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n.Combine(e,t),n},m.prototype.Combine=function(e,t){this.lowerBound.x=Math.min(e.lowerBound.x,t.lowerBound.x),this.lowerBound.y=Math.min(e.lowerBound.y,t.lowerBound.y),this.upperBound.x=Math.max(e.upperBound.x,t.upperBound.x),this.upperBound.y=Math.max(e.upperBound.y,t.upperBound.y)},g.b2Bound=function(){},g.prototype.IsLower=function(){return(this.value&1)==0},g.prototype.IsUpper=function(){return(this.value&1)==1},g.prototype.Swap=function(e){var t=this.value,n=this.proxy,r=this.stabbingCount;this.value=e.value,this.proxy=e.proxy,this.stabbingCount=e.stabbingCount,e.value=t,e.proxy=n,e.stabbingCount=r},y.b2BoundValues=function(){},y.prototype.b2BoundValues=function(){this.lowerValues=new Vector_a2j_Number,this.lowerValues[0]=0,this.lowerValues[1]=0,this.upperValues=new Vector_a2j_Number,this.upperValues[0]=0,this.upperValues[1]=0},b.b2Collision=function(){},b.ClipSegmentToLine=function(e,t,n,r){r===undefined&&(r=0);var i,s=0;i=t[0];var o=i.v;i=t[1];var u=i.v,a=n.x*o.x+n.y*o.y-r,f=n.x*u.x+n.y*u.y-r;a<=0&&e[s++].Set(t[0]),f<=0&&e[s++].Set(t[1]);if(a*f<0){var l=a/(a-f);i=e[s];var c=i.v;c.x=o.x+l*(u.x-o.x),c.y=o.y+l*(u.y-o.y),i=e[s];var h;a>0?(h=t[0],i.id=h.id):(h=t[1],i.id=h.id),++s}return s},b.EdgeSeparation=function(e,t,n,r,i){n===undefined&&(n=0);var s=parseInt(e.m_vertexCount),o=e.m_vertices,u=e.m_normals,a=parseInt(r.m_vertexCount),f=r.m_vertices,l,c;l=t.R,c=u[n];var h=l.col1.x*c.x+l.col2.x*c.y,p=l.col1.y*c.x+l.col2.y*c.y;l=i.R;var d=l.col1.x*h+l.col1.y*p,v=l.col2.x*h+l.col2.y*p,m=0,g=Number.MAX_VALUE;for(var y=0;y<a;++y){c=f[y];var b=c.x*d+c.y*v;b<g&&(g=b,m=y)}c=o[n],l=t.R;var w=t.position.x+(l.col1.x*c.x+l.col2.x*c.y),E=t.position.y+(l.col1.y*c.x+l.col2.y*c.y);c=f[m],l=i.R;var S=i.position.x+(l.col1.x*c.x+l.col2.x*c.y),x=i.position.y+(l.col1.y*c.x+l.col2.y*c.y);S-=w,x-=E;var T=S*h+x*p;return T},b.FindMaxSeparation=function(e,t,n,r,i){var s=parseInt(t.m_vertexCount),o=t.m_normals,u,a;a=i.R,u=r.m_centroid;var f=i.position.x+(a.col1.x*u.x+a.col2.x*u.y),l=i.position.y+(a.col1.y*u.x+a.col2.y*u.y);a=n.R,u=t.m_centroid,f-=n.position.x+(a.col1.x*u.x+a.col2.x*u.y),l-=n.position.y+(a.col1.y*u.x+a.col2.y*u.y);var c=f*n.R.col1.x+l*n.R.col1.y,h=f*n.R.col2.x+l*n.R.col2.y,p=0,d=-Number.MAX_VALUE;for(var v=0;v<s;++v){u=o[v];var m=u.x*c+u.y*h;m>d&&(d=m,p=v)}var g=b.EdgeSeparation(t,n,p,r,i),y=parseInt(p-1>=0?p-1:s-1),w=b.EdgeSeparation(t,n,y,r,i),E=parseInt(p+1<s?p+1:0),S=b.EdgeSeparation(t,n,E,r,i),x=0,T=0,N=0;if(w>g&&w>S)N=-1,x=y,T=w;else{if(!(S>g))return e[0]=p,g;N=1,x=E,T=S}for(;;){N==-1?p=x-1>=0?x-1:s-1:p=x+1<s?x+1:0,g=b.EdgeSeparation(t,n,p,r,i);if(!(g>T))break;x=p,T=g}return e[0]=x,T},b.FindIncidentEdge=function(e,t,n,r,i,s){r===undefined&&(r=0);var o=parseInt(t.m_vertexCount),u=t.m_normals,a=parseInt(i.m_vertexCount),f=i.m_vertices,l=i.m_normals,c,h;c=n.R,h=u[r];var p=c.col1.x*h.x+c.col2.x*h.y,d=c.col1.y*h.x+c.col2.y*h.y;c=s.R;var v=c.col1.x*p+c.col1.y*d;d=c.col2.x*p+c.col2.y*d,p=v;var m=0,g=Number.MAX_VALUE;for(var y=0;y<a;++y){h=l[y];var b=p*h.x+d*h.y;b<g&&(g=b,m=y)}var w,E=parseInt(m),S=parseInt(E+1<a?E+1:0);w=e[0],h=f[E],c=s.R,w.v.x=s.position.x+(c.col1.x*h.x+c.col2.x*h.y),w.v.y=s.position.y+(c.col1.y*h.x+c.col2.y*h.y),w.id.features.referenceEdge=r,w.id.features.incidentEdge=E,w.id.features.incidentVertex=0,w=e[1],h=f[S],c=s.R,w.v.x=s.position.x+(c.col1.x*h.x+c.col2.x*h.y),w.v.y=s.position.y+(c.col1.y*h.x+c.col2.y*h.y),w.id.features.referenceEdge=r,w.id.features.incidentEdge=S,w.id.features.incidentVertex=1},b.MakeClipPointVector=function(){var e=new Vector(2);return e[0]=new z,e[1]=new z,e},b.CollidePolygons=function(e,t,n,r,i){var s;e.m_pointCount=0;var o=t.m_radius+r.m_radius,u=0;b.s_edgeAO[0]=u;var f=b.FindMaxSeparation(b.s_edgeAO,t,n,r,i);u=b.s_edgeAO[0];if(f>o)return;var l=0;b.s_edgeBO[0]=l;var c=b.FindMaxSeparation(b.s_edgeBO,r,i,t,n);l=b.s_edgeBO[0];if(c>o)return;var h,p,d,v,m=0,g=0,y=.98,w=.001,E;c>y*f+w?(h=r,p=t,d=i,v=n,m=l,e.m_type=O.e_faceB,g=1):(h=t,p=r,d=n,v=i,m=u,e.m_type=O.e_faceA,g=0);var S=b.s_incidentEdge;b.FindIncidentEdge(S,h,d,m,p,v);var x=parseInt(h.m_vertexCount),T=h.m_vertices,N=T[m],C;m+1<x?C=T[parseInt(m+1)]:C=T[0];var k=b.s_localTangent;k.Set(C.x-N.x,C.y-N.y),k.Normalize();var L=b.s_localNormal;L.x=k.y,L.y=-k.x;var A=b.s_planePoint;A.Set(.5*(N.x+C.x),.5*(N.y+C.y));var M=b.s_tangent;E=d.R,M.x=E.col1.x*k.x+E.col2.x*k.y,M.y=E.col1.y*k.x+E.col2.y*k.y;var _=b.s_tangent2;_.x=-M.x,_.y=-M.y;var D=b.s_normal;D.x=M.y,D.y=-M.x;var P=b.s_v11,H=b.s_v12;P.x=d.position.x+(E.col1.x*N.x+E.col2.x*N.y),P.y=d.position.y+(E.col1.y*N.x+E.col2.y*N.y),H.x=d.position.x+(E.col1.x*C.x+E.col2.x*C.y),H.y=d.position.y+(E.col1.y*C.x+E.col2.y*C.y);var B=D.x*P.x+D.y*P.y,j=-M.x*P.x-M.y*P.y+o,F=M.x*H.x+M.y*H.y+o,I=b.s_clipPoints1,q=b.s_clipPoints2,R=0;R=b.ClipSegmentToLine(I,S,_,j);if(R<2)return;R=b.ClipSegmentToLine(q,I,M,F);if(R<2)return;e.m_localPlaneNormal.SetV(L),e.m_localPoint.SetV(A);var U=0;for(var z=0;z<a.b2_maxManifoldPoints;++z){s=q[z];var W=D.x*s.v.x+D.y*s.v.y-B;if(W<=o){var X=e.m_points[U];E=v.R;var V=s.v.x-v.position.x,$=s.v.y-v.position.y;X.m_localPoint.x=V*E.col1.x+$*E.col1.y,X.m_localPoint.y=V*E.col2.x+$*E.col2.y,X.m_id.Set(s.id),X.m_id.features.flip=g,++U}}e.m_pointCount=U},b.CollideCircles=function(e,t,n,r,i){e.m_pointCount=0;var s,o;s=n.R,o=t.m_p;var u=n.position.x+(s.col1.x*o.x+s.col2.x*o.y),a=n.position.y+(s.col1.y*o.x+s.col2.y*o.y);s=i.R,o=r.m_p;var f=i.position.x+(s.col1.x*o.x+s.col2.x*o.y),l=i.position.y+(s.col1.y*o.x+s.col2.y*o.y),c=f-u,h=l-a,p=c*c+h*h,d=t.m_radius+r.m_radius;if(p>d*d)return;e.m_type=O.e_circles,e.m_localPoint.SetV(t.m_p),e.m_localPlaneNormal.SetZero(),e.m_pointCount=1,e.m_points[0].m_localPoint.SetV(r.m_p),e.m_points[0].m_id.key=0},b.CollidePolygonAndCircle=function(e,t,n,r,i){e.m_pointCount=0;var s,o=0,u=0,a=0,f=0,l,c;c=i.R,l=r.m_p;var h=i.position.x+(c.col1.x*l.x+c.col2.x*l.y),p=i.position.y+(c.col1.y*l.x+c.col2.y*l.y);o=h-n.position.x,u=p-n.position.y,c=n.R;var d=o*c.col1.x+u*c.col1.y,v=o*c.col2.x+u*c.col2.y,m=0,g=0,y=-Number.MAX_VALUE,b=t.m_radius+r.m_radius,w=parseInt(t.m_vertexCount),E=t.m_vertices,S=t.m_normals;for(var x=0;x<w;++x){l=E[x],o=d-l.x,u=v-l.y,l=S[x];var T=l.x*o+l.y*u;if(T>b)return;T>y&&(y=T,g=x)}var N=parseInt(g),C=parseInt(N+1<w?N+1:0),k=E[N],L=E[C];if(y<Number.MIN_VALUE){e.m_pointCount=1,e.m_type=O.e_faceA,e.m_localPlaneNormal.SetV(S[g]),e.m_localPoint.x=.5*(k.x+L.x),e.m_localPoint.y=.5*(k.y+L.y),e.m_points[0].m_localPoint.SetV(r.m_p),e.m_points[0].m_id.key=0;return}var A=(d-k.x)*(L.x-k.x)+(v-k.y)*(L.y-k.y),M=(d-L.x)*(k.x-L.x)+(v-L.y)*(k.y-L.y);if(A<=0){if((d-k.x)*(d-k.x)+(v-k.y)*(v-k.y)>b*b)return;e.m_pointCount=1,e.m_type=O.e_faceA,e.m_localPlaneNormal.x=d-k.x,e.m_localPlaneNormal.y=v-k.y,e.m_localPlaneNormal.Normalize(),e.m_localPoint.SetV(k),e.m_points[0].m_localPoint.SetV(r.m_p),e.m_points[0].m_id.key=0}else if(M<=0){if((d-L.x)*(d-L.x)+(v-L.y)*(v-L.y)>b*b)return;e.m_pointCount=1,e.m_type=O.e_faceA,e.m_localPlaneNormal.x=d-L.x,e.m_localPlaneNormal.y=v-L.y,e.m_localPlaneNormal.Normalize(),e.m_localPoint.SetV(L),e.m_points[0].m_localPoint.SetV(r.m_p),e.m_points[0].m_id.key=0}else{var _=.5*(k.x+L.x),D=.5*(k.y+L.y);y=(d-_)*S[N].x+(v-D)*S[N].y;if(y>b)return;e.m_pointCount=1,e.m_type=O.e_faceA,e.m_localPlaneNormal.x=S[N].x,e.m_localPlaneNormal.y=S[N].y,e.m_localPlaneNormal.Normalize(),e.m_localPoint.Set(_,D),e.m_points[0].m_localPoint.SetV(r.m_p),e.m_points[0].m_id.key=0}},b.TestOverlap=function(e,t){var n=t.lowerBound,r=e.upperBound,i=n.x-r.x,s=n.y-r.y;n=e.lowerBound,r=t.upperBound;var o=n.x-r.x,u=n.y-r.y;return i>0||s>0?!1:o>0||u>0?!1:!0},Box2D.postDefs.push(function(){Box2D.Collision.b2Collision.s_incidentEdge=b.MakeClipPointVector(),Box2D.Collision.b2Collision.s_clipPoints1=b.MakeClipPointVector(),Box2D.Collision.b2Collision.s_clipPoints2=b.MakeClipPointVector(),Box2D.Collision.b2Collision.s_edgeAO=new Vector_a2j_Number(1),Box2D.Collision.b2Collision.s_edgeBO=new Vector_a2j_Number(1),Box2D.Collision.b2Collision.s_localTangent=new d,Box2D.Collision.b2Collision.s_localNormal=new d,Box2D.Collision.b2Collision.s_planePoint=new d,Box2D.Collision.b2Collision.s_normal=new d,Box2D.Collision.b2Collision.s_tangent=new d,Box2D.Collision.b2Collision.s_tangent2=new d,Box2D.Collision.b2Collision.s_v11=new d,Box2D.Collision.b2Collision.s_v12=new d,Box2D.Collision.b2Collision.b2CollidePolyTempVec=new d,Box2D.Collision.b2Collision.b2_nullFeature=255}),w.b2ContactID=function(){this.features=new W},w.prototype.b2ContactID=function(){this.features._m_id=this},w.prototype.Set=function(e){this.key=e._key},w.prototype.Copy=function(){var e=new w;return e.key=this.key,e},Object.defineProperty(w.prototype,"key",{enumerable:!1,configurable:!0,get:function(){return this._key}}),Object.defineProperty(w.prototype,"key",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._key=e,this.features._referenceEdge=this._key&255,this.features._incidentEdge=(this._key&65280)>>8&255,this.features._incidentVertex=(this._key&16711680)>>16&255,this.features._flip=(this._key&4278190080)>>24&255}}),E.b2ContactPoint=function(){this.position=new d,this.velocity=new d,this.normal=new d,this.id=new w},S.b2Distance=function(){},S.Distance=function(e,t,n){++S.b2_gjkCalls;var r=n.proxyA,i=n.proxyB,s=n.transformA,o=n.transformB,u=S.s_simplex;u.ReadCache(t,r,s,i,o);var f=u.m_vertices,l=20,h=S.s_saveA,p=S.s_saveB,v=0,m=u.GetClosestPoint(),g=m.LengthSquared(),y=g,b=0,w,E=0;while(E<l){v=u.m_count;for(b=0;b<v;b++)h[b]=f[b].indexA,p[b]=f[b].indexB;switch(u.m_count){case 1:break;case 2:u.Solve2();break;case 3:u.Solve3();break;default:a.b2Assert(!1)}if(u.m_count==3)break;w=u.GetClosestPoint(),y=w.LengthSquared(),y>g,g=y;var x=u.GetSearchDirection();if(x.LengthSquared()<Number.MIN_VALUE*Number.MIN_VALUE)break;var T=f[u.m_count];T.indexA=r.GetSupport(c.MulTMV(s.R,x.GetNegative())),T.wA=c.MulX(s,r.GetVertex(T.indexA)),T.indexB=i.GetSupport(c.MulTMV(o.R,x)),T.wB=c.MulX(o,i.GetVertex(T.indexB)),T.w=c.SubtractVV(T.wB,T.wA),++E,++S.b2_gjkIters;var N=!1;for(b=0;b<v;b++)if(T.indexA==h[b]&&T.indexB==p[b]){N=!0;break}if(N)break;++u.m_count}S.b2_gjkMaxIters=c.Max(S.b2_gjkMaxIters,E),u.GetWitnessPoints(e.pointA,e.pointB),e.distance=c.SubtractVV(e.pointA,e.pointB).Length(),e.iterations=E,u.WriteCache(t);if(n.useRadii){var C=r.m_radius,k=i.m_radius;if(e.distance>C+k&&e.distance>Number.MIN_VALUE){e.distance-=C+k;var L=c.SubtractVV(e.pointB,e.pointA);L.Normalize(),e.pointA.x+=C*L.x,e.pointA.y+=C*L.y,e.pointB.x-=k*L.x,e.pointB.y-=k*L.y}else w=new d,w.x=.5*(e.pointA.x+e.pointB.x),w.y=.5*(e.pointA.y+e.pointB.y),e.pointA.x=e.pointB.x=w.x,e.pointA.y=e.pointB.y=w.y,e.distance=0}},Box2D.postDefs.push(function(){Box2D.Collision.b2Distance.s_simplex=new j,Box2D.Collision.b2Distance.s_saveA=new Vector_a2j_Number(3),Box2D.Collision.b2Distance.s_saveB=new Vector_a2j_Number(3)}),x.b2DistanceInput=function(){},T.b2DistanceOutput=function(){this.pointA=new d,this.pointB=new d},N.b2DistanceProxy=function(){},N.prototype.Set=function(t){switch(t.GetType()){case s.e_circleShape:var n=t instanceof e?t:null;this.m_vertices=new Vector(1,!0),this.m_vertices[0]=n.m_p,this.m_count=1,this.m_radius=n.m_radius;break;case s.e_polygonShape:var r=t instanceof i?t:null;this.m_vertices=r.m_vertices,this.m_count=r.m_vertexCount,this.m_radius=r.m_radius;break;default:a.b2Assert(!1)}},N.prototype.GetSupport=function(e){var t=0,n=this.m_vertices[0].x*e.x+this.m_vertices[0].y*e.y;for(var r=1;r<this.m_count;++r){var i=this.m_vertices[r].x*e.x+this.m_vertices[r].y*e.y;i>n&&(t=r,n=i)}return t},N.prototype.GetSupportVertex=function(e){var t=0,n=this.m_vertices[0].x*e.x+this.m_vertices[0].y*e.y;for(var r=1;r<this.m_count;++r){var i=this.m_vertices[r].x*e.x+this.m_vertices[r].y*e.y;i>n&&(t=r,n=i)}return this.m_vertices[t]},N.prototype.GetVertexCount=function(){return this.m_count},N.prototype.GetVertex=function(e){return e===undefined&&(e=0),a.b2Assert(0<=e&&e<this.m_count),this.m_vertices[e]},C.b2DynamicTree=function(){},C.prototype.b2DynamicTree=function(){this.m_root=null,this.m_freeList=null,this.m_path=0,this.m_insertionCount=0},C.prototype.CreateProxy=function(e,t){var n=this.AllocateNode(),r=a.b2_aabbExtension,i=a.b2_aabbExtension;return n.aabb.lowerBound.x=e.lowerBound.x-r,n.aabb.lowerBound.y=e.lowerBound.y-i,n.aabb.upperBound.x=e.upperBound.x+r,n.aabb.upperBound.y=e.upperBound.y+i,n.userData=t,this.InsertLeaf(n),n},C.prototype.DestroyProxy=function(e){this.RemoveLeaf(e),this.FreeNode(e)},C.prototype.MoveProxy=function(e,t,n){a.b2Assert(e.IsLeaf());if(e.aabb.Contains(t))return!1;this.RemoveLeaf(e);var r=a.b2_aabbExtension+a.b2_aabbMultiplier*(n.x>0?n.x:-n.x),i=a.b2_aabbExtension+a.b2_aabbMultiplier*(n.y>0?n.y:-n.y);return e.aabb.lowerBound.x=t.lowerBound.x-r,e.aabb.lowerBound.y=t.lowerBound.y-i,e.aabb.upperBound.x=t.upperBound.x+r,e.aabb.upperBound.y=t.upperBound.y+i,this.InsertLeaf(e),!0},C.prototype.Rebalance=function(e){e===undefined&&(e=0);if(this.m_root==null)return;for(var t=0;t<e;t++){var n=this.m_root,r=0;while(n.IsLeaf()==0)n=this.m_path>>r&1?n.child2:n.child1,r=r+1&31;++this.m_path,this.RemoveLeaf(n),this.InsertLeaf(n)}},C.prototype.GetFatAABB=function(e){return e.aabb},C.prototype.GetUserData=function(e){return e.userData},C.prototype.Query=function(e,t){if(this.m_root==null)return;var n=new Vector,r=0;n[r++]=this.m_root;while(r>0){var i=n[--r];if(i.aabb.TestOverlap(t))if(i.IsLeaf()){var s=e(i);if(!s)return}else n[r++]=i.child1,n[r++]=i.child2}},C.prototype.RayCast=function(e,t){if(this.m_root==null)return;var n=t.p1,r=t.p2,i=c.SubtractVV(n,r);i.Normalize();var s=c.CrossFV(1,i),o=c.AbsV(s),u=t.maxFraction,a=new m,f=0,l=0;f=n.x+u*(r.x-n.x),l=n.y+u*(r.y-n.y),a.lowerBound.x=Math.min(n.x,f),a.lowerBound.y=Math.min(n.y,l),a.upperBound.x=Math.max(n.x,f),a.upperBound.y=Math.max(n.y,l);var h=new Vector,p=0;h[p++]=this.m_root;while(p>0){var d=h[--p];if(d.aabb.TestOverlap(a)==0)continue;var v=d.aabb.GetCenter(),g=d.aabb.GetExtents(),y=Math.abs(s.x*(n.x-v.x)+s.y*(n.y-v.y))-o.x*g.x-o.y*g.y;if(y>0)continue;if(d.IsLeaf()){var b=new D;b.p1=t.p1,b.p2=t.p2,b.maxFraction=t.maxFraction,u=e(b,d);if(u==0)return;u>0&&(f=n.x+u*(r.x-n.x),l=n.y+u*(r.y-n.y),a.lowerBound.x=Math.min(n.x,f),a.lowerBound.y=Math.min(n.y,l),a.upperBound.x=Math.max(n.x,f),a.upperBound.y=Math.max(n.y,l))}else h[p++]=d.child1,h[p++]=d.child2}},C.prototype.AllocateNode=function(){if(this.m_freeList){var e=this.m_freeList;return this.m_freeList=e.parent,e.parent=null,e.child1=null,e.child2=null,e}return new L},C.prototype.FreeNode=function(e){e.parent=this.m_freeList,this.m_freeList=e},C.prototype.InsertLeaf=function(e){++this.m_insertionCount;if(this.m_root==null){this.m_root=e,this.m_root.parent=null;return}var t=e.aabb.GetCenter(),n=this.m_root;if(n.IsLeaf()==0)do{var r=n.child1,i=n.child2,s=Math.abs((r.aabb.lowerBound.x+r.aabb.upperBound.x)/2-t.x)+Math.abs((r.aabb.lowerBound.y+r.aabb.upperBound.y)/2-t.y),o=Math.abs((i.aabb.lowerBound.x+i.aabb.upperBound.x)/2-t.x)+Math.abs((i.aabb.lowerBound.y+i.aabb.upperBound.y)/2-t.y);s<o?n=r:n=i}while(n.IsLeaf()==0);var u=n.parent,a=this.AllocateNode();a.parent=u,a.userData=null,a.aabb.Combine(e.aabb,n.aabb);if(u){n.parent.child1==n?u.child1=a:u.child2=a,a.child1=n,a.child2=e,n.parent=a,e.parent=a;do{if(u.aabb.Contains(a.aabb))break;u.aabb.Combine(u.child1.aabb,u.child2.aabb),a=u,u=u.parent}while(u)}else a.child1=n,a.child2=e,n.parent=a,e.parent=a,this.m_root=a},C.prototype.RemoveLeaf=function(e){if(e==this.m_root){this.m_root=null;return}var t=e.parent,n=t.parent,r;t.child1==e?r=t.child2:r=t.child1;if(n){n.child1==t?n.child1=r:n.child2=r,r.parent=n,this.FreeNode(t);while(n){var i=n.aabb;n.aabb=m.Combine(n.child1.aabb,n.child2.aabb);if(i.Contains(n.aabb))break;n=n.parent}}else this.m_root=r,r.parent=null,this.FreeNode(t)},k.b2DynamicTreeBroadPhase=function(){this.m_tree=new C,this.m_moveBuffer=new Vector,this.m_pairBuffer=new Vector,this.m_pairCount=0},k.prototype.CreateProxy=function(e,t){var n=this.m_tree.CreateProxy(e,t);return++this.m_proxyCount,this.BufferMove(n),n},k.prototype.DestroyProxy=function(e){this.UnBufferMove(e),--this.m_proxyCount,this.m_tree.DestroyProxy(e)},k.prototype.MoveProxy=function(e,t,n){var r=this.m_tree.MoveProxy(e,t,n);r&&this.BufferMove(e)},k.prototype.TestOverlap=function(e,t){var n=this.m_tree.GetFatAABB(e),r=this.m_tree.GetFatAABB(t);return n.TestOverlap(r)},k.prototype.GetUserData=function(e){return this.m_tree.GetUserData(e)},k.prototype.GetFatAABB=function(e){return this.m_tree.GetFatAABB(e)},k.prototype.GetProxyCount=function(){return this.m_proxyCount},k.prototype.UpdatePairs=function(e){var t=this;t.m_pairCount=0;var n=0,r;for(n=0;n<t.m_moveBuffer.length;++n){r=t.m_moveBuffer[n];function i(e){if(e==r)return!0;t.m_pairCount==t.m_pairBuffer.length&&(t.m_pairBuffer[t.m_pairCount]=new A);var n=t.m_pairBuffer[t.m_pairCount];return n.proxyA=e<r?e:r,n.proxyB=e>=r?e:r,++t.m_pairCount,!0}var s=t.m_tree.GetFatAABB(r);t.m_tree.Query(i,s)}t.m_moveBuffer.length=0;for(var n=0;n<t.m_pairCount;){var o=t.m_pairBuffer[n],u=t.m_tree.GetUserData(o.proxyA),a=t.m_tree.GetUserData(o.proxyB);e(u,a),++n;while(n<t.m_pairCount){var f=t.m_pairBuffer[n];if(f.proxyA!=o.proxyA||f.proxyB!=o.proxyB)break;++n}}},k.prototype.Query=function(e,t){this.m_tree.Query(e,t)},k.prototype.RayCast=function(e,t){this.m_tree.RayCast(e,t)},k.prototype.Validate=function(){},k.prototype.Rebalance=function(e){e===undefined&&(e=0),this.m_tree.Rebalance(e)},k.prototype.BufferMove=function(e){this.m_moveBuffer[this.m_moveBuffer.length]=e},k.prototype.UnBufferMove=function(e){var t=parseInt(this.m_moveBuffer.indexOf(e));this.m_moveBuffer.splice(t,1)},k.prototype.ComparePairs=function(e,t){return 0},k.__implements={},k.__implements[X]=!0,L.b2DynamicTreeNode=function(){this.aabb=new m},L.prototype.IsLeaf=function(){return this.child1==null},A.b2DynamicTreePair=function(){},O.b2Manifold=function(){this.m_pointCount=0},O.prototype.b2Manifold=function(){this.m_points=new Vector(a.b2_maxManifoldPoints);for(var e=0;e<a.b2_maxManifoldPoints;e++)this.m_points[e]=new M;this.m_localPlaneNormal=new d,this.m_localPoint=new d},O.prototype.Reset=function(){for(var e=0;e<a.b2_maxManifoldPoints;e++)(this.m_points[e]instanceof M?this.m_points[e]:null).Reset();this.m_localPlaneNormal.SetZero(),this.m_localPoint.SetZero(),this.m_type=0,this.m_pointCount=0},O.prototype.Set=function(e){this.m_pointCount=e.m_pointCount;for(var t=0;t<a.b2_maxManifoldPoints;t++)(this.m_points[t]instanceof M?this.m_points[t]:null).Set(e.m_points[t]);this.m_localPlaneNormal.SetV(e.m_localPlaneNormal),this.m_localPoint.SetV(e.m_localPoint),this.m_type=e.m_type},O.prototype.Copy=function(){var e=new O;return e.Set(this),e},Box2D.postDefs.push(function(){Box2D.Collision.b2Manifold.e_circles=1,Box2D.Collision.b2Manifold.e_faceA=2,Box2D.Collision.b2Manifold.e_faceB=4}),M.b2ManifoldPoint=function(){this.m_localPoint=new d,this.m_id=new w},M.prototype.b2ManifoldPoint=function(){this.Reset()},M.prototype.Reset=function(){this.m_localPoint.SetZero(),this.m_normalImpulse=0,this.m_tangentImpulse=0,this.m_id.key=0},M.prototype.Set=function(e){this.m_localPoint.SetV(e.m_localPoint),this.m_normalImpulse=e.m_normalImpulse,this.m_tangentImpulse=e.m_tangentImpulse,this.m_id.Set(e.m_id)},_.b2Point=function(){this.p=new d},_.prototype.Support=function(e,t,n){return t===undefined&&(t=0),n===undefined&&(n=0),this.p},_.prototype.GetFirstVertex=function(e){return this.p},D.b2RayCastInput=function(){this.p1=new d,this.p2=new d},D.prototype.b2RayCastInput=function(e,t,n){e===undefined&&(e=null),t===undefined&&(t=null),n===undefined&&(n=1),e&&this.p1.SetV(e),t&&this.p2.SetV(t),this.maxFraction=n},P.b2RayCastOutput=function(){this.normal=new d},H.b2Segment=function(){this.p1=new d,this.p2=new d},H.prototype.TestSegment=function(e,t,n,r){r===undefined&&(r=0);var i=n.p1,s=n.p2.x-i.x,o=n.p2.y-i.y,u=this.p2.x-this.p1.x,a=this.p2.y-this.p1.y,f=a,l=-u,c=100*Number.MIN_VALUE,h=-(s*f+o*l);if(h>c){var p=i.x-this.p1.x,d=i.y-this.p1.y,v=p*f+d*l;if(0<=v&&v<=r*h){var m=-s*d+o*p;if(-c*h<=m&&m<=h*(1+c)){v/=h;var g=Math.sqrt(f*f+l*l);return f/=g,l/=g,e[0]=v,t.Set(f,l),!0}}}return!1},H.prototype.Extend=function(e){this.ExtendForward(e),this.ExtendBackward(e)},H.prototype.ExtendForward=function(e){var t=this.p2.x-this.p1.x,n=this.p2.y-this.p1.y,r=Math.min(t>0?(e.upperBound.x-this.p1.x)/t:t<0?(e.lowerBound.x-this.p1.x)/t:Number.POSITIVE_INFINITY,n>0?(e.upperBound.y-this.p1.y)/n:n<0?(e.lowerBound.y-this.p1.y)/n:Number.POSITIVE_INFINITY);this.p2.x=this.p1.x+t*r,this.p2.y=this.p1.y+n*r},H.prototype.ExtendBackward=function(e){var t=-this.p2.x+this.p1.x,n=-this.p2.y+this.p1.y,r=Math.min(t>0?(e.upperBound.x-this.p2.x)/t:t<0?(e.lowerBound.x-this.p2.x)/t:Number.POSITIVE_INFINITY,n>0?(e.upperBound.y-this.p2.y)/n:n<0?(e.lowerBound.y-this.p2.y)/n:Number.POSITIVE_INFINITY);this.p1.x=this.p2.x+t*r,this.p1.y=this.p2.y+n*r},B.b2SeparationFunction=function(){this.m_localPoint=new d,this.m_axis=new d},B.prototype.Initialize=function(e,t,n,r,i){this.m_proxyA=t,this.m_proxyB=r;var s=parseInt(e.count);a.b2Assert(0<s&&s<3);var o,u,f,l,h,p,v=0,m=0,g=0,y=0,b=0,w=0,E,S,x=0,T=0;if(s==1)this.m_type=B.e_points,o=this.m_proxyA.GetVertex(e.indexA[0]),l=this.m_proxyB.GetVertex(e.indexB[0]),S=o,E=n.R,v=n.position.x+(E.col1.x*S.x+E.col2.x*S.y),m=n.position.y+(E.col1.y*S.x+E.col2.y*S.y),S=l,E=i.R,g=i.position.x+(E.col1.x*S.x+E.col2.x*S.y),y=i.position.y+(E.col1.y*S.x+E.col2.y*S.y),this.m_axis.x=g-v,this.m_axis.y=y-m,this.m_axis.Normalize();else if(e.indexB[0]==e.indexB[1])this.m_type=B.e_faceA,u=this.m_proxyA.GetVertex(e.indexA[0]),f=this.m_proxyA.GetVertex(e.indexA[1]),l=this.m_proxyB.GetVertex(e.indexB[0]),this.m_localPoint.x=.5*(u.x+f.x),this.m_localPoint.y=.5*(u.y+f.y),this.m_axis=c.CrossVF(c.SubtractVV(f,u),1),this.m_axis.Normalize(),S=this.m_axis,E=n.R,b=E.col1.x*S.x+E.col2.x*S.y,w=E.col1.y*S.x+E.col2.y*S.y,S=this.m_localPoint,E=n.R,v=n.position.x+(E.col1.x*S.x+E.col2.x*S.y),m=n.position.y+(E.col1.y*S.x+E.col2.y*S.y),S=l,E=i.R,g=i.position.x+(E.col1.x*S.x+E.col2.x*S.y),y=i.position.y+(E.col1.y*S.x+E.col2.y*S.y),x=(g-v)*b+(y-m)*w,x<0&&this.m_axis.NegativeSelf();else if(e.indexA[0]==e.indexA[0])this.m_type=B.e_faceB,h=this.m_proxyB.GetVertex(e.indexB[0]),p=this.m_proxyB.GetVertex(e.indexB[1]),o=this.m_proxyA.GetVertex(e.indexA[0]),this.m_localPoint.x=.5*(h.x+p.x),this.m_localPoint.y=.5*(h.y+p.y),this.m_axis=c.CrossVF(c.SubtractVV(p,h),1),this.m_axis.Normalize(),S=this.m_axis,E=i.R,b=E.col1.x*S.x+E.col2.x*S.y,w=E.col1.y*S.x+E.col2.y*S.y,S=this.m_localPoint,E=i.R,g=i.position.x+(E.col1.x*S.x+E.col2.x*S.y),y=i.position.y+(E.col1.y*S.x+E.col2.y*S.y),S=o,E=n.R,v=n.position.x+(E.col1.x*S.x+E.col2.x*S.y),m=n.position.y+(E.col1.y*S.x+E.col2.y*S.y),x=(v-g)*b+(m-y)*w,x<0&&this.m_axis.NegativeSelf();else{u=this.m_proxyA.GetVertex(e.indexA[0]),f=this.m_proxyA.GetVertex(e.indexA[1]),h=this.m_proxyB.GetVertex(e.indexB[0]),p=this.m_proxyB.GetVertex(e.indexB[1]);var N=c.MulX(n,o),C=c.MulMV(n.R,c.SubtractVV(f,u)),k=c.MulX(i,l),L=c.MulMV(i.R,c.SubtractVV(p,h)),A=C.x*C.x+C.y*C.y,O=L.x*L.x+L.y*L.y,M=c.SubtractVV(L,C),_=C.x*M.x+C.y*M.y,D=L.x*M.x+L.y*M.y,P=C.x*L.x+C.y*L.y,H=A*O-P*P;x=0,H!=0&&(x=c.Clamp((P*D-_*O)/H,0,1));var j=(P*x+D)/O;j<0&&(j=0,x=c.Clamp((P-_)/A,0,1)),o=new d,o.x=u.x+x*(f.x-u.x),o.y=u.y+x*(f.y-u.y),l=new d,l.x=h.x+x*(p.x-h.x),l.y=h.y+x*(p.y-h.y),x==0||x==1?(this.m_type=B.e_faceB,this.m_axis=c.CrossVF(c.SubtractVV(p,h),1),this.m_axis.Normalize(),this.m_localPoint=l,S=this.m_axis,E=i.R,b=E.col1.x*S.x+E.col2.x*S.y,w=E.col1.y*S.x+E.col2.y*S.y,S=this.m_localPoint,E=i.R,g=i.position.x+(E.col1.x*S.x+E.col2.x*S.y),y=i.position.y+(E.col1.y*S.x+E.col2.y*S.y),S=o,E=n.R,v=n.position.x+(E.col1.x*S.x+E.col2.x*S.y),m=n.position.y+(E.col1.y*S.x+E.col2.y*S.y),T=(v-g)*b+(m-y)*w,x<0&&this.m_axis.NegativeSelf()):(this.m_type=B.e_faceA,this.m_axis=c.CrossVF(c.SubtractVV(f,u),1),this.m_localPoint=o,S=this.m_axis,E=n.R,b=E.col1.x*S.x+E.col2.x*S.y,w=E.col1.y*S.x+E.col2.y*S.y,S=this.m_localPoint,E=n.R,v=n.position.x+(E.col1.x*S.x+E.col2.x*S.y),m=n.position.y+(E.col1.y*S.x+E.col2.y*S.y),S=l,E=i.R,g=i.position.x+(E.col1.x*S.x+E.col2.x*S.y),y=i.position.y+(E.col1.y*S.x+E.col2.y*S.y),T=(g-v)*b+(y-m)*w,x<0&&this.m_axis.NegativeSelf())}},B.prototype.Evaluate=function(e,t){var n,r,i,s,o,u,f=0,l;switch(this.m_type){case B.e_points:return n=c.MulTMV(e.R,this.m_axis),r=c.MulTMV(t.R,this.m_axis.GetNegative()),i=this.m_proxyA.GetSupportVertex(n),s=this.m_proxyB.GetSupportVertex(r),o=c.MulX(e,i),u=c.MulX(t,s),f=(u.x-o.x)*this.m_axis.x+(u.y-o.y)*this.m_axis.y,f;case B.e_faceA:return l=c.MulMV(e.R,this.m_axis),o=c.MulX(e,this.m_localPoint),r=c.MulTMV(t.R,l.GetNegative()),s=this.m_proxyB.GetSupportVertex(r),u=c.MulX(t,s),f=(u.x-o.x)*l.x+(u.y-o.y)*l.y,f;case B.e_faceB:return l=c.MulMV(t.R,this.m_axis),u=c.MulX(t,this.m_localPoint),n=c.MulTMV(e.R,l.GetNegative()),i=this.m_proxyA.GetSupportVertex(n),o=c.MulX(e,i),f=(o.x-u.x)*l.x+(o.y-u.y)*l.y,f;default:return a.b2Assert(!1),0}},Box2D.postDefs.push(function(){Box2D.Collision.b2SeparationFunction.e_points=1,Box2D.Collision.b2SeparationFunction.e_faceA=2,Box2D.Collision.b2SeparationFunction.e_faceB=4}),j.b2Simplex=function(){this.m_v1=new I,this.m_v2=new I,this.m_v3=new I,this.m_vertices=new Vector(3)},j.prototype.b2Simplex=function(){this.m_vertices[0]=this.m_v1,this.m_vertices[1]=this.m_v2,this.m_vertices[2]=this.m_v3},j.prototype.ReadCache=function(e,t,n,r,i){a.b2Assert(0<=e.count&&e.count<=3);var s,o;this.m_count=e.count;var u=this.m_vertices;for(var f=0;f<this.m_count;f++){var l=u[f];l.indexA=e.indexA[f],l.indexB=e.indexB[f],s=t.GetVertex(l.indexA),o=r.GetVertex(l.indexB),l.wA=c.MulX(n,s),l.wB=c.MulX(i,o),l.w=c.SubtractVV(l.wB,l.wA),l.a=0}if(this.m_count>1){var h=e.metric,p=this.GetMetric();if(p<.5*h||2*h<p||p<Number.MIN_VALUE)this.m_count=0}this.m_count==0&&(l=u[0],l.indexA=0,l.indexB=0,s=t.GetVertex(0),o=r.GetVertex(0),l.wA=c.MulX(n,s),l.wB=c.MulX(i,o),l.w=c.SubtractVV(l.wB,l.wA),this.m_count=1)},j.prototype.WriteCache=function(e){e.metric=this.GetMetric(),e.count=Box2D.parseUInt(this.m_count);var t=this.m_vertices;for(var n=0;n<this.m_count;n++)e.indexA[n]=Box2D.parseUInt(t[n].indexA),e.indexB[n]=Box2D.parseUInt(t[n].indexB)},j.prototype.GetSearchDirection=function(){switch(this.m_count){case 1:return this.m_v1.w.GetNegative();case 2:var e=c.SubtractVV(this.m_v2.w,this.m_v1.w),t=c.CrossVV(e,this.m_v1.w.GetNegative());return t>0?c.CrossFV(1,e):c.CrossVF(e,1);default:return a.b2Assert(!1),new d}},j.prototype.GetClosestPoint=function(){switch(this.m_count){case 0:return a.b2Assert(!1),new d;case 1:return this.m_v1.w;case 2:return new d(this.m_v1.a*this.m_v1.w.x+this.m_v2.a*this.m_v2.w.x,this.m_v1.a*this.m_v1.w.y+this.m_v2.a*this.m_v2.w.y);default:return a.b2Assert(!1),new d}},j.prototype.GetWitnessPoints=function(e,t){switch(this.m_count){case 0:a.b2Assert(!1);break;case 1:e.SetV(this.m_v1.wA),t.SetV(this.m_v1.wB);break;case 2:e.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x,e.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y,t.x=this.m_v1.a*this.m_v1.wB.x+this.m_v2.a*this.m_v2.wB.x,t.y=this.m_v1.a*this.m_v1.wB.y+this.m_v2.a*this.m_v2.wB.y;break;case 3:t.x=e.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x+this.m_v3.a*this.m_v3.wA.x,t.y=e.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y+this.m_v3.a*this.m_v3.wA.y;break;default:a.b2Assert(!1)}},j.prototype.GetMetric=function(){switch(this.m_count){case 0:return a.b2Assert(!1),0;case 1:return 0;case 2:return c.SubtractVV(this.m_v1.w,this.m_v2.w).Length();case 3:return c.CrossVV(c.SubtractVV(this.m_v2.w,this.m_v1.w),c.SubtractVV(this.m_v3.w,this.m_v1.w));default:return a.b2Assert(!1),0}},j.prototype.Solve2=function(){var e=this.m_v1.w,t=this.m_v2.w,n=c.SubtractVV(t,e),r=-(e.x*n.x+e.y*n.y);if(r<=0){this.m_v1.a=1,this.m_count=1;return}var i=t.x*n.x+t.y*n.y;if(i<=0){this.m_v2.a=1,this.m_count=1,this.m_v1.Set(this.m_v2);return}var s=1/(i+r);this.m_v1.a=i*s,this.m_v2.a=r*s,this.m_count=2},j.prototype.Solve3=function(){var e=this.m_v1.w,t=this.m_v2.w,n=this.m_v3.w,r=c.SubtractVV(t,e),i=c.Dot(e,r),s=c.Dot(t,r),o=s,u=-i,a=c.SubtractVV(n,e),f=c.Dot(e,a),l=c.Dot(n,a),h=l,p=-f,d=c.SubtractVV(n,t),v=c.Dot(t,d),m=c.Dot(n,d),g=m,y=-v,b=c.CrossVV(r,a),w=b*c.CrossVV(t,n),E=b*c.CrossVV(n,e),S=b*c.CrossVV(e,t);if(u<=0&&p<=0){this.m_v1.a=1,this.m_count=1;return}if(o>0&&u>0&&S<=0){var x=1/(o+u);this.m_v1.a=o*x,this.m_v2.a=u*x,this.m_count=2;return}if(h>0&&p>0&&E<=0){var T=1/(h+p);this.m_v1.a=h*T,this.m_v3.a=p*T,this.m_count=2,this.m_v2.Set(this.m_v3);return}if(o<=0&&y<=0){this.m_v2.a=1,this.m_count=1,this.m_v1.Set(this.m_v2);return}if(h<=0&&g<=0){this.m_v3.a=1,this.m_count=1,this.m_v1.Set(this.m_v3);return}if(g>0&&y>0&&w<=0){var N=1/(g+y);this.m_v2.a=g*N,this.m_v3.a=y*N,this.m_count=2,this.m_v1.Set(this.m_v3);return}var C=1/(w+E+S);this.m_v1.a=w*C,this.m_v2.a=E*C,this.m_v3.a=S*C,this.m_count=3},F.b2SimplexCache=function(){this.indexA=new Vector_a2j_Number(3),this.indexB=new Vector_a2j_Number(3)},I.b2SimplexVertex=function(){},I.prototype.Set=function(e){this.wA.SetV(e.wA),this.wB.SetV(e.wB),this.w.SetV(e.w),this.a=e.a,this.indexA=e.indexA,this.indexB=e.indexB},q.b2TimeOfImpact=function(){},q.TimeOfImpact=function(e){++q.b2_toiCalls;var t=e.proxyA,n=e.proxyB,r=e.sweepA,i=e.sweepB;a.b2Assert(r.t0==i.t0),a.b2Assert(1-r.t0>Number.MIN_VALUE);var s=t.m_radius+n.m_radius,o=e.tolerance,u=0,f=1e3,l=0,h=0;q.s_cache.count=0,q.s_distanceInput.useRadii=!1;for(;;){r.GetTransform(q.s_xfA,u),i.GetTransform(q.s_xfB,u),q.s_distanceInput.proxyA=t,q.s_distanceInput.proxyB=n,q.s_distanceInput.transformA=q.s_xfA,q.s_distanceInput.transformB=q.s_xfB,S.Distance(q.s_distanceOutput,q.s_cache,q.s_distanceInput);if(q.s_distanceOutput.distance<=0){u=1;break}q.s_fcn.Initialize(q.s_cache,t,q.s_xfA,n,q.s_xfB);var p=q.s_fcn.Evaluate(q.s_xfA,q.s_xfB);if(p<=0){u=1;break}l==0&&(p>s?h=c.Max(s-o,.75*s):h=c.Max(p-o,.02*s));if(p-h<.5*o){if(l==0){u=1;break}break}var d=u,v=u,m=1,g=p;r.GetTransform(q.s_xfA,m),i.GetTransform(q.s_xfB,m);var y=q.s_fcn.Evaluate(q.s_xfA,q.s_xfB);if(y>=h){u=1;break}var b=0;for(;;){var w=0;b&1?w=v+(h-g)*(m-v)/(y-g):w=.5*(v+m),r.GetTransform(q.s_xfA,w),i.GetTransform(q.s_xfB,w);var E=q.s_fcn.Evaluate(q.s_xfA,q.s_xfB);if(c.Abs(E-h)<.025*o){d=w;break}E>h?(v=w,g=E):(m=w,y=E),++b,++q.b2_toiRootIters;if(b==50)break}q.b2_toiMaxRootIters=c.Max(q.b2_toiMaxRootIters,b);if(d<(1+100*Number.MIN_VALUE)*u)break;u=d,l++,++q.b2_toiIters;if(l==f)break}return q.b2_toiMaxIters=c.Max(q.b2_toiMaxIters,l),u},Box2D.postDefs.push(function(){Box2D.Collision.b2TimeOfImpact.b2_toiCalls=0,Box2D.Collision.b2TimeOfImpact.b2_toiIters=0,Box2D.Collision.b2TimeOfImpact.b2_toiMaxIters=0,Box2D.Collision.b2TimeOfImpact.b2_toiRootIters=0,Box2D.Collision.b2TimeOfImpact.b2_toiMaxRootIters=0,Box2D.Collision.b2TimeOfImpact.s_cache=new F,Box2D.Collision.b2TimeOfImpact.s_distanceInput=new x,Box2D.Collision.b2TimeOfImpact.s_xfA=new p,Box2D.Collision.b2TimeOfImpact.s_xfB=new p,Box2D.Collision.b2TimeOfImpact.s_fcn=new B,Box2D.Collision.b2TimeOfImpact.s_distanceOutput=new T}),R.b2TOIInput=function(){this.proxyA=new N,this.proxyB=new N,this.sweepA=new h,this.sweepB=new h},U.b2WorldManifold=function(){this.m_normal=new d},U.prototype.b2WorldManifold=function(){this.m_points=new Vector(a.b2_maxManifoldPoints);for(var e=0;e<a.b2_maxManifoldPoints;e++)this.m_points[e]=new d},U.prototype.Initialize=function(e,t,n,r,i){n===undefined&&(n=0),i===undefined&&(i=0);if(e.m_pointCount==0)return;var s=0,o,u,a=0,f=0,l=0,c=0,h=0,p=0;switch(e.m_type){case O.e_circles:u=t.R,o=e.m_localPoint;var d=t.position.x+u.col1.x*o.x+u.col2.x*o.y,v=t.position.y+u.col1.y*o.x+u.col2.y*o.y;u=r.R,o=e.m_points[0].m_localPoint;var m=r.position.x+u.col1.x*o.x+u.col2.x*o.y,g=r.position.y+u.col1.y*o.x+u.col2.y*o.y,y=m-d,b=g-v,w=y*y+b*b;if(w>Number.MIN_VALUE*Number.MIN_VALUE){var E=Math.sqrt(w);this.m_normal.x=y/E,this.m_normal.y=b/E}else this.m_normal.x=1,this.m_normal.y=0;var S=d+n*this.m_normal.x,x=v+n*this.m_normal.y,T=m-i*this.m_normal.x,N=g-i*this.m_normal.y;this.m_points[0].x=.5*(S+T),this.m_points[0].y=.5*(x+N);break;case O.e_faceA:u=t.R,o=e.m_localPlaneNormal,a=u.col1.x*o.x+u.col2.x*o.y,f=u.col1.y*o.x+u.col2.y*o.y,u=t.R,o=e.m_localPoint,l=t.position.x+u.col1.x*o.x+u.col2.x*o.y,c=t.position.y+u.col1.y*o.x+u.col2.y*o.y,this.m_normal.x=a,this.m_normal.y=f;for(s=0;s<e.m_pointCount;s++)u=r.R,o=e.m_points[s].m_localPoint,h=r.position.x+u.col1.x*o.x+u.col2.x*o.y,p=r.position.y+u.col1.y*o.x+u.col2.y*o.y,this.m_points[s].x=h+.5*(n-(h-l)*a-(p-c)*f-i)*a,this.m_points[s].y=p+.5*(n-(h-l)*a-(p-c)*f-i)*f;break;case O.e_faceB:u=r.R,o=e.m_localPlaneNormal,a=u.col1.x*o.x+u.col2.x*o.y,f=u.col1.y*o.x+u.col2.y*o.y,u=r.R,o=e.m_localPoint,l=r.position.x+u.col1.x*o.x+u.col2.x*o.y,c=r.position.y+u.col1.y*o.x+u.col2.y*o.y,this.m_normal.x=-a,this.m_normal.y=-f;for(s=0;s<e.m_pointCount;s++)u=t.R,o=e.m_points[s].m_localPoint,h=t.position.x+u.col1.x*o.x+u.col2.x*o.y,p=t.position.y+u.col1.y*o.x+u.col2.y*o.y,this.m_points[s].x=h+.5*(i-(h-l)*a-(p-c)*f-n)*a,this.m_points[s].y=p+.5*(i-(h-l)*a-(p-c)*f-n)*f}},z.ClipVertex=function(){this.v=new d,this.id=new w},z.prototype.Set=function(e){this.v.SetV(e.v),this.id.Set(e.id)},W.Features=function(){},Object.defineProperty(W.prototype,"referenceEdge",{enumerable:!1,configurable:!0,get:function(){return this._referenceEdge}}),Object.defineProperty(W.prototype,"referenceEdge",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._referenceEdge=e,this._m_id._key=this._m_id._key&4294967040|this._referenceEdge&255}}),Object.defineProperty(W.prototype,"incidentEdge",{enumerable:!1,configurable:!0,get:function(){return this._incidentEdge}}),Object.defineProperty(W.prototype,"incidentEdge",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._incidentEdge=e,this._m_id._key=this._m_id._key&4294902015|this._incidentEdge<<8&65280}}),Object.defineProperty(W.prototype,"incidentVertex",{enumerable:!1,configurable:!0,get:function(){return this._incidentVertex}}),Object.defineProperty(W.prototype,"incidentVertex",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._incidentVertex=e,this._m_id._key=this._m_id._key&4278255615|this._incidentVertex<<16&16711680}}),Object.defineProperty(W.prototype,"flip",{enumerable:!1,configurable:!0,get:function(){return this._flip}}),Object.defineProperty(W.prototype,"flip",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._flip=e,this._m_id._key=this._m_id._key&16777215|this._flip<<24&4278190080}})}(),function(){var e=Box2D.Common.b2Color,t=Box2D.Common.b2internal,n=Box2D.Common.b2Settings,r=Box2D.Collision.Shapes.b2CircleShape,i=Box2D.Collision.Shapes.b2EdgeChainDef,s=Box2D.Collision.Shapes.b2EdgeShape,o=Box2D.Collision.Shapes.b2MassData,u=Box2D.Collision.Shapes.b2PolygonShape,a=Box2D.Collision.Shapes.b2Shape,f=Box2D.Common.Math.b2Mat22,l=Box2D.Common.Math.b2Mat33,c=Box2D.Common.Math.b2Math,h=Box2D.Common.Math.b2Sweep,p=Box2D.Common.Math.b2Transform,d=Box2D.Common.Math.b2Vec2,v=Box2D.Common.Math.b2Vec3,m=Box2D.Dynamics.b2Body,g=Box2D.Dynamics.b2BodyDef,y=Box2D.Dynamics.b2ContactFilter,b=Box2D.Dynamics.b2ContactImpulse,w=Box2D.Dynamics.b2ContactListener,E=Box2D.Dynamics.b2ContactManager,S=Box2D.Dynamics.b2DebugDraw,x=Box2D.Dynamics.b2DestructionListener,T=Box2D.Dynamics.b2FilterData,N=Box2D.Dynamics.b2Fixture,C=Box2D.Dynamics.b2FixtureDef,k=Box2D.Dynamics.b2Island,L=Box2D.Dynamics.b2TimeStep,A=Box2D.Dynamics.b2World,O=Box2D.Collision.b2AABB,M=Box2D.Collision.b2Bound,_=Box2D.Collision.b2BoundValues,D=Box2D.Collision.b2Collision,P=Box2D.Collision.b2ContactID,H=Box2D.Collision.b2ContactPoint,B=Box2D.Collision.b2Distance,j=Box2D.Collision.b2DistanceInput,F=Box2D.Collision.b2DistanceOutput,I=Box2D.Collision.b2DistanceProxy,q=Box2D.Collision.b2DynamicTree,R=Box2D.Collision.b2DynamicTreeBroadPhase,U=Box2D.Collision.b2DynamicTreeNode,z=Box2D.Collision.b2DynamicTreePair,W=Box2D.Collision.b2Manifold,X=Box2D.Collision.b2ManifoldPoint,V=Box2D.Collision.b2Point,$=Box2D.Collision.b2RayCastInput,J=Box2D.Collision.b2RayCastOutput,K=Box2D.Collision.b2Segment,Q=Box2D.Collision.b2SeparationFunction,G=Box2D.Collision.b2Simplex,Y=Box2D.Collision.b2SimplexCache,Z=Box2D.Collision.b2SimplexVertex,et=Box2D.Collision.b2TimeOfImpact,tt=Box2D.Collision.b2TOIInput,nt=Box2D.Collision.b2WorldManifold,rt=Box2D.Collision.ClipVertex,it=Box2D.Collision.Features,st=Box2D.Collision.IBroadPhase;Box2D.inherit(r,Box2D.Collision.Shapes.b2Shape),r.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype,r.b2CircleShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments),this.m_p=new d},r.prototype.Copy=function(){var e=new r;return e.Set(this),e},r.prototype.Set=function(e){this.__super.Set.call(this,e);if(Box2D.is(e,r)){var t=e instanceof r?e:null;this.m_p.SetV(t.m_p)}},r.prototype.TestPoint=function(e,t){var n=e.R,r=e.position.x+(n.col1.x*this.m_p.x+n.col2.x*this.m_p.y),i=e.position.y+(n.col1.y*this.m_p.x+n.col2.y*this.m_p.y);return r=t.x-r,i=t.y-i,r*r+i*i<=this.m_radius*this.m_radius},r.prototype.RayCast=function(e,t,n){var r=n.R,i=n.position.x+(r.col1.x*this.m_p.x+r.col2.x*this.m_p.y),s=n.position.y+(r.col1.y*this.m_p.x+r.col2.y*this.m_p.y),o=t.p1.x-i,u=t.p1.y-s,a=o*o+u*u-this.m_radius*this.m_radius,f=t.p2.x-t.p1.x,l=t.p2.y-t.p1.y,c=o*f+u*l,h=f*f+l*l,p=c*c-h*a;if(p<0||h<Number.MIN_VALUE)return!1;var d=-(c+Math.sqrt(p));return 0<=d&&d<=t.maxFraction*h?(d/=h,e.fraction=d,e.normal.x=o+d*f,e.normal.y=u+d*l,e.normal.Normalize(),!0):!1},r.prototype.ComputeAABB=function(e,t){var n=t.R,r=t.position.x+(n.col1.x*this.m_p.x+n.col2.x*this.m_p.y),i=t.position.y+(n.col1.y*this.m_p.x+n.col2.y*this.m_p.y);e.lowerBound.Set(r-this.m_radius,i-this.m_radius),e.upperBound.Set(r+this.m_radius,i+this.m_radius)},r.prototype.ComputeMass=function(e,t){t===undefined&&(t=0),e.mass=t*n.b2_pi*this.m_radius*this.m_radius,e.center.SetV(this.m_p),e.I=e.mass*(.5*this.m_radius*this.m_radius+(this.m_p.x*this.m_p.x+this.m_p.y*this.m_p.y))},r.prototype.ComputeSubmergedArea=function(e,t,n,r){t===undefined&&(t=0);var i=c.MulX(n,this.m_p),s=-(c.Dot(e,i)-t);if(s<-this.m_radius+Number.MIN_VALUE)return 0;if(s>this.m_radius)return r.SetV(i),Math.PI*this.m_radius*this.m_radius;var o=this.m_radius*this.m_radius,u=s*s,a=o*(Math.asin(s/this.m_radius)+Math.PI/2)+s*Math.sqrt(o-u),f=-2/3*Math.pow(o-u,1.5)/a;return r.x=i.x+e.x*f,r.y=i.y+e.y*f,a},r.prototype.GetLocalPosition=function(){return this.m_p},r.prototype.SetLocalPosition=function(e){this.m_p.SetV(e)},r.prototype.GetRadius=function(){return this.m_radius},r.prototype.SetRadius=function(e){e===undefined&&(e=0),this.m_radius=e},r.prototype.b2CircleShape=function(e){e===undefined&&(e=0),this.__super.b2Shape.call(this),this.m_type=a.e_circleShape,this.m_radius=e},i.b2EdgeChainDef=function(){},i.prototype.b2EdgeChainDef=function(){this.vertexCount=0,this.isALoop=!0,this.vertices=[]},Box2D.inherit(s,Box2D.Collision.Shapes.b2Shape),s.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype,s.b2EdgeShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments),this.s_supportVec=new d,this.m_v1=new d,this.m_v2=new d,this.m_coreV1=new d,this.m_coreV2=new d,this.m_normal=new d,this.m_direction=new d,this.m_cornerDir1=new d,this.m_cornerDir2=new d},s.prototype.TestPoint=function(e,t){return!1},s.prototype.RayCast=function(e,t,n){var r,i=t.p2.x-t.p1.x,s=t.p2.y-t.p1.y;r=n.R;var o=n.position.x+(r.col1.x*this.m_v1.x+r.col2.x*this.m_v1.y),u=n.position.y+(r.col1.y*this.m_v1.x+r.col2.y*this.m_v1.y),a=n.position.y+(r.col1.y*this.m_v2.x+r.col2.y*this.m_v2.y)-u,f=-(n.position.x+(r.col1.x*this.m_v2.x+r.col2.x*this.m_v2.y)-o),l=100*Number.MIN_VALUE,c=-(i*a+s*f);if(c>l){var h=t.p1.x-o,p=t.p1.y-u,d=h*a+p*f;if(0<=d&&d<=t.maxFraction*c){var v=-i*p+s*h;if(-l*c<=v&&v<=c*(1+l)){d/=c,e.fraction=d;var m=Math.sqrt(a*a+f*f);return e.normal.x=a/m,e.normal.y=f/m,!0}}}return!1},s.prototype.ComputeAABB=function(e,t){var n=t.R,r=t.position.x+(n.col1.x*this.m_v1.x+n.col2.x*this.m_v1.y),i=t.position.y+(n.col1.y*this.m_v1.x+n.col2.y*this.m_v1.y),s=t.position.x+(n.col1.x*this.m_v2.x+n.col2.x*this.m_v2.y),o=t.position.y+(n.col1.y*this.m_v2.x+n.col2.y*this.m_v2.y);r<s?(e.lowerBound.x=r,e.upperBound.x=s):(e.lowerBound.x=s,e.upperBound.x=r),i<o?(e.lowerBound.y=i,e.upperBound.y=o):(e.lowerBound.y=o,e.upperBound.y=i)},s.prototype.ComputeMass=function(e,t){t===undefined&&(t=0),e.mass=0,e.center.SetV(this.m_v1),e.I=0},s.prototype.ComputeSubmergedArea=function(e,t,n,r){t===undefined&&(t=0);var i=new d(e.x*t,e.y*t),s=c.MulX(n,this.m_v1),o=c.MulX(n,this.m_v2),u=c.Dot(e,s)-t,a=c.Dot(e,o)-t;if(u>0){if(a>0)return 0;s.x=-a/(u-a)*s.x+u/(u-a)*o.x,s.y=-a/(u-a)*s.y+u/(u-a)*o.y}else a>0&&(o.x=-a/(u-a)*s.x+u/(u-a)*o.x,o.y=-a/(u-a)*s.y+u/(u-a)*o.y);return r.x=(i.x+s.x+o.x)/3,r.y=(i.y+s.y+o.y)/3,.5*((s.x-i.x)*(o.y-i.y)-(s.y-i.y)*(o.x-i.x))},s.prototype.GetLength=function(){return this.m_length},s.prototype.GetVertex1=function(){return this.m_v1},s.prototype.GetVertex2=function(){return this.m_v2},s.prototype.GetCoreVertex1=function(){return this.m_coreV1},s.prototype.GetCoreVertex2=function(){return this.m_coreV2},s.prototype.GetNormalVector=function(){return this.m_normal},s.prototype.GetDirectionVector=function(){return this.m_direction},s.prototype.GetCorner1Vector=function(){return this.m_cornerDir1},s.prototype.GetCorner2Vector=function(){return this.m_cornerDir2},s.prototype.Corner1IsConvex=function(){return this.m_cornerConvex1},s.prototype.Corner2IsConvex=function(){return this.m_cornerConvex2},s.prototype.GetFirstVertex=function(e){var t=e.R;return new d(e.position.x+(t.col1.x*this.m_coreV1.x+t.col2.x*this.m_coreV1.y),e.position.y+(t.col1.y*this.m_coreV1.x+t.col2.y*this.m_coreV1.y))},s.prototype.GetNextEdge=function(){return this.m_nextEdge},s.prototype.GetPrevEdge=function(){return this.m_prevEdge},s.prototype.Support=function(e,t,n){t===undefined&&(t=0),n===undefined&&(n=0);var r=e.R,i=e.position.x+(r.col1.x*this.m_coreV1.x+r.col2.x*this.m_coreV1.y),s=e.position.y+(r.col1.y*this.m_coreV1.x+r.col2.y*this.m_coreV1.y),o=e.position.x+(r.col1.x*this.m_coreV2.x+r.col2.x*this.m_coreV2.y),u=e.position.y+(r.col1.y*this.m_coreV2.x+r.col2.y*this.m_coreV2.y);return i*t+s*n>o*t+u*n?(this.s_supportVec.x=i,this.s_supportVec.y=s):(this.s_supportVec.x=o,this.s_supportVec.y=u),this.s_supportVec},s.prototype.b2EdgeShape=function(e,t){this.__super.b2Shape.call(this),this.m_type=a.e_edgeShape,this.m_prevEdge=null,this.m_nextEdge=null,this.m_v1=e,this.m_v2=t,this.m_direction.Set(this.m_v2.x-this.m_v1.x,this.m_v2.y-this.m_v1.y),this.m_length=this.m_direction.Normalize(),this.m_normal.Set(this.m_direction.y,-this.m_direction.x),this.m_coreV1.Set(-n.b2_toiSlop*(this.m_normal.x-this.m_direction.x)+this.m_v1.x,-n.b2_toiSlop*(this.m_normal.y-this.m_direction.y)+this.m_v1.y),this.m_coreV2.Set(-n.b2_toiSlop*(this.m_normal.x+this.m_direction.x)+this.m_v2.x,-n.b2_toiSlop*(this.m_normal.y+this.m_direction.y)+this.m_v2.y),this.m_cornerDir1=this.m_normal,this.m_cornerDir2.Set(-this.m_normal.x,-this.m_normal.y)},s.prototype.SetPrevEdge=function(e,t,n,r){this.m_prevEdge=e,this.m_coreV1=t,this.m_cornerDir1=n,this.m_cornerConvex1=r},s.prototype.SetNextEdge=function(e,t,n,r){this.m_nextEdge=e,this.m_coreV2=t,this.m_cornerDir2=n,this.m_cornerConvex2=r},o.b2MassData=function(){this.mass=0,this.center=new d(0,0),this.I=0},Box2D.inherit(u,Box2D.Collision.Shapes.b2Shape),u.prototype.__super=Box2D.Collision.Shapes.b2Shape.prototype,u.b2PolygonShape=function(){Box2D.Collision.Shapes.b2Shape.b2Shape.apply(this,arguments)},u.prototype.Copy=function(){var e=new u;return e.Set(this),e},u.prototype.Set=function(e){this.__super.Set.call(this,e);if(Box2D.is(e,u)){var t=e instanceof u?e:null;this.m_centroid.SetV(t.m_centroid),this.m_vertexCount=t.m_vertexCount,this.Reserve(this.m_vertexCount);for(var n=0;n<this.m_vertexCount;n++)this.m_vertices[n].SetV(t.m_vertices[n]),this.m_normals[n].SetV(t.m_normals[n])}},u.prototype.SetAsArray=function(e,t){t===undefined&&(t=0);var n=new Vector,r=0,i;for(r=0;r<e.length;++r)i=e[r],n.push(i);this.SetAsVector(n,t)},u.AsArray=function(e,t){t===undefined&&(t=0);var n=new u;return n.SetAsArray(e,t),n},u.prototype.SetAsVector=function(e,t){t===undefined&&(t=0),t==0&&(t=e.length),n.b2Assert(2<=t),this.m_vertexCount=t,this.Reserve(t);var r=0;for(r=0;r<this.m_vertexCount;r++)this.m_vertices[r].SetV(e[r]);for(r=0;r<this.m_vertexCount;++r){var i=parseInt(r),s=parseInt(r+1<this.m_vertexCount?r+1:0),o=c.SubtractVV(this.m_vertices[s],this.m_vertices[i]);n.b2Assert(o.LengthSquared()>Number.MIN_VALUE),this.m_normals[r].SetV(c.CrossVF(o,1)),this.m_normals[r].Normalize()}this.m_centroid=u.ComputeCentroid(this.m_vertices,this.m_vertexCount)},u.AsVector=function(e,t){t===undefined&&(t=0);var n=new u;return n.SetAsVector(e,t),n},u.prototype.SetAsBox=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0),this.m_vertexCount=4,this.Reserve(4),this.m_vertices[0].Set(-e,-t),this.m_vertices[1].Set(e,-t),this.m_vertices[2].Set(e,t),this.m_vertices[3].Set(-e,t),this.m_normals[0].Set(0,-1),this.m_normals[1].Set(1,0),this.m_normals[2].Set(0,1),this.m_normals[3].Set(-1,0),this.m_centroid.SetZero()},u.AsBox=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0);var n=new u;return n.SetAsBox(e,t),n},u.prototype.SetAsOrientedBox=function(e,t,n,r){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=null),r===undefined&&(r=0),this.m_vertexCount=4,this.Reserve(4),this.m_vertices[0].Set(-e,-t),this.m_vertices[1].Set(e,-t),this.m_vertices[2].Set(e,t),this.m_vertices[3].Set(-e,t),this.m_normals[0].Set(0,-1),this.m_normals[1].Set(1,0),this.m_normals[2].Set(0,1),this.m_normals[3].Set(-1,0),this.m_centroid=n;var i=new p;i.position=n,i.R.Set(r);for(var s=0;s<this.m_vertexCount;++s)this.m_vertices[s]=c.MulX(i,this.m_vertices[s]),this.m_normals[s]=c.MulMV(i.R,this.m_normals[s])},u.AsOrientedBox=function(e,t,n,r){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=null),r===undefined&&(r=0);var i=new u;return i.SetAsOrientedBox(e,t,n,r),i},u.prototype.SetAsEdge=function(e,t){this.m_vertexCount=2,this.Reserve(2),this.m_vertices[0].SetV(e),this.m_vertices[1].SetV(t),this.m_centroid.x=.5*(e.x+t.x),this.m_centroid.y=.5*(e.y+t.y),this.m_normals[0]=c.CrossVF(c.SubtractVV(t,e),1),this.m_normals[0].Normalize(),this.m_normals[1].x=-this.m_normals[0].x,this.m_normals[1].y=-this.m_normals[0].y},u.AsEdge=function(e,t){var n=new u;return n.SetAsEdge(e,t),n},u.prototype.TestPoint=function(e,t){var n,r=e.R,i=t.x-e.position.x,s=t.y-e.position.y,o=i*r.col1.x+s*r.col1.y,u=i*r.col2.x+s*r.col2.y;for(var a=0;a<this.m_vertexCount;++a){n=this.m_vertices[a],i=o-n.x,s=u-n.y,n=this.m_normals[a];var f=n.x*i+n.y*s;if(f>0)return!1}return!0},u.prototype.RayCast=function(e,t,n){var r=0,i=t.maxFraction,s=0,o=0,u,a;s=t.p1.x-n.position.x,o=t.p1.y-n.position.y,u=n.R;var f=s*u.col1.x+o*u.col1.y,l=s*u.col2.x+o*u.col2.y;s=t.p2.x-n.position.x,o=t.p2.y-n.position.y,u=n.R;var c=s*u.col1.x+o*u.col1.y,h=s*u.col2.x+o*u.col2.y,p=c-f,d=h-l,v=parseInt(-1);for(var m=0;m<this.m_vertexCount;++m){a=this.m_vertices[m],s=a.x-f,o=a.y-l,a=this.m_normals[m];var g=a.x*s+a.y*o,y=a.x*p+a.y*d;if(y==0){if(g<0)return!1}else y<0&&g<r*y?(r=g/y,v=m):y>0&&g<i*y&&(i=g/y);if(i<r-Number.MIN_VALUE)return!1}return v>=0?(e.fraction=r,u=n.R,a=this.m_normals[v],e.normal.x=u.col1.x*a.x+u.col2.x*a.y,e.normal.y=u.col1.y*a.x+u.col2.y*a.y,!0):!1},u.prototype.ComputeAABB=function(e,t){var n=t.R,r=this.m_vertices[0],i=t.position.x+(n.col1.x*r.x+n.col2.x*r.y),s=t.position.y+(n.col1.y*r.x+n.col2.y*r.y),o=i,u=s;for(var a=1;a<this.m_vertexCount;++a){r=this.m_vertices[a];var f=t.position.x+(n.col1.x*r.x+n.col2.x*r.y),l=t.position.y+(n.col1.y*r.x+n.col2.y*r.y);i=i<f?i:f,s=s<l?s:l,o=o>f?o:f,u=u>l?u:l}e.lowerBound.x=i-this.m_radius,e.lowerBound.y=s-this.m_radius,e.upperBound.x=o+this.m_radius,e.upperBound.y=u+this.m_radius},u.prototype.ComputeMass=function(e,t){t===undefined&&(t=0);if(this.m_vertexCount==2){e.center.x=.5*(this.m_vertices[0].x+this.m_vertices[1].x),e.center.y=.5*(this.m_vertices[0].y+this.m_vertices[1].y),e.mass=0,e.I=0;return}var n=0,r=0,i=0,s=0,o=0,u=0,a=1/3;for(var f=0;f<this.m_vertexCount;++f){var l=this.m_vertices[f],c=f+1<this.m_vertexCount?this.m_vertices[parseInt(f+1)]:this.m_vertices[0],h=l.x-o,p=l.y-u,d=c.x-o,v=c.y-u,m=h*v-p*d,g=.5*m;i+=g,n+=g*a*(o+l.x+c.x),r+=g*a*(u+l.y+c.y);var y=o,b=u,w=h,E=p,S=d,x=v,T=a*(.25*(w*w+S*w+S*S)+(y*w+y*S))+.5*y*y,N=a*(.25*(E*E+x*E+x*x)+(b*E+b*x))+.5*b*b;s+=m*(T+N)}e.mass=t*i,n*=1/i,r*=1/i,e.center.Set(n,r),e.I=t*s},u.prototype.ComputeSubmergedArea=function(e,t,n,r){t===undefined&&(t=0);var i=c.MulTMV(n.R,e),s=t-c.Dot(e,n.position),u=new Vector_a2j_Number,a=0,f=parseInt(-1),l=parseInt(-1),h=!1,p=0;for(p=0;p<this.m_vertexCount;++p){u[p]=c.Dot(i,this.m_vertices[p])-s;var v=u[p]<-Number.MIN_VALUE;p>0&&(v?h||(f=p-1,a++):h&&(l=p-1,a++)),h=v}switch(a){case 0:if(h){var m=new o;return this.ComputeMass(m,1),r.SetV(c.MulX(n,m.center)),m.mass}return 0;case 1:f==-1?f=this.m_vertexCount-1:l=this.m_vertexCount-1}var g=parseInt((f+1)%this.m_vertexCount),y=parseInt((l+1)%this.m_vertexCount),b=(0-u[f])/(u[g]-u[f]),w=(0-u[l])/(u[y]-u[l]),E=new d(this.m_vertices[f].x*(1-b)+this.m_vertices[g].x*b,this.m_vertices[f].y*(1-b)+this.m_vertices[g].y*b),S=new d(this.m_vertices[l].x*(1-w)+this.m_vertices[y].x*w,this.m_vertices[l].y*(1-w)+this.m_vertices[y].y*w),x=0,T=new d,N=this.m_vertices[g],C;p=g;while(p!=y){p=(p+1)%this.m_vertexCount,p==y?C=S:C=this.m_vertices[p];var k=.5*((N.x-E.x)*(C.y-E.y)-(N.y-E.y)*(C.x-E.x));x+=k,T.x+=k*(E.x+N.x+C.x)/3,T.y+=k*(E.y+N.y+C.y)/3,N=C}return T.Multiply(1/x),r.SetV(c.MulX(n,T)),x},u.prototype.GetVertexCount=function(){return this.m_vertexCount},u.prototype.GetVertices=function(){return this.m_vertices},u.prototype.GetNormals=function(){return this.m_normals},u.prototype.GetSupport=function(e){var t=0,n=this.m_vertices[0].x*e.x+this.m_vertices[0].y*e.y;for(var r=1;r<this.m_vertexCount;++r){var i=this.m_vertices[r].x*e.x+this.m_vertices[r].y*e.y;i>n&&(t=r,n=i)}return t},u.prototype.GetSupportVertex=function(e){var t=0,n=this.m_vertices[0].x*e.x+this.m_vertices[0].y*e.y;for(var r=1;r<this.m_vertexCount;++r){var i=this.m_vertices[r].x*e.x+this.m_vertices[r].y*e.y;i>n&&(t=r,n=i)}return this.m_vertices[t]},u.prototype.Validate=function(){return!1},u.prototype.b2PolygonShape=function(){this.__super.b2Shape.call(this),this.m_type=a.e_polygonShape,this.m_centroid=new d,this.m_vertices=new Vector,this.m_normals=new Vector},u.prototype.Reserve=function(e){e===undefined&&(e=0);for(var t=parseInt(this.m_vertices.length);t<e;t++)this.m_vertices[t]=new d,this.m_normals[t]=new d},u.ComputeCentroid=function(e,t){t===undefined&&(t=0);var n=new d,r=0,i=0,s=0,o=1/3;for(var u=0;u<t;++u){var a=e[u],f=u+1<t?e[parseInt(u+1)]:e[0],l=a.x-i,c=a.y-s,h=f.x-i,p=f.y-s,v=l*p-c*h,m=.5*v;r+=m,n.x+=m*o*(i+a.x+f.x),n.y+=m*o*(s+a.y+f.y)}return n.x*=1/r,n.y*=1/r,n},u.ComputeOBB=function(e,t,n){n===undefined&&(n=0);var r=0,i=new Vector(n+1);for(r=0;r<n;++r)i[r]=t[r];i[n]=i[0];var s=Number.MAX_VALUE;for(r=1;r<=n;++r){var o=i[parseInt(r-1)],u=i[r].x-o.x,a=i[r].y-o.y,f=Math.sqrt(u*u+a*a);u/=f,a/=f;var l=-a,c=u,h=Number.MAX_VALUE,p=Number.MAX_VALUE,d=-Number.MAX_VALUE,v=-Number.MAX_VALUE;for(var m=0;m<n;++m){var g=i[m].x-o.x,y=i[m].y-o.y,b=u*g+a*y,w=l*g+c*y;b<h&&(h=b),w<p&&(p=w),b>d&&(d=b),w>v&&(v=w)}var E=(d-h)*(v-p);if(E<.95*s){s=E,e.R.col1.x=u,e.R.col1.y=a,e.R.col2.x=l,e.R.col2.y=c;var S=.5*(h+d),x=.5*(p+v),T=e.R;e.center.x=o.x+(T.col1.x*S+T.col2.x*x),e.center.y=o.y+(T.col1.y*S+T.col2.y*x),e.extents.x=.5*(d-h),e.extents.y=.5*(v-p)}}},Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2PolygonShape.s_mat=new f}),a.b2Shape=function(){},a.prototype.Copy=function(){return null},a.prototype.Set=function(e){this.m_radius=e.m_radius},a.prototype.GetType=function(){return this.m_type},a.prototype.TestPoint=function(e,t){return!1},a.prototype.RayCast=function(e,t,n){return!1},a.prototype.ComputeAABB=function(e,t){},a.prototype.ComputeMass=function(e,t){t===undefined&&(t=0)},a.prototype.ComputeSubmergedArea=function(e,t,n,r){return t===undefined&&(t=0),0},a.TestOverlap=function(e,t,n,r){var i=new j;i.proxyA=new I,i.proxyA.Set(e),i.proxyB=new I,i.proxyB.Set(n),i.transformA=t,i.transformB=r,i.useRadii=!0;var s=new Y;s.count=0;var o=new F;return B.Distance(o,s,i),o.distance<10*Number.MIN_VALUE},a.prototype.b2Shape=function(){this.m_type=a.e_unknownShape,this.m_radius=n.b2_linearSlop},Box2D.postDefs.push(function(){Box2D.Collision.Shapes.b2Shape.e_unknownShape=parseInt(-1),Box2D.Collision.Shapes.b2Shape.e_circleShape=0,Box2D.Collision.Shapes.b2Shape.e_polygonShape=1,Box2D.Collision.Shapes.b2Shape.e_edgeShape=2,Box2D.Collision.Shapes.b2Shape.e_shapeTypeCount=3,Box2D.Collision.Shapes.b2Shape.e_hitCollide=1,Box2D.Collision.Shapes.b2Shape.e_missCollide=0,Box2D.Collision.Shapes.b2Shape.e_startsInsideCollide=parseInt(-1)})}(),function(){var e=Box2D.Common.b2Color,t=Box2D.Common.b2internal,n=Box2D.Common.b2Settings,r=Box2D.Common.Math.b2Mat22,i=Box2D.Common.Math.b2Mat33,s=Box2D.Common.Math.b2Math,o=Box2D.Common.Math.b2Sweep,u=Box2D.Common.Math.b2Transform,a=Box2D.Common.Math.b2Vec2,f=Box2D.Common.Math.b2Vec3;e.b2Color=function(){this._r=0,this._g=0,this._b=0},e.prototype.b2Color=function(e,t,n){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=0),this._r=Box2D.parseUInt(255*s.Clamp(e,0,1)),this._g=Box2D.parseUInt(255*s.Clamp(t,0,1)),this._b=Box2D.parseUInt(255*s.Clamp(n,0,1))},e.prototype.Set=function(e,t,n){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=0),this._r=Box2D.parseUInt(255*s.Clamp(e,0,1)),this._g=Box2D.parseUInt(255*s.Clamp(t,0,1)),this._b=Box2D.parseUInt(255*s.Clamp(n,0,1))},Object.defineProperty(e.prototype,"r",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._r=Box2D.parseUInt(255*s.Clamp(e,0,1))}}),Object.defineProperty(e.prototype,"g",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._g=Box2D.parseUInt(255*s.Clamp(e,0,1))}}),Object.defineProperty(e.prototype,"b",{enumerable:!1,configurable:!0,set:function(e){e===undefined&&(e=0),this._b=Box2D.parseUInt(255*s.Clamp(e,0,1))}}),Object.defineProperty(e.prototype,"color",{enumerable:!1,configurable:!0,get:function(){return this._r<<16|this._g<<8|this._b}}),n.b2Settings=function(){},n.b2MixFriction=function(e,t){return e===undefined&&(e=0),t===undefined&&(t=0),Math.sqrt(e*t)},n.b2MixRestitution=function(e,t){return e===undefined&&(e=0),t===undefined&&(t=0),e>t?e:t},n.b2Assert=function(e){if(!e)throw"Assertion Failed"},Box2D.postDefs.push(function(){Box2D.Common.b2Settings.VERSION="2.1alpha",Box2D.Common.b2Settings.USHRT_MAX=65535,Box2D.Common.b2Settings.b2_pi=Math.PI,Box2D.Common.b2Settings.b2_maxManifoldPoints=2,Box2D.Common.b2Settings.b2_aabbExtension=.1,Box2D.Common.b2Settings.b2_aabbMultiplier=2,Box2D.Common.b2Settings.b2_polygonRadius=2*n.b2_linearSlop,Box2D.Common.b2Settings.b2_linearSlop=.005,Box2D.Common.b2Settings.b2_angularSlop=2/180*n.b2_pi,Box2D.Common.b2Settings.b2_toiSlop=8*n.b2_linearSlop,Box2D.Common.b2Settings.b2_maxTOIContactsPerIsland=32,Box2D.Common.b2Settings.b2_maxTOIJointsPerIsland=32,Box2D.Common.b2Settings.b2_velocityThreshold=1,Box2D.Common.b2Settings.b2_maxLinearCorrection=.2,Box2D.Common.b2Settings.b2_maxAngularCorrection=8/180*n.b2_pi,Box2D.Common.b2Settings.b2_maxTranslation=2,Box2D.Common.b2Settings.b2_maxTranslationSquared=n.b2_maxTranslation*n.b2_maxTranslation,Box2D.Common.b2Settings.b2_maxRotation=.5*n.b2_pi,Box2D.Common.b2Settings.b2_maxRotationSquared=n.b2_maxRotation*n.b2_maxRotation,Box2D.Common.b2Settings.b2_contactBaumgarte=.2,Box2D.Common.b2Settings.b2_timeToSleep=.5,Box2D.Common.b2Settings.b2_linearSleepTolerance=.01,Box2D.Common.b2Settings.b2_angularSleepTolerance=2/180*n.b2_pi})}(),function(){var e=Box2D.Collision.b2AABB,t=Box2D.Common.b2Color,n=Box2D.Common.b2internal,r=Box2D.Common.b2Settings,i=Box2D.Common.Math.b2Mat22,s=Box2D.Common.Math.b2Mat33,o=Box2D.Common.Math.b2Math,u=Box2D.Common.Math.b2Sweep,a=Box2D.Common.Math.b2Transform,f=Box2D.Common.Math.b2Vec2,l=Box2D.Common.Math.b2Vec3;i.b2Mat22=function(){this.col1=new f,this.col2=new f},i.prototype.b2Mat22=function(){this.SetIdentity()},i.FromAngle=function(e){e===undefined&&(e=0);var t=new i;return t.Set(e),t},i.FromVV=function(e,t){var n=new i;return n.SetVV(e,t),n},i.prototype.Set=function(e){e===undefined&&(e=0);var t=Math.cos(e),n=Math.sin(e);this.col1.x=t,this.col2.x=-n,this.col1.y=n,this.col2.y=t},i.prototype.SetVV=function(e,t){this.col1.SetV(e),this.col2.SetV(t)},i.prototype.Copy=function(){var e=new i;return e.SetM(this),e},i.prototype.SetM=function(e){this.col1.SetV(e.col1),this.col2.SetV(e.col2)},i.prototype.AddM=function(e){this.col1.x+=e.col1.x,this.col1.y+=e.col1.y,this.col2.x+=e.col2.x,this.col2.y+=e.col2.y},i.prototype.SetIdentity=function(){this.col1.x=1,this.col2.x=0,this.col1.y=0,this.col2.y=1},i.prototype.SetZero=function(){this.col1.x=0,this.col2.x=0,this.col1.y=0,this.col2.y=0},i.prototype.GetAngle=function(){return Math.atan2(this.col1.y,this.col1.x)},i.prototype.GetInverse=function(e){var t=this.col1.x,n=this.col2.x,r=this.col1.y,i=this.col2.y,s=t*i-n*r;return s!=0&&(s=1/s),e.col1.x=s*i,e.col2.x=-s*n,e.col1.y=-s*r,e.col2.y=s*t,e},i.prototype.Solve=function(e,t,n){t===undefined&&(t=0),n===undefined&&(n=0);var r=this.col1.x,i=this.col2.x,s=this.col1.y,o=this.col2.y,u=r*o-i*s;return u!=0&&(u=1/u),e.x=u*(o*t-i*n),e.y=u*(r*n-s*t),e},i.prototype.Abs=function(){this.col1.Abs(),this.col2.Abs()},s.b2Mat33=function(){this.col1=new l,this.col2=new l,this.col3=new l},s.prototype.b2Mat33=function(e,t,n){e===undefined&&(e=null),t===undefined&&(t=null),n===undefined&&(n=null),!e&&!t&&!n?(this.col1.SetZero(),this.col2.SetZero(),this.col3.SetZero()):(this.col1.SetV(e),this.col2.SetV(t),this.col3.SetV(n))},s.prototype.SetVVV=function(e,t,n){this.col1.SetV(e),this.col2.SetV(t),this.col3.SetV(n)},s.prototype.Copy=function(){return new s(this.col1,this.col2,this.col3)},s.prototype.SetM=function(e){this.col1.SetV(e.col1),this.col2.SetV(e.col2),this.col3.SetV(e.col3)},s.prototype.AddM=function(e){this.col1.x+=e.col1.x,this.col1.y+=e.col1.y,this.col1.z+=e.col1.z,this.col2.x+=e.col2.x,this.col2.y+=e.col2.y,this.col2.z+=e.col2.z,this.col3.x+=e.col3.x,this.col3.y+=e.col3.y,this.col3.z+=e.col3.z},s.prototype.SetIdentity=function(){this.col1.x=1,this.col2.x=0,this.col3.x=0,this.col1.y=0,this.col2.y=1,this.col3.y=0,this.col1.z=0,this.col2.z=0,this.col3.z=1},s.prototype.SetZero=function(){this.col1.x=0,this.col2.x=0,this.col3.x=0,this.col1.y=0,this.col2.y=0,this.col3.y=0,this.col1.z=0,this.col2.z=0,this.col3.z=0},s.prototype.Solve22=function(e,t,n){t===undefined&&(t=0),n===undefined&&(n=0);var r=this.col1.x,i=this.col2.x,s=this.col1.y,o=this.col2.y,u=r*o-i*s;return u!=0&&(u=1/u),e.x=u*(o*t-i*n),e.y=u*(r*n-s*t),e},s.prototype.Solve33=function(e,t,n,r){t===undefined&&(t=0),n===undefined&&(n=0),r===undefined&&(r=0);var i=this.col1.x,s=this.col1.y,o=this.col1.z,u=this.col2.x,a=this.col2.y,f=this.col2.z,l=this.col3.x,c=this.col3.y,h=this.col3.z,p=i*(a*h-f*c)+s*(f*l-u*h)+o*(u*c-a*l);return p!=0&&(p=1/p),e.x=p*(t*(a*h-f*c)+n*(f*l-u*h)+r*(u*c-a*l)),e.y=p*(i*(n*h-r*c)+s*(r*l-t*h)+o*(t*c-n*l)),e.z=p*(i*(a*r-f*n)+s*(f*t-u*r)+o*(u*n-a*t)),e},o.b2Math=function(){},o.IsValid=function(e){return e===undefined&&(e=0),isFinite(e)},o.Dot=function(e,t){return e.x*t.x+e.y*t.y},o.CrossVV=function(e,t){return e.x*t.y-e.y*t.x},o.CrossVF=function(e,t){t===undefined&&(t=0);var n=new f(t*e.y,-t*e.x);return n},o.CrossFV=function(e,t){e===undefined&&(e=0);var n=new f(-e*t.y,e*t.x);return n},o.MulMV=function(e,t){var n=new f(e.col1.x*t.x+e.col2.x*t.y,e.col1.y*t.x+e.col2.y*t.y);return n},o.MulTMV=function(e,t){var n=new f(o.Dot(t,e.col1),o.Dot(t,e.col2));return n},o.MulX=function(e,t){var n=o.MulMV(e.R,t);return n.x+=e.position.x,n.y+=e.position.y,n},o.MulXT=function(e,t){var n=o.SubtractVV(t,e.position),r=n.x*e.R.col1.x+n.y*e.R.col1.y;return n.y=n.x*e.R.col2.x+n.y*e.R.col2.y,n.x=r,n},o.AddVV=function(e,t){var n=new f(e.x+t.x,e.y+t.y);return n},o.SubtractVV=function(e,t){var n=new f(e.x-t.x,e.y-t.y);return n},o.Distance=function(e,t){var n=e.x-t.x,r=e.y-t.y;return Math.sqrt(n*n+r*r)},o.DistanceSquared=function(e,t){var n=e.x-t.x,r=e.y-t.y;return n*n+r*r},o.MulFV=function(e,t){e===undefined&&(e=0);var n=new f(e*t.x,e*t.y);return n},o.AddMM=function(e,t){var n=i.FromVV(o.AddVV(e.col1,t.col1),o.AddVV(e.col2,t.col2));return n},o.MulMM=function(e,t){var n=i.FromVV(o.MulMV(e,t.col1),o.MulMV(e,t.col2));return n},o.MulTMM=function(e,t){var n=new f(o.Dot(e.col1,t.col1),o.Dot(e.col2,t.col1)),r=new f(o.Dot(e.col1,t.col2),o.Dot(e.col2,t.col2)),s=i.FromVV(n,r);return s},o.Abs=function(e){return e===undefined&&(e=0),e>0?e:-e},o.AbsV=function(e){var t=new f(o.Abs(e.x),o.Abs(e.y));return t},o.AbsM=function(e){var t=i.FromVV(o.AbsV(e.col1),o.AbsV(e.col2));return t},o.Min=function(e,t){return e===undefined&&(e=0),t===undefined&&(t=0),e<t?e:t},o.MinV=function(e,t){var n=new f(o.Min(e.x,t.x),o.Min(e.y,t.y));return n},o.Max=function(e,t){return e===undefined&&(e=0),t===undefined&&(t=0),e>t?e:t},o.MaxV=function(e,t){var n=new f(o.Max(e.x,t.x),o.Max(e.y,t.y));return n},o.Clamp=function(e,t,n){return e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=0),e<t?t:e>n?n:e},o.ClampV=function(e,t,n){return o.MaxV(t,o.MinV(e,n))},o.Swap=function(e,t){var n=e[0];e[0]=t[0],t[0]=n},o.Random=function(){return Math.random()*2-1},o.RandomRange=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0);var n=Math.random();return n=(t-e)*n+e,n},o.NextPowerOfTwo=function(e){return e===undefined&&(e=0),e|=e>>1&2147483647,e|=e>>2&1073741823,e|=e>>4&268435455,e|=e>>8&16777215,e|=e>>16&65535,e+1},o.IsPowerOfTwo=function(e){e===undefined&&(e=0);var t=e>0&&(e&e-1)==0;return t},Box2D.postDefs.push(function(){Box2D.Common.Math.b2Math.b2Vec2_zero=new f(0,0),Box2D.Common.Math.b2Math.b2Mat22_identity=i.FromVV(new f(1,0),new f(0,1)),Box2D.Common.Math.b2Math.b2Transform_identity=new a(o.b2Vec2_zero,o.b2Mat22_identity)}),u.b2Sweep=function(){this.localCenter=new f,this.c0=new f,this.c=new f},u.prototype.Set=function(e){this.localCenter.SetV(e.localCenter),this.c0.SetV(e.c0),this.c.SetV(e.c),this.a0=e.a0,this.a=e.a,this.t0=e.t0},u.prototype.Copy=function(){var e=new u;return e.localCenter.SetV(this.localCenter),e.c0.SetV(this.c0),e.c.SetV(this.c),e.a0=this.a0,e.a=this.a,e.t0=this.t0,e},u.prototype.GetTransform=function(e,t){t===undefined&&(t=0),e.position.x=(1-t)*this.c0.x+t*this.c.x,e.position.y=(1-t)*this.c0.y+t*this.c.y;var n=(1-t)*this.a0+t*this.a;e.R.Set(n);var r=e.R;e.position.x-=r.col1.x*this.localCenter.x+r.col2.x*this.localCenter.y,e.position.y-=r.col1.y*this.localCenter.x+r.col2.y*this.localCenter.y},u.prototype.Advance=function(e){e===undefined&&(e=0);if(this.t0<e&&1-this.t0>Number.MIN_VALUE){var t=(e-this.t0)/(1-this.t0);this.c0.x=(1-t)*this.c0.x+t*this.c.x,this.c0.y=(1-t)*this.c0.y+t*this.c.y,this.a0=(1-t)*this.a0+t*this.a,this.t0=e}},a.b2Transform=function(){this.position=new f,this.R=new i},a.prototype.b2Transform=function(e,t){e===undefined&&(e=null),t===undefined&&(t=null),e&&(this.position.SetV(e),this.R.SetM(t))},a.prototype.Initialize=function(e,t){this.position.SetV(e),this.R.SetM(t)},a.prototype.SetIdentity=function(){this.position.SetZero(),this.R.SetIdentity()},a.prototype.Set=function(e){this.position.SetV(e.position),this.R.SetM(e.R)},a.prototype.GetAngle=function(){return Math.atan2(this.R.col1.y,this.R.col1.x)},f.b2Vec2=function(){},f.prototype.b2Vec2=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0),this.x=e,this.y=t},f.prototype.SetZero=function(){this.x=0,this.y=0},f.prototype.Set=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0),this.x=e,this.y=t},f.prototype.SetV=function(e){this.x=e.x,this.y=e.y},f.prototype.GetNegative=function(){return new f(-this.x,-this.y)},f.prototype.NegativeSelf=function(){this.x=-this.x,this.y=-this.y},f.Make=function(e,t){return e===undefined&&(e=0),t===undefined&&(t=0),new f(e,t)},f.prototype.Copy=function(){return new f(this.x,this.y)},f.prototype.Add=function(e){this.x+=e.x,this.y+=e.y},f.prototype.Subtract=function(e){this.x-=e.x,this.y-=e.y},f.prototype.Multiply=function(e){e===undefined&&(e=0),this.x*=e,this.y*=e},f.prototype.MulM=function(e){var t=this.x;this.x=e.col1.x*t+e.col2.x*this.y,this.y=e.col1.y*t+e.col2.y*this.y},f.prototype.MulTM=function(e){var t=o.Dot(this,e.col1);this.y=o.Dot(this,e.col2),this.x=t},f.prototype.CrossVF=function(e){e===undefined&&(e=0);var t=this.x;this.x=e*this.y,this.y=-e*t},f.prototype.CrossFV=function(e){e===undefined&&(e=0);var t=this.x;this.x=-e*this.y,this.y=e*t},f.prototype.MinV=function(e){this.x=this.x<e.x?this.x:e.x,this.y=this.y<e.y?this.y:e.y},f.prototype.MaxV=function(e){this.x=this.x>e.x?this.x:e.x,this.y=this.y>e.y?this.y:e.y},f.prototype.Abs=function(){this.x<0&&(this.x=-this.x),this.y<0&&(this.y=-this.y)},f.prototype.Length=function(){return Math.sqrt(this.x*this.x+this.y*this.y)},f.prototype.LengthSquared=function(){return this.x*this.x+this.y*this.y},f.prototype.Normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y);if(e<Number.MIN_VALUE)return 0;var t=1/e;return this.x*=t,this.y*=t,e},f.prototype.IsValid=function(){return o.IsValid(this.x)&&o.IsValid(this.y)},l.b2Vec3=function(){},l.prototype.b2Vec3=function(e,t,n){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=0),this.x=e,this.y=t,this.z=n},l.prototype.SetZero=function(){this.x=this.y=this.z=0},l.prototype.Set=function(e,t,n){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=0),this.x=e,this.y=t,this.z=n},l.prototype.SetV=function(e){this.x=e.x,this.y=e.y,this.z=e.z},l.prototype.GetNegative=function(){return new l(-this.x,-this.y,-this.z)},l.prototype.NegativeSelf=function(){this.x=-this.x,this.y=-this.y,this.z=-this.z},l.prototype.Copy=function(){return new l(this.x,this.y,this.z)},l.prototype.Add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},l.prototype.Subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},l.prototype.Multiply=function(e){e===undefined&&(e=0),this.x*=e,this.y*=e,this.z*=e}}(),function(){var e=Box2D.Dynamics.Controllers.b2ControllerEdge,t=Box2D.Common.Math.b2Mat22,n=Box2D.Common.Math.b2Mat33,r=Box2D.Common.Math.b2Math,i=Box2D.Common.Math.b2Sweep,s=Box2D.Common.Math.b2Transform,o=Box2D.Common.Math.b2Vec2,u=Box2D.Common.Math.b2Vec3,a=Box2D.Common.b2Color,f=Box2D.Common.b2internal,l=Box2D.Common.b2Settings,c=Box2D.Collision.b2AABB,h=Box2D.Collision.b2Bound,p=Box2D.Collision.b2BoundValues,d=Box2D.Collision.b2Collision,v=Box2D.Collision.b2ContactID,m=Box2D.Collision.b2ContactPoint,g=Box2D.Collision.b2Distance,y=Box2D.Collision.b2DistanceInput,b=Box2D.Collision.b2DistanceOutput,w=Box2D.Collision.b2DistanceProxy,E=Box2D.Collision.b2DynamicTree,S=Box2D.Collision.b2DynamicTreeBroadPhase,x=Box2D.Collision.b2DynamicTreeNode,T=Box2D.Collision.b2DynamicTreePair,N=Box2D.Collision.b2Manifold,C=Box2D.Collision.b2ManifoldPoint,k=Box2D.Collision.b2Point,L=Box2D.Collision.b2RayCastInput,A=Box2D.Collision.b2RayCastOutput,O=Box2D.Collision.b2Segment,M=Box2D.Collision.b2SeparationFunction,_=Box2D.Collision.b2Simplex,D=Box2D.Collision.b2SimplexCache,P=Box2D.Collision.b2SimplexVertex,H=Box2D.Collision.b2TimeOfImpact,B=Box2D.Collision.b2TOIInput,j=Box2D.Collision.b2WorldManifold,F=Box2D.Collision.ClipVertex,I=Box2D.Collision.Features,q=Box2D.Collision.IBroadPhase,R=Box2D.Collision.Shapes.b2CircleShape,U=Box2D.Collision.Shapes.b2EdgeChainDef,z=Box2D.Collision.Shapes.b2EdgeShape,W=Box2D.Collision.Shapes.b2MassData,X=Box2D.Collision.Shapes.b2PolygonShape,V=Box2D.Collision.Shapes.b2Shape,$=Box2D.Dynamics.b2Body,J=Box2D.Dynamics.b2BodyDef,K=Box2D.Dynamics.b2ContactFilter,Q=Box2D.Dynamics.b2ContactImpulse,G=Box2D.Dynamics.b2ContactListener,Y=Box2D.Dynamics.b2ContactManager,Z=Box2D.Dynamics.b2DebugDraw,et=Box2D.Dynamics.b2DestructionListener,tt=Box2D.Dynamics.b2FilterData,nt=Box2D.Dynamics.b2Fixture,rt=Box2D.Dynamics.b2FixtureDef,it=Box2D.Dynamics.b2Island,st=Box2D.Dynamics.b2TimeStep,ot=Box2D.Dynamics.b2World,ut=Box2D.Dynamics.Contacts.b2CircleContact,at=Box2D.Dynamics.Contacts.b2Contact,ft=Box2D.Dynamics.Contacts.b2ContactConstraint,lt=Box2D.Dynamics.Contacts.b2ContactConstraintPoint,ct=Box2D.Dynamics.Contacts.b2ContactEdge,ht=Box2D.Dynamics.Contacts.b2ContactFactory,pt=Box2D.Dynamics.Contacts.b2ContactRegister,dt=Box2D.Dynamics.Contacts.b2ContactResult,vt=Box2D.Dynamics.Contacts.b2ContactSolver,mt=Box2D.Dynamics.Contacts.b2EdgeAndCircleContact,gt=Box2D.Dynamics.Contacts.b2NullContact,yt=Box2D.Dynamics.Contacts.b2PolyAndCircleContact,bt=Box2D.Dynamics.Contacts.b2PolyAndEdgeContact,wt=Box2D.Dynamics.Contacts.b2PolygonContact,Et=Box2D.Dynamics.Contacts.b2PositionSolverManifold,St=Box2D.Dynamics.Controllers.b2Controller,xt=Box2D.Dynamics.Joints.b2DistanceJoint,Tt=Box2D.Dynamics.Joints.b2DistanceJointDef,Nt=Box2D.Dynamics.Joints.b2FrictionJoint,Ct=Box2D.Dynamics.Joints.b2FrictionJointDef,kt=Box2D.Dynamics.Joints.b2GearJoint,Lt=Box2D.Dynamics.Joints.b2GearJointDef,At=Box2D.Dynamics.Joints.b2Jacobian,Ot=Box2D.Dynamics.Joints.b2Joint,Mt=Box2D.Dynamics.Joints.b2JointDef,_t=Box2D.Dynamics.Joints.b2JointEdge,Dt=Box2D.Dynamics.Joints.b2LineJoint,Pt=Box2D.Dynamics.Joints.b2LineJointDef,Ht=Box2D.Dynamics.Joints.b2MouseJoint,Bt=Box2D.Dynamics.Joints.b2MouseJointDef,jt=Box2D.Dynamics.Joints.b2PrismaticJoint,Ft=Box2D.Dynamics.Joints.b2PrismaticJointDef,It=Box2D.Dynamics.Joints.b2PulleyJoint,qt=Box2D.Dynamics.Joints.b2PulleyJointDef,Rt=Box2D.Dynamics.Joints.b2RevoluteJoint,Ut=Box2D.Dynamics.Joints.b2RevoluteJointDef,zt=Box2D.Dynamics.Joints.b2WeldJoint,Wt=Box2D.Dynamics.Joints.b2WeldJointDef;$.b2Body=function(){this.m_xf=new s,this.m_sweep=new i,this.m_linearVelocity=new o,this.m_force=new o},$.prototype.connectEdges=function(e,t,n){n===undefined&&(n=0);var i=Math.atan2(t.GetDirectionVector().y,t.GetDirectionVector().x),s=Math.tan((i-n)*.5),o=r.MulFV(s,t.GetDirectionVector());o=r.SubtractVV(o,t.GetNormalVector()),o=r.MulFV(l.b2_toiSlop,o),o=r.AddVV(o,t.GetVertex1());var u=r.AddVV(e.GetDirectionVector(),t.GetDirectionVector());u.Normalize();var a=r.Dot(e.GetDirectionVector(),t.GetNormalVector())>0;return e.SetNextEdge(t,o,u,a),t.SetPrevEdge(e,o,u,a),i},$.prototype.CreateFixture=function(e){if(this.m_world.IsLocked()==1)return null;var t=new nt;t.Create(this,this.m_xf,e);if(this.m_flags&$.e_activeFlag){var n=this.m_world.m_contactManager.m_broadPhase;t.CreateProxy(n,this.m_xf)}return t.m_next=this.m_fixtureList,this.m_fixtureList=t,++this.m_fixtureCount,t.m_body=this,t.m_density>0&&this.ResetMassData(),this.m_world.m_flags|=ot.e_newFixture,t},$.prototype.CreateFixture2=function(e,t){t===undefined&&(t=0);var n=new rt;return n.shape=e,n.density=t,this.CreateFixture(n)},$.prototype.DestroyFixture=function(e){if(this.m_world.IsLocked()==1)return;var t=this.m_fixtureList,n=null,r=!1;while(t!=null){if(t==e){n?n.m_next=e.m_next:this.m_fixtureList=e.m_next,r=!0;break}n=t,t=t.m_next}var i=this.m_contactList;while(i){var s=i.contact;i=i.next;var o=s.GetFixtureA(),u=s.GetFixtureB();(e==o||e==u)&&this.m_world.m_contactManager.Destroy(s)}if(this.m_flags&$.e_activeFlag){var a=this.m_world.m_contactManager.m_broadPhase;e.DestroyProxy(a)}e.Destroy(),e.m_body=null,e.m_next=null,--this.m_fixtureCount,this.ResetMassData()},$.prototype.SetPositionAndAngle=function(e,t){t===undefined&&(t=0);var n;if(this.m_world.IsLocked()==1)return;this.m_xf.R.Set(t),this.m_xf.position.SetV(e);var r=this.m_xf.R,i=this.m_sweep.localCenter;this.m_sweep.c.x=r.col1.x*i.x+r.col2.x*i.y,this.m_sweep.c.y=r.col1.y*i.x+r.col2.y*i.y,this.m_sweep.c.x+=this.m_xf.position.x,this.m_sweep.c.y+=this.m_xf.position.y,this.m_sweep.c0.SetV(this.m_sweep.c),this.m_sweep.a0=this.m_sweep.a=t;var s=this.m_world.m_contactManager.m_broadPhase;for(n=this.m_fixtureList;n;n=n.m_next)n.Synchronize(s,this.m_xf,this.m_xf);this.m_world.m_contactManager.FindNewContacts()},$.prototype.SetTransform=function(e){this.SetPositionAndAngle(e.position,e.GetAngle())},$.prototype.GetTransform=function(){return this.m_xf},$.prototype.GetPosition=function(){return this.m_xf.position},$.prototype.SetPosition=function(e){this.SetPositionAndAngle(e,this.GetAngle())},$.prototype.GetAngle=function(){return this.m_sweep.a},$.prototype.SetAngle=function(e){e===undefined&&(e=0),this.SetPositionAndAngle(this.GetPosition(),e)},$.prototype.GetWorldCenter=function(){return this.m_sweep.c},$.prototype.GetLocalCenter=function(){return this.m_sweep.localCenter},$.prototype.SetLinearVelocity=function(e){if(this.m_type==$.b2_staticBody)return;this.m_linearVelocity.SetV(e)},$.prototype.GetLinearVelocity=function(){return this.m_linearVelocity},$.prototype.SetAngularVelocity=function(e){e===undefined&&(e=0);if(this.m_type==$.b2_staticBody)return;this.m_angularVelocity=e},$.prototype.GetAngularVelocity=function(){return this.m_angularVelocity},$.prototype.GetDefinition=function(){var e=new J;return e.type=this.GetType(),e.allowSleep=(this.m_flags&$.e_allowSleepFlag)==$.e_allowSleepFlag,e.angle=this.GetAngle(),e.angularDamping=this.m_angularDamping,e.angularVelocity=this.m_angularVelocity,e.fixedRotation=(this.m_flags&$.e_fixedRotationFlag)==$.e_fixedRotationFlag,e.bullet=(this.m_flags&$.e_bulletFlag)==$.e_bulletFlag,e.awake=(this.m_flags&$.e_awakeFlag)==$.e_awakeFlag,e.linearDamping=this.m_linearDamping,e.linearVelocity.SetV(this.GetLinearVelocity()),e.position=this.GetPosition(),e.userData=this.GetUserData(),e},$.prototype.ApplyForce=function(e,t){if(this.m_type!=$.b2_dynamicBody)return;this.IsAwake()==0&&this.SetAwake(!0),this.m_force.x+=e.x,this.m_force.y+=e.y,this.m_torque+=(t.x-this.m_sweep.c.x)*e.y-(t.y-this.m_sweep.c.y)*e.x},$.prototype.ApplyTorque=function(e){e===undefined&&(e=0);if(this.m_type!=$.b2_dynamicBody)return;this.IsAwake()==0&&this.SetAwake(!0),this.m_torque+=e},$.prototype.ApplyImpulse=function(e,t){if(this.m_type!=$.b2_dynamicBody)return;this.IsAwake()==0&&this.SetAwake(!0),this.m_linearVelocity.x+=this.m_invMass*e.x,this.m_linearVelocity.y+=this.m_invMass*e.y,this.m_angularVelocity+=this.m_invI*((t.x-this.m_sweep.c.x)*e.y-(t.y-this.m_sweep.c.y)*e.x)},$.prototype.Split=function(e){var t=this.GetLinearVelocity().Copy(),n=this.GetAngularVelocity(),i=this.GetWorldCenter(),s=this,o=this.m_world.CreateBody(this.GetDefinition()),u;for(var a=s.m_fixtureList;a;)if(e(a)){var f=a.m_next;u?u.m_next=f:s.m_fixtureList=f,s.m_fixtureCount--,a.m_next=o.m_fixtureList,o.m_fixtureList=a,o.m_fixtureCount++,a.m_body=o,a=f}else u=a,a=a.m_next;s.ResetMassData(),o.ResetMassData();var l=s.GetWorldCenter(),c=o.GetWorldCenter(),h=r.AddVV(t,r.CrossFV(n,r.SubtractVV(l,i))),p=r.AddVV(t,r.CrossFV(n,r.SubtractVV(c,i)));return s.SetLinearVelocity(h),o.SetLinearVelocity(p),s.SetAngularVelocity(n),o.SetAngularVelocity(n),s.SynchronizeFixtures(),o.SynchronizeFixtures(),o},$.prototype.Merge=function(e){var t;for(t=e.m_fixtureList;t;){var n=t.m_next;e.m_fixtureCount--,t.m_next=this.m_fixtureList,this.m_fixtureList=t,this.m_fixtureCount++,t.m_body=i,t=n}r.m_fixtureCount=0;var r=this,i=e,s=r.GetWorldCenter(),o=i.GetWorldCenter(),u=r.GetLinearVelocity().Copy(),a=i.GetLinearVelocity().Copy(),f=r.GetAngularVelocity(),l=i.GetAngularVelocity();r.ResetMassData(),this.SynchronizeFixtures()},$.prototype.GetMass=function(){return this.m_mass},$.prototype.GetInertia=function(){return this.m_I},$.prototype.GetMassData=function(e){e.mass=this.m_mass,e.I=this.m_I,e.center.SetV(this.m_sweep.localCenter)},$.prototype.SetMassData=function(e){l.b2Assert(this.m_world.IsLocked()==0);if(this.m_world.IsLocked()==1)return;if(this.m_type!=$.b2_dynamicBody)return;this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_mass=e.mass,this.m_mass<=0&&(this.m_mass=1),this.m_invMass=1/this.m_mass,e.I>0&&(this.m_flags&$.e_fixedRotationFlag)==0&&(this.m_I=e.I-this.m_mass*(e.center.x*e.center.x+e.center.y*e.center.y),this.m_invI=1/this.m_I);var t=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(e.center),this.m_sweep.c0.SetV(r.MulX(this.m_xf,this.m_sweep.localCenter)),this.m_sweep.c.SetV(this.m_sweep.c0),this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-t.y),this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-t.x)},$.prototype.ResetMassData=function(){this.m_mass=0,this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_sweep.localCenter.SetZero();if(this.m_type==$.b2_staticBody||this.m_type==$.b2_kinematicBody)return;var e=o.Make(0,0);for(var t=this.m_fixtureList;t;t=t.m_next){if(t.m_density==0)continue;var n=t.GetMassData();this.m_mass+=n.mass,e.x+=n.center.x*n.mass,e.y+=n.center.y*n.mass,this.m_I+=n.I}this.m_mass>0?(this.m_invMass=1/this.m_mass,e.x*=this.m_invMass,e.y*=this.m_invMass):(this.m_mass=1,this.m_invMass=1),this.m_I>0&&(this.m_flags&$.e_fixedRotationFlag)==0?(this.m_I-=this.m_mass*(e.x*e.x+e.y*e.y),this.m_I*=this.m_inertiaScale,l.b2Assert(this.m_I>0),this.m_invI=1/this.m_I):(this.m_I=0,this.m_invI=0);var i=this.m_sweep.c.Copy();this.m_sweep.localCenter.SetV(e),this.m_sweep.c0.SetV(r.MulX(this.m_xf,this.m_sweep.localCenter)),this.m_sweep.c.SetV(this.m_sweep.c0),this.m_linearVelocity.x+=this.m_angularVelocity*-(this.m_sweep.c.y-i.y),this.m_linearVelocity.y+=this.m_angularVelocity*+(this.m_sweep.c.x-i.x)},$.prototype.GetWorldPoint=function(e){var t=this.m_xf.R,n=new o(t.col1.x*e.x+t.col2.x*e.y,t.col1.y*e.x+t.col2.y*e.y);return n.x+=this.m_xf.position.x,n.y+=this.m_xf.position.y,n},$.prototype.GetWorldVector=function(e){return r.MulMV(this.m_xf.R,e)},$.prototype.GetLocalPoint=function(e){return r.MulXT(this.m_xf,e)},$.prototype.GetLocalVector=function(e){return r.MulTMV(this.m_xf.R,e)},$.prototype.GetLinearVelocityFromWorldPoint=function(e){return new o(this.m_linearVelocity.x-this.m_angularVelocity*(e.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(e.x-this.m_sweep.c.x))},$.prototype.GetLinearVelocityFromLocalPoint=function(e){var t=this.m_xf.R,n=new o(t.col1.x*e.x+t.col2.x*e.y,t.col1.y*e.x+t.col2.y*e.y);return n.x+=this.m_xf.position.x,n.y+=this.m_xf.position.y,new o(this.m_linearVelocity.x-this.m_angularVelocity*(n.y-this.m_sweep.c.y),this.m_linearVelocity.y+this.m_angularVelocity*(n.x-this.m_sweep.c.x))},$.prototype.GetLinearDamping=function(){return this.m_linearDamping},$.prototype.SetLinearDamping=function(e){e===undefined&&(e=0),this.m_linearDamping=e},$.prototype.GetAngularDamping=function(){return this.m_angularDamping},$.prototype.SetAngularDamping=function(e){e===undefined&&(e=0),this.m_angularDamping=e},$.prototype.SetType=function(e){e===undefined&&(e=0);if(this.m_type==e)return;this.m_type=e,this.ResetMassData(),this.m_type==$.b2_staticBody&&(this.m_linearVelocity.SetZero(),this.m_angularVelocity=0),this.SetAwake(!0),this.m_force.SetZero(),this.m_torque=0;for(var t=this.m_contactList;t;t=t.next)t.contact.FlagForFiltering()},$.prototype.GetType=function(){return this.m_type},$.prototype.SetBullet=function(e){e?this.m_flags|=$.e_bulletFlag:this.m_flags&=~$.e_bulletFlag},$.prototype.IsBullet=function(){return(this.m_flags&$.e_bulletFlag)==$.e_bulletFlag},$.prototype.SetSleepingAllowed=function(e){e?this.m_flags|=$.e_allowSleepFlag:(this.m_flags&=~$.e_allowSleepFlag,this.SetAwake(!0))},$.prototype.SetAwake=function(e){e?(this.m_flags|=$.e_awakeFlag,this.m_sleepTime=0):(this.m_flags&=~$.e_awakeFlag,this.m_sleepTime=0,this.m_linearVelocity.SetZero(),this.m_angularVelocity=0,this.m_force.SetZero(),this.m_torque=0)},$.prototype.IsAwake=function(){return(this.m_flags&$.e_awakeFlag)==$.e_awakeFlag},$.prototype.SetFixedRotation=function(e){e?this.m_flags|=$.e_fixedRotationFlag:this.m_flags&=~$.e_fixedRotationFlag,this.ResetMassData()},$.prototype.IsFixedRotation=function(){return(this.m_flags&$.e_fixedRotationFlag)==$.e_fixedRotationFlag},$.prototype.SetActive=function(e){if(e==this.IsActive())return;var t,n;if(e){this.m_flags|=$.e_activeFlag,t=this.m_world.m_contactManager.m_broadPhase;for(n=this.m_fixtureList;n;n=n.m_next)n.CreateProxy(t,this.m_xf)}else{this.m_flags&=~$.e_activeFlag,t=this.m_world.m_contactManager.m_broadPhase;for(n=this.m_fixtureList;n;n=n.m_next)n.DestroyProxy(t);var r=this.m_contactList;while(r){var i=r;r=r.next,this.m_world.m_contactManager.Destroy(i.contact)}this.m_contactList=null}},$.prototype.IsActive=function(){return(this.m_flags&$.e_activeFlag)==$.e_activeFlag},$.prototype.IsSleepingAllowed=function(){return(this.m_flags&$.e_allowSleepFlag)==$.e_allowSleepFlag},$.prototype.GetFixtureList=function(){return this.m_fixtureList},$.prototype.GetJointList=function(){return this.m_jointList},$.prototype.GetControllerList=function(){return this.m_controllerList},$.prototype.GetContactList=function(){return this.m_contactList},$.prototype.GetNext=function(){return this.m_next},$.prototype.GetUserData=function(){return this.m_userData},$.prototype.SetUserData=function(e){this.m_userData=e},$.prototype.GetWorld=function(){return this.m_world},$.prototype.b2Body=function(e,t){this.m_flags=0,e.bullet&&(this.m_flags|=$.e_bulletFlag),e.fixedRotation&&(this.m_flags|=$.e_fixedRotationFlag),e.allowSleep&&(this.m_flags|=$.e_allowSleepFlag),e.awake&&(this.m_flags|=$.e_awakeFlag),e.active&&(this.m_flags|=$.e_activeFlag),this.m_world=t,this.m_xf.position.SetV(e.position),this.m_xf.R.Set(e.angle),this.m_sweep.localCenter.SetZero(),this.m_sweep.t0=1,this.m_sweep.a0=this.m_sweep.a=e.angle;var n=this.m_xf.R,r=this.m_sweep.localCenter;this.m_sweep.c.x=n.col1.x*r.x+n.col2.x*r.y,this.m_sweep.c.y=n.col1.y*r.x+n.col2.y*r.y,this.m_sweep.c.x+=this.m_xf.position.x,this.m_sweep.c.y+=this.m_xf.position.y,this.m_sweep.c0.SetV(this.m_sweep.c),this.m_jointList=null,this.m_controllerList=null,this.m_contactList=null,this.m_controllerCount=0,this.m_prev=null,this.m_next=null,this.m_linearVelocity.SetV(e.linearVelocity),this.m_angularVelocity=e.angularVelocity,this.m_linearDamping=e.linearDamping,this.m_angularDamping=e.angularDamping,this.m_force.Set(0,0),this.m_torque=0,this.m_sleepTime=0,this.m_type=e.type,this.m_type==$.b2_dynamicBody?(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_inertiaScale=e.inertiaScale,this.m_userData=e.userData,this.m_fixtureList=null,this.m_fixtureCount=0},$.prototype.SynchronizeFixtures=function(){var e=$.s_xf1;e.R.Set(this.m_sweep.a0);var t=e.R,n=this.m_sweep.localCenter;e.position.x=this.m_sweep.c0.x-(t.col1.x*n.x+t.col2.x*n.y),e.position.y=this.m_sweep.c0.y-(t.col1.y*n.x+t.col2.y*n.y);var r,i=this.m_world.m_contactManager.m_broadPhase;for(r=this.m_fixtureList;r;r=r.m_next)r.Synchronize(i,e,this.m_xf)},$.prototype.SynchronizeTransform=function(){this.m_xf.R.Set(this.m_sweep.a);var e=this.m_xf.R,t=this.m_sweep.localCenter;this.m_xf.position.x=this.m_sweep.c.x-(e.col1.x*t.x+e.col2.x*t.y),this.m_xf.position.y=this.m_sweep.c.y-(e.col1.y*t.x+e.col2.y*t.y)},$.prototype.ShouldCollide=function(e){if(this.m_type!=$.b2_dynamicBody&&e.m_type!=$.b2_dynamicBody)return!1;for(var t=this.m_jointList;t;t=t.next)if(t.other==e&&t.joint.m_collideConnected==0)return!1;return!0},$.prototype.Advance=function(e){e===undefined&&(e=0),this.m_sweep.Advance(e),this.m_sweep.c.SetV(this.m_sweep.c0),this.m_sweep.a=this.m_sweep.a0,this.SynchronizeTransform()},Box2D.postDefs.push(function(){Box2D.Dynamics.b2Body.s_xf1=new s,Box2D.Dynamics.b2Body.e_islandFlag=1,Box2D.Dynamics.b2Body.e_awakeFlag=2,Box2D.Dynamics.b2Body.e_allowSleepFlag=4,Box2D.Dynamics.b2Body.e_bulletFlag=8,Box2D.Dynamics.b2Body.e_fixedRotationFlag=16,Box2D.Dynamics.b2Body.e_activeFlag=32,Box2D.Dynamics.b2Body.b2_staticBody=0,Box2D.Dynamics.b2Body.b2_kinematicBody=1,Box2D.Dynamics.b2Body.b2_dynamicBody=2}),J.b2BodyDef=function(){this.position=new o,this.linearVelocity=new o},J.prototype.b2BodyDef=function(){this.userData=null,this.position.Set(0,0),this.angle=0,this.linearVelocity.Set(0,0),this.angularVelocity=0,this.linearDamping=0,this.angularDamping=0,this.allowSleep=!0,this.awake=!0,this.fixedRotation=!1,this.bullet=!1,this.type=$.b2_staticBody,this.active=!0,this.inertiaScale=1},K.b2ContactFilter=function(){},K.prototype.ShouldCollide=function(e,t){var n=e.GetFilterData(),r=t.GetFilterData();if(n.groupIndex==r.groupIndex&&n.groupIndex!=0)return n.groupIndex>0;var i=(n.maskBits&r.categoryBits)!=0&&(n.categoryBits&r.maskBits)!=0;return i},K.prototype.RayCollide=function(e,t){return e?this.ShouldCollide(e instanceof nt?e:null,t):!0},Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactFilter.b2_defaultFilter=new K}),Q.b2ContactImpulse=function(){this.normalImpulses=new Vector_a2j_Number(l.b2_maxManifoldPoints),this.tangentImpulses=new Vector_a2j_Number(l.b2_maxManifoldPoints)},G.b2ContactListener=function(){},G.prototype.BeginContact=function(e){},G.prototype.EndContact=function(e){},G.prototype.PreSolve=function(e,t){},G.prototype.PostSolve=function(e,t){},Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactListener.b2_defaultListener=new G}),Y.b2ContactManager=function(){},Y.prototype.b2ContactManager=function(){this.m_world=null,this.m_contactCount=0,this.m_contactFilter=K.b2_defaultFilter,this.m_contactListener=G.b2_defaultListener,this.m_contactFactory=new ht(this.m_allocator),this.m_broadPhase=new S},Y.prototype.AddPair=function(e,t){var n=e instanceof nt?e:null,r=t instanceof nt?t:null,i=n.GetBody(),s=r.GetBody();if(i==s)return;var o=s.GetContactList();while(o){if(o.other==i){var u=o.contact.GetFixtureA(),a=o.contact.GetFixtureB();if(u==n&&a==r)return;if(u==r&&a==n)return}o=o.next}if(s.ShouldCollide(i)==0)return;if(this.m_contactFilter.ShouldCollide(n,r)==0)return;var f=this.m_contactFactory.Create(n,r);n=f.GetFixtureA(),r=f.GetFixtureB(),i=n.m_body,s=r.m_body,f.m_prev=null,f.m_next=this.m_world.m_contactList,this.m_world.m_contactList!=null&&(this.m_world.m_contactList.m_prev=f),this.m_world.m_contactList=f,f.m_nodeA.contact=f,f.m_nodeA.other=s,f.m_nodeA.prev=null,f.m_nodeA.next=i.m_contactList,i.m_contactList!=null&&(i.m_contactList.prev=f.m_nodeA),i.m_contactList=f.m_nodeA,f.m_nodeB.contact=f,f.m_nodeB.other=i,f.m_nodeB.prev=null,f.m_nodeB.next=s.m_contactList,s.m_contactList!=null&&(s.m_contactList.prev=f.m_nodeB),s.m_contactList=f.m_nodeB,++this.m_world.m_contactCount;return},Y.prototype.FindNewContacts=function(){this.m_broadPhase.UpdatePairs(Box2D.generateCallback(this,this.AddPair))},Y.prototype.Destroy=function(e){var t=e.GetFixtureA(),n=e.GetFixtureB(),r=t.GetBody(),i=n.GetBody();e.IsTouching()&&this.m_contactListener.EndContact(e),e.m_prev&&(e.m_prev.m_next=e.m_next),e.m_next&&(e.m_next.m_prev=e.m_prev),e==this.m_world.m_contactList&&(this.m_world.m_contactList=e.m_next),e.m_nodeA.prev&&(e.m_nodeA.prev.next=e.m_nodeA.next),e.m_nodeA.next&&(e.m_nodeA.next.prev=e.m_nodeA.prev),e.m_nodeA==r.m_contactList&&(r.m_contactList=e.m_nodeA.next),e.m_nodeB.prev&&(e.m_nodeB.prev.next=e.m_nodeB.next),e.m_nodeB.next&&(e.m_nodeB.next.prev=e.m_nodeB.prev),e.m_nodeB==i.m_contactList&&(i.m_contactList=e.m_nodeB.next),this.m_contactFactory.Destroy(e),--this.m_contactCount},Y.prototype.Collide=function(){var e=this.m_world.m_contactList;while(e){var t=e.GetFixtureA(),n=e.GetFixtureB(),r=t.GetBody(),i=n.GetBody();if(r.IsAwake()==0&&i.IsAwake()==0){e=e.GetNext();continue}if(e.m_flags&at.e_filterFlag){if(i.ShouldCollide(r)==0){var s=e;e=s.GetNext(),this.Destroy(s);continue}if(this.m_contactFilter.ShouldCollide(t,n)==0){s=e,e=s.GetNext(),this.Destroy(s);continue}e.m_flags&=~at.e_filterFlag}var o=t.m_proxy,u=n.m_proxy,a=this.m_broadPhase.TestOverlap(o,u);if(a==0){s=e,e=s.GetNext(),this.Destroy(s);continue}e.Update(this.m_contactListener),e=e.GetNext()}},Box2D.postDefs.push(function(){Box2D.Dynamics.b2ContactManager.s_evalCP=new m}),Z.b2DebugDraw=function(){},Z.prototype.b2DebugDraw=function(){},Z.prototype.SetFlags=function(e){e===undefined&&(e=0)},Z.prototype.GetFlags=function(){},Z.prototype.AppendFlags=function(e){e===undefined&&(e=0)},Z.prototype.ClearFlags=function(e){e===undefined&&(e=0)},Z.prototype.SetSprite=function(e){},Z.prototype.GetSprite=function(){},Z.prototype.SetDrawScale=function(e){e===undefined&&(e=0)},Z.prototype.GetDrawScale=function(){},Z.prototype.SetLineThickness=function(e){e===undefined&&(e=0)},Z.prototype.GetLineThickness=function(){},Z.prototype.SetAlpha=function(e){e===undefined&&(e=0)},Z.prototype.GetAlpha=function(){},Z.prototype.SetFillAlpha=function(e){e===undefined&&(e=0)},Z.prototype.GetFillAlpha=function(){},Z.prototype.SetXFormScale=function(e){e===undefined&&(e=0)},Z.prototype.GetXFormScale=function(){},Z.prototype.DrawPolygon=function(e,t,n){t===undefined&&(t=0)},Z.prototype.DrawSolidPolygon=function(e,t,n){t===undefined&&(t=0)},Z.prototype.DrawCircle=function(e,t,n){t===undefined&&(t=0)},Z.prototype.DrawSolidCircle=function(e,t,n,r){t===undefined&&(t=0)},Z.prototype.DrawSegment=function(e,t,n){},Z.prototype.DrawTransform=function(e){},Box2D.postDefs.push(function(){Box2D.Dynamics.b2DebugDraw.e_shapeBit=1,Box2D.Dynamics.b2DebugDraw.e_jointBit=2,Box2D.Dynamics.b2DebugDraw.e_aabbBit=4,Box2D.Dynamics.b2DebugDraw.e_pairBit=8,Box2D.Dynamics.b2DebugDraw.e_centerOfMassBit=16,Box2D.Dynamics.b2DebugDraw.e_controllerBit=32}),et.b2DestructionListener=function(){},et.prototype.SayGoodbyeJoint=function(e){},et.prototype.SayGoodbyeFixture=function(e){},tt.b2FilterData=function(){this.categoryBits=1,this.maskBits=65535,this.groupIndex=0},tt.prototype.Copy=function(){var e=new tt;return e.categoryBits=this.categoryBits,e.maskBits=this.maskBits,e.groupIndex=this.groupIndex,e},nt.b2Fixture=function(){this.m_filter=new tt},nt.prototype.GetType=function(){return this.m_shape.GetType()},nt.prototype.GetShape=function(){return this.m_shape},nt.prototype.SetSensor=function(e){if(this.m_isSensor==e)return;this.m_isSensor=e;if(this.m_body==null)return;var t=this.m_body.GetContactList();while(t){var n=t.contact,r=n.GetFixtureA(),i=n.GetFixtureB();(r==this||i==this)&&n.SetSensor(r.IsSensor()||i.IsSensor()),t=t.next}},nt.prototype.IsSensor=function(){return this.m_isSensor},nt.prototype.SetFilterData=function(e){this.m_filter=e.Copy();if(this.m_body)return;var t=this.m_body.GetContactList();while(t){var n=t.contact,r=n.GetFixtureA(),i=n.GetFixtureB();(r==this||i==this)&&n.FlagForFiltering(),t=t.next}},nt.prototype.GetFilterData=function(){return this.m_filter.Copy()},nt.prototype.GetBody=function(){return this.m_body},nt.prototype.GetNext=function(){return this.m_next},nt.prototype.GetUserData=function(){return this.m_userData},nt.prototype.SetUserData=function(e){this.m_userData=e},nt.prototype.TestPoint=function(e){return this.m_shape.TestPoint(this.m_body.GetTransform(),e)},nt.prototype.RayCast=function(e,t){return this.m_shape.RayCast(e,t,this.m_body.GetTransform())},nt.prototype.GetMassData=function(e){return e===undefined&&(e=null),e==null&&(e=new W),this.m_shape.ComputeMass(e,this.m_density),e},nt.prototype.SetDensity=function(e){e===undefined&&(e=0),this.m_density=e},nt.prototype.GetDensity=function(){return this.m_density},nt.prototype.GetFriction=function(){return this.m_friction},nt.prototype.SetFriction=function(e){e===undefined&&(e=0),this.m_friction=e},nt.prototype.GetRestitution=function(){return this.m_restitution},nt.prototype.SetRestitution=function(e){e===undefined&&(e=0),this.m_restitution=e},nt.prototype.GetAABB=function(){return this.m_aabb},nt.prototype.b2Fixture=function(){this.m_aabb=new c,this.m_userData=null,this.m_body=null,this.m_next=null,this.m_shape=null,this.m_density=0,this.m_friction=0,this.m_restitution=0},nt.prototype.Create=function(e,t,n){this.m_userData=n.userData,this.m_friction=n.friction,this.m_restitution=n.restitution,this.m_body=e,this.m_next=null,this.m_filter=n.filter.Copy(),this.m_isSensor=n.isSensor,this.m_shape=n.shape.Copy(),this.m_density=n.density},nt.prototype.Destroy=function(){this.m_shape=null},nt.prototype.CreateProxy=function(e,t){this.m_shape.ComputeAABB(this.m_aabb,t),this.m_proxy=e.CreateProxy(this.m_aabb,this)},nt.prototype.DestroyProxy=function(e){if(this.m_proxy==null)return;e.DestroyProxy(this.m_proxy),this.m_proxy=null},nt.prototype.Synchronize=function(e,t,n){if(!this.m_proxy)return;var i=new c,s=new c;this.m_shape.ComputeAABB(i,t),this.m_shape.ComputeAABB(s,n),this.m_aabb.Combine(i,s);var o=r.SubtractVV(n.position,t.position);e.MoveProxy(this.m_proxy,this.m_aabb,o)},rt.b2FixtureDef=function(){this.filter=new tt},rt.prototype.b2FixtureDef=function(){this.shape=null,this.userData=null,this.friction=.2,this.restitution=0,this.density=0,this.filter.categoryBits=1,this.filter.maskBits=65535,this.filter.groupIndex=0,this.isSensor=!1},it.b2Island=function(){},it.prototype.b2Island=function(){this.m_bodies=new Vector,this.m_contacts=new Vector,this.m_joints=new Vector},it.prototype.Initialize=function(e,t,n,r,i,s){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=0);var o=0;this.m_bodyCapacity=e,this.m_contactCapacity=t,this.m_jointCapacity=n,this.m_bodyCount=0,this.m_contactCount=0,this.m_jointCount=0,this.m_allocator=r,this.m_listener=i,this.m_contactSolver=s;for(o=this.m_bodies.length;o<e;o++)this.m_bodies[o]=null;for(o=this.m_contacts.length;o<t;o++)this.m_contacts[o]=null;for(o=this.m_joints.length;o<n;o++)this.m_joints[o]=null},it.prototype.Clear=function(){this.m_bodyCount=0,this.m_contactCount=0,this.m_jointCount=0},it.prototype.Solve=function(e,t,n){var i=0,s=0,o,u;for(i=0;i<this.m_bodyCount;++i){o=this.m_bodies[i];if(o.GetType()!=$.b2_dynamicBody)continue;o.m_linearVelocity.x+=e.dt*(t.x+o.m_invMass*o.m_force.x),o.m_linearVelocity.y+=e.dt*(t.y+o.m_invMass*o.m_force.y),o.m_angularVelocity+=e.dt*o.m_invI*o.m_torque,o.m_linearVelocity.Multiply(r.Clamp(1-e.dt*o.m_linearDamping,0,1)),o.m_angularVelocity*=r.Clamp(1-e.dt*o.m_angularDamping,0,1)}this.m_contactSolver.Initialize(e,this.m_contacts,this.m_contactCount,this.m_allocator);var a=this.m_contactSolver;a.InitVelocityConstraints(e);for(i=0;i<this.m_jointCount;++i)u=this.m_joints[i],u.InitVelocityConstraints(e);for(i=0;i<e.velocityIterations;++i){for(s=0;s<this.m_jointCount;++s)u=this.m_joints[s],u.SolveVelocityConstraints(e);a.SolveVelocityConstraints()}for(i=0;i<this.m_jointCount;++i)u=this.m_joints[i],u.FinalizeVelocityConstraints();a.FinalizeVelocityConstraints();for(i=0;i<this.m_bodyCount;++i){o=this.m_bodies[i];if(o.GetType()==$.b2_staticBody)continue;var f=e.dt*o.m_linearVelocity.x,c=e.dt*o.m_linearVelocity.y;f*f+c*c>l.b2_maxTranslationSquared&&(o.m_linearVelocity.Normalize(),o.m_linearVelocity.x*=l.b2_maxTranslation*e.inv_dt,o.m_linearVelocity.y*=l.b2_maxTranslation*e.inv_dt);var h=e.dt*o.m_angularVelocity;h*h>l.b2_maxRotationSquared&&(o.m_angularVelocity<0?o.m_angularVelocity=-l.b2_maxRotation*e.inv_dt:o.m_angularVelocity=l.b2_maxRotation*e.inv_dt),o.m_sweep.c0.SetV(o.m_sweep.c),o.m_sweep.a0=o.m_sweep.a,o.m_sweep.c.x+=e.dt*o.m_linearVelocity.x,o.m_sweep.c.y+=e.dt*o.m_linearVelocity.y,o.m_sweep.a+=e.dt*o.m_angularVelocity,o.SynchronizeTransform()}for(i=0;i<e.positionIterations;++i){var p=a.SolvePositionConstraints(l.b2_contactBaumgarte),d=!0;for(s=0;s<this.m_jointCount;++s){u=this.m_joints[s];var v=u.SolvePositionConstraints(l.b2_contactBaumgarte);d=d&&v}if(p&&d)break}this.Report(a.m_constraints);if(n){var m=Number.MAX_VALUE,g=l.b2_linearSleepTolerance*l.b2_linearSleepTolerance,y=l.b2_angularSleepTolerance*l.b2_angularSleepTolerance;for(i=0;i<this.m_bodyCount;++i){o=this.m_bodies[i];if(o.GetType()==$.b2_staticBody)continue;(o.m_flags&$.e_allowSleepFlag)==0&&(o.m_sleepTime=0,m=0),(o.m_flags&$.e_allowSleepFlag)==0||o.m_angularVelocity*o.m_angularVelocity>y||r.Dot(o.m_linearVelocity,o.m_linearVelocity)>g?(o.m_sleepTime=0,m=0):(o.m_sleepTime+=e.dt,m=r.Min(m,o.m_sleepTime))}if(m>=l.b2_timeToSleep)for(i=0;i<this.m_bodyCount;++i)o=this.m_bodies[i],o.SetAwake(!1)}},it.prototype.SolveTOI=function(e){var t=0,n=0;this.m_contactSolver.Initialize(e,this.m_contacts,this.m_contactCount,this.m_allocator);var r=this.m_contactSolver;for(t=0;t<this.m_jointCount;++t)this.m_joints[t].InitVelocityConstraints(e);for(t=0;t<e.velocityIterations;++t){r.SolveVelocityConstraints();for(n=0;n<this.m_jointCount;++n)this.m_joints[n].SolveVelocityConstraints(e)}for(t=0;t<this.m_bodyCount;++t){var i=this.m_bodies[t];if(i.GetType()==$.b2_staticBody)continue;var s=e.dt*i.m_linearVelocity.x,o=e.dt*i.m_linearVelocity.y;s*s+o*o>l.b2_maxTranslationSquared&&(i.m_linearVelocity.Normalize(),i.m_linearVelocity.x*=l.b2_maxTranslation*e.inv_dt,i.m_linearVelocity.y*=l.b2_maxTranslation*e.inv_dt);var u=e.dt*i.m_angularVelocity;u*u>l.b2_maxRotationSquared&&(i.m_angularVelocity<0?i.m_angularVelocity=-l.b2_maxRotation*e.inv_dt:i.m_angularVelocity=l.b2_maxRotation*e.inv_dt),i.m_sweep.c0.SetV(i.m_sweep.c),i.m_sweep.a0=i.m_sweep.a,i.m_sweep.c.x+=e.dt*i.m_linearVelocity.x,i.m_sweep.c.y+=e.dt*i.m_linearVelocity.y,i.m_sweep.a+=e.dt*i.m_angularVelocity,i.SynchronizeTransform()}var a=.75;for(t=0;t<e.positionIterations;++t){var f=r.SolvePositionConstraints(a),c=!0;for(n=0;n<this.m_jointCount;++n){var h=this.m_joints[n].SolvePositionConstraints(l.b2_contactBaumgarte);c=c&&h}if(f&&c)break}this.Report(r.m_constraints)},it.prototype.Report=function(e){if(this.m_listener==null)return;for(var t=0;t<this.m_contactCount;++t){var n=this.m_contacts[t],r=e[t];for(var i=0;i<r.pointCount;++i)it.s_impulse.normalImpulses[i]=r.points[i].normalImpulse,it.s_impulse.tangentImpulses[i]=r.points[i].tangentImpulse;this.m_listener.PostSolve(n,it.s_impulse)}},it.prototype.AddBody=function(e){e.m_islandIndex=this.m_bodyCount,this.m_bodies[this.m_bodyCount++]=e},it.prototype.AddContact=function(e){this.m_contacts[this.m_contactCount++]=e},it.prototype.AddJoint=function(e){this.m_joints[this.m_jointCount++]=e},Box2D.postDefs.push(function(){Box2D.Dynamics.b2Island.s_impulse=new Q}),st.b2TimeStep=function(){},st.prototype.Set=function(e){this.dt=e.dt,this.inv_dt=e.inv_dt,this.positionIterations=e.positionIterations,this.velocityIterations=e.velocityIterations,this.warmStarting=e.warmStarting},ot.b2World=function(){this.s_stack=new Vector,this.m_contactManager=new Y,this.m_contactSolver=new vt,this.m_island=new it},ot.prototype.b2World=function(e,t){this.m_destructionListener=null,this.m_debugDraw=null,this.m_bodyList=null,this.m_contactList=null,this.m_jointList=null,this.m_controllerList=null,this.m_bodyCount=0,this.m_contactCount=0,this.m_jointCount=0,this.m_controllerCount=0,ot.m_warmStarting=!0,ot.m_continuousPhysics=!0,this.m_allowSleep=t,this.m_gravity=e,this.m_inv_dt0=0,this.m_contactManager.m_world=this;var n=new J;this.m_groundBody=this.CreateBody(n)},ot.prototype.SetDestructionListener=function(e){this.m_destructionListener=e},ot.prototype.SetContactFilter=function(e){this.m_contactManager.m_contactFilter=e},ot.prototype.SetContactListener=function(e){this.m_contactManager.m_contactListener=e},ot.prototype.SetDebugDraw=function(e){this.m_debugDraw=e},ot.prototype.SetBroadPhase=function(e){var t=this.m_contactManager.m_broadPhase;this.m_contactManager.m_broadPhase=e;for(var n=this.m_bodyList;n;n=n.m_next)for(var r=n.m_fixtureList;r;r=r.m_next)r.m_proxy=e.CreateProxy(t.GetFatAABB(r.m_proxy),r)},ot.prototype.Validate=function(){this.m_contactManager.m_broadPhase.Validate()},ot.prototype.GetProxyCount=function(){return this.m_contactManager.m_broadPhase.GetProxyCount()},ot.prototype.CreateBody=function(e){if(this.IsLocked()==1)return null;var t=new $(e,this);return 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},ot.prototype.DestroyBody=function(e){if(this.IsLocked()==1)return;var t=e.m_jointList;while(t){var n=t;t=t.next,this.m_destructionListener&&this.m_destructionListener.SayGoodbyeJoint(n.joint),this.DestroyJoint(n.joint)}var r=e.m_controllerList;while(r){var i=r;r=r.nextController,i.controller.RemoveBody(e)}var s=e.m_contactList;while(s){var o=s;s=s.next,this.m_contactManager.Destroy(o.contact)}e.m_contactList=null;var u=e.m_fixtureList;while(u){var a=u;u=u.m_next,this.m_destructionListener&&this.m_destructionListener.SayGoodbyeFixture(a),a.DestroyProxy(this.m_contactManager.m_broadPhase),a.Destroy()}e.m_fixtureList=null,e.m_fixtureCount=0,e.m_prev&&(e.m_prev.m_next=e.m_next),e.m_next&&(e.m_next.m_prev=e.m_prev),e==this.m_bodyList&&(this.m_bodyList=e.m_next),--this.m_bodyCount},ot.prototype.CreateJoint=function(e){var t=Ot.Create(e,null);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;var n=e.bodyA,r=e.bodyB;if(e.collideConnected==0){var i=r.GetContactList();while(i)i.other==n&&i.contact.FlagForFiltering(),i=i.next}return t},ot.prototype.DestroyJoint=function(e){var t=e.m_collideConnected;e.m_prev&&(e.m_prev.m_next=e.m_next),e.m_next&&(e.m_next.m_prev=e.m_prev),e==this.m_jointList&&(this.m_jointList=e.m_next);var n=e.m_bodyA,r=e.m_bodyB;n.SetAwake(!0),r.SetAwake(!0),e.m_edgeA.prev&&(e.m_edgeA.prev.next=e.m_edgeA.next),e.m_edgeA.next&&(e.m_edgeA.next.prev=e.m_edgeA.prev),e.m_edgeA==n.m_jointList&&(n.m_jointList=e.m_edgeA.next),e.m_edgeA.prev=null,e.m_edgeA.next=null,e.m_edgeB.prev&&(e.m_edgeB.prev.next=e.m_edgeB.next),e.m_edgeB.next&&(e.m_edgeB.next.prev=e.m_edgeB.prev),e.m_edgeB==r.m_jointList&&(r.m_jointList=e.m_edgeB.next),e.m_edgeB.prev=null,e.m_edgeB.next=null,Ot.Destroy(e,null),--this.m_jointCount;if(t==0){var i=r.GetContactList();while(i)i.other==n&&i.contact.FlagForFiltering(),i=i.next}},ot.prototype.AddController=function(e){return e.m_next=this.m_controllerList,e.m_prev=null,this.m_controllerList=e,e.m_world=this,this.m_controllerCount++,e},ot.prototype.RemoveController=function(e){e.m_prev&&(e.m_prev.m_next=e.m_next),e.m_next&&(e.m_next.m_prev=e.m_prev),this.m_controllerList==e&&(this.m_controllerList=e.m_next),this.m_controllerCount--},ot.prototype.CreateController=function(e){if(e.m_world!=this)throw new Error("Controller can only be a member of one world");return e.m_next=this.m_controllerList,e.m_prev=null,this.m_controllerList&&(this.m_controllerList.m_prev=e),this.m_controllerList=e,++this.m_controllerCount,e.m_world=this,e},ot.prototype.DestroyController=function(e){e.Clear(),e.m_next&&(e.m_next.m_prev=e.m_prev),e.m_prev&&(e.m_prev.m_next=e.m_next),e==this.m_controllerList&&(this.m_controllerList=e.m_next),--this.m_controllerCount},ot.prototype.SetWarmStarting=function(e){ot.m_warmStarting=e},ot.prototype.SetContinuousPhysics=function(e){ot.m_continuousPhysics=e},ot.prototype.GetBodyCount=function(){return this.m_bodyCount},ot.prototype.GetJointCount=function(){return this.m_jointCount},ot.prototype.GetContactCount=function(){return this.m_contactCount},ot.prototype.SetGravity=function(e){this.m_gravity=e},ot.prototype.GetGravity=function(){return this.m_gravity},ot.prototype.GetGroundBody=function(){return this.m_groundBody},ot.prototype.Step=function(e,t,n){e===undefined&&(e=0),t===undefined&&(t=0),n===undefined&&(n=0),this.m_flags&ot.e_newFixture&&(this.m_contactManager.FindNewContacts(),this.m_flags&=~ot.e_newFixture),this.m_flags|=ot.e_locked;var r=ot.s_timestep2;r.dt=e,r.velocityIterations=t,r.positionIterations=n,e>0?r.inv_dt=1/e:r.inv_dt=0,r.dtRatio=this.m_inv_dt0*e,r.warmStarting=ot.m_warmStarting,this.m_contactManager.Collide(),r.dt>0&&this.Solve(r),ot.m_continuousPhysics&&r.dt>0&&this.SolveTOI(r),r.dt>0&&(this.m_inv_dt0=r.inv_dt),this.m_flags&=~ot.e_locked},ot.prototype.ClearForces=function(){for(var e=this.m_bodyList;e;e=e.m_next)e.m_force.SetZero(),e.m_torque=0},ot.prototype.DrawDebugData=function(){if(this.m_debugDraw==null)return;this.m_debugDraw.m_sprite.graphics.clear();var e=this.m_debugDraw.GetFlags(),t=0,n,r,i,s,u,f=new o,l=new o,h=new o,p,d=new c,v=new c,m=[new o,new o,new o,new o],g=new a(0,0,0);if(e&Z.e_shapeBit)for(n=this.m_bodyList;n;n=n.m_next){p=n.m_xf;for(r=n.GetFixtureList();r;r=r.m_next)i=r.GetShape(),n.IsActive()==0?(g.Set(.5,.5,.3),this.DrawShape(i,p,g)):n.GetType()==$.b2_staticBody?(g.Set(.5,.9,.5),this.DrawShape(i,p,g)):n.GetType()==$.b2_kinematicBody?(g.Set(.5,.5,.9),this.DrawShape(i,p,g)):n.IsAwake()==0?(g.Set(.6,.6,.6),this.DrawShape(i,p,g)):(g.Set(.9,.7,.7),this.DrawShape(i,p,g))}if(e&Z.e_jointBit)for(s=this.m_jointList;s;s=s.m_next)this.DrawJoint(s);if(e&Z.e_controllerBit)for(var y=this.m_controllerList;y;y=y.m_next)y.Draw(this.m_debugDraw);if(e&Z.e_pairBit){g.Set(.3,.9,.9);for(var b=this.m_contactManager.m_contactList;b;b=b.GetNext()){var w=b.GetFixtureA(),E=b.GetFixtureB(),S=w.GetAABB().GetCenter(),x=E.GetAABB().GetCenter();this.m_debugDraw.DrawSegment(S,x,g)}}if(e&Z.e_aabbBit){u=this.m_contactManager.m_broadPhase,m=[new o,new o,new o,new o];for(n=this.m_bodyList;n;n=n.GetNext()){if(n.IsActive()==0)continue;for(r=n.GetFixtureList();r;r=r.GetNext()){var T=u.GetFatAABB(r.m_proxy);m[0].Set(T.lowerBound.x,T.lowerBound.y),m[1].Set(T.upperBound.x,T.lowerBound.y),m[2].Set(T.upperBound.x,T.upperBound.y),m[3].Set(T.lowerBound.x,T.upperBound.y),this.m_debugDraw.DrawPolygon(m,4,g)}}}if(e&Z.e_centerOfMassBit)for(n=this.m_bodyList;n;n=n.m_next)p=ot.s_xf,p.R=n.m_xf.R,p.position=n.GetWorldCenter(),this.m_debugDraw.DrawTransform(p)},ot.prototype.QueryAABB=function(e,t){function i(t){return e(r.GetUserData(t))}var n=this,r=n.m_contactManager.m_broadPhase;r.Query(i,t)},ot.prototype.QueryShape=function(e,t,n){function o(r){var s=i.GetUserData(r)instanceof nt?i.GetUserData(r):null;return V.TestOverlap(t,n,s.GetShape(),s.GetBody().GetTransform())?e(s):!0}var r=this;n===undefined&&(n=null),n==null&&(n=new s,n.SetIdentity());var i=r.m_contactManager.m_broadPhase,u=new c;t.ComputeAABB(u,n),i.Query(o,u)},ot.prototype.QueryPoint=function(e,t){function i(n){var i=r.GetUserData(n)instanceof nt?r.GetUserData(n):null;return i.TestPoint(t)?e(i):!0}var n=this,r=n.m_contactManager.m_broadPhase,s=new c;s.lowerBound.Set(t.x-l.b2_linearSlop,t.y-l.b2_linearSlop),s.upperBound.Set(t.x+l.b2_linearSlop,t.y+l.b2_linearSlop),r.Query(i,s)},ot.prototype.RayCast=function(e,t,n){function u(r,u){var a=i.GetUserData(u),f=a instanceof nt?a:null,l=f.RayCast(s,r);if(l){var c=s.fraction,h=new o((1-c)*t.x+c*n.x,(1-c)*t.y+c*n.y);return e(f,h,s.normal,c)}return r.maxFraction}var r=this,i=r.m_contactManager.m_broadPhase,s=new A,a=new L(t,n);i.RayCast(u,a)},ot.prototype.RayCastOne=function(e,t){function i(e,t,n,i){return i===undefined&&(i=0),r=e,i}var n=this,r;return n.RayCast(i,e,t),r},ot.prototype.RayCastAll=function(e,t){function i(e,t,n,i){return i===undefined&&(i=0),r[r.length]=e,1}var n=this,r=new Vector;return n.RayCast(i,e,t),r},ot.prototype.GetBodyList=function(){return this.m_bodyList},ot.prototype.GetJointList=function(){return this.m_jointList},ot.prototype.GetContactList=function(){return this.m_contactList},ot.prototype.IsLocked=function(){return(this.m_flags&ot.e_locked)>0},ot.prototype.Solve=function(e){var t;for(var n=this.m_controllerList;n;n=n.m_next)n.Step(e);var r=this.m_island;r.Initialize(this.m_bodyCount,this.m_contactCount,this.m_jointCount,null,this.m_contactManager.m_contactListener,this.m_contactSolver);for(t=this.m_bodyList;t;t=t.m_next)t.m_flags&=~$.e_islandFlag;for(var i=this.m_contactList;i;i=i.m_next)i.m_flags&=~at.e_islandFlag;for(var s=this.m_jointList;s;s=s.m_next)s.m_islandFlag=!1;var o=parseInt(this.m_bodyCount),u=this.s_stack;for(var a=this.m_bodyList;a;a=a.m_next){if(a.m_flags&$.e_islandFlag)continue;if(a.IsAwake()==0||a.IsActive()==0)continue;if(a.GetType()==$.b2_staticBody)continue;r.Clear();var f=0;u[f++]=a,a.m_flags|=$.e_islandFlag;while(f>0){t=u[--f],r.AddBody(t),t.IsAwake()==0&&t.SetAwake(!0);if(t.GetType()==$.b2_staticBody)continue;var l;for(var c=t.m_contactList;c;c=c.next){if(c.contact.m_flags&at.e_islandFlag)continue;if(c.contact.IsSensor()==1||c.contact.IsEnabled()==0||c.contact.IsTouching()==0)continue;r.AddContact(c.contact),c.contact.m_flags|=at.e_islandFlag,l=c.other;if(l.m_flags&$.e_islandFlag)continue;u[f++]=l,l.m_flags|=$.e_islandFlag}for(var h=t.m_jointList;h;h=h.next){if(h.joint.m_islandFlag==1)continue;l=h.other;if(l.IsActive()==0)continue;r.AddJoint(h.joint),h.joint.m_islandFlag=!0;if(l.m_flags&$.e_islandFlag)continue;u[f++]=l,l.m_flags|=$.e_islandFlag}}r.Solve(e,this.m_gravity,this.m_allowSleep);for(var p=0;p<r.m_bodyCount;++p)t=r.m_bodies[p],t.GetType()==$.b2_staticBody&&(t.m_flags&=~$.e_islandFlag)}for(p=0;p<u.length;++p){if(!u[p])break;u[p]=null}for(t=this.m_bodyList;t;t=t.m_next){if(t.IsAwake()==0||t.IsActive()==0)continue;if(t.GetType()==$.b2_staticBody)continue;t.SynchronizeFixtures()}this.m_contactManager.FindNewContacts()},ot.prototype.SolveTOI=function(e){var t,n,r,i,s,o,u,a=this.m_island;a.Initialize(this.m_bodyCount,l.b2_maxTOIContactsPerIsland,l.b2_maxTOIJointsPerIsland,null,this.m_contactManager.m_contactListener,this.m_contactSolver);var f=ot.s_queue;for(t=this.m_bodyList;t;t=t.m_next)t.m_flags&=~$.e_islandFlag,t.m_sweep.t0=0;var c;for(c=this.m_contactList;c;c=c.m_next)c.m_flags&=~(at.e_toiFlag|at.e_islandFlag);for(u=this.m_jointList;u;u=u.m_next)u.m_islandFlag=!1;for(;;){var h=null,p=1;for(c=this.m_contactList;c;c=c.m_next){if(c.IsSensor()==1||c.IsEnabled()==0||c.IsContinuous()==0)continue;var d=1;if(c.m_flags&at.e_toiFlag)d=c.m_toi;else{n=c.m_fixtureA,r=c.m_fixtureB,i=n.m_body,s=r.m_body;if(!(i.GetType()==$.b2_dynamicBody&&i.IsAwake()!=0||s.GetType()==$.b2_dynamicBody&&s.IsAwake()!=0))continue;var v=i.m_sweep.t0;i.m_sweep.t0<s.m_sweep.t0?(v=s.m_sweep.t0,i.m_sweep.Advance(v)):s.m_sweep.t0<i.m_sweep.t0&&(v=i.m_sweep.t0,s.m_sweep.Advance(v)),d=c.ComputeTOI(i.m_sweep,s.m_sweep),l.b2Assert(0<=d&&d<=1),d>0&&d<1&&(d=(1-d)*v+d,d>1&&(d=1)),c.m_toi=d,c.m_flags|=at.e_toiFlag}Number.MIN_VALUE<d&&d<p&&(h=c,p=d)}if(h==null||1-100*Number.MIN_VALUE<p)break;n=h.m_fixtureA,r=h.m_fixtureB,i=n.m_body,s=r.m_body,ot.s_backupA.Set(i.m_sweep),ot.s_backupB.Set(s.m_sweep),i.Advance(p),s.Advance(p),h.Update(this.m_contactManager.m_contactListener),h.m_flags&=~at.e_toiFlag;if(h.IsSensor()==1||h.IsEnabled()==0){i.m_sweep.Set(ot.s_backupA),s.m_sweep.Set(ot.s_backupB),i.SynchronizeTransform(),s.SynchronizeTransform();continue}if(h.IsTouching()==0)continue;var m=i;m.GetType()!=$.b2_dynamicBody&&(m=s),a.Clear();var g=0,y=0;f[g+y++]=m,m.m_flags|=$.e_islandFlag;while(y>0){t=f[g++],--y,a.AddBody(t),t.IsAwake()==0&&t.SetAwake(!0);if(t.GetType()!=$.b2_dynamicBody)continue;for(o=t.m_contactList;o;o=o.next){if(a.m_contactCount==a.m_contactCapacity)break;if(o.contact.m_flags&at.e_islandFlag)continue;if(o.contact.IsSensor()==1||o.contact.IsEnabled()==0||o.contact.IsTouching()==0)continue;a.AddContact(o.contact),o.contact.m_flags|=at.e_islandFlag;var b=o.other;if(b.m_flags&$.e_islandFlag)continue;b.GetType()!=$.b2_staticBody&&(b.Advance(p),b.SetAwake(!0)),f[g+y]=b,++y,b.m_flags|=$.e_islandFlag}for(var w=t.m_jointList;w;w=w.next){if(a.m_jointCount==a.m_jointCapacity)continue;if(w.joint.m_islandFlag==1)continue;b=w.other;if(b.IsActive()==0)continue;a.AddJoint(w.joint),w.joint.m_islandFlag=!0;if(b.m_flags&$.e_islandFlag)continue;b.GetType()!=$.b2_staticBody&&(b.Advance(p),b.SetAwake(!0)),f[g+y]=b,++y,b.m_flags|=$.e_islandFlag}}var E=ot.s_timestep;E.warmStarting=!1,E.dt=(1-p)*e.dt,E.inv_dt=1/E.dt,E.dtRatio=0,E.velocityIterations=e.velocityIterations,E.positionIterations=e.positionIterations,a.SolveTOI(E);var S=0;for(S=0;S<a.m_bodyCount;++S){t=a.m_bodies[S],t.m_flags&=~$.e_islandFlag;if(t.IsAwake()==0)continue;if(t.GetType()!=$.b2_dynamicBody)continue;t.SynchronizeFixtures();for(o=t.m_contactList;o;o=o.next)o.contact.m_flags&=~at.e_toiFlag}for(S=0;S<a.m_contactCount;++S)c=a.m_contacts[S],c.m_flags&=~(at.e_toiFlag|at.e_islandFlag);for(S=0;S<a.m_jointCount;++S)u=a.m_joints[S],u.m_islandFlag=!1;this.m_contactManager.FindNewContacts()}},ot.prototype.DrawJoint=function(e){var t=e.GetBodyA(),n=e.GetBodyB(),r=t.m_xf,i=n.m_xf,s=r.position,o=i.position,u=e.GetAnchorA(),a=e.GetAnchorB(),f=ot.s_jointColor;switch(e.m_type){case Ot.e_distanceJoint:this.m_debugDraw.DrawSegment(u,a,f);break;case Ot.e_pulleyJoint:var l=e instanceof It?e:null,c=l.GetGroundAnchorA(),h=l.GetGroundAnchorB();this.m_debugDraw.DrawSegment(c,u,f),this.m_debugDraw.DrawSegment(h,a,f),this.m_debugDraw.DrawSegment(c,h,f);break;case Ot.e_mouseJoint:this.m_debugDraw.DrawSegment(u,a,f);break;default:t!=this.m_groundBody&&this.m_debugDraw.DrawSegment(s,u,f),this.m_debugDraw.DrawSegment(u,a,f),n!=this.m_groundBody&&this.m_debugDraw.DrawSegment(o,a,f)}},ot.prototype.DrawShape=function(e,t,n){switch(e.m_type){case V.e_circleShape:var i=e instanceof R?e:null,s=r.MulX(t,i.m_p),o=i.m_radius,u=t.R.col1;this.m_debugDraw.DrawSolidCircle(s,o,u,n);break;case V.e_polygonShape:var a=0,f=e instanceof X?e:null,l=parseInt(f.GetVertexCount()),c=f.GetVertices(),h=new Vector(l);for(a=0;a<l;++a)h[a]=r.MulX(t,c[a]);this.m_debugDraw.DrawSolidPolygon(h,l,n);break;case V.e_edgeShape:var p=e instanceof z?e:null;this.m_debugDraw.DrawSegment(r.MulX(t,p.GetVertex1()),r.MulX(t,p.GetVertex2()),n)}},Box2D.postDefs.push(function(){Box2D.Dynamics.b2World.s_timestep2=new st,Box2D.Dynamics.b2World.s_xf=new s,Box2D.Dynamics.b2World.s_backupA=new i,Box2D.Dynamics.b2World.s_backupB=new i,Box2D.Dynamics.b2World.s_timestep=new st,Box2D.Dynamics.b2World.s_queue=new Vector,Box2D.Dynamics.b2World.s_jointColor=new a(.5,.8,.8),Box2D.Dynamics.b2World.e_newFixture=1,Box2D.Dynamics.b2World.e_locked=2})}(),function(){var e=Box2D.Collision.Shapes.b2CircleShape,t=Box2D.Collision.Shapes.b2EdgeChainDef,n=Box2D.Collision.Shapes.b2EdgeShape,r=Box2D.Collision.Shapes.b2MassData,i=Box2D.Collision.Shapes.b2PolygonShape,s=Box2D.Collision.Shapes.b2Shape,o=Box2D.Dynamics.Contacts.b2CircleContact,u=Box2D.Dynamics.Contacts.b2Contact,a=Box2D.Dynamics.Contacts.b2ContactConstraint,f=Box2D.Dynamics.Contacts.b2ContactConstraintPoint,l=Box2D.Dynamics.Contacts.b2ContactEdge,c=Box2D.Dynamics.Contacts.b2ContactFactory,h=Box2D.Dynamics.Contacts.b2ContactRegister,p=Box2D.Dynamics.Contacts.b2ContactResult,d=Box2D.Dynamics.Contacts.b2ContactSolver,v=Box2D.Dynamics.Contacts.b2EdgeAndCircleContact,m=Box2D.Dynamics.Contacts.b2NullContact,g=Box2D.Dynamics.Contacts.b2PolyAndCircleContact,y=Box2D.Dynamics.Contacts.b2PolyAndEdgeContact,b=Box2D.Dynamics.Contacts.b2PolygonContact,w=Box2D.Dynamics.Contacts.b2PositionSolverManifold,E=Box2D.Dynamics.b2Body,S=Box2D.Dynamics.b2BodyDef,x=Box2D.Dynamics.b2ContactFilter,T=Box2D.Dynamics.b2ContactImpulse,N=Box2D.Dynamics.b2ContactListener,C=Box2D.Dynamics.b2ContactManager,k=Box2D.Dynamics.b2DebugDraw,L=Box2D.Dynamics.b2DestructionListener,A=Box2D.Dynamics.b2FilterData,O=Box2D.Dynamics.b2Fixture,M=Box2D.Dynamics.b2FixtureDef,_=Box2D.Dynamics.b2Island,D=Box2D.Dynamics.b2TimeStep,P=Box2D.Dynamics.b2World,H=Box2D.Common.b2Color,B=Box2D.Common.b2internal,j=Box2D.Common.b2Settings,F=Box2D.Common.Math.b2Mat22,I=Box2D.Common.Math.b2Mat33,q=Box2D.Common.Math.b2Math,R=Box2D.Common.Math.b2Sweep,U=Box2D.Common.Math.b2Transform,z=Box2D.Common.Math.b2Vec2,W=Box2D.Common.Math.b2Vec3,X=Box2D.Collision.b2AABB,V=Box2D.Collision.b2Bound,$=Box2D.Collision.b2BoundValues,J=Box2D.Collision.b2Collision,K=Box2D.Collision.b2ContactID,Q=Box2D.Collision.b2ContactPoint,G=Box2D.Collision.b2Distance,Y=Box2D.Collision.b2DistanceInput,Z=Box2D.Collision.b2DistanceOutput,et=Box2D.Collision.b2DistanceProxy,tt=Box2D.Collision.b2DynamicTree,nt=Box2D.Collision.b2DynamicTreeBroadPhase,rt=Box2D.Collision.b2DynamicTreeNode,it=Box2D.Collision.b2DynamicTreePair,st=Box2D.Collision.b2Manifold,ot=Box2D.Collision.b2ManifoldPoint,ut=Box2D.Collision.b2Point,at=Box2D.Collision.b2RayCastInput,ft=Box2D.Collision.b2RayCastOutput,lt=Box2D.Collision.b2Segment,ct=Box2D.Collision.b2SeparationFunction,ht=Box2D.Collision.b2Simplex,pt=Box2D.Collision.b2SimplexCache,dt=Box2D.Collision.b2SimplexVertex,vt=Box2D.Collision.b2TimeOfImpact,mt=Box2D.Collision.b2TOIInput,gt=Box2D.Collision.b2WorldManifold,yt=Box2D.Collision.ClipVertex,bt=Box2D.Collision.Features,wt=Box2D.Collision.IBroadPhase;Box2D.inherit(o,Box2D.Dynamics.Contacts.b2Contact),o.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype,o.b2CircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)},o.Create=function(e){return new o},o.Destroy=function(e,t){},o.prototype.Reset=function(e,t){this.__super.Reset.call(this,e,t)},o.prototype.Evaluate=function(){var t=this.m_fixtureA.GetBody(),n=this.m_fixtureB.GetBody();J.CollideCircles(this.m_manifold,this.m_fixtureA.GetShape()instanceof e?this.m_fixtureA.GetShape():null,t.m_xf,this.m_fixtureB.GetShape()instanceof e?this.m_fixtureB.GetShape():null,n.m_xf)},u.b2Contact=function(){this.m_nodeA=new l,this.m_nodeB=new l,this.m_manifold=new st,this.m_oldManifold=new st},u.prototype.GetManifold=function(){return this.m_manifold},u.prototype.GetWorldManifold=function(e){var t=this.m_fixtureA.GetBody(),n=this.m_fixtureB.GetBody(),r=this.m_fixtureA.GetShape(),i=this.m_fixtureB.GetShape();e.Initialize(this.m_manifold,t.GetTransform(),r.m_radius,n.GetTransform(),i.m_radius)},u.prototype.IsTouching=function(){return(this.m_flags&u.e_touchingFlag)==u.e_touchingFlag},u.prototype.IsContinuous=function(){return(this.m_flags&u.e_continuousFlag)==u.e_continuousFlag},u.prototype.SetSensor=function(e){e?this.m_flags|=u.e_sensorFlag:this.m_flags&=~u.e_sensorFlag},u.prototype.IsSensor=function(){return(this.m_flags&u.e_sensorFlag)==u.e_sensorFlag},u.prototype.SetEnabled=function(e){e?this.m_flags|=u.e_enabledFlag:this.m_flags&=~u.e_enabledFlag},u.prototype.IsEnabled=function(){return(this.m_flags&u.e_enabledFlag)==u.e_enabledFlag},u.prototype.GetNext=function(){return this.m_next},u.prototype.GetFixtureA=function(){return this.m_fixtureA},u.prototype.GetFixtureB=function(){return this.m_fixtureB},u.prototype.FlagForFiltering=function(){this.m_flags|=u.e_filterFlag},u.prototype.b2Contact=function(){},u.prototype.Reset=function(e,t){e===undefined&&(e=null),t===undefined&&(t=null),this.m_flags=u.e_enabledFlag;if(!e||!t){this.m_fixtureA=null,this.m_fixtureB=null;return}if(e.IsSensor()||t.IsSensor())this.m_flags|=u.e_sensorFlag;var n=e.GetBody(),r=t.GetBody();if(n.GetType()!=E.b2_dynamicBody||n.IsBullet()||r.GetType()!=E.b2_dynamicBody||r.IsBullet())this.m_flags|=u.e_continuousFlag;this.m_fixtureA=e,this.m_fixtureB=t,this.m_manifold.m_pointCount=0,this.m_prev=null,this.m_next=null,this.m_nodeA.contact=null,this.m_nodeA.prev=null,this.m_nodeA.next=null,this.m_nodeA.other=null,this.m_nodeB.contact=null,this.m_nodeB.prev=null,this.m_nodeB.next=null,this.m_nodeB.other=null},u.prototype.Update=function(e){var t=this.m_oldManifold;this.m_oldManifold=this.m_manifold,this.m_manifold=t,this.m_flags|=u.e_enabledFlag;var n=!1,r=(this.m_flags&u.e_touchingFlag)==u.e_touchingFlag,i=this.m_fixtureA.m_body,o=this.m_fixtureB.m_body,a=this.m_fixtureA.m_aabb.TestOverlap(this.m_fixtureB.m_aabb);if(this.m_flags&u.e_sensorFlag){if(a){var f=this.m_fixtureA.GetShape(),l=this.m_fixtureB.GetShape(),c=i.GetTransform(),h=o.GetTransform();n=s.TestOverlap(f,c,l,h)}this.m_manifold.m_pointCount=0}else{i.GetType()!=E.b2_dynamicBody||i.IsBullet()||o.GetType()!=E.b2_dynamicBody||o.IsBullet()?this.m_flags|=u.e_continuousFlag:this.m_flags&=~u.e_continuousFlag;if(a){this.Evaluate(),n=this.m_manifold.m_pointCount>0;for(var p=0;p<this.m_manifold.m_pointCount;++p){var d=this.m_manifold.m_points[p];d.m_normalImpulse=0,d.m_tangentImpulse=0;var v=d.m_id;for(var m=0;m<this.m_oldManifold.m_pointCount;++m){var g=this.m_oldManifold.m_points[m];if(g.m_id.key==v.key){d.m_normalImpulse=g.m_normalImpulse,d.m_tangentImpulse=g.m_tangentImpulse;break}}}}else this.m_manifold.m_pointCount=0;n!=r&&(i.SetAwake(!0),o.SetAwake(!0))}n?this.m_flags|=u.e_touchingFlag:this.m_flags&=~u.e_touchingFlag,r==0&&n==1&&e.BeginContact(this),r==1&&n==0&&e.EndContact(this),(this.m_flags&u.e_sensorFlag)==0&&e.PreSolve(this,this.m_oldManifold)},u.prototype.Evaluate=function(){},u.prototype.ComputeTOI=function(e,t){return u.s_input.proxyA.Set(this.m_fixtureA.GetShape()),u.s_input.proxyB.Set(this.m_fixtureB.GetShape()),u.s_input.sweepA=e,u.s_input.sweepB=t,u.s_input.tolerance=j.b2_linearSlop,vt.TimeOfImpact(u.s_input)},Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2Contact.e_sensorFlag=1,Box2D.Dynamics.Contacts.b2Contact.e_continuousFlag=2,Box2D.Dynamics.Contacts.b2Contact.e_islandFlag=4,Box2D.Dynamics.Contacts.b2Contact.e_toiFlag=8,Box2D.Dynamics.Contacts.b2Contact.e_touchingFlag=16,Box2D.Dynamics.Contacts.b2Contact.e_enabledFlag=32,Box2D.Dynamics.Contacts.b2Contact.e_filterFlag=64,Box2D.Dynamics.Contacts.b2Contact.s_input=new mt}),a.b2ContactConstraint=function(){this.localPlaneNormal=new z,this.localPoint=new z,this.normal=new z,this.normalMass=new F,this.K=new F},a.prototype.b2ContactConstraint=function(){this.points=new Vector(j.b2_maxManifoldPoints);for(var e=0;e<j.b2_maxManifoldPoints;e++)this.points[e]=new f},f.b2ContactConstraintPoint=function(){this.localPoint=new z,this.rA=new z,this.rB=new z},l.b2ContactEdge=function(){},c.b2ContactFactory=function(){},c.prototype.b2ContactFactory=function(e){this.m_allocator=e,this.InitializeRegisters()},c.prototype.AddType=function(e,t,n,r){n===undefined&&(n=0),r===undefined&&(r=0),this.m_registers[n][r].createFcn=e,this.m_registers[n][r].destroyFcn=t,this.m_registers[n][r].primary=!0,n!=r&&(this.m_registers[r][n].createFcn=e,this.m_registers[r][n].destroyFcn=t,this.m_registers[r][n].primary=!1)},c.prototype.InitializeRegisters=function(){this.m_registers=new Vector(s.e_shapeTypeCount);for(var e=0;e<s.e_shapeTypeCount;e++){this.m_registers[e]=new Vector(s.e_shapeTypeCount);for(var t=0;t<s.e_shapeTypeCount;t++)this.m_registers[e][t]=new h}this.AddType(o.Create,o.Destroy,s.e_circleShape,s.e_circleShape),this.AddType(g.Create,g.Destroy,s.e_polygonShape,s.e_circleShape),this.AddType(b.Create,b.Destroy,s.e_polygonShape,s.e_polygonShape),this.AddType(v.Create,v.Destroy,s.e_edgeShape,s.e_circleShape),this.AddType(y.Create,y.Destroy,s.e_polygonShape,s.e_edgeShape)},c.prototype.Create=function(e,t){var n=parseInt(e.GetType()),r=parseInt(t.GetType()),i=this.m_registers[n][r],s;if(i.pool)return s=i.pool,i.pool=s.m_next,i.poolCount--,s.Reset(e,t),s;var o=i.createFcn;return o!=null?i.primary?(s=o(this.m_allocator),s.Reset(e,t),s):(s=o(this.m_allocator),s.Reset(t,e),s):null},c.prototype.Destroy=function(e){e.m_manifold.m_pointCount>0&&(e.m_fixtureA.m_body.SetAwake(!0),e.m_fixtureB.m_body.SetAwake(!0));var t=parseInt(e.m_fixtureA.GetType()),n=parseInt(e.m_fixtureB.GetType()),r=this.m_registers[t][n];r.poolCount++,e.m_next=r.pool,r.pool=e;var i=r.destroyFcn;i(e,this.m_allocator)},h.b2ContactRegister=function(){},p.b2ContactResult=function(){this.position=new z,this.normal=new z,this.id=new K},d.b2ContactSolver=function(){this.m_step=new D,this.m_constraints=new Vector},d.prototype.b2ContactSolver=function(){},d.prototype.Initialize=function(e,t,n,r){n===undefined&&(n=0);var i;this.m_step.Set(e),this.m_allocator=r;var s=0,o,u;this.m_constraintCount=n;while(this.m_constraints.length<this.m_constraintCount)this.m_constraints[this.m_constraints.length]=new a;for(s=0;s<n;++s){i=t[s];var f=i.m_fixtureA,l=i.m_fixtureB,c=f.m_shape,h=l.m_shape,p=c.m_radius,v=h.m_radius,m=f.m_body,g=l.m_body,y=i.GetManifold(),b=j.b2MixFriction(f.GetFriction(),l.GetFriction()),w=j.b2MixRestitution(f.GetRestitution(),l.GetRestitution()),E=m.m_linearVelocity.x,S=m.m_linearVelocity.y,x=g.m_linearVelocity.x,T=g.m_linearVelocity.y,N=m.m_angularVelocity,C=g.m_angularVelocity;j.b2Assert(y.m_pointCount>0),d.s_worldManifold.Initialize(y,m.m_xf,p,g.m_xf,v);var k=d.s_worldManifold.m_normal.x,L=d.s_worldManifold.m_normal.y,A=this.m_constraints[s];A.bodyA=m,A.bodyB=g,A.manifold=y,A.normal.x=k,A.normal.y=L,A.pointCount=y.m_pointCount,A.friction=b,A.restitution=w,A.localPlaneNormal.x=y.m_localPlaneNormal.x,A.localPlaneNormal.y=y.m_localPlaneNormal.y,A.localPoint.x=y.m_localPoint.x,A.localPoint.y=y.m_localPoint.y,A.radius=p+v,A.type=y.m_type;for(var O=0;O<A.pointCount;++O){var M=y.m_points[O],_=A.points[O];_.normalImpulse=M.m_normalImpulse,_.tangentImpulse=M.m_tangentImpulse,_.localPoint.SetV(M.m_localPoint);var D=_.rA.x=d.s_worldManifold.m_points[O].x-m.m_sweep.c.x,P=_.rA.y=d.s_worldManifold.m_points[O].y-m.m_sweep.c.y,H=_.rB.x=d.s_worldManifold.m_points[O].x-g.m_sweep.c.x,B=_.rB.y=d.s_worldManifold.m_points[O].y-g.m_sweep.c.y,F=D*L-P*k,I=H*L-B*k;F*=F,I*=I;var q=m.m_invMass+g.m_invMass+m.m_invI*F+g.m_invI*I;_.normalMass=1/q;var R=m.m_mass*m.m_invMass+g.m_mass*g.m_invMass;R+=m.m_mass*m.m_invI*F+g.m_mass*g.m_invI*I,_.equalizedMass=1/R;var U=L,z=-k,W=D*z-P*U,X=H*z-B*U;W*=W,X*=X;var V=m.m_invMass+g.m_invMass+m.m_invI*W+g.m_invI*X;_.tangentMass=1/V,_.velocityBias=0;var $=x+ -C*B-E- -N*P,J=T+C*H-S-N*D,K=A.normal.x*$+A.normal.y*J;K<-j.b2_velocityThreshold&&(_.velocityBias+=-A.restitution*K)}if(A.pointCount==2){var Q=A.points[0],G=A.points[1],Y=m.m_invMass,Z=m.m_invI,et=g.m_invMass,tt=g.m_invI,nt=Q.rA.x*L-Q.rA.y*k,rt=Q.rB.x*L-Q.rB.y*k,it=G.rA.x*L-G.rA.y*k,st=G.rB.x*L-G.rB.y*k,ot=Y+et+Z*nt*nt+tt*rt*rt,ut=Y+et+Z*it*it+tt*st*st,at=Y+et+Z*nt*it+tt*rt*st,ft=100;ot*ot<ft*(ot*ut-at*at)?(A.K.col1.Set(ot,at),A.K.col2.Set(at,ut),A.K.GetInverse(A.normalMass)):A.pointCount=1}}},d.prototype.InitVelocityConstraints=function(e){var t,n,r;for(var i=0;i<this.m_constraintCount;++i){var s=this.m_constraints[i],o=s.bodyA,u=s.bodyB,a=o.m_invMass,f=o.m_invI,l=u.m_invMass,c=u.m_invI,h=s.normal.x,p=s.normal.y,d=p,v=-h,m=0,g=0,y=0;if(e.warmStarting){y=s.pointCount;for(g=0;g<y;++g){var b=s.points[g];b.normalImpulse*=e.dtRatio,b.tangentImpulse*=e.dtRatio;var w=b.normalImpulse*h+b.tangentImpulse*d,E=b.normalImpulse*p+b.tangentImpulse*v;o.m_angularVelocity-=f*(b.rA.x*E-b.rA.y*w),o.m_linearVelocity.x-=a*w,o.m_linearVelocity.y-=a*E,u.m_angularVelocity+=c*(b.rB.x*E-b.rB.y*w),u.m_linearVelocity.x+=l*w,u.m_linearVelocity.y+=l*E}}else{y=s.pointCount;for(g=0;g<y;++g){var S=s.points[g];S.normalImpulse=0,S.tangentImpulse=0}}}},d.prototype.SolveVelocityConstraints=function(){var e=0,t,n=0,r=0,i=0,s=0,o=0,u=0,a=0,f=0,l=0,c=0,h=0,p=0,d=0,v=0,m=0,g=0,y=0,b=0,w=0,E,S;for(var x=0;x<this.m_constraintCount;++x){var T=this.m_constraints[x],N=T.bodyA,C=T.bodyB,k=N.m_angularVelocity,L=C.m_angularVelocity,A=N.m_linearVelocity,O=C.m_linearVelocity,M=N.m_invMass,_=N.m_invI,D=C.m_invMass,P=C.m_invI,H=T.normal.x,B=T.normal.y,j=B,F=-H,I=T.friction,R=0;for(e=0;e<T.pointCount;e++)t=T.points[e],o=O.x-L*t.rB.y-A.x+k*t.rA.y,u=O.y+L*t.rB.x-A.y-k*t.rA.x,f=o*j+u*F,l=t.tangentMass*-f,c=I*t.normalImpulse,h=q.Clamp(t.tangentImpulse+l,-c,c),l=h-t.tangentImpulse,p=l*j,d=l*F,A.x-=M*p,A.y-=M*d,k-=_*(t.rA.x*d-t.rA.y*p),O.x+=D*p,O.y+=D*d,L+=P*(t.rB.x*d-t.rB.y*p),t.tangentImpulse=h;var U=parseInt(T.pointCount);if(T.pointCount==1)t=T.points[0],o=O.x+ -L*t.rB.y-A.x- -k*t.rA.y,u=O.y+L*t.rB.x-A.y-k*t.rA.x,a=o*H+u*B,l=-t.normalMass*(a-t.velocityBias),h=t.normalImpulse+l,h=h>0?h:0,l=h-t.normalImpulse,p=l*H,d=l*B,A.x-=M*p,A.y-=M*d,k-=_*(t.rA.x*d-t.rA.y*p),O.x+=D*p,O.y+=D*d,L+=P*(t.rB.x*d-t.rB.y*p),t.normalImpulse=h;else{var z=T.points[0],W=T.points[1],X=z.normalImpulse,V=W.normalImpulse,$=O.x-L*z.rB.y-A.x+k*z.rA.y,J=O.y+L*z.rB.x-A.y-k*z.rA.x,K=O.x-L*W.rB.y-A.x+k*W.rA.y,Q=O.y+L*W.rB.x-A.y-k*W.rA.x,G=$*H+J*B,Y=K*H+Q*B,Z=G-z.velocityBias,et=Y-W.velocityBias;E=T.K,Z-=E.col1.x*X+E.col2.x*V,et-=E.col1.y*X+E.col2.y*V;var tt=.001;for(;;){E=T.normalMass;var nt=-(E.col1.x*Z+E.col2.x*et),rt=-(E.col1.y*Z+E.col2.y*et);if(nt>=0&&rt>=0){v=nt-X,m=rt-V,g=v*H,y=v*B,b=m*H,w=m*B,A.x-=M*(g+b),A.y-=M*(y+w),k-=_*(z.rA.x*y-z.rA.y*g+W.rA.x*w-W.rA.y*b),O.x+=D*(g+b),O.y+=D*(y+w),L+=P*(z.rB.x*y-z.rB.y*g+W.rB.x*w-W.rB.y*b),z.normalImpulse=nt,W.normalImpulse=rt;break}nt=-z.normalMass*Z,rt=0,G=0,Y=T.K.col1.y*nt+et;if(nt>=0&&Y>=0){v=nt-X,m=rt-V,g=v*H,y=v*B,b=m*H,w=m*B,A.x-=M*(g+b),A.y-=M*(y+w),k-=_*(z.rA.x*y-z.rA.y*g+W.rA.x*w-W.rA.y*b),O.x+=D*(g+b),O.y+=D*(y+w),L+=P*(z.rB.x*y-z.rB.y*g+W.rB.x*w-W.rB.y*b),z.normalImpulse=nt,W.normalImpulse=rt;break}nt=0,rt=-W.normalMass*et,G=T.K.col2.x*rt+Z,Y=0;if(rt>=0&&G>=0){v=nt-X,m=rt-V,g=v*H,y=v*B,b=m*H,w=m*B,A.x-=M*(g+b),A.y-=M*(y+w),k-=_*(z.rA.x*y-z.rA.y*g+W.rA.x*w-W.rA.y*b),O.x+=D*(g+b),O.y+=D*(y+w),L+=P*(z.rB.x*y-z.rB.y*g+W.rB.x*w-W.rB.y*b),z.normalImpulse=nt,W.normalImpulse=rt;break}nt=0,rt=0,G=Z,Y=et;if(G>=0&&Y>=0){v=nt-X,m=rt-V,g=v*H,y=v*B,b=m*H,w=m*B,A.x-=M*(g+b),A.y-=M*(y+w),k-=_*(z.rA.x*y-z.rA.y*g+W.rA.x*w-W.rA.y*b),O.x+=D*(g+b),O.y+=D*(y+w),L+=P*(z.rB.x*y-z.rB.y*g+W.rB.x*w-W.rB.y*b),z.normalImpulse=nt,W.normalImpulse=rt;break}break}}N.m_angularVelocity=k,C.m_angularVelocity=L}},d.prototype.FinalizeVelocityConstraints=function(){for(var e=0;e<this.m_constraintCount;++e){var t=this.m_constraints[e],n=t.manifold;for(var r=0;r<t.pointCount;++r){var i=n.m_points[r],s=t.points[r];i.m_normalImpulse=s.normalImpulse,i.m_tangentImpulse=s.tangentImpulse}}},d.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t=0;for(var n=0;n<this.m_constraintCount;n++){var r=this.m_constraints[n],i=r.bodyA,s=r.bodyB,o=i.m_mass*i.m_invMass,u=i.m_mass*i.m_invI,a=s.m_mass*s.m_invMass,f=s.m_mass*s.m_invI;d.s_psm.Initialize(r);var l=d.s_psm.m_normal;for(var c=0;c<r.pointCount;c++){var h=r.points[c],p=d.s_psm.m_points[c],v=d.s_psm.m_separations[c],m=p.x-i.m_sweep.c.x,g=p.y-i.m_sweep.c.y,y=p.x-s.m_sweep.c.x,b=p.y-s.m_sweep.c.y;t=t<v?t:v;var w=q.Clamp(e*(v+j.b2_linearSlop),-j.b2_maxLinearCorrection,0),E=-h.equalizedMass*w,S=E*l.x,x=E*l.y;i.m_sweep.c.x-=o*S,i.m_sweep.c.y-=o*x,i.m_sweep.a-=u*(m*x-g*S),i.SynchronizeTransform(),s.m_sweep.c.x+=a*S,s.m_sweep.c.y+=a*x,s.m_sweep.a+=f*(y*x-b*S),s.SynchronizeTransform()}}return t>-1.5*j.b2_linearSlop},Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2ContactSolver.s_worldManifold=new gt,Box2D.Dynamics.Contacts.b2ContactSolver.s_psm=new w}),Box2D.inherit(v,Box2D.Dynamics.Contacts.b2Contact),v.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype,v.b2EdgeAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)},v.Create=function(e){return new v},v.Destroy=function(e,t){},v.prototype.Reset=function(e,t){this.__super.Reset.call(this,e,t)},v.prototype.Evaluate=function(){var t=this.m_fixtureA.GetBody(),r=this.m_fixtureB.GetBody();this.b2CollideEdgeAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof n?this.m_fixtureA.GetShape():null,t.m_xf,this.m_fixtureB.GetShape()instanceof e?this.m_fixtureB.GetShape():null,r.m_xf)},v.prototype.b2CollideEdgeAndCircle=function(e,t,n,r,i){},Box2D.inherit(m,Box2D.Dynamics.Contacts.b2Contact),m.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype,m.b2NullContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)},m.prototype.b2NullContact=function(){this.__super.b2Contact.call(this)},m.prototype.Evaluate=function(){},Box2D.inherit(g,Box2D.Dynamics.Contacts.b2Contact),g.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype,g.b2PolyAndCircleContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)},g.Create=function(e){return new g},g.Destroy=function(e,t){},g.prototype.Reset=function(e,t){this.__super.Reset.call(this,e,t),j.b2Assert(e.GetType()==s.e_polygonShape),j.b2Assert(t.GetType()==s.e_circleShape)},g.prototype.Evaluate=function(){var t=this.m_fixtureA.m_body,n=this.m_fixtureB.m_body;J.CollidePolygonAndCircle(this.m_manifold,this.m_fixtureA.GetShape()instanceof i?this.m_fixtureA.GetShape():null,t.m_xf,this.m_fixtureB.GetShape()instanceof e?this.m_fixtureB.GetShape():null,n.m_xf)},Box2D.inherit(y,Box2D.Dynamics.Contacts.b2Contact),y.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype,y.b2PolyAndEdgeContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)},y.Create=function(e){return new y},y.Destroy=function(e,t){},y.prototype.Reset=function(e,t){this.__super.Reset.call(this,e,t),j.b2Assert(e.GetType()==s.e_polygonShape),j.b2Assert(t.GetType()==s.e_edgeShape)},y.prototype.Evaluate=function(){var e=this.m_fixtureA.GetBody(),t=this.m_fixtureB.GetBody();this.b2CollidePolyAndEdge(this.m_manifold,this.m_fixtureA.GetShape()instanceof i?this.m_fixtureA.GetShape():null,e.m_xf,this.m_fixtureB.GetShape()instanceof n?this.m_fixtureB.GetShape():null,t.m_xf)},y.prototype.b2CollidePolyAndEdge=function(e,t,n,r,i){},Box2D.inherit(b,Box2D.Dynamics.Contacts.b2Contact),b.prototype.__super=Box2D.Dynamics.Contacts.b2Contact.prototype,b.b2PolygonContact=function(){Box2D.Dynamics.Contacts.b2Contact.b2Contact.apply(this,arguments)},b.Create=function(e){return new b},b.Destroy=function(e,t){},b.prototype.Reset=function(e,t){this.__super.Reset.call(this,e,t)},b.prototype.Evaluate=function(){var e=this.m_fixtureA.GetBody(),t=this.m_fixtureB.GetBody();J.CollidePolygons(this.m_manifold,this.m_fixtureA.GetShape()instanceof i?this.m_fixtureA.GetShape():null,e.m_xf,this.m_fixtureB.GetShape()instanceof i?this.m_fixtureB.GetShape():null,t.m_xf)},w.b2PositionSolverManifold=function(){},w.prototype.b2PositionSolverManifold=function(){this.m_normal=new z,this.m_separations=new Vector_a2j_Number(j.b2_maxManifoldPoints),this.m_points=new Vector(j.b2_maxManifoldPoints);for(var e=0;e<j.b2_maxManifoldPoints;e++)this.m_points[e]=new z},w.prototype.Initialize=function(e){j.b2Assert(e.pointCount>0);var t=0,n=0,r=0,i,s,o=0,u=0;switch(e.type){case st.e_circles:i=e.bodyA.m_xf.R,s=e.localPoint;var a=e.bodyA.m_xf.position.x+(i.col1.x*s.x+i.col2.x*s.y),f=e.bodyA.m_xf.position.y+(i.col1.y*s.x+i.col2.y*s.y);i=e.bodyB.m_xf.R,s=e.points[0].localPoint;var l=e.bodyB.m_xf.position.x+(i.col1.x*s.x+i.col2.x*s.y),c=e.bodyB.m_xf.position.y+(i.col1.y*s.x+i.col2.y*s.y),h=l-a,p=c-f,d=h*h+p*p;if(d>Number.MIN_VALUE*Number.MIN_VALUE){var v=Math.sqrt(d);this.m_normal.x=h/v,this.m_normal.y=p/v}else this.m_normal.x=1,this.m_normal.y=0;this.m_points[0].x=.5*(a+l),this.m_points[0].y=.5*(f+c),this.m_separations[0]=h*this.m_normal.x+p*this.m_normal.y-e.radius;break;case st.e_faceA:i=e.bodyA.m_xf.R,s=e.localPlaneNormal,this.m_normal.x=i.col1.x*s.x+i.col2.x*s.y,this.m_normal.y=i.col1.y*s.x+i.col2.y*s.y,i=e.bodyA.m_xf.R,s=e.localPoint,o=e.bodyA.m_xf.position.x+(i.col1.x*s.x+i.col2.x*s.y),u=e.bodyA.m_xf.position.y+(i.col1.y*s.x+i.col2.y*s.y),i=e.bodyB.m_xf.R;for(t=0;t<e.pointCount;++t)s=e.points[t].localPoint,n=e.bodyB.m_xf.position.x+(i.col1.x*s.x+i.col2.x*s.y),r=e.bodyB.m_xf.position.y+(i.col1.y*s.x+i.col2.y*s.y),this.m_separations[t]=(n-o)*this.m_normal.x+(r-u)*this.m_normal.y-e.radius,this.m_points[t].x=n,this.m_points[t].y=r;break;case st.e_faceB:i=e.bodyB.m_xf.R,s=e.localPlaneNormal,this.m_normal.x=i.col1.x*s.x+i.col2.x*s.y,this.m_normal.y=i.col1.y*s.x+i.col2.y*s.y,i=e.bodyB.m_xf.R,s=e.localPoint,o=e.bodyB.m_xf.position.x+(i.col1.x*s.x+i.col2.x*s.y),u=e.bodyB.m_xf.position.y+(i.col1.y*s.x+i.col2.y*s.y),i=e.bodyA.m_xf.R;for(t=0;t<e.pointCount;++t)s=e.points[t].localPoint,n=e.bodyA.m_xf.position.x+(i.col1.x*s.x+i.col2.x*s.y),r=e.bodyA.m_xf.position.y+(i.col1.y*s.x+i.col2.y*s.y),this.m_separations[t]=(n-o)*this.m_normal.x+(r-u)*this.m_normal.y-e.radius,this.m_points[t].Set(n,r);this.m_normal.x*=-1,this.m_normal.y*=-1}},Box2D.postDefs.push(function(){Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointA=new z,Box2D.Dynamics.Contacts.b2PositionSolverManifold.circlePointB=new z})}(),function(){var e=Box2D.Dynamics.b2Body,t=Box2D.Dynamics.b2BodyDef,n=Box2D.Dynamics.b2ContactFilter,r=Box2D.Dynamics.b2ContactImpulse,i=Box2D.Dynamics.b2ContactListener,s=Box2D.Dynamics.b2ContactManager,o=Box2D.Dynamics.b2DebugDraw,u=Box2D.Dynamics.b2DestructionListener,a=Box2D.Dynamics.b2FilterData,f=Box2D.Dynamics.b2Fixture,l=Box2D.Dynamics.b2FixtureDef,c=Box2D.Dynamics.b2Island,h=Box2D.Dynamics.b2TimeStep,p=Box2D.Dynamics.b2World,d=Box2D.Common.Math.b2Mat22,v=Box2D.Common.Math.b2Mat33,m=Box2D.Common.Math.b2Math,g=Box2D.Common.Math.b2Sweep,y=Box2D.Common.Math.b2Transform,b=Box2D.Common.Math.b2Vec2,w=Box2D.Common.Math.b2Vec3,E=Box2D.Common.b2Color,S=Box2D.Common.b2internal,x=Box2D.Common.b2Settings,T=Box2D.Collision.Shapes.b2CircleShape,N=Box2D.Collision.Shapes.b2EdgeChainDef,C=Box2D.Collision.Shapes.b2EdgeShape,k=Box2D.Collision.Shapes.b2MassData,L=Box2D.Collision.Shapes.b2PolygonShape,A=Box2D.Collision.Shapes.b2Shape,O=Box2D.Dynamics.Controllers.b2BuoyancyController,M=Box2D.Dynamics.Controllers.b2ConstantAccelController,_=Box2D.Dynamics.Controllers.b2ConstantForceController,D=Box2D.Dynamics.Controllers.b2Controller,P=Box2D.Dynamics.Controllers.b2ControllerEdge,H=Box2D.Dynamics.Controllers.b2GravityController,B=Box2D.Dynamics.Controllers.b2TensorDampingController;Box2D.inherit(O,Box2D.Dynamics.Controllers.b2Controller),O.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype,O.b2BuoyancyController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments),this.normal=new b(0,-1),this.offset=0,this.density=0,this.velocity=new b(0,0),this.linearDrag=2,this.angularDrag=1,this.useDensity=!1,this.useWorldGravity=!0,this.gravity=null},O.prototype.Step=function(e){if(!this.m_bodyList)return;this.useWorldGravity&&(this.gravity=this.GetWorld().GetGravity().Copy());for(var t=this.m_bodyList;t;t=t.nextBody){var n=t.body;if(n.IsAwake()==0)continue;var r=new b,i=new b,s=0,o=0;for(var u=n.GetFixtureList();u;u=u.GetNext()){var a=new b,f=u.GetShape().ComputeSubmergedArea(this.normal,this.offset,n.GetTransform(),a);s+=f,r.x+=f*a.x,r.y+=f*a.y;var l=0;this.useDensity?l=1:l=1,o+=f*l,i.x+=f*a.x*l,i.y+=f*a.y*l}r.x/=s,r.y/=s,i.x/=o,i.y/=o;if(s<Number.MIN_VALUE)continue;var c=this.gravity.GetNegative();c.Multiply(this.density*s),n.ApplyForce(c,i);var h=n.GetLinearVelocityFromWorldPoint(r);h.Subtract(this.velocity),h.Multiply(-this.linearDrag*s),n.ApplyForce(h,r),n.ApplyTorque(-n.GetInertia()/n.GetMass()*s*n.GetAngularVelocity()*this.angularDrag)}},O.prototype.Draw=function(e){var t=1e3,n=new b,r=new b;n.x=this.normal.x*this.offset+this.normal.y*t,n.y=this.normal.y*this.offset-this.normal.x*t,r.x=this.normal.x*this.offset-this.normal.y*t,r.y=this.normal.y*this.offset+this.normal.x*t;var i=new E(0,0,1);e.DrawSegment(n,r,i)},Box2D.inherit(M,Box2D.Dynamics.Controllers.b2Controller),M.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype,M.b2ConstantAccelController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments),this.A=new b(0,0)},M.prototype.Step=function(e){var t=new b(this.A.x*e.dt,this.A.y*e.dt);for(var n=this.m_bodyList;n;n=n.nextBody){var r=n.body;if(!r.IsAwake())continue;r.SetLinearVelocity(new b(r.GetLinearVelocity().x+t.x,r.GetLinearVelocity().y+t.y))}},Box2D.inherit(_,Box2D.Dynamics.Controllers.b2Controller),_.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype,_.b2ConstantForceController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments),this.F=new b(0,0)},_.prototype.Step=function(e){for(var t=this.m_bodyList;t;t=t.nextBody){var n=t.body;if(!n.IsAwake())continue;n.ApplyForce(this.F,n.GetWorldCenter())}},D.b2Controller=function(){},D.prototype.Step=function(e){},D.prototype.Draw=function(e){},D.prototype.AddBody=function(e){var t=new P;t.controller=this,t.body=e,t.nextBody=this.m_bodyList,t.prevBody=null,this.m_bodyList=t,t.nextBody&&(t.nextBody.prevBody=t),this.m_bodyCount++,t.nextController=e.m_controllerList,t.prevController=null,e.m_controllerList=t,t.nextController&&(t.nextController.prevController=t),e.m_controllerCount++},D.prototype.RemoveBody=function(e){var t=e.m_controllerList;while(t&&t.controller!=this)t=t.nextController;t.prevBody&&(t.prevBody.nextBody=t.nextBody),t.nextBody&&(t.nextBody.prevBody=t.prevBody),t.nextController&&(t.nextController.prevController=t.prevController),t.prevController&&(t.prevController.nextController=t.nextController),this.m_bodyList==t&&(this.m_bodyList=t.nextBody),e.m_controllerList==t&&(e.m_controllerList=t.nextController),e.m_controllerCount--,this.m_bodyCount--},D.prototype.Clear=function(){while(this.m_bodyList)this.RemoveBody(this.m_bodyList.body)},D.prototype.GetNext=function(){return this.m_next},D.prototype.GetWorld=function(){return this.m_world},D.prototype.GetBodyList=function(){return this.m_bodyList},P.b2ControllerEdge=function(){},Box2D.inherit(H,Box2D.Dynamics.Controllers.b2Controller),H.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype,H.b2GravityController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments),this.G=1,this.invSqr=!0},H.prototype.Step=function(e){var t=null,n=null,r=null,i=0,s=null,o=null,u=null,a=0,f=0,l=0,c=null;if(this.invSqr)for(t=this.m_bodyList;t;t=t.nextBody){n=t.body,r=n.GetWorldCenter(),i=n.GetMass();for(s=this.m_bodyList;s!=t;s=s.nextBody){o=s.body,u=o.GetWorldCenter(),a=u.x-r.x,f=u.y-r.y,l=a*a+f*f;if(l<Number.MIN_VALUE)continue;c=new b(a,f),c.Multiply(this.G/l/Math.sqrt(l)*i*o.GetMass()),n.IsAwake()&&n.ApplyForce(c,r),c.Multiply(-1),o.IsAwake()&&o.ApplyForce(c,u)}}else for(t=this.m_bodyList;t;t=t.nextBody){n=t.body,r=n.GetWorldCenter(),i=n.GetMass();for(s=this.m_bodyList;s!=t;s=s.nextBody){o=s.body,u=o.GetWorldCenter(),a=u.x-r.x,f=u.y-r.y,l=a*a+f*f;if(l<Number.MIN_VALUE)continue;c=new b(a,f),c.Multiply(this.G/l*i*o.GetMass()),n.IsAwake()&&n.ApplyForce(c,r),c.Multiply(-1),o.IsAwake()&&o.ApplyForce(c,u)}}},Box2D.inherit(B,Box2D.Dynamics.Controllers.b2Controller),B.prototype.__super=Box2D.Dynamics.Controllers.b2Controller.prototype,B.b2TensorDampingController=function(){Box2D.Dynamics.Controllers.b2Controller.b2Controller.apply(this,arguments),this.T=new d,this.maxTimestep=0},B.prototype.SetAxisAligned=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0),this.T.col1.x=-e,this.T.col1.y=0,this.T.col2.x=0,this.T.col2.y=-t,e>0||t>0?this.maxTimestep=1/Math.max(e,t):this.maxTimestep=0},B.prototype.Step=function(e){var t=e.dt;if(t<=Number.MIN_VALUE)return;t>this.maxTimestep&&this.maxTimestep>0&&(t=this.maxTimestep);for(var n=this.m_bodyList;n;n=n.nextBody){var r=n.body;if(!r.IsAwake())continue;var i=r.GetWorldVector(m.MulMV(this.T,r.GetLocalVector(r.GetLinearVelocity())));r.SetLinearVelocity(new b(r.GetLinearVelocity().x+i.x*t,r.GetLinearVelocity().y+i.y*t))}}}(),function(){var e=Box2D.Common.b2Color,t=Box2D.Common.b2internal,n=Box2D.Common.b2Settings,r=Box2D.Common.Math.b2Mat22,i=Box2D.Common.Math.b2Mat33,s=Box2D.Common.Math.b2Math,o=Box2D.Common.Math.b2Sweep,u=Box2D.Common.Math.b2Transform,a=Box2D.Common.Math.b2Vec2,f=Box2D.Common.Math.b2Vec3,l=Box2D.Dynamics.Joints.b2DistanceJoint,c=Box2D.Dynamics.Joints.b2DistanceJointDef,h=Box2D.Dynamics.Joints.b2FrictionJoint,p=Box2D.Dynamics.Joints.b2FrictionJointDef,d=Box2D.Dynamics.Joints.b2GearJoint,v=Box2D.Dynamics.Joints.b2GearJointDef,m=Box2D.Dynamics.Joints.b2Jacobian,g=Box2D.Dynamics.Joints.b2Joint,y=Box2D.Dynamics.Joints.b2JointDef,b=Box2D.Dynamics.Joints.b2JointEdge,w=Box2D.Dynamics.Joints.b2LineJoint,E=Box2D.Dynamics.Joints.b2LineJointDef,S=Box2D.Dynamics.Joints.b2MouseJoint,x=Box2D.Dynamics.Joints.b2MouseJointDef,T=Box2D.Dynamics.Joints.b2PrismaticJoint,N=Box2D.Dynamics.Joints.b2PrismaticJointDef,C=Box2D.Dynamics.Joints.b2PulleyJoint,k=Box2D.Dynamics.Joints.b2PulleyJointDef,L=Box2D.Dynamics.Joints.b2RevoluteJoint,A=Box2D.Dynamics.Joints.b2RevoluteJointDef,O=Box2D.Dynamics.Joints.b2WeldJoint,M=Box2D.Dynamics.Joints.b2WeldJointDef,_=Box2D.Dynamics.b2Body,D=Box2D.Dynamics.b2BodyDef,P=Box2D.Dynamics.b2ContactFilter,H=Box2D.Dynamics.b2ContactImpulse,B=Box2D.Dynamics.b2ContactListener,j=Box2D.Dynamics.b2ContactManager,F=Box2D.Dynamics.b2DebugDraw,I=Box2D.Dynamics.b2DestructionListener,q=Box2D.Dynamics.b2FilterData,R=Box2D.Dynamics.b2Fixture,U=Box2D.Dynamics.b2FixtureDef,z=Box2D.Dynamics.b2Island,W=Box2D.Dynamics.b2TimeStep,X=Box2D.Dynamics.b2World;Box2D.inherit(l,Box2D.Dynamics.Joints.b2Joint),l.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,l.b2DistanceJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.m_localAnchor1=new a,this.m_localAnchor2=new a,this.m_u=new a},l.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)},l.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)},l.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*this.m_impulse*this.m_u.x,e*this.m_impulse*this.m_u.y)},l.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),0},l.prototype.GetLength=function(){return this.m_length},l.prototype.SetLength=function(e){e===undefined&&(e=0),this.m_length=e},l.prototype.GetFrequency=function(){return this.m_frequencyHz},l.prototype.SetFrequency=function(e){e===undefined&&(e=0),this.m_frequencyHz=e},l.prototype.GetDampingRatio=function(){return this.m_dampingRatio},l.prototype.SetDampingRatio=function(e){e===undefined&&(e=0),this.m_dampingRatio=e},l.prototype.b2DistanceJoint=function(e){this.__super.b2Joint.call(this,e);var t,n=0,r=0;this.m_localAnchor1.SetV(e.localAnchorA),this.m_localAnchor2.SetV(e.localAnchorB),this.m_length=e.length,this.m_frequencyHz=e.frequencyHz,this.m_dampingRatio=e.dampingRatio,this.m_impulse=0,this.m_gamma=0,this.m_bias=0},l.prototype.InitVelocityConstraints=function(e){var t,r=0,i=this.m_bodyA,s=this.m_bodyB;t=i.m_xf.R;var o=this.m_localAnchor1.x-i.m_sweep.localCenter.x,u=this.m_localAnchor1.y-i.m_sweep.localCenter.y;r=t.col1.x*o+t.col2.x*u,u=t.col1.y*o+t.col2.y*u,o=r,t=s.m_xf.R;var a=this.m_localAnchor2.x-s.m_sweep.localCenter.x,f=this.m_localAnchor2.y-s.m_sweep.localCenter.y;r=t.col1.x*a+t.col2.x*f,f=t.col1.y*a+t.col2.y*f,a=r,this.m_u.x=s.m_sweep.c.x+a-i.m_sweep.c.x-o,this.m_u.y=s.m_sweep.c.y+f-i.m_sweep.c.y-u;var l=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);l>n.b2_linearSlop?this.m_u.Multiply(1/l):this.m_u.SetZero();var c=o*this.m_u.y-u*this.m_u.x,h=a*this.m_u.y-f*this.m_u.x,p=i.m_invMass+i.m_invI*c*c+s.m_invMass+s.m_invI*h*h;this.m_mass=p!=0?1/p:0;if(this.m_frequencyHz>0){var d=l-this.m_length,v=2*Math.PI*this.m_frequencyHz,m=2*this.m_mass*this.m_dampingRatio*v,g=this.m_mass*v*v;this.m_gamma=e.dt*(m+e.dt*g),this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0,this.m_bias=d*e.dt*g*this.m_gamma,this.m_mass=p+this.m_gamma,this.m_mass=this.m_mass!=0?1/this.m_mass:0}if(e.warmStarting){this.m_impulse*=e.dtRatio;var y=this.m_impulse*this.m_u.x,b=this.m_impulse*this.m_u.y;i.m_linearVelocity.x-=i.m_invMass*y,i.m_linearVelocity.y-=i.m_invMass*b,i.m_angularVelocity-=i.m_invI*(o*b-u*y),s.m_linearVelocity.x+=s.m_invMass*y,s.m_linearVelocity.y+=s.m_invMass*b,s.m_angularVelocity+=s.m_invI*(a*b-f*y)}else this.m_impulse=0},l.prototype.SolveVelocityConstraints=function(e){var t,n=this.m_bodyA,r=this.m_bodyB;t=n.m_xf.R;var i=this.m_localAnchor1.x-n.m_sweep.localCenter.x,s=this.m_localAnchor1.y-n.m_sweep.localCenter.y,o=t.col1.x*i+t.col2.x*s;s=t.col1.y*i+t.col2.y*s,i=o,t=r.m_xf.R;var u=this.m_localAnchor2.x-r.m_sweep.localCenter.x,a=this.m_localAnchor2.y-r.m_sweep.localCenter.y;o=t.col1.x*u+t.col2.x*a,a=t.col1.y*u+t.col2.y*a,u=o;var f=n.m_linearVelocity.x+ -n.m_angularVelocity*s,l=n.m_linearVelocity.y+n.m_angularVelocity*i,c=r.m_linearVelocity.x+ -r.m_angularVelocity*a,h=r.m_linearVelocity.y+r.m_angularVelocity*u,p=this.m_u.x*(c-f)+this.m_u.y*(h-l),d=-this.m_mass*(p+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=d;var v=d*this.m_u.x,m=d*this.m_u.y;n.m_linearVelocity.x-=n.m_invMass*v,n.m_linearVelocity.y-=n.m_invMass*m,n.m_angularVelocity-=n.m_invI*(i*m-s*v),r.m_linearVelocity.x+=r.m_invMass*v,r.m_linearVelocity.y+=r.m_invMass*m,r.m_angularVelocity+=r.m_invI*(u*m-a*v)},l.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t;if(this.m_frequencyHz>0)return!0;var r=this.m_bodyA,i=this.m_bodyB;t=r.m_xf.R;var o=this.m_localAnchor1.x-r.m_sweep.localCenter.x,u=this.m_localAnchor1.y-r.m_sweep.localCenter.y,a=t.col1.x*o+t.col2.x*u;u=t.col1.y*o+t.col2.y*u,o=a,t=i.m_xf.R;var f=this.m_localAnchor2.x-i.m_sweep.localCenter.x,l=this.m_localAnchor2.y-i.m_sweep.localCenter.y;a=t.col1.x*f+t.col2.x*l,l=t.col1.y*f+t.col2.y*l,f=a;var c=i.m_sweep.c.x+f-r.m_sweep.c.x-o,h=i.m_sweep.c.y+l-r.m_sweep.c.y-u,p=Math.sqrt(c*c+h*h);c/=p,h/=p;var d=p-this.m_length;d=s.Clamp(d,-n.b2_maxLinearCorrection,n.b2_maxLinearCorrection);var v=-this.m_mass*d;this.m_u.Set(c,h);var m=v*this.m_u.x,g=v*this.m_u.y;return r.m_sweep.c.x-=r.m_invMass*m,r.m_sweep.c.y-=r.m_invMass*g,r.m_sweep.a-=r.m_invI*(o*g-u*m),i.m_sweep.c.x+=i.m_invMass*m,i.m_sweep.c.y+=i.m_invMass*g,i.m_sweep.a+=i.m_invI*(f*g-l*m),r.SynchronizeTransform(),i.SynchronizeTransform(),s.Abs(d)<n.b2_linearSlop},Box2D.inherit(c,Box2D.Dynamics.Joints.b2JointDef),c.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,c.b2DistanceJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.localAnchorA=new a,this.localAnchorB=new a},c.prototype.b2DistanceJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_distanceJoint,this.length=1,this.frequencyHz=0,this.dampingRatio=0},c.prototype.Initialize=function(e,t,n,r){this.bodyA=e,this.bodyB=t,this.localAnchorA.SetV(this.bodyA.GetLocalPoint(n)),this.localAnchorB.SetV(this.bodyB.GetLocalPoint(r));var i=r.x-n.x,s=r.y-n.y;this.length=Math.sqrt(i*i+s*s),this.frequencyHz=0,this.dampingRatio=0},Box2D.inherit(h,Box2D.Dynamics.Joints.b2Joint),h.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,h.b2FrictionJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.m_localAnchorA=new a,this.m_localAnchorB=new a,this.m_linearMass=new r,this.m_linearImpulse=new a},h.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},h.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},h.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*this.m_linearImpulse.x,e*this.m_linearImpulse.y)},h.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),e*this.m_angularImpulse},h.prototype.SetMaxForce=function(e){e===undefined&&(e=0),this.m_maxForce=e},h.prototype.GetMaxForce=function(){return this.m_maxForce},h.prototype.SetMaxTorque=function(e){e===undefined&&(e=0),this.m_maxTorque=e},h.prototype.GetMaxTorque=function(){return this.m_maxTorque},h.prototype.b2FrictionJoint=function(e){this.__super.b2Joint.call(this,e),this.m_localAnchorA.SetV(e.localAnchorA),this.m_localAnchorB.SetV(e.localAnchorB),this.m_linearMass.SetZero(),this.m_angularMass=0,this.m_linearImpulse.SetZero(),this.m_angularImpulse=0,this.m_maxForce=e.maxForce,this.m_maxTorque=e.maxTorque},h.prototype.InitVelocityConstraints=function(e){var t,n=0,i=this.m_bodyA,s=this.m_bodyB;t=i.m_xf.R;var o=this.m_localAnchorA.x-i.m_sweep.localCenter.x,u=this.m_localAnchorA.y-i.m_sweep.localCenter.y;n=t.col1.x*o+t.col2.x*u,u=t.col1.y*o+t.col2.y*u,o=n,t=s.m_xf.R;var a=this.m_localAnchorB.x-s.m_sweep.localCenter.x,f=this.m_localAnchorB.y-s.m_sweep.localCenter.y;n=t.col1.x*a+t.col2.x*f,f=t.col1.y*a+t.col2.y*f,a=n;var l=i.m_invMass,c=s.m_invMass,h=i.m_invI,p=s.m_invI,d=new r;d.col1.x=l+c,d.col2.x=0,d.col1.y=0,d.col2.y=l+c,d.col1.x+=h*u*u,d.col2.x+=-h*o*u,d.col1.y+=-h*o*u,d.col2.y+=h*o*o,d.col1.x+=p*f*f,d.col2.x+=-p*a*f,d.col1.y+=-p*a*f,d.col2.y+=p*a*a,d.GetInverse(this.m_linearMass),this.m_angularMass=h+p,this.m_angularMass>0&&(this.m_angularMass=1/this.m_angularMass);if(e.warmStarting){this.m_linearImpulse.x*=e.dtRatio,this.m_linearImpulse.y*=e.dtRatio,this.m_angularImpulse*=e.dtRatio;var v=this.m_linearImpulse;i.m_linearVelocity.x-=l*v.x,i.m_linearVelocity.y-=l*v.y,i.m_angularVelocity-=h*(o*v.y-u*v.x+this.m_angularImpulse),s.m_linearVelocity.x+=c*v.x,s.m_linearVelocity.y+=c*v.y,s.m_angularVelocity+=p*(a*v.y-f*v.x+this.m_angularImpulse)}else this.m_linearImpulse.SetZero(),this.m_angularImpulse=0},h.prototype.SolveVelocityConstraints=function(e){var t,n=0,r=this.m_bodyA,i=this.m_bodyB,o=r.m_linearVelocity,u=r.m_angularVelocity,f=i.m_linearVelocity,l=i.m_angularVelocity,c=r.m_invMass,h=i.m_invMass,p=r.m_invI,d=i.m_invI;t=r.m_xf.R;var v=this.m_localAnchorA.x-r.m_sweep.localCenter.x,m=this.m_localAnchorA.y-r.m_sweep.localCenter.y;n=t.col1.x*v+t.col2.x*m,m=t.col1.y*v+t.col2.y*m,v=n,t=i.m_xf.R;var g=this.m_localAnchorB.x-i.m_sweep.localCenter.x,y=this.m_localAnchorB.y-i.m_sweep.localCenter.y;n=t.col1.x*g+t.col2.x*y,y=t.col1.y*g+t.col2.y*y,g=n;var b=0,w=l-u,E=-this.m_angularMass*w,S=this.m_angularImpulse;b=e.dt*this.m_maxTorque,this.m_angularImpulse=s.Clamp(this.m_angularImpulse+E,-b,b),E=this.m_angularImpulse-S,u-=p*E,l+=d*E;var x=f.x-l*y-o.x+u*m,T=f.y+l*g-o.y-u*v,N=s.MulMV(this.m_linearMass,new a(-x,-T)),C=this.m_linearImpulse.Copy();this.m_linearImpulse.Add(N),b=e.dt*this.m_maxForce,this.m_linearImpulse.LengthSquared()>b*b&&(this.m_linearImpulse.Normalize(),this.m_linearImpulse.Multiply(b)),N=s.SubtractVV(this.m_linearImpulse,C),o.x-=c*N.x,o.y-=c*N.y,u-=p*(v*N.y-m*N.x),f.x+=h*N.x,f.y+=h*N.y,l+=d*(g*N.y-y*N.x),r.m_angularVelocity=u,i.m_angularVelocity=l},h.prototype.SolvePositionConstraints=function(e){return e===undefined&&(e=0),!0},Box2D.inherit(p,Box2D.Dynamics.Joints.b2JointDef),p.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,p.b2FrictionJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.localAnchorA=new a,this.localAnchorB=new a},p.prototype.b2FrictionJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_frictionJoint,this.maxForce=0,this.maxTorque=0},p.prototype.Initialize=function(e,t,n){this.bodyA=e,this.bodyB=t,this.localAnchorA.SetV(this.bodyA.GetLocalPoint(n)),this.localAnchorB.SetV(this.bodyB.GetLocalPoint(n))},Box2D.inherit(d,Box2D.Dynamics.Joints.b2Joint),d.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,d.b2GearJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.m_groundAnchor1=new a,this.m_groundAnchor2=new a,this.m_localAnchor1=new a,this.m_localAnchor2=new a,this.m_J=new m},d.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)},d.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)},d.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*this.m_impulse*this.m_J.linearB.x,e*this.m_impulse*this.m_J.linearB.y)},d.prototype.GetReactionTorque=function(e){e===undefined&&(e=0);var t=this.m_bodyB.m_xf.R,n=this.m_localAnchor1.x-this.m_bodyB.m_sweep.localCenter.x,r=this.m_localAnchor1.y-this.m_bodyB.m_sweep.localCenter.y,i=t.col1.x*n+t.col2.x*r;r=t.col1.y*n+t.col2.y*r,n=i;var s=this.m_impulse*this.m_J.linearB.x,o=this.m_impulse*this.m_J.linearB.y;return e*(this.m_impulse*this.m_J.angularB-n*o+r*s)},d.prototype.GetRatio=function(){return this.m_ratio},d.prototype.SetRatio=function(e){e===undefined&&(e=0),this.m_ratio=e},d.prototype.b2GearJoint=function(e){this.__super.b2Joint.call(this,e);var t=parseInt(e.joint1.m_type),n=parseInt(e.joint2.m_type);this.m_revolute1=null,this.m_prismatic1=null,this.m_revolute2=null,this.m_prismatic2=null;var r=0,i=0;this.m_ground1=e.joint1.GetBodyA(),this.m_bodyA=e.joint1.GetBodyB(),t==g.e_revoluteJoint?(this.m_revolute1=e.joint1 instanceof L?e.joint1:null,this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1),this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2),r=this.m_revolute1.GetJointAngle()):(this.m_prismatic1=e.joint1 instanceof T?e.joint1:null,this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1),this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2),r=this.m_prismatic1.GetJointTranslation()),this.m_ground2=e.joint2.GetBodyA(),this.m_bodyB=e.joint2.GetBodyB(),n==g.e_revoluteJoint?(this.m_revolute2=e.joint2 instanceof L?e.joint2:null,this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1),this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2),i=this.m_revolute2.GetJointAngle()):(this.m_prismatic2=e.joint2 instanceof T?e.joint2:null,this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1),this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2),i=this.m_prismatic2.GetJointTranslation()),this.m_ratio=e.ratio,this.m_constant=r+this.m_ratio*i,this.m_impulse=0},d.prototype.InitVelocityConstraints=function(e){var t=this.m_ground1,n=this.m_ground2,r=this.m_bodyA,i=this.m_bodyB,s=0,o=0,u=0,a=0,f,l,c=0,h=0,p=0;this.m_J.SetZero(),this.m_revolute1?(this.m_J.angularA=-1,p+=r.m_invI):(f=t.m_xf.R,l=this.m_prismatic1.m_localXAxis1,s=f.col1.x*l.x+f.col2.x*l.y,o=f.col1.y*l.x+f.col2.y*l.y,f=r.m_xf.R,u=this.m_localAnchor1.x-r.m_sweep.localCenter.x,a=this.m_localAnchor1.y-r.m_sweep.localCenter.y,h=f.col1.x*u+f.col2.x*a,a=f.col1.y*u+f.col2.y*a,u=h,c=u*o-a*s,this.m_J.linearA.Set(-s,-o),this.m_J.angularA=-c,p+=r.m_invMass+r.m_invI*c*c),this.m_revolute2?(this.m_J.angularB=-this.m_ratio,p+=this.m_ratio*this.m_ratio*i.m_invI):(f=n.m_xf.R,l=this.m_prismatic2.m_localXAxis1,s=f.col1.x*l.x+f.col2.x*l.y,o=f.col1.y*l.x+f.col2.y*l.y,f=i.m_xf.R,u=this.m_localAnchor2.x-i.m_sweep.localCenter.x,a=this.m_localAnchor2.y-i.m_sweep.localCenter.y,h=f.col1.x*u+f.col2.x*a,a=f.col1.y*u+f.col2.y*a,u=h,c=u*o-a*s,this.m_J.linearB.Set(-this.m_ratio*s,-this.m_ratio*o),this.m_J.angularB=-this.m_ratio*c,p+=this.m_ratio*this.m_ratio*(i.m_invMass+i.m_invI*c*c)),this.m_mass=p>0?1/p:0,e.warmStarting?(r.m_linearVelocity.x+=r.m_invMass*this.m_impulse*this.m_J.linearA.x,r.m_linearVelocity.y+=r.m_invMass*this.m_impulse*this.m_J.linearA.y,r.m_angularVelocity+=r.m_invI*this.m_impulse*this.m_J.angularA,i.m_linearVelocity.x+=i.m_invMass*this.m_impulse*this.m_J.linearB.x,i.m_linearVelocity.y+=i.m_invMass*this.m_impulse*this.m_J.linearB.y,i.m_angularVelocity+=i.m_invI*this.m_impulse*this.m_J.angularB):this.m_impulse=0},d.prototype.SolveVelocityConstraints=function(e){var t=this.m_bodyA,n=this.m_bodyB,r=this.m_J.Compute(t.m_linearVelocity,t.m_angularVelocity,n.m_linearVelocity,n.m_angularVelocity),i=-this.m_mass*r;this.m_impulse+=i,t.m_linearVelocity.x+=t.m_invMass*i*this.m_J.linearA.x,t.m_linearVelocity.y+=t.m_invMass*i*this.m_J.linearA.y,t.m_angularVelocity+=t.m_invI*i*this.m_J.angularA,n.m_linearVelocity.x+=n.m_invMass*i*this.m_J.linearB.x,n.m_linearVelocity.y+=n.m_invMass*i*this.m_J.linearB.y,n.m_angularVelocity+=n.m_invI*i*this.m_J.angularB},d.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t=0,r=this.m_bodyA,i=this.m_bodyB,s=0,o=0;this.m_revolute1?s=this.m_revolute1.GetJointAngle():s=this.m_prismatic1.GetJointTranslation(),this.m_revolute2?o=this.m_revolute2.GetJointAngle():o=this.m_prismatic2.GetJointTranslation();var u=this.m_constant-(s+this.m_ratio*o),a=-this.m_mass*u;return r.m_sweep.c.x+=r.m_invMass*a*this.m_J.linearA.x,r.m_sweep.c.y+=r.m_invMass*a*this.m_J.linearA.y,r.m_sweep.a+=r.m_invI*a*this.m_J.angularA,i.m_sweep.c.x+=i.m_invMass*a*this.m_J.linearB.x,i.m_sweep.c.y+=i.m_invMass*a*this.m_J.linearB.y,i.m_sweep.a+=i.m_invI*a*this.m_J.angularB,r.SynchronizeTransform(),i.SynchronizeTransform(),t<n.b2_linearSlop},Box2D.inherit(v,Box2D.Dynamics.Joints.b2JointDef),v.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,v.b2GearJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments)},v.prototype.b2GearJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_gearJoint,this.joint1=null,this.joint2=null,this.ratio=1},m.b2Jacobian=function(){this.linearA=new a,this.linearB=new a},m.prototype.SetZero=function(){this.linearA.SetZero(),this.angularA=0,this.linearB.SetZero(),this.angularB=0},m.prototype.Set=function(e,t,n,r){t===undefined&&(t=0),r===undefined&&(r=0),this.linearA.SetV(e),this.angularA=t,this.linearB.SetV(n),this.angularB=r},m.prototype.Compute=function(e,t,n,r){return t===undefined&&(t=0),r===undefined&&(r=0),this.linearA.x*e.x+this.linearA.y*e.y+this.angularA*t+(this.linearB.x*n.x+this.linearB.y*n.y)+this.angularB*r},g.b2Joint=function(){this.m_edgeA=new b,this.m_edgeB=new b,this.m_localCenterA=new a,this.m_localCenterB=new a},g.prototype.GetType=function(){return this.m_type},g.prototype.GetAnchorA=function(){return null},g.prototype.GetAnchorB=function(){return null},g.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),null},g.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),0},g.prototype.GetBodyA=function(){return this.m_bodyA},g.prototype.GetBodyB=function(){return this.m_bodyB},g.prototype.GetNext=function(){return this.m_next},g.prototype.GetUserData=function(){return this.m_userData},g.prototype.SetUserData=function(e){this.m_userData=e},g.prototype.IsActive=function(){return this.m_bodyA.IsActive()&&this.m_bodyB.IsActive()},g.Create=function(e,t){var n=null;switch(e.type){case g.e_distanceJoint:n=new l(e instanceof c?e:null);break;case g.e_mouseJoint:n=new S(e instanceof x?e:null);break;case g.e_prismaticJoint:n=new T(e instanceof N?e:null);break;case g.e_revoluteJoint:n=new L(e instanceof A?e:null);break;case g.e_pulleyJoint:n=new C(e instanceof k?e:null);break;case g.e_gearJoint:n=new d(e instanceof v?e:null);break;case g.e_lineJoint:n=new w(e instanceof E?e:null);break;case g.e_weldJoint:n=new O(e instanceof M?e:null);break;case g.e_frictionJoint:n=new h(e instanceof p?e:null);break;default:}return n},g.Destroy=function(e,t){},g.prototype.b2Joint=function(e){n.b2Assert(e.bodyA!=e.bodyB),this.m_type=e.type,this.m_prev=null,this.m_next=null,this.m_bodyA=e.bodyA,this.m_bodyB=e.bodyB,this.m_collideConnected=e.collideConnected,this.m_islandFlag=!1,this.m_userData=e.userData},g.prototype.InitVelocityConstraints=function(e){},g.prototype.SolveVelocityConstraints=function(e){},g.prototype.FinalizeVelocityConstraints=function(){},g.prototype.SolvePositionConstraints=function(e){return e===undefined&&(e=0),!1},Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2Joint.e_unknownJoint=0,Box2D.Dynamics.Joints.b2Joint.e_revoluteJoint=1,Box2D.Dynamics.Joints.b2Joint.e_prismaticJoint=2,Box2D.Dynamics.Joints.b2Joint.e_distanceJoint=3,Box2D.Dynamics.Joints.b2Joint.e_pulleyJoint=4,Box2D.Dynamics.Joints.b2Joint.e_mouseJoint=5,Box2D.Dynamics.Joints.b2Joint.e_gearJoint=6,Box2D.Dynamics.Joints.b2Joint.e_lineJoint=7,Box2D.Dynamics.Joints.b2Joint.e_weldJoint=8,Box2D.Dynamics.Joints.b2Joint.e_frictionJoint=9,Box2D.Dynamics.Joints.b2Joint.e_inactiveLimit=0,Box2D.Dynamics.Joints.b2Joint.e_atLowerLimit=1,Box2D.Dynamics.Joints.b2Joint.e_atUpperLimit=2,Box2D.Dynamics.Joints.b2Joint.e_equalLimits=3}),y.b2JointDef=function(){},y.prototype.b2JointDef=function(){this.type=g.e_unknownJoint,this.userData=null,this.bodyA=null,this.bodyB=null,this.collideConnected=!1},b.b2JointEdge=function(){},Box2D.inherit(w,Box2D.Dynamics.Joints.b2Joint),w.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,w.b2LineJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.m_localAnchor1=new a,this.m_localAnchor2=new a,this.m_localXAxis1=new a,this.m_localYAxis1=new a,this.m_axis=new a,this.m_perp=new a,this.m_K=new r,this.m_impulse=new a},w.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)},w.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)},w.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.x),e*(this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.y))},w.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),e*this.m_impulse.y},w.prototype.GetJointTranslation=function(){var e=this.m_bodyA,t=this.m_bodyB,n,r=e.GetWorldPoint(this.m_localAnchor1),i=t.GetWorldPoint(this.m_localAnchor2),s=i.x-r.x,o=i.y-r.y,u=e.GetWorldVector(this.m_localXAxis1),a=u.x*s+u.y*o;return a},w.prototype.GetJointSpeed=function(){var e=this.m_bodyA,t=this.m_bodyB,n;n=e.m_xf.R;var r=this.m_localAnchor1.x-e.m_sweep.localCenter.x,i=this.m_localAnchor1.y-e.m_sweep.localCenter.y,s=n.col1.x*r+n.col2.x*i;i=n.col1.y*r+n.col2.y*i,r=s,n=t.m_xf.R;var o=this.m_localAnchor2.x-t.m_sweep.localCenter.x,u=this.m_localAnchor2.y-t.m_sweep.localCenter.y;s=n.col1.x*o+n.col2.x*u,u=n.col1.y*o+n.col2.y*u,o=s;var a=e.m_sweep.c.x+r,f=e.m_sweep.c.y+i,l=t.m_sweep.c.x+o,c=t.m_sweep.c.y+u,h=l-a,p=c-f,d=e.GetWorldVector(this.m_localXAxis1),v=e.m_linearVelocity,m=t.m_linearVelocity,g=e.m_angularVelocity,y=t.m_angularVelocity,b=h*-g*d.y+p*g*d.x+(d.x*(m.x+ -y*u-v.x- -g*i)+d.y*(m.y+y*o-v.y-g*r));return b},w.prototype.IsLimitEnabled=function(){return this.m_enableLimit},w.prototype.EnableLimit=function(e){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableLimit=e},w.prototype.GetLowerLimit=function(){return this.m_lowerTranslation},w.prototype.GetUpperLimit=function(){return this.m_upperTranslation},w.prototype.SetLimits=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0),this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_lowerTranslation=e,this.m_upperTranslation=t},w.prototype.IsMotorEnabled=function(){return this.m_enableMotor},w.prototype.EnableMotor=function(e){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=e},w.prototype.SetMotorSpeed=function(e){e===undefined&&(e=0),this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=e},w.prototype.GetMotorSpeed=function(){return this.m_motorSpeed},w.prototype.SetMaxMotorForce=function(e){e===undefined&&(e=0),this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_maxMotorForce=e},w.prototype.GetMaxMotorForce=function(){return this.m_maxMotorForce},w.prototype.GetMotorForce=function(){return this.m_motorImpulse},w.prototype.b2LineJoint=function(e){this.__super.b2Joint.call(this,e);var t,n=0,r=0;this.m_localAnchor1.SetV(e.localAnchorA),this.m_localAnchor2.SetV(e.localAnchorB),this.m_localXAxis1.SetV(e.localAxisA),this.m_localYAxis1.x=-this.m_localXAxis1.y,this.m_localYAxis1.y=this.m_localXAxis1.x,this.m_impulse.SetZero(),this.m_motorMass=0,this.m_motorImpulse=0,this.m_lowerTranslation=e.lowerTranslation,this.m_upperTranslation=e.upperTranslation,this.m_maxMotorForce=e.maxMotorForce,this.m_motorSpeed=e.motorSpeed,this.m_enableLimit=e.enableLimit,this.m_enableMotor=e.enableMotor,this.m_limitState=g.e_inactiveLimit,this.m_axis.SetZero(),this.m_perp.SetZero()},w.prototype.InitVelocityConstraints=function(e){var t=this.m_bodyA,r=this.m_bodyB,i,o=0;this.m_localCenterA.SetV(t.GetLocalCenter()),this.m_localCenterB.SetV(r.GetLocalCenter());var u=t.GetTransform(),a=r.GetTransform();i=t.m_xf.R;var f=this.m_localAnchor1.x-this.m_localCenterA.x,l=this.m_localAnchor1.y-this.m_localCenterA.y;o=i.col1.x*f+i.col2.x*l,l=i.col1.y*f+i.col2.y*l,f=o,i=r.m_xf.R;var c=this.m_localAnchor2.x-this.m_localCenterB.x,h=this.m_localAnchor2.y-this.m_localCenterB.y;o=i.col1.x*c+i.col2.x*h,h=i.col1.y*c+i.col2.y*h,c=o;var p=r.m_sweep.c.x+c-t.m_sweep.c.x-f,d=r.m_sweep.c.y+h-t.m_sweep.c.y-l;this.m_invMassA=t.m_invMass,this.m_invMassB=r.m_invMass,this.m_invIA=t.m_invI,this.m_invIB=r.m_invI,this.m_axis.SetV(s.MulMV(u.R,this.m_localXAxis1)),this.m_a1=(p+f)*this.m_axis.y-(d+l)*this.m_axis.x,this.m_a2=c*this.m_axis.y-h*this.m_axis.x,this.m_motorMass=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_a1*this.m_a1+this.m_invIB*this.m_a2*this.m_a2,this.m_motorMass=this.m_motorMass>Number.MIN_VALUE?1/this.m_motorMass:0,this.m_perp.SetV(s.MulMV(u.R,this.m_localYAxis1)),this.m_s1=(p+f)*this.m_perp.y-(d+l)*this.m_perp.x,this.m_s2=c*this.m_perp.y-h*this.m_perp.x;var v=this.m_invMassA,m=this.m_invMassB,y=this.m_invIA,b=this.m_invIB;this.m_K.col1.x=v+m+y*this.m_s1*this.m_s1+b*this.m_s2*this.m_s2,this.m_K.col1.y=y*this.m_s1*this.m_a1+b*this.m_s2*this.m_a2,this.m_K.col2.x=this.m_K.col1.y,this.m_K.col2.y=v+m+y*this.m_a1*this.m_a1+b*this.m_a2*this.m_a2;if(this.m_enableLimit){var w=this.m_axis.x*p+this.m_axis.y*d;s.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*n.b2_linearSlop?this.m_limitState=g.e_equalLimits:w<=this.m_lowerTranslation?this.m_limitState!=g.e_atLowerLimit&&(this.m_limitState=g.e_atLowerLimit,this.m_impulse.y=0):w>=this.m_upperTranslation?this.m_limitState!=g.e_atUpperLimit&&(this.m_limitState=g.e_atUpperLimit,this.m_impulse.y=0):(this.m_limitState=g.e_inactiveLimit,this.m_impulse.y=0)}else this.m_limitState=g.e_inactiveLimit;this.m_enableMotor==0&&(this.m_motorImpulse=0);if(e.warmStarting){this.m_impulse.x*=e.dtRatio,this.m_impulse.y*=e.dtRatio,this.m_motorImpulse*=e.dtRatio;var E=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.x,S=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.y)*this.m_axis.y,x=this.m_impulse.x*this.m_s1+(this.m_motorImpulse+this.m_impulse.y)*this.m_a1,T=this.m_impulse.x*this.m_s2+(this.m_motorImpulse+this.m_impulse.y)*this.m_a2;t.m_linearVelocity.x-=this.m_invMassA*E,t.m_linearVelocity.y-=this.m_invMassA*S,t.m_angularVelocity-=this.m_invIA*x,r.m_linearVelocity.x+=this.m_invMassB*E,r.m_linearVelocity.y+=this.m_invMassB*S,r.m_angularVelocity+=this.m_invIB*T}else this.m_impulse.SetZero(),this.m_motorImpulse=0},w.prototype.SolveVelocityConstraints=function(e){var t=this.m_bodyA,n=this.m_bodyB,r=t.m_linearVelocity,i=t.m_angularVelocity,o=n.m_linearVelocity,u=n.m_angularVelocity,f=0,l=0,c=0,h=0;if(this.m_enableMotor&&this.m_limitState!=g.e_equalLimits){var p=this.m_axis.x*(o.x-r.x)+this.m_axis.y*(o.y-r.y)+this.m_a2*u-this.m_a1*i,d=this.m_motorMass*(this.m_motorSpeed-p),v=this.m_motorImpulse,m=e.dt*this.m_maxMotorForce;this.m_motorImpulse=s.Clamp(this.m_motorImpulse+d,-m,m),d=this.m_motorImpulse-v,f=d*this.m_axis.x,l=d*this.m_axis.y,c=d*this.m_a1,h=d*this.m_a2,r.x-=this.m_invMassA*f,r.y-=this.m_invMassA*l,i-=this.m_invIA*c,o.x+=this.m_invMassB*f,o.y+=this.m_invMassB*l,u+=this.m_invIB*h}var y=this.m_perp.x*(o.x-r.x)+this.m_perp.y*(o.y-r.y)+this.m_s2*u-this.m_s1*i;if(this.m_enableLimit&&this.m_limitState!=g.e_inactiveLimit){var b=this.m_axis.x*(o.x-r.x)+this.m_axis.y*(o.y-r.y)+this.m_a2*u-this.m_a1*i,w=this.m_impulse.Copy(),E=this.m_K.Solve(new a,-y,-b);this.m_impulse.Add(E),this.m_limitState==g.e_atLowerLimit?this.m_impulse.y=s.Max(this.m_impulse.y,0):this.m_limitState==g.e_atUpperLimit&&(this.m_impulse.y=s.Min(this.m_impulse.y,0));var S=-y-(this.m_impulse.y-w.y)*this.m_K.col2.x,x=0;this.m_K.col1.x!=0?x=S/this.m_K.col1.x+w.x:x=w.x,this.m_impulse.x=x,E.x=this.m_impulse.x-w.x,E.y=this.m_impulse.y-w.y,f=E.x*this.m_perp.x+E.y*this.m_axis.x,l=E.x*this.m_perp.y+E.y*this.m_axis.y,c=E.x*this.m_s1+E.y*this.m_a1,h=E.x*this.m_s2+E.y*this.m_a2,r.x-=this.m_invMassA*f,r.y-=this.m_invMassA*l,i-=this.m_invIA*c,o.x+=this.m_invMassB*f,o.y+=this.m_invMassB*l,u+=this.m_invIB*h}else{var T=0;this.m_K.col1.x!=0?T=-y/this.m_K.col1.x:T=0,this.m_impulse.x+=T,f=T*this.m_perp.x,l=T*this.m_perp.y,c=T*this.m_s1,h=T*this.m_s2,r.x-=this.m_invMassA*f,r.y-=this.m_invMassA*l,i-=this.m_invIA*c,o.x+=this.m_invMassB*f,o.y+=this.m_invMassB*l,u+=this.m_invIB*h}t.m_linearVelocity.SetV(r),t.m_angularVelocity=i,n.m_linearVelocity.SetV(o),n.m_angularVelocity=u},w.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t=0,i=0,o=this.m_bodyA,u=this.m_bodyB,f=o.m_sweep.c,l=o.m_sweep.a,c=u.m_sweep.c,h=u.m_sweep.a,p,d=0,v=0,m=0,g=0,y=0,b=0,w=0,E=!1,S=0,x=r.FromAngle(l),T=r.FromAngle(h);p=x;var N=this.m_localAnchor1.x-this.m_localCenterA.x,C=this.m_localAnchor1.y-this.m_localCenterA.y;d=p.col1.x*N+p.col2.x*C,C=p.col1.y*N+p.col2.y*C,N=d,p=T;var k=this.m_localAnchor2.x-this.m_localCenterB.x,L=this.m_localAnchor2.y-this.m_localCenterB.y;d=p.col1.x*k+p.col2.x*L,L=p.col1.y*k+p.col2.y*L,k=d;var A=c.x+k-f.x-N,O=c.y+L-f.y-C;if(this.m_enableLimit){this.m_axis=s.MulMV(x,this.m_localXAxis1),this.m_a1=(A+N)*this.m_axis.y-(O+C)*this.m_axis.x,this.m_a2=k*this.m_axis.y-L*this.m_axis.x;var M=this.m_axis.x*A+this.m_axis.y*O;s.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*n.b2_linearSlop?(S=s.Clamp(M,-n.b2_maxLinearCorrection,n.b2_maxLinearCorrection),b=s.Abs(M),E=!0):M<=this.m_lowerTranslation?(S=s.Clamp(M-this.m_lowerTranslation+n.b2_linearSlop,-n.b2_maxLinearCorrection,0),b=this.m_lowerTranslation-M,E=!0):M>=this.m_upperTranslation&&(S=s.Clamp(M-this.m_upperTranslation+n.b2_linearSlop,0,n.b2_maxLinearCorrection),b=M-this.m_upperTranslation,E=!0)}this.m_perp=s.MulMV(x,this.m_localYAxis1),this.m_s1=(A+N)*this.m_perp.y-(O+C)*this.m_perp.x,this.m_s2=k*this.m_perp.y-L*this.m_perp.x;var _=new a,D=this.m_perp.x*A+this.m_perp.y*O;b=s.Max(b,s.Abs(D)),w=0;if(E)v=this.m_invMassA,m=this.m_invMassB,g=this.m_invIA,y=this.m_invIB,this.m_K.col1.x=v+m+g*this.m_s1*this.m_s1+y*this.m_s2*this.m_s2,this.m_K.col1.y=g*this.m_s1*this.m_a1+y*this.m_s2*this.m_a2,this.m_K.col2.x=this.m_K.col1.y,this.m_K.col2.y=v+m+g*this.m_a1*this.m_a1+y*this.m_a2*this.m_a2,this.m_K.Solve(_,-D,-S);else{v=this.m_invMassA,m=this.m_invMassB,g=this.m_invIA,y=this.m_invIB;var P=v+m+g*this.m_s1*this.m_s1+y*this.m_s2*this.m_s2,H=0;P!=0?H=-D/P:H=0,_.x=H,_.y=0}var B=_.x*this.m_perp.x+_.y*this.m_axis.x,j=_.x*this.m_perp.y+_.y*this.m_axis.y,F=_.x*this.m_s1+_.y*this.m_a1,I=_.x*this.m_s2+_.y*this.m_a2;return f.x-=this.m_invMassA*B,f.y-=this.m_invMassA*j,l-=this.m_invIA*F,c.x+=this.m_invMassB*B,c.y+=this.m_invMassB*j,h+=this.m_invIB*I,o.m_sweep.a=l,u.m_sweep.a=h,o.SynchronizeTransform(),u.SynchronizeTransform(),b<=n.b2_linearSlop&&w<=n.b2_angularSlop},Box2D.inherit(E,Box2D.Dynamics.Joints.b2JointDef),E.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,E.b2LineJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.localAnchorA=new a,this.localAnchorB=new a,this.localAxisA=new a},E.prototype.b2LineJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_lineJoint,this.localAxisA.Set(1,0),this.enableLimit=!1,this.lowerTranslation=0,this.upperTranslation=0,this.enableMotor=!1,this.maxMotorForce=0,this.motorSpeed=0},E.prototype.Initialize=function(e,t,n,r){this.bodyA=e,this.bodyB=t,this.localAnchorA=this.bodyA.GetLocalPoint(n),this.localAnchorB=this.bodyB.GetLocalPoint(n),this.localAxisA=this.bodyA.GetLocalVector(r)},Box2D.inherit(S,Box2D.Dynamics.Joints.b2Joint),S.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,S.b2MouseJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.K=new r,this.K1=new r,this.K2=new r,this.m_localAnchor=new a,this.m_target=new a,this.m_impulse=new a,this.m_mass=new r,this.m_C=new a},S.prototype.GetAnchorA=function(){return this.m_target},S.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor)},S.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*this.m_impulse.x,e*this.m_impulse.y)},S.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),0},S.prototype.GetTarget=function(){return this.m_target},S.prototype.SetTarget=function(e){this.m_bodyB.IsAwake()==0&&this.m_bodyB.SetAwake(!0),this.m_target=e},S.prototype.GetMaxForce=function(){return this.m_maxForce},S.prototype.SetMaxForce=function(e){e===undefined&&(e=0),this.m_maxForce=e},S.prototype.GetFrequency=function(){return this.m_frequencyHz},S.prototype.SetFrequency=function(e){e===undefined&&(e=0),this.m_frequencyHz=e},S.prototype.GetDampingRatio=function(){return this.m_dampingRatio},S.prototype.SetDampingRatio=function(e){e===undefined&&(e=0),this.m_dampingRatio=e},S.prototype.b2MouseJoint=function(e){this.__super.b2Joint.call(this,e),this.m_target.SetV(e.target);var t=this.m_target.x-this.m_bodyB.m_xf.position.x,n=this.m_target.y-this.m_bodyB.m_xf.position.y,r=this.m_bodyB.m_xf.R;this.m_localAnchor.x=t*r.col1.x+n*r.col1.y,this.m_localAnchor.y=t*r.col2.x+n*r.col2.y,this.m_maxForce=e.maxForce,this.m_impulse.SetZero(),this.m_frequencyHz=e.frequencyHz,this.m_dampingRatio=e.dampingRatio,this.m_beta=0,this.m_gamma=0},S.prototype.InitVelocityConstraints=function(e){var t=this.m_bodyB,n=t.GetMass(),r=2*Math.PI*this.m_frequencyHz,i=2*n*this.m_dampingRatio*r,s=n*r*r;this.m_gamma=e.dt*(i+e.dt*s),this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0,this.m_beta=e.dt*s*this.m_gamma;var o;o=t.m_xf.R;var u=this.m_localAnchor.x-t.m_sweep.localCenter.x,a=this.m_localAnchor.y-t.m_sweep.localCenter.y,f=o.col1.x*u+o.col2.x*a;a=o.col1.y*u+o.col2.y*a,u=f;var l=t.m_invMass,c=t.m_invI;this.K1.col1.x=l,this.K1.col2.x=0,this.K1.col1.y=0,this.K1.col2.y=l,this.K2.col1.x=c*a*a,this.K2.col2.x=-c*u*a,this.K2.col1.y=-c*u*a,this.K2.col2.y=c*u*u,this.K.SetM(this.K1),this.K.AddM(this.K2),this.K.col1.x+=this.m_gamma,this.K.col2.y+=this.m_gamma,this.K.GetInverse(this.m_mass),this.m_C.x=t.m_sweep.c.x+u-this.m_target.x,this.m_C.y=t.m_sweep.c.y+a-this.m_target.y,t.m_angularVelocity*=.98,this.m_impulse.x*=e.dtRatio,this.m_impulse.y*=e.dtRatio,t.m_linearVelocity.x+=l*this.m_impulse.x,t.m_linearVelocity.y+=l*this.m_impulse.y,t.m_angularVelocity+=c*(u*this.m_impulse.y-a*this.m_impulse.x)},S.prototype.SolveVelocityConstraints=function(e){var t=this.m_bodyB,n,r=0,i=0;n=t.m_xf.R;var s=this.m_localAnchor.x-t.m_sweep.localCenter.x,o=this.m_localAnchor.y-t.m_sweep.localCenter.y;r=n.col1.x*s+n.col2.x*o,o=n.col1.y*s+n.col2.y*o,s=r;var u=t.m_linearVelocity.x+ -t.m_angularVelocity*o,a=t.m_linearVelocity.y+t.m_angularVelocity*s;n=this.m_mass,r=u+this.m_beta*this.m_C.x+this.m_gamma*this.m_impulse.x,i=a+this.m_beta*this.m_C.y+this.m_gamma*this.m_impulse.y;var f=-(n.col1.x*r+n.col2.x*i),l=-(n.col1.y*r+n.col2.y*i),c=this.m_impulse.x,h=this.m_impulse.y;this.m_impulse.x+=f,this.m_impulse.y+=l;var p=e.dt*this.m_maxForce;this.m_impulse.LengthSquared()>p*p&&this.m_impulse.Multiply(p/this.m_impulse.Length()),f=this.m_impulse.x-c,l=this.m_impulse.y-h,t.m_linearVelocity.x+=t.m_invMass*f,t.m_linearVelocity.y+=t.m_invMass*l,t.m_angularVelocity+=t.m_invI*(s*l-o*f)},S.prototype.SolvePositionConstraints=function(e){return e===undefined&&(e=0),!0},Box2D.inherit(x,Box2D.Dynamics.Joints.b2JointDef),x.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,x.b2MouseJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.target=new a},x.prototype.b2MouseJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_mouseJoint,this.maxForce=0,this.frequencyHz=5,this.dampingRatio=.7},Box2D.inherit(T,Box2D.Dynamics.Joints.b2Joint),T.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,T.b2PrismaticJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.m_localAnchor1=new a,this.m_localAnchor2=new a,this.m_localXAxis1=new a,this.m_localYAxis1=new a,this.m_axis=new a,this.m_perp=new a,this.m_K=new i,this.m_impulse=new f},T.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)},T.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)},T.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x),e*(this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y))},T.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),e*this.m_impulse.y},T.prototype.GetJointTranslation=function(){var e=this.m_bodyA,t=this.m_bodyB,n,r=e.GetWorldPoint(this.m_localAnchor1),i=t.GetWorldPoint(this.m_localAnchor2),s=i.x-r.x,o=i.y-r.y,u=e.GetWorldVector(this.m_localXAxis1),a=u.x*s+u.y*o;return a},T.prototype.GetJointSpeed=function(){var e=this.m_bodyA,t=this.m_bodyB,n;n=e.m_xf.R;var r=this.m_localAnchor1.x-e.m_sweep.localCenter.x,i=this.m_localAnchor1.y-e.m_sweep.localCenter.y,s=n.col1.x*r+n.col2.x*i;i=n.col1.y*r+n.col2.y*i,r=s,n=t.m_xf.R;var o=this.m_localAnchor2.x-t.m_sweep.localCenter.x,u=this.m_localAnchor2.y-t.m_sweep.localCenter.y;s=n.col1.x*o+n.col2.x*u,u=n.col1.y*o+n.col2.y*u,o=s;var a=e.m_sweep.c.x+r,f=e.m_sweep.c.y+i,l=t.m_sweep.c.x+o,c=t.m_sweep.c.y+u,h=l-a,p=c-f,d=e.GetWorldVector(this.m_localXAxis1),v=e.m_linearVelocity,m=t.m_linearVelocity,g=e.m_angularVelocity,y=t.m_angularVelocity,b=h*-g*d.y+p*g*d.x+(d.x*(m.x+ -y*u-v.x- -g*i)+d.y*(m.y+y*o-v.y-g*r));return b},T.prototype.IsLimitEnabled=function(){return this.m_enableLimit},T.prototype.EnableLimit=function(e){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableLimit=e},T.prototype.GetLowerLimit=function(){return this.m_lowerTranslation},T.prototype.GetUpperLimit=function(){return this.m_upperTranslation},T.prototype.SetLimits=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0),this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_lowerTranslation=e,this.m_upperTranslation=t},T.prototype.IsMotorEnabled=function(){return this.m_enableMotor},T.prototype.EnableMotor=function(e){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=e},T.prototype.SetMotorSpeed=function(e){e===undefined&&(e=0),this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=e},T.prototype.GetMotorSpeed=function(){return this.m_motorSpeed},T.prototype.SetMaxMotorForce=function(e){e===undefined&&(e=0),this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_maxMotorForce=e},T.prototype.GetMotorForce=function(){return this.m_motorImpulse},T.prototype.b2PrismaticJoint=function(e){this.__super.b2Joint.call(this,e);var t,n=0,r=0;this.m_localAnchor1.SetV(e.localAnchorA),this.m_localAnchor2.SetV(e.localAnchorB),this.m_localXAxis1.SetV(e.localAxisA),this.m_localYAxis1.x=-this.m_localXAxis1.y,this.m_localYAxis1.y=this.m_localXAxis1.x,this.m_refAngle=e.referenceAngle,this.m_impulse.SetZero(),this.m_motorMass=0,this.m_motorImpulse=0,this.m_lowerTranslation=e.lowerTranslation,this.m_upperTranslation=e.upperTranslation,this.m_maxMotorForce=e.maxMotorForce,this.m_motorSpeed=e.motorSpeed,this.m_enableLimit=e.enableLimit,this.m_enableMotor=e.enableMotor,this.m_limitState=g.e_inactiveLimit,this.m_axis.SetZero(),this.m_perp.SetZero()},T.prototype.InitVelocityConstraints=function(e){var t=this.m_bodyA,r=this.m_bodyB,i,o=0;this.m_localCenterA.SetV(t.GetLocalCenter()),this.m_localCenterB.SetV(r.GetLocalCenter());var u=t.GetTransform(),a=r.GetTransform();i=t.m_xf.R;var f=this.m_localAnchor1.x-this.m_localCenterA.x,l=this.m_localAnchor1.y-this.m_localCenterA.y;o=i.col1.x*f+i.col2.x*l,l=i.col1.y*f+i.col2.y*l,f=o,i=r.m_xf.R;var c=this.m_localAnchor2.x-this.m_localCenterB.x,h=this.m_localAnchor2.y-this.m_localCenterB.y;o=i.col1.x*c+i.col2.x*h,h=i.col1.y*c+i.col2.y*h,c=o;var p=r.m_sweep.c.x+c-t.m_sweep.c.x-f,d=r.m_sweep.c.y+h-t.m_sweep.c.y-l;this.m_invMassA=t.m_invMass,this.m_invMassB=r.m_invMass,this.m_invIA=t.m_invI,this.m_invIB=r.m_invI,this.m_axis.SetV(s.MulMV(u.R,this.m_localXAxis1)),this.m_a1=(p+f)*this.m_axis.y-(d+l)*this.m_axis.x,this.m_a2=c*this.m_axis.y-h*this.m_axis.x,this.m_motorMass=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_a1*this.m_a1+this.m_invIB*this.m_a2*this.m_a2,this.m_motorMass>Number.MIN_VALUE&&(this.m_motorMass=1/this.m_motorMass),this.m_perp.SetV(s.MulMV(u.R,this.m_localYAxis1)),this.m_s1=(p+f)*this.m_perp.y-(d+l)*this.m_perp.x,this.m_s2=c*this.m_perp.y-h*this.m_perp.x;var v=this.m_invMassA,m=this.m_invMassB,y=this.m_invIA,b=this.m_invIB;this.m_K.col1.x=v+m+y*this.m_s1*this.m_s1+b*this.m_s2*this.m_s2,this.m_K.col1.y=y*this.m_s1+b*this.m_s2,this.m_K.col1.z=y*this.m_s1*this.m_a1+b*this.m_s2*this.m_a2,this.m_K.col2.x=this.m_K.col1.y,this.m_K.col2.y=y+b,this.m_K.col2.z=y*this.m_a1+b*this.m_a2,this.m_K.col3.x=this.m_K.col1.z,this.m_K.col3.y=this.m_K.col2.z,this.m_K.col3.z=v+m+y*this.m_a1*this.m_a1+b*this.m_a2*this.m_a2;if(this.m_enableLimit){var w=this.m_axis.x*p+this.m_axis.y*d;s.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*n.b2_linearSlop?this.m_limitState=g.e_equalLimits:w<=this.m_lowerTranslation?this.m_limitState!=g.e_atLowerLimit&&(this.m_limitState=g.e_atLowerLimit,this.m_impulse.z=0):w>=this.m_upperTranslation?this.m_limitState!=g.e_atUpperLimit&&(this.m_limitState=g.e_atUpperLimit,this.m_impulse.z=0):(this.m_limitState=g.e_inactiveLimit,this.m_impulse.z=0)}else this.m_limitState=g.e_inactiveLimit;this.m_enableMotor==0&&(this.m_motorImpulse=0);if(e.warmStarting){this.m_impulse.x*=e.dtRatio,this.m_impulse.y*=e.dtRatio,this.m_motorImpulse*=e.dtRatio;var E=this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x,S=this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y,x=this.m_impulse.x*this.m_s1+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a1,T=this.m_impulse.x*this.m_s2+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a2;t.m_linearVelocity.x-=this.m_invMassA*E,t.m_linearVelocity.y-=this.m_invMassA*S,t.m_angularVelocity-=this.m_invIA*x,r.m_linearVelocity.x+=this.m_invMassB*E,r.m_linearVelocity.y+=this.m_invMassB*S,r.m_angularVelocity+=this.m_invIB*T}else this.m_impulse.SetZero(),this.m_motorImpulse=0},T.prototype.SolveVelocityConstraints=function(e){var t=this.m_bodyA,n=this.m_bodyB,r=t.m_linearVelocity,i=t.m_angularVelocity,o=n.m_linearVelocity,u=n.m_angularVelocity,l=0,c=0,h=0,p=0;if(this.m_enableMotor&&this.m_limitState!=g.e_equalLimits){var d=this.m_axis.x*(o.x-r.x)+this.m_axis.y*(o.y-r.y)+this.m_a2*u-this.m_a1*i,v=this.m_motorMass*(this.m_motorSpeed-d),m=this.m_motorImpulse,y=e.dt*this.m_maxMotorForce;this.m_motorImpulse=s.Clamp(this.m_motorImpulse+v,-y,y),v=this.m_motorImpulse-m,l=v*this.m_axis.x,c=v*this.m_axis.y,h=v*this.m_a1,p=v*this.m_a2,r.x-=this.m_invMassA*l,r.y-=this.m_invMassA*c,i-=this.m_invIA*h,o.x+=this.m_invMassB*l,o.y+=this.m_invMassB*c,u+=this.m_invIB*p}var b=this.m_perp.x*(o.x-r.x)+this.m_perp.y*(o.y-r.y)+this.m_s2*u-this.m_s1*i,w=u-i;if(this.m_enableLimit&&this.m_limitState!=g.e_inactiveLimit){var E=this.m_axis.x*(o.x-r.x)+this.m_axis.y*(o.y-r.y)+this.m_a2*u-this.m_a1*i,S=this.m_impulse.Copy(),x=this.m_K.Solve33(new f,-b,-w,-E);this.m_impulse.Add(x),this.m_limitState==g.e_atLowerLimit?this.m_impulse.z=s.Max(this.m_impulse.z,0):this.m_limitState==g.e_atUpperLimit&&(this.m_impulse.z=s.Min(this.m_impulse.z,0));var T=-b-(this.m_impulse.z-S.z)*this.m_K.col3.x,N=-w-(this.m_impulse.z-S.z)*this.m_K.col3.y,C=this.m_K.Solve22(new a,T,N);C.x+=S.x,C.y+=S.y,this.m_impulse.x=C.x,this.m_impulse.y=C.y,x.x=this.m_impulse.x-S.x,x.y=this.m_impulse.y-S.y,x.z=this.m_impulse.z-S.z,l=x.x*this.m_perp.x+x.z*this.m_axis.x,c=x.x*this.m_perp.y+x.z*this.m_axis.y,h=x.x*this.m_s1+x.y+x.z*this.m_a1,p=x.x*this.m_s2+x.y+x.z*this.m_a2,r.x-=this.m_invMassA*l,r.y-=this.m_invMassA*c,i-=this.m_invIA*h,o.x+=this.m_invMassB*l,o.y+=this.m_invMassB*c,u+=this.m_invIB*p}else{var k=this.m_K.Solve22(new a,-b,-w);this.m_impulse.x+=k.x,this.m_impulse.y+=k.y,l=k.x*this.m_perp.x,c=k.x*this.m_perp.y,h=k.x*this.m_s1+k.y,p=k.x*this.m_s2+k.y,r.x-=this.m_invMassA*l,r.y-=this.m_invMassA*c,i-=this.m_invIA*h,o.x+=this.m_invMassB*l,o.y+=this.m_invMassB*c,u+=this.m_invIB*p}t.m_linearVelocity.SetV(r),t.m_angularVelocity=i,n.m_linearVelocity.SetV(o),n.m_angularVelocity=u},T.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t=0,i=0,o=this.m_bodyA,u=this.m_bodyB,l=o.m_sweep.c,c=o.m_sweep.a,h=u.m_sweep.c,p=u.m_sweep.a,d,v=0,m=0,g=0,y=0,b=0,w=0,E=0,S=!1,x=0,T=r.FromAngle(c),N=r.FromAngle(p);d=T;var C=this.m_localAnchor1.x-this.m_localCenterA.x,k=this.m_localAnchor1.y-this.m_localCenterA.y;v=d.col1.x*C+d.col2.x*k,k=d.col1.y*C+d.col2.y*k,C=v,d=N;var L=this.m_localAnchor2.x-this.m_localCenterB.x,A=this.m_localAnchor2.y-this.m_localCenterB.y;v=d.col1.x*L+d.col2.x*A,A=d.col1.y*L+d.col2.y*A,L=v;var O=h.x+L-l.x-C,M=h.y+A-l.y-k;if(this.m_enableLimit){this.m_axis=s.MulMV(T,this.m_localXAxis1),this.m_a1=(O+C)*this.m_axis.y-(M+k)*this.m_axis.x,this.m_a2=L*this.m_axis.y-A*this.m_axis.x;var _=this.m_axis.x*O+this.m_axis.y*M;s.Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*n.b2_linearSlop?(x=s.Clamp(_,-n.b2_maxLinearCorrection,n.b2_maxLinearCorrection),w=s.Abs(_),S=!0):_<=this.m_lowerTranslation?(x=s.Clamp(_-this.m_lowerTranslation+n.b2_linearSlop,-n.b2_maxLinearCorrection,0),w=this.m_lowerTranslation-_,S=!0):_>=this.m_upperTranslation&&(x=s.Clamp(_-this.m_upperTranslation+n.b2_linearSlop,0,n.b2_maxLinearCorrection),w=_-this.m_upperTranslation,S=!0)}this.m_perp=s.MulMV(T,this.m_localYAxis1),this.m_s1=(O+C)*this.m_perp.y-(M+k)*this.m_perp.x,this.m_s2=L*this.m_perp.y-A*this.m_perp.x;var D=new f,P=this.m_perp.x*O+this.m_perp.y*M,H=p-c-this.m_refAngle;w=s.Max(w,s.Abs(P)),E=s.Abs(H);if(S)m=this.m_invMassA,g=this.m_invMassB,y=this.m_invIA,b=this.m_invIB,this.m_K.col1.x=m+g+y*this.m_s1*this.m_s1+b*this.m_s2*this.m_s2,this.m_K.col1.y=y*this.m_s1+b*this.m_s2,this.m_K.col1.z=y*this.m_s1*this.m_a1+b*this.m_s2*this.m_a2,this.m_K.col2.x=this.m_K.col1.y,this.m_K.col2.y=y+b,this.m_K.col2.z=y*this.m_a1+b*this.m_a2,this.m_K.col3.x=this.m_K.col1.z,this.m_K.col3.y=this.m_K.col2.z,this.m_K.col3.z=m+g+y*this.m_a1*this.m_a1+b*this.m_a2*this.m_a2,this.m_K.Solve33(D,-P,-H,-x);else{m=this.m_invMassA,g=this.m_invMassB,y=this.m_invIA,b=this.m_invIB;var B=m+g+y*this.m_s1*this.m_s1+b*this.m_s2*this.m_s2,j=y*this.m_s1+b*this.m_s2,F=y+b;this.m_K.col1.Set(B,j,0),this.m_K.col2.Set(j,F,0);var I=this.m_K.Solve22(new a,-P,-H);D.x=I.x,D.y=I.y,D.z=0}var q=D.x*this.m_perp.x+D.z*this.m_axis.x,R=D.x*this.m_perp.y+D.z*this.m_axis.y,U=D.x*this.m_s1+D.y+D.z*this.m_a1,z=D.x*this.m_s2+D.y+D.z*this.m_a2;return l.x-=this.m_invMassA*q,l.y-=this.m_invMassA*R,c-=this.m_invIA*U,h.x+=this.m_invMassB*q,h.y+=this.m_invMassB*R,p+=this.m_invIB*z,o.m_sweep.a=c,u.m_sweep.a=p,o.SynchronizeTransform(),u.SynchronizeTransform(),w<=n.b2_linearSlop&&E<=n.b2_angularSlop},Box2D.inherit(N,Box2D.Dynamics.Joints.b2JointDef),N.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,N.b2PrismaticJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.localAnchorA=new a,this.localAnchorB=new a,this.localAxisA=new a},N.prototype.b2PrismaticJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_prismaticJoint,this.localAxisA.Set(1,0),this.referenceAngle=0,this.enableLimit=!1,this.lowerTranslation=0,this.upperTranslation=0,this.enableMotor=!1,this.maxMotorForce=0,this.motorSpeed=0},N.prototype.Initialize=function(e,t,n,r){this.bodyA=e,this.bodyB=t,this.localAnchorA=this.bodyA.GetLocalPoint(n),this.localAnchorB=this.bodyB.GetLocalPoint(n),this.localAxisA=this.bodyA.GetLocalVector(r),this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()},Box2D.inherit(C,Box2D.Dynamics.Joints.b2Joint),C.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,C.b2PulleyJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.m_groundAnchor1=new a,this.m_groundAnchor2=new a,this.m_localAnchor1=new a,this.m_localAnchor2=new a,this.m_u1=new a,this.m_u2=new a},C.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)},C.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)},C.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*this.m_impulse*this.m_u2.x,e*this.m_impulse*this.m_u2.y)},C.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),0},C.prototype.GetGroundAnchorA=function(){var e=this.m_ground.m_xf.position.Copy();return e.Add(this.m_groundAnchor1),e},C.prototype.GetGroundAnchorB=function(){var e=this.m_ground.m_xf.position.Copy();return e.Add(this.m_groundAnchor2),e},C.prototype.GetLength1=function(){var e=this.m_bodyA.GetWorldPoint(this.m_localAnchor1),t=this.m_ground.m_xf.position.x+this.m_groundAnchor1.x,n=this.m_ground.m_xf.position.y+this.m_groundAnchor1.y,r=e.x-t,i=e.y-n;return Math.sqrt(r*r+i*i)},C.prototype.GetLength2=function(){var e=this.m_bodyB.GetWorldPoint(this.m_localAnchor2),t=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,n=this.m_ground.m_xf.position.y+this.m_groundAnchor2.y,r=e.x-t,i=e.y-n;return Math.sqrt(r*r+i*i)},C.prototype.GetRatio=function(){return this.m_ratio},C.prototype.b2PulleyJoint=function(e){this.__super.b2Joint.call(this,e);var t,n=0,r=0;this.m_ground=this.m_bodyA.m_world.m_groundBody,this.m_groundAnchor1.x=e.groundAnchorA.x-this.m_ground.m_xf.position.x,this.m_groundAnchor1.y=e.groundAnchorA.y-this.m_ground.m_xf.position.y,this.m_groundAnchor2.x=e.groundAnchorB.x-this.m_ground.m_xf.position.x,this.m_groundAnchor2.y=e.groundAnchorB.y-this.m_ground.m_xf.position.y,this.m_localAnchor1.SetV(e.localAnchorA),this.m_localAnchor2.SetV(e.localAnchorB),this.m_ratio=e.ratio,this.m_constant=e.lengthA+this.m_ratio*e.lengthB,this.m_maxLength1=s.Min(e.maxLengthA,this.m_constant-this.m_ratio*C.b2_minPulleyLength),this.m_maxLength2=s.Min(e.maxLengthB,(this.m_constant-C.b2_minPulleyLength)/this.m_ratio),this.m_impulse=0,this.m_limitImpulse1=0,this.m_limitImpulse2=0},C.prototype.InitVelocityConstraints=function(e){var t=this.m_bodyA,r=this.m_bodyB,i;i=t.m_xf.R;var s=this.m_localAnchor1.x-t.m_sweep.localCenter.x,o=this.m_localAnchor1.y-t.m_sweep.localCenter.y,u=i.col1.x*s+i.col2.x*o;o=i.col1.y*s+i.col2.y*o,s=u,i=r.m_xf.R;var a=this.m_localAnchor2.x-r.m_sweep.localCenter.x,f=this.m_localAnchor2.y-r.m_sweep.localCenter.y;u=i.col1.x*a+i.col2.x*f,f=i.col1.y*a+i.col2.y*f,a=u;var l=t.m_sweep.c.x+s,c=t.m_sweep.c.y+o,h=r.m_sweep.c.x+a,p=r.m_sweep.c.y+f,d=this.m_ground.m_xf.position.x+this.m_groundAnchor1.x,v=this.m_ground.m_xf.position.y+this.m_groundAnchor1.y,m=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,y=this.m_ground.m_xf.position.y+this.m_groundAnchor2.y;this.m_u1.Set(l-d,c-v),this.m_u2.Set(h-m,p-y);var b=this.m_u1.Length(),w=this.m_u2.Length();b>n.b2_linearSlop?this.m_u1.Multiply(1/b):this.m_u1.SetZero(),w>n.b2_linearSlop?this.m_u2.Multiply(1/w):this.m_u2.SetZero();var E=this.m_constant-b-this.m_ratio*w;E>0?(this.m_state=g.e_inactiveLimit,this.m_impulse=0):this.m_state=g.e_atUpperLimit,b<this.m_maxLength1?(this.m_limitState1=g.e_inactiveLimit,this.m_limitImpulse1=0):this.m_limitState1=g.e_atUpperLimit,w<this.m_maxLength2?(this.m_limitState2=g.e_inactiveLimit,this.m_limitImpulse2=0):this.m_limitState2=g.e_atUpperLimit;var S=s*this.m_u1.y-o*this.m_u1.x,x=a*this.m_u2.y-f*this.m_u2.x;this.m_limitMass1=t.m_invMass+t.m_invI*S*S,this.m_limitMass2=r.m_invMass+r.m_invI*x*x,this.m_pulleyMass=this.m_limitMass1+this.m_ratio*this.m_ratio*this.m_limitMass2,this.m_limitMass1=1/this.m_limitMass1,this.m_limitMass2=1/this.m_limitMass2,this.m_pulleyMass=1/this.m_pulleyMass;if(e.warmStarting){this.m_impulse*=e.dtRatio,this.m_limitImpulse1*=e.dtRatio,this.m_limitImpulse2*=e.dtRatio;var T=(-this.m_impulse-this.m_limitImpulse1)*this.m_u1.x,N=(-this.m_impulse-this.m_limitImpulse1)*this.m_u1.y,C=(-this.m_ratio*this.m_impulse-this.m_limitImpulse2)*this.m_u2.x,k=(-this.m_ratio*this.m_impulse-this.m_limitImpulse2)*this.m_u2.y;t.m_linearVelocity.x+=t.m_invMass*T,t.m_linearVelocity.y+=t.m_invMass*N,t.m_angularVelocity+=t.m_invI*(s*N-o*T),r.m_linearVelocity.x+=r.m_invMass*C,r.m_linearVelocity.y+=r.m_invMass*k,r.m_angularVelocity+=r.m_invI*(a*k-f*C)}else this.m_impulse=0,this.m_limitImpulse1=0,this.m_limitImpulse2=0},C.prototype.SolveVelocityConstraints=function(e){var t=this.m_bodyA,n=this.m_bodyB,r;r=t.m_xf.R;var i=this.m_localAnchor1.x-t.m_sweep.localCenter.x,o=this.m_localAnchor1.y-t.m_sweep.localCenter.y,u=r.col1.x*i+r.col2.x*o;o=r.col1.y*i+r.col2.y*o,i=u,r=n.m_xf.R;var a=this.m_localAnchor2.x-n.m_sweep.localCenter.x,f=this.m_localAnchor2.y-n.m_sweep.localCenter.y;u=r.col1.x*a+r.col2.x*f,f=r.col1.y*a+r.col2.y*f,a=u;var l=0,c=0,h=0,p=0,d=0,v=0,m=0,y=0,b=0,w=0,E=0;this.m_state==g.e_atUpperLimit&&(l=t.m_linearVelocity.x+ -t.m_angularVelocity*o,c=t.m_linearVelocity.y+t.m_angularVelocity*i,h=n.m_linearVelocity.x+ -n.m_angularVelocity*f,p=n.m_linearVelocity.y+n.m_angularVelocity*a,b=-(this.m_u1.x*l+this.m_u1.y*c)-this.m_ratio*(this.m_u2.x*h+this.m_u2.y*p),w=this.m_pulleyMass*-b,E=this.m_impulse,this.m_impulse=s.Max(0,this.m_impulse+w),w=this.m_impulse-E,d=-w*this.m_u1.x,v=-w*this.m_u1.y,m=-this.m_ratio*w*this.m_u2.x,y=-this.m_ratio*w*this.m_u2.y,t.m_linearVelocity.x+=t.m_invMass*d,t.m_linearVelocity.y+=t.m_invMass*v,t.m_angularVelocity+=t.m_invI*(i*v-o*d),n.m_linearVelocity.x+=n.m_invMass*m,n.m_linearVelocity.y+=n.m_invMass*y,n.m_angularVelocity+=n.m_invI*(a*y-f*m)),this.m_limitState1==g.e_atUpperLimit&&(l=t.m_linearVelocity.x+ -t.m_angularVelocity*o,c=t.m_linearVelocity.y+t.m_angularVelocity*i,b=-(this.m_u1.x*l+this.m_u1.y*c),w=-this.m_limitMass1*b,E=this.m_limitImpulse1,this.m_limitImpulse1=s.Max(0,this.m_limitImpulse1+w),w=this.m_limitImpulse1-E,d=-w*this.m_u1.x,v=-w*this.m_u1.y,t.m_linearVelocity.x+=t.m_invMass*d,t.m_linearVelocity.y+=t.m_invMass*v,t.m_angularVelocity+=t.m_invI*(i*v-o*d)),this.m_limitState2==g.e_atUpperLimit&&(h=n.m_linearVelocity.x+ -n.m_angularVelocity*f,p=n.m_linearVelocity.y+n.m_angularVelocity*a,b=-(this.m_u2.x*h+this.m_u2.y*p),w=-this.m_limitMass2*b,E=this.m_limitImpulse2,this.m_limitImpulse2=s.Max(0,this.m_limitImpulse2+w),w=this.m_limitImpulse2-E,m=-w*this.m_u2.x,y=-w*this.m_u2.y,n.m_linearVelocity.x+=n.m_invMass*m,n.m_linearVelocity.y+=n.m_invMass*y,n.m_angularVelocity+=n.m_invI*(a*y-f*m))},C.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t=this.m_bodyA,r=this.m_bodyB,i,o=this.m_ground.m_xf.position.x+this.m_groundAnchor1.x,u=this.m_ground.m_xf.position.y+this.m_groundAnchor1.y,a=this.m_ground.m_xf.position.x+this.m_groundAnchor2.x,f=this.m_ground.m_xf.position.y+this.m_groundAnchor2.y,l=0,c=0,h=0,p=0,d=0,v=0,m=0,y=0,b=0,w=0,E=0,S=0,x=0,T=0,N=0,C=0;return this.m_state==g.e_atUpperLimit&&(i=t.m_xf.R,l=this.m_localAnchor1.x-t.m_sweep.localCenter.x,c=this.m_localAnchor1.y-t.m_sweep.localCenter.y,N=i.col1.x*l+i.col2.x*c,c=i.col1.y*l+i.col2.y*c,l=N,i=r.m_xf.R,h=this.m_localAnchor2.x-r.m_sweep.localCenter.x,p=this.m_localAnchor2.y-r.m_sweep.localCenter.y,N=i.col1.x*h+i.col2.x*p,p=i.col1.y*h+i.col2.y*p,h=N,d=t.m_sweep.c.x+l,v=t.m_sweep.c.y+c,m=r.m_sweep.c.x+h,y=r.m_sweep.c.y+p,this.m_u1.Set(d-o,v-u),this.m_u2.Set(m-a,y-f),b=this.m_u1.Length(),w=this.m_u2.Length(),b>n.b2_linearSlop?this.m_u1.Multiply(1/b):this.m_u1.SetZero(),w>n.b2_linearSlop?this.m_u2.Multiply(1/w):this.m_u2.SetZero(),E=this.m_constant-b-this.m_ratio*w,C=s.Max(C,-E),E=s.Clamp(E+n.b2_linearSlop,-n.b2_maxLinearCorrection,0),S=-this.m_pulleyMass*E,d=-S*this.m_u1.x,v=-S*this.m_u1.y,m=-this.m_ratio*S*this.m_u2.x,y=-this.m_ratio*S*this.m_u2.y,t.m_sweep.c.x+=t.m_invMass*d,t.m_sweep.c.y+=t.m_invMass*v,t.m_sweep.a+=t.m_invI*(l*v-c*d),r.m_sweep.c.x+=r.m_invMass*m,r.m_sweep.c.y+=r.m_invMass*y,r.m_sweep.a+=r.m_invI*(h*y-p*m),t.SynchronizeTransform(),r.SynchronizeTransform()),this.m_limitState1==g.e_atUpperLimit&&(i=t.m_xf.R,l=this.m_localAnchor1.x-t.m_sweep.localCenter.x,c=this.m_localAnchor1.y-t.m_sweep.localCenter.y,N=i.col1.x*l+i.col2.x*c,c=i.col1.y*l+i.col2.y*c,l=N,d=t.m_sweep.c.x+l,v=t.m_sweep.c.y+c,this.m_u1.Set(d-o,v-u),b=this.m_u1.Length(),b>n.b2_linearSlop?(this.m_u1.x*=1/b,this.m_u1.y*=1/b):this.m_u1.SetZero(),E=this.m_maxLength1-b,C=s.Max(C,-E),E=s.Clamp(E+n.b2_linearSlop,-n.b2_maxLinearCorrection,0),S=-this.m_limitMass1*E,d=-S*this.m_u1.x,v=-S*this.m_u1.y,t.m_sweep.c.x+=t.m_invMass*d,t.m_sweep.c.y+=t.m_invMass*v,t.m_sweep.a+=t.m_invI*(l*v-c*d),t.SynchronizeTransform()),this.m_limitState2==g.e_atUpperLimit&&(i=r.m_xf.R,h=this.m_localAnchor2.x-r.m_sweep.localCenter.x,p=this.m_localAnchor2.y-r.m_sweep.localCenter.y,N=i.col1.x*h+i.col2.x*p,p=i.col1.y*h+i.col2.y*p,h=N,m=r.m_sweep.c.x+h,y=r.m_sweep.c.y+p,this.m_u2.Set(m-a,y-f),w=this.m_u2.Length(),w>n.b2_linearSlop?(this.m_u2.x*=1/w,this.m_u2.y*=1/w):this.m_u2.SetZero(),E=this.m_maxLength2-w,C=s.Max(C,-E),E=s.Clamp(E+n.b2_linearSlop,-n.b2_maxLinearCorrection,0),S=-this.m_limitMass2*E,m=-S*this.m_u2.x,y=-S*this.m_u2.y,r.m_sweep.c.x+=r.m_invMass*m,r.m_sweep.c.y+=r.m_invMass*y,r.m_sweep.a+=r.m_invI*(h*y-p*m),r.SynchronizeTransform()),C<n.b2_linearSlop},Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2PulleyJoint.b2_minPulleyLength=2}),Box2D.inherit(k,Box2D.Dynamics.Joints.b2JointDef),k.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,k.b2PulleyJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.groundAnchorA=new a,this.groundAnchorB=new a,this.localAnchorA=new a,this.localAnchorB=new a},k.prototype.b2PulleyJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_pulleyJoint,this.groundAnchorA.Set(-1,1),this.groundAnchorB.Set(1,1),this.localAnchorA.Set(-1,0),this.localAnchorB.Set(1,0),this.lengthA=0,this.maxLengthA=0,this.lengthB=0,this.maxLengthB=0,this.ratio=1,this.collideConnected=!0},k.prototype.Initialize=function(e,t,n,r,i,s,o){o===undefined&&(o=0),this.bodyA=e,this.bodyB=t,this.groundAnchorA.SetV(n),this.groundAnchorB.SetV(r),this.localAnchorA=this.bodyA.GetLocalPoint(i),this.localAnchorB=this.bodyB.GetLocalPoint(s);var u=i.x-n.x,a=i.y-n.y;this.lengthA=Math.sqrt(u*u+a*a);var f=s.x-r.x,l=s.y-r.y;this.lengthB=Math.sqrt(f*f+l*l),this.ratio=o;var c=this.lengthA+this.ratio*this.lengthB;this.maxLengthA=c-this.ratio*C.b2_minPulleyLength,this.maxLengthB=(c-C.b2_minPulleyLength)/this.ratio},Box2D.inherit(L,Box2D.Dynamics.Joints.b2Joint),L.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,L.b2RevoluteJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.K=new r,this.K1=new r,this.K2=new r,this.K3=new r,this.impulse3=new f,this.impulse2=new a,this.reduced=new a,this.m_localAnchor1=new a,this.m_localAnchor2=new a,this.m_impulse=new f,this.m_mass=new i},L.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchor1)},L.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchor2)},L.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*this.m_impulse.x,e*this.m_impulse.y)},L.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),e*this.m_impulse.z},L.prototype.GetJointAngle=function(){return this.m_bodyB.m_sweep.a-this.m_bodyA.m_sweep.a-this.m_referenceAngle},L.prototype.GetJointSpeed=function(){return this.m_bodyB.m_angularVelocity-this.m_bodyA.m_angularVelocity},L.prototype.IsLimitEnabled=function(){return this.m_enableLimit},L.prototype.EnableLimit=function(e){this.m_enableLimit=e},L.prototype.GetLowerLimit=function(){return this.m_lowerAngle},L.prototype.GetUpperLimit=function(){return this.m_upperAngle},L.prototype.SetLimits=function(e,t){e===undefined&&(e=0),t===undefined&&(t=0),this.m_lowerAngle=e,this.m_upperAngle=t},L.prototype.IsMotorEnabled=function(){return this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor},L.prototype.EnableMotor=function(e){this.m_enableMotor=e},L.prototype.SetMotorSpeed=function(e){e===undefined&&(e=0),this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=e},L.prototype.GetMotorSpeed=function(){return this.m_motorSpeed},L.prototype.SetMaxMotorTorque=function(e){e===undefined&&(e=0),this.m_maxMotorTorque=e},L.prototype.GetMotorTorque=function(){return this.m_maxMotorTorque},L.prototype.b2RevoluteJoint=function(e){this.__super.b2Joint.call(this,e),this.m_localAnchor1.SetV(e.localAnchorA),this.m_localAnchor2.SetV(e.localAnchorB),this.m_referenceAngle=e.referenceAngle,this.m_impulse.SetZero(),this.m_motorImpulse=0,this.m_lowerAngle=e.lowerAngle,this.m_upperAngle=e.upperAngle,this.m_maxMotorTorque=e.maxMotorTorque,this.m_motorSpeed=e.motorSpeed,this.m_enableLimit=e.enableLimit,this.m_enableMotor=e.enableMotor,this.m_limitState=g.e_inactiveLimit},L.prototype.InitVelocityConstraints=function(e){var t=this.m_bodyA,r=this.m_bodyB,i,o=0;this.m_enableMotor||this.m_enableLimit,i=t.m_xf.R;var u=this.m_localAnchor1.x-t.m_sweep.localCenter.x,a=this.m_localAnchor1.y-t.m_sweep.localCenter.y;o=i.col1.x*u+i.col2.x*a,a=i.col1.y*u+i.col2.y*a,u=o,i=r.m_xf.R;var f=this.m_localAnchor2.x-r.m_sweep.localCenter.x,l=this.m_localAnchor2.y-r.m_sweep.localCenter.y;o=i.col1.x*f+i.col2.x*l,l=i.col1.y*f+i.col2.y*l,f=o;var c=t.m_invMass,h=r.m_invMass,p=t.m_invI,d=r.m_invI;this.m_mass.col1.x=c+h+a*a*p+l*l*d,this.m_mass.col2.x=-a*u*p-l*f*d,this.m_mass.col3.x=-a*p-l*d,this.m_mass.col1.y=this.m_mass.col2.x,this.m_mass.col2.y=c+h+u*u*p+f*f*d,this.m_mass.col3.y=u*p+f*d,this.m_mass.col1.z=this.m_mass.col3.x,this.m_mass.col2.z=this.m_mass.col3.y,this.m_mass.col3.z=p+d,this.m_motorMass=1/(p+d),this.m_enableMotor==0&&(this.m_motorImpulse=0);if(this.m_enableLimit){var v=r.m_sweep.a-t.m_sweep.a-this.m_referenceAngle;s.Abs(this.m_upperAngle-this.m_lowerAngle)<2*n.b2_angularSlop?this.m_limitState=g.e_equalLimits:v<=this.m_lowerAngle?(this.m_limitState!=g.e_atLowerLimit&&(this.m_impulse.z=0),this.m_limitState=g.e_atLowerLimit):v>=this.m_upperAngle?(this.m_limitState!=g.e_atUpperLimit&&(this.m_impulse.z=0),this.m_limitState=g.e_atUpperLimit):(this.m_limitState=g.e_inactiveLimit,this.m_impulse.z=0)}else this.m_limitState=g.e_inactiveLimit;if(e.warmStarting){this.m_impulse.x*=e.dtRatio,this.m_impulse.y*=e.dtRatio,this.m_motorImpulse*=e.dtRatio;var m=this.m_impulse.x,y=this.m_impulse.y;t.m_linearVelocity.x-=c*m,t.m_linearVelocity.y-=c*y,t.m_angularVelocity-=p*(u*y-a*m+this.m_motorImpulse+this.m_impulse.z),r.m_linearVelocity.x+=h*m,r.m_linearVelocity.y+=h*y,r.m_angularVelocity+=d*(f*y-l*m+this.m_motorImpulse+this.m_impulse.z)}else this.m_impulse.SetZero(),this.m_motorImpulse=0},L.prototype.SolveVelocityConstraints=function(e){var t=this.m_bodyA,n=this.m_bodyB,r,i=0,o=0,u=0,a=0,f=0,l=0,c=t.m_linearVelocity,h=t.m_angularVelocity,p=n.m_linearVelocity,d=n.m_angularVelocity,v=t.m_invMass,m=n.m_invMass,y=t.m_invI,b=n.m_invI;if(this.m_enableMotor&&this.m_limitState!=g.e_equalLimits){var w=d-h-this.m_motorSpeed,E=this.m_motorMass*-w,S=this.m_motorImpulse,x=e.dt*this.m_maxMotorTorque;this.m_motorImpulse=s.Clamp(this.m_motorImpulse+E,-x,x),E=this.m_motorImpulse-S,h-=y*E,d+=b*E}if(this.m_enableLimit&&this.m_limitState!=g.e_inactiveLimit){r=t.m_xf.R,u=this.m_localAnchor1.x-t.m_sweep.localCenter.x,a=this.m_localAnchor1.y-t.m_sweep.localCenter.y,i=r.col1.x*u+r.col2.x*a,a=r.col1.y*u+r.col2.y*a,u=i,r=n.m_xf.R,f=this.m_localAnchor2.x-n.m_sweep.localCenter.x,l=this.m_localAnchor2.y-n.m_sweep.localCenter.y,i=r.col1.x*f+r.col2.x*l,l=r.col1.y*f+r.col2.y*l,f=i;var T=p.x+ -d*l-c.x- -h*a,N=p.y+d*f-c.y-h*u,C=d-h;this.m_mass.Solve33(this.impulse3,-T,-N,-C),this.m_limitState==g.e_equalLimits?this.m_impulse.Add(this.impulse3):this.m_limitState==g.e_atLowerLimit?(o=this.m_impulse.z+this.impulse3.z,o<0&&(this.m_mass.Solve22(this.reduced,-T,-N),this.impulse3.x=this.reduced.x,this.impulse3.y=this.reduced.y,this.impulse3.z=-this.m_impulse.z,this.m_impulse.x+=this.reduced.x,this.m_impulse.y+=this.reduced.y,this.m_impulse.z=0)):this.m_limitState==g.e_atUpperLimit&&(o=this.m_impulse.z+this.impulse3.z,o>0&&(this.m_mass.Solve22(this.reduced,-T,-N),this.impulse3.x=this.reduced.x,this.impulse3.y=this.reduced.y,this.impulse3.z=-this.m_impulse.z,this.m_impulse.x+=this.reduced.x,this.m_impulse.y+=this.reduced.y,this.m_impulse.z=0)),c.x-=v*this.impulse3.x,c.y-=v*this.impulse3.y,h-=y*(u*this.impulse3.y-a*this.impulse3.x+this.impulse3.z),p.x+=m*this.impulse3.x,p.y+=m*this.impulse3.y,d+=b*(f*this.impulse3.y-l*this.impulse3.x+this.impulse3.z)}else{r=t.m_xf.R,u=this.m_localAnchor1.x-t.m_sweep.localCenter.x,a=this.m_localAnchor1.y-t.m_sweep.localCenter.y,i=r.col1.x*u+r.col2.x*a,a=r.col1.y*u+r.col2.y*a,u=i,r=n.m_xf.R,f=this.m_localAnchor2.x-n.m_sweep.localCenter.x,l=this.m_localAnchor2.y-n.m_sweep.localCenter.y,i=r.col1.x*f+r.col2.x*l,l=r.col1.y*f+r.col2.y*l,f=i;var k=p.x+ -d*l-c.x- -h*a,L=p.y+d*f-c.y-h*u;this.m_mass.Solve22(this.impulse2,-k,-L),this.m_impulse.x+=this.impulse2.x,this.m_impulse.y+=this.impulse2.y,c.x-=v*this.impulse2.x,c.y-=v*this.impulse2.y,h-=y*(u*this.impulse2.y-a*this.impulse2.x),p.x+=m*this.impulse2.x,p.y+=m*this.impulse2.y,d+=b*(f*this.impulse2.y-l*this.impulse2.x)}t.m_linearVelocity.SetV(c),t.m_angularVelocity=h,n.m_linearVelocity.SetV(p),n.m_angularVelocity=d},L.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t=0,r=0,i,o=this.m_bodyA,u=this.m_bodyB,a=0,f=0,l=0,c=0,h=0;if(this.m_enableLimit&&this.m_limitState!=g.e_inactiveLimit){var p=u.m_sweep.a-o.m_sweep.a-this.m_referenceAngle,d=0;this.m_limitState==g.e_equalLimits?(r=s.Clamp(p-this.m_lowerAngle,-n.b2_maxAngularCorrection,n.b2_maxAngularCorrection),d=-this.m_motorMass*r,a=s.Abs(r)):this.m_limitState==g.e_atLowerLimit?(r=p-this.m_lowerAngle,a=-r,r=s.Clamp(r+n.b2_angularSlop,-n.b2_maxAngularCorrection,0),d=-this.m_motorMass*r):this.m_limitState==g.e_atUpperLimit&&(r=p-this.m_upperAngle,a=r,r=s.Clamp(r-n.b2_angularSlop,0,n.b2_maxAngularCorrection),d=-this.m_motorMass*r),o.m_sweep.a-=o.m_invI*d,u.m_sweep.a+=u.m_invI*d,o.SynchronizeTransform(),u.SynchronizeTransform()}i=o.m_xf.R;var v=this.m_localAnchor1.x-o.m_sweep.localCenter.x,m=this.m_localAnchor1.y-o.m_sweep.localCenter.y;l=i.col1.x*v+i.col2.x*m,m=i.col1.y*v+i.col2.y*m,v=l,i=u.m_xf.R;var y=this.m_localAnchor2.x-u.m_sweep.localCenter.x,b=this.m_localAnchor2.y-u.m_sweep.localCenter.y;l=i.col1.x*y+i.col2.x*b,b=i.col1.y*y+i.col2.y*b,y=l;var w=u.m_sweep.c.x+y-o.m_sweep.c.x-v,E=u.m_sweep.c.y+b-o.m_sweep.c.y-m,S=w*w+E*E,x=Math.sqrt(S);f=x;var T=o.m_invMass,N=u.m_invMass,C=o.m_invI,k=u.m_invI,A=10*n.b2_linearSlop;if(S>A*A){var O=w/x,M=E/x,_=T+N,D=1/_;c=D*-w,h=D*-E;var P=.5;o.m_sweep.c.x-=P*T*c,o.m_sweep.c.y-=P*T*h,u.m_sweep.c.x+=P*N*c,u.m_sweep.c.y+=P*N*h,w=u.m_sweep.c.x+y-o.m_sweep.c.x-v,E=u.m_sweep.c.y+b-o.m_sweep.c.y-m}return this.K1.col1.x=T+N,this.K1.col2.x=0,this.K1.col1.y=0,this.K1.col2.y=T+N,this.K2.col1.x=C*m*m,this.K2.col2.x=-C*v*m,this.K2.col1.y=-C*v*m,this.K2.col2.y=C*v*v,this.K3.col1.x=k*b*b,this.K3.col2.x=-k*y*b,this.K3.col1.y=-k*y*b,this.K3.col2.y=k*y*y,this.K.SetM(this.K1),this.K.AddM(this.K2),this.K.AddM(this.K3),this.K.Solve(L.tImpulse,-w,-E),c=L.tImpulse.x,h=L.tImpulse.y,o.m_sweep.c.x-=o.m_invMass*c,o.m_sweep.c.y-=o.m_invMass*h,o.m_sweep.a-=o.m_invI*(v*h-m*c),u.m_sweep.c.x+=u.m_invMass*c,u.m_sweep.c.y+=u.m_invMass*h,u.m_sweep.a+=u.m_invI*(y*h-b*c),o.SynchronizeTransform(),u.SynchronizeTransform(),f<=n.b2_linearSlop&&a<=n.b2_angularSlop},Box2D.postDefs.push(function(){Box2D.Dynamics.Joints.b2RevoluteJoint.tImpulse=new a}),Box2D.inherit(A,Box2D.Dynamics.Joints.b2JointDef),A.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,A.b2RevoluteJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.localAnchorA=new a,this.localAnchorB=new a},A.prototype.b2RevoluteJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_revoluteJoint,this.localAnchorA.Set(0,0),this.localAnchorB.Set(0,0),this.referenceAngle=0,this.lowerAngle=0,this.upperAngle=0,this.maxMotorTorque=0,this.motorSpeed=0,this.enableLimit=!1,this.enableMotor=!1},A.prototype.Initialize=function(e,t,n){this.bodyA=e,this.bodyB=t,this.localAnchorA=this.bodyA.GetLocalPoint(n),this.localAnchorB=this.bodyB.GetLocalPoint(n),this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()},Box2D.inherit(O,Box2D.Dynamics.Joints.b2Joint),O.prototype.__super=Box2D.Dynamics.Joints.b2Joint.prototype,O.b2WeldJoint=function(){Box2D.Dynamics.Joints.b2Joint.b2Joint.apply(this,arguments),this.m_localAnchorA=new a,this.m_localAnchorB=new a,this.m_impulse=new f,this.m_mass=new i},O.prototype.GetAnchorA=function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},O.prototype.GetAnchorB=function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},O.prototype.GetReactionForce=function(e){return e===undefined&&(e=0),new a(e*this.m_impulse.x,e*this.m_impulse.y)},O.prototype.GetReactionTorque=function(e){return e===undefined&&(e=0),e*this.m_impulse.z},O.prototype.b2WeldJoint=function(e){this.__super.b2Joint.call(this,e),this.m_localAnchorA.SetV(e.localAnchorA),this.m_localAnchorB.SetV(e.localAnchorB),this.m_referenceAngle=e.referenceAngle,this.m_impulse.SetZero(),this.m_mass=new i},O.prototype.InitVelocityConstraints=function(e){var t,n=0,r=this.m_bodyA,i=this.m_bodyB;t=r.m_xf.R;var s=this.m_localAnchorA.x-r.m_sweep.localCenter.x,o=this.m_localAnchorA.y-r.m_sweep.localCenter.y;n=t.col1.x*s+t.col2.x*o,o=t.col1.y*s+t.col2.y*o,s=n,t=i.m_xf.R;var u=this.m_localAnchorB.x-i.m_sweep.localCenter.x,a=this.m_localAnchorB.y-i.m_sweep.localCenter.y;n=t.col1.x*u+t.col2.x*a,a=t.col1.y*u+t.col2.y*a,u=n;var f=r.m_invMass,l=i.m_invMass,c=r.m_invI,h=i.m_invI;this.m_mass.col1.x=f+l+o*o*c+a*a*h,this.m_mass.col2.x=-o*s*c-a*u*h,this.m_mass.col3.x=-o*c-a*h,this.m_mass.col1.y=this.m_mass.col2.x,this.m_mass.col2.y=f+l+s*s*c+u*u*h,this.m_mass.col3.y=s*c+u*h,this.m_mass.col1.z=this.m_mass.col3.x,this.m_mass.col2.z=this.m_mass.col3.y,this.m_mass.col3.z=c+h,e.warmStarting?(this.m_impulse.x*=e.dtRatio,this.m_impulse.y*=e.dtRatio,this.m_impulse.z*=e.dtRatio,r.m_linearVelocity.x-=f*this.m_impulse.x,r.m_linearVelocity.y-=f*this.m_impulse.y,r.m_angularVelocity-=c*(s*this.m_impulse.y-o*this.m_impulse.x+this.m_impulse.z),i.m_linearVelocity.x+=l*this.m_impulse.x,i.m_linearVelocity.y+=l*this.m_impulse.y,i.m_angularVelocity+=h*(u*this.m_impulse.y-a*this.m_impulse.x+this.m_impulse.z)):this.m_impulse.SetZero()},O.prototype.SolveVelocityConstraints=function(e){var t,n=0,r=this.m_bodyA,i=this.m_bodyB,s=r.m_linearVelocity,o=r.m_angularVelocity,u=i.m_linearVelocity,a=i.m_angularVelocity,l=r.m_invMass,c=i.m_invMass,h=r.m_invI,p=i.m_invI;t=r.m_xf.R;var d=this.m_localAnchorA.x-r.m_sweep.localCenter.x,v=this.m_localAnchorA.y-r.m_sweep.localCenter.y;n=t.col1.x*d+t.col2.x*v,v=t.col1.y*d+t.col2.y*v,d=n,t=i.m_xf.R;var m=this.m_localAnchorB.x-i.m_sweep.localCenter.x,g=this.m_localAnchorB.y-i.m_sweep.localCenter.y;n=t.col1.x*m+t.col2.x*g,g=t.col1.y*m+t.col2.y*g,m=n;var y=u.x-a*g-s.x+o*v,b=u.y+a*m-s.y-o*d,w=a-o,E=new f;this.m_mass.Solve33(E,-y,-b,-w),this.m_impulse.Add(E),s.x-=l*E.x,s.y-=l*E.y,o-=h*(d*E.y-v*E.x+E.z),u.x+=c*E.x,u.y+=c*E.y,a+=p*(m*E.y-g*E.x+E.z),r.m_angularVelocity=o,i.m_angularVelocity=a},O.prototype.SolvePositionConstraints=function(e){e===undefined&&(e=0);var t,r=0,i=this.m_bodyA,o=this.m_bodyB;t=i.m_xf.R;var u=this.m_localAnchorA.x-i.m_sweep.localCenter.x,a=this.m_localAnchorA.y-i.m_sweep.localCenter.y;r=t.col1.x*u+t.col2.x*a,a=t.col1.y*u+t.col2.y*a,u=r,t=o.m_xf.R;var l=this.m_localAnchorB.x-o.m_sweep.localCenter.x,c=this.m_localAnchorB.y-o.m_sweep.localCenter.y;r=t.col1.x*l+t.col2.x*c,c=t.col1.y*l+t.col2.y*c,l=r;var h=i.m_invMass,p=o.m_invMass,d=i.m_invI,v=o.m_invI,m=o.m_sweep.c.x+l-i.m_sweep.c.x-u,g=o.m_sweep.c.y+c-i.m_sweep.c.y-a,y=o.m_sweep.a-i.m_sweep.a-this.m_referenceAngle,b=10*n.b2_linearSlop,w=Math.sqrt(m*m+g*g),E=s.Abs(y);w>b&&(d*=1,v*=1),this.m_mass.col1.x=h+p+a*a*d+c*c*v,this.m_mass.col2.x=-a*u*d-c*l*v,this.m_mass.col3.x=-a*d-c*v,this.m_mass.col1.y=this.m_mass.col2.x,this.m_mass.col2.y=h+p+u*u*d+l*l*v,this.m_mass.col3.y=u*d+l*v,this.m_mass.col1.z=this.m_mass.col3.x,this.m_mass.col2.z=this.m_mass.col3.y,this.m_mass.col3.z=d+v;var S=new f;return this.m_mass.Solve33(S,-m,-g,-y),i.m_sweep.c.x-=h*S.x,i.m_sweep.c.y-=h*S.y,i.m_sweep.a-=d*(u*S.y-a*S.x+S.z),o.m_sweep.c.x+=p*S.x,o.m_sweep.c.y+=p*S.y,o.m_sweep.a+=v*(l*S.y-c*S.x+S.z),i.SynchronizeTransform(),o.SynchronizeTransform(),w<=n.b2_linearSlop&&E<=n.b2_angularSlop},Box2D.inherit(M,Box2D.Dynamics.Joints.b2JointDef),M.prototype.__super=Box2D.Dynamics.Joints.b2JointDef.prototype,M.b2WeldJointDef=function(){Box2D.Dynamics.Joints.b2JointDef.b2JointDef.apply(this,arguments),this.localAnchorA=new a,this.localAnchorB=new a},M.prototype.b2WeldJointDef=function(){this.__super.b2JointDef.call(this),this.type=g.e_weldJoint,this.referenceAngle=0},M.prototype.Initialize=function(e,t,n){this.bodyA=e,this.bodyB=t,this.localAnchorA.SetV(this.bodyA.GetLocalPoint(n)),this.localAnchorB.SetV(this.bodyB.GetLocalPoint(n)),this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}}(),function(){var e=Box2D.Dynamics.b2DebugDraw;e.b2DebugDraw=function(){this.m_drawScale=1,this.m_lineThickness=1,this.m_alpha=1,this.m_fillAlpha=1,this.m_xformScale=1;var e=this;this.m_sprite={graphics:{clear:function(){e.m_ctx.clearRect(0,0,e.m_ctx.canvas.width,e.m_ctx.canvas.height)}}}},e.prototype._color=function(e,t){return"rgba("+((e&16711680)>>16)+","+((e&65280)>>8)+","+(e&255)+","+t+")"},e.prototype.b2DebugDraw=function(){this.m_drawFlags=0},e.prototype.SetFlags=function(e){e===undefined&&(e=0),this.m_drawFlags=e},e.prototype.GetFlags=function(){return this.m_drawFlags},e.prototype.AppendFlags=function(e){e===undefined&&(e=0),this.m_drawFlags|=e},e.prototype.ClearFlags=function(e){e===undefined&&(e=0),this.m_drawFlags&=~e},e.prototype.SetSprite=function(e){this.m_ctx=e},e.prototype.GetSprite=function(){return this.m_ctx},e.prototype.SetDrawScale=function(e){e===undefined&&(e=0),this.m_drawScale=e},e.prototype.GetDrawScale=function(){return this.m_drawScale},e.prototype.SetLineThickness=function(e){e===undefined&&(e=0),this.m_lineThickness=e,this.m_ctx.strokeWidth=e},e.prototype.GetLineThickness=function(){return this.m_lineThickness},e.prototype.SetAlpha=function(e){e===undefined&&(e=0),this.m_alpha=e},e.prototype.GetAlpha=function(){return this.m_alpha},e.prototype.SetFillAlpha=function(e){e===undefined&&(e=0),this.m_fillAlpha=e},e.prototype.GetFillAlpha=function(){return this.m_fillAlpha},e.prototype.SetXFormScale=function(e){e===undefined&&(e=0),this.m_xformScale=e},e.prototype.GetXFormScale=function(){return this.m_xformScale},e.prototype.DrawPolygon=function(e,t,n){if(!t)return;var r=this.m_ctx,i=this.m_drawScale;r.beginPath(),r.strokeStyle=this._color(n.color,this.m_alpha),r.moveTo(e[0].x*i,e[0].y*i);for(var s=1;s<t;s++)r.lineTo(e[s].x*i,e[s].y*i);r.lineTo(e[0].x*i,e[0].y*i),r.closePath(),r.stroke()},e.prototype.DrawSolidPolygon=function(e,t,n){if(!t)return;var r=this.m_ctx,i=this.m_drawScale;r.beginPath(),r.strokeStyle=this._color(n.color,this.m_alpha),r.fillStyle=this._color(n.color,this.m_fillAlpha),r.moveTo(e[0].x*i,e[0].y*i);for(var s=1;s<t;s++)r.lineTo(e[s].x*i,e[s].y*i);r.lineTo(e[0].x*i,e[0].y*i),r.closePath(),r.fill(),r.stroke()},e.prototype.DrawCircle=function(e,t,n){if(!t)return;var r=this.m_ctx,i=this.m_drawScale;r.beginPath(),r.strokeStyle=this._color(n.color,this.m_alpha),r.arc(e.x*i,e.y*i,t*i,0,Math.PI*2,!0),r.closePath(),r.stroke()},e.prototype.DrawSolidCircle=function(e,t,n,r){if(!t)return;var i=this.m_ctx,s=this.m_drawScale,o=e.x*s,u=e.y*s;i.moveTo(0,0),i.beginPath(),i.strokeStyle=this._color(r.color,this.m_alpha),i.fillStyle=this._color(r.color,this.m_fillAlpha),i.arc(o,u,t*s,0,Math.PI*2,!0),i.moveTo(o,u),i.lineTo((e.x+n.x*t)*s,(e.y+n.y*t)*s),i.closePath(),i.fill(),i.stroke()},e.prototype.DrawSegment=function(e,t,n){var r=this.m_ctx,i=this.m_drawScale;r.strokeStyle=this._color(n.color,this.m_alpha),r.beginPath(),r.moveTo(e.x*i,e.y*i),r.lineTo(t.x*i,t.y*i),r.closePath(),r.stroke()},e.prototype.DrawTransform=function(e){var t=this.m_ctx,n=this.m_drawScale;t.beginPath(),t.strokeStyle=this._color(16711680,this.m_alpha),t.moveTo(e.position.x*n,e.position.y*n),t.lineTo((e.position.x+this.m_xformScale*e.R.col1.x)*n,(e.position.y+this.m_xformScale*e.R.col1.y)*n),t.strokeStyle=this._color(65280,this.m_alpha),t.moveTo(e.position.x*n,e.position.y*n),t.lineTo((e.position.x+this.m_xformScale*e.R.col2.x)*n,(e.position.y+this.m_xformScale*e.R.col2.y)*n),t.closePath(),t.stroke()}}();var i;for(i=0;i<Box2D.postDefs.length;++i)Box2D.postDefs[i]();delete Box2D.postDefs,exports.Box2D=Box2D,exports.b2AABB=Box2D.Collision.b2AABB,exports.b2Body=Box2D.Dynamics.b2Body,exports.b2BodyDef=Box2D.Dynamics.b2BodyDef,exports.b2CircleShape=Box2D.Collision.Shapes.b2CircleShape,exports.b2DebugDraw=Box2D.Dynamics.b2DebugDraw,exports.b2Fixture=Box2D.Dynamics.b2Fixture,exports.b2FixtureDef=Box2D.Dynamics.b2FixtureDef,exports.b2MassData=Box2D.Collision.Shapes.b2MassData,exports.b2PolygonShape=Box2D.Collision.Shapes.b2PolygonShape,exports.b2PrismaticJointDef=Box2D.Dynamics.Joints.b2PrismaticJointDef,exports.b2RevoluteJointDef=Box2D.Dynamics.Joints.b2RevoluteJointDef,exports.b2Transform=Box2D.Common.Math.b2Transform,exports.b2Vec2=Box2D.Common.Math.b2Vec2,exports.b2World=Box2D.Dynamics.b2World,$(window).ready(function(){tagpro.world=new function(){function r(e){if(!tagpro.map){setTimeout(function(){r(e)},0);return}e()}function u(n){if(n.rx==undefined||n.ry==undefined||n.lx==undefined||n.ly==undefined||n.a==undefined)return;n.sync=null;var r=new Box2D.Dynamics.b2FixtureDef,i=new Box2D.Dynamics.b2BodyDef,s=.19;r.density=1,r.friction=.5,r.restitution=.2,r.shape=new Box2D.Collision.Shapes.b2CircleShape(s),i.type=Box2D.Dynamics.b2Body.b2_dynamicBody,i.linearDamping=.5,i.angularDamping=.5;var o=e.CreateBody(i),u=o.CreateFixture(r);return o.SetPosition(new Box2D.Common.Math.b2Vec2(n.rx,n.ry)),n.x=Math.round(n.rx*100),n.y=Math.round(n.ry*100),o.player=n,o.fixture=u,t[n.id]=o,o}function a(t){if(t.rx==undefined||t.ry==undefined||t.lx==undefined||t.ly==undefined||t.a==undefined)return;var r=new Box2D.Dynamics.b2FixtureDef,i=new Box2D.Dynamics.b2BodyDef,s=.39;r.density=2,r.friction=.5,r.restitution=.6,r.shape=new Box2D.Collision.Shapes.b2CircleShape(s),i.type=Box2D.Dynamics.b2Body.b2_dynamicBody,i.linearDamping=.5,i.angularDamping=.5;var o=e.CreateBody(i),u=o.CreateFixture(r);return o.SetPosition(new Box2D.Common.Math.b2Vec2(t.rx,t.ry)),t.x=Math.round(t.rx*100),t.y=Math.round(t.ry*100),o.object=t,n[t.id]=o,o}var e=new Box2D.Dynamics.b2World(new Box2D.Common.Math.b2Vec2(0,0),!0),t={},n={},i=1e3/60,s=(new Date).getTime()+i,o=!0;setTimeout(function(){o=!1},5e3),this.update=function(r){if(tagpro.state==2)return;var o=(new Date).getTime();if(!r&&s-o>i)return tagpro.fps>60&&setTimeout(tagpro.world.update,0),!1;r&&o-r>=10&&(s=o);for(var u in t){var a=t[u],f=a.player;a.SetAwake(!0);if(!f.draw||f.dead){a.SetPosition(new Box2D.Common.Math.b2Vec2(-100,-100));continue}var l=a.GetPosition(),c=f.sync;c&&(c.frame--,c.step.x>0&&l.x<c.to.x||c.step.x<0&&l.x>c.to.x?l.x+=c.step.x:c.step.x=0,c.step.y>0&&l.y<c.to.y||c.step.y<0&&l.y>c.to.y?l.y+=c.step.y:c.step.y=0,c.frame<=0&&(f.sync=null));var h=a.GetLinearVelocity();tagpro.state==1&&(f.left&&h.x>-f.ms&&(h.x-=f.ac),f.right&&h.x<f.ms&&(h.x+=f.ac),f.up&&h.y>-f.ms&&(h.y-=f.ac),f.down&&h.y<f.ms&&(h.y+=f.ac)),a.SetPosition(l),a.SetLinearVelocity(h),f.x=Math.round(l.x*100),f.y=Math.round(l.y*100)}for(var u in n){var a=n[u],p=a.object;a.SetAwake(!0);if(!p.draw){a.SetPosition(new Box2D.Common.Math.b2Vec2(-100,-100));continue}var l=a.GetPosition(),c=p.sync;c&&(c.frame--,c.step.x>0&&l.x<c.to.x||c.step.x<0&&l.x>c.to.x?l.x+=c.step.x:c.step.x=0,c.step.y>0&&l.y<c.to.y||c.step.y<0&&l.y>c.to.y?l.y+=c.step.y:c.step.y=0,c.frame<=0&&(p.sync=null)),a.SetPosition(l),p.x=Math.round(l.x*100),p.y=Math.round(l.y*100)}e.Step(1/60,8,3),s+=i;var o=(new Date).getTime();return o>=s?tagpro.world.update(r||o):!0},r(function(){var t=tagpro.map,n=new Box2D.Dynamics.b2FixtureDef,r=new Box2D.Dynamics.b2BodyDef;n.density=1,n.friction=.5,n.restitution=.2,n.shape=new Box2D.Collision.Shapes.b2PolygonShape,n.shape.SetAsBox(.2,.2),r.type=Box2D.Dynamics.b2Body.b2_staticBody;for(var i=0,s=t.length;i!=s;i++)for(var o=0,u=t[0].length;o!=u;o++){if(parseInt(t[i][o])!=1)continue;r.position.Set(i*.4,o*.4);var a=e.CreateBody(r);a.CreateFixture(n)}}),this.syncObject=function(e,t){var r=n[e.id]||a(e);if(!r)return;if(!e.draw)return;r.SetAwake(!0);if(!t){var i=r.GetPosition();e.sync={to:{x:e.rx,y:e.ry},frame:Math.ceil((tagpro.fps||60)/10)},e.sync.step={x:(e.sync.to.x-i.x)/e.sync.frame,y:(e.sync.to.y-i.y)/e.sync.frame},e.sync.frame==0&&(e.sync=null)}else e.sync=null,r.SetPosition(new Box2D.Common.Math.b2Vec2(e.rx,e.ry));r.SetLinearVelocity(new Box2D.Common.Math.b2Vec2(e.lx,e.ly)),r.SetAngularVelocity(e.a)},this.syncPlayer=function(e,n){var r=t[e.id]||u(e);if(!r)return;r.SetAwake(!0);if(!n){if(e.dead||!e.draw)return;var i=r.GetPosition();e.sync={to:{x:e.rx,y:e.ry},frame:Math.ceil((tagpro.fps||60)/10)},e.sync.step={x:(e.sync.to.x-i.x)/e.sync.frame,y:(e.sync.to.y-i.y)/e.sync.frame},e.sync.frame==0&&(e.sync=null)}else e.sync=null,r.SetPosition(new Box2D.Common.Math.b2Vec2(e.rx,e.ry));r.SetLinearVelocity(new Box2D.Common.Math.b2Vec2(e.lx,e.ly)),r.SetAngularVelocity(e.a),r.fixture.GetDensity()!=e.den&&(r.fixture.SetDensity(e.den),r.ResetMassData())},this.destoryPlayer=function(n){var r=t[n];e.DestroyBody(r),delete t[n]}}})