planck.min.js

/**
 * Planck.js v1.0.0-alpha.4
 * @license The MIT license
 * @copyright Copyright (c) 2021 Erin Catto, Ali Shakiba
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?e(exports):"function"==typeof define&&define.amd?define(["exports"],e):e((t="undefined"!=typeof globalThis?globalThis:t||self).planck={})}(this,(function(t){"use strict";
/*! *****************************************************************************
    Copyright (c) Microsoft Corporation.

    Permission to use, copy, modify, and/or distribute this software for any
    purpose with or without fee is hereby granted.

    THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
    REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
    AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
    INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
    LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
    OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
    PERFORMANCE OF THIS SOFTWARE.
    ***************************************************************************** */var e=function(t,i){return(e=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var i in e)Object.prototype.hasOwnProperty.call(e,i)&&(t[i]=e[i])})(t,i)};function i(t,i){if("function"!=typeof i&&null!==i)throw new TypeError("Class extends value "+String(i)+" is not a constructor or null");function o(){this.constructor=t}e(t,i),t.prototype=null===i?Object.create(i):(o.prototype=i.prototype,new o)}var o=function(){return(o=Object.assign||function(t){for(var e,i=1,o=arguments.length;i<o;i++)for(var s in e=arguments[i])Object.prototype.hasOwnProperty.call(e,s)&&(t[s]=e[s]);return t}).apply(this,arguments)};function s(t,e){null==t&&(t={});var i=o({},t);for(var s in e)e.hasOwnProperty(s)&&void 0===t[s]&&(i[s]=e[s]);if("function"==typeof Object.getOwnPropertySymbols)for(var n=Object.getOwnPropertySymbols(e),r=0;r<n.length;r++){var 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h.neo(.5*(this.lowerBound.x+this.upperBound.x),.5*(this.lowerBound.y+this.upperBound.y))},t.prototype.getExtents=function(){return h.neo(.5*(this.upperBound.x-this.lowerBound.x),.5*(this.upperBound.y-this.lowerBound.y))},t.prototype.getPerimeter=function(){return 2*(this.upperBound.x-this.lowerBound.x+this.upperBound.y-this.lowerBound.y)},t.prototype.combine=function(t,e){e=e||this;var i=t.lowerBound,o=t.upperBound,s=e.lowerBound,n=e.upperBound,m=r.min(i.x,s.x),a=r.min(i.y,s.y),c=r.max(n.x,o.x),h=r.max(n.y,o.y);this.lowerBound.setNum(m,a),this.upperBound.setNum(c,h)},t.prototype.combinePoints=function(t,e){this.lowerBound.setNum(r.min(t.x,e.x),r.min(t.y,e.y)),this.upperBound.setNum(r.max(t.x,e.x),r.max(t.y,e.y))},t.prototype.set=function(t){this.lowerBound.setNum(t.lowerBound.x,t.lowerBound.y),this.upperBound.setNum(t.upperBound.x,t.upperBound.y)},t.prototype.contains=function(t){var e=!0;return e=(e=(e=(e=e&&this.lowerBound.x<=t.lowerBound.x)&&this.lowerBound.y<=t.lowerBound.y)&&t.upperBound.x<=this.upperBound.x)&&t.upperBound.y<=this.upperBound.y},t.prototype.extend=function(e){return t.extend(this,e),this},t.extend=function(t,e){t.lowerBound.x-=e,t.lowerBound.y-=e,t.upperBound.x+=e,t.upperBound.y+=e},t.testOverlap=function(t,e){var i=e.lowerBound.x-t.upperBound.x,o=t.lowerBound.x-e.upperBound.x,s=e.lowerBound.y-t.upperBound.y,n=t.lowerBound.y-e.upperBound.y;return!(i>0||s>0||o>0||n>0)},t.areEqual=function(t,e){return h.areEqual(t.lowerBound,e.lowerBound)&&h.areEqual(t.upperBound,e.upperBound)},t.diff=function(t,e){var i=r.max(0,r.min(t.upperBound.x,e.upperBound.x)-r.max(e.lowerBound.x,t.lowerBound.x)),o=r.max(0,r.min(t.upperBound.y,e.upperBound.y)-r.max(e.lowerBound.y,t.lowerBound.y));return(t.upperBound.x-t.lowerBound.x)*(t.upperBound.y-t.lowerBound.y)+(e.upperBound.x-e.lowerBound.x)*(e.upperBound.y-e.lowerBound.y)-i*o},t.prototype.rayCast=function(t,e){for(var i=-1/0,o=1/0,s=e.p1,n=h.sub(e.p2,e.p1),m=h.abs(n),a=h.zero(),c="x";null!==c;c="x"===c?"y":null)if(m.x<r.EPSILON){if(s[c]<this.lowerBound[c]||this.upperBound[c]<s[c])return!1}else{var _=1/n[c],l=(this.lowerBound[c]-s[c])*_,u=(this.upperBound[c]-s[c])*_,p=-1;if(l>u){var y=l;l=u,u=y,p=1}if(l>i&&(a.setZero(),a[c]=p,i=l),i>(o=r.min(o,u)))return!1}return!(i<0||e.maxFraction<i)&&(t.fraction=i,t.normal=a,!0)},t.prototype.toString=function(){return JSON.stringify(this)},t}(),l=function(){function t(){}return Object.defineProperty(t,"linearSlopSquared",{get:function(){return t.linearSlop*t.linearSlop},enumerable:!1,configurable:!0}),Object.defineProperty(t,"polygonRadius",{get:function(){return 2*t.linearSlop},enumerable:!1,configurable:!0}),Object.defineProperty(t,"maxTranslationSquared",{get:function(){return t.maxTranslation*t.maxTranslation},enumerable:!1,configurable:!0}),Object.defineProperty(t,"maxRotationSquared",{get:function(){return t.maxRotation*t.maxRotation},enumerable:!1,configurable:!0}),Object.defineProperty(t,"linearSleepToleranceSqr",{get:function(){return Math.pow(t.linearSleepTolerance,2)},enumerable:!1,configurable:!0}),Object.defineProperty(t,"angularSleepToleranceSqr",{get:function(){return Math.pow(t.angularSleepTolerance,2)},enumerable:!1,configurable:!0}),t.maxManifoldPoints=2,t.maxPolygonVertices=12,t.aabbExtension=.1,t.aabbMultiplier=2,t.linearSlop=.005,t.angularSlop=2/180*Math.PI,t.maxSubSteps=8,t.maxTOIContacts=32,t.maxTOIIterations=20,t.maxDistnceIterations=20,t.velocityThreshold=1,t.maxLinearCorrection=.2,t.maxAngularCorrection=8/180*Math.PI,t.maxTranslation=2,t.maxRotation=.5*Math.PI,t.baumgarte=.2,t.toiBaugarte=.75,t.timeToSleep=.5,t.linearSleepTolerance=.01,t.angularSleepTolerance=2/180*Math.PI,t}(),u=function(){function t(t){this._list=[],this._max=1/0,this._createCount=0,this._outCount=0,this._inCount=0,this._discardCount=0,this._list=[],this._max=t.max||this._max,this._createFn=t.create,this._outFn=t.allocate,this._inFn=t.release,this._discardFn=t.discard}return t.prototype.max=function(t){return"number"==typeof t?(this._max=t,this):this._max},t.prototype.size=function(){return this._list.length},t.prototype.allocate=function(){var t;return this._list.length>0?t=this._list.shift():(this._createCount++,t="function"==typeof this._createFn?this._createFn():{}),this._outCount++,"function"==typeof this._outFn&&this._outFn(t),t},t.prototype.release=function(t){this._list.length<this._max?(this._inCount++,"function"==typeof this._inFn&&this._inFn(t),this._list.push(t)):(this._discardCount++,"function"==typeof this._discardFn&&(t=this._discardFn(t)))},t.prototype.toString=function(){return" +"+this._createCount+" >"+this._outCount+" <"+this._inCount+" -"+this._discardCount+" ="+this._list.length+"/"+this._max},t}(),p=function(){function t(t){this.aabb=new _,this.userData=null,this.parent=null,this.child1=null,this.child2=null,this.height=-1,this.id=t}return t.prototype.toString=function(){return this.id+": "+this.userData},t.prototype.isLeaf=function(){return null==this.child1},t}(),y=function(){function t(){this.inputPool=new u({create:function(){return{}},release:function(t){}}),this.stackPool=new u({create:function(){return[]},release:function(t){t.length=0}}),this.iteratorPool=new u({create:function(){return new d},release:function(t){t.close()}}),this.m_root=null,this.m_nodes={},this.m_lastProxyId=0,this.m_pool=new u({create:function(){return new p}})}return t.prototype.getUserData=function(t){return this.m_nodes[t].userData},t.prototype.getFatAABB=function(t){return this.m_nodes[t].aabb},t.prototype.allocateNode=function(){var t=this.m_pool.allocate();return t.id=++this.m_lastProxyId,t.userData=null,t.parent=null,t.child1=null,t.child2=null,t.height=-1,this.m_nodes[t.id]=t,t},t.prototype.freeNode=function(t){this.m_pool.release(t),t.height=-1,delete this.m_nodes[t.id]},t.prototype.createProxy=function(t,e){var i=this.allocateNode();return i.aabb.set(t),_.extend(i.aabb,l.aabbExtension),i.userData=e,i.height=0,this.insertLeaf(i),i.id},t.prototype.destroyProxy=function(t){var e=this.m_nodes[t];this.removeLeaf(e),this.freeNode(e)},t.prototype.moveProxy=function(t,e,i){var o=this.m_nodes[t];return!o.aabb.contains(e)&&(this.removeLeaf(o),o.aabb.set(e),e=o.aabb,_.extend(e,l.aabbExtension),i.x<0?e.lowerBound.x+=i.x*l.aabbMultiplier:e.upperBound.x+=i.x*l.aabbMultiplier,i.y<0?e.lowerBound.y+=i.y*l.aabbMultiplier:e.upperBound.y+=i.y*l.aabbMultiplier,this.insertLeaf(o),!0)},t.prototype.insertLeaf=function(t){if(null==this.m_root)return this.m_root=t,void(this.m_root.parent=null);for(var e=t.aabb,i=this.m_root;!i.isLeaf();){var o=i.child1,s=i.child2,n=i.aabb.getPerimeter(),m=new _;m.combine(i.aabb,e);var a=m.getPerimeter(),c=2*a,h=2*(a-n),l=void 0;if(o.isLeaf()){(y=new _).combine(e,o.aabb),l=y.getPerimeter()+h}else{(y=new _).combine(e,o.aabb);var u=o.aabb.getPerimeter();l=y.getPerimeter()-u+h}var p=void 0;if(s.isLeaf()){(y=new _).combine(e,s.aabb),p=y.getPerimeter()+h}else{var y;(y=new _).combine(e,s.aabb);u=s.aabb.getPerimeter();p=y.getPerimeter()-u+h}if(c<l&&c<p)break;i=l<p?o:s}var d=i,f=d.parent,v=this.allocateNode();for(v.parent=f,v.userData=null,v.aabb.combine(e,d.aabb),v.height=d.height+1,null!=f?(f.child1===d?f.child1=v:f.child2=v,v.child1=d,v.child2=t,d.parent=v,t.parent=v):(v.child1=d,v.child2=t,d.parent=v,t.parent=v,this.m_root=v),i=t.parent;null!=i;){o=(i=this.balance(i)).child1,s=i.child2;i.height=1+r.max(o.height,s.height),i.aabb.combine(o.aabb,s.aabb),i=i.parent}},t.prototype.removeLeaf=function(t){if(t!==this.m_root){var e,i=t.parent,o=i.parent;if(e=i.child1===t?i.child2:i.child1,null!=o){o.child1===i?o.child1=e:o.child2=e,e.parent=o,this.freeNode(i);for(var s=o;null!=s;){var n=(s=this.balance(s)).child1,m=s.child2;s.aabb.combine(n.aabb,m.aabb),s.height=1+r.max(n.height,m.height),s=s.parent}}else this.m_root=e,e.parent=null,this.freeNode(i)}else this.m_root=null},t.prototype.balance=function(t){var e=t;if(e.isLeaf()||e.height<2)return t;var i=e.child1,o=e.child2,s=o.height-i.height;if(s>1){var n=o.child1,m=o.child2;return o.child1=e,o.parent=e.parent,e.parent=o,null!=o.parent?o.parent.child1===t?o.parent.child1=o:o.parent.child2=o:this.m_root=o,n.height>m.height?(o.child2=n,e.child2=m,m.parent=e,e.aabb.combine(i.aabb,m.aabb),o.aabb.combine(e.aabb,n.aabb),e.height=1+r.max(i.height,m.height),o.height=1+r.max(e.height,n.height)):(o.child2=m,e.child2=n,n.parent=e,e.aabb.combine(i.aabb,n.aabb),o.aabb.combine(e.aabb,m.aabb),e.height=1+r.max(i.height,n.height),o.height=1+r.max(e.height,m.height)),o}if(s<-1){var a=i.child1,c=i.child2;return i.child1=e,i.parent=e.parent,e.parent=i,null!=i.parent?i.parent.child1===e?i.parent.child1=i:i.parent.child2=i:this.m_root=i,a.height>c.height?(i.child2=a,e.child1=c,c.parent=e,e.aabb.combine(o.aabb,c.aabb),i.aabb.combine(e.aabb,a.aabb),e.height=1+r.max(o.height,c.height),i.height=1+r.max(e.height,a.height)):(i.child2=c,e.child1=a,a.parent=e,e.aabb.combine(o.aabb,a.aabb),i.aabb.combine(e.aabb,c.aabb),e.height=1+r.max(o.height,a.height),i.height=1+r.max(e.height,c.height)),i}return e},t.prototype.getHeight=function(){return null==this.m_root?0:this.m_root.height},t.prototype.getAreaRatio=function(){if(null==this.m_root)return 0;for(var t,e=this.m_root.aabb.getPerimeter(),i=0,o=this.iteratorPool.allocate().preorder(this.m_root);t=o.next();)t.height<0||(i+=t.aabb.getPerimeter());return this.iteratorPool.release(o),i/e},t.prototype.computeHeight=function(t){var e;if((e=void 0!==t?this.m_nodes[t]:this.m_root).isLeaf())return 0;var i=this.computeHeight(e.child1.id),o=this.computeHeight(e.child2.id);return 1+r.max(i,o)},t.prototype.validateStructure=function(t){if(null!=t){this.m_root;var e=t.child1,i=t.child2;t.isLeaf()||(this.validateStructure(e),this.validateStructure(i))}},t.prototype.validateMetrics=function(t){if(null!=t){var e=t.child1,i=t.child2;if(!t.isLeaf()){var o=e.height,s=i.height;r.max(o,s),(new _).combine(e.aabb,i.aabb),this.validateMetrics(e),this.validateMetrics(i)}}},t.prototype.validate=function(){this.validateStructure(this.m_root),this.validateMetrics(this.m_root)},t.prototype.getMaxBalance=function(){for(var t,e=0,i=this.iteratorPool.allocate().preorder(this.m_root);t=i.next();)if(!(t.height<=1)){var o=r.abs(t.child2.height-t.child1.height);e=r.max(e,o)}return this.iteratorPool.release(i),e},t.prototype.rebuildBottomUp=function(){for(var t,e=[],i=0,o=this.iteratorPool.allocate().preorder(this.m_root);t=o.next();)t.height<0||(t.isLeaf()?(t.parent=null,e[i]=t,++i):this.freeNode(t));for(this.iteratorPool.release(o);i>1;){for(var s=1/0,n=-1,m=-1,a=0;a<i;++a)for(var c=e[a].aabb,h=a+1;h<i;++h){var l=e[h].aabb,u=new _;u.combine(c,l);var p=u.getPerimeter();p<s&&(n=a,m=h,s=p)}var y=e[n],d=e[m],f=this.allocateNode();f.child1=y,f.child2=d,f.height=1+r.max(y.height,d.height),f.aabb.combine(y.aabb,d.aabb),f.parent=null,y.parent=f,d.parent=f,e[m]=e[i-1],e[n]=f,--i}this.m_root=e[0],this.validate()},t.prototype.shiftOrigin=function(t){for(var e,i=this.iteratorPool.allocate().preorder(this.m_root);e=i.next();){var o=e.aabb;o.lowerBound.x-=t.x,o.lowerBound.y-=t.y,o.upperBound.x-=t.x,o.upperBound.y-=t.y}this.iteratorPool.release(i)},t.prototype.query=function(t,e){var i=this.stackPool.allocate();for(i.push(this.m_root);i.length>0;){var o=i.pop();if(null!=o)if(_.testOverlap(o.aabb,t))if(o.isLeaf()){if(!1===e(o.id))return}else i.push(o.child1),i.push(o.child2)}this.stackPool.release(i)},t.prototype.rayCast=function(t,e){var i=t.p1,o=t.p2,s=h.sub(o,i);s.normalize();var n=h.crossNumVec2(1,s),m=h.abs(n),a=t.maxFraction,c=new _,l=h.combine(1-a,i,a,o);c.combinePoints(i,l);var u=this.stackPool.allocate(),p=this.inputPool.allocate();for(u.push(this.m_root);u.length>0;){var y=u.pop();if(null!=y&&!1!==_.testOverlap(y.aabb,c)){var d=y.aabb.getCenter(),f=y.aabb.getExtents();if(!(r.abs(h.dot(n,h.sub(i,d)))-h.dot(m,f)>0))if(y.isLeaf()){p.p1=h.clone(t.p1),p.p2=h.clone(t.p2),p.maxFraction=a;var v=e(p,y.id);if(0===v)return;v>0&&(a=v,l=h.combine(1-a,i,a,o),c.combinePoints(i,l))}else u.push(y.child1),u.push(y.child2)}}this.stackPool.release(u),this.inputPool.release(p)},t}(),d=function(){function t(){this.parents=[],this.states=[]}return t.prototype.preorder=function(t){return this.parents.length=0,this.parents.push(t),this.states.length=0,this.states.push(0),this},t.prototype.next=function(){for(;this.parents.length>0;){var t=this.parents.length-1,e=this.parents[t];if(0===this.states[t])return this.states[t]=1,e;if(1===this.states[t]&&(this.states[t]=2,e.child1))return this.parents.push(e.child1),this.states.push(1),e.child1;if(2===this.states[t]&&(this.states[t]=3,e.child2))return this.parents.push(e.child2),this.states.push(1),e.child2;this.parents.pop(),this.states.pop()}},t.prototype.close=function(){this.parents.length=0},t}(),f=function(){function t(){var t=this;this.m_tree=new y,this.m_proxyCount=0,this.m_moveBuffer=[],this.query=function(e,i){t.m_tree.query(e,i)},this.queryCallback=function(e){if(e===t.m_queryProxyId)return!0;var i=r.min(e,t.m_queryProxyId),o=r.max(e,t.m_queryProxyId),s=t.m_tree.getUserData(i),n=t.m_tree.getUserData(o);return t.m_callback(s,n),!0}}return t.prototype.getUserData=function(t){return this.m_tree.getUserData(t)},t.prototype.testOverlap=function(t,e){var i=this.m_tree.getFatAABB(t),o=this.m_tree.getFatAABB(e);return _.testOverlap(i,o)},t.prototype.getFatAABB=function(t){return this.m_tree.getFatAABB(t)},t.prototype.getProxyCount=function(){return this.m_proxyCount},t.prototype.getTreeHeight=function(){return this.m_tree.getHeight()},t.prototype.getTreeBalance=function(){return this.m_tree.getMaxBalance()},t.prototype.getTreeQuality=function(){return this.m_tree.getAreaRatio()},t.prototype.rayCast=function(t,e){this.m_tree.rayCast(t,e)},t.prototype.shiftOrigin=function(t){this.m_tree.shiftOrigin(t)},t.prototype.createProxy=function(t,e){var i=this.m_tree.createProxy(t,e);return this.m_proxyCount++,this.bufferMove(i),i},t.prototype.destroyProxy=function(t){this.unbufferMove(t),this.m_proxyCount--,this.m_tree.destroyProxy(t)},t.prototype.moveProxy=function(t,e,i){this.m_tree.moveProxy(t,e,i)&&this.bufferMove(t)},t.prototype.touchProxy=function(t){this.bufferMove(t)},t.prototype.bufferMove=function(t){this.m_moveBuffer.push(t)},t.prototype.unbufferMove=function(t){for(var e=0;e<this.m_moveBuffer.length;++e)this.m_moveBuffer[e]===t&&(this.m_moveBuffer[e]=null)},t.prototype.updatePairs=function(t){for(this.m_callback=t;this.m_moveBuffer.length>0;)if(this.m_queryProxyId=this.m_moveBuffer.pop(),null!==this.m_queryProxyId){var e=this.m_tree.getFatAABB(this.m_queryProxyId);this.m_tree.query(e,this.queryCallback)}},t}(),v=function(){function t(e){if(!(this instanceof t))return new t(e);"number"==typeof e?this.setAngle(e):"object"==typeof e?this.setRot(e):this.setIdentity()}return t.neo=function(e){var i=Object.create(t.prototype);return i.setAngle(e),i},t.clone=function(e){var i=Object.create(t.prototype);return i.s=e.s,i.c=e.c,i},t.identity=function(){var e=Object.create(t.prototype);return e.s=0,e.c=1,e},t.isValid=function(t){return null!=t&&(r.isFinite(t.s)&&r.isFinite(t.c))},t.assert=function(t){},t.prototype.setIdentity=function(){this.s=0,this.c=1},t.prototype.set=function(t){"object"==typeof t?(this.s=t.s,this.c=t.c):(this.s=r.sin(t),this.c=r.cos(t))},t.prototype.setRot=function(t){this.s=t.s,this.c=t.c},t.prototype.setAngle=function(t){this.s=r.sin(t),this.c=r.cos(t)},t.prototype.getAngle=function(){return r.atan2(this.s,this.c)},t.prototype.getXAxis=function(){return h.neo(this.c,this.s)},t.prototype.getYAxis=function(){return h.neo(-this.s,this.c)},t.mul=function(e,i){if("c"in i&&"s"in i){var o=t.identity();return o.s=e.s*i.c+e.c*i.s,o.c=e.c*i.c-e.s*i.s,o}if("x"in i&&"y"in i)return h.neo(e.c*i.x-e.s*i.y,e.s*i.x+e.c*i.y)},t.mulRot=function(e,i){var o=t.identity();return o.s=e.s*i.c+e.c*i.s,o.c=e.c*i.c-e.s*i.s,o},t.mulVec2=function(t,e){return h.neo(t.c*e.x-t.s*e.y,t.s*e.x+t.c*e.y)},t.mulSub=function(t,e,i){var o=t.c*(e.x-i.x)-t.s*(e.y-i.y),s=t.s*(e.x-i.x)+t.c*(e.y-i.y);return h.neo(o,s)},t.mulT=function(e,i){if("c"in i&&"s"in i){var o=t.identity();return o.s=e.c*i.s-e.s*i.c,o.c=e.c*i.c+e.s*i.s,o}if("x"in i&&"y"in i)return h.neo(e.c*i.x+e.s*i.y,-e.s*i.x+e.c*i.y)},t.mulTRot=function(e,i){var o=t.identity();return o.s=e.c*i.s-e.s*i.c,o.c=e.c*i.c+e.s*i.s,o},t.mulTVec2=function(t,e){return h.neo(t.c*e.x+t.s*e.y,-t.s*e.x+t.c*e.y)},t}(),x=function(){function t(e,i){if(!(this instanceof t))return new t(e,i);this.p=h.zero(),this.q=v.identity(),void 0!==e&&this.p.setVec2(e),void 0!==i&&this.q.setAngle(i)}return t.clone=function(e){var i=Object.create(t.prototype);return i.p=h.clone(e.p),i.q=v.clone(e.q),i},t.neo=function(e,i){var o=Object.create(t.prototype);return o.p=h.clone(e),o.q=v.clone(i),o},t.identity=function(){var e=Object.create(t.prototype);return e.p=h.zero(),e.q=v.identity(),e},t.prototype.setIdentity=function(){this.p.setZero(),this.q.setIdentity()},t.prototype.set=function(t,e){void 0===e?(this.p.set(t.p),this.q.set(t.q)):(this.p.set(t),this.q.set(e))},t.prototype.setNum=function(t,e){this.p.setVec2(t),this.q.setAngle(e)},t.prototype.setTransform=function(t){this.p.setVec2(t.p),this.q.setRot(t.q)},t.isValid=function(t){return null!=t&&(h.isValid(t.p)&&v.isValid(t.q))},t.assert=function(t){},t.mul=function(e,i){if(Array.isArray(i)){for(var o=[],s=0;s<i.length;s++)o[s]=t.mul(e,i[s]);return o}return"x"in i&&"y"in i?t.mulVec2(e,i):"p"in i&&"q"in i?t.mulXf(e,i):void 0},t.mulAll=function(e,i){for(var o=[],s=0;s<i.length;s++)o[s]=t.mul(e,i[s]);return o},t.mulFn=function(e){return function(i){return t.mul(e,i)}},t.mulVec2=function(t,e){var i=t.q.c*e.x-t.q.s*e.y+t.p.x,o=t.q.s*e.x+t.q.c*e.y+t.p.y;return h.neo(i,o)},t.mulXf=function(e,i){var o=t.identity();return o.q=v.mulRot(e.q,i.q),o.p=h.add(v.mulVec2(e.q,i.p),e.p),o},t.mulT=function(e,i){return"x"in i&&"y"in i?t.mulTVec2(e,i):"p"in i&&"q"in i?t.mulTXf(e,i):void 0},t.mulTVec2=function(t,e){var i=e.x-t.p.x,o=e.y-t.p.y,s=t.q.c*i+t.q.s*o,n=-t.q.s*i+t.q.c*o;return h.neo(s,n)},t.mulTXf=function(e,i){var o=t.identity();return o.q.setRot(v.mulTRot(e.q,i.q)),o.p.setVec2(v.mulTVec2(e.q,h.sub(i.p,e.p))),o},t}(),A=function(){function t(t,e){this.localCenter=h.zero(),this.c=h.zero(),this.a=0,this.alpha0=0,this.c0=h.zero(),this.a0=0}return t.prototype.setTransform=function(t){var e=x.mulVec2(t,this.localCenter);this.c.setVec2(e),this.c0.setVec2(e),this.a=t.q.getAngle(),this.a0=t.q.getAngle()},t.prototype.setLocalCenter=function(t,e){this.localCenter.setVec2(t);var i=x.mulVec2(e,this.localCenter);this.c.setVec2(i),this.c0.setVec2(i)},t.prototype.getTransform=function(t,e){void 0===e&&(e=0),t.q.setAngle((1-e)*this.a0+e*this.a),t.p.setCombine(1-e,this.c0,e,this.c),t.p.sub(v.mulVec2(t.q,this.localCenter))},t.prototype.advance=function(t){var e=(t-this.alpha0)/(1-this.alpha0);this.c0.setCombine(e,this.c,1-e,this.c0),this.a0=e*this.a+(1-e)*this.a0,this.alpha0=t},t.prototype.forward=function(){this.a0=this.a,this.c0.setVec2(this.c)},t.prototype.normalize=function(){var t=r.mod(this.a0,-r.PI,+r.PI);this.a-=this.a0-t,this.a0=t},t.prototype.clone=function(){var e=new t;return e.localCenter.setVec2(this.localCenter),e.alpha0=this.alpha0,e.a0=this.a0,e.a=this.a,e.c0.setVec2(this.c0),e.c.setVec2(this.c),e},t.prototype.set=function(t){this.localCenter.setVec2(t.localCenter),this.alpha0=t.alpha0,this.a0=t.a0,this.a=t.a,this.c0.setVec2(t.c0),this.c.setVec2(t.c)},t}(),b=function(){this.v=h.zero(),this.w=0},g=function(){function t(){this.c=h.zero(),this.a=0}return t.prototype.getTransform=function(t,e){return t.q.setAngle(this.a),t.p.setVec2(h.sub(this.c,v.mulVec2(t.q,e))),t},t}(),B=function(){function t(){}return t.prototype._reset=function(){},t.isValid=function(t){return null!=t&&("string"==typeof t.m_type&&"number"==typeof t.m_radius)},t.prototype.getRadius=function(){return this.m_radius},t.prototype.getType=function(){return this.m_type},t}(),V={userData:null,friction:.2,restitution:0,density:0,isSensor:!1,filterGroupIndex:0,filterCategoryBits:1,filterMaskBits:65535},w=function(t,e){this.aabb=new _,this.fixture=t,this.childIndex=e,this.proxyId},C=function(){function t(t,e,i){e.shape?(i=e,e=e.shape):"number"==typeof i&&(i={density:i}),i=s(i,V),this.m_body=t,this.m_friction=i.friction,this.m_restitution=i.restitution,this.m_density=i.density,this.m_isSensor=i.isSensor,this.m_filterGroupIndex=i.filterGroupIndex,this.m_filterCategoryBits=i.filterCategoryBits,this.m_filterMaskBits=i.filterMaskBits,this.m_shape=e,this.m_next=null,this.m_proxies=[],this.m_proxyCount=0;for(var o=this.m_shape.getChildCount(),n=0;n<o;++n)this.m_proxies[n]=new w(this,n);this.m_userData=i.userData}return t.prototype._reset=function(){var t=this.getBody(),e=t.m_world.m_broadPhase;this.destroyProxies(e),this.m_shape._reset&&this.m_shape._reset();for(var i=this.m_shape.getChildCount(),o=0;o<i;++o)this.m_proxies[o]=new w(this,o);this.createProxies(e,t.m_xf),t.resetMassData()},t.prototype._serialize=function(){return{friction:this.m_friction,restitution:this.m_restitution,density:this.m_density,isSensor:this.m_isSensor,filterGroupIndex:this.m_filterGroupIndex,filterCategoryBits:this.m_filterCategoryBits,filterMaskBits:this.m_filterMaskBits,shape:this.m_shape}},t._deserialize=function(e,i,o){var s=o(B,e.shape);return s&&new t(i,s,e)},t.prototype.getType=function(){return this.m_shape.getType()},t.prototype.getShape=function(){return this.m_shape},t.prototype.isSensor=function(){return this.m_isSensor},t.prototype.setSensor=function(t){t!=this.m_isSensor&&(this.m_body.setAwake(!0),this.m_isSensor=t)},t.prototype.getUserData=function(){return this.m_userData},t.prototype.setUserData=function(t){this.m_userData=t},t.prototype.getBody=function(){return this.m_body},t.prototype.getNext=function(){return this.m_next},t.prototype.getDensity=function(){return this.m_density},t.prototype.setDensity=function(t){this.m_density=t},t.prototype.getFriction=function(){return this.m_friction},t.prototype.setFriction=function(t){this.m_friction=t},t.prototype.getRestitution=function(){return this.m_restitution},t.prototype.setRestitution=function(t){this.m_restitution=t},t.prototype.testPoint=function(t){return this.m_shape.testPoint(this.m_body.getTransform(),t)},t.prototype.rayCast=function(t,e,i){return this.m_shape.rayCast(t,e,this.m_body.getTransform(),i)},t.prototype.getMassData=function(t){this.m_shape.computeMass(t,this.m_density)},t.prototype.getAABB=function(t){return this.m_proxies[t].aabb},t.prototype.createProxies=function(t,e){this.m_proxyCount=this.m_shape.getChildCount();for(var i=0;i<this.m_proxyCount;++i){var o=this.m_proxies[i];this.m_shape.computeAABB(o.aabb,e,i),o.proxyId=t.createProxy(o.aabb,o)}},t.prototype.destroyProxies=function(t){for(var e=0;e<this.m_proxyCount;++e){var i=this.m_proxies[e];t.destroyProxy(i.proxyId),i.proxyId=null}this.m_proxyCount=0},t.prototype.synchronize=function(t,e,i){for(var o=0;o<this.m_proxyCount;++o){var s=this.m_proxies[o],n=new _,r=new _;this.m_shape.computeAABB(n,e,s.childIndex),this.m_shape.computeAABB(r,i,s.childIndex),s.aabb.combine(n,r);var m=h.sub(i.p,e.p);t.moveProxy(s.proxyId,s.aabb,m)}},t.prototype.setFilterData=function(t){this.m_filterGroupIndex=t.groupIndex,this.m_filterCategoryBits=t.categoryBits,this.m_filterMaskBits=t.maskBits,this.refilter()},t.prototype.getFilterGroupIndex=function(){return this.m_filterGroupIndex},t.prototype.setFilterGroupIndex=function(t){this.m_filterGroupIndex=t},t.prototype.getFilterCategoryBits=function(){return this.m_filterCategoryBits},t.prototype.setFilterCategoryBits=function(t){this.m_filterCategoryBits=t},t.prototype.getFilterMaskBits=function(){return this.m_filterMaskBits},t.prototype.setFilterMaskBits=function(t){this.m_filterMaskBits=t},t.prototype.refilter=function(){if(null!=this.m_body){for(var t=this.m_body.getContactList();t;){var e=t.contact,i=e.getFixtureA(),o=e.getFixtureB();i!=this&&o!=this||e.flagForFiltering(),t=t.next}var s=this.m_body.getWorld();if(null!=s)for(var n=s.m_broadPhase,r=0;r<this.m_proxyCount;++r)n.touchProxy(this.m_proxies[r].proxyId)}},t.prototype.shouldCollide=function(t){if(t.m_filterGroupIndex===this.m_filterGroupIndex&&0!==t.m_filterGroupIndex)return t.m_filterGroupIndex>0;var e=0!=(t.m_filterMaskBits&this.m_filterCategoryBits),i=0!=(t.m_filterCategoryBits&this.m_filterMaskBits);return e&&i},t}(),M="static",I="kinematic",z="dynamic",P={type:M,position:h.zero(),angle:0,linearVelocity:h.zero(),angularVelocity:0,linearDamping:0,angularDamping:0,fixedRotation:!1,bullet:!1,gravityScale:1,allowSleep:!0,awake:!0,active:!0,userData:null},S=function(){this.mass=0,this.center=h.zero(),this.I=0},T=function(){function t(t,e){e=s(e,P),this.m_world=t,this.m_awakeFlag=e.awake,this.m_autoSleepFlag=e.allowSleep,this.m_bulletFlag=e.bullet,this.m_fixedRotationFlag=e.fixedRotation,this.m_activeFlag=e.active,this.m_islandFlag=!1,this.m_toiFlag=!1,this.m_userData=e.userData,this.m_type=e.type,this.m_type==z?(this.m_mass=1,this.m_invMass=1):(this.m_mass=0,this.m_invMass=0),this.m_I=0,this.m_invI=0,this.m_xf=x.identity(),this.m_xf.p=h.clone(e.position),this.m_xf.q.setAngle(e.angle),this.m_sweep=new A,this.m_sweep.setTransform(this.m_xf),this.c_velocity=new b,this.c_position=new g,this.m_force=h.zero(),this.m_torque=0,this.m_linearVelocity=h.clone(e.linearVelocity),this.m_angularVelocity=e.angularVelocity,this.m_linearDamping=e.linearDamping,this.m_angularDamping=e.angularDamping,this.m_gravityScale=e.gravityScale,this.m_sleepTime=0,this.m_jointList=null,this.m_contactList=null,this.m_fixtureList=null,this.m_prev=null,this.m_next=null,this.m_destroyed=!1}return t.prototype._serialize=function(){for(var t=[],e=this.m_fixtureList;e;e=e.m_next)t.push(e);return{type:this.m_type,bullet:this.m_bulletFlag,position:this.m_xf.p,angle:this.m_xf.q.getAngle(),linearVelocity:this.m_linearVelocity,angularVelocity:this.m_angularVelocity,fixtures:t}},t._deserialize=function(e,i,o){var s=new t(i,e);if(e.fixtures)for(var n=e.fixtures.length-1;n>=0;n--){var r=o(C,e.fixtures[n],s);s._addFixture(r)}return s},t.prototype.isWorldLocked=function(){return!(!this.m_world||!this.m_world.isLocked())},t.prototype.getWorld=function(){return this.m_world},t.prototype.getNext=function(){return this.m_next},t.prototype.setUserData=function(t){this.m_userData=t},t.prototype.getUserData=function(){return this.m_userData},t.prototype.getFixtureList=function(){return this.m_fixtureList},t.prototype.getJointList=function(){return this.m_jointList},t.prototype.getContactList=function(){return this.m_contactList},t.prototype.isStatic=function(){return this.m_type==M},t.prototype.isDynamic=function(){return this.m_type==z},t.prototype.isKinematic=function(){return this.m_type==I},t.prototype.setStatic=function(){return this.setType(M),this},t.prototype.setDynamic=function(){return this.setType(z),this},t.prototype.setKinematic=function(){return this.setType(I),this},t.prototype.getType=function(){return this.m_type},t.prototype.setType=function(t){if(1!=this.isWorldLocked()&&this.m_type!=t){this.m_type=t,this.resetMassData(),this.m_type==M&&(this.m_linearVelocity.setZero(),this.m_angularVelocity=0,this.m_sweep.forward(),this.synchronizeFixtures()),this.setAwake(!0),this.m_force.setZero(),this.m_torque=0;for(var e=this.m_contactList;e;){var i=e;e=e.next,this.m_world.destroyContact(i.contact)}this.m_contactList=null;for(var o=this.m_world.m_broadPhase,s=this.m_fixtureList;s;s=s.m_next)for(var n=s.m_proxyCount,r=0;r<n;++r)o.touchProxy(s.m_proxies[r].proxyId)}},t.prototype.isBullet=function(){return this.m_bulletFlag},t.prototype.setBullet=function(t){this.m_bulletFlag=!!t},t.prototype.isSleepingAllowed=function(){return this.m_autoSleepFlag},t.prototype.setSleepingAllowed=function(t){this.m_autoSleepFlag=!!t,0==this.m_autoSleepFlag&&this.setAwake(!0)},t.prototype.isAwake=function(){return this.m_awakeFlag},t.prototype.setAwake=function(t){t?0==this.m_awakeFlag&&(this.m_awakeFlag=!0,this.m_sleepTime=0):(this.m_awakeFlag=!1,this.m_sleepTime=0,this.m_linearVelocity.setZero(),this.m_angularVelocity=0,this.m_force.setZero(),this.m_torque=0)},t.prototype.isActive=function(){return this.m_activeFlag},t.prototype.setActive=function(t){if(t!=this.m_activeFlag)if(this.m_activeFlag=!!t,this.m_activeFlag)for(var e=this.m_world.m_broadPhase,i=this.m_fixtureList;i;i=i.m_next)i.createProxies(e,this.m_xf);else{for(e=this.m_world.m_broadPhase,i=this.m_fixtureList;i;i=i.m_next)i.destroyProxies(e);for(var o=this.m_contactList;o;){var s=o;o=o.next,this.m_world.destroyContact(s.contact)}this.m_contactList=null}},t.prototype.isFixedRotation=function(){return this.m_fixedRotationFlag},t.prototype.setFixedRotation=function(t){this.m_fixedRotationFlag!=t&&(this.m_fixedRotationFlag=!!t,this.m_angularVelocity=0,this.resetMassData())},t.prototype.getTransform=function(){return this.m_xf},t.prototype.setTransform=function(t,e){if(1!=this.isWorldLocked()){this.m_xf.setNum(t,e),this.m_sweep.setTransform(this.m_xf);for(var i=this.m_world.m_broadPhase,o=this.m_fixtureList;o;o=o.m_next)o.synchronize(i,this.m_xf,this.m_xf)}},t.prototype.synchronizeTransform=function(){this.m_sweep.getTransform(this.m_xf,1)},t.prototype.synchronizeFixtures=function(){var t=x.identity();this.m_sweep.getTransform(t,0);for(var e=this.m_world.m_broadPhase,i=this.m_fixtureList;i;i=i.m_next)i.synchronize(e,t,this.m_xf)},t.prototype.advance=function(t){this.m_sweep.advance(t),this.m_sweep.c.setVec2(this.m_sweep.c0),this.m_sweep.a=this.m_sweep.a0,this.m_sweep.getTransform(this.m_xf,1)},t.prototype.getPosition=function(){return this.m_xf.p},t.prototype.setPosition=function(t){this.setTransform(t,this.m_sweep.a)},t.prototype.getAngle=function(){return this.m_sweep.a},t.prototype.setAngle=function(t){this.setTransform(this.m_xf.p,t)},t.prototype.getWorldCenter=function(){return this.m_sweep.c},t.prototype.getLocalCenter=function(){return this.m_sweep.localCenter},t.prototype.getLinearVelocity=function(){return this.m_linearVelocity},t.prototype.getLinearVelocityFromWorldPoint=function(t){var e=h.sub(t,this.m_sweep.c);return h.add(this.m_linearVelocity,h.crossNumVec2(this.m_angularVelocity,e))},t.prototype.getLinearVelocityFromLocalPoint=function(t){return this.getLinearVelocityFromWorldPoint(this.getWorldPoint(t))},t.prototype.setLinearVelocity=function(t){this.m_type!=M&&(h.dot(t,t)>0&&this.setAwake(!0),this.m_linearVelocity.setVec2(t))},t.prototype.getAngularVelocity=function(){return this.m_angularVelocity},t.prototype.setAngularVelocity=function(t){this.m_type!=M&&(t*t>0&&this.setAwake(!0),this.m_angularVelocity=t)},t.prototype.getLinearDamping=function(){return this.m_linearDamping},t.prototype.setLinearDamping=function(t){this.m_linearDamping=t},t.prototype.getAngularDamping=function(){return this.m_angularDamping},t.prototype.setAngularDamping=function(t){this.m_angularDamping=t},t.prototype.getGravityScale=function(){return this.m_gravityScale},t.prototype.setGravityScale=function(t){this.m_gravityScale=t},t.prototype.getMass=function(){return this.m_mass},t.prototype.getInertia=function(){return this.m_I+this.m_mass*h.dot(this.m_sweep.localCenter,this.m_sweep.localCenter)},t.prototype.getMassData=function(t){t.mass=this.m_mass,t.I=this.getInertia(),t.center.setVec2(this.m_sweep.localCenter)},t.prototype.resetMassData=function(){if(this.m_mass=0,this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_sweep.localCenter.setZero(),this.isStatic()||this.isKinematic())return this.m_sweep.c0.setVec2(this.m_xf.p),this.m_sweep.c.setVec2(this.m_xf.p),void(this.m_sweep.a0=this.m_sweep.a);for(var t=h.zero(),e=this.m_fixtureList;e;e=e.m_next)if(0!=e.m_density){var i=new S;e.getMassData(i),this.m_mass+=i.mass,t.addMul(i.mass,i.center),this.m_I+=i.I}this.m_mass>0?(this.m_invMass=1/this.m_mass,t.mul(this.m_invMass)):(this.m_mass=1,this.m_invMass=1),this.m_I>0&&0==this.m_fixedRotationFlag?(this.m_I-=this.m_mass*h.dot(t,t),this.m_invI=1/this.m_I):(this.m_I=0,this.m_invI=0);var o=h.clone(this.m_sweep.c);this.m_sweep.setLocalCenter(t,this.m_xf),this.m_linearVelocity.add(h.crossNumVec2(this.m_angularVelocity,h.sub(this.m_sweep.c,o)))},t.prototype.setMassData=function(t){if(1!=this.isWorldLocked()&&this.m_type==z){this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_mass=t.mass,this.m_mass<=0&&(this.m_mass=1),this.m_invMass=1/this.m_mass,t.I>0&&0==this.m_fixedRotationFlag&&(this.m_I=t.I-this.m_mass*h.dot(t.center,t.center),this.m_invI=1/this.m_I);var e=h.clone(this.m_sweep.c);this.m_sweep.setLocalCenter(t.center,this.m_xf),this.m_linearVelocity.add(h.crossNumVec2(this.m_angularVelocity,h.sub(this.m_sweep.c,e)))}},t.prototype.applyForce=function(t,e,i){void 0===i&&(i=!0),this.m_type==z&&(i&&0==this.m_awakeFlag&&this.setAwake(!0),this.m_awakeFlag&&(this.m_force.add(t),this.m_torque+=h.crossVec2Vec2(h.sub(e,this.m_sweep.c),t)))},t.prototype.applyForceToCenter=function(t,e){void 0===e&&(e=!0),this.m_type==z&&(e&&0==this.m_awakeFlag&&this.setAwake(!0),this.m_awakeFlag&&this.m_force.add(t))},t.prototype.applyTorque=function(t,e){void 0===e&&(e=!0),this.m_type==z&&(e&&0==this.m_awakeFlag&&this.setAwake(!0),this.m_awakeFlag&&(this.m_torque+=t))},t.prototype.applyLinearImpulse=function(t,e,i){void 0===i&&(i=!0),this.m_type==z&&(i&&0==this.m_awakeFlag&&this.setAwake(!0),this.m_awakeFlag&&(this.m_linearVelocity.addMul(this.m_invMass,t),this.m_angularVelocity+=this.m_invI*h.crossVec2Vec2(h.sub(e,this.m_sweep.c),t)))},t.prototype.applyAngularImpulse=function(t,e){void 0===e&&(e=!0),this.m_type==z&&(e&&0==this.m_awakeFlag&&this.setAwake(!0),this.m_awakeFlag&&(this.m_angularVelocity+=this.m_invI*t))},t.prototype.shouldCollide=function(t){if(this.m_type!=z&&t.m_type!=z)return!1;for(var e=this.m_jointList;e;e=e.next)if(e.other==t&&0==e.joint.m_collideConnected)return!1;return!0},t.prototype._addFixture=function(t){if(1==this.isWorldLocked())return null;if(this.m_activeFlag){var e=this.m_world.m_broadPhase;t.createProxies(e,this.m_xf)}return t.m_next=this.m_fixtureList,this.m_fixtureList=t,t.m_density>0&&this.resetMassData(),this.m_world.m_newFixture=!0,t},t.prototype.createFixture=function(t,e){if(1==this.isWorldLocked())return null;var i=new C(this,t,e);return this._addFixture(i),i},t.prototype.destroyFixture=function(t){if(1!=this.isWorldLocked()){if(this.m_fixtureList===t)this.m_fixtureList=t.m_next;else for(var e=this.m_fixtureList;null!=e;){if(e.m_next===t){e.m_next=t.m_next;break}e=e.m_next}for(var i=this.m_contactList;i;){var o=i.contact;i=i.next;var s=o.getFixtureA(),n=o.getFixtureB();t!=s&&t!=n||this.m_world.destroyContact(o)}if(this.m_activeFlag){var r=this.m_world.m_broadPhase;t.destroyProxies(r)}t.m_body=null,t.m_next=null,this.m_world.publish("remove-fixture",t),this.resetMassData()}},t.prototype.getWorldPoint=function(t){return x.mulVec2(this.m_xf,t)},t.prototype.getWorldVector=function(t){return v.mulVec2(this.m_xf.q,t)},t.prototype.getLocalPoint=function(t){return x.mulTVec2(this.m_xf,t)},t.prototype.getLocalVector=function(t){return v.mulTVec2(this.m_xf.q,t)},t.STATIC="static",t.KINEMATIC="kinematic",t.DYNAMIC="dynamic",t}(),L=function(){function t(t,e,i,o){"object"==typeof t&&null!==t?(this.ex=h.clone(t),this.ey=h.clone(e)):"number"==typeof t?(this.ex=h.neo(t,i),this.ey=h.neo(e,o)):(this.ex=h.zero(),this.ey=h.zero())}return t.prototype.toString=function(){return JSON.stringify(this)},t.isValid=function(t){return null!=t&&(h.isValid(t.ex)&&h.isValid(t.ey))},t.assert=function(t){},t.prototype.set=function(t,e,i,o){"number"==typeof t&&"number"==typeof e&&"number"==typeof i&&"number"==typeof o?(this.ex.setNum(t,i),this.ey.setNum(e,o)):"object"==typeof t&&"object"==typeof e?(this.ex.setVec2(t),this.ey.setVec2(e)):"object"==typeof t&&(this.ex.setVec2(t.ex),this.ey.setVec2(t.ey))},t.prototype.setIdentity=function(){this.ex.x=1,this.ey.x=0,this.ex.y=0,this.ey.y=1},t.prototype.setZero=function(){this.ex.x=0,this.ey.x=0,this.ex.y=0,this.ey.y=0},t.prototype.getInverse=function(){var e=this.ex.x,i=this.ey.x,o=this.ex.y,s=this.ey.y,n=e*s-i*o;0!==n&&(n=1/n);var r=new t;return r.ex.x=n*s,r.ey.x=-n*i,r.ex.y=-n*o,r.ey.y=n*e,r},t.prototype.solve=function(t){var e=this.ex.x,i=this.ey.x,o=this.ex.y,s=this.ey.y,n=e*s-i*o;0!==n&&(n=1/n);var r=h.zero();return r.x=n*(s*t.x-i*t.y),r.y=n*(e*t.y-o*t.x),r},t.mul=function(e,i){if(i&&"x"in i&&"y"in i){var o=e.ex.x*i.x+e.ey.x*i.y,s=e.ex.y*i.x+e.ey.y*i.y;return h.neo(o,s)}if(i&&"ex"in i&&"ey"in i)return new t(e.ex.x*i.ex.x+e.ey.x*i.ex.y,e.ex.x*i.ey.x+e.ey.x*i.ey.y,e.ex.y*i.ex.x+e.ey.y*i.ex.y,e.ex.y*i.ey.x+e.ey.y*i.ey.y)},t.mulVec2=function(t,e){var i=t.ex.x*e.x+t.ey.x*e.y,o=t.ex.y*e.x+t.ey.y*e.y;return h.neo(i,o)},t.mulMat22=function(e,i){return new t(e.ex.x*i.ex.x+e.ey.x*i.ex.y,e.ex.x*i.ey.x+e.ey.x*i.ey.y,e.ex.y*i.ex.x+e.ey.y*i.ex.y,e.ex.y*i.ey.x+e.ey.y*i.ey.y)},t.mulT=function(e,i){return i&&"x"in i&&"y"in i?h.neo(h.dot(i,e.ex),h.dot(i,e.ey)):i&&"ex"in i&&"ey"in i?new t(h.neo(h.dot(e.ex,i.ex),h.dot(e.ey,i.ex)),h.neo(h.dot(e.ex,i.ey),h.dot(e.ey,i.ey))):void 0},t.mulTVec2=function(t,e){return h.neo(h.dot(e,t.ex),h.dot(e,t.ey))},t.mulTMat22=function(e,i){return new t(h.neo(h.dot(e.ex,i.ex),h.dot(e.ey,i.ex)),h.neo(h.dot(e.ex,i.ey),h.dot(e.ey,i.ey)))},t.abs=function(e){return new t(h.abs(e.ex),h.abs(e.ey))},t.add=function(e,i){return new t(h.add(e.ex,i.ex),h.add(e.ey,i.ey))},t}();!function(t){t[t.e_circles=0]="e_circles",t[t.e_faceA=1]="e_faceA",t[t.e_faceB=2]="e_faceB"}(m||(m={})),function(t){t[t.e_vertex=0]="e_vertex",t[t.e_face=1]="e_face"}(a||(a={})),function(t){t[t.nullState=0]="nullState",t[t.addState=1]="addState",t[t.persistState=2]="persistState",t[t.removeState=3]="removeState"}(c||(c={}));var F=function(){function t(){this.v=h.zero(),this.id=new k}return t.prototype.set=function(t){this.v.setVec2(t.v),this.id.set(t.id)},t}(),q=function(){function t(){this.localNormal=h.zero(),this.localPoint=h.zero(),this.points=[new N,new N],this.pointCount=0}return t.prototype.getWorldManifold=function(t,e,i,o,s){if(0!=this.pointCount){var n=(t=t||new j).normal,a=t.points,c=t.separations;switch(this.type){case m.e_circles:n=h.neo(1,0);var _=x.mulVec2(e,this.localPoint),l=x.mulVec2(o,this.points[0].localPoint),u=h.sub(l,_);h.lengthSquared(u)>r.EPSILON*r.EPSILON&&(n.setVec2(u),n.normalize());var p=_.clone().addMul(i,n),y=l.clone().addMul(-s,n);a[0]=h.mid(p,y),c[0]=h.dot(h.sub(y,p),n),a.length=1,c.length=1;break;case m.e_faceA:n=v.mulVec2(e.q,this.localNormal);for(var d=x.mulVec2(e,this.localPoint),f=0;f<this.pointCount;++f){var A=x.mulVec2(o,this.points[f].localPoint);p=h.clone(A).addMul(i-h.dot(h.sub(A,d),n),n),y=h.clone(A).subMul(s,n);a[f]=h.mid(p,y),c[f]=h.dot(h.sub(y,p),n)}a.length=this.pointCount,c.length=this.pointCount;break;case m.e_faceB:n=v.mulVec2(o.q,this.localNormal);for(d=x.mulVec2(o,this.localPoint),f=0;f<this.pointCount;++f){A=x.mulVec2(e,this.points[f].localPoint),y=h.combine(1,A,s-h.dot(h.sub(A,d),n),n),p=h.combine(1,A,-i,n);a[f]=h.mid(p,y),c[f]=h.dot(h.sub(p,y),n)}a.length=this.pointCount,c.length=this.pointCount,n.mul(-1)}return t.normal=n,t.points=a,t.separations=c,t}},t.clipSegmentToLine=E,t.ClipVertex=F,t.getPointStates=R,t.PointState=c,t}(),N=function(){this.localPoint=h.zero(),this.normalImpulse=0,this.tangentImpulse=0,this.id=new k},k=function(){function t(){this.cf=new D}return Object.defineProperty(t.prototype,"key",{get:function(){return this.cf.indexA+4*this.cf.indexB+16*this.cf.typeA+64*this.cf.typeB},enumerable:!1,configurable:!0}),t.prototype.set=function(t){this.cf.set(t.cf)},t}(),D=function(){function t(){}return t.prototype.set=function(t){this.indexA=t.indexA,this.indexB=t.indexB,this.typeA=t.typeA,this.typeB=t.typeB},t}(),j=function(){this.points=[],this.separations=[]};function R(t,e,i,o){for(var s=0;s<i.pointCount;++s){var n=i.points[s].id;t[s]=c.removeState;for(var r=0;r<o.pointCount;++r)if(o.points[r].id.key==n.key){t[s]=c.persistState;break}}for(s=0;s<o.pointCount;++s){n=o.points[s].id;e[s]=c.addState;for(r=0;r<i.pointCount;++r)if(i.points[r].id.key==n.key){e[s]=c.persistState;break}}}function E(t,e,i,o,s){var n=0,r=h.dot(i,e[0].v)-o,m=h.dot(i,e[1].v)-o;if(r<=0&&t[n++].set(e[0]),m<=0&&t[n++].set(e[1]),r*m<0){var c=r/(r-m);t[n].v.setCombine(1-c,e[0].v,c,e[1].v),t[n].id.cf.indexA=s,t[n].id.cf.indexB=e[0].id.cf.indexB,t[n].id.cf.typeA=a.e_vertex,t[n].id.cf.typeB=a.e_face,++n}return n}var O={gjkCalls:0,gjkIters:0,gjkMaxIters:0,toiTime:0,toiMaxTime:0,toiCalls:0,toiIters:0,toiMaxIters:0,toiRootIters:0,toiMaxRootIters:0,toString:function(t){t="string"==typeof t?t:"\n";var e="";for(var i in this)"function"!=typeof this[i]&&"object"!=typeof this[i]&&(e+=i+": "+this[i]+t);return e}};O.gjkCalls=0,O.gjkIters=0,O.gjkMaxIters=0;var J=function(){this.proxyA=new Z,this.proxyB=new Z,this.transformA=null,this.transformB=null,this.useRadii=!1},Y=function(){this.pointA=h.zero(),this.pointB=h.zero()},W=function(){this.metric=0,this.indexA=[],this.indexB=[],this.count=0};function H(t,e,i){++O.gjkCalls;var o=i.proxyA,s=i.proxyB,n=i.transformA,m=i.transformB,a=new K;a.readCache(e,o,n,s,m);for(var c=a.m_v,_=l.maxDistnceIterations,u=[],p=[],y=0,d=0;d<_;){y=a.m_count;for(var f=0;f<y;++f)u[f]=c[f].indexA,p[f]=c[f].indexB;if(a.solve(),3===a.m_count)break;(C=a.getClosestPoint()).lengthSquared();var A=a.getSearchDirection();if(A.lengthSquared()<r.EPSILON*r.EPSILON)break;var b=c[a.m_count];b.indexA=o.getSupport(v.mulTVec2(n.q,h.neg(A))),b.wA=x.mulVec2(n,o.getVertex(b.indexA)),b.indexB=s.getSupport(v.mulTVec2(m.q,A)),b.wB=x.mulVec2(m,s.getVertex(b.indexB)),b.w=h.sub(b.wB,b.wA),++d,++O.gjkIters;var g=!1;for(f=0;f<y;++f)if(b.indexA===u[f]&&b.indexB===p[f]){g=!0;break}if(g)break;++a.m_count}if(O.gjkMaxIters=r.max(O.gjkMaxIters,d),a.getWitnessPoints(t.pointA,t.pointB),t.distance=h.distance(t.pointA,t.pointB),t.iterations=d,a.writeCache(e),i.useRadii){var B=o.m_radius,V=s.m_radius;if(t.distance>B+V&&t.distance>r.EPSILON){t.distance-=B+V;var w=h.sub(t.pointB,t.pointA);w.normalize(),t.pointA.addMul(B,w),t.pointB.subMul(V,w)}else{var C=h.mid(t.pointA,t.pointB);t.pointA.setVec2(C),t.pointB.setVec2(C),t.distance=0}}}var Z=function(){function t(){this.m_buffer=[],this.m_vertices=[],this.m_count=0,this.m_radius=0}return t.prototype.getVertexCount=function(){return this.m_count},t.prototype.getVertex=function(t){return this.m_vertices[t]},t.prototype.getSupport=function(t){for(var e=0,i=h.dot(this.m_vertices[0],t),o=0;o<this.m_count;++o){var s=h.dot(this.m_vertices[o],t);s>i&&(e=o,i=s)}return e},t.prototype.getSupportVertex=function(t){return this.m_vertices[this.getSupport(t)]},t.prototype.set=function(t,e){t.computeDistanceProxy(this,e)},t}(),X=function(){function t(){this.wA=h.zero(),this.wB=h.zero(),this.w=h.zero()}return t.prototype.set=function(t){this.indexA=t.indexA,this.indexB=t.indexB,this.wA=h.clone(t.wA),this.wB=h.clone(t.wB),this.w=h.clone(t.w),this.a=t.a},t}(),K=function(){function t(){this.m_v1=new X,this.m_v2=new X,this.m_v3=new X,this.m_v=[this.m_v1,this.m_v2,this.m_v3],this.m_count}return t.prototype.toString=function(){return 3===this.m_count?["+"+this.m_count,this.m_v1.a,this.m_v1.wA.x,this.m_v1.wA.y,this.m_v1.wB.x,this.m_v1.wB.y,this.m_v2.a,this.m_v2.wA.x,this.m_v2.wA.y,this.m_v2.wB.x,this.m_v2.wB.y,this.m_v3.a,this.m_v3.wA.x,this.m_v3.wA.y,this.m_v3.wB.x,this.m_v3.wB.y].toString():2===this.m_count?["+"+this.m_count,this.m_v1.a,this.m_v1.wA.x,this.m_v1.wA.y,this.m_v1.wB.x,this.m_v1.wB.y,this.m_v2.a,this.m_v2.wA.x,this.m_v2.wA.y,this.m_v2.wB.x,this.m_v2.wB.y].toString():1===this.m_count?["+"+this.m_count,this.m_v1.a,this.m_v1.wA.x,this.m_v1.wA.y,this.m_v1.wB.x,this.m_v1.wB.y].toString():"+"+this.m_count},t.prototype.readCache=function(t,e,i,o,s){this.m_count=t.count;for(var n=0;n<this.m_count;++n){(l=this.m_v[n]).indexA=t.indexA[n],l.indexB=t.indexB[n];var m=e.getVertex(l.indexA),a=o.getVertex(l.indexB);l.wA=x.mulVec2(i,m),l.wB=x.mulVec2(s,a),l.w=h.sub(l.wB,l.wA),l.a=0}if(this.m_count>1){var c=t.metric,_=this.getMetric();(_<.5*c||2*c<_||_<r.EPSILON)&&(this.m_count=0)}if(0===this.m_count){var l;(l=this.m_v[0]).indexA=0,l.indexB=0;m=e.getVertex(0),a=o.getVertex(0);l.wA=x.mulVec2(i,m),l.wB=x.mulVec2(s,a),l.w=h.sub(l.wB,l.wA),l.a=1,this.m_count=1}},t.prototype.writeCache=function(t){t.metric=this.getMetric(),t.count=this.m_count;for(var e=0;e<this.m_count;++e)t.indexA[e]=this.m_v[e].indexA,t.indexB[e]=this.m_v[e].indexB},t.prototype.getSearchDirection=function(){switch(this.m_count){case 1:return h.neg(this.m_v1.w);case 2:var t=h.sub(this.m_v2.w,this.m_v1.w);return h.crossVec2Vec2(t,h.neg(this.m_v1.w))>0?h.crossNumVec2(1,t):h.crossVec2Num(t,1);default:return h.zero()}},t.prototype.getClosestPoint=function(){switch(this.m_count){case 0:return h.zero();case 1:return h.clone(this.m_v1.w);case 2:return h.combine(this.m_v1.a,this.m_v1.w,this.m_v2.a,this.m_v2.w);case 3:default:return h.zero()}},t.prototype.getWitnessPoints=function(t,e){switch(this.m_count){case 0:break;case 1:t.setVec2(this.m_v1.wA),e.setVec2(this.m_v1.wB);break;case 2:t.setCombine(this.m_v1.a,this.m_v1.wA,this.m_v2.a,this.m_v2.wA),e.setCombine(this.m_v1.a,this.m_v1.wB,this.m_v2.a,this.m_v2.wB);break;case 3:t.setCombine(this.m_v1.a,this.m_v1.wA,this.m_v2.a,this.m_v2.wA),t.addMul(this.m_v3.a,this.m_v3.wA),e.setVec2(t)}},t.prototype.getMetric=function(){switch(this.m_count){case 0:case 1:return 0;case 2:return h.distance(this.m_v1.w,this.m_v2.w);case 3:return h.crossVec2Vec2(h.sub(this.m_v2.w,this.m_v1.w),h.sub(this.m_v3.w,this.m_v1.w));default:return 0}},t.prototype.solve=function(){switch(this.m_count){case 1:break;case 2:this.solve2();break;case 3:this.solve3()}},t.prototype.solve2=function(){var t=this.m_v1.w,e=this.m_v2.w,i=h.sub(e,t),o=-h.dot(t,i);if(o<=0)return this.m_v1.a=1,void(this.m_count=1);var s=h.dot(e,i);if(s<=0)return this.m_v2.a=1,this.m_count=1,void this.m_v1.set(this.m_v2);var n=1/(s+o);this.m_v1.a=s*n,this.m_v2.a=o*n,this.m_count=2},t.prototype.solve3=function(){var t=this.m_v1.w,e=this.m_v2.w,i=this.m_v3.w,o=h.sub(e,t),s=h.dot(t,o),n=h.dot(e,o),r=-s,m=h.sub(i,t),a=h.dot(t,m),c=h.dot(i,m),_=-a,l=h.sub(i,e),u=h.dot(e,l),p=h.dot(i,l),y=-u,d=h.crossVec2Vec2(o,m),f=d*h.crossVec2Vec2(e,i),v=d*h.crossVec2Vec2(i,t),x=d*h.crossVec2Vec2(t,e);if(r<=0&&_<=0)return this.m_v1.a=1,void(this.m_count=1);if(n>0&&r>0&&x<=0){var A=1/(n+r);return this.m_v1.a=n*A,this.m_v2.a=r*A,void(this.m_count=2)}if(c>0&&_>0&&v<=0){var b=1/(c+_);return this.m_v1.a=c*b,this.m_v3.a=_*b,this.m_count=2,void this.m_v2.set(this.m_v3)}if(n<=0&&y<=0)return this.m_v2.a=1,this.m_count=1,void this.m_v1.set(this.m_v2);if(c<=0&&p<=0)return this.m_v3.a=1,this.m_count=1,void this.m_v1.set(this.m_v3);if(p>0&&y>0&&f<=0){var g=1/(p+y);return this.m_v2.a=p*g,this.m_v3.a=y*g,this.m_count=2,void this.m_v1.set(this.m_v3)}var B=1/(f+v+x);this.m_v1.a=f*B,this.m_v2.a=v*B,this.m_v3.a=x*B,this.m_count=3},t}();function G(t,e,i,o,s,n){var m=new J;m.proxyA.set(t,e),m.proxyB.set(i,o),m.transformA=s,m.transformB=n,m.useRadii=!0;var a=new W,c=new Y;return H(c,a,m),c.distance<10*r.EPSILON}var U=function(t){this.contact=t};function Q(t,e){return r.sqrt(t*e)}function $(t,e){return t>e?t:e}var tt,et=[],it=function(){this.rA=h.zero(),this.rB=h.zero(),this.normalImpulse=0,this.tangentImpulse=0,this.normalMass=0,this.tangentMass=0,this.velocityBias=0},ot=function(){function t(t,e,i,o,s){this.m_manifold=new q,this.m_prev=null,this.m_next=null,this.m_toi=1,this.m_toiCount=0,this.m_toiFlag=!1,this.m_tangentSpeed=0,this.m_enabledFlag=!0,this.m_islandFlag=!1,this.m_touchingFlag=!1,this.m_filterFlag=!1,this.m_bulletHitFlag=!1,this.m_impulse=new yt(this),this.v_points=[],this.v_normal=h.zero(),this.v_normalMass=new L,this.v_K=new L,this.p_localPoints=[],this.p_localNormal=h.zero(),this.p_localPoint=h.zero(),this.p_localCenterA=h.zero(),this.p_localCenterB=h.zero(),this.m_nodeA=new U(this),this.m_nodeB=new U(this),this.m_fixtureA=t,this.m_fixtureB=i,this.m_indexA=e,this.m_indexB=o,this.m_evaluateFcn=s,this.m_friction=Q(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction),this.m_restitution=$(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution)}return t.prototype.initConstraint=function(t){var e=this.m_fixtureA,i=this.m_fixtureB,o=e.getShape(),s=i.getShape(),n=e.getBody(),r=i.getBody(),m=this.getManifold(),a=m.pointCount;this.v_invMassA=n.m_invMass,this.v_invMassB=r.m_invMass,this.v_invIA=n.m_invI,this.v_invIB=r.m_invI,this.v_friction=this.m_friction,this.v_restitution=this.m_restitution,this.v_tangentSpeed=this.m_tangentSpeed,this.v_pointCount=a,this.v_K.setZero(),this.v_normalMass.setZero(),this.p_invMassA=n.m_invMass,this.p_invMassB=r.m_invMass,this.p_invIA=n.m_invI,this.p_invIB=r.m_invI,this.p_localCenterA=h.clone(n.m_sweep.localCenter),this.p_localCenterB=h.clone(r.m_sweep.localCenter),this.p_radiusA=o.m_radius,this.p_radiusB=s.m_radius,this.p_type=m.type,this.p_localNormal=h.clone(m.localNormal),this.p_localPoint=h.clone(m.localPoint),this.p_pointCount=a;for(var c=0;c<a;++c){var _=m.points[c],l=this.v_points[c]=new it;t.warmStarting?(l.normalImpulse=t.dtRatio*_.normalImpulse,l.tangentImpulse=t.dtRatio*_.tangentImpulse):(l.normalImpulse=0,l.tangentImpulse=0),l.rA.setZero(),l.rB.setZero(),l.normalMass=0,l.tangentMass=0,l.velocityBias=0,this.p_localPoints[c]=h.clone(_.localPoint)}},t.prototype.getManifold=function(){return this.m_manifold},t.prototype.getWorldManifold=function(t){var e=this.m_fixtureA.getBody(),i=this.m_fixtureB.getBody(),o=this.m_fixtureA.getShape(),s=this.m_fixtureB.getShape();return this.m_manifold.getWorldManifold(t,e.getTransform(),o.m_radius,i.getTransform(),s.m_radius)},t.prototype.setEnabled=function(t){this.m_enabledFlag=!!t},t.prototype.isEnabled=function(){return this.m_enabledFlag},t.prototype.isTouching=function(){return this.m_touchingFlag},t.prototype.getNext=function(){return this.m_next},t.prototype.getFixtureA=function(){return this.m_fixtureA},t.prototype.getFixtureB=function(){return this.m_fixtureB},t.prototype.getChildIndexA=function(){return this.m_indexA},t.prototype.getChildIndexB=function(){return this.m_indexB},t.prototype.flagForFiltering=function(){this.m_filterFlag=!0},t.prototype.setFriction=function(t){this.m_friction=t},t.prototype.getFriction=function(){return this.m_friction},t.prototype.resetFriction=function(){this.m_friction=Q(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction)},t.prototype.setRestitution=function(t){this.m_restitution=t},t.prototype.getRestitution=function(){return this.m_restitution},t.prototype.resetRestitution=function(){this.m_restitution=$(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution)},t.prototype.setTangentSpeed=function(t){this.m_tangentSpeed=t},t.prototype.getTangentSpeed=function(){return this.m_tangentSpeed},t.prototype.evaluate=function(t,e,i){this.m_evaluateFcn(t,e,this.m_fixtureA,this.m_indexA,i,this.m_fixtureB,this.m_indexB)},t.prototype.update=function(t){this.m_enabledFlag=!0;var e,i=!1,o=this.m_touchingFlag,s=this.m_fixtureA.isSensor(),n=this.m_fixtureB.isSensor(),r=s||n,m=this.m_fixtureA.getBody(),a=this.m_fixtureB.getBody(),c=m.getTransform(),h=a.getTransform();if(r){var _=this.m_fixtureA.getShape(),l=this.m_fixtureB.getShape();i=G(_,this.m_indexA,l,this.m_indexB,c,h),this.m_manifold.pointCount=0}else{e=this.m_manifold,this.m_manifold=new q,this.evaluate(this.m_manifold,c,h),i=this.m_manifold.pointCount>0;for(var u=0;u<this.m_manifold.pointCount;++u){var p=this.m_manifold.points[u];p.normalImpulse=0,p.tangentImpulse=0;for(var y=0;y<e.pointCount;++y){var d=e.points[y];if(d.id.key==p.id.key){p.normalImpulse=d.normalImpulse,p.tangentImpulse=d.tangentImpulse;break}}}i!=o&&(m.setAwake(!0),a.setAwake(!0))}this.m_touchingFlag=i,!o&&i&&t&&t.beginContact(this),o&&!i&&t&&t.endContact(this),!r&&i&&t&&t.preSolve(this,e)},t.prototype.solvePositionConstraint=function(t){return this._solvePositionConstraint(t)},t.prototype.solvePositionConstraintTOI=function(t,e,i){return this._solvePositionConstraint(t,e,i)},t.prototype._solvePositionConstraint=function(t,e,i){var o=!!e&&!!i,s=this.m_fixtureA,n=this.m_fixtureB,a=s.getBody(),c=n.getBody();a.c_velocity,c.c_velocity;var _=a.c_position,u=c.c_position,p=h.clone(this.p_localCenterA),y=h.clone(this.p_localCenterB),d=0,f=0;o&&a!=e&&a!=i||(d=this.p_invMassA,f=this.p_invIA);var A=0,b=0;o&&c!=e&&c!=i||(A=this.p_invMassB,b=this.p_invIB);for(var g=h.clone(_.c),B=_.a,V=h.clone(u.c),w=u.a,C=0,M=0;M<this.p_pointCount;++M){var I=x.identity(),z=x.identity();I.q.setAngle(B),z.q.setAngle(w),I.p=h.sub(g,v.mulVec2(I.q,p)),z.p=h.sub(V,v.mulVec2(z.q,y));var P=void 0,S=void 0,T=void 0;switch(this.p_type){case m.e_circles:var L=x.mulVec2(I,this.p_localPoint),F=x.mulVec2(z,this.p_localPoints[0]);(P=h.sub(F,L)).normalize(),S=h.combine(.5,L,.5,F),T=h.dot(h.sub(F,L),P)-this.p_radiusA-this.p_radiusB;break;case m.e_faceA:P=v.mulVec2(I.q,this.p_localNormal);var q=x.mulVec2(I,this.p_localPoint),N=x.mulVec2(z,this.p_localPoints[M]);T=h.dot(h.sub(N,q),P)-this.p_radiusA-this.p_radiusB,S=N;break;case m.e_faceB:P=v.mulVec2(z.q,this.p_localNormal);q=x.mulVec2(z,this.p_localPoint),N=x.mulVec2(I,this.p_localPoints[M]);T=h.dot(h.sub(N,q),P)-this.p_radiusA-this.p_radiusB,S=N,P.mul(-1)}var k=h.sub(S,g),D=h.sub(S,V);C=r.min(C,T);var j=o?l.toiBaugarte:l.baumgarte,R=l.linearSlop,E=l.maxLinearCorrection,O=r.clamp(j*(T+R),-E,0),J=h.crossVec2Vec2(k,P),Y=h.crossVec2Vec2(D,P),W=d+A+f*J*J+b*Y*Y,H=W>0?-O/W:0,Z=h.mulNumVec2(H,P);g.subMul(d,Z),B-=f*h.crossVec2Vec2(k,Z),V.addMul(A,Z),w+=b*h.crossVec2Vec2(D,Z)}return _.c.setVec2(g),_.a=B,u.c.setVec2(V),u.a=w,C},t.prototype.initVelocityConstraint=function(t){var e=this.m_fixtureA,i=this.m_fixtureB,o=e.getBody(),s=i.getBody(),n=o.c_velocity,r=s.c_velocity,m=o.c_position,a=s.c_position,c=this.p_radiusA,_=this.p_radiusB,u=this.getManifold(),p=this.v_invMassA,y=this.v_invMassB,d=this.v_invIA,f=this.v_invIB,A=h.clone(this.p_localCenterA),b=h.clone(this.p_localCenterB),g=h.clone(m.c),B=m.a,V=h.clone(n.v),w=n.w,C=h.clone(a.c),M=a.a,I=h.clone(r.v),z=r.w,P=x.identity(),S=x.identity();P.q.setAngle(B),S.q.setAngle(M),P.p.setCombine(1,g,-1,v.mulVec2(P.q,A)),S.p.setCombine(1,C,-1,v.mulVec2(S.q,b));var T=u.getWorldManifold(null,P,c,S,_);this.v_normal.setVec2(T.normal);for(var L=0;L<this.v_pointCount;++L){var F=this.v_points[L];F.rA.setVec2(h.sub(T.points[L],g)),F.rB.setVec2(h.sub(T.points[L],C));var q=h.crossVec2Vec2(F.rA,this.v_normal),N=h.crossVec2Vec2(F.rB,this.v_normal),k=p+y+d*q*q+f*N*N;F.normalMass=k>0?1/k:0;var D=h.crossVec2Num(this.v_normal,1),j=h.crossVec2Vec2(F.rA,D),R=h.crossVec2Vec2(F.rB,D),E=p+y+d*j*j+f*R*R;F.tangentMass=E>0?1/E:0,F.velocityBias=0;var O=h.dot(this.v_normal,I)+h.dot(this.v_normal,h.crossNumVec2(z,F.rB))-h.dot(this.v_normal,V)-h.dot(this.v_normal,h.crossNumVec2(w,F.rA));O<-l.velocityThreshold&&(F.velocityBias=-this.v_restitution*O)}if(2==this.v_pointCount&&t.blockSolve){var J=this.v_points[0],Y=this.v_points[1],W=h.crossVec2Vec2(J.rA,this.v_normal),H=h.crossVec2Vec2(J.rB,this.v_normal),Z=h.crossVec2Vec2(Y.rA,this.v_normal),X=h.crossVec2Vec2(Y.rB,this.v_normal),K=p+y+d*W*W+f*H*H,G=p+y+d*Z*Z+f*X*X,U=p+y+d*W*Z+f*H*X;K*K<1e3*(K*G-U*U)?(this.v_K.ex.setNum(K,U),this.v_K.ey.setNum(U,G),this.v_normalMass.set(this.v_K.getInverse())):this.v_pointCount=1}m.c.setVec2(g),m.a=B,n.v.setVec2(V),n.w=w,a.c.setVec2(C),a.a=M,r.v.setVec2(I),r.w=z},t.prototype.warmStartConstraint=function(t){var e=this.m_fixtureA,i=this.m_fixtureB,o=e.getBody(),s=i.getBody(),n=o.c_velocity,r=s.c_velocity;o.c_position,s.c_position;for(var m=this.v_invMassA,a=this.v_invIA,c=this.v_invMassB,_=this.v_invIB,l=h.clone(n.v),u=n.w,p=h.clone(r.v),y=r.w,d=this.v_normal,f=h.crossVec2Num(d,1),v=0;v<this.v_pointCount;++v){var x=this.v_points[v],A=h.combine(x.normalImpulse,d,x.tangentImpulse,f);u-=a*h.crossVec2Vec2(x.rA,A),l.subMul(m,A),y+=_*h.crossVec2Vec2(x.rB,A),p.addMul(c,A)}n.v.setVec2(l),n.w=u,r.v.setVec2(p),r.w=y},t.prototype.storeConstraintImpulses=function(t){for(var e=this.m_manifold,i=0;i<this.v_pointCount;++i)e.points[i].normalImpulse=this.v_points[i].normalImpulse,e.points[i].tangentImpulse=this.v_points[i].tangentImpulse},t.prototype.solveVelocityConstraint=function(t){var e=this.m_fixtureA.m_body,i=this.m_fixtureB.m_body,o=e.c_velocity;e.c_position;var s=i.c_velocity;i.c_position;for(var n=this.v_invMassA,m=this.v_invIA,a=this.v_invMassB,c=this.v_invIB,_=h.clone(o.v),l=o.w,u=h.clone(s.v),p=s.w,y=this.v_normal,d=h.crossVec2Num(y,1),f=this.v_friction,v=0;v<this.v_pointCount;++v){var x=this.v_points[v];(w=h.zero()).addCombine(1,u,1,h.crossNumVec2(p,x.rB)),w.subCombine(1,_,1,h.crossNumVec2(l,x.rA));var A=h.dot(w,d)-this.v_tangentSpeed,b=x.tangentMass*-A,g=f*x.normalImpulse;b=(C=r.clamp(x.tangentImpulse+b,-g,g))-x.tangentImpulse,x.tangentImpulse=C;var B=h.mulNumVec2(b,d);_.subMul(n,B),l-=m*h.crossVec2Vec2(x.rA,B),u.addMul(a,B),p+=c*h.crossVec2Vec2(x.rB,B)}if(1==this.v_pointCount||0==t.blockSolve)for(var V=0;V<this.v_pointCount;++V){var w;x=this.v_points[V];(w=h.zero()).addCombine(1,u,1,h.crossNumVec2(p,x.rB)),w.subCombine(1,_,1,h.crossNumVec2(l,x.rA));var C,M=h.dot(w,y);b=-x.normalMass*(M-x.velocityBias);b=(C=r.max(x.normalImpulse+b,0))-x.normalImpulse,x.normalImpulse=C;B=h.mulNumVec2(b,y);_.subMul(n,B),l-=m*h.crossVec2Vec2(x.rA,B),u.addMul(a,B),p+=c*h.crossVec2Vec2(x.rB,B)}else{var I=this.v_points[0],z=this.v_points[1],P=h.neo(I.normalImpulse,z.normalImpulse),S=h.zero().add(u).add(h.crossNumVec2(p,I.rB)).sub(_).sub(h.crossNumVec2(l,I.rA)),T=h.zero().add(u).add(h.crossNumVec2(p,z.rB)).sub(_).sub(h.crossNumVec2(l,z.rA)),F=h.dot(S,y),q=h.dot(T,y),N=h.neo(F-I.velocityBias,q-z.velocityBias);for(N.sub(L.mulVec2(this.v_K,P));;){var k=L.mulVec2(this.v_normalMass,N).neg();if(k.x>=0&&k.y>=0){var D=h.sub(k,P),j=h.mulNumVec2(D.x,y),R=h.mulNumVec2(D.y,y);_.subCombine(n,j,n,R),l-=m*(h.crossVec2Vec2(I.rA,j)+h.crossVec2Vec2(z.rA,R)),u.addCombine(a,j,a,R),p+=c*(h.crossVec2Vec2(I.rB,j)+h.crossVec2Vec2(z.rB,R)),I.normalImpulse=k.x,z.normalImpulse=k.y;break}if(k.x=-I.normalMass*N.x,k.y=0,F=0,q=this.v_K.ex.y*k.x+N.y,k.x>=0&&q>=0){D=h.sub(k,P),j=h.mulNumVec2(D.x,y),R=h.mulNumVec2(D.y,y);_.subCombine(n,j,n,R),l-=m*(h.crossVec2Vec2(I.rA,j)+h.crossVec2Vec2(z.rA,R)),u.addCombine(a,j,a,R),p+=c*(h.crossVec2Vec2(I.rB,j)+h.crossVec2Vec2(z.rB,R)),I.normalImpulse=k.x,z.normalImpulse=k.y;break}if(k.x=0,k.y=-z.normalMass*N.y,F=this.v_K.ey.x*k.y+N.x,q=0,k.y>=0&&F>=0){D=h.sub(k,P),j=h.mulNumVec2(D.x,y),R=h.mulNumVec2(D.y,y);_.subCombine(n,j,n,R),l-=m*(h.crossVec2Vec2(I.rA,j)+h.crossVec2Vec2(z.rA,R)),u.addCombine(a,j,a,R),p+=c*(h.crossVec2Vec2(I.rB,j)+h.crossVec2Vec2(z.rB,R)),I.normalImpulse=k.x,z.normalImpulse=k.y;break}if(k.x=0,k.y=0,F=N.x,q=N.y,F>=0&&q>=0){D=h.sub(k,P),j=h.mulNumVec2(D.x,y),R=h.mulNumVec2(D.y,y);_.subCombine(n,j,n,R),l-=m*(h.crossVec2Vec2(I.rA,j)+h.crossVec2Vec2(z.rA,R)),u.addCombine(a,j,a,R),p+=c*(h.crossVec2Vec2(I.rB,j)+h.crossVec2Vec2(z.rB,R)),I.normalImpulse=k.x,z.normalImpulse=k.y;break}break}}o.v.setVec2(_),o.w=l,s.v.setVec2(u),s.w=p},t.addType=function(t,e,i){et[t]=et[t]||{},et[t][e]=i},t.create=function(e,i,o,s){var n,r,m=e.getType(),a=o.getType();if(r=et[m]&&et[m][a])n=new t(e,i,o,s,r);else{if(!(r=et[a]&&et[a][m]))return null;n=new t(o,s,e,i,r)}e=n.getFixtureA(),o=n.getFixtureB(),i=n.getChildIndexA(),s=n.getChildIndexB();var c=e.getBody(),h=o.getBody();return n.m_nodeA.contact=n,n.m_nodeA.other=h,n.m_nodeA.prev=null,n.m_nodeA.next=c.m_contactList,null!=c.m_contactList&&(c.m_contactList.prev=n.m_nodeA),c.m_contactList=n.m_nodeA,n.m_nodeB.contact=n,n.m_nodeB.other=c,n.m_nodeB.prev=null,n.m_nodeB.next=h.m_contactList,null!=h.m_contactList&&(h.m_contactList.prev=n.m_nodeB),h.m_contactList=n.m_nodeB,0==e.isSensor()&&0==o.isSensor()&&(c.setAwake(!0),h.setAwake(!0)),n},t.destroy=function(t,e){var i=t.m_fixtureA,o=t.m_fixtureB,s=i.getBody(),n=o.getBody();t.isTouching()&&e.endContact(t),t.m_nodeA.prev&&(t.m_nodeA.prev.next=t.m_nodeA.next),t.m_nodeA.next&&(t.m_nodeA.next.prev=t.m_nodeA.prev),t.m_nodeA==s.m_contactList&&(s.m_contactList=t.m_nodeA.next),t.m_nodeB.prev&&(t.m_nodeB.prev.next=t.m_nodeB.next),t.m_nodeB.next&&(t.m_nodeB.next.prev=t.m_nodeB.prev),t.m_nodeB==n.m_contactList&&(n.m_contactList=t.m_nodeB.next),t.m_manifold.pointCount>0&&0==i.isSensor()&&0==o.isSensor()&&(s.setAwake(!0),n.setAwake(!0)),i.getType(),o.getType()},t}(),st=function(){this.other=null,this.joint=null,this.prev=null,this.next=null},nt=function(){function t(t,e,i){this.m_type="unknown-joint",this.m_prev=null,this.m_next=null,this.m_edgeA=new st,this.m_edgeB=new st,this.m_islandFlag=!1,e="bodyA"in t?t.bodyA:e,i="bodyB"in t?t.bodyB:i,this.m_bodyA=e,this.m_bodyB=i,this.m_collideConnected=!!t.collideConnected,this.m_userData=t.userData}return t.prototype.isActive=function(){return this.m_bodyA.isActive()&&this.m_bodyB.isActive()},t.prototype.getType=function(){return this.m_type},t.prototype.getBodyA=function(){return this.m_bodyA},t.prototype.getBodyB=function(){return this.m_bodyB},t.prototype.getNext=function(){return this.m_next},t.prototype.getUserData=function(){return this.m_userData},t.prototype.setUserData=function(t){this.m_userData=t},t.prototype.getCollideConnected=function(){return this.m_collideConnected},t.prototype.shiftOrigin=function(t){},t}(),rt=function(){return Date.now()},mt=function(t){return Date.now()-t},at=function(){this.proxyA=new Z,this.proxyB=new Z,this.sweepA=new A,this.sweepB=new A};!function(t){t[t.e_unknown=0]="e_unknown",t[t.e_failed=1]="e_failed",t[t.e_overlapped=2]="e_overlapped",t[t.e_touching=3]="e_touching",t[t.e_separated=4]="e_separated"}(tt||(tt={}));var ct,ht=function(){};function _t(t,e){var i=rt();++O.toiCalls,t.state=tt.e_unknown,t.t=e.tMax;var o=e.proxyA,s=e.proxyB,n=e.sweepA,m=e.sweepB;n.normalize(),m.normalize();var a=e.tMax,c=o.m_radius+s.m_radius,h=r.max(l.linearSlop,c-3*l.linearSlop),_=.25*l.linearSlop,u=0,p=l.maxTOIIterations,y=0,d=new W,f=new J;for(f.proxyA=e.proxyA,f.proxyB=e.proxyB,f.useRadii=!1;;){var v=x.identity(),A=x.identity();n.getTransform(v,u),m.getTransform(A,u),f.transformA=v,f.transformB=A;var b=new Y;if(H(b,d,f),b.distance<=0){t.state=tt.e_overlapped,t.t=0;break}if(b.distance<h+_){t.state=tt.e_touching,t.t=u;break}var g=new lt;g.initialize(d,o,n,s,m,u);for(var B=!1,V=a,w=0;;){var C=g.findMinSeparation(V);if(C>h+_){t.state=tt.e_separated,t.t=a,B=!0;break}if(C>h-_){u=V;break}var M=g.evaluate(u);if(M<h-_){t.state=tt.e_failed,t.t=u,B=!0;break}if(M<=h+_){t.state=tt.e_touching,t.t=u,B=!0;break}for(var I=0,z=u,P=V;;){var S=void 0;S=1&I?z+(h-M)*(P-z)/(C-M):.5*(z+P),++I,++O.toiRootIters;var T=g.evaluate(S);if(g.indexA,g.indexB,r.abs(T-h)<_){V=S;break}if(T>h?(z=S,M=T):(P=S,C=T),50===I)break}if(O.toiMaxRootIters=r.max(O.toiMaxRootIters,I),++w===l.maxPolygonVertices)break}if(++y,++O.toiIters,B)break;if(y===p){t.state=tt.e_failed,t.t=u;break}}O.toiMaxIters=r.max(O.toiMaxIters,y);var L=mt(i);O.toiMaxTime=r.max(O.toiMaxTime,L),O.toiTime+=L}O.toiTime=0,O.toiMaxTime=0,O.toiCalls=0,O.toiIters=0,O.toiMaxIters=0,O.toiRootIters=0,O.toiMaxRootIters=0,function(t){t[t.e_points=1]="e_points",t[t.e_faceA=2]="e_faceA",t[t.e_faceB=3]="e_faceB"}(ct||(ct={}));var lt=function(){function t(){this.m_proxyA=new Z,this.m_proxyB=new Z,this.m_localPoint=h.zero(),this.m_axis=h.zero()}return t.prototype.initialize=function(t,e,i,o,s,n){this.m_proxyA=e,this.m_proxyB=o;var r=t.count;this.m_sweepA=i,this.m_sweepB=s;var m=x.identity(),a=x.identity();if(this.m_sweepA.getTransform(m,n),this.m_sweepB.getTransform(a,n),1===r){this.m_type=ct.e_points;var c=this.m_proxyA.getVertex(t.indexA[0]),_=this.m_proxyB.getVertex(t.indexB[0]),l=x.mulVec2(m,c),u=x.mulVec2(a,_);return this.m_axis.setCombine(1,u,-1,l),b=this.m_axis.normalize()}if(t.indexA[0]===t.indexA[1]){this.m_type=ct.e_faceB;var p=o.getVertex(t.indexB[0]),y=o.getVertex(t.indexB[1]);this.m_axis=h.crossVec2Num(h.sub(y,p),1),this.m_axis.normalize();var d=v.mulVec2(a.q,this.m_axis);this.m_localPoint=h.mid(p,y);u=x.mulVec2(a,this.m_localPoint),c=e.getVertex(t.indexA[0]),l=x.mulVec2(m,c);return(b=h.dot(l,d)-h.dot(u,d))<0&&(this.m_axis=h.neg(this.m_axis),b=-b),b}this.m_type=ct.e_faceA;var f=this.m_proxyA.getVertex(t.indexA[0]),A=this.m_proxyA.getVertex(t.indexA[1]);this.m_axis=h.crossVec2Num(h.sub(A,f),1),this.m_axis.normalize();d=v.mulVec2(m.q,this.m_axis);this.m_localPoint=h.mid(f,A);var b;l=x.mulVec2(m,this.m_localPoint),_=this.m_proxyB.getVertex(t.indexB[0]),u=x.mulVec2(a,_);return(b=h.dot(u,d)-h.dot(l,d))<0&&(this.m_axis=h.neg(this.m_axis),b=-b),b},t.prototype.compute=function(t,e){var i=x.identity(),o=x.identity();switch(this.m_sweepA.getTransform(i,e),this.m_sweepB.getTransform(o,e),this.m_type){case ct.e_points:if(t){var s=v.mulTVec2(i.q,this.m_axis),n=v.mulTVec2(o.q,h.neg(this.m_axis));this.indexA=this.m_proxyA.getSupport(s),this.indexB=this.m_proxyB.getSupport(n)}var r=this.m_proxyA.getVertex(this.indexA),m=this.m_proxyB.getVertex(this.indexB),a=x.mulVec2(i,r),c=x.mulVec2(o,m);return h.dot(c,this.m_axis)-h.dot(a,this.m_axis);case ct.e_faceA:var _=v.mulVec2(i.q,this.m_axis);a=x.mulVec2(i,this.m_localPoint);if(t){n=v.mulTVec2(o.q,h.neg(_));this.indexA=-1,this.indexB=this.m_proxyB.getSupport(n)}m=this.m_proxyB.getVertex(this.indexB),c=x.mulVec2(o,m);return h.dot(c,_)-h.dot(a,_);case ct.e_faceB:_=v.mulVec2(o.q,this.m_axis),c=x.mulVec2(o,this.m_localPoint);if(t){s=v.mulTVec2(i.q,h.neg(_));this.indexB=-1,this.indexA=this.m_proxyA.getSupport(s)}r=this.m_proxyA.getVertex(this.indexA),a=x.mulVec2(i,r);return h.dot(a,_)-h.dot(c,_);default:return t&&(this.indexA=-1,this.indexB=-1),0}},t.prototype.findMinSeparation=function(t){return this.compute(!0,t)},t.prototype.evaluate=function(t){return this.compute(!1,t)},t}(),ut=function(){function t(){this.dt=0,this.inv_dt=0,this.velocityIterations=0,this.positionIterations=0,this.warmStarting=!1,this.blockSolve=!0,this.inv_dt0=0,this.dtRatio=1}return t.prototype.reset=function(t){this.dt>0&&(this.inv_dt0=this.inv_dt),this.dt=t,this.inv_dt=0==t?0:1/t,this.dtRatio=t*this.inv_dt0},t}(),pt=new ut,yt=function(){function t(t){this.contact=t,this.normals=[],this.tangents=[]}return Object.defineProperty(t.prototype,"normalImpulses",{get:function(){var t=this.contact,e=this.normals;e.length=0;for(var i=0;i<t.v_points.length;++i)e.push(t.v_points[i].normalImpulse);return e},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"tangentImpulses",{get:function(){var t=this.contact,e=this.tangents;e.length=0;for(var i=0;i<t.v_points.length;++i)e.push(t.v_points[i].tangentImpulse);return e},enumerable:!1,configurable:!0}),t}(),dt=function(){function t(t){this.m_world=t,this.m_stack=[],this.m_bodies=[],this.m_contacts=[],this.m_joints=[]}return t.prototype.clear=function(){this.m_stack.length=0,this.m_bodies.length=0,this.m_contacts.length=0,this.m_joints.length=0},t.prototype.addBody=function(t){this.m_bodies.push(t)},t.prototype.addContact=function(t){this.m_contacts.push(t)},t.prototype.addJoint=function(t){this.m_joints.push(t)},t.prototype.solveWorld=function(t){for(var e=this.m_world,i=e.m_bodyList;i;i=i.m_next)i.m_islandFlag=!1;for(var o=e.m_contactList;o;o=o.m_next)o.m_islandFlag=!1;for(var s=e.m_jointList;s;s=s.m_next)s.m_islandFlag=!1;for(var n=this.m_stack,r=e.m_bodyList;r;r=r.m_next)if(!r.m_islandFlag&&0!=r.isAwake()&&0!=r.isActive()&&!r.isStatic()){for(this.clear(),n.push(r),r.m_islandFlag=!0;n.length>0;){i=n.pop();if(this.addBody(i),i.setAwake(!0),!i.isStatic()){for(var m=i.m_contactList;m;m=m.next){var a=m.contact;if(!a.m_islandFlag&&(0!=a.isEnabled()&&0!=a.isTouching())){var c=a.m_fixtureA.m_isSensor,h=a.m_fixtureB.m_isSensor;if(!c&&!h)this.addContact(a),a.m_islandFlag=!0,(l=m.other).m_islandFlag||(n.push(l),l.m_islandFlag=!0)}}for(var _=i.m_jointList;_;_=_.next){var l;if(1!=_.joint.m_islandFlag)0!=(l=_.other).isActive()&&(this.addJoint(_.joint),_.joint.m_islandFlag=!0,l.m_islandFlag||(n.push(l),l.m_islandFlag=!0))}}}this.solveIsland(t);for(var u=0;u<this.m_bodies.length;++u){(i=this.m_bodies[u]).isStatic()&&(i.m_islandFlag=!1)}}},t.prototype.solveIsland=function(t){for(var e=this.m_world,i=e.m_gravity,o=e.m_allowSleep,s=t.dt,n=0;n<this.m_bodies.length;++n){var m=this.m_bodies[n],a=h.clone(m.m_sweep.c),c=m.m_sweep.a,_=h.clone(m.m_linearVelocity),u=m.m_angularVelocity;m.m_sweep.c0.setVec2(m.m_sweep.c),m.m_sweep.a0=m.m_sweep.a,m.isDynamic()&&(_.addMul(s*m.m_gravityScale,i),_.addMul(s*m.m_invMass,m.m_force),u+=s*m.m_invI*m.m_torque,_.mul(1/(1+s*m.m_linearDamping)),u*=1/(1+s*m.m_angularDamping)),m.c_position.c=a,m.c_position.a=c,m.c_velocity.v=_,m.c_velocity.w=u}for(n=0;n<this.m_contacts.length;++n){this.m_contacts[n].initConstraint(t)}for(n=0;n<this.m_contacts.length;++n){this.m_contacts[n].initVelocityConstraint(t)}if(t.warmStarting)for(n=0;n<this.m_contacts.length;++n){this.m_contacts[n].warmStartConstraint(t)}for(n=0;n<this.m_joints.length;++n){this.m_joints[n].initVelocityConstraints(t)}for(n=0;n<t.velocityIterations;++n){for(var p=0;p<this.m_joints.length;++p){this.m_joints[p].solveVelocityConstraints(t)}for(p=0;p<this.m_contacts.length;++p){this.m_contacts[p].solveVelocityConstraint(t)}}for(n=0;n<this.m_contacts.length;++n){this.m_contacts[n].storeConstraintImpulses(t)}for(n=0;n<this.m_bodies.length;++n){m=this.m_bodies[n],a=h.clone(m.c_position.c),c=m.c_position.a,_=h.clone(m.c_velocity.v),u=m.c_velocity.w;var y=h.mulNumVec2(s,_);if(h.lengthSquared(y)>l.maxTranslationSquared){var d=l.maxTranslation/y.length();_.mul(d)}var f=s*u;if(f*f>l.maxRotationSquared)u*=d=l.maxRotation/r.abs(f);a.addMul(s,_),c+=s*u,m.c_position.c.setVec2(a),m.c_position.a=c,m.c_velocity.v.setVec2(_),m.c_velocity.w=u}var v=!1;for(n=0;n<t.positionIterations;++n){var x=0;for(p=0;p<this.m_contacts.length;++p){var A=this.m_contacts[p].solvePositionConstraint(t);x=r.min(x,A)}var b=x>=-3*l.linearSlop,g=!0;for(p=0;p<this.m_joints.length;++p){var B=this.m_joints[p].solvePositionConstraints(t);g=g&&B}if(b&&g){v=!0;break}}for(n=0;n<this.m_bodies.length;++n){(m=this.m_bodies[n]).m_sweep.c.setVec2(m.c_position.c),m.m_sweep.a=m.c_position.a,m.m_linearVelocity.setVec2(m.c_velocity.v),m.m_angularVelocity=m.c_velocity.w,m.synchronizeTransform()}if(this.postSolveIsland(),o){var V=1/0,w=l.linearSleepToleranceSqr,C=l.angularSleepToleranceSqr;for(n=0;n<this.m_bodies.length;++n){(m=this.m_bodies[n]).isStatic()||(0==m.m_autoSleepFlag||m.m_angularVelocity*m.m_angularVelocity>C||h.lengthSquared(m.m_linearVelocity)>w?(m.m_sleepTime=0,V=0):(m.m_sleepTime+=s,V=r.min(V,m.m_sleepTime)))}if(V>=l.timeToSleep&&v)for(n=0;n<this.m_bodies.length;++n){(m=this.m_bodies[n]).setAwake(!1)}}},t.prototype.printBodies=function(t){for(var e=0;e<this.m_bodies.length;++e){var i=this.m_bodies[e];n(t,i.c_position.a,i.c_position.c.x,i.c_position.c.y,i.c_velocity.w,i.c_velocity.v.x,i.c_velocity.v.y)}},t.prototype.solveWorldTOI=function(t){var e=this.m_world;if(e.m_stepComplete){for(var i=e.m_bodyList;i;i=i.m_next)i.m_islandFlag=!1,i.m_sweep.alpha0=0;for(var o=e.m_contactList;o;o=o.m_next)o.m_toiFlag=!1,o.m_islandFlag=!1,o.m_toiCount=0,o.m_toi=1}for(;;){for(var s=null,n=1,o=e.m_contactList;o;o=o.m_next)if(0!=o.isEnabled()&&!(o.m_toiCount>l.maxSubSteps)){var m=1;if(o.m_toiFlag)m=o.m_toi;else{var a=o.getFixtureA(),c=o.getFixtureB();if(a.isSensor()||c.isSensor())continue;var h=a.getBody(),_=c.getBody(),u=h.isAwake()&&!h.isStatic(),p=_.isAwake()&&!_.isStatic();if(0==u&&0==p)continue;var y=h.isBullet()||!h.isDynamic(),d=_.isBullet()||!_.isDynamic();if(0==y&&0==d)continue;var f=h.m_sweep.alpha0;h.m_sweep.alpha0<_.m_sweep.alpha0?(f=_.m_sweep.alpha0,h.m_sweep.advance(f)):_.m_sweep.alpha0<h.m_sweep.alpha0&&(f=h.m_sweep.alpha0,_.m_sweep.advance(f));var v=o.getChildIndexA(),x=o.getChildIndexB();h.m_sweep,_.m_sweep;var A=new at;A.proxyA.set(a.getShape(),v),A.proxyB.set(c.getShape(),x),A.sweepA.set(h.m_sweep),A.sweepB.set(_.m_sweep),A.tMax=1;var b=new ht;_t(b,A);var g=b.t;m=b.state==tt.e_touching?r.min(f+(1-f)*g,1):1,o.m_toi=m,o.m_toiFlag=!0}m<n&&(s=o,n=m)}if(null==s||1-10*r.EPSILON<n){e.m_stepComplete=!0;break}var B=s.getFixtureA(),V=s.getFixtureB(),w=B.getBody(),C=V.getBody(),M=w.m_sweep.clone(),I=C.m_sweep.clone();if(w.advance(n),C.advance(n),s.update(e),s.m_toiFlag=!1,++s.m_toiCount,0!=s.isEnabled()&&0!=s.isTouching()){w.setAwake(!0),C.setAwake(!0),this.clear(),this.addBody(w),this.addBody(C),this.addContact(s),w.m_islandFlag=!0,C.m_islandFlag=!0,s.m_islandFlag=!0;for(var z=[w,C],P=0;P<z.length;++P){if((k=z[P]).isDynamic())for(var S=k.m_contactList;S;S=S.next){var T=S.contact;if(!T.m_islandFlag){var L=S.other;if(!L.isDynamic()||k.isBullet()||L.isBullet()){var F=T.m_fixtureA.m_isSensor,q=T.m_fixtureB.m_isSensor;if(!F&&!q){var N=L.m_sweep.clone();0==L.m_islandFlag&&L.advance(n),T.update(e),0!=T.isEnabled()&&0!=T.isTouching()?(T.m_islandFlag=!0,this.addContact(T),L.m_islandFlag||(L.m_islandFlag=!0,L.isStatic()||L.setAwake(!0),this.addBody(L))):(L.m_sweep.set(N),L.synchronizeTransform())}}}}}pt.reset((1-n)*t.dt),pt.dtRatio=1,pt.positionIterations=20,pt.velocityIterations=t.velocityIterations,pt.warmStarting=!1,this.solveIslandTOI(pt,w,C);for(P=0;P<this.m_bodies.length;++P){var k;if((k=this.m_bodies[P]).m_islandFlag=!1,k.isDynamic()){k.synchronizeFixtures();for(S=k.m_contactList;S;S=S.next)S.contact.m_toiFlag=!1,S.contact.m_islandFlag=!1}}if(e.findNewContacts(),e.m_subStepping){e.m_stepComplete=!1;break}}else s.setEnabled(!1),w.m_sweep.set(M),C.m_sweep.set(I),w.synchronizeTransform(),C.synchronizeTransform()}},t.prototype.solveIslandTOI=function(t,e,i){this.m_world;for(var o=0;o<this.m_bodies.length;++o){(c=this.m_bodies[o]).c_position.c.setVec2(c.m_sweep.c),c.c_position.a=c.m_sweep.a,c.c_velocity.v.setVec2(c.m_linearVelocity),c.c_velocity.w=c.m_angularVelocity}for(o=0;o<this.m_contacts.length;++o){this.m_contacts[o].initConstraint(t)}for(o=0;o<t.positionIterations;++o){for(var s=0,n=0;n<this.m_contacts.length;++n){var m=this.m_contacts[n].solvePositionConstraintTOI(t,e,i);s=r.min(s,m)}if(s>=-1.5*l.linearSlop)break}e.m_sweep.c0.setVec2(e.c_position.c),e.m_sweep.a0=e.c_position.a,i.m_sweep.c0.setVec2(i.c_position.c),i.m_sweep.a0=i.c_position.a;for(o=0;o<this.m_contacts.length;++o){this.m_contacts[o].initVelocityConstraint(t)}for(o=0;o<t.velocityIterations;++o)for(n=0;n<this.m_contacts.length;++n){this.m_contacts[n].solveVelocityConstraint(t)}var a=t.dt;for(o=0;o<this.m_bodies.length;++o){var c=this.m_bodies[o],_=h.clone(c.c_position.c),u=c.c_position.a,p=h.clone(c.c_velocity.v),y=c.c_velocity.w,d=h.mulNumVec2(a,p);if(h.dot(d,d)>l.maxTranslationSquared){var f=l.maxTranslation/d.length();p.mul(f)}var v=a*y;if(v*v>l.maxRotationSquared)y*=f=l.maxRotation/r.abs(v);_.addMul(a,p),u+=a*y,c.c_position.c=_,c.c_position.a=u,c.c_velocity.v=p,c.c_velocity.w=y,c.m_sweep.c=_,c.m_sweep.a=u,c.m_linearVelocity=p,c.m_angularVelocity=y,c.synchronizeTransform()}this.postSolveIsland()},t.prototype.postSolveIsland=function(){for(var t=0;t<this.m_contacts.length;++t){var e=this.m_contacts[t];this.m_world.postSolve(e,e.m_impulse)}},t}(),ft={gravity:h.zero(),allowSleep:!0,warmStarting:!0,continuousPhysics:!0,subStepping:!1,blockSolve:!0,velocityIterations:8,positionIterations:3},vt=function(){function t(e){var i=this;if(this.s_step=new ut,this.createContact=function(t,e){var o=t.fixture,s=e.fixture,n=t.childIndex,r=e.childIndex,m=o.getBody(),a=s.getBody();if(m!=a){for(var c=a.getContactList();c;){if(c.other==m){var h=c.contact.getFixtureA(),_=c.contact.getFixtureB(),l=c.contact.getChildIndexA(),u=c.contact.getChildIndexB();if(h==o&&_==s&&l==n&&u==r)return;if(h==s&&_==o&&l==r&&u==n)return}c=c.next}if(0!=a.shouldCollide(m)&&0!=s.shouldCollide(o)){var p=ot.create(o,n,s,r);null!=p&&(p.m_prev=null,null!=i.m_contactList&&(p.m_next=i.m_contactList,i.m_contactList.m_prev=p),i.m_contactList=p,++i.m_contactCount)}}},!(this instanceof t))return new t(e);e&&h.isValid(e)&&(e={gravity:e}),e=s(e,ft),this.m_solver=new dt(this),this.m_broadPhase=new f,this.m_contactList=null,this.m_contactCount=0,this.m_bodyList=null,this.m_bodyCount=0,this.m_jointList=null,this.m_jointCount=0,this.m_stepComplete=!0,this.m_allowSleep=e.allowSleep,this.m_gravity=h.clone(e.gravity),this.m_clearForces=!0,this.m_newFixture=!1,this.m_locked=!1,this.m_warmStarting=e.warmStarting,this.m_continuousPhysics=e.continuousPhysics,this.m_subStepping=e.subStepping,this.m_blockSolve=e.blockSolve,this.m_velocityIterations=e.velocityIterations,this.m_positionIterations=e.positionIterations,this.m_t=0}return t.prototype._serialize=function(){for(var t=[],e=[],i=this.getBodyList();i;i=i.getNext())t.push(i);for(var o=this.getJointList();o;o=o.getNext())"function"==typeof o._serialize&&e.push(o);return{gravity:this.m_gravity,bodies:t,joints:e}},t._deserialize=function(e,i,o){if(!e)return new t;var s=new t(e.gravity);if(e.bodies)for(var n=e.bodies.length-1;n>=0;n-=1)s._addBody(o(T,e.bodies[n],s));if(e.joints)for(n=e.joints.length-1;n>=0;n--)s.createJoint(o(nt,e.joints[n],s));return s},t.prototype.getBodyList=function(){return this.m_bodyList},t.prototype.getJointList=function(){return this.m_jointList},t.prototype.getContactList=function(){return this.m_contactList},t.prototype.getBodyCount=function(){return this.m_bodyCount},t.prototype.getJointCount=function(){return this.m_jointCount},t.prototype.getContactCount=function(){return this.m_contactCount},t.prototype.setGravity=function(t){this.m_gravity=t},t.prototype.getGravity=function(){return this.m_gravity},t.prototype.isLocked=function(){return this.m_locked},t.prototype.setAllowSleeping=function(t){if(t!=this.m_allowSleep&&(this.m_allowSleep=t,0==this.m_allowSleep))for(var e=this.m_bodyList;e;e=e.m_next)e.setAwake(!0)},t.prototype.getAllowSleeping=function(){return this.m_allowSleep},t.prototype.setWarmStarting=function(t){this.m_warmStarting=t},t.prototype.getWarmStarting=function(){return this.m_warmStarting},t.prototype.setContinuousPhysics=function(t){this.m_continuousPhysics=t},t.prototype.getContinuousPhysics=function(){return this.m_continuousPhysics},t.prototype.setSubStepping=function(t){this.m_subStepping=t},t.prototype.getSubStepping=function(){return this.m_subStepping},t.prototype.setAutoClearForces=function(t){this.m_clearForces=t},t.prototype.getAutoClearForces=function(){return this.m_clearForces},t.prototype.clearForces=function(){for(var t=this.m_bodyList;t;t=t.getNext())t.m_force.setZero(),t.m_torque=0},t.prototype.queryAABB=function(t,e){var i=this.m_broadPhase;this.m_broadPhase.query(t,(function(t){var o=i.getUserData(t);return e(o.fixture)}))},t.prototype.rayCast=function(t,e,i){var o=this.m_broadPhase;this.m_broadPhase.rayCast({maxFraction:1,p1:t,p2:e},(function(t,e){var s=o.getUserData(e),n=s.fixture,r=s.childIndex,m={};if(n.rayCast(m,t,r)){var a=m.fraction,c=h.add(h.mulNumVec2(1-a,t.p1),h.mulNumVec2(a,t.p2));return i(n,c,m.normal,a)}return t.maxFraction}))},t.prototype.getProxyCount=function(){return this.m_broadPhase.getProxyCount()},t.prototype.getTreeHeight=function(){return this.m_broadPhase.getTreeHeight()},t.prototype.getTreeBalance=function(){return this.m_broadPhase.getTreeBalance()},t.prototype.getTreeQuality=function(){return this.m_broadPhase.getTreeQuality()},t.prototype.shiftOrigin=function(t){if(!this.m_locked){for(var e=this.m_bodyList;e;e=e.m_next)e.m_xf.p.sub(t),e.m_sweep.c0.sub(t),e.m_sweep.c.sub(t);for(var i=this.m_jointList;i;i=i.m_next)i.shiftOrigin(t);this.m_broadPhase.shiftOrigin(t)}},t.prototype._addBody=function(t){this.isLocked()||(t.m_prev=null,t.m_next=this.m_bodyList,this.m_bodyList&&(this.m_bodyList.m_prev=t),this.m_bodyList=t,++this.m_bodyCount)},t.prototype.createBody=function(t,e){if(this.isLocked())return null;var i={};t&&(h.isValid(t)?i={position:t,angle:e}:"object"==typeof t&&(i=t));var o=new T(this,i);return this._addBody(o),o},t.prototype.createDynamicBody=function(t,e){var i={};return t&&(h.isValid(t)?i={position:t,angle:e}:"object"==typeof t&&(i=t)),i.type="dynamic",this.createBody(i)},t.prototype.createKinematicBody=function(t,e){var i={};return t&&(h.isValid(t)?i={position:t,angle:e}:"object"==typeof t&&(i=t)),i.type="kinematic",this.createBody(i)},t.prototype.destroyBody=function(t){if(!this.isLocked()){if(t.m_destroyed)return!1;for(var e=t.m_jointList;e;){var i=e;e=e.next,this.publish("remove-joint",i.joint),this.destroyJoint(i.joint),t.m_jointList=e}t.m_jointList=null;for(var o=t.m_contactList;o;){var s=o;o=o.next,this.destroyContact(s.contact),t.m_contactList=o}t.m_contactList=null;for(var n=t.m_fixtureList;n;){var r=n;n=n.m_next,this.publish("remove-fixture",r),r.destroyProxies(this.m_broadPhase),t.m_fixtureList=n}return t.m_fixtureList=null,t.m_prev&&(t.m_prev.m_next=t.m_next),t.m_next&&(t.m_next.m_prev=t.m_prev),t==this.m_bodyList&&(this.m_bodyList=t.m_next),t.m_destroyed=!0,--this.m_bodyCount,this.publish("remove-body",t),!0}},t.prototype.createJoint=function(t){if(this.isLocked())return null;if(t.m_prev=null,t.m_next=this.m_jointList,this.m_jointList&&(this.m_jointList.m_prev=t),this.m_jointList=t,++this.m_jointCount,t.m_edgeA.joint=t,t.m_edgeA.other=t.m_bodyB,t.m_edgeA.prev=null,t.m_edgeA.next=t.m_bodyA.m_jointList,t.m_bodyA.m_jointList&&(t.m_bodyA.m_jointList.prev=t.m_edgeA),t.m_bodyA.m_jointList=t.m_edgeA,t.m_edgeB.joint=t,t.m_edgeB.other=t.m_bodyA,t.m_edgeB.prev=null,t.m_edgeB.next=t.m_bodyB.m_jointList,t.m_bodyB.m_jointList&&(t.m_bodyB.m_jointList.prev=t.m_edgeB),t.m_bodyB.m_jointList=t.m_edgeB,0==t.m_collideConnected)for(var e=t.m_bodyB.getContactList();e;e=e.next)e.other==t.m_bodyA&&e.contact.flagForFiltering();return t},t.prototype.destroyJoint=function(t){if(!this.isLocked()){t.m_prev&&(t.m_prev.m_next=t.m_next),t.m_next&&(t.m_next.m_prev=t.m_prev),t==this.m_jointList&&(this.m_jointList=t.m_next);var e=t.m_bodyA,i=t.m_bodyB;if(e.setAwake(!0),i.setAwake(!0),t.m_edgeA.prev&&(t.m_edgeA.prev.next=t.m_edgeA.next),t.m_edgeA.next&&(t.m_edgeA.next.prev=t.m_edgeA.prev),t.m_edgeA==e.m_jointList&&(e.m_jointList=t.m_edgeA.next),t.m_edgeA.prev=null,t.m_edgeA.next=null,t.m_edgeB.prev&&(t.m_edgeB.prev.next=t.m_edgeB.next),t.m_edgeB.next&&(t.m_edgeB.next.prev=t.m_edgeB.prev),t.m_edgeB==i.m_jointList&&(i.m_jointList=t.m_edgeB.next),t.m_edgeB.prev=null,t.m_edgeB.next=null,--this.m_jointCount,0==t.m_collideConnected)for(var o=i.getContactList();o;)o.other==e&&o.contact.flagForFiltering(),o=o.next;this.publish("remove-joint",t)}},t.prototype.step=function(t,e,i){if(this.publish("pre-step",t),(0|e)!==e&&(e=0),e=e||this.m_velocityIterations,i=i||this.m_positionIterations,this.m_newFixture&&(this.findNewContacts(),this.m_newFixture=!1),this.m_locked=!0,this.s_step.reset(t),this.s_step.velocityIterations=e,this.s_step.positionIterations=i,this.s_step.warmStarting=this.m_warmStarting,this.s_step.blockSolve=this.m_blockSolve,this.updateContacts(),this.m_stepComplete&&t>0){this.m_solver.solveWorld(this.s_step);for(var o=this.m_bodyList;o;o=o.getNext())0!=o.m_islandFlag&&(o.isStatic()||o.synchronizeFixtures());this.findNewContacts()}this.m_continuousPhysics&&t>0&&this.m_solver.solveWorldTOI(this.s_step),this.m_clearForces&&this.clearForces(),this.m_locked=!1,this.publish("post-step",t)},t.prototype.findNewContacts=function(){this.m_broadPhase.updatePairs(this.createContact)},t.prototype.updateContacts=function(){for(var t,e=this.m_contactList;t=e;){e=t.getNext();var i=t.getFixtureA(),o=t.getFixtureB(),s=t.getChildIndexA(),n=t.getChildIndexB(),r=i.getBody(),m=o.getBody();if(t.m_filterFlag){if(0==m.shouldCollide(r)){this.destroyContact(t);continue}if(0==o.shouldCollide(i)){this.destroyContact(t);continue}t.m_filterFlag=!1}var a=r.isAwake()&&!r.isStatic(),c=m.isAwake()&&!m.isStatic();if(0!=a||0!=c){var h=i.m_proxies[s].proxyId,_=o.m_proxies[n].proxyId;0!=this.m_broadPhase.testOverlap(h,_)?t.update(this):this.destroyContact(t)}}},t.prototype.destroyContact=function(t){ot.destroy(t,this),t.m_prev&&(t.m_prev.m_next=t.m_next),t.m_next&&(t.m_next.m_prev=t.m_prev),t==this.m_contactList&&(this.m_contactList=t.m_next),--this.m_contactCount},t.prototype.on=function(t,e){return"string"!=typeof t||"function"!=typeof e||(this._listeners||(this._listeners={}),this._listeners[t]||(this._listeners[t]=[]),this._listeners[t].push(e)),this},t.prototype.off=function(t,e){if("string"!=typeof t||"function"!=typeof e)return this;var i=this._listeners&&this._listeners[t];if(!i||!i.length)return this;var o=i.indexOf(e);return o>=0&&i.splice(o,1),this},t.prototype.publish=function(t,e,i,o){var s=this._listeners&&this._listeners[t];if(!s||!s.length)return 0;for(var n=0;n<s.length;n++)s[n].call(this,e,i,o);return s.length},t.prototype.beginContact=function(t){this.publish("begin-contact",t)},t.prototype.endContact=function(t){this.publish("end-contact",t)},t.prototype.preSolve=function(t,e){this.publish("pre-solve",t,e)},t.prototype.postSolve=function(t,e){this.publish("post-solve",t,e)},t}(),xt=function(){function t(e,i,o){if(!(this instanceof t))return new t(e,i,o);void 0===e?(this.x=0,this.y=0,this.z=0):"object"==typeof e?(this.x=e.x,this.y=e.y,this.z=e.z):(this.x=e,this.y=i,this.z=o)}return t.prototype._serialize=function(){return{x:this.x,y:this.y,z:this.z}},t._deserialize=function(e){var i=Object.create(t.prototype);return i.x=e.x,i.y=e.y,i.z=e.z,i},t.neo=function(e,i,o){var s=Object.create(t.prototype);return s.x=e,s.y=i,s.z=o,s},t.zero=function(){var e=Object.create(t.prototype);return e.x=0,e.y=0,e.z=0,e},t.clone=function(e){return t.neo(e.x,e.y,e.z)},t.prototype.toString=function(){return JSON.stringify(this)},t.isValid=function(t){return null!=t&&(r.isFinite(t.x)&&r.isFinite(t.y)&&r.isFinite(t.z))},t.assert=function(t){},t.prototype.setZero=function(){return this.x=0,this.y=0,this.z=0,this},t.prototype.set=function(t,e,i){return this.x=t,this.y=e,this.z=i,this},t.prototype.add=function(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this},t.prototype.sub=function(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this},t.prototype.mul=function(t){return this.x*=t,this.y*=t,this.z*=t,this},t.areEqual=function(t,e){return t===e||"object"==typeof t&&null!==t&&"object"==typeof e&&null!==e&&t.x===e.x&&t.y===e.y&&t.z===e.z},t.dot=function(t,e){return t.x*e.x+t.y*e.y+t.z*e.z},t.cross=function(e,i){return new t(e.y*i.z-e.z*i.y,e.z*i.x-e.x*i.z,e.x*i.y-e.y*i.x)},t.add=function(e,i){return new t(e.x+i.x,e.y+i.y,e.z+i.z)},t.sub=function(e,i){return new t(e.x-i.x,e.y-i.y,e.z-i.z)},t.mul=function(e,i){return new t(i*e.x,i*e.y,i*e.z)},t.prototype.neg=function(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this},t.neg=function(e){return new t(-e.x,-e.y,-e.z)},t}(),At=function(t){function e(i,o){var s=this;return s instanceof e?((s=t.call(this)||this).m_type=e.TYPE,s.m_radius=l.polygonRadius,s.m_vertex1=i?h.clone(i):h.zero(),s.m_vertex2=o?h.clone(o):h.zero(),s.m_vertex0=h.zero(),s.m_vertex3=h.zero(),s.m_hasVertex0=!1,s.m_hasVertex3=!1,s):new e(i,o)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,vertex1:this.m_vertex1,vertex2:this.m_vertex2,vertex0:this.m_vertex0,vertex3:this.m_vertex3,hasVertex0:this.m_hasVertex0,hasVertex3:this.m_hasVertex3}},e._deserialize=function(t){var i=new e(t.vertex1,t.vertex2);return i.m_hasVertex0&&i.setPrevVertex(t.vertex0),i.m_hasVertex3&&i.setNextVertex(t.vertex3),i},e.prototype.setNext=function(t){return this.setNextVertex(t)},e.prototype.setNextVertex=function(t){return t?(this.m_vertex3.setVec2(t),this.m_hasVertex3=!0):(this.m_vertex3.setZero(),this.m_hasVertex3=!1),this},e.prototype.getNextVertex=function(){return this.m_vertex3},e.prototype.setPrev=function(t){return this.setPrevVertex(t)},e.prototype.setPrevVertex=function(t){return t?(this.m_vertex0.setVec2(t),this.m_hasVertex0=!0):(this.m_vertex0.setZero(),this.m_hasVertex0=!1),this},e.prototype.getPrevVertex=function(){return this.m_vertex0},e.prototype._set=function(t,e){return this.m_vertex1.setVec2(t),this.m_vertex2.setVec2(e),this.m_hasVertex0=!1,this.m_hasVertex3=!1,this},e.prototype._clone=function(){var t=new e;return t.m_type=this.m_type,t.m_radius=this.m_radius,t.m_vertex1.setVec2(this.m_vertex1),t.m_vertex2.setVec2(this.m_vertex2),t.m_vertex0.setVec2(this.m_vertex0),t.m_vertex3.setVec2(this.m_vertex3),t.m_hasVertex0=this.m_hasVertex0,t.m_hasVertex3=this.m_hasVertex3,t},e.prototype.getChildCount=function(){return 1},e.prototype.testPoint=function(t,e){return!1},e.prototype.rayCast=function(t,e,i,o){var s=v.mulTVec2(i.q,h.sub(e.p1,i.p)),n=v.mulTVec2(i.q,h.sub(e.p2,i.p)),r=h.sub(n,s),m=this.m_vertex1,a=this.m_vertex2,c=h.sub(a,m),_=h.neo(c.y,-c.x);_.normalize();var l=h.dot(_,h.sub(m,s)),u=h.dot(_,r);if(0==u)return!1;var p=l/u;if(p<0||e.maxFraction<p)return!1;var y=h.add(s,h.mulNumVec2(p,r)),d=h.sub(a,m),f=h.dot(d,d);if(0==f)return!1;var x=h.dot(h.sub(y,m),d)/f;return!(x<0||1<x)&&(t.fraction=p,t.normal=l>0?v.mulVec2(i.q,_).neg():v.mulVec2(i.q,_),!0)},e.prototype.computeAABB=function(t,e,i){var o=x.mulVec2(e,this.m_vertex1),s=x.mulVec2(e,this.m_vertex2);t.combinePoints(o,s),t.extend(this.m_radius)},e.prototype.computeMass=function(t,e){t.mass=0,t.center.setCombine(.5,this.m_vertex1,.5,this.m_vertex2),t.I=0},e.prototype.computeDistanceProxy=function(t){t.m_vertices.push(this.m_vertex1),t.m_vertices.push(this.m_vertex2),t.m_count=2,t.m_radius=this.m_radius},e.TYPE="edge",e}(B),bt=function(t){function e(i,o){var s=this;return s instanceof e?((s=t.call(this)||this).m_type=e.TYPE,s.m_radius=l.polygonRadius,s.m_vertices=[],s.m_count=0,s.m_prevVertex=null,s.m_nextVertex=null,s.m_hasPrevVertex=!1,s.m_hasNextVertex=!1,s.m_isLoop=!!o,i&&i.length&&(o?s._createLoop(i):s._createChain(i)),s):new e(i,o)}return i(e,t),e.prototype._serialize=function(){var t={type:this.m_type,vertices:this.m_vertices,isLoop:this.m_isLoop,hasPrevVertex:this.m_hasPrevVertex,hasNextVertex:this.m_hasNextVertex,prevVertex:null,nextVertex:null};return this.m_prevVertex&&(t.prevVertex=this.m_prevVertex),this.m_nextVertex&&(t.nextVertex=this.m_nextVertex),t},e._deserialize=function(t,i,o){var s=[];if(t.vertices)for(var n=0;n<t.vertices.length;n++)s.push(o(h,t.vertices[n]));var r=new e(s,t.isLoop);return t.prevVertex&&r.setPrevVertex(t.prevVertex),t.nextVertex&&r.setNextVertex(t.nextVertex),r},e.prototype._createLoop=function(t){for(var e=1;e<t.length;++e)t[e-1],t[e];this.m_vertices=[],this.m_count=t.length+1;for(e=0;e<t.length;++e)this.m_vertices[e]=h.clone(t[e]);return this.m_vertices[t.length]=h.clone(t[0]),this.m_prevVertex=this.m_vertices[this.m_count-2],this.m_nextVertex=this.m_vertices[1],this.m_hasPrevVertex=!0,this.m_hasNextVertex=!0,this},e.prototype._createChain=function(t){for(var e=1;e<t.length;++e)t[e-1],t[e];this.m_count=t.length;for(e=0;e<t.length;++e)this.m_vertices[e]=h.clone(t[e]);return this.m_hasPrevVertex=!1,this.m_hasNextVertex=!1,this.m_prevVertex=null,this.m_nextVertex=null,this},e.prototype._reset=function(){this.m_isLoop?this._createLoop(this.m_vertices):this._createChain(this.m_vertices)},e.prototype.setPrevVertex=function(t){this.m_prevVertex=t,this.m_hasPrevVertex=!0},e.prototype.getPrevVertex=function(){return this.m_prevVertex},e.prototype.setNextVertex=function(t){this.m_nextVertex=t,this.m_hasNextVertex=!0},e.prototype.getNextVertex=function(){return this.m_nextVertex},e.prototype._clone=function(){var t=new e;return t._createChain(this.m_vertices),t.m_type=this.m_type,t.m_radius=this.m_radius,t.m_prevVertex=this.m_prevVertex,t.m_nextVertex=this.m_nextVertex,t.m_hasPrevVertex=this.m_hasPrevVertex,t.m_hasNextVertex=this.m_hasNextVertex,t},e.prototype.getChildCount=function(){return this.m_count-1},e.prototype.getChildEdge=function(t,e){t.m_type=At.TYPE,t.m_radius=this.m_radius,t.m_vertex1=this.m_vertices[e],t.m_vertex2=this.m_vertices[e+1],e>0?(t.m_vertex0=this.m_vertices[e-1],t.m_hasVertex0=!0):(t.m_vertex0=this.m_prevVertex,t.m_hasVertex0=this.m_hasPrevVertex),e<this.m_count-2?(t.m_vertex3=this.m_vertices[e+2],t.m_hasVertex3=!0):(t.m_vertex3=this.m_nextVertex,t.m_hasVertex3=this.m_hasNextVertex)},e.prototype.getVertex=function(t){return t<this.m_count?this.m_vertices[t]:this.m_vertices[0]},e.prototype.isLoop=function(){return this.m_isLoop},e.prototype.testPoint=function(t,e){return!1},e.prototype.rayCast=function(t,e,i,o){return new At(this.getVertex(o),this.getVertex(o+1)).rayCast(t,e,i,0)},e.prototype.computeAABB=function(t,e,i){var o=x.mulVec2(e,this.getVertex(i)),s=x.mulVec2(e,this.getVertex(i+1));t.combinePoints(o,s)},e.prototype.computeMass=function(t,e){t.mass=0,t.center=h.zero(),t.I=0},e.prototype.computeDistanceProxy=function(t,e){t.m_buffer[0]=this.getVertex(e),t.m_buffer[1]=this.getVertex(e+1),t.m_vertices=t.m_buffer,t.m_count=2,t.m_radius=this.m_radius},e.TYPE="chain",e}(B),gt=function(t){function e(i){var o=this;return o instanceof e?((o=t.call(this)||this).m_type=e.TYPE,o.m_radius=l.polygonRadius,o.m_centroid=h.zero(),o.m_vertices=[],o.m_normals=[],o.m_count=0,i&&i.length&&o._set(i),o):new e(i)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,vertices:this.m_vertices}},e._deserialize=function(t,i,o){var s=[];if(t.vertices)for(var n=0;n<t.vertices.length;n++)s.push(o(h,t.vertices[n]));return new e(s)},e.prototype.getVertex=function(t){return this.m_vertices[t]},e.prototype._clone=function(){var t=new e;t.m_type=this.m_type,t.m_radius=this.m_radius,t.m_count=this.m_count,t.m_centroid.setVec2(this.m_centroid);for(var i=0;i<this.m_count;i++)t.m_vertices.push(this.m_vertices[i].clone());for(i=0;i<this.m_normals.length;i++)t.m_normals.push(this.m_normals[i].clone());return t},e.prototype.getChildCount=function(){return 1},e.prototype._reset=function(){this._set(this.m_vertices)},e.prototype._set=function(t){if(t.length<3)this._setAsBox(1,1);else{for(var e=r.min(t.length,l.maxPolygonVertices),i=[],o=0;o<e;++o){for(var s=t[o],n=!0,m=0;m<i.length;++m)if(h.distanceSquared(s,i[m])<.25*l.linearSlopSquared){n=!1;break}n&&i.push(s)}if((e=i.length)<3)this._setAsBox(1,1);else{var a=0,c=i[0].x;for(o=1;o<e;++o){var _=i[o].x;(_>c||_===c&&i[o].y<i[a].y)&&(a=o,c=_)}for(var u=[],p=0,y=a;;){u[p]=y;var d=0;for(m=1;m<e;++m)if(d!==y){var f=h.sub(i[d],i[u[p]]),v=(s=h.sub(i[m],i[u[p]]),h.crossVec2Vec2(f,s));v<0&&(d=m),0===v&&s.lengthSquared()>f.lengthSquared()&&(d=m)}else d=m;if(++p,y=d,d===a)break}if(p<3)this._setAsBox(1,1);else{this.m_count=p,this.m_vertices=[];for(o=0;o<p;++o)this.m_vertices[o]=i[u[o]];for(o=0;o<p;++o){var x=o,A=o+1<p?o+1:0,b=h.sub(this.m_vertices[A],this.m_vertices[x]);this.m_normals[o]=h.crossVec2Num(b,1),this.m_normals[o].normalize()}this.m_centroid=function(t,e){for(var i=h.zero(),o=0,s=h.zero(),n=1/3,r=0;r<e;++r){var m=s,a=t[r],c=r+1<e?t[r+1]:t[0],_=h.sub(a,m),l=h.sub(c,m),u=.5*h.crossVec2Vec2(_,l);o+=u,i.addMul(u*n,m),i.addMul(u*n,a),i.addMul(u*n,c)}return i.mul(1/o),i}(this.m_vertices,p)}}}},e.prototype._setAsBox=function(t,e,i,o){if(this.m_vertices[0]=h.neo(t,-e),this.m_vertices[1]=h.neo(t,e),this.m_vertices[2]=h.neo(-t,e),this.m_vertices[3]=h.neo(-t,-e),this.m_normals[0]=h.neo(1,0),this.m_normals[1]=h.neo(0,1),this.m_normals[2]=h.neo(-1,0),this.m_normals[3]=h.neo(0,-1),this.m_count=4,h.isValid(i)){o=o||0,this.m_centroid.setVec2(i);var s=x.identity();s.p.setVec2(i),s.q.setAngle(o);for(var n=0;n<this.m_count;++n)this.m_vertices[n]=x.mulVec2(s,this.m_vertices[n]),this.m_normals[n]=v.mulVec2(s.q,this.m_normals[n])}},e.prototype.testPoint=function(t,e){for(var i=v.mulTVec2(t.q,h.sub(e,t.p)),o=0;o<this.m_count;++o){if(h.dot(this.m_normals[o],h.sub(i,this.m_vertices[o]))>0)return!1}return!0},e.prototype.rayCast=function(t,e,i,o){for(var s=v.mulTVec2(i.q,h.sub(e.p1,i.p)),n=v.mulTVec2(i.q,h.sub(e.p2,i.p)),r=h.sub(n,s),m=0,a=e.maxFraction,c=-1,_=0;_<this.m_count;++_){var l=h.dot(this.m_normals[_],h.sub(this.m_vertices[_],s)),u=h.dot(this.m_normals[_],r);if(0==u){if(l<0)return!1}else u<0&&l<m*u?(m=l/u,c=_):u>0&&l<a*u&&(a=l/u);if(a<m)return!1}return c>=0&&(t.fraction=m,t.normal=v.mulVec2(i.q,this.m_normals[c]),!0)},e.prototype.computeAABB=function(t,e,i){for(var o=1/0,s=1/0,n=-1/0,m=-1/0,a=0;a<this.m_count;++a){var c=x.mulVec2(e,this.m_vertices[a]);o=r.min(o,c.x),n=r.max(n,c.x),s=r.min(s,c.y),m=r.max(m,c.y)}t.lowerBound.setNum(o,s),t.upperBound.setNum(n,m),t.extend(this.m_radius)},e.prototype.computeMass=function(t,e){for(var i=h.zero(),o=0,s=0,n=h.zero(),r=0;r<this.m_count;++r)n.add(this.m_vertices[r]);n.mul(1/this.m_count);var m=1/3;for(r=0;r<this.m_count;++r){var a=h.sub(this.m_vertices[r],n),c=r+1<this.m_count?h.sub(this.m_vertices[r+1],n):h.sub(this.m_vertices[0],n),_=h.crossVec2Vec2(a,c),l=.5*_;o+=l,i.addCombine(l*m,a,l*m,c);var u=a.x,p=a.y,y=c.x,d=c.y;s+=.25*m*_*(u*u+y*u+y*y+(p*p+d*p+d*d))}t.mass=e*o,i.mul(1/o),t.center.setCombine(1,i,1,n),t.I=e*s,t.I+=t.mass*(h.dot(t.center,t.center)-h.dot(i,i))},e.prototype.validate=function(){for(var t=0;t<this.m_count;++t)for(var e=t,i=t<this.m_count-1?e+1:0,o=this.m_vertices[e],s=h.sub(this.m_vertices[i],o),n=0;n<this.m_count;++n)if(n!=e&&n!=i){var r=h.sub(this.m_vertices[n],o);if(h.crossVec2Vec2(s,r)<0)return!1}return!0},e.prototype.computeDistanceProxy=function(t){t.m_vertices=this.m_vertices,t.m_count=this.m_count,t.m_radius=this.m_radius},e.TYPE="polygon",e}(B);var Bt=function(t){function e(i,o,s,n){var r=this;return r instanceof e?((r=t.call(this)||this)._setAsBox(i,o,s,n),r):new e(i,o,s,n)}return i(e,t),e.TYPE="polygon",e}(gt),Vt=function(t){function e(i,o){var s=this;return s instanceof e?((s=t.call(this)||this).m_type=e.TYPE,s.m_p=h.zero(),s.m_radius=1,"object"==typeof i&&h.isValid(i)?(s.m_p.setVec2(i),"number"==typeof o&&(s.m_radius=o)):"number"==typeof i&&(s.m_radius=i),s):new e(i,o)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,p:this.m_p,radius:this.m_radius}},e._deserialize=function(t){return new e(t.p,t.radius)},e.prototype.getRadius=function(){return this.m_radius},e.prototype.getCenter=function(){return this.m_p},e.prototype.getVertex=function(t){return this.m_p},e.prototype._clone=function(){var t=new e;return t.m_type=this.m_type,t.m_radius=this.m_radius,t.m_p=this.m_p.clone(),t},e.prototype.getChildCount=function(){return 1},e.prototype.testPoint=function(t,e){var i=h.add(t.p,v.mulVec2(t.q,this.m_p)),o=h.sub(e,i);return h.dot(o,o)<=this.m_radius*this.m_radius},e.prototype.rayCast=function(t,e,i,o){var s=h.add(i.p,v.mulVec2(i.q,this.m_p)),n=h.sub(e.p1,s),m=h.dot(n,n)-this.m_radius*this.m_radius,a=h.sub(e.p2,e.p1),c=h.dot(n,a),_=h.dot(a,a),l=c*c-_*m;if(l<0||_<r.EPSILON)return!1;var u=-(c+r.sqrt(l));return 0<=u&&u<=e.maxFraction*_&&(u/=_,t.fraction=u,t.normal=h.add(n,h.mulNumVec2(u,a)),t.normal.normalize(),!0)},e.prototype.computeAABB=function(t,e,i){var o=h.add(e.p,v.mulVec2(e.q,this.m_p));t.lowerBound.setNum(o.x-this.m_radius,o.y-this.m_radius),t.upperBound.setNum(o.x+this.m_radius,o.y+this.m_radius)},e.prototype.computeMass=function(t,e){t.mass=e*r.PI*this.m_radius*this.m_radius,t.center=this.m_p,t.I=t.mass*(.5*this.m_radius*this.m_radius+h.dot(this.m_p,this.m_p))},e.prototype.computeDistanceProxy=function(t){t.m_vertices.push(this.m_p),t.m_count=1,t.m_radius=this.m_radius},e.TYPE="circle",e}(B),wt={frequencyHz:0,dampingRatio:0},Ct=function(t){function e(i,o,n,m,a){var c=this;if(!(c instanceof e))return new e(i,o,n,m,a);if(n&&m&&"m_type"in m&&"x"in n&&"y"in n){var _=n;n=m,m=_}return i=s(i,wt),o=(c=t.call(this,i,o,n)||this).m_bodyA,n=c.m_bodyB,c.m_type=e.TYPE,c.m_localAnchorA=h.clone(m?o.getLocalPoint(m):i.localAnchorA||h.zero()),c.m_localAnchorB=h.clone(a?n.getLocalPoint(a):i.localAnchorB||h.zero()),c.m_length=r.isFinite(i.length)?i.length:h.distance(o.getWorldPoint(c.m_localAnchorA),n.getWorldPoint(c.m_localAnchorB)),c.m_frequencyHz=i.frequencyHz,c.m_dampingRatio=i.dampingRatio,c.m_impulse=0,c.m_gamma=0,c.m_bias=0,c}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,frequencyHz:this.m_frequencyHz,dampingRatio:this.m_dampingRatio,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB,length:this.m_length,impulse:this.m_impulse,gamma:this.m_gamma,bias:this.m_bias}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype._setAnchors=function(t){t.anchorA?this.m_localAnchorA.setVec2(this.m_bodyA.getLocalPoint(t.anchorA)):t.localAnchorA&&this.m_localAnchorA.setVec2(t.localAnchorA),t.anchorB?this.m_localAnchorB.setVec2(this.m_bodyB.getLocalPoint(t.anchorB)):t.localAnchorB&&this.m_localAnchorB.setVec2(t.localAnchorB),t.length>0?this.m_length=+t.length:t.length<0||(t.anchorA||t.anchorA||t.anchorA||t.anchorA)&&(this.m_length=h.distance(this.m_bodyA.getWorldPoint(this.m_localAnchorA),this.m_bodyB.getWorldPoint(this.m_localAnchorB)))},e.prototype.getLocalAnchorA=function(){return this.m_localAnchorA},e.prototype.getLocalAnchorB=function(){return this.m_localAnchorB},e.prototype.setLength=function(t){this.m_length=t},e.prototype.getLength=function(){return this.m_length},e.prototype.setFrequency=function(t){this.m_frequencyHz=t},e.prototype.getFrequency=function(){return this.m_frequencyHz},e.prototype.setDampingRatio=function(t){this.m_dampingRatio=t},e.prototype.getDampingRatio=function(){return this.m_dampingRatio},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.mulNumVec2(this.m_impulse,this.m_u).mul(t)},e.prototype.getReactionTorque=function(t){return 0},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyA.c_velocity.v,s=this.m_bodyA.c_velocity.w,n=this.m_bodyB.c_position.c,m=this.m_bodyB.c_position.a,a=this.m_bodyB.c_velocity.v,c=this.m_bodyB.c_velocity.w,_=v.neo(i),u=v.neo(m);this.m_rA=v.mulVec2(_,h.sub(this.m_localAnchorA,this.m_localCenterA)),this.m_rB=v.mulVec2(u,h.sub(this.m_localAnchorB,this.m_localCenterB)),this.m_u=h.sub(h.add(n,this.m_rB),h.add(e,this.m_rA));var p=this.m_u.length();p>l.linearSlop?this.m_u.mul(1/p):this.m_u.setNum(0,0);var y=h.crossVec2Vec2(this.m_rA,this.m_u),d=h.crossVec2Vec2(this.m_rB,this.m_u),f=this.m_invMassA+this.m_invIA*y*y+this.m_invMassB+this.m_invIB*d*d;if(this.m_mass=0!=f?1/f:0,this.m_frequencyHz>0){var x=p-this.m_length,A=2*r.PI*this.m_frequencyHz,b=2*this.m_mass*this.m_dampingRatio*A,g=this.m_mass*A*A,B=t.dt;this.m_gamma=B*(b+B*g),this.m_gamma=0!=this.m_gamma?1/this.m_gamma:0,this.m_bias=x*B*g*this.m_gamma,f+=this.m_gamma,this.m_mass=0!=f?1/f:0}else this.m_gamma=0,this.m_bias=0;if(t.warmStarting){this.m_impulse*=t.dtRatio;var V=h.mulNumVec2(this.m_impulse,this.m_u);o.subMul(this.m_invMassA,V),s-=this.m_invIA*h.crossVec2Vec2(this.m_rA,V),a.addMul(this.m_invMassB,V),c+=this.m_invIB*h.crossVec2Vec2(this.m_rB,V)}else this.m_impulse=0;this.m_bodyA.c_velocity.v.setVec2(o),this.m_bodyA.c_velocity.w=s,this.m_bodyB.c_velocity.v.setVec2(a),this.m_bodyB.c_velocity.w=c},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=h.add(e,h.crossNumVec2(i,this.m_rA)),r=h.add(o,h.crossNumVec2(s,this.m_rB)),m=h.dot(this.m_u,r)-h.dot(this.m_u,n),a=-this.m_mass*(m+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=a;var c=h.mulNumVec2(a,this.m_u);e.subMul(this.m_invMassA,c),i-=this.m_invIA*h.crossVec2Vec2(this.m_rA,c),o.addMul(this.m_invMassB,c),s+=this.m_invIB*h.crossVec2Vec2(this.m_rB,c),this.m_bodyA.c_velocity.v.setVec2(e),this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v.setVec2(o),this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){if(this.m_frequencyHz>0)return!0;var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyB.c_position.c,s=this.m_bodyB.c_position.a,n=v.neo(i),m=v.neo(s),a=v.mulSub(n,this.m_localAnchorA,this.m_localCenterA),c=v.mulSub(m,this.m_localAnchorB,this.m_localCenterB),_=h.sub(h.add(o,c),h.add(e,a)),u=_.normalize()-this.m_length;u=r.clamp(u,-l.maxLinearCorrection,l.maxLinearCorrection);var p=-this.m_mass*u,y=h.mulNumVec2(p,_);return e.subMul(this.m_invMassA,y),i-=this.m_invIA*h.crossVec2Vec2(a,y),o.addMul(this.m_invMassB,y),s+=this.m_invIB*h.crossVec2Vec2(c,y),this.m_bodyA.c_position.c.setVec2(e),this.m_bodyA.c_position.a=i,this.m_bodyB.c_position.c.setVec2(o),this.m_bodyB.c_position.a=s,r.abs(u)<l.linearSlop},e.TYPE="distance-joint",e}(nt),Mt={maxForce:0,maxTorque:0},It=function(t){function e(i,o,n,r){var m=this;return m instanceof e?(i=s(i,Mt),o=(m=t.call(this,i,o,n)||this).m_bodyA,n=m.m_bodyB,m.m_type=e.TYPE,m.m_localAnchorA=h.clone(r?o.getLocalPoint(r):i.localAnchorA||h.zero()),m.m_localAnchorB=h.clone(r?n.getLocalPoint(r):i.localAnchorB||h.zero()),m.m_linearImpulse=h.zero(),m.m_angularImpulse=0,m.m_maxForce=i.maxForce,m.m_maxTorque=i.maxTorque,m):new e(i,o,n,r)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,maxForce:this.m_maxForce,maxTorque:this.m_maxTorque,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype._setAnchors=function(t){t.anchorA?this.m_localAnchorA.setVec2(this.m_bodyA.getLocalPoint(t.anchorA)):t.localAnchorA&&this.m_localAnchorA.setVec2(t.localAnchorA),t.anchorB?this.m_localAnchorB.setVec2(this.m_bodyB.getLocalPoint(t.anchorB)):t.localAnchorB&&this.m_localAnchorB.setVec2(t.localAnchorB)},e.prototype.getLocalAnchorA=function(){return this.m_localAnchorA},e.prototype.getLocalAnchorB=function(){return this.m_localAnchorB},e.prototype.setMaxForce=function(t){this.m_maxForce=t},e.prototype.getMaxForce=function(){return this.m_maxForce},e.prototype.setMaxTorque=function(t){this.m_maxTorque=t},e.prototype.getMaxTorque=function(){return this.m_maxTorque},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.mulNumVec2(t,this.m_linearImpulse)},e.prototype.getReactionTorque=function(t){return t*this.m_angularImpulse},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.a,i=this.m_bodyA.c_velocity.v,o=this.m_bodyA.c_velocity.w,s=this.m_bodyB.c_position.a,n=this.m_bodyB.c_velocity.v,r=this.m_bodyB.c_velocity.w,m=v.neo(e),a=v.neo(s);this.m_rA=v.mulVec2(m,h.sub(this.m_localAnchorA,this.m_localCenterA)),this.m_rB=v.mulVec2(a,h.sub(this.m_localAnchorB,this.m_localCenterB));var c=this.m_invMassA,_=this.m_invMassB,l=this.m_invIA,u=this.m_invIB,p=new L;if(p.ex.x=c+_+l*this.m_rA.y*this.m_rA.y+u*this.m_rB.y*this.m_rB.y,p.ex.y=-l*this.m_rA.x*this.m_rA.y-u*this.m_rB.x*this.m_rB.y,p.ey.x=p.ex.y,p.ey.y=c+_+l*this.m_rA.x*this.m_rA.x+u*this.m_rB.x*this.m_rB.x,this.m_linearMass=p.getInverse(),this.m_angularMass=l+u,this.m_angularMass>0&&(this.m_angularMass=1/this.m_angularMass),t.warmStarting){this.m_linearImpulse.mul(t.dtRatio),this.m_angularImpulse*=t.dtRatio;var y=h.neo(this.m_linearImpulse.x,this.m_linearImpulse.y);i.subMul(c,y),o-=l*(h.crossVec2Vec2(this.m_rA,y)+this.m_angularImpulse),n.addMul(_,y),r+=u*(h.crossVec2Vec2(this.m_rB,y)+this.m_angularImpulse)}else this.m_linearImpulse.setZero(),this.m_angularImpulse=0;this.m_bodyA.c_velocity.v=i,this.m_bodyA.c_velocity.w=o,this.m_bodyB.c_velocity.v=n,this.m_bodyB.c_velocity.w=r},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=this.m_invMassA,m=this.m_invMassB,a=this.m_invIA,c=this.m_invIB,_=t.dt,l=s-i,u=-this.m_angularMass*l,p=this.m_angularImpulse,y=_*this.m_maxTorque;this.m_angularImpulse=r.clamp(this.m_angularImpulse+u,-y,y),i-=a*(u=this.m_angularImpulse-p),s+=c*u;l=h.sub(h.add(o,h.crossNumVec2(s,this.m_rB)),h.add(e,h.crossNumVec2(i,this.m_rA))),u=h.neg(L.mulVec2(this.m_linearMass,l)),p=this.m_linearImpulse;this.m_linearImpulse.add(u);y=_*this.m_maxForce;this.m_linearImpulse.lengthSquared()>y*y&&(this.m_linearImpulse.normalize(),this.m_linearImpulse.mul(y)),u=h.sub(this.m_linearImpulse,p),e.subMul(n,u),i-=a*h.crossVec2Vec2(this.m_rA,u),o.addMul(m,u),s+=c*h.crossVec2Vec2(this.m_rB,u),this.m_bodyA.c_velocity.v=e,this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v=o,this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){return!0},e.TYPE="friction-joint",e}(nt),zt=function(){function t(t,e,i){"object"==typeof t&&null!==t?(this.ex=xt.clone(t),this.ey=xt.clone(e),this.ez=xt.clone(i)):(this.ex=xt.zero(),this.ey=xt.zero(),this.ez=xt.zero())}return t.prototype.toString=function(){return JSON.stringify(this)},t.isValid=function(t){return null!=t&&(xt.isValid(t.ex)&&xt.isValid(t.ey)&&xt.isValid(t.ez))},t.assert=function(t){},t.prototype.setZero=function(){return this.ex.setZero(),this.ey.setZero(),this.ez.setZero(),this},t.prototype.solve33=function(t){var e=xt.dot(this.ex,xt.cross(this.ey,this.ez));0!==e&&(e=1/e);var i=new xt;return i.x=e*xt.dot(t,xt.cross(this.ey,this.ez)),i.y=e*xt.dot(this.ex,xt.cross(t,this.ez)),i.z=e*xt.dot(this.ex,xt.cross(this.ey,t)),i},t.prototype.solve22=function(t){var e=this.ex.x,i=this.ey.x,o=this.ex.y,s=this.ey.y,n=e*s-i*o;0!==n&&(n=1/n);var r=h.zero();return r.x=n*(s*t.x-i*t.y),r.y=n*(e*t.y-o*t.x),r},t.prototype.getInverse22=function(t){var e=this.ex.x,i=this.ey.x,o=this.ex.y,s=this.ey.y,n=e*s-i*o;0!==n&&(n=1/n),t.ex.x=n*s,t.ey.x=-n*i,t.ex.z=0,t.ex.y=-n*o,t.ey.y=n*e,t.ey.z=0,t.ez.x=0,t.ez.y=0,t.ez.z=0},t.prototype.getSymInverse33=function(t){var e=xt.dot(this.ex,xt.cross(this.ey,this.ez));0!==e&&(e=1/e);var i=this.ex.x,o=this.ey.x,s=this.ez.x,n=this.ey.y,r=this.ez.y,m=this.ez.z;t.ex.x=e*(n*m-r*r),t.ex.y=e*(s*r-o*m),t.ex.z=e*(o*r-s*n),t.ey.x=t.ex.y,t.ey.y=e*(i*m-s*s),t.ey.z=e*(s*o-i*r),t.ez.x=t.ex.z,t.ez.y=t.ey.z,t.ez.z=e*(i*n-o*o)},t.mul=function(t,e){if(e&&"z"in e&&"y"in e&&"x"in e){var i=t.ex.x*e.x+t.ey.x*e.y+t.ez.x*e.z,o=t.ex.y*e.x+t.ey.y*e.y+t.ez.y*e.z,s=t.ex.z*e.x+t.ey.z*e.y+t.ez.z*e.z;return new xt(i,o,s)}if(e&&"y"in e&&"x"in e){i=t.ex.x*e.x+t.ey.x*e.y,o=t.ex.y*e.x+t.ey.y*e.y;return h.neo(i,o)}},t.mulVec3=function(t,e){var i=t.ex.x*e.x+t.ey.x*e.y+t.ez.x*e.z,o=t.ex.y*e.x+t.ey.y*e.y+t.ez.y*e.z,s=t.ex.z*e.x+t.ey.z*e.y+t.ez.z*e.z;return new xt(i,o,s)},t.mulVec2=function(t,e){var i=t.ex.x*e.x+t.ey.x*e.y,o=t.ex.y*e.x+t.ey.y*e.y;return h.neo(i,o)},t.add=function(e,i){return new t(xt.add(e.ex,i.ex),xt.add(e.ey,i.ey),xt.add(e.ez,i.ez))},t}(),Pt={lowerAngle:0,upperAngle:0,maxMotorTorque:0,motorSpeed:0,enableLimit:!1,enableMotor:!1},St=function(t){function e(i,o,n,m){var a=this;return a instanceof e?(i=s(i,Pt),(a=t.call(this,i,o,n)||this).m_mass=new zt,a.m_limitState=0,o=a.m_bodyA,n=a.m_bodyB,a.m_type=e.TYPE,a.m_localAnchorA=h.clone(m?o.getLocalPoint(m):i.localAnchorA||h.zero()),a.m_localAnchorB=h.clone(m?n.getLocalPoint(m):i.localAnchorB||h.zero()),a.m_referenceAngle=r.isFinite(i.referenceAngle)?i.referenceAngle:n.getAngle()-o.getAngle(),a.m_impulse=new xt,a.m_motorImpulse=0,a.m_lowerAngle=i.lowerAngle,a.m_upperAngle=i.upperAngle,a.m_maxMotorTorque=i.maxMotorTorque,a.m_motorSpeed=i.motorSpeed,a.m_enableLimit=i.enableLimit,a.m_enableMotor=i.enableMotor,a):new e(i,o,n,m)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,lowerAngle:this.m_lowerAngle,upperAngle:this.m_upperAngle,maxMotorTorque:this.m_maxMotorTorque,motorSpeed:this.m_motorSpeed,enableLimit:this.m_enableLimit,enableMotor:this.m_enableMotor,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB,referenceAngle:this.m_referenceAngle}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype._setAnchors=function(t){t.anchorA?this.m_localAnchorA.setVec2(this.m_bodyA.getLocalPoint(t.anchorA)):t.localAnchorA&&this.m_localAnchorA.setVec2(t.localAnchorA),t.anchorB?this.m_localAnchorB.setVec2(this.m_bodyB.getLocalPoint(t.anchorB)):t.localAnchorB&&this.m_localAnchorB.setVec2(t.localAnchorB)},e.prototype.getLocalAnchorA=function(){return this.m_localAnchorA},e.prototype.getLocalAnchorB=function(){return this.m_localAnchorB},e.prototype.getReferenceAngle=function(){return this.m_referenceAngle},e.prototype.getJointAngle=function(){var t=this.m_bodyA;return this.m_bodyB.m_sweep.a-t.m_sweep.a-this.m_referenceAngle},e.prototype.getJointSpeed=function(){var t=this.m_bodyA;return this.m_bodyB.m_angularVelocity-t.m_angularVelocity},e.prototype.isMotorEnabled=function(){return this.m_enableMotor},e.prototype.enableMotor=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_enableMotor=t},e.prototype.getMotorTorque=function(t){return t*this.m_motorImpulse},e.prototype.setMotorSpeed=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_motorSpeed=t},e.prototype.getMotorSpeed=function(){return this.m_motorSpeed},e.prototype.setMaxMotorTorque=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_maxMotorTorque=t},e.prototype.getMaxMotorTorque=function(){return this.m_maxMotorTorque},e.prototype.isLimitEnabled=function(){return this.m_enableLimit},e.prototype.enableLimit=function(t){t!=this.m_enableLimit&&(this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_enableLimit=t,this.m_impulse.z=0)},e.prototype.getLowerLimit=function(){return this.m_lowerAngle},e.prototype.getUpperLimit=function(){return this.m_upperAngle},e.prototype.setLimits=function(t,e){t==this.m_lowerAngle&&e==this.m_upperAngle||(this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_impulse.z=0,this.m_lowerAngle=t,this.m_upperAngle=e)},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.neo(this.m_impulse.x,this.m_impulse.y).mul(t)},e.prototype.getReactionTorque=function(t){return t*this.m_impulse.z},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.a,i=this.m_bodyA.c_velocity.v,o=this.m_bodyA.c_velocity.w,s=this.m_bodyB.c_position.a,n=this.m_bodyB.c_velocity.v,m=this.m_bodyB.c_velocity.w,a=v.neo(e),c=v.neo(s);this.m_rA=v.mulVec2(a,h.sub(this.m_localAnchorA,this.m_localCenterA)),this.m_rB=v.mulVec2(c,h.sub(this.m_localAnchorB,this.m_localCenterB));var _=this.m_invMassA,u=this.m_invMassB,p=this.m_invIA,y=this.m_invIB,d=p+y===0;if(this.m_mass.ex.x=_+u+this.m_rA.y*this.m_rA.y*p+this.m_rB.y*this.m_rB.y*y,this.m_mass.ey.x=-this.m_rA.y*this.m_rA.x*p-this.m_rB.y*this.m_rB.x*y,this.m_mass.ez.x=-this.m_rA.y*p-this.m_rB.y*y,this.m_mass.ex.y=this.m_mass.ey.x,this.m_mass.ey.y=_+u+this.m_rA.x*this.m_rA.x*p+this.m_rB.x*this.m_rB.x*y,this.m_mass.ez.y=this.m_rA.x*p+this.m_rB.x*y,this.m_mass.ex.z=this.m_mass.ez.x,this.m_mass.ey.z=this.m_mass.ez.y,this.m_mass.ez.z=p+y,this.m_motorMass=p+y,this.m_motorMass>0&&(this.m_motorMass=1/this.m_motorMass),(0==this.m_enableMotor||d)&&(this.m_motorImpulse=0),this.m_enableLimit&&0==d){var f=s-e-this.m_referenceAngle;r.abs(this.m_upperAngle-this.m_lowerAngle)<2*l.angularSlop?this.m_limitState=3:f<=this.m_lowerAngle?(1!=this.m_limitState&&(this.m_impulse.z=0),this.m_limitState=1):f>=this.m_upperAngle?(2!=this.m_limitState&&(this.m_impulse.z=0),this.m_limitState=2):(this.m_limitState=0,this.m_impulse.z=0)}else this.m_limitState=0;if(t.warmStarting){this.m_impulse.mul(t.dtRatio),this.m_motorImpulse*=t.dtRatio;var x=h.neo(this.m_impulse.x,this.m_impulse.y);i.subMul(_,x),o-=p*(h.crossVec2Vec2(this.m_rA,x)+this.m_motorImpulse+this.m_impulse.z),n.addMul(u,x),m+=y*(h.crossVec2Vec2(this.m_rB,x)+this.m_motorImpulse+this.m_impulse.z)}else this.m_impulse.setZero(),this.m_motorImpulse=0;this.m_bodyA.c_velocity.v=i,this.m_bodyA.c_velocity.w=o,this.m_bodyB.c_velocity.v=n,this.m_bodyB.c_velocity.w=m},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=this.m_invMassA,m=this.m_invMassB,a=this.m_invIA,c=this.m_invIB,_=a+c===0;if(this.m_enableMotor&&3!=this.m_limitState&&0==_){var l=s-i-this.m_motorSpeed,u=-this.m_motorMass*l,p=this.m_motorImpulse,y=t.dt*this.m_maxMotorTorque;this.m_motorImpulse=r.clamp(this.m_motorImpulse+u,-y,y),i-=a*(u=this.m_motorImpulse-p),s+=c*u}if(this.m_enableLimit&&0!=this.m_limitState&&0==_){var d=h.zero();d.addCombine(1,o,1,h.crossNumVec2(s,this.m_rB)),d.subCombine(1,e,1,h.crossNumVec2(i,this.m_rA));var f=s-i;l=new xt(d.x,d.y,f),u=xt.neg(this.m_mass.solve33(l));if(3==this.m_limitState)this.m_impulse.add(u);else if(1==this.m_limitState){if(this.m_impulse.z+u.z<0){var v=h.combine(-1,d,this.m_impulse.z,h.neo(this.m_mass.ez.x,this.m_mass.ez.y)),x=this.m_mass.solve22(v);u.x=x.x,u.y=x.y,u.z=-this.m_impulse.z,this.m_impulse.x+=x.x,this.m_impulse.y+=x.y,this.m_impulse.z=0}else this.m_impulse.add(u)}else if(2==this.m_limitState){if(this.m_impulse.z+u.z>0){v=h.combine(-1,d,this.m_impulse.z,h.neo(this.m_mass.ez.x,this.m_mass.ez.y)),x=this.m_mass.solve22(v);u.x=x.x,u.y=x.y,u.z=-this.m_impulse.z,this.m_impulse.x+=x.x,this.m_impulse.y+=x.y,this.m_impulse.z=0}else this.m_impulse.add(u)}var A=h.neo(u.x,u.y);e.subMul(n,A),i-=a*(h.crossVec2Vec2(this.m_rA,A)+u.z),o.addMul(m,A),s+=c*(h.crossVec2Vec2(this.m_rB,A)+u.z)}else{(l=h.zero()).addCombine(1,o,1,h.crossNumVec2(s,this.m_rB)),l.subCombine(1,e,1,h.crossNumVec2(i,this.m_rA));u=this.m_mass.solve22(h.neg(l));this.m_impulse.x+=u.x,this.m_impulse.y+=u.y,e.subMul(n,u),i-=a*h.crossVec2Vec2(this.m_rA,u),o.addMul(m,u),s+=c*h.crossVec2Vec2(this.m_rB,u)}this.m_bodyA.c_velocity.v=e,this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v=o,this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){var e,i=this.m_bodyA.c_position.c,o=this.m_bodyA.c_position.a,s=this.m_bodyB.c_position.c,n=this.m_bodyB.c_position.a,m=v.neo(o),a=v.neo(n),c=0,_=this.m_invIA+this.m_invIB==0;if(this.m_enableLimit&&0!=this.m_limitState&&0==_){var u=n-o-this.m_referenceAngle,p=0;if(3==this.m_limitState){var y=r.clamp(u-this.m_lowerAngle,-l.maxAngularCorrection,l.maxAngularCorrection);p=-this.m_motorMass*y,c=r.abs(y)}else if(1==this.m_limitState){c=-(y=u-this.m_lowerAngle),y=r.clamp(y+l.angularSlop,-l.maxAngularCorrection,0),p=-this.m_motorMass*y}else if(2==this.m_limitState){c=y=u-this.m_upperAngle,y=r.clamp(y-l.angularSlop,0,l.maxAngularCorrection),p=-this.m_motorMass*y}o-=this.m_invIA*p,n+=this.m_invIB*p}m.setAngle(o),a.setAngle(n);var d=v.mulVec2(m,h.sub(this.m_localAnchorA,this.m_localCenterA)),f=v.mulVec2(a,h.sub(this.m_localAnchorB,this.m_localCenterB));(y=h.zero()).addCombine(1,s,1,f),y.subCombine(1,i,1,d),e=y.length();var x=this.m_invMassA,A=this.m_invMassB,b=this.m_invIA,g=this.m_invIB,B=new L;B.ex.x=x+A+b*d.y*d.y+g*f.y*f.y,B.ex.y=-b*d.x*d.y-g*f.x*f.y,B.ey.x=B.ex.y,B.ey.y=x+A+b*d.x*d.x+g*f.x*f.x;var V=h.neg(B.solve(y));return i.subMul(x,V),o-=b*h.crossVec2Vec2(d,V),s.addMul(A,V),n+=g*h.crossVec2Vec2(f,V),this.m_bodyA.c_position.c.setVec2(i),this.m_bodyA.c_position.a=o,this.m_bodyB.c_position.c.setVec2(s),this.m_bodyB.c_position.a=n,e<=l.linearSlop&&c<=l.angularSlop},e.TYPE="revolute-joint",e}(nt),Tt={enableLimit:!1,lowerTranslation:0,upperTranslation:0,enableMotor:!1,maxMotorForce:0,motorSpeed:0},Lt=function(t){function e(i,o,n,m,a){var c=this;return c instanceof e?(i=s(i,Tt),o=(c=t.call(this,i,o,n)||this).m_bodyA,n=c.m_bodyB,c.m_type=e.TYPE,c.m_localAnchorA=h.clone(m?o.getLocalPoint(m):i.localAnchorA||h.zero()),c.m_localAnchorB=h.clone(m?n.getLocalPoint(m):i.localAnchorB||h.zero()),c.m_localXAxisA=h.clone(a?o.getLocalVector(a):i.localAxisA||h.neo(1,0)),c.m_localXAxisA.normalize(),c.m_localYAxisA=h.crossNumVec2(1,c.m_localXAxisA),c.m_referenceAngle=r.isFinite(i.referenceAngle)?i.referenceAngle:n.getAngle()-o.getAngle(),c.m_impulse=new xt,c.m_motorMass=0,c.m_motorImpulse=0,c.m_lowerTranslation=i.lowerTranslation,c.m_upperTranslation=i.upperTranslation,c.m_maxMotorForce=i.maxMotorForce,c.m_motorSpeed=i.motorSpeed,c.m_enableLimit=i.enableLimit,c.m_enableMotor=i.enableMotor,c.m_limitState=0,c.m_axis=h.zero(),c.m_perp=h.zero(),c.m_K=new zt,c):new e(i,o,n,m,a)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,lowerTranslation:this.m_lowerTranslation,upperTranslation:this.m_upperTranslation,maxMotorForce:this.m_maxMotorForce,motorSpeed:this.m_motorSpeed,enableLimit:this.m_enableLimit,enableMotor:this.m_enableMotor,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB,localAxisA:this.m_localXAxisA,referenceAngle:this.m_referenceAngle}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),t.localAxisA=h.clone(t.localAxisA),new e(t)},e.prototype._setAnchors=function(t){t.anchorA?this.m_localAnchorA.setVec2(this.m_bodyA.getLocalPoint(t.anchorA)):t.localAnchorA&&this.m_localAnchorA.setVec2(t.localAnchorA),t.anchorB?this.m_localAnchorB.setVec2(this.m_bodyB.getLocalPoint(t.anchorB)):t.localAnchorB&&this.m_localAnchorB.setVec2(t.localAnchorB),t.localAxisA&&(this.m_localXAxisA.setVec2(t.localAxisA),this.m_localYAxisA.setVec2(h.crossNumVec2(1,t.localAxisA)))},e.prototype.getLocalAnchorA=function(){return this.m_localAnchorA},e.prototype.getLocalAnchorB=function(){return this.m_localAnchorB},e.prototype.getLocalAxisA=function(){return this.m_localXAxisA},e.prototype.getReferenceAngle=function(){return this.m_referenceAngle},e.prototype.getJointTranslation=function(){var t=this.m_bodyA.getWorldPoint(this.m_localAnchorA),e=this.m_bodyB.getWorldPoint(this.m_localAnchorB),i=h.sub(e,t),o=this.m_bodyA.getWorldVector(this.m_localXAxisA);return h.dot(i,o)},e.prototype.getJointSpeed=function(){var t=this.m_bodyA,e=this.m_bodyB,i=v.mulVec2(t.m_xf.q,h.sub(this.m_localAnchorA,t.m_sweep.localCenter)),o=v.mulVec2(e.m_xf.q,h.sub(this.m_localAnchorB,e.m_sweep.localCenter)),s=h.add(t.m_sweep.c,i),n=h.add(e.m_sweep.c,o),r=h.sub(n,s),m=v.mulVec2(t.m_xf.q,this.m_localXAxisA),a=t.m_linearVelocity,c=e.m_linearVelocity,_=t.m_angularVelocity,l=e.m_angularVelocity;return h.dot(r,h.crossNumVec2(_,m))+h.dot(m,h.sub(h.addCrossNumVec2(c,l,o),h.addCrossNumVec2(a,_,i)))},e.prototype.isLimitEnabled=function(){return this.m_enableLimit},e.prototype.enableLimit=function(t){t!=this.m_enableLimit&&(this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_enableLimit=t,this.m_impulse.z=0)},e.prototype.getLowerLimit=function(){return this.m_lowerTranslation},e.prototype.getUpperLimit=function(){return this.m_upperTranslation},e.prototype.setLimits=function(t,e){t==this.m_lowerTranslation&&e==this.m_upperTranslation||(this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_lowerTranslation=t,this.m_upperTranslation=e,this.m_impulse.z=0)},e.prototype.isMotorEnabled=function(){return this.m_enableMotor},e.prototype.enableMotor=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_enableMotor=t},e.prototype.setMotorSpeed=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_motorSpeed=t},e.prototype.setMaxMotorForce=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_maxMotorForce=t},e.prototype.getMaxMotorForce=function(){return this.m_maxMotorForce},e.prototype.getMotorSpeed=function(){return this.m_motorSpeed},e.prototype.getMotorForce=function(t){return t*this.m_motorImpulse},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.combine(this.m_impulse.x,this.m_perp,this.m_motorImpulse+this.m_impulse.z,this.m_axis).mul(t)},e.prototype.getReactionTorque=function(t){return t*this.m_impulse.y},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyA.c_velocity.v,s=this.m_bodyA.c_velocity.w,n=this.m_bodyB.c_position.c,m=this.m_bodyB.c_position.a,a=this.m_bodyB.c_velocity.v,c=this.m_bodyB.c_velocity.w,_=v.neo(i),u=v.neo(m),p=v.mulVec2(_,h.sub(this.m_localAnchorA,this.m_localCenterA)),y=v.mulVec2(u,h.sub(this.m_localAnchorB,this.m_localCenterB)),d=h.zero();d.addCombine(1,n,1,y),d.subCombine(1,e,1,p);var f=this.m_invMassA,x=this.m_invMassB,A=this.m_invIA,b=this.m_invIB;this.m_axis=v.mulVec2(_,this.m_localXAxisA),this.m_a1=h.crossVec2Vec2(h.add(d,p),this.m_axis),this.m_a2=h.crossVec2Vec2(y,this.m_axis),this.m_motorMass=f+x+A*this.m_a1*this.m_a1+b*this.m_a2*this.m_a2,this.m_motorMass>0&&(this.m_motorMass=1/this.m_motorMass),this.m_perp=v.mulVec2(_,this.m_localYAxisA),this.m_s1=h.crossVec2Vec2(h.add(d,p),this.m_perp),this.m_s2=h.crossVec2Vec2(y,this.m_perp),h.crossVec2Vec2(p,this.m_perp);var g=f+x+A*this.m_s1*this.m_s1+b*this.m_s2*this.m_s2,B=A*this.m_s1+b*this.m_s2,V=A*this.m_s1*this.m_a1+b*this.m_s2*this.m_a2,w=A+b;0==w&&(w=1);var C=A*this.m_a1+b*this.m_a2,M=f+x+A*this.m_a1*this.m_a1+b*this.m_a2*this.m_a2;if(this.m_K.ex.set(g,B,V),this.m_K.ey.set(B,w,C),this.m_K.ez.set(V,C,M),this.m_enableLimit){var I=h.dot(this.m_axis,d);r.abs(this.m_upperTranslation-this.m_lowerTranslation)<2*l.linearSlop?this.m_limitState=3:I<=this.m_lowerTranslation?1!=this.m_limitState&&(this.m_limitState=1,this.m_impulse.z=0):I>=this.m_upperTranslation?2!=this.m_limitState&&(this.m_limitState=2,this.m_impulse.z=0):(this.m_limitState=0,this.m_impulse.z=0)}else this.m_limitState=0,this.m_impulse.z=0;if(0==this.m_enableMotor&&(this.m_motorImpulse=0),t.warmStarting){this.m_impulse.mul(t.dtRatio),this.m_motorImpulse*=t.dtRatio;var z=h.combine(this.m_impulse.x,this.m_perp,this.m_motorImpulse+this.m_impulse.z,this.m_axis),P=this.m_impulse.x*this.m_s1+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a1,S=this.m_impulse.x*this.m_s2+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a2;o.subMul(f,z),s-=A*P,a.addMul(x,z),c+=b*S}else this.m_impulse.setZero(),this.m_motorImpulse=0;this.m_bodyA.c_velocity.v.setVec2(o),this.m_bodyA.c_velocity.w=s,this.m_bodyB.c_velocity.v.setVec2(a),this.m_bodyB.c_velocity.w=c},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=this.m_invMassA,m=this.m_invMassB,a=this.m_invIA,c=this.m_invIB;if(this.m_enableMotor&&3!=this.m_limitState){var _=h.dot(this.m_axis,h.sub(o,e))+this.m_a2*s-this.m_a1*i,l=this.m_motorMass*(this.m_motorSpeed-_),u=this.m_motorImpulse,p=t.dt*this.m_maxMotorForce;this.m_motorImpulse=r.clamp(this.m_motorImpulse+l,-p,p),l=this.m_motorImpulse-u;var y=h.mulNumVec2(l,this.m_axis),d=l*this.m_a1,f=l*this.m_a2;e.subMul(n,y),i-=a*d,o.addMul(m,y),s+=c*f}var v=h.zero();if(v.x+=h.dot(this.m_perp,o)+this.m_s2*s,v.x-=h.dot(this.m_perp,e)+this.m_s1*i,v.y=s-i,this.m_enableLimit&&0!=this.m_limitState){var x=0;x+=h.dot(this.m_axis,o)+this.m_a2*s,x-=h.dot(this.m_axis,e)+this.m_a1*i;_=new xt(v.x,v.y,x);var A=xt.clone(this.m_impulse),b=this.m_K.solve33(xt.neg(_));this.m_impulse.add(b),1==this.m_limitState?this.m_impulse.z=r.max(this.m_impulse.z,0):2==this.m_limitState&&(this.m_impulse.z=r.min(this.m_impulse.z,0));var g=h.combine(-1,v,-(this.m_impulse.z-A.z),h.neo(this.m_K.ez.x,this.m_K.ez.y)),B=h.add(this.m_K.solve22(g),h.neo(A.x,A.y));this.m_impulse.x=B.x,this.m_impulse.y=B.y,b=xt.sub(this.m_impulse,A);y=h.combine(b.x,this.m_perp,b.z,this.m_axis),d=b.x*this.m_s1+b.y+b.z*this.m_a1,f=b.x*this.m_s2+b.y+b.z*this.m_a2;e.subMul(n,y),i-=a*d,o.addMul(m,y),s+=c*f}else{b=this.m_K.solve22(h.neg(v));this.m_impulse.x+=b.x,this.m_impulse.y+=b.y;y=h.mulNumVec2(b.x,this.m_perp),d=b.x*this.m_s1+b.y,f=b.x*this.m_s2+b.y;e.subMul(n,y),i-=a*d,o.addMul(m,y),s+=c*f}this.m_bodyA.c_velocity.v=e,this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v=o,this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyB.c_position.c,s=this.m_bodyB.c_position.a,n=v.neo(i),m=v.neo(s),a=this.m_invMassA,c=this.m_invMassB,_=this.m_invIA,u=this.m_invIB,p=v.mulVec2(n,h.sub(this.m_localAnchorA,this.m_localCenterA)),y=v.mulVec2(m,h.sub(this.m_localAnchorB,this.m_localCenterB)),d=h.sub(h.add(o,y),h.add(e,p)),f=v.mulVec2(n,this.m_localXAxisA),x=h.crossVec2Vec2(h.add(d,p),f),A=h.crossVec2Vec2(y,f),b=v.mulVec2(n,this.m_localYAxisA),g=h.crossVec2Vec2(h.add(d,p),b),B=h.crossVec2Vec2(y,b),V=new xt,w=h.zero();w.x=h.dot(b,d),w.y=s-i-this.m_referenceAngle;var C=r.abs(w.x),M=r.abs(w.y),I=l.linearSlop,z=l.maxLinearCorrection,P=!1,S=0;if(this.m_enableLimit){var T=h.dot(f,d);r.abs(this.m_upperTranslation-this.m_lowerTranslation)<2*I?(S=r.clamp(T,-z,z),C=r.max(C,r.abs(T)),P=!0):T<=this.m_lowerTranslation?(S=r.clamp(T-this.m_lowerTranslation+I,-z,0),C=r.max(C,this.m_lowerTranslation-T),P=!0):T>=this.m_upperTranslation&&(S=r.clamp(T-this.m_upperTranslation-I,0,z),C=r.max(C,T-this.m_upperTranslation),P=!0)}if(P){var F=a+c+_*g*g+u*B*B,q=_*g+u*B,N=_*g*x+u*B*A;0==(R=_+u)&&(R=1);var k=_*x+u*A,D=a+c+_*x*x+u*A*A;(E=new zt).ex.set(F,q,N),E.ey.set(q,R,k),E.ez.set(N,k,D);var j=new xt;j.x=w.x,j.y=w.y,j.z=S,V=E.solve33(xt.neg(j))}else{var R,E;F=a+c+_*g*g+u*B*B,q=_*g+u*B;0==(R=_+u)&&(R=1),(E=new L).ex.setNum(F,q),E.ey.setNum(q,R);var O=E.solve(h.neg(w));V.x=O.x,V.y=O.y,V.z=0}var J=h.combine(V.x,b,V.z,f),Y=V.x*g+V.y+V.z*x,W=V.x*B+V.y+V.z*A;return e.subMul(a,J),i-=_*Y,o.addMul(c,J),s+=u*W,this.m_bodyA.c_position.c=e,this.m_bodyA.c_position.a=i,this.m_bodyB.c_position.c=o,this.m_bodyB.c_position.a=s,C<=l.linearSlop&&M<=l.angularSlop},e.TYPE="prismatic-joint",e}(nt),Ft={ratio:1},qt=function(t){function e(i,o,n,m,a,c){var _,l,u=this;if(!(u instanceof e))return new e(i,o,n,m,a,c);i=s(i,Ft),o=(u=t.call(this,i,o,n)||this).m_bodyA,n=u.m_bodyB,u.m_type=e.TYPE,u.m_joint1=m||i.joint1,u.m_joint2=a||i.joint2,u.m_ratio=r.isFinite(c)?c:i.ratio,u.m_type1=u.m_joint1.getType(),u.m_type2=u.m_joint2.getType(),u.m_bodyC=u.m_joint1.getBodyA(),u.m_bodyA=u.m_joint1.getBodyB();var p=u.m_bodyA.m_xf,y=u.m_bodyA.m_sweep.a,d=u.m_bodyC.m_xf,f=u.m_bodyC.m_sweep.a;if(u.m_type1===St.TYPE){var x=u.m_joint1;u.m_localAnchorC=x.m_localAnchorA,u.m_localAnchorA=x.m_localAnchorB,u.m_referenceAngleA=x.m_referenceAngle,u.m_localAxisC=h.zero(),_=y-f-u.m_referenceAngleA}else{var A=u.m_joint1;u.m_localAnchorC=A.m_localAnchorA,u.m_localAnchorA=A.m_localAnchorB,u.m_referenceAngleA=A.m_referenceAngle,u.m_localAxisC=A.m_localXAxisA;var b=u.m_localAnchorC,g=v.mulTVec2(d.q,h.add(v.mulVec2(p.q,u.m_localAnchorA),h.sub(p.p,d.p)));_=h.dot(g,u.m_localAxisC)-h.dot(b,u.m_localAxisC)}u.m_bodyD=u.m_joint2.getBodyA(),u.m_bodyB=u.m_joint2.getBodyB();var B=u.m_bodyB.m_xf,V=u.m_bodyB.m_sweep.a,w=u.m_bodyD.m_xf,C=u.m_bodyD.m_sweep.a;if(u.m_type2===St.TYPE){x=u.m_joint2;u.m_localAnchorD=x.m_localAnchorA,u.m_localAnchorB=x.m_localAnchorB,u.m_referenceAngleB=x.m_referenceAngle,u.m_localAxisD=h.zero(),l=V-C-u.m_referenceAngleB}else{A=u.m_joint2;u.m_localAnchorD=A.m_localAnchorA,u.m_localAnchorB=A.m_localAnchorB,u.m_referenceAngleB=A.m_referenceAngle,u.m_localAxisD=A.m_localXAxisA;var M=u.m_localAnchorD,I=v.mulTVec2(w.q,h.add(v.mulVec2(B.q,u.m_localAnchorB),h.sub(B.p,w.p)));l=h.dot(I,u.m_localAxisD)-h.dot(M,u.m_localAxisD)}return u.m_constant=_+u.m_ratio*l,u.m_impulse=0,u}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,joint1:this.m_joint1,joint2:this.m_joint2,ratio:this.m_ratio}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),t.joint1=s(nt,t.joint1,i),t.joint2=s(nt,t.joint2,i),new e(t)},e.prototype.getJoint1=function(){return this.m_joint1},e.prototype.getJoint2=function(){return this.m_joint2},e.prototype.setRatio=function(t){this.m_ratio=t},e.prototype.getRatio=function(){return this.m_ratio},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.mulNumVec2(this.m_impulse,this.m_JvAC).mul(t)},e.prototype.getReactionTorque=function(t){return t*(this.m_impulse*this.m_JwA)},e.prototype.initVelocityConstraints=function(t){this.m_lcA=this.m_bodyA.m_sweep.localCenter,this.m_lcB=this.m_bodyB.m_sweep.localCenter,this.m_lcC=this.m_bodyC.m_sweep.localCenter,this.m_lcD=this.m_bodyD.m_sweep.localCenter,this.m_mA=this.m_bodyA.m_invMass,this.m_mB=this.m_bodyB.m_invMass,this.m_mC=this.m_bodyC.m_invMass,this.m_mD=this.m_bodyD.m_invMass,this.m_iA=this.m_bodyA.m_invI,this.m_iB=this.m_bodyB.m_invI,this.m_iC=this.m_bodyC.m_invI,this.m_iD=this.m_bodyD.m_invI;var e=this.m_bodyA.c_position.a,i=this.m_bodyA.c_velocity.v,o=this.m_bodyA.c_velocity.w,s=this.m_bodyB.c_position.a,n=this.m_bodyB.c_velocity.v,r=this.m_bodyB.c_velocity.w,m=this.m_bodyC.c_position.a,a=this.m_bodyC.c_velocity.v,c=this.m_bodyC.c_velocity.w,_=this.m_bodyD.c_position.a,l=this.m_bodyD.c_velocity.v,u=this.m_bodyD.c_velocity.w,p=v.neo(e),y=v.neo(s),d=v.neo(m),f=v.neo(_);if(this.m_mass=0,this.m_type1==St.TYPE)this.m_JvAC=h.zero(),this.m_JwA=1,this.m_JwC=1,this.m_mass+=this.m_iA+this.m_iC;else{var x=v.mulVec2(d,this.m_localAxisC),A=v.mulSub(d,this.m_localAnchorC,this.m_lcC),b=v.mulSub(p,this.m_localAnchorA,this.m_lcA);this.m_JvAC=x,this.m_JwC=h.crossVec2Vec2(A,x),this.m_JwA=h.crossVec2Vec2(b,x),this.m_mass+=this.m_mC+this.m_mA+this.m_iC*this.m_JwC*this.m_JwC+this.m_iA*this.m_JwA*this.m_JwA}if(this.m_type2==St.TYPE)this.m_JvBD=h.zero(),this.m_JwB=this.m_ratio,this.m_JwD=this.m_ratio,this.m_mass+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD);else{x=v.mulVec2(f,this.m_localAxisD);var g=v.mulSub(f,this.m_localAnchorD,this.m_lcD),B=v.mulSub(y,this.m_localAnchorB,this.m_lcB);this.m_JvBD=h.mulNumVec2(this.m_ratio,x),this.m_JwD=this.m_ratio*h.crossVec2Vec2(g,x),this.m_JwB=this.m_ratio*h.crossVec2Vec2(B,x),this.m_mass+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*this.m_JwD*this.m_JwD+this.m_iB*this.m_JwB*this.m_JwB}this.m_mass=this.m_mass>0?1/this.m_mass:0,t.warmStarting?(i.addMul(this.m_mA*this.m_impulse,this.m_JvAC),o+=this.m_iA*this.m_impulse*this.m_JwA,n.addMul(this.m_mB*this.m_impulse,this.m_JvBD),r+=this.m_iB*this.m_impulse*this.m_JwB,a.subMul(this.m_mC*this.m_impulse,this.m_JvAC),c-=this.m_iC*this.m_impulse*this.m_JwC,l.subMul(this.m_mD*this.m_impulse,this.m_JvBD),u-=this.m_iD*this.m_impulse*this.m_JwD):this.m_impulse=0,this.m_bodyA.c_velocity.v.setVec2(i),this.m_bodyA.c_velocity.w=o,this.m_bodyB.c_velocity.v.setVec2(n),this.m_bodyB.c_velocity.w=r,this.m_bodyC.c_velocity.v.setVec2(a),this.m_bodyC.c_velocity.w=c,this.m_bodyD.c_velocity.v.setVec2(l),this.m_bodyD.c_velocity.w=u},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=this.m_bodyC.c_velocity.v,r=this.m_bodyC.c_velocity.w,m=this.m_bodyD.c_velocity.v,a=this.m_bodyD.c_velocity.w,c=h.dot(this.m_JvAC,e)-h.dot(this.m_JvAC,n)+h.dot(this.m_JvBD,o)-h.dot(this.m_JvBD,m);c+=this.m_JwA*i-this.m_JwC*r+(this.m_JwB*s-this.m_JwD*a);var _=-this.m_mass*c;this.m_impulse+=_,e.addMul(this.m_mA*_,this.m_JvAC),i+=this.m_iA*_*this.m_JwA,o.addMul(this.m_mB*_,this.m_JvBD),s+=this.m_iB*_*this.m_JwB,n.subMul(this.m_mC*_,this.m_JvAC),r-=this.m_iC*_*this.m_JwC,m.subMul(this.m_mD*_,this.m_JvBD),a-=this.m_iD*_*this.m_JwD,this.m_bodyA.c_velocity.v.setVec2(e),this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v.setVec2(o),this.m_bodyB.c_velocity.w=s,this.m_bodyC.c_velocity.v.setVec2(n),this.m_bodyC.c_velocity.w=r,this.m_bodyD.c_velocity.v.setVec2(m),this.m_bodyD.c_velocity.w=a},e.prototype.solvePositionConstraints=function(t){var e,i,o,s,n,r,m,a,c=this.m_bodyA.c_position.c,_=this.m_bodyA.c_position.a,u=this.m_bodyB.c_position.c,p=this.m_bodyB.c_position.a,y=this.m_bodyC.c_position.c,d=this.m_bodyC.c_position.a,f=this.m_bodyD.c_position.c,x=this.m_bodyD.c_position.a,A=v.neo(_),b=v.neo(p),g=v.neo(d),B=v.neo(x),V=0;if(this.m_type1==St.TYPE)o=h.zero(),n=1,m=1,V+=this.m_iA+this.m_iC,e=_-d-this.m_referenceAngleA;else{var w=v.mulVec2(g,this.m_localAxisC),C=v.mulSub(g,this.m_localAnchorC,this.m_lcC),M=v.mulSub(A,this.m_localAnchorA,this.m_lcA);o=w,m=h.crossVec2Vec2(C,w),n=h.crossVec2Vec2(M,w),V+=this.m_mC+this.m_mA+this.m_iC*m*m+this.m_iA*n*n;var I=h.sub(this.m_localAnchorC,this.m_lcC),z=v.mulTVec2(g,h.add(M,h.sub(c,y)));e=h.dot(h.sub(z,I),this.m_localAxisC)}if(this.m_type2==St.TYPE)s=h.zero(),r=this.m_ratio,a=this.m_ratio,V+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD),i=p-x-this.m_referenceAngleB;else{w=v.mulVec2(B,this.m_localAxisD);var P=v.mulSub(B,this.m_localAnchorD,this.m_lcD),S=v.mulSub(b,this.m_localAnchorB,this.m_lcB);s=h.mulNumVec2(this.m_ratio,w),a=this.m_ratio*h.crossVec2Vec2(P,w),r=this.m_ratio*h.crossVec2Vec2(S,w),V+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*a*a+this.m_iB*r*r;var T=h.sub(this.m_localAnchorD,this.m_lcD),L=v.mulTVec2(B,h.add(S,h.sub(u,f)));i=h.dot(L,this.m_localAxisD)-h.dot(T,this.m_localAxisD)}var F=e+this.m_ratio*i-this.m_constant,q=0;return V>0&&(q=-F/V),c.addMul(this.m_mA*q,o),_+=this.m_iA*q*n,u.addMul(this.m_mB*q,s),p+=this.m_iB*q*r,y.subMul(this.m_mC*q,o),d-=this.m_iC*q*m,f.subMul(this.m_mD*q,s),x-=this.m_iD*q*a,this.m_bodyA.c_position.c.setVec2(c),this.m_bodyA.c_position.a=_,this.m_bodyB.c_position.c.setVec2(u),this.m_bodyB.c_position.a=p,this.m_bodyC.c_position.c.setVec2(y),this.m_bodyC.c_position.a=d,this.m_bodyD.c_position.c.setVec2(f),this.m_bodyD.c_position.a=x,0<l.linearSlop},e.TYPE="gear-joint",e}(nt),Nt={maxForce:1,maxTorque:1,correctionFactor:.3},kt=function(t){function e(i,o,n){var m=this;return m instanceof e?(i=s(i,Nt),o=(m=t.call(this,i,o,n)||this).m_bodyA,n=m.m_bodyB,m.m_type=e.TYPE,m.m_linearOffset=r.isFinite(i.linearOffset)?i.linearOffset:o.getLocalPoint(n.getPosition()),m.m_angularOffset=r.isFinite(i.angularOffset)?i.angularOffset:n.getAngle()-o.getAngle(),m.m_linearImpulse=h.zero(),m.m_angularImpulse=0,m.m_maxForce=i.maxForce,m.m_maxTorque=i.maxTorque,m.m_correctionFactor=i.correctionFactor,m):new e(i,o,n)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,maxForce:this.m_maxForce,maxTorque:this.m_maxTorque,correctionFactor:this.m_correctionFactor,linearOffset:this.m_linearOffset,angularOffset:this.m_angularOffset}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype._setAnchors=function(t){},e.prototype.setMaxForce=function(t){this.m_maxForce=t},e.prototype.getMaxForce=function(){return this.m_maxForce},e.prototype.setMaxTorque=function(t){this.m_maxTorque=t},e.prototype.getMaxTorque=function(){return this.m_maxTorque},e.prototype.setCorrectionFactor=function(t){this.m_correctionFactor=t},e.prototype.getCorrectionFactor=function(){return this.m_correctionFactor},e.prototype.setLinearOffset=function(t){t.x==this.m_linearOffset.x&&t.y==this.m_linearOffset.y||(this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_linearOffset=t)},e.prototype.getLinearOffset=function(){return this.m_linearOffset},e.prototype.setAngularOffset=function(t){t!=this.m_angularOffset&&(this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_angularOffset=t)},e.prototype.getAngularOffset=function(){return this.m_angularOffset},e.prototype.getAnchorA=function(){return this.m_bodyA.getPosition()},e.prototype.getAnchorB=function(){return this.m_bodyB.getPosition()},e.prototype.getReactionForce=function(t){return h.mulNumVec2(t,this.m_linearImpulse)},e.prototype.getReactionTorque=function(t){return t*this.m_angularImpulse},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyA.c_velocity.v,s=this.m_bodyA.c_velocity.w,n=this.m_bodyB.c_position.c,r=this.m_bodyB.c_position.a,m=this.m_bodyB.c_velocity.v,a=this.m_bodyB.c_velocity.w,c=v.neo(i),_=v.neo(r);this.m_rA=v.mulVec2(c,h.neg(this.m_localCenterA)),this.m_rB=v.mulVec2(_,h.neg(this.m_localCenterB));var l=this.m_invMassA,u=this.m_invMassB,p=this.m_invIA,y=this.m_invIB,d=new L;if(d.ex.x=l+u+p*this.m_rA.y*this.m_rA.y+y*this.m_rB.y*this.m_rB.y,d.ex.y=-p*this.m_rA.x*this.m_rA.y-y*this.m_rB.x*this.m_rB.y,d.ey.x=d.ex.y,d.ey.y=l+u+p*this.m_rA.x*this.m_rA.x+y*this.m_rB.x*this.m_rB.x,this.m_linearMass=d.getInverse(),this.m_angularMass=p+y,this.m_angularMass>0&&(this.m_angularMass=1/this.m_angularMass),this.m_linearError=h.zero(),this.m_linearError.addCombine(1,n,1,this.m_rB),this.m_linearError.subCombine(1,e,1,this.m_rA),this.m_linearError.sub(v.mulVec2(c,this.m_linearOffset)),this.m_angularError=r-i-this.m_angularOffset,t.warmStarting){this.m_linearImpulse.mul(t.dtRatio),this.m_angularImpulse*=t.dtRatio;var f=h.neo(this.m_linearImpulse.x,this.m_linearImpulse.y);o.subMul(l,f),s-=p*(h.crossVec2Vec2(this.m_rA,f)+this.m_angularImpulse),m.addMul(u,f),a+=y*(h.crossVec2Vec2(this.m_rB,f)+this.m_angularImpulse)}else this.m_linearImpulse.setZero(),this.m_angularImpulse=0;this.m_bodyA.c_velocity.v=o,this.m_bodyA.c_velocity.w=s,this.m_bodyB.c_velocity.v=m,this.m_bodyB.c_velocity.w=a},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=this.m_invMassA,m=this.m_invMassB,a=this.m_invIA,c=this.m_invIB,_=t.dt,l=t.inv_dt,u=s-i+l*this.m_correctionFactor*this.m_angularError,p=-this.m_angularMass*u,y=this.m_angularImpulse,d=_*this.m_maxTorque;this.m_angularImpulse=r.clamp(this.m_angularImpulse+p,-d,d),i-=a*(p=this.m_angularImpulse-y),s+=c*p,(u=h.zero()).addCombine(1,o,1,h.crossNumVec2(s,this.m_rB)),u.subCombine(1,e,1,h.crossNumVec2(i,this.m_rA)),u.addMul(l*this.m_correctionFactor,this.m_linearError);p=h.neg(L.mulVec2(this.m_linearMass,u)),y=h.clone(this.m_linearImpulse);this.m_linearImpulse.add(p);d=_*this.m_maxForce;this.m_linearImpulse.clamp(d),p=h.sub(this.m_linearImpulse,y),e.subMul(n,p),i-=a*h.crossVec2Vec2(this.m_rA,p),o.addMul(m,p),s+=c*h.crossVec2Vec2(this.m_rB,p),this.m_bodyA.c_velocity.v=e,this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v=o,this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){return!0},e.TYPE="motor-joint",e}(nt),Dt={maxForce:0,frequencyHz:5,dampingRatio:.7},jt=function(t){function e(i,o,n,r){var m=this;return m instanceof e?(i=s(i,Dt),o=(m=t.call(this,i,o,n)||this).m_bodyA,n=m.m_bodyB,m.m_type=e.TYPE,m.m_targetA=r?h.clone(r):i.target||h.zero(),m.m_localAnchorB=x.mulTVec2(n.getTransform(),m.m_targetA),m.m_maxForce=i.maxForce,m.m_impulse=h.zero(),m.m_frequencyHz=i.frequencyHz,m.m_dampingRatio=i.dampingRatio,m.m_beta=0,m.m_gamma=0,m.m_rB=h.zero(),m.m_localCenterB=h.zero(),m.m_invMassB=0,m.m_invIB=0,m.m_mass=new L,m.m_C=h.zero(),m):new e(i,o,n,r)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,target:this.m_targetA,maxForce:this.m_maxForce,frequencyHz:this.m_frequencyHz,dampingRatio:this.m_dampingRatio,_localAnchorB:this.m_localAnchorB}},e._deserialize=function(t,i,s){(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),t.target=h.clone(t.target);var n=new e(t);return t._localAnchorB&&(n.m_localAnchorB=t._localAnchorB),n},e.prototype.setTarget=function(t){0==this.m_bodyB.isAwake()&&this.m_bodyB.setAwake(!0),this.m_targetA=h.clone(t)},e.prototype.getTarget=function(){return this.m_targetA},e.prototype.setMaxForce=function(t){this.m_maxForce=t},e.prototype.getMaxForce=function(){return this.m_maxForce},e.prototype.setFrequency=function(t){this.m_frequencyHz=t},e.prototype.getFrequency=function(){return this.m_frequencyHz},e.prototype.setDampingRatio=function(t){this.m_dampingRatio=t},e.prototype.getDampingRatio=function(){return this.m_dampingRatio},e.prototype.getAnchorA=function(){return h.clone(this.m_targetA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.mulNumVec2(t,this.m_impulse)},e.prototype.getReactionTorque=function(t){return 0*t},e.prototype.shiftOrigin=function(t){this.m_targetA.sub(t)},e.prototype.initVelocityConstraints=function(t){this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyB.c_position,i=this.m_bodyB.c_velocity,o=e.c,s=e.a,n=i.v,m=i.w,a=v.neo(s),c=this.m_bodyB.getMass(),_=2*r.PI*this.m_frequencyHz,l=2*c*this.m_dampingRatio*_,u=c*(_*_),p=t.dt;this.m_gamma=p*(l+p*u),0!=this.m_gamma&&(this.m_gamma=1/this.m_gamma),this.m_beta=p*u*this.m_gamma,this.m_rB=v.mulVec2(a,h.sub(this.m_localAnchorB,this.m_localCenterB));var y=new L;y.ex.x=this.m_invMassB+this.m_invIB*this.m_rB.y*this.m_rB.y+this.m_gamma,y.ex.y=-this.m_invIB*this.m_rB.x*this.m_rB.y,y.ey.x=y.ex.y,y.ey.y=this.m_invMassB+this.m_invIB*this.m_rB.x*this.m_rB.x+this.m_gamma,this.m_mass=y.getInverse(),this.m_C.setVec2(o),this.m_C.addCombine(1,this.m_rB,-1,this.m_targetA),this.m_C.mul(this.m_beta),m*=.98,t.warmStarting?(this.m_impulse.mul(t.dtRatio),n.addMul(this.m_invMassB,this.m_impulse),m+=this.m_invIB*h.crossVec2Vec2(this.m_rB,this.m_impulse)):this.m_impulse.setZero(),i.v.setVec2(n),i.w=m},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyB.c_velocity,i=h.clone(e.v),o=e.w,s=h.crossNumVec2(o,this.m_rB);s.add(i),s.addCombine(1,this.m_C,this.m_gamma,this.m_impulse),s.neg();var n=L.mulVec2(this.m_mass,s),r=h.clone(this.m_impulse);this.m_impulse.add(n);var m=t.dt*this.m_maxForce;this.m_impulse.clamp(m),n=h.sub(this.m_impulse,r),i.addMul(this.m_invMassB,n),o+=this.m_invIB*h.crossVec2Vec2(this.m_rB,n),e.v.setVec2(i),e.w=o},e.prototype.solvePositionConstraints=function(t){return!0},e.TYPE="mouse-joint",e}(nt),Rt={collideConnected:!0},Et=function(t){function e(i,o,n,m,a,c,_,l){var u=this;return u instanceof e?(i=s(i,Rt),o=(u=t.call(this,i,o,n)||this).m_bodyA,n=u.m_bodyB,u.m_type=e.TYPE,u.m_groundAnchorA=m||(i.groundAnchorA||h.neo(-1,1)),u.m_groundAnchorB=a||(i.groundAnchorB||h.neo(1,1)),u.m_localAnchorA=c?o.getLocalPoint(c):i.localAnchorA||h.neo(-1,0),u.m_localAnchorB=_?n.getLocalPoint(_):i.localAnchorB||h.neo(1,0),u.m_lengthA=r.isFinite(i.lengthA)?i.lengthA:h.distance(c,m),u.m_lengthB=r.isFinite(i.lengthB)?i.lengthB:h.distance(_,a),u.m_ratio=r.isFinite(l)?l:i.ratio,u.m_constant=u.m_lengthA+u.m_ratio*u.m_lengthB,u.m_impulse=0,u):new e(i,o,n,m,a,c,_,l)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,groundAnchorA:this.m_groundAnchorA,groundAnchorB:this.m_groundAnchorB,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB,lengthA:this.m_lengthA,lengthB:this.m_lengthB,ratio:this.m_ratio}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype.getGroundAnchorA=function(){return this.m_groundAnchorA},e.prototype.getGroundAnchorB=function(){return this.m_groundAnchorB},e.prototype.getLengthA=function(){return this.m_lengthA},e.prototype.getLengthB=function(){return this.m_lengthB},e.prototype.getRatio=function(){return this.m_ratio},e.prototype.getCurrentLengthA=function(){var t=this.m_bodyA.getWorldPoint(this.m_localAnchorA),e=this.m_groundAnchorA;return h.distance(t,e)},e.prototype.getCurrentLengthB=function(){var t=this.m_bodyB.getWorldPoint(this.m_localAnchorB),e=this.m_groundAnchorB;return h.distance(t,e)},e.prototype.shiftOrigin=function(t){this.m_groundAnchorA.sub(t),this.m_groundAnchorB.sub(t)},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.mulNumVec2(this.m_impulse,this.m_uB).mul(t)},e.prototype.getReactionTorque=function(t){return 0},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyA.c_velocity.v,s=this.m_bodyA.c_velocity.w,n=this.m_bodyB.c_position.c,r=this.m_bodyB.c_position.a,m=this.m_bodyB.c_velocity.v,a=this.m_bodyB.c_velocity.w,c=v.neo(i),_=v.neo(r);this.m_rA=v.mulVec2(c,h.sub(this.m_localAnchorA,this.m_localCenterA)),this.m_rB=v.mulVec2(_,h.sub(this.m_localAnchorB,this.m_localCenterB)),this.m_uA=h.sub(h.add(e,this.m_rA),this.m_groundAnchorA),this.m_uB=h.sub(h.add(n,this.m_rB),this.m_groundAnchorB);var u=this.m_uA.length(),p=this.m_uB.length();u>10*l.linearSlop?this.m_uA.mul(1/u):this.m_uA.setZero(),p>10*l.linearSlop?this.m_uB.mul(1/p):this.m_uB.setZero();var y=h.crossVec2Vec2(this.m_rA,this.m_uA),d=h.crossVec2Vec2(this.m_rB,this.m_uB),f=this.m_invMassA+this.m_invIA*y*y,x=this.m_invMassB+this.m_invIB*d*d;if(this.m_mass=f+this.m_ratio*this.m_ratio*x,this.m_mass>0&&(this.m_mass=1/this.m_mass),t.warmStarting){this.m_impulse*=t.dtRatio;var A=h.mulNumVec2(-this.m_impulse,this.m_uA),b=h.mulNumVec2(-this.m_ratio*this.m_impulse,this.m_uB);o.addMul(this.m_invMassA,A),s+=this.m_invIA*h.crossVec2Vec2(this.m_rA,A),m.addMul(this.m_invMassB,b),a+=this.m_invIB*h.crossVec2Vec2(this.m_rB,b)}else this.m_impulse=0;this.m_bodyA.c_velocity.v=o,this.m_bodyA.c_velocity.w=s,this.m_bodyB.c_velocity.v=m,this.m_bodyB.c_velocity.w=a},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=h.add(e,h.crossNumVec2(i,this.m_rA)),r=h.add(o,h.crossNumVec2(s,this.m_rB)),m=-h.dot(this.m_uA,n)-this.m_ratio*h.dot(this.m_uB,r),a=-this.m_mass*m;this.m_impulse+=a;var c=h.mulNumVec2(-a,this.m_uA),_=h.mulNumVec2(-this.m_ratio*a,this.m_uB);e.addMul(this.m_invMassA,c),i+=this.m_invIA*h.crossVec2Vec2(this.m_rA,c),o.addMul(this.m_invMassB,_),s+=this.m_invIB*h.crossVec2Vec2(this.m_rB,_),this.m_bodyA.c_velocity.v=e,this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v=o,this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyB.c_position.c,s=this.m_bodyB.c_position.a,n=v.neo(i),m=v.neo(s),a=v.mulVec2(n,h.sub(this.m_localAnchorA,this.m_localCenterA)),c=v.mulVec2(m,h.sub(this.m_localAnchorB,this.m_localCenterB)),_=h.sub(h.add(e,this.m_rA),this.m_groundAnchorA),u=h.sub(h.add(o,this.m_rB),this.m_groundAnchorB),p=_.length(),y=u.length();p>10*l.linearSlop?_.mul(1/p):_.setZero(),y>10*l.linearSlop?u.mul(1/y):u.setZero();var d=h.crossVec2Vec2(a,_),f=h.crossVec2Vec2(c,u),x=this.m_invMassA+this.m_invIA*d*d,A=this.m_invMassB+this.m_invIB*f*f,b=x+this.m_ratio*this.m_ratio*A;b>0&&(b=1/b);var g=this.m_constant-p-this.m_ratio*y,B=r.abs(g),V=-b*g,w=h.mulNumVec2(-V,_),C=h.mulNumVec2(-this.m_ratio*V,u);return e.addMul(this.m_invMassA,w),i+=this.m_invIA*h.crossVec2Vec2(a,w),o.addMul(this.m_invMassB,C),s+=this.m_invIB*h.crossVec2Vec2(c,C),this.m_bodyA.c_position.c=e,this.m_bodyA.c_position.a=i,this.m_bodyB.c_position.c=o,this.m_bodyB.c_position.a=s,B<l.linearSlop},e.TYPE="pulley-joint",e}(nt),Ot={maxLength:0},Jt=function(t){function e(i,o,n,r){var m=this;return m instanceof e?(i=s(i,Ot),o=(m=t.call(this,i,o,n)||this).m_bodyA,n=m.m_bodyB,m.m_type=e.TYPE,m.m_localAnchorA=r?o.getLocalPoint(r):i.localAnchorA||h.neo(-1,0),m.m_localAnchorB=r?n.getLocalPoint(r):i.localAnchorB||h.neo(1,0),m.m_maxLength=i.maxLength,m.m_mass=0,m.m_impulse=0,m.m_length=0,m.m_state=0,m):new e(i,o,n,r)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB,maxLength:this.m_maxLength}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype.getLocalAnchorA=function(){return this.m_localAnchorA},e.prototype.getLocalAnchorB=function(){return this.m_localAnchorB},e.prototype.setMaxLength=function(t){this.m_maxLength=t},e.prototype.getMaxLength=function(){return this.m_maxLength},e.prototype.getLimitState=function(){return this.m_state},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.mulNumVec2(this.m_impulse,this.m_u).mul(t)},e.prototype.getReactionTorque=function(t){return 0},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyA.c_velocity.v,s=this.m_bodyA.c_velocity.w,n=this.m_bodyB.c_position.c,r=this.m_bodyB.c_position.a,m=this.m_bodyB.c_velocity.v,a=this.m_bodyB.c_velocity.w,c=v.neo(i),_=v.neo(r);this.m_rA=v.mulSub(c,this.m_localAnchorA,this.m_localCenterA),this.m_rB=v.mulSub(_,this.m_localAnchorB,this.m_localCenterB),this.m_u=h.zero(),this.m_u.addCombine(1,n,1,this.m_rB),this.m_u.subCombine(1,e,1,this.m_rA),this.m_length=this.m_u.length();var u=this.m_length-this.m_maxLength;if(this.m_state=u>0?2:0,!(this.m_length>l.linearSlop))return this.m_u.setZero(),this.m_mass=0,void(this.m_impulse=0);this.m_u.mul(1/this.m_length);var p=h.crossVec2Vec2(this.m_rA,this.m_u),y=h.crossVec2Vec2(this.m_rB,this.m_u),d=this.m_invMassA+this.m_invIA*p*p+this.m_invMassB+this.m_invIB*y*y;if(this.m_mass=0!=d?1/d:0,t.warmStarting){this.m_impulse*=t.dtRatio;var f=h.mulNumVec2(this.m_impulse,this.m_u);o.subMul(this.m_invMassA,f),s-=this.m_invIA*h.crossVec2Vec2(this.m_rA,f),m.addMul(this.m_invMassB,f),a+=this.m_invIB*h.crossVec2Vec2(this.m_rB,f)}else this.m_impulse=0;this.m_bodyA.c_velocity.v.setVec2(o),this.m_bodyA.c_velocity.w=s,this.m_bodyB.c_velocity.v.setVec2(m),this.m_bodyB.c_velocity.w=a},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=h.addCrossNumVec2(e,i,this.m_rA),m=h.addCrossNumVec2(o,s,this.m_rB),a=this.m_length-this.m_maxLength,c=h.dot(this.m_u,h.sub(m,n));a<0&&(c+=t.inv_dt*a);var _=-this.m_mass*c,l=this.m_impulse;this.m_impulse=r.min(0,this.m_impulse+_),_=this.m_impulse-l;var u=h.mulNumVec2(_,this.m_u);e.subMul(this.m_invMassA,u),i-=this.m_invIA*h.crossVec2Vec2(this.m_rA,u),o.addMul(this.m_invMassB,u),s+=this.m_invIB*h.crossVec2Vec2(this.m_rB,u),this.m_bodyA.c_velocity.v=e,this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v=o,this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyB.c_position.c,s=this.m_bodyB.c_position.a,n=v.neo(i),m=v.neo(s),a=v.mulSub(n,this.m_localAnchorA,this.m_localCenterA),c=v.mulSub(m,this.m_localAnchorB,this.m_localCenterB),_=h.zero();_.addCombine(1,o,1,c),_.subCombine(1,e,1,a);var u=_.normalize(),p=u-this.m_maxLength;p=r.clamp(p,0,l.maxLinearCorrection);var y=-this.m_mass*p,d=h.mulNumVec2(y,_);return e.subMul(this.m_invMassA,d),i-=this.m_invIA*h.crossVec2Vec2(a,d),o.addMul(this.m_invMassB,d),s+=this.m_invIB*h.crossVec2Vec2(c,d),this.m_bodyA.c_position.c.setVec2(e),this.m_bodyA.c_position.a=i,this.m_bodyB.c_position.c.setVec2(o),this.m_bodyB.c_position.a=s,u-this.m_maxLength<l.linearSlop},e.TYPE="rope-joint",e}(nt),Yt={frequencyHz:0,dampingRatio:0},Wt=function(t){function e(i,o,n,m){var a=this;return a instanceof e?(i=s(i,Yt),o=(a=t.call(this,i,o,n)||this).m_bodyA,n=a.m_bodyB,a.m_type=e.TYPE,a.m_localAnchorA=h.clone(m?o.getLocalPoint(m):i.localAnchorA||h.zero()),a.m_localAnchorB=h.clone(m?n.getLocalPoint(m):i.localAnchorB||h.zero()),a.m_referenceAngle=r.isFinite(i.referenceAngle)?i.referenceAngle:n.getAngle()-o.getAngle(),a.m_frequencyHz=i.frequencyHz,a.m_dampingRatio=i.dampingRatio,a.m_impulse=new xt,a.m_bias=0,a.m_gamma=0,a.m_rA,a.m_rB,a.m_localCenterA,a.m_localCenterB,a.m_invMassA,a.m_invMassB,a.m_invIA,a.m_invIB,a.m_mass=new zt,a):new e(i,o,n,m)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,frequencyHz:this.m_frequencyHz,dampingRatio:this.m_dampingRatio,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB,referenceAngle:this.m_referenceAngle}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype._setAnchors=function(t){t.anchorA?this.m_localAnchorA.setVec2(this.m_bodyA.getLocalPoint(t.anchorA)):t.localAnchorA&&this.m_localAnchorA.setVec2(t.localAnchorA),t.anchorB?this.m_localAnchorB.setVec2(this.m_bodyB.getLocalPoint(t.anchorB)):t.localAnchorB&&this.m_localAnchorB.setVec2(t.localAnchorB)},e.prototype.getLocalAnchorA=function(){return this.m_localAnchorA},e.prototype.getLocalAnchorB=function(){return this.m_localAnchorB},e.prototype.getReferenceAngle=function(){return this.m_referenceAngle},e.prototype.setFrequency=function(t){this.m_frequencyHz=t},e.prototype.getFrequency=function(){return this.m_frequencyHz},e.prototype.setDampingRatio=function(t){this.m_dampingRatio=t},e.prototype.getDampingRatio=function(){return this.m_dampingRatio},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.neo(this.m_impulse.x,this.m_impulse.y).mul(t)},e.prototype.getReactionTorque=function(t){return t*this.m_impulse.z},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_bodyA.c_position.a,i=this.m_bodyA.c_velocity.v,o=this.m_bodyA.c_velocity.w,s=this.m_bodyB.c_position.a,n=this.m_bodyB.c_velocity.v,m=this.m_bodyB.c_velocity.w,a=v.neo(e),c=v.neo(s);this.m_rA=v.mulVec2(a,h.sub(this.m_localAnchorA,this.m_localCenterA)),this.m_rB=v.mulVec2(c,h.sub(this.m_localAnchorB,this.m_localCenterB));var _=this.m_invMassA,l=this.m_invMassB,u=this.m_invIA,p=this.m_invIB,y=new zt;if(y.ex.x=_+l+this.m_rA.y*this.m_rA.y*u+this.m_rB.y*this.m_rB.y*p,y.ey.x=-this.m_rA.y*this.m_rA.x*u-this.m_rB.y*this.m_rB.x*p,y.ez.x=-this.m_rA.y*u-this.m_rB.y*p,y.ex.y=y.ey.x,y.ey.y=_+l+this.m_rA.x*this.m_rA.x*u+this.m_rB.x*this.m_rB.x*p,y.ez.y=this.m_rA.x*u+this.m_rB.x*p,y.ex.z=y.ez.x,y.ey.z=y.ez.y,y.ez.z=u+p,this.m_frequencyHz>0){y.getInverse22(this.m_mass);var d=u+p,f=d>0?1/d:0,x=s-e-this.m_referenceAngle,A=2*r.PI*this.m_frequencyHz,b=2*f*this.m_dampingRatio*A,g=f*A*A,B=t.dt;this.m_gamma=B*(b+B*g),this.m_gamma=0!=this.m_gamma?1/this.m_gamma:0,this.m_bias=x*B*g*this.m_gamma,d+=this.m_gamma,this.m_mass.ez.z=0!=d?1/d:0}else 0==y.ez.z?(y.getInverse22(this.m_mass),this.m_gamma=0,this.m_bias=0):(y.getSymInverse33(this.m_mass),this.m_gamma=0,this.m_bias=0);if(t.warmStarting){this.m_impulse.mul(t.dtRatio);var V=h.neo(this.m_impulse.x,this.m_impulse.y);i.subMul(_,V),o-=u*(h.crossVec2Vec2(this.m_rA,V)+this.m_impulse.z),n.addMul(l,V),m+=p*(h.crossVec2Vec2(this.m_rB,V)+this.m_impulse.z)}else this.m_impulse.setZero();this.m_bodyA.c_velocity.v=i,this.m_bodyA.c_velocity.w=o,this.m_bodyB.c_velocity.v=n,this.m_bodyB.c_velocity.w=m},e.prototype.solveVelocityConstraints=function(t){var e=this.m_bodyA.c_velocity.v,i=this.m_bodyA.c_velocity.w,o=this.m_bodyB.c_velocity.v,s=this.m_bodyB.c_velocity.w,n=this.m_invMassA,r=this.m_invMassB,m=this.m_invIA,a=this.m_invIB;if(this.m_frequencyHz>0){var c=s-i,_=-this.m_mass.ez.z*(c+this.m_bias+this.m_gamma*this.m_impulse.z);this.m_impulse.z+=_,i-=m*_,s+=a*_,(p=h.zero()).addCombine(1,o,1,h.crossNumVec2(s,this.m_rB)),p.subCombine(1,e,1,h.crossNumVec2(i,this.m_rA));var l=h.neg(zt.mulVec2(this.m_mass,p));this.m_impulse.x+=l.x,this.m_impulse.y+=l.y;var u=h.clone(l);e.subMul(n,u),i-=m*h.crossVec2Vec2(this.m_rA,u),o.addMul(r,u),s+=a*h.crossVec2Vec2(this.m_rB,u)}else{var p;(p=h.zero()).addCombine(1,o,1,h.crossNumVec2(s,this.m_rB)),p.subCombine(1,e,1,h.crossNumVec2(i,this.m_rA));c=s-i;var y=new xt(p.x,p.y,c),d=xt.neg(zt.mulVec3(this.m_mass,y));this.m_impulse.add(d);u=h.neo(d.x,d.y);e.subMul(n,u),i-=m*(h.crossVec2Vec2(this.m_rA,u)+d.z),o.addMul(r,u),s+=a*(h.crossVec2Vec2(this.m_rB,u)+d.z)}this.m_bodyA.c_velocity.v=e,this.m_bodyA.c_velocity.w=i,this.m_bodyB.c_velocity.v=o,this.m_bodyB.c_velocity.w=s},e.prototype.solvePositionConstraints=function(t){var e,i,o=this.m_bodyA.c_position.c,s=this.m_bodyA.c_position.a,n=this.m_bodyB.c_position.c,m=this.m_bodyB.c_position.a,a=v.neo(s),c=v.neo(m),_=this.m_invMassA,u=this.m_invMassB,p=this.m_invIA,y=this.m_invIB,d=v.mulVec2(a,h.sub(this.m_localAnchorA,this.m_localCenterA)),f=v.mulVec2(c,h.sub(this.m_localAnchorB,this.m_localCenterB)),x=new zt;if(x.ex.x=_+u+d.y*d.y*p+f.y*f.y*y,x.ey.x=-d.y*d.x*p-f.y*f.x*y,x.ez.x=-d.y*p-f.y*y,x.ex.y=x.ey.x,x.ey.y=_+u+d.x*d.x*p+f.x*f.x*y,x.ez.y=d.x*p+f.x*y,x.ex.z=x.ez.x,x.ey.z=x.ez.y,x.ez.z=p+y,this.m_frequencyHz>0){(b=h.zero()).addCombine(1,n,1,f),b.subCombine(1,o,1,d),e=b.length(),i=0;var A=h.neg(x.solve22(b));o.subMul(_,A),s-=p*h.crossVec2Vec2(d,A),n.addMul(u,A),m+=y*h.crossVec2Vec2(f,A)}else{var b;(b=h.zero()).addCombine(1,n,1,f),b.subCombine(1,o,1,d);var g=m-s-this.m_referenceAngle;e=b.length(),i=r.abs(g);var B=new xt(b.x,b.y,g),V=new xt;if(x.ez.z>0)V=xt.neg(x.solve33(B));else{var w=h.neg(x.solve22(b));V.set(w.x,w.y,0)}A=h.neo(V.x,V.y);o.subMul(_,A),s-=p*(h.crossVec2Vec2(d,A)+V.z),n.addMul(u,A),m+=y*(h.crossVec2Vec2(f,A)+V.z)}return this.m_bodyA.c_position.c=o,this.m_bodyA.c_position.a=s,this.m_bodyB.c_position.c=n,this.m_bodyB.c_position.a=m,e<=l.linearSlop&&i<=l.angularSlop},e.TYPE="weld-joint",e}(nt),Ht={enableMotor:!1,maxMotorTorque:0,motorSpeed:0,frequencyHz:2,dampingRatio:.7},Zt=function(t){function e(i,o,n,r,m){var a=this;return a instanceof e?(i=s(i,Ht),(a=t.call(this,i,o,n)||this).m_ax=h.zero(),a.m_ay=h.zero(),o=a.m_bodyA,n=a.m_bodyB,a.m_type=e.TYPE,a.m_localAnchorA=h.clone(r?o.getLocalPoint(r):i.localAnchorA||h.zero()),a.m_localAnchorB=h.clone(r?n.getLocalPoint(r):i.localAnchorB||h.zero()),a.m_localXAxisA=h.clone(m?o.getLocalVector(m):i.localAxisA||i.localAxis||h.neo(1,0)),a.m_localYAxisA=h.crossNumVec2(1,a.m_localXAxisA),a.m_mass=0,a.m_impulse=0,a.m_motorMass=0,a.m_motorImpulse=0,a.m_springMass=0,a.m_springImpulse=0,a.m_maxMotorTorque=i.maxMotorTorque,a.m_motorSpeed=i.motorSpeed,a.m_enableMotor=i.enableMotor,a.m_frequencyHz=i.frequencyHz,a.m_dampingRatio=i.dampingRatio,a.m_bias=0,a.m_gamma=0,a):new e(i,o,n,r,m)}return i(e,t),e.prototype._serialize=function(){return{type:this.m_type,bodyA:this.m_bodyA,bodyB:this.m_bodyB,collideConnected:this.m_collideConnected,enableMotor:this.m_enableMotor,maxMotorTorque:this.m_maxMotorTorque,motorSpeed:this.m_motorSpeed,frequencyHz:this.m_frequencyHz,dampingRatio:this.m_dampingRatio,localAnchorA:this.m_localAnchorA,localAnchorB:this.m_localAnchorB,localAxisA:this.m_localXAxisA}},e._deserialize=function(t,i,s){return(t=o({},t)).bodyA=s(T,t.bodyA,i),t.bodyB=s(T,t.bodyB,i),new e(t)},e.prototype._setAnchors=function(t){t.anchorA?this.m_localAnchorA.setVec2(this.m_bodyA.getLocalPoint(t.anchorA)):t.localAnchorA&&this.m_localAnchorA.setVec2(t.localAnchorA),t.anchorB?this.m_localAnchorB.setVec2(this.m_bodyB.getLocalPoint(t.anchorB)):t.localAnchorB&&this.m_localAnchorB.setVec2(t.localAnchorB),t.localAxisA&&(this.m_localXAxisA.setVec2(t.localAxisA),this.m_localYAxisA.setVec2(h.crossNumVec2(1,t.localAxisA)))},e.prototype.getLocalAnchorA=function(){return this.m_localAnchorA},e.prototype.getLocalAnchorB=function(){return this.m_localAnchorB},e.prototype.getLocalAxisA=function(){return this.m_localXAxisA},e.prototype.getJointTranslation=function(){var t=this.m_bodyA,e=this.m_bodyB,i=t.getWorldPoint(this.m_localAnchorA),o=e.getWorldPoint(this.m_localAnchorB),s=h.sub(o,i),n=t.getWorldVector(this.m_localXAxisA);return h.dot(s,n)},e.prototype.getJointSpeed=function(){var t=this.m_bodyA.m_angularVelocity;return this.m_bodyB.m_angularVelocity-t},e.prototype.isMotorEnabled=function(){return this.m_enableMotor},e.prototype.enableMotor=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_enableMotor=t},e.prototype.setMotorSpeed=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_motorSpeed=t},e.prototype.getMotorSpeed=function(){return this.m_motorSpeed},e.prototype.setMaxMotorTorque=function(t){this.m_bodyA.setAwake(!0),this.m_bodyB.setAwake(!0),this.m_maxMotorTorque=t},e.prototype.getMaxMotorTorque=function(){return this.m_maxMotorTorque},e.prototype.getMotorTorque=function(t){return t*this.m_motorImpulse},e.prototype.setSpringFrequencyHz=function(t){this.m_frequencyHz=t},e.prototype.getSpringFrequencyHz=function(){return this.m_frequencyHz},e.prototype.setSpringDampingRatio=function(t){this.m_dampingRatio=t},e.prototype.getSpringDampingRatio=function(){return this.m_dampingRatio},e.prototype.getAnchorA=function(){return this.m_bodyA.getWorldPoint(this.m_localAnchorA)},e.prototype.getAnchorB=function(){return this.m_bodyB.getWorldPoint(this.m_localAnchorB)},e.prototype.getReactionForce=function(t){return h.combine(this.m_impulse,this.m_ay,this.m_springImpulse,this.m_ax).mul(t)},e.prototype.getReactionTorque=function(t){return t*this.m_motorImpulse},e.prototype.initVelocityConstraints=function(t){this.m_localCenterA=this.m_bodyA.m_sweep.localCenter,this.m_localCenterB=this.m_bodyB.m_sweep.localCenter,this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var e=this.m_invMassA,i=this.m_invMassB,o=this.m_invIA,s=this.m_invIB,n=this.m_bodyA.c_position.c,m=this.m_bodyA.c_position.a,a=this.m_bodyA.c_velocity.v,c=this.m_bodyA.c_velocity.w,_=this.m_bodyB.c_position.c,l=this.m_bodyB.c_position.a,u=this.m_bodyB.c_velocity.v,p=this.m_bodyB.c_velocity.w,y=v.neo(m),d=v.neo(l),f=v.mulVec2(y,h.sub(this.m_localAnchorA,this.m_localCenterA)),x=v.mulVec2(d,h.sub(this.m_localAnchorB,this.m_localCenterB)),A=h.zero();if(A.addCombine(1,_,1,x),A.subCombine(1,n,1,f),this.m_ay=v.mulVec2(y,this.m_localYAxisA),this.m_sAy=h.crossVec2Vec2(h.add(A,f),this.m_ay),this.m_sBy=h.crossVec2Vec2(x,this.m_ay),this.m_mass=e+i+o*this.m_sAy*this.m_sAy+s*this.m_sBy*this.m_sBy,this.m_mass>0&&(this.m_mass=1/this.m_mass),this.m_springMass=0,this.m_bias=0,this.m_gamma=0,this.m_frequencyHz>0){this.m_ax=v.mulVec2(y,this.m_localXAxisA),this.m_sAx=h.crossVec2Vec2(h.add(A,f),this.m_ax),this.m_sBx=h.crossVec2Vec2(x,this.m_ax);var b=e+i+o*this.m_sAx*this.m_sAx+s*this.m_sBx*this.m_sBx;if(b>0){this.m_springMass=1/b;var g=h.dot(A,this.m_ax),B=2*r.PI*this.m_frequencyHz,V=2*this.m_springMass*this.m_dampingRatio*B,w=this.m_springMass*B*B,C=t.dt;this.m_gamma=C*(V+C*w),this.m_gamma>0&&(this.m_gamma=1/this.m_gamma),this.m_bias=g*C*w*this.m_gamma,this.m_springMass=b+this.m_gamma,this.m_springMass>0&&(this.m_springMass=1/this.m_springMass)}}else this.m_springImpulse=0;if(this.m_enableMotor?(this.m_motorMass=o+s,this.m_motorMass>0&&(this.m_motorMass=1/this.m_motorMass)):(this.m_motorMass=0,this.m_motorImpulse=0),t.warmStarting){this.m_impulse*=t.dtRatio,this.m_springImpulse*=t.dtRatio,this.m_motorImpulse*=t.dtRatio;var M=h.combine(this.m_impulse,this.m_ay,this.m_springImpulse,this.m_ax),I=this.m_impulse*this.m_sAy+this.m_springImpulse*this.m_sAx+this.m_motorImpulse,z=this.m_impulse*this.m_sBy+this.m_springImpulse*this.m_sBx+this.m_motorImpulse;a.subMul(this.m_invMassA,M),c-=this.m_invIA*I,u.addMul(this.m_invMassB,M),p+=this.m_invIB*z}else this.m_impulse=0,this.m_springImpulse=0,this.m_motorImpulse=0;this.m_bodyA.c_velocity.v.setVec2(a),this.m_bodyA.c_velocity.w=c,this.m_bodyB.c_velocity.v.setVec2(u),this.m_bodyB.c_velocity.w=p},e.prototype.solveVelocityConstraints=function(t){var e=this.m_invMassA,i=this.m_invMassB,o=this.m_invIA,s=this.m_invIB,n=this.m_bodyA.c_velocity.v,m=this.m_bodyA.c_velocity.w,a=this.m_bodyB.c_velocity.v,c=this.m_bodyB.c_velocity.w,_=h.dot(this.m_ax,a)-h.dot(this.m_ax,n)+this.m_sBx*c-this.m_sAx*m,l=-this.m_springMass*(_+this.m_bias+this.m_gamma*this.m_springImpulse);this.m_springImpulse+=l;var u=h.mulNumVec2(l,this.m_ax),p=l*this.m_sAx,y=l*this.m_sBx;n.subMul(e,u),m-=o*p,a.addMul(i,u);_=(c+=s*y)-m-this.m_motorSpeed,l=-this.m_motorMass*_;var d=this.m_motorImpulse,f=t.dt*this.m_maxMotorTorque;this.m_motorImpulse=r.clamp(this.m_motorImpulse+l,-f,f),m-=o*(l=this.m_motorImpulse-d),c+=s*l;_=h.dot(this.m_ay,a)-h.dot(this.m_ay,n)+this.m_sBy*c-this.m_sAy*m,l=-this.m_mass*_;this.m_impulse+=l;u=h.mulNumVec2(l,this.m_ay),p=l*this.m_sAy,y=l*this.m_sBy;n.subMul(e,u),m-=o*p,a.addMul(i,u),c+=s*y,this.m_bodyA.c_velocity.v.setVec2(n),this.m_bodyA.c_velocity.w=m,this.m_bodyB.c_velocity.v.setVec2(a),this.m_bodyB.c_velocity.w=c},e.prototype.solvePositionConstraints=function(t){var e=this.m_bodyA.c_position.c,i=this.m_bodyA.c_position.a,o=this.m_bodyB.c_position.c,s=this.m_bodyB.c_position.a,n=v.neo(i),m=v.neo(s),a=v.mulVec2(n,h.sub(this.m_localAnchorA,this.m_localCenterA)),c=v.mulVec2(m,h.sub(this.m_localAnchorB,this.m_localCenterB)),_=h.zero();_.addCombine(1,o,1,c),_.subCombine(1,e,1,a);var u,p=v.mulVec2(n,this.m_localYAxisA),y=h.crossVec2Vec2(h.add(_,a),p),d=h.crossVec2Vec2(c,p),f=h.dot(_,p),x=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_sAy*this.m_sAy+this.m_invIB*this.m_sBy*this.m_sBy;u=0!=x?-f/x:0;var A=h.mulNumVec2(u,p),b=u*y,g=u*d;return e.subMul(this.m_invMassA,A),i-=this.m_invIA*b,o.addMul(this.m_invMassB,A),s+=this.m_invIB*g,this.m_bodyA.c_position.c.setVec2(e),this.m_bodyA.c_position.a=i,this.m_bodyB.c_position.c.setVec2(o),this.m_bodyB.c_position.a=s,r.abs(f)<=l.linearSlop},e.TYPE="wheel-joint",e}(nt),Xt=0;function Kt(t){var e,i=(t=t||{}).rootClass||vt,s=t.preSerialize||function(t){return t},n=t.postSerialize||function(t,e){return t},r=t.preDeserialize||function(t){return t},m=t.postDeserialize||function(t,e){return t},a={World:vt,Body:T,Joint:nt,Fixture:C,Shape:B},c=o({Vec2:h,Vec3:xt},a),_=((e={})[T.STATIC]=T,e[T.DYNAMIC]=T,e[T.KINEMATIC]=T,e[bt.TYPE]=bt,e[Bt.TYPE]=Bt,e[At.TYPE]=At,e[gt.TYPE]=gt,e[Vt.TYPE]=Vt,e[Ct.TYPE]=Ct,e[It.TYPE]=It,e[qt.TYPE]=qt,e[kt.TYPE]=kt,e[jt.TYPE]=jt,e[Lt.TYPE]=Lt,e[Et.TYPE]=Et,e[St.TYPE]=St,e[Jt.TYPE]=Jt,e[Wt.TYPE]=Wt,e[Zt.TYPE]=Zt,e);this.toJson=function(t){var e=[],i=[t],o={};function r(t,s){if(t.__sid=t.__sid||++Xt,!o[t.__sid]){i.push(t);var n={refIndex:e.length+i.length,refType:s};o[t.__sid]=n}return o[t.__sid]}function m(t,e){if("object"!=typeof t||null===t)return t;if("function"==typeof t._serialize){if(t!==e)for(var i in a)if(t instanceof a[i])return r(t,i);t=function(t){var e=(t=s(t))._serialize();return n(e,t)}(t)}if(Array.isArray(t)){for(var o=[],c=0;c<t.length;c++)o[c]=m(t[c]);t=o}else{o={};for(var c in t)t.hasOwnProperty(c)&&(o[c]=m(t[c]));t=o}return t}for(;i.length;){var c=i.shift(),h=m(c,c);e.push(h)}return e},this.fromJson=function(t){var e={};function o(t,e,i){var o=function(t,e){return e&&e._deserialize||(e=_[t.type]),e&&e._deserialize}(e,t);if(o){var n=o(e=r(e),i,s);return n=m(n,e)}}function s(i,s,n){if(!s.refIndex)return i&&i._deserialize&&o(i,s,n);i=c[s.refType]||i;var r=s.refIndex;if(!e[r]){var m=o(i,t[r],n);e[r]=m}return e[r]}return i._deserialize(t[0],null,s)}}var Gt=new Kt;function Ut(t,e,i,o,s){t.pointCount=0;var n=x.mulVec2(i,e.m_p),r=x.mulVec2(s,o.m_p),c=h.distanceSquared(r,n),_=e.m_radius+o.m_radius;c>_*_||(t.type=m.e_circles,t.localPoint.setVec2(e.m_p),t.localNormal.setZero(),t.pointCount=1,t.points[0].localPoint.setVec2(o.m_p),t.points[0].id.cf.indexA=0,t.points[0].id.cf.typeA=a.e_vertex,t.points[0].id.cf.indexB=0,t.points[0].id.cf.typeB=a.e_vertex)}function Qt(t,e,i,o,s){t.pointCount=0;var n=x.mulTVec2(i,x.mulVec2(s,o.m_p)),r=e.m_vertex1,c=e.m_vertex2,_=h.sub(c,r),l=h.dot(_,h.sub(c,n)),u=h.dot(_,h.sub(n,r)),p=e.m_radius+o.m_radius;if(u<=0){var y=h.clone(r),d=h.sub(n,y);if(h.dot(d,d)>p*p)return;if(e.m_hasVertex0){var f=e.m_vertex0,v=r,A=h.sub(v,f);if(h.dot(A,h.sub(v,n))>0)return}return t.type=m.e_circles,t.localNormal.setZero(),t.localPoint.setVec2(y),t.pointCount=1,t.points[0].localPoint.setVec2(o.m_p),t.points[0].id.cf.indexA=0,t.points[0].id.cf.typeA=a.e_vertex,t.points[0].id.cf.indexB=0,void(t.points[0].id.cf.typeB=a.e_vertex)}if(l<=0){var b=h.clone(c),g=h.sub(n,b);if(h.dot(g,g)>p*p)return;if(e.m_hasVertex3){var B=e.m_vertex3,V=c,w=h.sub(B,V);if(h.dot(w,h.sub(n,V))>0)return}return t.type=m.e_circles,t.localNormal.setZero(),t.localPoint.setVec2(b),t.pointCount=1,t.points[0].localPoint.setVec2(o.m_p),t.points[0].id.cf.indexA=1,t.points[0].id.cf.typeA=a.e_vertex,t.points[0].id.cf.indexB=0,void(t.points[0].id.cf.typeB=a.e_vertex)}var C=h.dot(_,_),M=h.combine(l/C,r,u/C,c),I=h.sub(n,M);if(!(h.dot(I,I)>p*p)){var z=h.neo(-_.y,_.x);h.dot(z,h.sub(n,r))<0&&z.setNum(-z.x,-z.y),z.normalize(),t.type=m.e_faceA,t.localNormal=z,t.localPoint.setVec2(r),t.pointCount=1,t.points[0].localPoint.setVec2(o.m_p),t.points[0].id.cf.indexA=0,t.points[0].id.cf.typeA=a.e_face,t.points[0].id.cf.indexB=0,t.points[0].id.cf.typeB=a.e_vertex}}function $t(t,e,i,o,s){for(var n=t.m_count,r=i.m_count,m=t.m_normals,a=t.m_vertices,c=i.m_vertices,_=x.mulTXf(o,e),l=0,u=-1/0,p=0;p<n;++p){for(var y=v.mulVec2(_.q,m[p]),d=x.mulVec2(_,a[p]),f=1/0,A=0;A<r;++A){var b=h.dot(y,c[A])-h.dot(y,d);b<f&&(f=b)}f>u&&(u=f,l=p)}s.maxSeparation=u,s.bestIndex=l}Kt.toJson=Gt.toJson,Kt.fromJson=Gt.fromJson,ot.addType(Vt.TYPE,Vt.TYPE,(function(t,e,i,o,s,n,r){Ut(t,i.getShape(),e,n.getShape(),s)})),ot.addType(At.TYPE,Vt.TYPE,(function(t,e,i,o,s,n,r){var m=i.getShape(),a=n.getShape();Qt(t,m,e,a,s)})),ot.addType(bt.TYPE,Vt.TYPE,(function(t,e,i,o,s,n,r){var m=i.getShape(),a=new At;m.getChildEdge(a,o);var c=a,h=n.getShape();Qt(t,c,e,h,s)})),ot.addType(gt.TYPE,gt.TYPE,(function(t,e,i,o,s,n,r){oe(t,i.getShape(),e,n.getShape(),s)}));var te,ee,ie={maxSeparation:0,bestIndex:0};function oe(t,e,i,o,s){t.pointCount=0;var n=e.m_radius+o.m_radius;$t(e,i,o,s,ie);var r=ie.bestIndex,c=ie.maxSeparation;if(!(c>n)){$t(o,s,e,i,ie);var _=ie.bestIndex,u=ie.maxSeparation;if(!(u>n)){var p,y,d,f,A,b;u>c+.1*l.linearSlop?(p=o,y=e,d=s,f=i,A=_,t.type=m.e_faceB,b=1):(p=e,y=o,d=i,f=s,A=r,t.type=m.e_faceA,b=0);var g=[new F,new F];!function(t,e,i,o,s,n){for(var r=e.m_normals,m=s.m_count,c=s.m_vertices,_=s.m_normals,l=v.mulTVec2(n.q,v.mulVec2(i.q,r[o])),u=0,p=1/0,y=0;y<m;++y){var d=h.dot(l,_[y]);d<p&&(p=d,u=y)}var f=u,A=f+1<m?f+1:0;t[0].v=x.mulVec2(n,c[f]),t[0].id.cf.indexA=o,t[0].id.cf.indexB=f,t[0].id.cf.typeA=a.e_face,t[0].id.cf.typeB=a.e_vertex,t[1].v=x.mulVec2(n,c[A]),t[1].id.cf.indexA=o,t[1].id.cf.indexB=A,t[1].id.cf.typeA=a.e_face,t[1].id.cf.typeB=a.e_vertex}(g,p,d,A,y,f);var B=p.m_count,V=p.m_vertices,w=A,C=A+1<B?A+1:0,M=V[w],I=V[C],z=h.sub(I,M);z.normalize();var P=h.crossVec2Num(z,1),S=h.combine(.5,M,.5,I),T=v.mulVec2(d.q,z),L=h.crossVec2Num(T,1);M=x.mulVec2(d,M),I=x.mulVec2(d,I);var q=h.dot(L,M),N=-h.dot(T,M)+n,k=h.dot(T,I)+n,D=[new F,new F],j=[new F,new F];if(!(E(D,g,h.neg(T),N,w)<2||E(j,D,T,k,C)<2)){t.localNormal=P,t.localPoint=S;for(var R=0,O=0;O<j.length;++O){if(h.dot(L,j[O].v)-q<=n){var J=t.points[R];if(J.localPoint.setVec2(x.mulTVec2(f,j[O].v)),J.id=j[O].id,b){var Y=J.id.cf,W=Y.indexA,H=Y.indexB,Z=Y.typeA,X=Y.typeB;Y.indexA=H,Y.indexB=W,Y.typeA=X,Y.typeB=Z}++R}}t.pointCount=R}}}}function se(t,e,i,o,s){t.pointCount=0;for(var n=x.mulVec2(s,o.m_p),c=x.mulTVec2(i,n),_=0,l=-1/0,u=e.m_radius+o.m_radius,p=e.m_count,y=e.m_vertices,d=e.m_normals,f=0;f<p;++f){var v=h.dot(d[f],h.sub(c,y[f]));if(v>u)return;v>l&&(l=v,_=f)}var A=_,b=A+1<p?A+1:0,g=y[A],B=y[b];if(l<r.EPSILON)return t.pointCount=1,t.type=m.e_faceA,t.localNormal.setVec2(d[_]),t.localPoint.setCombine(.5,g,.5,B),t.points[0].localPoint=o.m_p,t.points[0].id.cf.indexA=0,t.points[0].id.cf.typeA=a.e_vertex,t.points[0].id.cf.indexB=0,void(t.points[0].id.cf.typeB=a.e_vertex);var V=h.dot(h.sub(c,g),h.sub(B,g)),w=h.dot(h.sub(c,B),h.sub(g,B));if(V<=0){if(h.distanceSquared(c,g)>u*u)return;t.pointCount=1,t.type=m.e_faceA,t.localNormal.setCombine(1,c,-1,g),t.localNormal.normalize(),t.localPoint=g,t.points[0].localPoint.setVec2(o.m_p),t.points[0].id.cf.indexA=0,t.points[0].id.cf.typeA=a.e_vertex,t.points[0].id.cf.indexB=0,t.points[0].id.cf.typeB=a.e_vertex}else if(w<=0){if(h.distanceSquared(c,B)>u*u)return;t.pointCount=1,t.type=m.e_faceA,t.localNormal.setCombine(1,c,-1,B),t.localNormal.normalize(),t.localPoint.setVec2(B),t.points[0].localPoint.setVec2(o.m_p),t.points[0].id.cf.indexA=0,t.points[0].id.cf.typeA=a.e_vertex,t.points[0].id.cf.indexB=0,t.points[0].id.cf.typeB=a.e_vertex}else{var C=h.mid(g,B);if(h.dot(c,d[A])-h.dot(C,d[A])>u)return;t.pointCount=1,t.type=m.e_faceA,t.localNormal.setVec2(d[A]),t.localPoint.setVec2(C),t.points[0].localPoint.setVec2(o.m_p),t.points[0].id.cf.indexA=0,t.points[0].id.cf.typeA=a.e_vertex,t.points[0].id.cf.indexB=0,t.points[0].id.cf.typeB=a.e_vertex}}ot.addType(gt.TYPE,Vt.TYPE,(function(t,e,i,o,s,n,r){se(t,i.getShape(),e,n.getShape(),s)})),ot.addType(At.TYPE,gt.TYPE,(function(t,e,i,o,s,n,r){le(t,i.getShape(),e,n.getShape(),s)})),ot.addType(bt.TYPE,gt.TYPE,(function(t,e,i,o,s,n,r){var m=i.getShape(),a=new At;m.getChildEdge(a,o),le(t,a,e,n.getShape(),s)})),function(t){t[t.e_unknown=-1]="e_unknown",t[t.e_edgeA=1]="e_edgeA",t[t.e_edgeB=2]="e_edgeB"}(te||(te={})),function(t){t[t.e_isolated=0]="e_isolated",t[t.e_concave=1]="e_concave",t[t.e_convex=2]="e_convex"}(ee||(ee={}));var ne=function(){},re=function(){this.vertices=[],this.normals=[],this.count=0},me=function(){this.normal=h.zero(),this.sideNormal1=h.zero(),this.sideNormal2=h.zero()},ae=new ne,ce=new ne,he=new re,_e=new me;function le(t,e,i,o,s){var n=x.mulTXf(i,s),c=x.mulVec2(n,o.m_centroid),_=e.m_vertex0,u=e.m_vertex1,p=e.m_vertex2,y=e.m_vertex3,d=e.m_hasVertex0,f=e.m_hasVertex3,A=h.sub(p,u);A.normalize();var b,g,B,V=h.neo(A.y,-A.x),w=h.dot(V,h.sub(c,u)),C=0,M=0,I=!1,z=!1;if(d){var P=h.sub(u,_);P.normalize(),b=h.neo(P.y,-P.x),I=h.crossVec2Vec2(P,A)>=0,C=h.dot(b,c)-h.dot(b,_)}if(f){var S=h.sub(y,p);S.normalize(),g=h.neo(S.y,-S.x),z=h.crossVec2Vec2(A,S)>0,M=h.dot(g,c)-h.dot(g,p)}var T=h.zero(),L=h.zero(),q=h.zero();d&&f?I&&z?(B=C>=0||w>=0||M>=0)?(T.setVec2(V),L.setVec2(b),q.setVec2(g)):(T.setMul(-1,V),L.setMul(-1,V),q.setMul(-1,V)):I?(B=C>=0||w>=0&&M>=0)?(T.setVec2(V),L.setVec2(b),q.setVec2(V)):(T.setMul(-1,V),L.setMul(-1,g),q.setMul(-1,V)):z?(B=M>=0||C>=0&&w>=0)?(T.setVec2(V),L.setVec2(V),q.setVec2(g)):(T.setMul(-1,V),L.setMul(-1,V),q.setMul(-1,b)):(B=C>=0&&w>=0&&M>=0)?(T.setVec2(V),L.setVec2(V),q.setVec2(V)):(T.setMul(-1,V),L.setMul(-1,g),q.setMul(-1,b)):d?I?(B=C>=0||w>=0)?(T.setVec2(V),L.setVec2(b),q.setMul(-1,V)):(T.setMul(-1,V),L.setVec2(V),q.setMul(-1,V)):(B=C>=0&&w>=0)?(T.setVec2(V),L.setVec2(V),q.setMul(-1,V)):(T.setMul(-1,V),L.setVec2(V),q.setMul(-1,b)):f?z?(B=w>=0||M>=0)?(T.setVec2(V),L.setMul(-1,V),q.setVec2(g)):(T.setMul(-1,V),L.setMul(-1,V),q.setVec2(V)):(B=w>=0&&M>=0)?(T.setVec2(V),L.setMul(-1,V),q.setVec2(V)):(T.setMul(-1,V),L.setMul(-1,g),q.setVec2(V)):(B=w>=0)?(T.setVec2(V),L.setMul(-1,V),q.setMul(-1,V)):(T.setMul(-1,V),L.setVec2(V),q.setVec2(V)),he.count=o.m_count;for(var N=0;N<o.m_count;++N)he.vertices[N]=x.mulVec2(n,o.m_vertices[N]),he.normals[N]=v.mulVec2(n.q,o.m_normals[N]);var k=2*l.polygonRadius;t.pointCount=0,ae.type=te.e_edgeA,ae.index=B?0:1,ae.separation=1/0;for(N=0;N<he.count;++N){(j=h.dot(T,h.sub(he.vertices[N],u)))<ae.separation&&(ae.separation=j)}if(ae.type!=te.e_unknown&&!(ae.separation>k)){ce.type=te.e_unknown,ce.index=-1,ce.separation=-1/0;var D=h.neo(-T.y,T.x);for(N=0;N<he.count;++N){var j,R=h.neg(he.normals[N]),O=h.dot(R,h.sub(he.vertices[N],u)),J=h.dot(R,h.sub(he.vertices[N],p));if((j=r.min(O,J))>k){ce.type=te.e_edgeB,ce.index=N,ce.separation=j;break}if(h.dot(R,D)>=0){if(h.dot(h.sub(R,q),T)<-l.angularSlop)continue}else if(h.dot(h.sub(R,L),T)<-l.angularSlop)continue;j>ce.separation&&(ce.type=te.e_edgeB,ce.index=N,ce.separation=j)}if(!(ce.type!=te.e_unknown&&ce.separation>k)){var Y;Y=ce.type==te.e_unknown?ae:ce.separation>.98*ae.separation+.001?ce:ae;var W=[new F,new F];if(Y.type==te.e_edgeA){t.type=m.e_faceA;var H=0,Z=h.dot(T,he.normals[0]);for(N=1;N<he.count;++N){var X=h.dot(T,he.normals[N]);X<Z&&(Z=X,H=N)}var K=H,G=K+1<he.count?K+1:0;W[0].v=he.vertices[K],W[0].id.cf.indexA=0,W[0].id.cf.indexB=K,W[0].id.cf.typeA=a.e_face,W[0].id.cf.typeB=a.e_vertex,W[1].v=he.vertices[G],W[1].id.cf.indexA=0,W[1].id.cf.indexB=G,W[1].id.cf.typeA=a.e_face,W[1].id.cf.typeB=a.e_vertex,B?(_e.i1=0,_e.i2=1,_e.v1=u,_e.v2=p,_e.normal.setVec2(V)):(_e.i1=1,_e.i2=0,_e.v1=p,_e.v2=u,_e.normal.setMul(-1,V))}else t.type=m.e_faceB,W[0].v=u,W[0].id.cf.indexA=0,W[0].id.cf.indexB=Y.index,W[0].id.cf.typeA=a.e_vertex,W[0].id.cf.typeB=a.e_face,W[1].v=p,W[1].id.cf.indexA=0,W[1].id.cf.indexB=Y.index,W[1].id.cf.typeA=a.e_vertex,W[1].id.cf.typeB=a.e_face,_e.i1=Y.index,_e.i2=_e.i1+1<he.count?_e.i1+1:0,_e.v1=he.vertices[_e.i1],_e.v2=he.vertices[_e.i2],_e.normal.setVec2(he.normals[_e.i1]);_e.sideNormal1.setNum(_e.normal.y,-_e.normal.x),_e.sideNormal2.setMul(-1,_e.sideNormal1),_e.sideOffset1=h.dot(_e.sideNormal1,_e.v1),_e.sideOffset2=h.dot(_e.sideNormal2,_e.v2);var U=[new F,new F],Q=[new F,new F];if(!(E(U,W,_e.sideNormal1,_e.sideOffset1,_e.i1)<l.maxManifoldPoints||E(Q,U,_e.sideNormal2,_e.sideOffset2,_e.i2)<l.maxManifoldPoints)){Y.type==te.e_edgeA?(t.localNormal=h.clone(_e.normal),t.localPoint=h.clone(_e.v1)):(t.localNormal=h.clone(o.m_normals[_e.i1]),t.localPoint=h.clone(o.m_vertices[_e.i1]));var $=0;for(N=0;N<l.maxManifoldPoints;++N){if(h.dot(_e.normal,h.sub(Q[N].v,_e.v1))<=k){var tt=t.points[$];Y.type==te.e_edgeA?(tt.localPoint=x.mulTVec2(n,Q[N].v),tt.id=Q[N].id):(tt.localPoint=Q[N].v,tt.id.cf.typeA=Q[N].id.cf.typeB,tt.id.cf.typeB=Q[N].id.cf.typeA,tt.id.cf.indexA=Q[N].id.cf.indexB,tt.id.cf.indexB=Q[N].id.cf.indexA),++$}}t.pointCount=$}}}}var ue={};ue.CollidePolygons=oe,ue.Settings=l,ue.Sweep=A,ue.Manifold=q,ue.Distance=H,ue.TimeOfImpact=_t,ue.DynamicTree=y,ue.stats=O,dt.TimeStep=ut,H.testOverlap=G,H.Input=J,H.Output=Y,H.Proxy=Z,H.Cache=W,_t.Input=at,_t.Output=ht,t.AABB=_,t.Body=T,t.Box=Bt,t.Chain=bt,t.Circle=Vt,t.CollideCircles=Ut,t.CollideEdgeCircle=Qt,t.CollideEdgePolygon=le,t.CollidePolygonCircle=se,t.CollidePolygons=oe,t.Contact=ot,t.Distance=H,t.DistanceJoint=Ct,t.DynamicTree=y,t.Edge=At,t.Fixture=C,t.FrictionJoint=It,t.GearJoint=qt,t.Joint=nt,t.Manifold=q,t.Mat22=L,t.Mat33=zt,t.Math=r,t.MotorJoint=kt,t.MouseJoint=jt,t.Polygon=gt,t.PrismaticJoint=Lt,t.PulleyJoint=Et,t.RevoluteJoint=St,t.RopeJoint=Jt,t.Rot=v,t.Serializer=Kt,t.Settings=l,t.Shape=B,t.Sweep=A,t.TimeOfImpact=_t,t.Transform=x,t.Vec2=h,t.Vec3=xt,t.WeldJoint=Wt,t.WheelJoint=Zt,t.World=vt,t.internal=ue,Object.defineProperty(t,"__esModule",{value:!0})}));
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