotor = def.enableMotor;
+this.m_limitState = b2Joint.e_inactiveLimit;
+this.m_axis.SetZero();
+this.m_perp.SetZero();
+}
+b2PrismaticJoint.prototype.InitVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+var tX = 0;
+this.m_localCenterA.SetV(bA.GetLocalCenter());
+this.m_localCenterB.SetV(bB.GetLocalCenter());
+var xf1 = bA.GetTransform();
+var xf2 = bB.GetTransform();
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - this.m_localCenterA.x;
+var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - this.m_localCenterB.x;
+var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var dX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X;
+var dY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y;
+this.m_invMassA = bA.m_invMass;
+this.m_invMassB = bB.m_invMass;
+this.m_invIA = bA.m_invI;
+this.m_invIB = bB.m_invI; {
+this.m_axis.SetV(b2Math.MulMV(xf1.R, this.m_localXAxis1));
+this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x;
+this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x;
+this.m_motorMass = this.m_invMassA + this.m_invMassB + this.m_invIA * this.m_a1 * this.m_a1 + this.m_invIB * this.m_a2 * this.m_a2;
+if (this.m_motorMass > Number.MIN_VALUE) this.m_motorMass = 1.0 / this.m_motorMass;
+} {
+this.m_perp.SetV(b2Math.MulMV(xf1.R, this.m_localYAxis1));
+this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x;
+this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x;
+var m1 = this.m_invMassA;
+var m2 = this.m_invMassB;
+var i1 = this.m_invIA;
+var i2 = this.m_invIB;
+this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2;
+this.m_K.col1.y = i1 * this.m_s1 + i2 * this.m_s2;
+this.m_K.col1.z = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2;
+this.m_K.col2.x = this.m_K.col1.y;
+this.m_K.col2.y = i1 + i2;
+this.m_K.col2.z = i1 * this.m_a1 + i2 * this.m_a2;
+this.m_K.col3.x = this.m_K.col1.z;
+this.m_K.col3.y = this.m_K.col2.z;
+this.m_K.col3.z = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2;
+}
+if (this.m_enableLimit) {
+var jointTransition = this.m_axis.x * dX + this.m_axis.y * dY;
+if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) {
+this.m_limitState = b2Joint.e_equalLimits;
+}
+else if (jointTransition <= this.m_lowerTranslation) {
+if (this.m_limitState != b2Joint.e_atLowerLimit) {
+this.m_limitState = b2Joint.e_atLowerLimit;
+this.m_impulse.z = 0.0;
+}
+}
+else if (jointTransition >= this.m_upperTranslation) {
+if (this.m_limitState != b2Joint.e_atUpperLimit) {
+this.m_limitState = b2Joint.e_atUpperLimit;
+this.m_impulse.z = 0.0;
+}
+}
+else {
+this.m_limitState = b2Joint.e_inactiveLimit;
+this.m_impulse.z = 0.0;
+}
+}
+else {
+this.m_limitState = b2Joint.e_inactiveLimit;
+}
+if (this.m_enableMotor == false) {
+this.m_motorImpulse = 0.0;
+}
+if (step.warmStarting) {
+this.m_impulse.x *= step.dtRatio;
+this.m_impulse.y *= step.dtRatio;
+this.m_motorImpulse *= step.dtRatio;
+var PX = this.m_impulse.x * this.m_perp.x + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.x;
+var PY = this.m_impulse.x * this.m_perp.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_axis.y;
+var L1 = this.m_impulse.x * this.m_s1 + this.m_impulse.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_a1;
+var L2 = this.m_impulse.x * this.m_s2 + this.m_impulse.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_a2;
+bA.m_linearVelocity.x -= this.m_invMassA * PX;
+bA.m_linearVelocity.y -= this.m_invMassA * PY;
+bA.m_angularVelocity -= this.m_invIA * L1;
+bB.m_linearVelocity.x += this.m_invMassB * PX;
+bB.m_linearVelocity.y += this.m_invMassB * PY;
+bB.m_angularVelocity += this.m_invIB * L2;
+}
+else {
+this.m_impulse.SetZero();
+this.m_motorImpulse = 0.0;
+}
+}
+b2PrismaticJoint.prototype.SolveVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var v1 = bA.m_linearVelocity;
+var w1 = bA.m_angularVelocity;
+var v2 = bB.m_linearVelocity;
+var w2 = bB.m_angularVelocity;
+var PX = 0;
+var PY = 0;
+var L1 = 0;
+var L2 = 0;
+if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) {
+var Cdot = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1;
+var impulse = this.m_motorMass * (this.m_motorSpeed - Cdot);
+var oldImpulse = this.m_motorImpulse;
+var maxImpulse = step.dt * this.m_maxMotorForce;
+this.m_motorImpulse = b2Math.Clamp(this.m_motorImpulse + impulse, (-maxImpulse), maxImpulse);
+impulse = this.m_motorImpulse - oldImpulse;
+PX = impulse * this.m_axis.x;
+PY = impulse * this.m_axis.y;
+L1 = impulse * this.m_a1;
+L2 = impulse * this.m_a2;
+v1.x -= this.m_invMassA * PX;
+v1.y -= this.m_invMassA * PY;
+w1 -= this.m_invIA * L1;
+v2.x += this.m_invMassB * PX;
+v2.y += this.m_invMassB * PY;
+w2 += this.m_invIB * L2;
+}
+var Cdot1X = this.m_perp.x * (v2.x - v1.x) + this.m_perp.y * (v2.y - v1.y) + this.m_s2 * w2 - this.m_s1 * w1;
+var Cdot1Y = w2 - w1;
+if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) {
+var Cdot2 = this.m_axis.x * (v2.x - v1.x) + this.m_axis.y * (v2.y - v1.y) + this.m_a2 * w2 - this.m_a1 * w1;
+var f1 = this.m_impulse.Copy();
+var df = this.m_K.Solve33(new b2Vec3(), (-Cdot1X), (-Cdot1Y), (-Cdot2));
+this.m_impulse.Add(df);
+if (this.m_limitState == b2Joint.e_atLowerLimit) {
+this.m_impulse.z = b2Math.Max(this.m_impulse.z, 0.0);
+}
+else if (this.m_limitState == b2Joint.e_atUpperLimit) {
+this.m_impulse.z = b2Math.Min(this.m_impulse.z, 0.0);
+}
+var bX = (-Cdot1X) - (this.m_impulse.z - f1.z) * this.m_K.col3.x;
+var bY = (-Cdot1Y) - (this.m_impulse.z - f1.z) * this.m_K.col3.y;
+var f2r = this.m_K.Solve22(new b2Vec2(), bX, bY);
+f2r.x += f1.x;
+f2r.y += f1.y;
+this.m_impulse.x = f2r.x;
+this.m_impulse.y = f2r.y;
+df.x = this.m_impulse.x - f1.x;
+df.y = this.m_impulse.y - f1.y;
+df.z = this.m_impulse.z - f1.z;
+PX = df.x * this.m_perp.x + df.z * this.m_axis.x;
+PY = df.x * this.m_perp.y + df.z * this.m_axis.y;
+L1 = df.x * this.m_s1 + df.y + df.z * this.m_a1;
+L2 = df.x * this.m_s2 + df.y + df.z * this.m_a2;
+v1.x -= this.m_invMassA * PX;
+v1.y -= this.m_invMassA * PY;
+w1 -= this.m_invIA * L1;
+v2.x += this.m_invMassB * PX;
+v2.y += this.m_invMassB * PY;
+w2 += this.m_invIB * L2;
+}
+else {
+var df2 = this.m_K.Solve22(new b2Vec2(), (-Cdot1X), (-Cdot1Y));
+this.m_impulse.x += df2.x;
+this.m_impulse.y += df2.y;
+PX = df2.x * this.m_perp.x;
+PY = df2.x * this.m_perp.y;
+L1 = df2.x * this.m_s1 + df2.y;
+L2 = df2.x * this.m_s2 + df2.y;
+v1.x -= this.m_invMassA * PX;
+v1.y -= this.m_invMassA * PY;
+w1 -= this.m_invIA * L1;
+v2.x += this.m_invMassB * PX;
+v2.y += this.m_invMassB * PY;
+w2 += this.m_invIB * L2;
+}
+bA.m_linearVelocity.SetV(v1);
+bA.m_angularVelocity = w1;
+bB.m_linearVelocity.SetV(v2);
+bB.m_angularVelocity = w2;
+}
+b2PrismaticJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var limitC = 0;
+var oldLimitImpulse = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var c1 = bA.m_sweep.c;
+var a1 = bA.m_sweep.a;
+var c2 = bB.m_sweep.c;
+var a2 = bB.m_sweep.a;
+var tMat;
+var tX = 0;
+var m1 = 0;
+var m2 = 0;
+var i1 = 0;
+var i2 = 0;
+var linearError = 0.0;
+var angularError = 0.0;
+var active = false;
+var C2 = 0.0;
+var R1 = b2Mat22.FromAngle(a1);
+var R2 = b2Mat22.FromAngle(a2);
+tMat = R1;
+var r1X = this.m_localAnchor1.x - this.m_localCenterA.x;
+var r1Y = this.m_localAnchor1.y - this.m_localCenterA.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = R2;
+var r2X = this.m_localAnchor2.x - this.m_localCenterB.x;
+var r2Y = this.m_localAnchor2.y - this.m_localCenterB.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var dX = c2.x + r2X - c1.x - r1X;
+var dY = c2.y + r2Y - c1.y - r1Y;
+if (this.m_enableLimit) {
+this.m_axis = b2Math.MulMV(R1, this.m_localXAxis1);
+this.m_a1 = (dX + r1X) * this.m_axis.y - (dY + r1Y) * this.m_axis.x;
+this.m_a2 = r2X * this.m_axis.y - r2Y * this.m_axis.x;
+var translation = this.m_axis.x * dX + this.m_axis.y * dY;
+if (b2Math.Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop) {
+C2 = b2Math.Clamp(translation, (-b2Settings.b2_maxLinearCorrection), b2Settings.b2_maxLinearCorrection);
+linearError = b2Math.Abs(translation);
+active = true;
+}
+else if (translation <= this.m_lowerTranslation) {
+C2 = b2Math.Clamp(translation - this.m_lowerTranslation + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0);
+linearError = this.m_lowerTranslation - translation;
+active = true;
+}
+else if (translation >= this.m_upperTranslation) {
+C2 = b2Math.Clamp(translation - this.m_upperTranslation + b2Settings.b2_linearSlop, 0.0, b2Settings.b2_maxLinearCorrection);
+linearError = translation - this.m_upperTranslation;
+active = true;
+}
+}
+this.m_perp = b2Math.MulMV(R1, this.m_localYAxis1);
+this.m_s1 = (dX + r1X) * this.m_perp.y - (dY + r1Y) * this.m_perp.x;
+this.m_s2 = r2X * this.m_perp.y - r2Y * this.m_perp.x;
+var impulse = new b2Vec3();
+var C1X = this.m_perp.x * dX + this.m_perp.y * dY;
+var C1Y = a2 - a1 - this.m_refAngle;
+linearError = b2Math.Max(linearError, b2Math.Abs(C1X));
+angularError = b2Math.Abs(C1Y);
+if (active) {
+m1 = this.m_invMassA;
+m2 = this.m_invMassB;
+i1 = this.m_invIA;
+i2 = this.m_invIB;
+this.m_K.col1.x = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2;
+this.m_K.col1.y = i1 * this.m_s1 + i2 * this.m_s2;
+this.m_K.col1.z = i1 * this.m_s1 * this.m_a1 + i2 * this.m_s2 * this.m_a2;
+this.m_K.col2.x = this.m_K.col1.y;
+this.m_K.col2.y = i1 + i2;
+this.m_K.col2.z = i1 * this.m_a1 + i2 * this.m_a2;
+this.m_K.col3.x = this.m_K.col1.z;
+this.m_K.col3.y = this.m_K.col2.z;
+this.m_K.col3.z = m1 + m2 + i1 * this.m_a1 * this.m_a1 + i2 * this.m_a2 * this.m_a2;
+this.m_K.Solve33(impulse, (-C1X), (-C1Y), (-C2));
+}
+else {
+m1 = this.m_invMassA;
+m2 = this.m_invMassB;
+i1 = this.m_invIA;
+i2 = this.m_invIB;
+var k11 = m1 + m2 + i1 * this.m_s1 * this.m_s1 + i2 * this.m_s2 * this.m_s2;
+var k12 = i1 * this.m_s1 + i2 * this.m_s2;
+var k22 = i1 + i2;
+this.m_K.col1.Set(k11, k12, 0.0);
+this.m_K.col2.Set(k12, k22, 0.0);
+var impulse1 = this.m_K.Solve22(new b2Vec2(), (-C1X), (-C1Y));
+impulse.x = impulse1.x;
+impulse.y = impulse1.y;
+impulse.z = 0.0;
+}
+var PX = impulse.x * this.m_perp.x + impulse.z * this.m_axis.x;
+var PY = impulse.x * this.m_perp.y + impulse.z * this.m_axis.y;
+var L1 = impulse.x * this.m_s1 + impulse.y + impulse.z * this.m_a1;
+var L2 = impulse.x * this.m_s2 + impulse.y + impulse.z * this.m_a2;
+c1.x -= this.m_invMassA * PX;
+c1.y -= this.m_invMassA * PY;
+a1 -= this.m_invIA * L1;
+c2.x += this.m_invMassB * PX;
+c2.y += this.m_invMassB * PY;
+a2 += this.m_invIB * L2;
+bA.m_sweep.a = a1;
+bB.m_sweep.a = a2;
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+return linearError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
+}
+Box2D.inherit(b2PrismaticJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2PrismaticJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2PrismaticJointDef.b2PrismaticJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.localAnchorA = new b2Vec2();
+this.localAnchorB = new b2Vec2();
+this.localAxisA = new b2Vec2();
+};
+b2PrismaticJointDef.prototype.b2PrismaticJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_prismaticJoint;
+this.localAxisA.Set(1.0, 0.0);
+this.referenceAngle = 0.0;
+this.enableLimit = false;
+this.lowerTranslation = 0.0;
+this.upperTranslation = 0.0;
+this.enableMotor = false;
+this.maxMotorForce = 0.0;
+this.motorSpeed = 0.0;
+}
+b2PrismaticJointDef.prototype.Initialize = function (bA, bB, anchor, axis) {
+this.bodyA = bA;
+this.bodyB = bB;
+this.localAnchorA = this.bodyA.GetLocalPoint(anchor);
+this.localAnchorB = this.bodyB.GetLocalPoint(anchor);
+this.localAxisA = this.bodyA.GetLocalVector(axis);
+this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle();
+}
+Box2D.inherit(b2PulleyJoint, Box2D.Dynamics.Joints.b2Joint);
+b2PulleyJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2PulleyJoint.b2PulleyJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.m_groundAnchor1 = new b2Vec2();
+this.m_groundAnchor2 = new b2Vec2();
+this.m_localAnchor1 = new b2Vec2();
+this.m_localAnchor2 = new b2Vec2();
+this.m_u1 = new b2Vec2();
+this.m_u2 = new b2Vec2();
+};
+b2PulleyJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
+}
+b2PulleyJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
+}
+b2PulleyJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * this.m_impulse * this.m_u2.x, inv_dt * this.m_impulse * this.m_u2.y);
+}
+b2PulleyJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return 0.0;
+}
+b2PulleyJoint.prototype.GetGroundAnchorA = function () {
+var a = this.m_ground.m_xf.position.Copy();
+a.Add(this.m_groundAnchor1);
+return a;
+}
+b2PulleyJoint.prototype.GetGroundAnchorB = function () {
+var a = this.m_ground.m_xf.position.Copy();
+a.Add(this.m_groundAnchor2);
+return a;
+}
+b2PulleyJoint.prototype.GetLength1 = function () {
+var p = this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
+var sX = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x;
+var sY = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y;
+var dX = p.x - sX;
+var dY = p.y - sY;
+return Math.sqrt(dX * dX + dY * dY);
+}
+b2PulleyJoint.prototype.GetLength2 = function () {
+var p = this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
+var sX = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x;
+var sY = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y;
+var dX = p.x - sX;
+var dY = p.y - sY;
+return Math.sqrt(dX * dX + dY * dY);
+}
+b2PulleyJoint.prototype.GetRatio = function () {
+return this.m_ratio;
+}
+b2PulleyJoint.prototype.b2PulleyJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+var tMat;
+var tX = 0;
+var tY = 0;
+this.m_ground = this.m_bodyA.m_world.m_groundBody;
+this.m_groundAnchor1.x = def.groundAnchorA.x - this.m_ground.m_xf.position.x;
+this.m_groundAnchor1.y = def.groundAnchorA.y - this.m_ground.m_xf.position.y;
+this.m_groundAnchor2.x = def.groundAnchorB.x - this.m_ground.m_xf.position.x;
+this.m_groundAnchor2.y = def.groundAnchorB.y - this.m_ground.m_xf.position.y;
+this.m_localAnchor1.SetV(def.localAnchorA);
+this.m_localAnchor2.SetV(def.localAnchorB);
+this.m_ratio = def.ratio;
+this.m_constant = def.lengthA + this.m_ratio * def.lengthB;
+this.m_maxLength1 = b2Math.Min(def.maxLengthA, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength);
+this.m_maxLength2 = b2Math.Min(def.maxLengthB, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio);
+this.m_impulse = 0.0;
+this.m_limitImpulse1 = 0.0;
+this.m_limitImpulse2 = 0.0;
+}
+b2PulleyJoint.prototype.InitVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var p1X = bA.m_sweep.c.x + r1X;
+var p1Y = bA.m_sweep.c.y + r1Y;
+var p2X = bB.m_sweep.c.x + r2X;
+var p2Y = bB.m_sweep.c.y + r2Y;
+var s1X = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x;
+var s1Y = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y;
+var s2X = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x;
+var s2Y = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y;
+this.m_u1.Set(p1X - s1X, p1Y - s1Y);
+this.m_u2.Set(p2X - s2X, p2Y - s2Y);
+var length1 = this.m_u1.Length();
+var length2 = this.m_u2.Length();
+if (length1 > b2Settings.b2_linearSlop) {
+this.m_u1.Multiply(1.0 / length1);
+}
+else {
+this.m_u1.SetZero();
+}
+if (length2 > b2Settings.b2_linearSlop) {
+this.m_u2.Multiply(1.0 / length2);
+}
+else {
+this.m_u2.SetZero();
+}
+var C = this.m_constant - length1 - this.m_ratio * length2;
+if (C > 0.0) {
+this.m_state = b2Joint.e_inactiveLimit;
+this.m_impulse = 0.0;
+}
+else {
+this.m_state = b2Joint.e_atUpperLimit;
+}
+if (length1 < this.m_maxLength1) {
+this.m_limitState1 = b2Joint.e_inactiveLimit;
+this.m_limitImpulse1 = 0.0;
+}
+else {
+this.m_limitState1 = b2Joint.e_atUpperLimit;
+}
+if (length2 < this.m_maxLength2) {
+this.m_limitState2 = b2Joint.e_inactiveLimit;
+this.m_limitImpulse2 = 0.0;
+}
+else {
+this.m_limitState2 = b2Joint.e_atUpperLimit;
+}
+var cr1u1 = r1X * this.m_u1.y - r1Y * this.m_u1.x;
+var cr2u2 = r2X * this.m_u2.y - r2Y * this.m_u2.x;
+this.m_limitMass1 = bA.m_invMass + bA.m_invI * cr1u1 * cr1u1;
+this.m_limitMass2 = bB.m_invMass + bB.m_invI * cr2u2 * cr2u2;
+this.m_pulleyMass = this.m_limitMass1 + this.m_ratio * this.m_ratio * this.m_limitMass2;
+this.m_limitMass1 = 1.0 / this.m_limitMass1;
+this.m_limitMass2 = 1.0 / this.m_limitMass2;
+this.m_pulleyMass = 1.0 / this.m_pulleyMass;
+if (step.warmStarting) {
+this.m_impulse *= step.dtRatio;
+this.m_limitImpulse1 *= step.dtRatio;
+this.m_limitImpulse2 *= step.dtRatio;
+var P1X = ((-this.m_impulse) - this.m_limitImpulse1) * this.m_u1.x;
+var P1Y = ((-this.m_impulse) - this.m_limitImpulse1) * this.m_u1.y;
+var P2X = ((-this.m_ratio * this.m_impulse) - this.m_limitImpulse2) * this.m_u2.x;
+var P2Y = ((-this.m_ratio * this.m_impulse) - this.m_limitImpulse2) * this.m_u2.y;
+bA.m_linearVelocity.x += bA.m_invMass * P1X;
+bA.m_linearVelocity.y += bA.m_invMass * P1Y;
+bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X);
+bB.m_linearVelocity.x += bB.m_invMass * P2X;
+bB.m_linearVelocity.y += bB.m_invMass * P2Y;
+bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X);
+}
+else {
+this.m_impulse = 0.0;
+this.m_limitImpulse1 = 0.0;
+this.m_limitImpulse2 = 0.0;
+}
+}
+b2PulleyJoint.prototype.SolveVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+var tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var v1X = 0;
+var v1Y = 0;
+var v2X = 0;
+var v2Y = 0;
+var P1X = 0;
+var P1Y = 0;
+var P2X = 0;
+var P2Y = 0;
+var Cdot = 0;
+var impulse = 0;
+var oldImpulse = 0;
+if (this.m_state == b2Joint.e_atUpperLimit) {
+v1X = bA.m_linearVelocity.x + ((-bA.m_angularVelocity * r1Y));
+v1Y = bA.m_linearVelocity.y + (bA.m_angularVelocity * r1X);
+v2X = bB.m_linearVelocity.x + ((-bB.m_angularVelocity * r2Y));
+v2Y = bB.m_linearVelocity.y + (bB.m_angularVelocity * r2X);
+Cdot = (-(this.m_u1.x * v1X + this.m_u1.y * v1Y)) - this.m_ratio * (this.m_u2.x * v2X + this.m_u2.y * v2Y);
+impulse = this.m_pulleyMass * ((-Cdot));
+oldImpulse = this.m_impulse;
+this.m_impulse = b2Math.Max(0.0, this.m_impulse + impulse);
+impulse = this.m_impulse - oldImpulse;
+P1X = (-impulse * this.m_u1.x);
+P1Y = (-impulse * this.m_u1.y);
+P2X = (-this.m_ratio * impulse * this.m_u2.x);
+P2Y = (-this.m_ratio * impulse * this.m_u2.y);
+bA.m_linearVelocity.x += bA.m_invMass * P1X;
+bA.m_linearVelocity.y += bA.m_invMass * P1Y;
+bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X);
+bB.m_linearVelocity.x += bB.m_invMass * P2X;
+bB.m_linearVelocity.y += bB.m_invMass * P2Y;
+bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X);
+}
+if (this.m_limitState1 == b2Joint.e_atUpperLimit) {
+v1X = bA.m_linearVelocity.x + ((-bA.m_angularVelocity * r1Y));
+v1Y = bA.m_linearVelocity.y + (bA.m_angularVelocity * r1X);
+Cdot = (-(this.m_u1.x * v1X + this.m_u1.y * v1Y));
+impulse = (-this.m_limitMass1 * Cdot);
+oldImpulse = this.m_limitImpulse1;
+this.m_limitImpulse1 = b2Math.Max(0.0, this.m_limitImpulse1 + impulse);
+impulse = this.m_limitImpulse1 - oldImpulse;
+P1X = (-impulse * this.m_u1.x);
+P1Y = (-impulse * this.m_u1.y);
+bA.m_linearVelocity.x += bA.m_invMass * P1X;
+bA.m_linearVelocity.y += bA.m_invMass * P1Y;
+bA.m_angularVelocity += bA.m_invI * (r1X * P1Y - r1Y * P1X);
+}
+if (this.m_limitState2 == b2Joint.e_atUpperLimit) {
+v2X = bB.m_linearVelocity.x + ((-bB.m_angularVelocity * r2Y));
+v2Y = bB.m_linearVelocity.y + (bB.m_angularVelocity * r2X);
+Cdot = (-(this.m_u2.x * v2X + this.m_u2.y * v2Y));
+impulse = (-this.m_limitMass2 * Cdot);
+oldImpulse = this.m_limitImpulse2;
+this.m_limitImpulse2 = b2Math.Max(0.0, this.m_limitImpulse2 + impulse);
+impulse = this.m_limitImpulse2 - oldImpulse;
+P2X = (-impulse * this.m_u2.x);
+P2Y = (-impulse * this.m_u2.y);
+bB.m_linearVelocity.x += bB.m_invMass * P2X;
+bB.m_linearVelocity.y += bB.m_invMass * P2Y;
+bB.m_angularVelocity += bB.m_invI * (r2X * P2Y - r2Y * P2X);
+}
+}
+b2PulleyJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+var s1X = this.m_ground.m_xf.position.x + this.m_groundAnchor1.x;
+var s1Y = this.m_ground.m_xf.position.y + this.m_groundAnchor1.y;
+var s2X = this.m_ground.m_xf.position.x + this.m_groundAnchor2.x;
+var s2Y = this.m_ground.m_xf.position.y + this.m_groundAnchor2.y;
+var r1X = 0;
+var r1Y = 0;
+var r2X = 0;
+var r2Y = 0;
+var p1X = 0;
+var p1Y = 0;
+var p2X = 0;
+var p2Y = 0;
+var length1 = 0;
+var length2 = 0;
+var C = 0;
+var impulse = 0;
+var oldImpulse = 0;
+var oldLimitPositionImpulse = 0;
+var tX = 0;
+var linearError = 0.0;
+if (this.m_state == b2Joint.e_atUpperLimit) {
+tMat = bA.m_xf.R;
+r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+p1X = bA.m_sweep.c.x + r1X;
+p1Y = bA.m_sweep.c.y + r1Y;
+p2X = bB.m_sweep.c.x + r2X;
+p2Y = bB.m_sweep.c.y + r2Y;
+this.m_u1.Set(p1X - s1X, p1Y - s1Y);
+this.m_u2.Set(p2X - s2X, p2Y - s2Y);
+length1 = this.m_u1.Length();
+length2 = this.m_u2.Length();
+if (length1 > b2Settings.b2_linearSlop) {
+this.m_u1.Multiply(1.0 / length1);
+}
+else {
+this.m_u1.SetZero();
+}
+if (length2 > b2Settings.b2_linearSlop) {
+this.m_u2.Multiply(1.0 / length2);
+}
+else {
+this.m_u2.SetZero();
+}
+C = this.m_constant - length1 - this.m_ratio * length2;
+linearError = b2Math.Max(linearError, (-C));
+C = b2Math.Clamp(C + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0);
+impulse = (-this.m_pulleyMass * C);
+p1X = (-impulse * this.m_u1.x);
+p1Y = (-impulse * this.m_u1.y);
+p2X = (-this.m_ratio * impulse * this.m_u2.x);
+p2Y = (-this.m_ratio * impulse * this.m_u2.y);
+bA.m_sweep.c.x += bA.m_invMass * p1X;
+bA.m_sweep.c.y += bA.m_invMass * p1Y;
+bA.m_sweep.a += bA.m_invI * (r1X * p1Y - r1Y * p1X);
+bB.m_sweep.c.x += bB.m_invMass * p2X;
+bB.m_sweep.c.y += bB.m_invMass * p2Y;
+bB.m_sweep.a += bB.m_invI * (r2X * p2Y - r2Y * p2X);
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+}
+if (this.m_limitState1 == b2Joint.e_atUpperLimit) {
+tMat = bA.m_xf.R;
+r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+p1X = bA.m_sweep.c.x + r1X;
+p1Y = bA.m_sweep.c.y + r1Y;
+this.m_u1.Set(p1X - s1X, p1Y - s1Y);
+length1 = this.m_u1.Length();
+if (length1 > b2Settings.b2_linearSlop) {
+this.m_u1.x *= 1.0 / length1;
+this.m_u1.y *= 1.0 / length1;
+}
+else {
+this.m_u1.SetZero();
+}
+C = this.m_maxLength1 - length1;
+linearError = b2Math.Max(linearError, (-C));
+C = b2Math.Clamp(C + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0);
+impulse = (-this.m_limitMass1 * C);
+p1X = (-impulse * this.m_u1.x);
+p1Y = (-impulse * this.m_u1.y);
+bA.m_sweep.c.x += bA.m_invMass * p1X;
+bA.m_sweep.c.y += bA.m_invMass * p1Y;
+bA.m_sweep.a += bA.m_invI * (r1X * p1Y - r1Y * p1X);
+bA.SynchronizeTransform();
+}
+if (this.m_limitState2 == b2Joint.e_atUpperLimit) {
+tMat = bB.m_xf.R;
+r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+p2X = bB.m_sweep.c.x + r2X;
+p2Y = bB.m_sweep.c.y + r2Y;
+this.m_u2.Set(p2X - s2X, p2Y - s2Y);
+length2 = this.m_u2.Length();
+if (length2 > b2Settings.b2_linearSlop) {
+this.m_u2.x *= 1.0 / length2;
+this.m_u2.y *= 1.0 / length2;
+}
+else {
+this.m_u2.SetZero();
+}
+C = this.m_maxLength2 - length2;
+linearError = b2Math.Max(linearError, (-C));
+C = b2Math.Clamp(C + b2Settings.b2_linearSlop, (-b2Settings.b2_maxLinearCorrection), 0.0);
+impulse = (-this.m_limitMass2 * C);
+p2X = (-impulse * this.m_u2.x);
+p2Y = (-impulse * this.m_u2.y);
+bB.m_sweep.c.x += bB.m_invMass * p2X;
+bB.m_sweep.c.y += bB.m_invMass * p2Y;
+bB.m_sweep.a += bB.m_invI * (r2X * p2Y - r2Y * p2X);
+bB.SynchronizeTransform();
+}
+return linearError < b2Settings.b2_linearSlop;
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.Joints.b2PulleyJoint.b2_minPulleyLength = 2.0;
+});
+Box2D.inherit(b2PulleyJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2PulleyJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2PulleyJointDef.b2PulleyJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.groundAnchorA = new b2Vec2();
+this.groundAnchorB = new b2Vec2();
+this.localAnchorA = new b2Vec2();
+this.localAnchorB = new b2Vec2();
+};
+b2PulleyJointDef.prototype.b2PulleyJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_pulleyJoint;
+this.groundAnchorA.Set((-1.0), 1.0);
+this.groundAnchorB.Set(1.0, 1.0);
+this.localAnchorA.Set((-1.0), 0.0);
+this.localAnchorB.Set(1.0, 0.0);
+this.lengthA = 0.0;
+this.maxLengthA = 0.0;
+this.lengthB = 0.0;
+this.maxLengthB = 0.0;
+this.ratio = 1.0;
+this.collideConnected = true;
+}
+b2PulleyJointDef.prototype.Initialize = function (bA, bB, gaA, gaB, anchorA, anchorB, r) {
+if (r === undefined) r = 0;
+this.bodyA = bA;
+this.bodyB = bB;
+this.groundAnchorA.SetV(gaA);
+this.groundAnchorB.SetV(gaB);
+this.localAnchorA = this.bodyA.GetLocalPoint(anchorA);
+this.localAnchorB = this.bodyB.GetLocalPoint(anchorB);
+var d1X = anchorA.x - gaA.x;
+var d1Y = anchorA.y - gaA.y;
+this.lengthA = Math.sqrt(d1X * d1X + d1Y * d1Y);
+var d2X = anchorB.x - gaB.x;
+var d2Y = anchorB.y - gaB.y;
+this.lengthB = Math.sqrt(d2X * d2X + d2Y * d2Y);
+this.ratio = r;
+var C = this.lengthA + this.ratio * this.lengthB;
+this.maxLengthA = C - this.ratio * b2PulleyJoint.b2_minPulleyLength;
+this.maxLengthB = (C - b2PulleyJoint.b2_minPulleyLength) / this.ratio;
+}
+Box2D.inherit(b2RevoluteJoint, Box2D.Dynamics.Joints.b2Joint);
+b2RevoluteJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2RevoluteJoint.b2RevoluteJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.K = new b2Mat22();
+this.K1 = new b2Mat22();
+this.K2 = new b2Mat22();
+this.K3 = new b2Mat22();
+this.impulse3 = new b2Vec3();
+this.impulse2 = new b2Vec2();
+this.reduced = new b2Vec2();
+this.m_localAnchor1 = new b2Vec2();
+this.m_localAnchor2 = new b2Vec2();
+this.m_impulse = new b2Vec3();
+this.m_mass = new b2Mat33();
+};
+b2RevoluteJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchor1);
+}
+b2RevoluteJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchor2);
+}
+b2RevoluteJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * this.m_impulse.x, inv_dt * this.m_impulse.y);
+}
+b2RevoluteJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return inv_dt * this.m_impulse.z;
+}
+b2RevoluteJoint.prototype.GetJointAngle = function () {
+return this.m_bodyB.m_sweep.a - this.m_bodyA.m_sweep.a - this.m_referenceAngle;
+}
+b2RevoluteJoint.prototype.GetJointSpeed = function () {
+return this.m_bodyB.m_angularVelocity - this.m_bodyA.m_angularVelocity;
+}
+b2RevoluteJoint.prototype.IsLimitEnabled = function () {
+return this.m_enableLimit;
+}
+b2RevoluteJoint.prototype.EnableLimit = function (flag) {
+this.m_enableLimit = flag;
+}
+b2RevoluteJoint.prototype.GetLowerLimit = function () {
+return this.m_lowerAngle;
+}
+b2RevoluteJoint.prototype.GetUpperLimit = function () {
+return this.m_upperAngle;
+}
+b2RevoluteJoint.prototype.SetLimits = function (lower, upper) {
+if (lower === undefined) lower = 0;
+if (upper === undefined) upper = 0;
+this.m_lowerAngle = lower;
+this.m_upperAngle = upper;
+}
+b2RevoluteJoint.prototype.IsMotorEnabled = function () {
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+return this.m_enableMotor;
+}
+b2RevoluteJoint.prototype.EnableMotor = function (flag) {
+this.m_enableMotor = flag;
+}
+b2RevoluteJoint.prototype.SetMotorSpeed = function (speed) {
+if (speed === undefined) speed = 0;
+this.m_bodyA.SetAwake(true);
+this.m_bodyB.SetAwake(true);
+this.m_motorSpeed = speed;
+}
+b2RevoluteJoint.prototype.GetMotorSpeed = function () {
+return this.m_motorSpeed;
+}
+b2RevoluteJoint.prototype.SetMaxMotorTorque = function (torque) {
+if (torque === undefined) torque = 0;
+this.m_maxMotorTorque = torque;
+}
+b2RevoluteJoint.prototype.GetMotorTorque = function () {
+return this.m_maxMotorTorque;
+}
+b2RevoluteJoint.prototype.b2RevoluteJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+this.m_localAnchor1.SetV(def.localAnchorA);
+this.m_localAnchor2.SetV(def.localAnchorB);
+this.m_referenceAngle = def.referenceAngle;
+this.m_impulse.SetZero();
+this.m_motorImpulse = 0.0;
+this.m_lowerAngle = def.lowerAngle;
+this.m_upperAngle = def.upperAngle;
+this.m_maxMotorTorque = def.maxMotorTorque;
+this.m_motorSpeed = def.motorSpeed;
+this.m_enableLimit = def.enableLimit;
+this.m_enableMotor = def.enableMotor;
+this.m_limitState = b2Joint.e_inactiveLimit;
+}
+b2RevoluteJoint.prototype.InitVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+var tX = 0;
+if (this.m_enableMotor || this.m_enableLimit) {}
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var m1 = bA.m_invMass;
+var m2 = bB.m_invMass;
+var i1 = bA.m_invI;
+var i2 = bB.m_invI;
+this.m_mass.col1.x = m1 + m2 + r1Y * r1Y * i1 + r2Y * r2Y * i2;
+this.m_mass.col2.x = (-r1Y * r1X * i1) - r2Y * r2X * i2;
+this.m_mass.col3.x = (-r1Y * i1) - r2Y * i2;
+this.m_mass.col1.y = this.m_mass.col2.x;
+this.m_mass.col2.y = m1 + m2 + r1X * r1X * i1 + r2X * r2X * i2;
+this.m_mass.col3.y = r1X * i1 + r2X * i2;
+this.m_mass.col1.z = this.m_mass.col3.x;
+this.m_mass.col2.z = this.m_mass.col3.y;
+this.m_mass.col3.z = i1 + i2;
+this.m_motorMass = 1.0 / (i1 + i2);
+if (this.m_enableMotor == false) {
+this.m_motorImpulse = 0.0;
+}
+if (this.m_enableLimit) {
+var jointAngle = bB.m_sweep.a - bA.m_sweep.a - this.m_referenceAngle;
+if (b2Math.Abs(this.m_upperAngle - this.m_lowerAngle) < 2.0 * b2Settings.b2_angularSlop) {
+this.m_limitState = b2Joint.e_equalLimits;
+}
+else if (jointAngle <= this.m_lowerAngle) {
+if (this.m_limitState != b2Joint.e_atLowerLimit) {
+this.m_impulse.z = 0.0;
+}
+this.m_limitState = b2Joint.e_atLowerLimit;
+}
+else if (jointAngle >= this.m_upperAngle) {
+if (this.m_limitState != b2Joint.e_atUpperLimit) {
+this.m_impulse.z = 0.0;
+}
+this.m_limitState = b2Joint.e_atUpperLimit;
+}
+else {
+this.m_limitState = b2Joint.e_inactiveLimit;
+this.m_impulse.z = 0.0;
+}
+}
+else {
+this.m_limitState = b2Joint.e_inactiveLimit;
+}
+if (step.warmStarting) {
+this.m_impulse.x *= step.dtRatio;
+this.m_impulse.y *= step.dtRatio;
+this.m_motorImpulse *= step.dtRatio;
+var PX = this.m_impulse.x;
+var PY = this.m_impulse.y;
+bA.m_linearVelocity.x -= m1 * PX;
+bA.m_linearVelocity.y -= m1 * PY;
+bA.m_angularVelocity -= i1 * ((r1X * PY - r1Y * PX) + this.m_motorImpulse + this.m_impulse.z);
+bB.m_linearVelocity.x += m2 * PX;
+bB.m_linearVelocity.y += m2 * PY;
+bB.m_angularVelocity += i2 * ((r2X * PY - r2Y * PX) + this.m_motorImpulse + this.m_impulse.z);
+}
+else {
+this.m_impulse.SetZero();
+this.m_motorImpulse = 0.0;
+}
+}
+b2RevoluteJoint.prototype.SolveVelocityConstraints = function (step) {
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var tMat;
+var tX = 0;
+var newImpulse = 0;
+var r1X = 0;
+var r1Y = 0;
+var r2X = 0;
+var r2Y = 0;
+var v1 = bA.m_linearVelocity;
+var w1 = bA.m_angularVelocity;
+var v2 = bB.m_linearVelocity;
+var w2 = bB.m_angularVelocity;
+var m1 = bA.m_invMass;
+var m2 = bB.m_invMass;
+var i1 = bA.m_invI;
+var i2 = bB.m_invI;
+if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) {
+var Cdot = w2 - w1 - this.m_motorSpeed;
+var impulse = this.m_motorMass * ((-Cdot));
+var oldImpulse = this.m_motorImpulse;
+var maxImpulse = step.dt * this.m_maxMotorTorque;
+this.m_motorImpulse = b2Math.Clamp(this.m_motorImpulse + impulse, (-maxImpulse), maxImpulse);
+impulse = this.m_motorImpulse - oldImpulse;
+w1 -= i1 * impulse;
+w2 += i2 * impulse;
+}
+if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) {
+tMat = bA.m_xf.R;
+r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var Cdot1X = v2.x + ((-w2 * r2Y)) - v1.x - ((-w1 * r1Y));
+var Cdot1Y = v2.y + (w2 * r2X) - v1.y - (w1 * r1X);
+var Cdot2 = w2 - w1;
+this.m_mass.Solve33(this.impulse3, (-Cdot1X), (-Cdot1Y), (-Cdot2));
+if (this.m_limitState == b2Joint.e_equalLimits) {
+this.m_impulse.Add(this.impulse3);
+}
+else if (this.m_limitState == b2Joint.e_atLowerLimit) {
+newImpulse = this.m_impulse.z + this.impulse3.z;
+if (newImpulse < 0.0) {
+this.m_mass.Solve22(this.reduced, (-Cdot1X), (-Cdot1Y));
+this.impulse3.x = this.reduced.x;
+this.impulse3.y = this.reduced.y;
+this.impulse3.z = (-this.m_impulse.z);
+this.m_impulse.x += this.reduced.x;
+this.m_impulse.y += this.reduced.y;
+this.m_impulse.z = 0.0;
+}
+}
+else if (this.m_limitState == b2Joint.e_atUpperLimit) {
+newImpulse = this.m_impulse.z + this.impulse3.z;
+if (newImpulse > 0.0) {
+this.m_mass.Solve22(this.reduced, (-Cdot1X), (-Cdot1Y));
+this.impulse3.x = this.reduced.x;
+this.impulse3.y = this.reduced.y;
+this.impulse3.z = (-this.m_impulse.z);
+this.m_impulse.x += this.reduced.x;
+this.m_impulse.y += this.reduced.y;
+this.m_impulse.z = 0.0;
+}
+}
+v1.x -= m1 * this.impulse3.x;
+v1.y -= m1 * this.impulse3.y;
+w1 -= i1 * (r1X * this.impulse3.y - r1Y * this.impulse3.x + this.impulse3.z);
+v2.x += m2 * this.impulse3.x;
+v2.y += m2 * this.impulse3.y;
+w2 += i2 * (r2X * this.impulse3.y - r2Y * this.impulse3.x + this.impulse3.z);
+}
+else {
+tMat = bA.m_xf.R;
+r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var CdotX = v2.x + ((-w2 * r2Y)) - v1.x - ((-w1 * r1Y));
+var CdotY = v2.y + (w2 * r2X) - v1.y - (w1 * r1X);
+this.m_mass.Solve22(this.impulse2, (-CdotX), (-CdotY));
+this.m_impulse.x += this.impulse2.x;
+this.m_impulse.y += this.impulse2.y;
+v1.x -= m1 * this.impulse2.x;
+v1.y -= m1 * this.impulse2.y;
+w1 -= i1 * (r1X * this.impulse2.y - r1Y * this.impulse2.x);
+v2.x += m2 * this.impulse2.x;
+v2.y += m2 * this.impulse2.y;
+w2 += i2 * (r2X * this.impulse2.y - r2Y * this.impulse2.x);
+}
+bA.m_linearVelocity.SetV(v1);
+bA.m_angularVelocity = w1;
+bB.m_linearVelocity.SetV(v2);
+bB.m_angularVelocity = w2;
+}
+b2RevoluteJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var oldLimitImpulse = 0;
+var C = 0;
+var tMat;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var angularError = 0.0;
+var positionError = 0.0;
+var tX = 0;
+var impulseX = 0;
+var impulseY = 0;
+if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) {
+var angle = bB.m_sweep.a - bA.m_sweep.a - this.m_referenceAngle;
+var limitImpulse = 0.0;
+if (this.m_limitState == b2Joint.e_equalLimits) {
+C = b2Math.Clamp(angle - this.m_lowerAngle, (-b2Settings.b2_maxAngularCorrection), b2Settings.b2_maxAngularCorrection);
+limitImpulse = (-this.m_motorMass * C);
+angularError = b2Math.Abs(C);
+}
+else if (this.m_limitState == b2Joint.e_atLowerLimit) {
+C = angle - this.m_lowerAngle;
+angularError = (-C);
+C = b2Math.Clamp(C + b2Settings.b2_angularSlop, (-b2Settings.b2_maxAngularCorrection), 0.0);
+limitImpulse = (-this.m_motorMass * C);
+}
+else if (this.m_limitState == b2Joint.e_atUpperLimit) {
+C = angle - this.m_upperAngle;
+angularError = C;
+C = b2Math.Clamp(C - b2Settings.b2_angularSlop, 0.0, b2Settings.b2_maxAngularCorrection);
+limitImpulse = (-this.m_motorMass * C);
+}
+bA.m_sweep.a -= bA.m_invI * limitImpulse;
+bB.m_sweep.a += bB.m_invI * limitImpulse;
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+} {
+tMat = bA.m_xf.R;
+var r1X = this.m_localAnchor1.x - bA.m_sweep.localCenter.x;
+var r1Y = this.m_localAnchor1.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r1X + tMat.col2.x * r1Y);
+r1Y = (tMat.col1.y * r1X + tMat.col2.y * r1Y);
+r1X = tX;
+tMat = bB.m_xf.R;
+var r2X = this.m_localAnchor2.x - bB.m_sweep.localCenter.x;
+var r2Y = this.m_localAnchor2.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * r2X + tMat.col2.x * r2Y);
+r2Y = (tMat.col1.y * r2X + tMat.col2.y * r2Y);
+r2X = tX;
+var CX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X;
+var CY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y;
+var CLengthSquared = CX * CX + CY * CY;
+var CLength = Math.sqrt(CLengthSquared);
+positionError = CLength;
+var invMass1 = bA.m_invMass;
+var invMass2 = bB.m_invMass;
+var invI1 = bA.m_invI;
+var invI2 = bB.m_invI;
+var k_allowedStretch = 10.0 * b2Settings.b2_linearSlop;
+if (CLengthSquared > k_allowedStretch * k_allowedStretch) {
+var uX = CX / CLength;
+var uY = CY / CLength;
+var k = invMass1 + invMass2;
+var m = 1.0 / k;
+impulseX = m * ((-CX));
+impulseY = m * ((-CY));
+var k_beta = 0.5;
+bA.m_sweep.c.x -= k_beta * invMass1 * impulseX;
+bA.m_sweep.c.y -= k_beta * invMass1 * impulseY;
+bB.m_sweep.c.x += k_beta * invMass2 * impulseX;
+bB.m_sweep.c.y += k_beta * invMass2 * impulseY;
+CX = bB.m_sweep.c.x + r2X - bA.m_sweep.c.x - r1X;
+CY = bB.m_sweep.c.y + r2Y - bA.m_sweep.c.y - r1Y;
+}
+this.K1.col1.x = invMass1 + invMass2;
+this.K1.col2.x = 0.0;
+this.K1.col1.y = 0.0;
+this.K1.col2.y = invMass1 + invMass2;
+this.K2.col1.x = invI1 * r1Y * r1Y;
+this.K2.col2.x = (-invI1 * r1X * r1Y);
+this.K2.col1.y = (-invI1 * r1X * r1Y);
+this.K2.col2.y = invI1 * r1X * r1X;
+this.K3.col1.x = invI2 * r2Y * r2Y;
+this.K3.col2.x = (-invI2 * r2X * r2Y);
+this.K3.col1.y = (-invI2 * r2X * r2Y);
+this.K3.col2.y = invI2 * r2X * r2X;
+this.K.SetM(this.K1);
+this.K.AddM(this.K2);
+this.K.AddM(this.K3);
+this.K.Solve(b2RevoluteJoint.tImpulse, (-CX), (-CY));
+impulseX = b2RevoluteJoint.tImpulse.x;
+impulseY = b2RevoluteJoint.tImpulse.y;
+bA.m_sweep.c.x -= bA.m_invMass * impulseX;
+bA.m_sweep.c.y -= bA.m_invMass * impulseY;
+bA.m_sweep.a -= bA.m_invI * (r1X * impulseY - r1Y * impulseX);
+bB.m_sweep.c.x += bB.m_invMass * impulseX;
+bB.m_sweep.c.y += bB.m_invMass * impulseY;
+bB.m_sweep.a += bB.m_invI * (r2X * impulseY - r2Y * impulseX);
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+}
+return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
+}
+Box2D.postDefs.push(function () {
+Box2D.Dynamics.Joints.b2RevoluteJoint.tImpulse = new b2Vec2();
+});
+Box2D.inherit(b2RevoluteJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2RevoluteJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2RevoluteJointDef.b2RevoluteJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.localAnchorA = new b2Vec2();
+this.localAnchorB = new b2Vec2();
+};
+b2RevoluteJointDef.prototype.b2RevoluteJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_revoluteJoint;
+this.localAnchorA.Set(0.0, 0.0);
+this.localAnchorB.Set(0.0, 0.0);
+this.referenceAngle = 0.0;
+this.lowerAngle = 0.0;
+this.upperAngle = 0.0;
+this.maxMotorTorque = 0.0;
+this.motorSpeed = 0.0;
+this.enableLimit = false;
+this.enableMotor = false;
+}
+b2RevoluteJointDef.prototype.Initialize = function (bA, bB, anchor) {
+this.bodyA = bA;
+this.bodyB = bB;
+this.localAnchorA = this.bodyA.GetLocalPoint(anchor);
+this.localAnchorB = this.bodyB.GetLocalPoint(anchor);
+this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle();
+}
+Box2D.inherit(b2WeldJoint, Box2D.Dynamics.Joints.b2Joint);
+b2WeldJoint.prototype.__super = Box2D.Dynamics.Joints.b2Joint.prototype;
+b2WeldJoint.b2WeldJoint = function () {
+Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this, arguments);
+this.m_localAnchorA = new b2Vec2();
+this.m_localAnchorB = new b2Vec2();
+this.m_impulse = new b2Vec3();
+this.m_mass = new b2Mat33();
+};
+b2WeldJoint.prototype.GetAnchorA = function () {
+return this.m_bodyA.GetWorldPoint(this.m_localAnchorA);
+}
+b2WeldJoint.prototype.GetAnchorB = function () {
+return this.m_bodyB.GetWorldPoint(this.m_localAnchorB);
+}
+b2WeldJoint.prototype.GetReactionForce = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return new b2Vec2(inv_dt * this.m_impulse.x, inv_dt * this.m_impulse.y);
+}
+b2WeldJoint.prototype.GetReactionTorque = function (inv_dt) {
+if (inv_dt === undefined) inv_dt = 0;
+return inv_dt * this.m_impulse.z;
+}
+b2WeldJoint.prototype.b2WeldJoint = function (def) {
+this.__super.b2Joint.call(this, def);
+this.m_localAnchorA.SetV(def.localAnchorA);
+this.m_localAnchorB.SetV(def.localAnchorB);
+this.m_referenceAngle = def.referenceAngle;
+this.m_impulse.SetZero();
+this.m_mass = new b2Mat33();
+}
+b2WeldJoint.prototype.InitVelocityConstraints = function (step) {
+var tMat;
+var tX = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+tMat = bA.m_xf.R;
+var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x;
+var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rAX + tMat.col2.x * rAY);
+rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY);
+rAX = tX;
+tMat = bB.m_xf.R;
+var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x;
+var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rBX + tMat.col2.x * rBY);
+rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY);
+rBX = tX;
+var mA = bA.m_invMass;
+var mB = bB.m_invMass;
+var iA = bA.m_invI;
+var iB = bB.m_invI;
+this.m_mass.col1.x = mA + mB + rAY * rAY * iA + rBY * rBY * iB;
+this.m_mass.col2.x = (-rAY * rAX * iA) - rBY * rBX * iB;
+this.m_mass.col3.x = (-rAY * iA) - rBY * iB;
+this.m_mass.col1.y = this.m_mass.col2.x;
+this.m_mass.col2.y = mA + mB + rAX * rAX * iA + rBX * rBX * iB;
+this.m_mass.col3.y = rAX * iA + rBX * iB;
+this.m_mass.col1.z = this.m_mass.col3.x;
+this.m_mass.col2.z = this.m_mass.col3.y;
+this.m_mass.col3.z = iA + iB;
+if (step.warmStarting) {
+this.m_impulse.x *= step.dtRatio;
+this.m_impulse.y *= step.dtRatio;
+this.m_impulse.z *= step.dtRatio;
+bA.m_linearVelocity.x -= mA * this.m_impulse.x;
+bA.m_linearVelocity.y -= mA * this.m_impulse.y;
+bA.m_angularVelocity -= iA * (rAX * this.m_impulse.y - rAY * this.m_impulse.x + this.m_impulse.z);
+bB.m_linearVelocity.x += mB * this.m_impulse.x;
+bB.m_linearVelocity.y += mB * this.m_impulse.y;
+bB.m_angularVelocity += iB * (rBX * this.m_impulse.y - rBY * this.m_impulse.x + this.m_impulse.z);
+}
+else {
+this.m_impulse.SetZero();
+}
+}
+b2WeldJoint.prototype.SolveVelocityConstraints = function (step) {
+var tMat;
+var tX = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+var vA = bA.m_linearVelocity;
+var wA = bA.m_angularVelocity;
+var vB = bB.m_linearVelocity;
+var wB = bB.m_angularVelocity;
+var mA = bA.m_invMass;
+var mB = bB.m_invMass;
+var iA = bA.m_invI;
+var iB = bB.m_invI;
+tMat = bA.m_xf.R;
+var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x;
+var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rAX + tMat.col2.x * rAY);
+rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY);
+rAX = tX;
+tMat = bB.m_xf.R;
+var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x;
+var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rBX + tMat.col2.x * rBY);
+rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY);
+rBX = tX;
+var Cdot1X = vB.x - wB * rBY - vA.x + wA * rAY;
+var Cdot1Y = vB.y + wB * rBX - vA.y - wA * rAX;
+var Cdot2 = wB - wA;
+var impulse = new b2Vec3();
+this.m_mass.Solve33(impulse, (-Cdot1X), (-Cdot1Y), (-Cdot2));
+this.m_impulse.Add(impulse);
+vA.x -= mA * impulse.x;
+vA.y -= mA * impulse.y;
+wA -= iA * (rAX * impulse.y - rAY * impulse.x + impulse.z);
+vB.x += mB * impulse.x;
+vB.y += mB * impulse.y;
+wB += iB * (rBX * impulse.y - rBY * impulse.x + impulse.z);
+bA.m_angularVelocity = wA;
+bB.m_angularVelocity = wB;
+}
+b2WeldJoint.prototype.SolvePositionConstraints = function (baumgarte) {
+if (baumgarte === undefined) baumgarte = 0;
+var tMat;
+var tX = 0;
+var bA = this.m_bodyA;
+var bB = this.m_bodyB;
+tMat = bA.m_xf.R;
+var rAX = this.m_localAnchorA.x - bA.m_sweep.localCenter.x;
+var rAY = this.m_localAnchorA.y - bA.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rAX + tMat.col2.x * rAY);
+rAY = (tMat.col1.y * rAX + tMat.col2.y * rAY);
+rAX = tX;
+tMat = bB.m_xf.R;
+var rBX = this.m_localAnchorB.x - bB.m_sweep.localCenter.x;
+var rBY = this.m_localAnchorB.y - bB.m_sweep.localCenter.y;
+tX = (tMat.col1.x * rBX + tMat.col2.x * rBY);
+rBY = (tMat.col1.y * rBX + tMat.col2.y * rBY);
+rBX = tX;
+var mA = bA.m_invMass;
+var mB = bB.m_invMass;
+var iA = bA.m_invI;
+var iB = bB.m_invI;
+var C1X = bB.m_sweep.c.x + rBX - bA.m_sweep.c.x - rAX;
+var C1Y = bB.m_sweep.c.y + rBY - bA.m_sweep.c.y - rAY;
+var C2 = bB.m_sweep.a - bA.m_sweep.a - this.m_referenceAngle;
+var k_allowedStretch = 10.0 * b2Settings.b2_linearSlop;
+var positionError = Math.sqrt(C1X * C1X + C1Y * C1Y);
+var angularError = b2Math.Abs(C2);
+if (positionError > k_allowedStretch) {
+iA *= 1.0;
+iB *= 1.0;
+}
+this.m_mass.col1.x = mA + mB + rAY * rAY * iA + rBY * rBY * iB;
+this.m_mass.col2.x = (-rAY * rAX * iA) - rBY * rBX * iB;
+this.m_mass.col3.x = (-rAY * iA) - rBY * iB;
+this.m_mass.col1.y = this.m_mass.col2.x;
+this.m_mass.col2.y = mA + mB + rAX * rAX * iA + rBX * rBX * iB;
+this.m_mass.col3.y = rAX * iA + rBX * iB;
+this.m_mass.col1.z = this.m_mass.col3.x;
+this.m_mass.col2.z = this.m_mass.col3.y;
+this.m_mass.col3.z = iA + iB;
+var impulse = new b2Vec3();
+this.m_mass.Solve33(impulse, (-C1X), (-C1Y), (-C2));
+bA.m_sweep.c.x -= mA * impulse.x;
+bA.m_sweep.c.y -= mA * impulse.y;
+bA.m_sweep.a -= iA * (rAX * impulse.y - rAY * impulse.x + impulse.z);
+bB.m_sweep.c.x += mB * impulse.x;
+bB.m_sweep.c.y += mB * impulse.y;
+bB.m_sweep.a += iB * (rBX * impulse.y - rBY * impulse.x + impulse.z);
+bA.SynchronizeTransform();
+bB.SynchronizeTransform();
+return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
+}
+Box2D.inherit(b2WeldJointDef, Box2D.Dynamics.Joints.b2JointDef);
+b2WeldJointDef.prototype.__super = Box2D.Dynamics.Joints.b2JointDef.prototype;
+b2WeldJointDef.b2WeldJointDef = function () {
+Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this, arguments);
+this.localAnchorA = new b2Vec2();
+this.localAnchorB = new b2Vec2();
+};
+b2WeldJointDef.prototype.b2WeldJointDef = function () {
+this.__super.b2JointDef.call(this);
+this.type = b2Joint.e_weldJoint;
+this.referenceAngle = 0.0;
+}
+b2WeldJointDef.prototype.Initialize = function (bA, bB, anchor) {
+this.bodyA = bA;
+this.bodyB = bB;
+this.localAnchorA.SetV(this.bodyA.GetLocalPoint(anchor));
+this.localAnchorB.SetV(this.bodyB.GetLocalPoint(anchor));
+this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle();
+}
+})();
+(function () {
+var b2DebugDraw = Box2D.Dynamics.b2DebugDraw;
+b2DebugDraw.b2DebugDraw = function () {
+this.m_drawScale = 1.0;
+this.m_lineThickness = 1.0;
+this.m_alpha = 1.0;
+this.m_fillAlpha = 1.0;
+this.m_xformScale = 1.0;
+var __this = this;
+//#WORKAROUND
+this.m_sprite = {
+graphics: {
+clear: function () {
+__this.m_ctx.clearRect(0, 0, __this.m_ctx.canvas.width, __this.m_ctx.canvas.height)
+}
+}
+};
+};
+b2DebugDraw.prototype._color = function (color, alpha) {
+return "rgba(" + ((color & 0xFF0000) >> 16) + "," + ((color & 0xFF00) >> 8) + "," + (color & 0xFF) + "," + alpha + ")";
+};
+b2DebugDraw.prototype.b2DebugDraw = function () {
+this.m_drawFlags = 0;
+};
+b2DebugDraw.prototype.SetFlags = function (flags) {
+if (flags === undefined) flags = 0;
+this.m_drawFlags = flags;
+};
+b2DebugDraw.prototype.GetFlags = function () {
+return this.m_drawFlags;
+};
+b2DebugDraw.prototype.AppendFlags = function (flags) {
+if (flags === undefined) flags = 0;
+this.m_drawFlags |= flags;
+};
+b2DebugDraw.prototype.ClearFlags = function (flags) {
+if (flags === undefined) flags = 0;
+this.m_drawFlags &= ~flags;
+};
+b2DebugDraw.prototype.SetSprite = function (sprite) {
+this.m_ctx = sprite;
+};
+b2DebugDraw.prototype.GetSprite = function () {
+return this.m_ctx;
+};
+b2DebugDraw.prototype.SetDrawScale = function (drawScale) {
+if (drawScale === undefined) drawScale = 0;
+this.m_drawScale = drawScale;
+};
+b2DebugDraw.prototype.GetDrawScale = function () {
+return this.m_drawScale;
+};
+b2DebugDraw.prototype.SetLineThickness = function (lineThickness) {
+if (lineThickness === undefined) lineThickness = 0;
+this.m_lineThickness = lineThickness;
+this.m_ctx.strokeWidth = lineThickness;
+};
+b2DebugDraw.prototype.GetLineThickness = function () {
+return this.m_lineThickness;
+};
+b2DebugDraw.prototype.SetAlpha = function (alpha) {
+if (alpha === undefined) alpha = 0;
+this.m_alpha = alpha;
+};
+b2DebugDraw.prototype.GetAlpha = function () {
+return this.m_alpha;
+};
+b2DebugDraw.prototype.SetFillAlpha = function (alpha) {
+if (alpha === undefined) alpha = 0;
+this.m_fillAlpha = alpha;
+};
+b2DebugDraw.prototype.GetFillAlpha = function () {
+return this.m_fillAlpha;
+};
+b2DebugDraw.prototype.SetXFormScale = function (xformScale) {
+if (xformScale === undefined) xformScale = 0;
+this.m_xformScale = xformScale;
+};
+b2DebugDraw.prototype.GetXFormScale = function () {
+return this.m_xformScale;
+};
+b2DebugDraw.prototype.DrawPolygon = function (vertices, vertexCount, color) {
+if (!vertexCount) return;
+var s = this.m_ctx;
+var drawScale = this.m_drawScale;
+s.beginPath();
+s.strokeStyle = this._color(color.color, this.m_alpha);
+s.moveTo(vertices[0].x * drawScale, vertices[0].y * drawScale);
+for (var i = 1; i < vertexCount; i++) {
+s.lineTo(vertices[i].x * drawScale, vertices[i].y * drawScale);
+}
+s.lineTo(vertices[0].x * drawScale, vertices[0].y * drawScale);
+s.closePath();
+s.stroke();
+};
+b2DebugDraw.prototype.DrawSolidPolygon = function (vertices, vertexCount, color) {
+if (!vertexCount) return;
+var s = this.m_ctx;
+var drawScale = this.m_drawScale;
+s.beginPath();
+s.strokeStyle = this._color(color.color, this.m_alpha);
+s.fillStyle = this._color(color.color, this.m_fillAlpha);
+s.moveTo(vertices[0].x * drawScale, vertices[0].y * drawScale);
+for (var i = 1; i < vertexCount; i++) {
+s.lineTo(vertices[i].x * drawScale, vertices[i].y * drawScale);
+}
+s.lineTo(vertices[0].x * drawScale, vertices[0].y * drawScale);
+s.closePath();
+s.fill();
+s.stroke();
+};
+b2DebugDraw.prototype.DrawCircle = function (center, radius, color) {
+if (!radius) return;
+var s = this.m_ctx;
+var drawScale = this.m_drawScale;
+s.beginPath();
+s.strokeStyle = this._color(color.color, this.m_alpha);
+s.arc(center.x * drawScale, center.y * drawScale, radius * drawScale, 0, Math.PI * 2, true);
+s.closePath();
+s.stroke();
+};
+b2DebugDraw.prototype.DrawSolidCircle = function (center, radius, axis, color) {
+if (!radius) return;
+var s = this.m_ctx,
+drawScale = this.m_drawScale,
+cx = center.x * drawScale,
+cy = center.y * drawScale;
+s.moveTo(0, 0);
+s.beginPath();
+s.strokeStyle = this._color(color.color, this.m_alpha);
+s.fillStyle = this._color(color.color, this.m_fillAlpha);
+s.arc(cx, cy, radius * drawScale, 0, Math.PI * 2, true);
+s.moveTo(cx, cy);
+s.lineTo((center.x + axis.x * radius) * drawScale, (center.y + axis.y * radius) * drawScale);
+s.closePath();
+s.fill();
+s.stroke();
+};
+b2DebugDraw.prototype.DrawSegment = function (p1, p2, color) {
+var s = this.m_ctx,
+drawScale = this.m_drawScale;
+s.strokeStyle = this._color(color.color, this.m_alpha);
+s.beginPath();
+s.moveTo(p1.x * drawScale, p1.y * drawScale);
+s.lineTo(p2.x * drawScale, p2.y * drawScale);
+s.closePath();
+s.stroke();
+};
+b2DebugDraw.prototype.DrawTransform = function (xf) {
+var s = this.m_ctx,
+drawScale = this.m_drawScale;
+s.beginPath();
+s.strokeStyle = this._color(0xff0000, this.m_alpha);
+s.moveTo(xf.position.x * drawScale, xf.position.y * drawScale);
+s.lineTo((xf.position.x + this.m_xformScale * xf.R.col1.x) * drawScale, (xf.position.y + this.m_xformScale * xf.R.col1.y) * drawScale);
+s.strokeStyle = this._color(0xff00, this.m_alpha);
+s.moveTo(xf.position.x * drawScale, xf.position.y * drawScale);
+s.lineTo((xf.position.x + this.m_xformScale * xf.R.col2.x) * drawScale, (xf.position.y + this.m_xformScale * xf.R.col2.y) * drawScale);
+s.closePath();
+s.stroke();
+};
+})(); //post-definitions
+var i;
+for (i = 0; i < Box2D.postDefs.length; ++i) Box2D.postDefs[i]();
+delete Box2D.postDefs;

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