diff --git a/build/p2.js b/build/p2.js index 895bd39e..c71eccf0 100644 --- a/build/p2.js +++ b/build/p2.js @@ -689,7 +689,7 @@ module.exports = { },{"./Point":2,"./Polygon":3}],6:[function(_dereq_,module,exports){ module.exports={ "name": "p2", - "version": "0.7.0", + "version": "0.7.1", "description": "A JavaScript 2D physics engine.", "author": "Stefan Hedman (http://steffe.se)", "keywords": [ @@ -725,7 +725,7 @@ module.exports={ "grunt-contrib-concat": "^0.4.0" }, "dependencies": { - "poly-decomp": "0.1.0" + "poly-decomp": "0.1.1" } } @@ -5760,6 +5760,23 @@ ContactEquation.prototype.computeB = function(a,b,h){ return B; }; +var vi = vec2.create(); +var vj = vec2.create(); +var relVel = vec2.create(); + +/** + * Get the relative velocity along the normal vector. + * @return {number} + */ +ContactEquation.prototype.getVelocityAlongNormal = function(){ + + this.bodyA.getVelocityAtPoint(vi, this.contactPointA); + this.bodyB.getVelocityAtPoint(vj, this.contactPointB); + + vec2.subtract(relVel, vi, vj); + + return vec2.dot(this.normalA, relVel); +}; },{"../math/vec2":30,"./Equation":22}],22:[function(_dereq_,module,exports){ module.exports = Equation; @@ -6433,52 +6450,55 @@ function ContactMaterial(materialA, materialB, options){ this.materialB = materialB; /** - * Friction to use in the contact of these two materials + * Friction coefficient to use in the contact of these two materials. Friction = 0 will make the involved objects super slippery, and friction = 1 will make it much less slippery. A friction coefficient larger than 1 will allow for very large friction forces, which can be convenient for preventing car tires not slip on the ground. * @property friction * @type {Number} + * @default 0.3 */ - this.friction = typeof(options.friction) !== "undefined" ? Number(options.friction) : 0.3; + this.friction = typeof(options.friction) !== "undefined" ? Number(options.friction) : 0.3; /** - * Restitution to use in the contact of these two materials + * Restitution, or "bounciness" to use in the contact of these two materials. A restitution of 0 will make no bounce, while restitution=1 will approximately bounce back with the same velocity the object came with. * @property restitution * @type {Number} + * @default 0 */ - this.restitution = typeof(options.restitution) !== "undefined" ? Number(options.restitution) : 0.0; + this.restitution = typeof(options.restitution) !== "undefined" ? Number(options.restitution) : 0; /** - * Stiffness of the resulting ContactEquation that this ContactMaterial generate + * Hardness of the contact. Less stiffness will make the objects penetrate more, and will make the contact act more like a spring than a contact force. Default value is {{#crossLink "Equation/DEFAULT_STIFFNESS:property"}}Equation.DEFAULT_STIFFNESS{{/crossLink}}. * @property stiffness * @type {Number} */ - this.stiffness = typeof(options.stiffness) !== "undefined" ? Number(options.stiffness) : Equation.DEFAULT_STIFFNESS; + this.stiffness = typeof(options.stiffness) !== "undefined" ? Number(options.stiffness) : Equation.DEFAULT_STIFFNESS; /** - * Relaxation of the resulting ContactEquation that this ContactMaterial generate + * Relaxation of the resulting ContactEquation that this ContactMaterial generate. Default value is {{#crossLink "Equation/DEFAULT_RELAXATION:property"}}Equation.DEFAULT_RELAXATION{{/crossLink}}. * @property relaxation * @type {Number} */ - this.relaxation = typeof(options.relaxation) !== "undefined" ? Number(options.relaxation) : Equation.DEFAULT_RELAXATION; + this.relaxation = typeof(options.relaxation) !== "undefined" ? Number(options.relaxation) : Equation.DEFAULT_RELAXATION; /** - * Stiffness of the resulting FrictionEquation that this ContactMaterial generate + * Stiffness of the resulting friction force. For most cases, the value of this property should be a large number. I cannot think of any case where you would want less frictionStiffness. Default value is {{#crossLink "Equation/DEFAULT_STIFFNESS:property"}}Equation.DEFAULT_STIFFNESS{{/crossLink}}. * @property frictionStiffness * @type {Number} */ - this.frictionStiffness = typeof(options.frictionStiffness) !== "undefined" ? Number(options.frictionStiffness) : Equation.DEFAULT_STIFFNESS; + this.frictionStiffness = typeof(options.frictionStiffness) !== "undefined" ? Number(options.frictionStiffness) : Equation.DEFAULT_STIFFNESS; /** - * Relaxation of the resulting FrictionEquation that this ContactMaterial generate + * Relaxation of the resulting friction force. The default value should be good for most simulations. Default value is {{#crossLink "Equation/DEFAULT_RELAXATION:property"}}Equation.DEFAULT_RELAXATION{{/crossLink}}. * @property frictionRelaxation * @type {Number} */ - this.frictionRelaxation = typeof(options.frictionRelaxation) !== "undefined" ? Number(options.frictionRelaxation) : Equation.DEFAULT_RELAXATION; + this.frictionRelaxation = typeof(options.frictionRelaxation) !== "undefined" ? Number(options.frictionRelaxation) : Equation.DEFAULT_RELAXATION; /** * Will add surface velocity to this material. If bodyA rests on top if bodyB, and the surface velocity is positive, bodyA will slide to the right. * @property {Number} surfaceVelocity + * @default 0 */ - this.surfaceVelocity = typeof(options.surfaceVelocity) !== "undefined" ? Number(options.surfaceVelocity) : 0; + this.surfaceVelocity = typeof(options.surfaceVelocity) !== "undefined" ? Number(options.surfaceVelocity) : 0; /** * Offset to be set on ContactEquations. A positive value will make the bodies penetrate more into each other. Can be useful in scenes where contacts need to be more persistent, for example when stacking. Aka "cure for nervous contacts". @@ -8224,7 +8244,7 @@ Body.prototype.applyForce = function(force, relativePoint){ * Apply force to a body-local point. * @method applyForceLocal * @param {Array} localForce The force vector to add, oriented in local body space. - * @param {Array} localPoint A point relative to the body in world space. If not given, it is set to zero and all of the impulse will be excerted on the center of mass. + * @param {Array} [localPoint] A point relative to the body in world space. If not given, it is set to zero and all of the impulse will be excerted on the center of mass. */ var Body_applyForce_forceWorld = vec2.create(); var Body_applyForce_pointWorld = vec2.create(); @@ -10619,42 +10639,42 @@ Plane.prototype.updateBoundingRadius = function(){ Plane.prototype.computeAABB = function(out, position, angle){ var a = angle % (2 * Math.PI); var set = vec2.set; - var max = Number.MAX_VALUE; + var max = 1e7; var lowerBound = out.lowerBound; var upperBound = out.upperBound; + // Set max bounds + set(lowerBound, -max, -max); + set(upperBound, max, max); + if(a === 0){ // y goes from -inf to 0 - set(lowerBound, -max, -max); - set(upperBound, max, 0); + upperBound[1] = 0; + // set(lowerBound, -max, -max); + // set(upperBound, max, 0); } else if(a === Math.PI / 2){ // x goes from 0 to inf - set(lowerBound, 0, -max); - set(upperBound, max, max); + lowerBound[0] = 0; + // set(lowerBound, 0, -max); + // set(upperBound, max, max); } else if(a === Math.PI){ // y goes from 0 to inf - set(lowerBound, -max, 0); - set(upperBound, max, max); + lowerBound[1] = 0; + // set(lowerBound, -max, 0); + // set(upperBound, max, max); } else if(a === 3*Math.PI/2){ // x goes from -inf to 0 - set(lowerBound, -max, -max); - set(upperBound, 0, max); - - } else { + upperBound[0] = 0; + // set(lowerBound, -max, -max); + // set(upperBound, 0, max); - // Set max bounds - set(lowerBound, -max, -max); - set(upperBound, max, max); } - - vec2.add(lowerBound, lowerBound, position); - vec2.add(upperBound, upperBound, position); }; Plane.prototype.updateArea = function(){ @@ -11000,16 +11020,20 @@ function GSSolver(options){ * Set to true to set all right hand side terms to zero when solving. Can be handy for a few applications. * @property useZeroRHS * @type {Boolean} + * @todo Remove, not used */ this.useZeroRHS = false; /** - * Number of solver iterations that are done to approximate normal forces. When these iterations are done, friction force will be computed from the contact normal forces. These friction forces will override any other friction forces set from the World for example. - * The solver will use less iterations if the solution is below the .tolerance. + * Number of solver iterations that are used to approximate normal forces used for friction (F_friction = mu * F_normal). These friction forces will override any other friction forces that are set. If you set frictionIterations = 0, then this feature will be disabled. + * + * Use only frictionIterations > 0 if the approximated normal force (F_normal = mass * gravity) is not good enough. Examples of where it can happen is in space games where gravity is zero, or in tall stacks where the normal force is large at bottom but small at top. + * * @property frictionIterations * @type {Number} + * @default 0 */ - this.frictionIterations = 0; + this.frictionIterations = options.frictionIterations !== undefined ? 0 : options.frictionIterations; /** * The number of iterations that were made during the last solve. If .tolerance is zero, this value will always be equal to .iterations, but if .tolerance is larger than zero, and the solver can quit early, then this number will be somewhere between 1 and .iterations. @@ -13450,6 +13474,7 @@ var hitTest_tmp1 = vec2.create(), * @return {Array} Array of bodies that overlap the point * @todo Should use an api similar to the raycast function * @todo Should probably implement a .containsPoint method for all shapes. Would be more efficient + * @todo Should use the broadphase */ World.prototype.hitTest = function(worldPoint,bodies,precision){ precision = precision || 0; diff --git a/build/p2.min.js b/build/p2.min.js index 07a1ae43..d18bb08b 100644 --- a/build/p2.min.js +++ b/build/p2.min.js @@ -21,7 +21,7 @@ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ -!function(a){if("object"==typeof exports)module.exports=a();else if("function"==typeof define&&false)define(a);else{var b;"undefined"!=typeof window?b=window:"undefined"!=typeof global?b=global:"undefined"!=typeof self&&(b=self),b.p2=a()}}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g=0&&1>=i&&j>=0&&1>=j}},{"./Scalar":4}],2:[function(a,b,c){function d(){}b.exports=d,d.area=function(a,b,c){return(b[0]-a[0])*(c[1]-a[1])-(c[0]-a[0])*(b[1]-a[1])},d.left=function(a,b,c){return d.area(a,b,c)>0},d.leftOn=function(a,b,c){return d.area(a,b,c)>=0},d.right=function(a,b,c){return d.area(a,b,c)<0},d.rightOn=function(a,b,c){return d.area(a,b,c)<=0};var e=[],f=[];d.collinear=function(a,b,c,g){if(g){var h=e,i=f;h[0]=b[0]-a[0],h[1]=b[1]-a[1],i[0]=c[0]-b[0],i[1]=c[1]-b[1];var j=h[0]*i[0]+h[1]*i[1],k=Math.sqrt(h[0]*h[0]+h[1]*h[1]),l=Math.sqrt(i[0]*i[0]+i[1]*i[1]),m=Math.acos(j/(k*l));return g>m}return 0==d.area(a,b,c)},d.sqdist=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return c*c+d*d}},{}],3:[function(a,b,c){function d(){this.vertices=[]}function e(a,b,c,d,e){e=e||0;var f=b[1]-a[1],g=a[0]-b[0],i=f*a[0]+g*a[1],j=d[1]-c[1],k=c[0]-d[0],l=j*c[0]+k*c[1],m=f*k-j*g;return h.eq(m,0,e)?[0,0]:[(k*i-g*l)/m,(f*l-j*i)/m]}var f=a("./Line"),g=a("./Point"),h=a("./Scalar");b.exports=d,d.prototype.at=function(a){var b=this.vertices,c=b.length;return b[0>a?a%c+c:a%c]},d.prototype.first=function(){return this.vertices[0]},d.prototype.last=function(){return this.vertices[this.vertices.length-1]},d.prototype.clear=function(){this.vertices.length=0},d.prototype.append=function(a,b,c){if("undefined"==typeof b)throw new Error("From is not given!");if("undefined"==typeof c)throw new Error("To is not given!");if(b>c-1)throw new Error("lol1");if(c>a.vertices.length)throw new Error("lol2");if(0>b)throw new Error("lol3");for(var d=b;c>d;d++)this.vertices.push(a.vertices[d])},d.prototype.makeCCW=function(){for(var a=0,b=this.vertices,c=1;cb[a][0])&&(a=c);g.left(this.at(a-1),this.at(a),this.at(a+1))||this.reverse()},d.prototype.reverse=function(){for(var a=[],b=0,c=this.vertices.length;b!==c;b++)a.push(this.vertices.pop());this.vertices=a},d.prototype.isReflex=function(a){return g.right(this.at(a-1),this.at(a),this.at(a+1))};var i=[],j=[];d.prototype.canSee=function(a,b){var c,d,e=i,h=j;if(g.leftOn(this.at(a+1),this.at(a),this.at(b))&&g.rightOn(this.at(a-1),this.at(a),this.at(b)))return!1;d=g.sqdist(this.at(a),this.at(b));for(var k=0;k!==this.vertices.length;++k)if((k+1)%this.vertices.length!==a&&k!==a&&g.leftOn(this.at(a),this.at(b),this.at(k+1))&&g.rightOn(this.at(a),this.at(b),this.at(k))&&(e[0]=this.at(a),e[1]=this.at(b),h[0]=this.at(k),h[1]=this.at(k+1),c=f.lineInt(e,h),g.sqdist(this.at(a),c)a)for(var f=a;b>=f;f++)e.vertices.push(this.vertices[f]);else{for(var f=0;b>=f;f++)e.vertices.push(this.vertices[f]);for(var f=a;f0?this.slice(a):[this]},d.prototype.slice=function(a){if(0==a.length)return[this];if(a instanceof Array&&a.length&&a[0]instanceof Array&&2==a[0].length&&a[0][0]instanceof Array){for(var b=[this],c=0;cc;c++)if(f.segmentsIntersect(a[b],a[b+1],a[c],a[c+1]))return!1;for(var b=1;bh)return console.warn("quickDecomp: max level ("+h+") reached."),a;for(var x=0;xo&&(n=o,k=l,r=y))),g.left(v.at(x+1),v.at(x),v.at(y+1))&&g.rightOn(v.at(x+1),v.at(x),v.at(y))&&(l=e(v.at(x+1),v.at(x),v.at(y),v.at(y+1)),g.left(v.at(x-1),v.at(x),l)&&(o=g.sqdist(v.vertices[x],l),m>o&&(m=o,j=l,q=y)));if(r==(q+1)%this.vertices.length)l[0]=(k[0]+j[0])/2,l[1]=(k[1]+j[1])/2,c.push(l),q>x?(t.append(v,x,q+1),t.vertices.push(l),u.vertices.push(l),0!=r&&u.append(v,r,v.vertices.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,v.vertices.length),t.append(v,0,q+1),t.vertices.push(l),u.vertices.push(l),u.append(v,r,x+1));else{if(r>q&&(q+=this.vertices.length),p=Number.MAX_VALUE,r>q)return a;for(var y=r;q>=y;++y)g.leftOn(v.at(x-1),v.at(x),v.at(y))&&g.rightOn(v.at(x+1),v.at(x),v.at(y))&&(o=g.sqdist(v.at(x),v.at(y)),p>o&&(p=o,s=y%this.vertices.length));s>x?(t.append(v,x,s+1),0!=s&&u.append(v,s,w.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,w.length),t.append(v,0,s+1),u.append(v,s,x+1))}return t.vertices.length3&&c>=0;--c)g.collinear(this.at(c-1),this.at(c),this.at(c+1),a)&&(this.vertices.splice(c%this.vertices.length,1),c--,b++);return b}},{"./Line":1,"./Point":2,"./Scalar":4}],4:[function(a,b,c){function d(){}b.exports=d,d.eq=function(a,b,c){return c=c||0,Math.abs(a-b) (http://steffe.se)",keywords:["p2.js","p2","physics","engine","2d"],main:"./src/p2.js",engines:{node:"*"},repository:{type:"git",url:"https://github.com/schteppe/p2.js.git"},bugs:{url:"https://github.com/schteppe/p2.js/issues"},licenses:[{type:"MIT"}],devDependencies:{grunt:"^0.4.5","grunt-contrib-jshint":"^0.11.2","grunt-contrib-nodeunit":"^0.4.1","grunt-contrib-uglify":"~0.4.0","grunt-contrib-watch":"~0.5.0","grunt-browserify":"~2.0.1","grunt-contrib-concat":"^0.4.0"},dependencies:{"poly-decomp":"0.1.0"}}},{}],7:[function(a,b,c){function d(a){this.lowerBound=e.create(),a&&a.lowerBound&&e.copy(this.lowerBound,a.lowerBound),this.upperBound=e.create(),a&&a.upperBound&&e.copy(this.upperBound,a.upperBound)}var e=a("../math/vec2");a("../utils/Utils");b.exports=d;var f=e.create();d.prototype.setFromPoints=function(a,b,c,d){var g=this.lowerBound,h=this.upperBound;"number"!=typeof c&&(c=0),0!==c?e.rotate(g,a[0],c):e.copy(g,a[0]),e.copy(h,g);for(var i=Math.cos(c),j=Math.sin(c),k=1;ko;o++)l[o]>h[o]&&(h[o]=l[o]),l[o]c&&(this.lowerBound[b]=c);var d=a.upperBound[b];this.upperBound[b]i?-1:h>i?-1:h}},{"../math/vec2":30,"../utils/Utils":57}],8:[function(a,b,c){function d(a){this.type=a,this.result=[],this.world=null,this.boundingVolumeType=d.AABB}var e=a("../math/vec2"),f=a("../objects/Body");b.exports=d,d.AABB=1,d.BOUNDING_CIRCLE=2,d.prototype.setWorld=function(a){this.world=a},d.prototype.getCollisionPairs=function(a){};var g=e.create();d.boundingRadiusCheck=function(a,b){e.sub(g,a.position,b.position);var c=e.squaredLength(g),d=a.boundingRadius+b.boundingRadius;return d*d>=c},d.aabbCheck=function(a,b){return a.getAABB().overlaps(b.getAABB())},d.prototype.boundingVolumeCheck=function(a,b){var c;switch(this.boundingVolumeType){case d.BOUNDING_CIRCLE:c=d.boundingRadiusCheck(a,b);break;case d.AABB:c=d.aabbCheck(a,b);break;default:throw new Error("Bounding volume type not recognized: "+this.boundingVolumeType)}return c},d.canCollide=function(a,b){var c=f.KINEMATIC,d=f.STATIC;return a.type===d&&b.type===d?!1:a.type===c&&b.type===d||a.type===d&&b.type===c?!1:a.type===c&&b.type===c?!1:a.sleepState===f.SLEEPING&&b.sleepState===f.SLEEPING?!1:a.sleepState===f.SLEEPING&&b.type===d||b.sleepState===f.SLEEPING&&a.type===d?!1:!0},d.NAIVE=1,d.SAP=2},{"../math/vec2":30,"../objects/Body":31}],9:[function(a,b,c){function d(){e.call(this,e.NAIVE)}var e=(a("../shapes/Circle"),a("../shapes/Plane"),a("../shapes/Shape"),a("../shapes/Particle"),a("../collision/Broadphase"));a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.getCollisionPairs=function(a){var b=a.bodies,c=this.result;c.length=0;for(var d=0,f=b.length;d!==f;d++)for(var g=b[d],h=0;d>h;h++){var i=b[h];e.canCollide(g,i)&&this.boundingVolumeCheck(g,i)&&c.push(g,i)}return c},d.prototype.aabbQuery=function(a,b,c){c=c||[];for(var d=a.bodies,e=0;e=r*n)return!1;n=r}return!0}var g=a("../math/vec2"),h=g.sub,i=g.add,j=g.dot,k=(a("../utils/Utils"),a("../utils/ContactEquationPool")),l=a("../utils/FrictionEquationPool"),m=a("../utils/TupleDictionary"),n=a("../equations/Equation"),o=(a("../equations/ContactEquation"),a("../equations/FrictionEquation"),a("../shapes/Circle")),p=a("../shapes/Convex"),q=a("../shapes/Shape"),r=(a("../objects/Body"),a("../shapes/Box"));b.exports=d;var s=g.fromValues(0,1),t=g.fromValues(0,0),u=g.fromValues(0,0),v=g.fromValues(0,0),w=g.fromValues(0,0),x=g.fromValues(0,0),y=g.fromValues(0,0),z=g.fromValues(0,0),A=g.fromValues(0,0),B=g.fromValues(0,0),C=g.fromValues(0,0),D=g.fromValues(0,0),E=g.fromValues(0,0),F=g.fromValues(0,0),G=g.fromValues(0,0),H=g.fromValues(0,0),I=g.fromValues(0,0),J=g.fromValues(0,0),K=g.fromValues(0,0),L=[],M=g.create(),N=g.create();d.prototype.bodiesOverlap=function(a,b){for(var c=M,d=N,e=0,f=a.shapes.length;e!==f;e++){var g=a.shapes[e];a.toWorldFrame(c,g.position);for(var h=0,i=b.shapes.length;h!==i;h++){var j=b.shapes[h];if(b.toWorldFrame(d,j.position),this[g.type|j.type](a,g,c,g.angle+a.angle,b,j,d,j.angle+b.angle,!0))return!0}}return!1},d.prototype.collidedLastStep=function(a,b){var c=0|a.id,d=0|b.id;return!!this.collidingBodiesLastStep.get(c,d)},d.prototype.reset=function(){this.collidingBodiesLastStep.reset();for(var a=this.contactEquations,b=a.length;b--;){var c=a[b],d=c.bodyA.id,e=c.bodyB.id;this.collidingBodiesLastStep.set(d,e,!0)}for(var f=this.contactEquations,g=this.frictionEquations,h=0;hp;p++){g.set(m,(0===p?-1:1)*b.length/2,0),g.rotate(m,m,d),g.add(m,m,c);for(var q=0;2>q;q++){g.set(n,(0===q?-1:1)*h.length/2,0),g.rotate(n,n,j),g.add(n,n,i),this.enableFrictionReduction&&(l=this.enableFriction,this.enableFriction=!1);var r=this.circleCircle(a,b,m,d,f,h,n,j,k,b.radius,h.radius);if(this.enableFrictionReduction&&(this.enableFriction=l),k&&r)return!0;o+=r}}this.enableFrictionReduction&&(l=this.enableFriction,this.enableFriction=!1);var s=S;e(s,b);var t=this.convexCapsule(a,s,c,d,f,h,i,j,k);if(this.enableFrictionReduction&&(this.enableFriction=l),k&&t)return!0;if(o+=t,this.enableFrictionReduction){var l=this.enableFriction;this.enableFriction=!1}e(s,h);var u=this.convexCapsule(f,s,i,j,a,b,c,d,k);return this.enableFrictionReduction&&(this.enableFriction=l),k&&u?!0:(o+=u,this.enableFrictionReduction&&o&&this.enableFriction&&this.frictionEquations.push(this.createFrictionFromAverage(o)),o)},d.prototype[q.LINE|q.LINE]=d.prototype.lineLine=function(a,b,c,d,e,f,g,h,i){return i?!1:0},d.prototype[q.PLANE|q.LINE]=d.prototype.planeLine=function(a,b,c,d,e,f,k,l,m){var n=t,o=u,p=v,q=w,r=x,C=y,D=z,E=A,F=B,G=L,H=0;g.set(n,-f.length/2,0),g.set(o,f.length/2,0),g.rotate(p,n,l),g.rotate(q,o,l),i(p,p,k),i(q,q,k),g.copy(n,p),g.copy(o,q),h(r,o,n),g.normalize(C,r),g.rotate90cw(F,C),g.rotate(E,s,d),G[0]=n,G[1]=o;for(var I=0;IK){if(m)return!0;var M=this.createContactEquation(a,e,b,f);H++,g.copy(M.normalA,E),g.normalize(M.normalA,M.normalA),g.scale(D,E,K),h(M.contactPointA,J,D),h(M.contactPointA,M.contactPointA,a.position),h(M.contactPointB,J,k),i(M.contactPointB,M.contactPointB,k),h(M.contactPointB,M.contactPointB,e.position),this.contactEquations.push(M),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(M))}}return m?!1:(this.enableFrictionReduction||H&&this.enableFriction&&this.frictionEquations.push(this.createFrictionFromAverage(H)),H)},d.prototype[q.PARTICLE|q.CAPSULE]=d.prototype.particleCapsule=function(a,b,c,d,e,f,g,h,i){return this.circleLine(a,b,c,d,e,f,g,h,i,f.radius,0)},d.prototype[q.CIRCLE|q.LINE]=d.prototype.circleLine=function(a,b,c,d,e,f,k,l,m,n,o){var n=n||0,o="undefined"!=typeof o?o:b.radius,p=t,q=u,r=v,s=w,H=x,I=y,J=z,K=A,M=B,N=C,O=D,P=E,Q=F,R=G,S=L;g.set(K,-f.length/2,0),g.set(M,f.length/2,0),g.rotate(N,K,l),g.rotate(O,M,l),i(N,N,k),i(O,O,k),g.copy(K,N),g.copy(M,O),h(I,M,K),g.normalize(J,I),g.rotate90cw(H,J),h(P,c,K);var T=j(P,H);h(s,K,k),h(Q,c,k);var U=o+n;if(Math.abs(T)W&&X>V){if(m)return!0;var Y=this.createContactEquation(a,e,b,f);return g.scale(Y.normalA,p,-1),g.normalize(Y.normalA,Y.normalA),g.scale(Y.contactPointA,Y.normalA,o),i(Y.contactPointA,Y.contactPointA,c),h(Y.contactPointA,Y.contactPointA,a.position),h(Y.contactPointB,r,k),i(Y.contactPointB,Y.contactPointB,k),h(Y.contactPointB,Y.contactPointB,e.position),this.contactEquations.push(Y),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(Y)),1}}S[0]=K,S[1]=M;for(var Z=0;ZQ&&(g.copy(J,B),L=Q,g.scale(A,s,Q),g.add(A,A,B),K=!0)}}if(K){if(m)return!0;var R=this.createContactEquation(a,e,b,j);return g.sub(R.normalA,J,c),g.normalize(R.normalA,R.normalA),g.scale(R.contactPointA,R.normalA,n),i(R.contactPointA,R.contactPointA,c),h(R.contactPointA,R.contactPointA,a.position),h(R.contactPointB,A,k),i(R.contactPointB,R.contactPointB,k),h(R.contactPointB,R.contactPointB,e.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(R)),1}if(n>0)for(var N=0;NQ&&(I=Q,g.scale(E,s,Q),g.add(E,E,c),g.copy(H,s),L=!0)}if(L){var R=this.createContactEquation(a,e,b,k);return g.scale(R.normalA,H,-1),g.normalize(R.normalA,R.normalA),g.set(R.contactPointA,0,0),i(R.contactPointA,R.contactPointA,c),h(R.contactPointA,R.contactPointA,a.position),h(R.contactPointB,E,l),i(R.contactPointB,R.contactPointB,l),h(R.contactPointB,R.contactPointB,e.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(R)),1}return 0},d.prototype[q.CIRCLE]=d.prototype.circleCircle=function(a,b,c,d,e,f,j,k,l,m,n){var o=t,m=m||b.radius,n=n||f.radius;h(o,c,j);var p=m+n;if(g.squaredLength(o)>Math.pow(p,2))return 0;if(l)return!0;var q=this.createContactEquation(a,e,b,f);return h(q.normalA,j,c),g.normalize(q.normalA,q.normalA),g.scale(q.contactPointA,q.normalA,m),g.scale(q.contactPointB,q.normalA,-n),i(q.contactPointA,q.contactPointA,c),h(q.contactPointA,q.contactPointA,a.position),i(q.contactPointB,q.contactPointB,j),h(q.contactPointB,q.contactPointB,e.position),this.contactEquations.push(q),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(q)),1},d.prototype[q.PLANE|q.CONVEX]=d.prototype[q.PLANE|q.BOX]=d.prototype.planeConvex=function(a,b,c,d,e,f,k,l,m){var n=t,o=u,p=v,q=0;g.rotate(o,s,d);for(var r=0;r!==f.vertices.length;r++){var w=f.vertices[r];if(g.rotate(n,w,l),i(n,n,k),h(p,n,c),j(p,o)<=0){if(m)return!0;q++;var x=this.createContactEquation(a,e,b,f);h(p,n,c),g.copy(x.normalA,o);var y=j(p,x.normalA);g.scale(p,x.normalA,y),h(x.contactPointB,n,e.position),h(x.contactPointA,n,p),h(x.contactPointA,x.contactPointA,a.position),this.contactEquations.push(x),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(x))}}return this.enableFrictionReduction&&this.enableFriction&&q&&this.frictionEquations.push(this.createFrictionFromAverage(q)),q},d.prototype[q.PARTICLE|q.PLANE]=d.prototype.particlePlane=function(a,b,c,d,e,f,i,k,l){var m=t,n=u;k=k||0,h(m,c,i),g.rotate(n,s,k);var o=j(m,n);if(o>0)return 0;if(l)return!0;var p=this.createContactEquation(e,a,f,b);return g.copy(p.normalA,n),g.scale(m,p.normalA,o),h(p.contactPointA,c,m),h(p.contactPointA,p.contactPointA,e.position),h(p.contactPointB,c,a.position),this.contactEquations.push(p),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(p)),1},d.prototype[q.CIRCLE|q.PARTICLE]=d.prototype.circleParticle=function(a,b,c,d,e,f,j,k,l){var m=t;if(h(m,j,c),g.squaredLength(m)>Math.pow(b.radius,2))return 0;if(l)return!0;var n=this.createContactEquation(a,e,b,f);return g.copy(n.normalA,m),g.normalize(n.normalA,n.normalA),g.scale(n.contactPointA,n.normalA,b.radius),i(n.contactPointA,n.contactPointA,c),h(n.contactPointA,n.contactPointA,a.position),h(n.contactPointB,j,e.position),this.contactEquations.push(n),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(n)),1};var X=new o({radius:1}),Y=g.create(),Z=g.create();g.create();d.prototype[q.PLANE|q.CAPSULE]=d.prototype.planeCapsule=function(a,b,c,d,e,f,h,j,k){var l=Y,m=Z,n=X;g.set(l,-f.length/2,0),g.rotate(l,l,j),i(l,l,h),g.set(m,f.length/2,0),g.rotate(m,m,j),i(m,m,h),n.radius=f.radius;var o;this.enableFrictionReduction&&(o=this.enableFriction,this.enableFriction=!1);var p=this.circlePlane(e,n,l,0,a,b,c,d,k),q=this.circlePlane(e,n,m,0,a,b,c,d,k);if(this.enableFrictionReduction&&(this.enableFriction=o),k)return p||q;var r=p+q;return this.enableFrictionReduction&&r&&this.frictionEquations.push(this.createFrictionFromAverage(r)),r},d.prototype[q.CIRCLE|q.PLANE]=d.prototype.circlePlane=function(a,b,c,d,e,f,k,l,m){var n=a,o=b,p=c,q=e,r=k,w=l;w=w||0;var x=t,y=u,z=v;h(x,p,r),g.rotate(y,s,w);var A=j(y,x);if(A>o.radius)return 0;if(m)return!0;var B=this.createContactEquation(q,n,f,b);return g.copy(B.normalA,y),g.scale(B.contactPointB,B.normalA,-o.radius),i(B.contactPointB,B.contactPointB,p),h(B.contactPointB,B.contactPointB,n.position),g.scale(z,B.normalA,A),h(B.contactPointA,x,z),i(B.contactPointA,B.contactPointA,r),h(B.contactPointA,B.contactPointA,q.position),this.contactEquations.push(B),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(B)),1},d.prototype[q.CONVEX]=d.prototype[q.CONVEX|q.BOX]=d.prototype[q.BOX]=d.prototype.convexConvex=function(a,b,c,e,f,k,l,m,n,o){var p=t,q=u,r=v,s=w,y=x,C=z,D=A,E=B,F=0,o="number"==typeof o?o:0,G=d.findSeparatingAxis(b,c,e,k,l,m,p);if(!G)return 0;h(D,l,c),j(p,D)>0&&g.scale(p,p,-1);var H=d.getClosestEdge(b,e,p,!0),I=d.getClosestEdge(k,m,p);if(-1===H||-1===I)return 0;for(var J=0;2>J;J++){var K=H,L=I,M=b,N=k,O=c,P=l,Q=e,R=m,S=a,T=f;if(0===J){var U;U=K,K=L,L=U,U=M,M=N,N=U,U=O,O=P,P=U,U=Q,Q=R,R=U,U=S,S=T,T=U}for(var V=L;L+2>V;V++){var W=N.vertices[(V+N.vertices.length)%N.vertices.length];g.rotate(q,W,R),i(q,q,P);for(var X=0,Y=K-1;K+2>Y;Y++){var Z=M.vertices[(Y+M.vertices.length)%M.vertices.length],$=M.vertices[(Y+1+M.vertices.length)%M.vertices.length];g.rotate(r,Z,Q),g.rotate(s,$,Q),i(r,r,O),i(s,s,O),h(y,s,r),g.rotate90cw(E,y),g.normalize(E,E),h(D,q,r);var _=j(E,D);(Y===K&&o>=_||Y!==K&&0>=_)&&X++}if(X>=3){if(n)return!0;var aa=this.createContactEquation(S,T,M,N);F++;var Z=M.vertices[K%M.vertices.length],$=M.vertices[(K+1)%M.vertices.length];g.rotate(r,Z,Q),g.rotate(s,$,Q),i(r,r,O),i(s,s,O),h(y,s,r),g.rotate90cw(aa.normalA,y),g.normalize(aa.normalA,aa.normalA),h(D,q,r);var _=j(aa.normalA,D);g.scale(C,aa.normalA,_),h(aa.contactPointA,q,O),h(aa.contactPointA,aa.contactPointA,C),i(aa.contactPointA,aa.contactPointA,O),h(aa.contactPointA,aa.contactPointA,S.position),h(aa.contactPointB,q,P),i(aa.contactPointB,aa.contactPointB,P),h(aa.contactPointB,aa.contactPointB,T.position),this.contactEquations.push(aa),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(aa))}}}return this.enableFrictionReduction&&this.enableFriction&&F&&this.frictionEquations.push(this.createFrictionFromAverage(F)),F};var $=g.fromValues(0,0);d.projectConvexOntoAxis=function(a,b,c,d,e){var f,h,i=null,k=null,l=$;g.rotate(l,d,-c);for(var m=0;mi)&&(i=h),(null===k||k>h)&&(k=h);if(k>i){var n=k;k=i,i=n}var o=j(b,d);g.set(e,k+o,i+o)};var _=g.fromValues(0,0),aa=g.fromValues(0,0),ba=g.fromValues(0,0),ca=g.fromValues(0,0),da=g.fromValues(0,0),ea=g.fromValues(0,0);d.findSeparatingAxis=function(a,b,c,e,f,i,j){var k=null,l=!1,m=!1,n=_,o=aa,p=ba,q=ca,s=da,t=ea;if(a instanceof r&&e instanceof r)for(var u=0;2!==u;u++){var v=a,w=c;1===u&&(v=e,w=i);for(var x=0;2!==x;x++){0===x?g.set(q,0,1):1===x&&g.set(q,1,0),0!==w&&g.rotate(q,q,w),d.projectConvexOntoAxis(a,b,c,q,s),d.projectConvexOntoAxis(e,f,i,q,t);var y=s,z=t,A=!1;s[0]>t[0]&&(z=s,y=t,A=!0);var B=z[0]-y[1];l=0>=B,(null===k||B>k)&&(g.copy(j,q),k=B,m=l)}}else for(var u=0;2!==u;u++){var v=a,w=c;1===u&&(v=e,w=i);for(var x=0;x!==v.vertices.length;x++){g.rotate(o,v.vertices[x],w),g.rotate(p,v.vertices[(x+1)%v.vertices.length],w),h(n,p,o),g.rotate90cw(q,n),g.normalize(q,q),d.projectConvexOntoAxis(a,b,c,q,s),d.projectConvexOntoAxis(e,f,i,q,t);var y=s,z=t,A=!1;s[0]>t[0]&&(z=s,y=t,A=!0);var B=z[0]-y[1];l=0>=B,(null===k||B>k)&&(g.copy(j,q),k=B,m=l)}}return m};var fa=g.fromValues(0,0),ga=g.fromValues(0,0),ha=g.fromValues(0,0);d.getClosestEdge=function(a,b,c,d){var e=fa,f=ga,i=ha;g.rotate(e,c,-b),d&&g.scale(e,e,-1);for(var k=-1,l=a.vertices.length,m=-1,n=0;n!==l;n++){h(f,a.vertices[(n+1)%l],a.vertices[n%l]),g.rotate90cw(i,f),g.normalize(i,i);var o=j(i,e);(-1===k||o>m)&&(k=n%l,m=o)}return k};var ia=g.create(),ja=g.create(),ka=g.create(),la=g.create(),ma=g.create(),na=g.create(),oa=g.create();d.prototype[q.CIRCLE|q.HEIGHTFIELD]=d.prototype.circleHeightfield=function(a,b,c,d,e,f,j,k,l,m){var n=f.heights,m=m||b.radius,o=f.elementWidth,p=ja,q=ia,r=ma,s=oa,t=na,u=ka,v=la,w=Math.floor((c[0]-m-j[0])/o),x=Math.ceil((c[0]+m-j[0])/o);0>w&&(w=0),x>=n.length&&(x=n.length-1);for(var y=n[w],z=n[x],A=w;x>A;A++)n[A]y&&(y=n[A]);if(c[1]-m>y)return l?!1:0;for(var B=!1,A=w;x>A;A++){g.set(u,A*o,n[A]),g.set(v,(A+1)*o,n[A+1]),g.add(u,u,j),g.add(v,v,j),g.sub(t,v,u),g.rotate(t,t,Math.PI/2),g.normalize(t,t),g.scale(q,t,-m),g.add(q,q,c),g.sub(p,q,u);var C=g.dot(p,t);if(q[0]>=u[0]&&q[0]=C){if(l)return!0;B=!0,g.scale(p,t,-C),g.add(r,q,p),g.copy(s,t);var D=this.createContactEquation(e,a,f,b);g.copy(D.normalA,s),g.scale(D.contactPointB,D.normalA,-m),i(D.contactPointB,D.contactPointB,c),h(D.contactPointB,D.contactPointB,a.position),g.copy(D.contactPointA,r),g.sub(D.contactPointA,D.contactPointA,e.position),this.contactEquations.push(D),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(D))}}if(B=!1,m>0)for(var A=w;x>=A;A++)if(g.set(u,A*o,n[A]),g.add(u,u,j),g.sub(p,c,u),g.squaredLength(p)q&&(q=0),r>=k.length&&(r=k.length-1);for(var s=k[q],t=k[r],u=q;r>u;u++)k[u]s&&(s=k[u]);if(a.aabb.lowerBound[1]>s)return j?!1:0;for(var v=0,u=q;r>u;u++){g.set(m,u*l,k[u]),g.set(n,(u+1)*l,k[u+1]),g.add(m,m,h),g.add(n,n,h);var w=100;g.set(o,.5*(n[0]+m[0]),.5*(n[1]+m[1]-w)),g.sub(p.vertices[0],n,o),g.sub(p.vertices[1],m,o),g.copy(p.vertices[2],p.vertices[1]),g.copy(p.vertices[3],p.vertices[0]),p.vertices[2][1]-=w,p.vertices[3][1]-=w,v+=this.convexConvex(a,b,c,d,e,p,o,0,j)}return v}},{"../equations/ContactEquation":21,"../equations/Equation":22,"../equations/FrictionEquation":23,"../math/vec2":30,"../objects/Body":31,"../shapes/Box":37,"../shapes/Circle":39,"../shapes/Convex":40,"../shapes/Shape":45,"../utils/ContactEquationPool":48,"../utils/FrictionEquationPool":49,"../utils/TupleDictionary":56,"../utils/Utils":57}],11:[function(a,b,c){function d(a){a=a||{},this.from=a.from?f.fromValues(a.from[0],a.from[1]):f.create(),this.to=a.to?f.fromValues(a.to[0],a.to[1]):f.create(),this.checkCollisionResponse=void 0!==a.checkCollisionResponse?a.checkCollisionResponse:!0,this.skipBackfaces=!!a.skipBackfaces,this.collisionMask=void 0!==a.collisionMask?a.collisionMask:-1,this.collisionGroup=void 0!==a.collisionGroup?a.collisionGroup:-1,this.mode=void 0!==a.mode?a.mode:d.ANY,this.callback=a.callback||function(a){},this.direction=f.create(),this.length=1,this.update()}function e(a,b,c){f.sub(h,c,a);var d=f.dot(h,b);return f.scale(i,b,d),f.add(i,i,a),f.squaredDistance(c,i)}b.exports=d;var f=a("../math/vec2");a("../collision/RaycastResult"),a("../shapes/Shape"),a("../collision/AABB");d.prototype.constructor=d,d.CLOSEST=1,d.ANY=2,d.ALL=4,d.prototype.update=function(){var a=this.direction;f.sub(a,this.to,this.from),this.length=f.length(a),f.normalize(a,a)},d.prototype.intersectBodies=function(a,b){for(var c=0,d=b.length;!a.shouldStop(this)&&d>c;c++){var e=b[c],f=e.getAABB();(f.overlapsRay(this)>=0||f.containsPoint(this.from))&&this.intersectBody(a,e)}};var g=f.create();d.prototype.intersectBody=function(a,b){var c=this.checkCollisionResponse;if(!c||b.collisionResponse)for(var d=g,e=0,h=b.shapes.length;h>e;e++){var i=b.shapes[e];if((!c||i.collisionResponse)&&0!==(this.collisionGroup&i.collisionMask)&&0!==(i.collisionGroup&this.collisionMask)){f.rotate(d,i.position,b.angle),f.add(d,d,b.position);var j=i.angle+b.angle;if(this.intersectShape(a,i,j,d,b),a.shouldStop(this))break}}},d.prototype.intersectShape=function(a,b,c,d,f){var g=this.from,h=e(g,this.direction,d);h>b.boundingRadius*b.boundingRadius||(this._currentBody=f,this._currentShape=b,b.raycast(a,this,d,c),this._currentBody=this._currentShape=null)},d.prototype.getAABB=function(a){var b=this.to,c=this.from;f.set(a.lowerBound,Math.min(b[0],c[0]),Math.min(b[1],c[1])),f.set(a.upperBound,Math.max(b[0],c[0]),Math.max(b[1],c[1]))};f.create();d.prototype.reportIntersection=function(a,b,c,e){var g=(this.from,this.to,this._currentShape),h=this._currentBody;if(!(this.skipBackfaces&&f.dot(c,this.direction)>0))switch(this.mode){case d.ALL:a.set(c,g,h,b,e),this.callback(a);break;case d.CLOSEST:(bc;c++){for(var e=a[c],f=c-1;f>=0&&!(a[f].aabb.lowerBound[b]<=e.aabb.lowerBound[b]);f--)a[f+1]=a[f];a[f+1]=e}return a},d.prototype.sortList=function(){var a=this.axisList,b=this.axisIndex;d.sortAxisList(a,b)},d.prototype.getCollisionPairs=function(a){var b=this.axisList,c=this.result,d=this.axisIndex;c.length=0;for(var e=b.length;e--;){var g=b[e];g.aabbNeedsUpdate&&g.updateAABB()}this.sortList();for(var h=0,i=0|b.length;h!==i;h++)for(var j=b[h],k=h+1;i>k;k++){var l=b[k],m=l.aabb.lowerBound[d]<=j.aabb.upperBound[d];if(!m)break;f.canCollide(j,l)&&this.boundingVolumeCheck(j,l)&&c.push(j,l)}return c},d.prototype.aabbQuery=function(a,b,c){c=c||[],this.sortList();var d=this.axisIndex,e="x";1===d&&(e="y"),2===d&&(e="z");for(var f=this.axisList,g=(b.lowerBound[e],b.upperBound[e],0);gthis.upperLimit&&(f.maxForce=0,f.minForce=-this.maxForce,this.distance=this.upperLimit,l=!0),this.lowerLimitEnabled&&this.positionc)h.scale(e.normalA,j,-1),h.sub(e.contactPointA,k,g.position),h.sub(e.contactPointB,l,i.position),h.scale(o,j,c),h.add(e.contactPointA,e.contactPointA,o),-1===a.indexOf(e)&&a.push(e);else{var u=a.indexOf(e);-1!==u&&a.splice(u,1)}if(this.lowerLimitEnabled&&d>s)h.scale(f.normalA,j,1),h.sub(f.contactPointA,k,g.position),h.sub(f.contactPointB,l,i.position),h.scale(o,j,d),h.sub(f.contactPointB,f.contactPointB,o),-1===a.indexOf(f)&&a.push(f);else{var u=a.indexOf(f);-1!==u&&a.splice(u,1)}},d.prototype.enableMotor=function(){this.motorEnabled||(this.equations.push(this.motorEquation),this.motorEnabled=!0)},d.prototype.disableMotor=function(){if(this.motorEnabled){var a=this.equations.indexOf(this.motorEquation);this.equations.splice(a,1),this.motorEnabled=!1}},d.prototype.setLimits=function(a,b){"number"==typeof a?(this.lowerLimit=a,this.lowerLimitEnabled=!0):(this.lowerLimit=a,this.lowerLimitEnabled=!1),"number"==typeof b?(this.upperLimit=b,this.upperLimitEnabled=!0):(this.upperLimit=b,this.upperLimitEnabled=!1)}},{"../equations/ContactEquation":21,"../equations/Equation":22,"../equations/RotationalLockEquation":24,"../math/vec2":30,"./Constraint":14}],19:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,e.REVOLUTE,c);var d=this.maxForce="undefined"!=typeof c.maxForce?c.maxForce:Number.MAX_VALUE;this.pivotA=i.create(),this.pivotB=i.create(),c.worldPivot?(i.sub(this.pivotA,c.worldPivot,a.position),i.sub(this.pivotB,c.worldPivot,b.position),i.rotate(this.pivotA,this.pivotA,-a.angle),i.rotate(this.pivotB,this.pivotB,-b.angle)):(i.copy(this.pivotA,c.localPivotA),i.copy(this.pivotB,c.localPivotB));var o=this.equations=[new f(a,b,-d,d),new f(a,b,-d,d)],p=o[0],q=o[1],r=this;p.computeGq=function(){return i.rotate(j,r.pivotA,a.angle),i.rotate(k,r.pivotB,b.angle),i.add(n,b.position,k),i.sub(n,n,a.position),i.sub(n,n,j),i.dot(n,l)},q.computeGq=function(){return i.rotate(j,r.pivotA,a.angle),i.rotate(k,r.pivotB,b.angle),i.add(n,b.position,k),i.sub(n,n,a.position),i.sub(n,n,j),i.dot(n,m)},q.minForce=p.minForce=-d,q.maxForce=p.maxForce=d,this.motorEquation=new g(a,b),this.motorEnabled=!1,this.angle=0,this.lowerLimitEnabled=!1,this.upperLimitEnabled=!1,this.lowerLimit=0,this.upperLimit=0,this.upperLimitEquation=new h(a,b),this.lowerLimitEquation=new h(a,b),this.upperLimitEquation.minForce=0,this.lowerLimitEquation.maxForce=0}var e=a("./Constraint"),f=a("../equations/Equation"),g=a("../equations/RotationalVelocityEquation"),h=a("../equations/RotationalLockEquation"),i=a("../math/vec2");b.exports=d;var j=i.create(),k=i.create(),l=i.fromValues(1,0),m=i.fromValues(0,1),n=i.create();d.prototype=new e,d.prototype.constructor=d,d.prototype.setLimits=function(a,b){"number"==typeof a?(this.lowerLimit=a,this.lowerLimitEnabled=!0):(this.lowerLimit=a,this.lowerLimitEnabled=!1),"number"==typeof b?(this.upperLimit=b,this.upperLimitEnabled=!0):(this.upperLimit=b,this.upperLimitEnabled=!1)},d.prototype.update=function(){var a=this.bodyA,b=this.bodyB,c=this.pivotA,d=this.pivotB,e=this.equations,f=(e[0],e[1],e[0]),g=e[1],h=this.upperLimit,n=this.lowerLimit,o=this.upperLimitEquation,p=this.lowerLimitEquation,q=this.angle=b.angle-a.angle;if(this.upperLimitEnabled&&q>h)o.angle=h,-1===e.indexOf(o)&&e.push(o);else{var r=e.indexOf(o);-1!==r&&e.splice(r,1)}if(this.lowerLimitEnabled&&n>q)p.angle=n,-1===e.indexOf(p)&&e.push(p);else{var r=e.indexOf(p);-1!==r&&e.splice(r,1)}i.rotate(j,c,a.angle),i.rotate(k,d,b.angle),f.G[0]=-1,f.G[1]=0,f.G[2]=-i.crossLength(j,l),f.G[3]=1,f.G[4]=0,f.G[5]=i.crossLength(k,l),g.G[0]=0,g.G[1]=-1,g.G[2]=-i.crossLength(j,m),g.G[3]=0,g.G[4]=1,g.G[5]=i.crossLength(k,m)},d.prototype.enableMotor=function(){this.motorEnabled||(this.equations.push(this.motorEquation),this.motorEnabled=!0)},d.prototype.disableMotor=function(){if(this.motorEnabled){var a=this.equations.indexOf(this.motorEquation);this.equations.splice(a,1),this.motorEnabled=!1}},d.prototype.motorIsEnabled=function(){return!!this.motorEnabled},d.prototype.setMotorSpeed=function(a){if(this.motorEnabled){var b=this.equations.indexOf(this.motorEquation);this.equations[b].relativeVelocity=a}},d.prototype.getMotorSpeed=function(){return this.motorEnabled?this.motorEquation.relativeVelocity:!1}},{"../equations/Equation":22,"../equations/RotationalLockEquation":24,"../equations/RotationalVelocityEquation":25,"../math/vec2":30,"./Constraint":14}],20:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.angle=c.angle||0,this.ratio="number"==typeof c.ratio?c.ratio:1,this.setRatio(this.ratio)}var e=a("./Equation");a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeGq=function(){return this.ratio*this.bodyA.angle-this.bodyB.angle+this.angle},d.prototype.setRatio=function(a){var b=this.G;b[2]=a,b[5]=-1,this.ratio=a},d.prototype.setMaxTorque=function(a){this.maxForce=a,this.minForce=-a}},{"../math/vec2":30,"./Equation":22}],21:[function(a,b,c){function d(a,b){e.call(this,a,b,0,Number.MAX_VALUE),this.contactPointA=f.create(),this.penetrationVec=f.create(),this.contactPointB=f.create(),this.normalA=f.create(),this.restitution=0,this.firstImpact=!1,this.shapeA=null,this.shapeB=null}var e=a("./Equation"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeB=function(a,b,c){var d=this.bodyA,e=this.bodyB,g=this.contactPointA,h=this.contactPointB,i=d.position,j=e.position,k=this.penetrationVec,l=this.normalA,m=this.G,n=f.crossLength(g,l),o=f.crossLength(h,l);m[0]=-l[0],m[1]=-l[1],m[2]=-n,m[3]=l[0],m[4]=l[1],m[5]=o,f.add(k,j,h),f.sub(k,k,i),f.sub(k,k,g);var p,q;this.firstImpact&&0!==this.restitution?(q=0,p=1/b*(1+this.restitution)*this.computeGW()):(q=f.dot(l,k)+this.offset,p=this.computeGW());var r=this.computeGiMf(),s=-q*a-p*b-c*r;return s}},{"../math/vec2":30,"./Equation":22}],22:[function(a,b,c){function d(a,b,c,e){this.minForce="undefined"==typeof c?-Number.MAX_VALUE:c,this.maxForce="undefined"==typeof e?Number.MAX_VALUE:e,this.bodyA=a,this.bodyB=b,this.stiffness=d.DEFAULT_STIFFNESS,this.relaxation=d.DEFAULT_RELAXATION,this.G=new f.ARRAY_TYPE(6);for(var g=0;6>g;g++)this.G[g]=0;this.offset=0,this.a=0,this.b=0,this.epsilon=0,this.timeStep=1/60,this.needsUpdate=!0,this.multiplier=0,this.relativeVelocity=0,this.enabled=!0}b.exports=d;var e=a("../math/vec2"),f=a("../utils/Utils");a("../objects/Body");d.prototype.constructor=d,d.DEFAULT_STIFFNESS=1e6,d.DEFAULT_RELAXATION=4,d.prototype.update=function(){var a=this.stiffness,b=this.relaxation,c=this.timeStep;this.a=4/(c*(1+4*b)),this.b=4*b/(1+4*b),this.epsilon=4/(c*c*a*(1+4*b)),this.needsUpdate=!1},d.prototype.gmult=function(a,b,c,d,e){return a[0]*b[0]+a[1]*b[1]+a[2]*c+a[3]*d[0]+a[4]*d[1]+a[5]*e},d.prototype.computeB=function(a,b,c){var d=this.computeGW(),e=this.computeGq(),f=this.computeGiMf();return-e*a-d*b-f*c};var g=e.create(),h=e.create();d.prototype.computeGq=function(){var a=this.G,b=this.bodyA,c=this.bodyB,d=(b.position,c.position,b.angle),e=c.angle;return this.gmult(a,g,d,h,e)+this.offset},d.prototype.computeGW=function(){var a=this.G,b=this.bodyA,c=this.bodyB,d=b.velocity,e=c.velocity,f=b.angularVelocity,g=c.angularVelocity;return this.gmult(a,d,f,e,g)+this.relativeVelocity},d.prototype.computeGWlambda=function(){var a=this.G,b=this.bodyA,c=this.bodyB,d=b.vlambda,e=c.vlambda,f=b.wlambda,g=c.wlambda;return this.gmult(a,d,f,e,g)};var i=e.create(),j=e.create();d.prototype.computeGiMf=function(){var a=this.bodyA,b=this.bodyB,c=a.force,d=a.angularForce,f=b.force,g=b.angularForce,h=a.invMassSolve,k=b.invMassSolve,l=a.invInertiaSolve,m=b.invInertiaSolve,n=this.G;return e.scale(i,c,h),e.multiply(i,a.massMultiplier,i),e.scale(j,f,k),e.multiply(j,b.massMultiplier,j),this.gmult(n,i,d*l,j,g*m)},d.prototype.computeGiMGt=function(){var a=this.bodyA,b=this.bodyB,c=a.invMassSolve,d=b.invMassSolve,e=a.invInertiaSolve,f=b.invInertiaSolve,g=this.G;return g[0]*g[0]*c*a.massMultiplier[0]+g[1]*g[1]*c*a.massMultiplier[1]+g[2]*g[2]*e+g[3]*g[3]*d*b.massMultiplier[0]+g[4]*g[4]*d*b.massMultiplier[1]+g[5]*g[5]*f};var k=e.create(),l=e.create(),m=e.create();e.create(),e.create(),e.create();d.prototype.addToWlambda=function(a){var b=this.bodyA,c=this.bodyB,d=k,f=l,g=m,h=b.invMassSolve,i=c.invMassSolve,j=b.invInertiaSolve,n=c.invInertiaSolve,o=this.G;f[0]=o[0],f[1]=o[1],g[0]=o[3],g[1]=o[4],e.scale(d,f,h*a),e.multiply(d,d,b.massMultiplier),e.add(b.vlambda,b.vlambda,d),b.wlambda+=j*o[2]*a,e.scale(d,g,i*a),e.multiply(d,d,c.massMultiplier),e.add(c.vlambda,c.vlambda,d),c.wlambda+=n*o[5]*a},d.prototype.computeInvC=function(a){return 1/(this.computeGiMGt()+a)}},{"../math/vec2":30,"../objects/Body":31,"../utils/Utils":57}],23:[function(a,b,c){function d(a,b,c){f.call(this,a,b,-c,c),this.contactPointA=e.create(),this.contactPointB=e.create(),this.t=e.create(),this.contactEquations=[],this.shapeA=null,this.shapeB=null,this.frictionCoefficient=.3}var e=a("../math/vec2"),f=a("./Equation");a("../utils/Utils");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.setSlipForce=function(a){this.maxForce=a,this.minForce=-a},d.prototype.getSlipForce=function(){return this.maxForce},d.prototype.computeB=function(a,b,c){var d=(this.bodyA,this.bodyB,this.contactPointA),f=this.contactPointB,g=this.t,h=this.G;h[0]=-g[0],h[1]=-g[1],h[2]=-e.crossLength(d,g),h[3]=g[0],h[4]=g[1],h[5]=e.crossLength(f,g);var i=this.computeGW(),j=this.computeGiMf(),k=-i*b-c*j;return k}},{"../math/vec2":30,"../utils/Utils":57,"./Equation":22}],24:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.angle=c.angle||0;var d=this.G;d[2]=1,d[5]=-1}var e=a("./Equation"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d;var g=f.create(),h=f.create(),i=f.fromValues(1,0),j=f.fromValues(0,1);d.prototype.computeGq=function(){return f.rotate(g,i,this.bodyA.angle+this.angle),f.rotate(h,j,this.bodyB.angle),f.dot(g,h)}},{"../math/vec2":30,"./Equation":22}],25:[function(a,b,c){function d(a,b){e.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.relativeVelocity=1,this.ratio=1}var e=a("./Equation");a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeB=function(a,b,c){var d=this.G;d[2]=-1,d[5]=this.ratio;var e=this.computeGiMf(),f=this.computeGW(),g=-f*b-c*e;return g}},{"../math/vec2":30,"./Equation":22}],26:[function(a,b,c){var d=function(){};b.exports=d,d.prototype={constructor:d,on:function(a,b,c){b.context=c||this,void 0===this._listeners&&(this._listeners={});var d=this._listeners;return void 0===d[a]&&(d[a]=[]),-1===d[a].indexOf(b)&&d[a].push(b),this},has:function(a,b){if(void 0===this._listeners)return!1;var c=this._listeners;if(b){if(void 0!==c[a]&&-1!==c[a].indexOf(b))return!0}else if(void 0!==c[a])return!0;return!1},off:function(a,b){if(void 0===this._listeners)return this;var c=this._listeners,d=c[a].indexOf(b);return-1!==d&&c[a].splice(d,1),this},emit:function(a){if(void 0===this._listeners)return this;var b=this._listeners,c=b[a.type];if(void 0!==c){a.target=this;for(var d=0,e=c.length;e>d;d++){var f=c[d];f.call(f.context,a)}}return this}}},{}],27:[function(a,b,c){function d(a,b,c){if(c=c||{},!(a instanceof e&&b instanceof e))throw new Error("First two arguments must be Material instances.");this.id=d.idCounter++,this.materialA=a,this.materialB=b,this.friction="undefined"!=typeof c.friction?Number(c.friction):.3,this.restitution="undefined"!=typeof c.restitution?Number(c.restitution):0,this.stiffness="undefined"!=typeof c.stiffness?Number(c.stiffness):f.DEFAULT_STIFFNESS,this.relaxation="undefined"!=typeof c.relaxation?Number(c.relaxation):f.DEFAULT_RELAXATION,this.frictionStiffness="undefined"!=typeof c.frictionStiffness?Number(c.frictionStiffness):f.DEFAULT_STIFFNESS,this.frictionRelaxation="undefined"!=typeof c.frictionRelaxation?Number(c.frictionRelaxation):f.DEFAULT_RELAXATION,this.surfaceVelocity="undefined"!=typeof c.surfaceVelocity?Number(c.surfaceVelocity):0,this.contactSkinSize=.005}var e=a("./Material"),f=a("../equations/Equation");b.exports=d,d.idCounter=0},{"../equations/Equation":22,"./Material":28}],28:[function(a,b,c){function d(a){this.id=a||d.idCounter++}b.exports=d,d.idCounter=0},{}],29:[function(a,b,c){var d={};d.GetArea=function(a){if(a.length<6)return 0;for(var b=a.length-2,c=0,d=0;b>d;d+=2)c+=(a[d+2]-a[d])*(a[d+1]+a[d+3]);return c+=(a[0]-a[b])*(a[b+1]+a[1]),.5*-c},d.Triangulate=function(a){var b=a.length>>1;if(3>b)return[];for(var c=[],e=[],f=0;b>f;f++)e.push(f);for(var f=0,g=b;g>3;){var h=e[(f+0)%g],i=e[(f+1)%g],j=e[(f+2)%g],k=a[2*h],l=a[2*h+1],m=a[2*i],n=a[2*i+1],o=a[2*j],p=a[2*j+1],q=!1;if(d._convex(k,l,m,n,o,p)){q=!0;for(var r=0;g>r;r++){var s=e[r];if(s!=h&&s!=i&&s!=j&&d._PointInTriangle(a[2*s],a[2*s+1],k,l,m,n,o,p)){q=!1;break}}}if(q)c.push(h,i,j),e.splice((f+1)%g,1),g--,f=0;else if(f++>3*g)break}return c.push(e[0],e[1],e[2]),c},d._PointInTriangle=function(a,b,c,d,e,f,g,h){var i=g-c,j=h-d,k=e-c,l=f-d,m=a-c,n=b-d,o=i*i+j*j,p=i*k+j*l,q=i*m+j*n,r=k*k+l*l,s=k*m+l*n,t=1/(o*r-p*p),u=(r*q-p*s)*t,v=(o*s-p*q)*t;return u>=0&&v>=0&&1>u+v},d._convex=function(a,b,c,d,e,f){return(b-d)*(e-c)+(c-a)*(f-d)>=0},b.exports=d},{}],30:[function(a,b,c){var d=b.exports={},e=a("../utils/Utils");d.crossLength=function(a,b){return a[0]*b[1]-a[1]*b[0]},d.crossVZ=function(a,b,c){return d.rotate(a,b,-Math.PI/2),d.scale(a,a,c),a},d.crossZV=function(a,b,c){return d.rotate(a,c,Math.PI/2),d.scale(a,a,b),a},d.rotate=function(a,b,c){if(0!==c){var d=Math.cos(c),e=Math.sin(c),f=b[0],g=b[1];a[0]=d*f-e*g,a[1]=e*f+d*g}else a[0]=b[0],a[1]=b[1]},d.rotate90cw=function(a,b){var c=b[0],d=b[1];a[0]=d,a[1]=-c},d.toLocalFrame=function(a,b,c,e){d.copy(a,b),d.sub(a,a,c),d.rotate(a,a,-e)},d.toGlobalFrame=function(a,b,c,e){d.copy(a,b),d.rotate(a,a,e),d.add(a,a,c)},d.vectorToLocalFrame=function(a,b,c){d.rotate(a,b,-c)},d.vectorToGlobalFrame=function(a,b,c){d.rotate(a,b,c)},d.centroid=function(a,b,c,e){return d.add(a,b,c),d.add(a,a,e),d.scale(a,a,1/3),a},d.create=function(){var a=new e.ARRAY_TYPE(2);return a[0]=0,a[1]=0,a},d.clone=function(a){var b=new e.ARRAY_TYPE(2);return b[0]=a[0],b[1]=a[1],b},d.fromValues=function(a,b){var c=new e.ARRAY_TYPE(2);return c[0]=a,c[1]=b,c},d.copy=function(a,b){return a[0]=b[0],a[1]=b[1],a},d.set=function(a,b,c){return a[0]=b,a[1]=c,a},d.add=function(a,b,c){return a[0]=b[0]+c[0],a[1]=b[1]+c[1],a},d.subtract=function(a,b,c){return a[0]=b[0]-c[0],a[1]=b[1]-c[1],a},d.sub=d.subtract,d.multiply=function(a,b,c){return a[0]=b[0]*c[0],a[1]=b[1]*c[1],a},d.mul=d.multiply,d.divide=function(a,b,c){return a[0]=b[0]/c[0],a[1]=b[1]/c[1],a},d.div=d.divide,d.scale=function(a,b,c){return a[0]=b[0]*c,a[1]=b[1]*c,a},d.distance=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return Math.sqrt(c*c+d*d)},d.dist=d.distance,d.squaredDistance=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return c*c+d*d},d.sqrDist=d.squaredDistance,d.length=function(a){var b=a[0],c=a[1];return Math.sqrt(b*b+c*c)},d.len=d.length,d.squaredLength=function(a){var b=a[0],c=a[1];return b*b+c*c},d.sqrLen=d.squaredLength,d.negate=function(a,b){return a[0]=-b[0],a[1]=-b[1],a},d.normalize=function(a,b){var c=b[0],d=b[1],e=c*c+d*d;return e>0&&(e=1/Math.sqrt(e),a[0]=b[0]*e,a[1]=b[1]*e),a},d.dot=function(a,b){return a[0]*b[0]+a[1]*b[1]},d.str=function(a){return"vec2("+a[0]+", "+a[1]+")"},d.lerp=function(a,b,c,d){var e=b[0],f=b[1];return a[0]=e+d*(c[0]-e),a[1]=f+d*(c[1]-f),a},d.reflect=function(a,b,c){var d=b[0]*c[0]+b[1]*c[1];a[0]=b[0]-2*c[0]*d,a[1]=b[1]-2*c[1]*d},d.getLineSegmentsIntersection=function(a,b,c,e,f){var g=d.getLineSegmentsIntersectionFraction(b,c,e,f);return 0>g?!1:(a[0]=b[0]+g*(c[0]-b[0]),a[1]=b[1]+g*(c[1]-b[1]),!0)},d.getLineSegmentsIntersectionFraction=function(a,b,c,d){var e,f,g=b[0]-a[0],h=b[1]-a[1],i=d[0]-c[0],j=d[1]-c[1];return e=(-h*(a[0]-c[0])+g*(a[1]-c[1]))/(-i*h+g*j),f=(i*(a[1]-c[1])-j*(a[0]-c[0]))/(-i*h+g*j),e>=0&&1>=e&&f>=0&&1>=f?f:-1}},{"../utils/Utils":57}],31:[function(a,b,c){function d(a){a=a||{},k.call(this),this.id=a.id||++d._idCounter,this.world=null,this.shapes=[],this.mass=a.mass||0,this.invMass=0,this.inertia=0,this.invInertia=0,this.invMassSolve=0,this.invInertiaSolve=0,this.fixedRotation=!!a.fixedRotation,this.fixedX=!!a.fixedX,this.fixedY=!!a.fixedY,this.massMultiplier=e.create(),this.position=e.fromValues(0,0),a.position&&e.copy(this.position,a.position),this.interpolatedPosition=e.fromValues(0,0),this.interpolatedAngle=0,this.previousPosition=e.fromValues(0,0),this.previousAngle=0,this.velocity=e.fromValues(0,0),a.velocity&&e.copy(this.velocity,a.velocity),this.vlambda=e.fromValues(0,0),this.wlambda=0,this.angle=a.angle||0,this.angularVelocity=a.angularVelocity||0,this.force=e.create(),a.force&&e.copy(this.force,a.force),this.angularForce=a.angularForce||0,this.damping="number"==typeof a.damping?a.damping:.1,this.angularDamping="number"==typeof a.angularDamping?a.angularDamping:.1,this.type=d.STATIC,"undefined"!=typeof a.type?this.type=a.type:a.mass?this.type=d.DYNAMIC:this.type=d.STATIC,this.boundingRadius=0,this.aabb=new j,this.aabbNeedsUpdate=!0, -this.allowSleep=void 0!==a.allowSleep?a.allowSleep:!0,this.wantsToSleep=!1,this.sleepState=d.AWAKE,this.sleepSpeedLimit=void 0!==a.sleepSpeedLimit?a.sleepSpeedLimit:.2,this.sleepTimeLimit=void 0!==a.sleepTimeLimit?a.sleepTimeLimit:1,this.gravityScale=void 0!==a.gravityScale?a.gravityScale:1,this.collisionResponse=void 0!==a.collisionResponse?a.collisionResponse:!0,this.idleTime=0,this.timeLastSleepy=0,this.ccdSpeedThreshold=void 0!==a.ccdSpeedThreshold?a.ccdSpeedThreshold:-1,this.ccdIterations=void 0!==a.ccdIterations?a.ccdIterations:10,this.concavePath=null,this._wakeUpAfterNarrowphase=!1,this.updateMassProperties()}var e=a("../math/vec2"),f=a("poly-decomp"),g=a("../shapes/Convex"),h=a("../collision/RaycastResult"),i=a("../collision/Ray"),j=a("../collision/AABB"),k=a("../events/EventEmitter");b.exports=d,d.prototype=new k,d.prototype.constructor=d,d._idCounter=0,d.prototype.updateSolveMassProperties=function(){this.sleepState===d.SLEEPING||this.type===d.KINEMATIC?(this.invMassSolve=0,this.invInertiaSolve=0):(this.invMassSolve=this.invMass,this.invInertiaSolve=this.invInertia)},d.prototype.setDensity=function(a){var b=this.getArea();this.mass=b*a,this.updateMassProperties()},d.prototype.getArea=function(){for(var a=0,b=0;bc&&(c=g+h)}this.boundingRadius=c},d.prototype.addShape=function(a,b,c){if(a.body)throw new Error("A shape can only be added to one body.");a.body=this,b?e.copy(a.position,b):e.set(a.position,0,0),a.angle=c||0,this.shapes.push(a),this.updateMassProperties(),this.updateBoundingRadius(),this.aabbNeedsUpdate=!0},d.prototype.removeShape=function(a){var b=this.shapes.indexOf(a);return-1!==b?(this.shapes.splice(b,1),this.aabbNeedsUpdate=!0,a.body=null,!0):!1},d.prototype.updateMassProperties=function(){if(this.type===d.STATIC||this.type===d.KINEMATIC)this.mass=Number.MAX_VALUE,this.invMass=0,this.inertia=Number.MAX_VALUE,this.invInertia=0;else{var a=this.shapes,b=a.length,c=this.mass/b,f=0;if(this.fixedRotation)this.inertia=Number.MAX_VALUE,this.invInertia=0;else{for(var g=0;b>g;g++){var h=a[g],i=e.squaredLength(h.position),j=h.computeMomentOfInertia(c);f+=j+c*i}this.inertia=f,this.invInertia=f>0?1/f:0}this.invMass=1/this.mass,e.set(this.massMultiplier,this.fixedX?0:1,this.fixedY?0:1)}};e.create();d.prototype.applyForce=function(a,b){if(e.add(this.force,this.force,a),b){var c=e.crossLength(b,a);this.angularForce+=c}};var n=e.create(),o=e.create(),p=e.create();d.prototype.applyForceLocal=function(a,b){b=b||p;var c=n,d=o;this.vectorToWorldFrame(c,a),this.vectorToWorldFrame(d,b),this.applyForce(c,d)};var q=e.create();d.prototype.applyImpulse=function(a,b){if(this.type===d.DYNAMIC){var c=q;if(e.scale(c,a,this.invMass),e.multiply(c,this.massMultiplier,c),e.add(this.velocity,c,this.velocity),b){var f=e.crossLength(b,a);f*=this.invInertia,this.angularVelocity+=f}}};var r=e.create(),s=e.create(),t=e.create();d.prototype.applyImpulseLocal=function(a,b){b=b||t;var c=r,d=s;this.vectorToWorldFrame(c,a),this.vectorToWorldFrame(d,b),this.applyImpulse(c,d)},d.prototype.toLocalFrame=function(a,b){e.toLocalFrame(a,b,this.position,this.angle)},d.prototype.toWorldFrame=function(a,b){e.toGlobalFrame(a,b,this.position,this.angle)},d.prototype.vectorToLocalFrame=function(a,b){e.vectorToLocalFrame(a,b,this.angle)},d.prototype.vectorToWorldFrame=function(a,b){e.vectorToGlobalFrame(a,b,this.angle)},d.prototype.fromPolygon=function(a,b){b=b||{};for(var c=this.shapes.length;c>=0;--c)this.removeShape(this.shapes[c]);var d=new f.Polygon;if(d.vertices=a,d.makeCCW(),"number"==typeof b.removeCollinearPoints&&d.removeCollinearPoints(b.removeCollinearPoints),"undefined"==typeof b.skipSimpleCheck&&!d.isSimple())return!1;this.concavePath=d.vertices.slice(0);for(var c=0;c=g?(this.idleTime=0,this.sleepState=d.AWAKE):(this.idleTime+=c,this.sleepState=d.SLEEPY),this.idleTime>this.sleepTimeLimit&&(b?this.wantsToSleep=!0:this.sleep())}},d.prototype.overlaps=function(a){return this.world.overlapKeeper.bodiesAreOverlapping(this,a)};var x=e.create(),y=e.create();d.prototype.integrate=function(a){var b=this.invMass,c=this.force,d=this.position,f=this.velocity;e.copy(this.previousPosition,this.position),this.previousAngle=this.angle,this.fixedRotation||(this.angularVelocity+=this.angularForce*this.invInertia*a),e.scale(x,c,a*b),e.multiply(x,this.massMultiplier,x),e.add(f,x,f),this.integrateToTimeOfImpact(a)||(e.scale(y,f,a),e.add(d,d,y),this.fixedRotation||(this.angle+=this.angularVelocity*a)),this.aabbNeedsUpdate=!0};var z=new h,A=new i({mode:i.ALL}),B=e.create(),C=e.create(),D=e.create(),E=e.create();d.prototype.integrateToTimeOfImpact=function(a){if(this.ccdSpeedThreshold<0||e.squaredLength(this.velocity)=j&&ir;r++){var s=this.radius*(2*r-1);f.set(o,-q,s),f.set(p,q,s),f.toGlobalFrame(o,o,c,d),f.toGlobalFrame(p,p,c,d);var t=f.getLineSegmentsIntersectionFraction(e,g,o,p);if(t>=0&&(f.rotate(n,l,d),f.scale(n,n,2*r-1),b.reportIntersection(a,t,n,-1),a.shouldStop(b)))return}for(var u=Math.pow(this.radius,2)+Math.pow(q,2),r=0;2>r;r++){f.set(o,q*(2*r-1),0),f.toGlobalFrame(o,o,c,d);var v=Math.pow(g[0]-e[0],2)+Math.pow(g[1]-e[1],2),w=2*((g[0]-e[0])*(e[0]-o[0])+(g[1]-e[1])*(e[1]-o[1])),x=Math.pow(e[0]-o[0],2)+Math.pow(e[1]-o[1],2)-Math.pow(this.radius,2),t=Math.pow(w,2)-4*v*x;if(!(0>t))if(0===t){if(f.lerp(m,e,g,t),f.squaredDistance(m,c)>u&&(f.sub(n,m,o),f.normalize(n,n),b.reportIntersection(a,t,n,-1),a.shouldStop(b)))return}else{var y=Math.sqrt(t),z=1/(2*v),A=(-w-y)*z,B=(-w+y)*z;if(A>=0&&1>=A&&(f.lerp(m,e,g,A),f.squaredDistance(m,c)>u&&(f.sub(n,m,o),f.normalize(n,n),b.reportIntersection(a,A,n,-1),a.shouldStop(b))))return;if(B>=0&&1>=B&&(f.lerp(m,e,g,B),f.squaredDistance(m,c)>u&&(f.sub(n,m,o),f.normalize(n,n),b.reportIntersection(a,B,n,-1),a.shouldStop(b))))return}}}},{"../math/vec2":30,"./Shape":45}],39:[function(a,b,c){function d(a){"number"==typeof arguments[0]&&(a={radius:arguments[0]},console.warn("The Circle constructor signature has changed. Please use the following format: new Circle({ radius: 1 })")),a=a||{},this.radius=a.radius||1,a.type=e.CIRCLE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){var b=this.radius;return a*b*b/2},d.prototype.updateBoundingRadius=function(){this.boundingRadius=this.radius},d.prototype.updateArea=function(){this.area=Math.PI*this.radius*this.radius},d.prototype.computeAABB=function(a,b,c){var d=this.radius;f.set(a.upperBound,d,d),f.set(a.lowerBound,-d,-d),b&&(f.add(a.lowerBound,a.lowerBound,b),f.add(a.upperBound,a.upperBound,b))};var g=f.create(),h=f.create();d.prototype.raycast=function(a,b,c,d){var e=b.from,i=b.to,j=this.radius,k=Math.pow(i[0]-e[0],2)+Math.pow(i[1]-e[1],2),l=2*((i[0]-e[0])*(e[0]-c[0])+(i[1]-e[1])*(e[1]-c[1])),m=Math.pow(e[0]-c[0],2)+Math.pow(e[1]-c[1],2)-Math.pow(j,2),n=Math.pow(l,2)-4*k*m,o=g,p=h;if(!(0>n))if(0===n)f.lerp(o,e,i,n),f.sub(p,o,c),f.normalize(p,p),b.reportIntersection(a,n,p,-1);else{var q=Math.sqrt(n),r=1/(2*k),s=(-l-q)*r,t=(-l+q)*r;if(s>=0&&1>=s&&(f.lerp(o,e,i,s),f.sub(p,o,c),f.normalize(p,p),b.reportIntersection(a,s,p,-1),a.shouldStop(b)))return;t>=0&&1>=t&&(f.lerp(o,e,i,t),f.sub(p,o,c),f.normalize(p,p),b.reportIntersection(a,t,p,-1))}}},{"../math/vec2":30,"./Shape":45}],40:[function(a,b,c){function d(a){Array.isArray(arguments[0])&&(a={vertices:arguments[0],axes:arguments[1]},console.warn("The Convex constructor signature has changed. Please use the following format: new Convex({ vertices: [...], ... })")),a=a||{},this.vertices=[];for(var b=void 0!==a.vertices?a.vertices:[],c=0;ce)&&(e=d),(null===g||g>d)&&(g=d);if(g>e){var j=g;g=e,e=j}f.set(b,g,e)},d.prototype.projectOntoWorldAxis=function(a,b,c,d){var e=i;this.projectOntoLocalAxis(a,d),0!==c?f.rotate(e,a,c):e=a;var g=f.dot(b,e);f.set(d,d[0]+g,d[1]+g)},d.prototype.updateTriangles=function(){this.triangles.length=0;for(var a=[],b=0;bg;e=g,g++){var h=this.vertices[e],i=this.vertices[g],j=Math.abs(f.crossLength(h,i)),k=f.dot(i,i)+f.dot(i,h)+f.dot(h,h);b+=j*k,c+=j}return a/6*(b/c)},d.prototype.updateBoundingRadius=function(){for(var a=this.vertices,b=0,c=0;c!==a.length;c++){var d=f.squaredLength(a[c]);d>b&&(b=d)}this.boundingRadius=Math.sqrt(b)},d.triangleArea=function(a,b,c){return.5*((b[0]-a[0])*(c[1]-a[1])-(c[0]-a[0])*(b[1]-a[1]))},d.prototype.updateArea=function(){this.updateTriangles(),this.area=0;for(var a=this.triangles,b=this.vertices,c=0;c!==a.length;c++){var e=a[c],f=b[e[0]],g=b[e[1]],h=b[e[2]],i=d.triangleArea(f,g,h);this.area+=i}},d.prototype.computeAABB=function(a,b,c){a.setFromPoints(this.vertices,b,c,0)};var o=f.create(),p=f.create(),q=f.create();d.prototype.raycast=function(a,b,c,d){var e=o,g=p,h=q,i=this.vertices;f.toLocalFrame(e,b.from,c,d),f.toLocalFrame(g,b.to,c,d);for(var j=i.length,k=0;j>k&&!a.shouldStop(b);k++){var l=i[k],m=i[(k+1)%j],n=f.getLineSegmentsIntersectionFraction(e,g,l,m);n>=0&&(f.sub(h,m,l),f.rotate(h,h,-Math.PI/2+d),f.normalize(h,h),b.reportIntersection(a,n,h,k))}}},{"../math/polyk":29,"../math/vec2":30,"./Shape":45,"poly-decomp":5}],41:[function(a,b,c){function d(a){if(Array.isArray(arguments[0])){if(a={heights:arguments[0]},"object"==typeof arguments[1])for(var b in arguments[1])a[b]=arguments[1][b];console.warn("The Heightfield constructor signature has changed. Please use the following format: new Heightfield({ heights: [...], ... })")}a=a||{},this.heights=a.heights?a.heights.slice(0):[],this.maxValue=a.maxValue||null,this.minValue=a.minValue||null,this.elementWidth=a.elementWidth||.1,(void 0===a.maxValue||void 0===a.minValue)&&this.updateMaxMinValues(),a.type=e.HEIGHTFIELD,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");a("../utils/Utils");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.updateMaxMinValues=function(){for(var a=this.heights,b=a[0],c=a[0],d=0;d!==a.length;d++){var e=a[d];e>b&&(b=e),c>e&&(c=e)}this.maxValue=b,this.minValue=c},d.prototype.computeMomentOfInertia=function(a){return Number.MAX_VALUE},d.prototype.updateBoundingRadius=function(){this.boundingRadius=Number.MAX_VALUE},d.prototype.updateArea=function(){for(var a=this.heights,b=0,c=0;cs){var t=r;r=s,s=t}for(var u=0;u=0&&(f.sub(m,o,n),f.rotate(m,m,d+Math.PI/2),f.normalize(m,m),b.reportIntersection(a,v,m,-1),a.shouldStop(b)))return}}},{"../math/vec2":30,"../utils/Utils":57,"./Shape":45}],42:[function(a,b,c){function d(a){"number"==typeof arguments[0]&&(a={length:arguments[0]},console.warn("The Line constructor signature has changed. Please use the following format: new Line({ length: 1, ... })")),a=a||{},this.length=a.length||1,a.type=e.LINE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){return a*Math.pow(this.length,2)/12},d.prototype.updateBoundingRadius=function(){this.boundingRadius=this.length/2};var g=[f.create(),f.create()];d.prototype.computeAABB=function(a,b,c){var d=this.length/2;f.set(g[0],-d,0),f.set(g[1],d,0),a.setFromPoints(g,b,c,0)};var h=(f.create(),f.create()),i=f.create(),j=f.create(),k=f.fromValues(0,1);d.prototype.raycast=function(a,b,c,d){var e=b.from,g=b.to,l=i,m=j,n=this.length/2;f.set(l,-n,0),f.set(m,n,0),f.toGlobalFrame(l,l,c,d),f.toGlobalFrame(m,m,c,d);var o=f.getLineSegmentsIntersectionFraction(l,m,e,g);if(o>=0){var p=h;f.rotate(p,k,d),b.reportIntersection(a,o,p,-1)}}},{"../math/vec2":30,"./Shape":45}],43:[function(a,b,c){function d(a){a=a||{},a.type=e.PARTICLE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){return 0},d.prototype.updateBoundingRadius=function(){this.boundingRadius=0},d.prototype.computeAABB=function(a,b,c){f.copy(a.lowerBound,b),f.copy(a.upperBound,b)}},{"../math/vec2":30,"./Shape":45}],44:[function(a,b,c){function d(a){a=a||{},a.type=e.PLANE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");a("../utils/Utils");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){return 0},d.prototype.updateBoundingRadius=function(){this.boundingRadius=Number.MAX_VALUE},d.prototype.computeAABB=function(a,b,c){var d=c%(2*Math.PI),e=f.set,g=Number.MAX_VALUE,h=a.lowerBound,i=a.upperBound;0===d?(e(h,-g,-g),e(i,g,0)):d===Math.PI/2?(e(h,0,-g),e(i,g,g)):d===Math.PI?(e(h,-g,0),e(i,g,g)):d===3*Math.PI/2?(e(h,-g,-g),e(i,0,g)):(e(h,-g,-g),e(i,g,g)),f.add(h,h,b),f.add(i,i,b)},d.prototype.updateArea=function(){this.area=Number.MAX_VALUE};var g=f.create(),h=(f.create(),f.create(),f.create()),i=f.create();d.prototype.raycast=function(a,b,c,d){var e=b.from,j=b.to,k=b.direction,l=g,m=h,n=i;f.set(m,0,1),f.rotate(m,m,d),f.sub(n,e,c);var o=f.dot(n,m);f.sub(n,j,c);var p=f.dot(n,m);if(!(o*p>0||f.squaredDistance(e,j)=w*w)break}for(d.updateMultipliers(k,q,1/a),x=0;x!==l;x++){var z=k[x];if(z instanceof i){for(var A=0,B=0;B!==z.contactEquations.length;B++)A+=z.contactEquations[B].multiplier;A*=z.frictionCoefficient/z.contactEquations.length,z.maxForce=A,z.minForce=-A}}}for(c=0;c!==g;c++){for(w=0,x=0;x!==l;x++){v=k[x];var y=d.iterateEquation(x,v,v.epsilon,u,t,q,p,a,c);w+=Math.abs(y)}if(this.usedIterations++,m>=w*w)break}for(r=0;r!==o;r++)n[r].addConstraintVelocity();d.updateMultipliers(k,q,1/a)}},d.updateMultipliers=function(a,b,c){for(var d=a.length;d--;)a[d].multiplier=b[d]*c},d.iterateEquation=function(a,b,c,d,e,f,g,h,i){var j=d[a],k=e[a],l=f[a],m=b.computeGWlambda(),n=b.maxForce,o=b.minForce;g&&(j=0);var p=k*(j-m-c*l),q=l+p;return o*h>q?p=o*h-l:q>n*h&&(p=n*h-l),f[a]+=p,b.addToWlambda(p),p}},{"../equations/FrictionEquation":23,"../math/vec2":30,"../utils/Utils":57,"./Solver":47}],47:[function(a,b,c){function d(a,b){a=a||{},e.call(this),this.type=b,this.equations=[],this.equationSortFunction=a.equationSortFunction||!1}var e=(a("../utils/Utils"),a("../events/EventEmitter"));b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.solve=function(a,b){throw new Error("Solver.solve should be implemented by subclasses!")};var f={bodies:[]};d.prototype.solveIsland=function(a,b){this.removeAllEquations(),b.equations.length&&(this.addEquations(b.equations),f.bodies.length=0,b.getBodies(f.bodies),f.bodies.length&&this.solve(a,f))},d.prototype.sortEquations=function(){this.equationSortFunction&&this.equations.sort(this.equationSortFunction)},d.prototype.addEquation=function(a){a.enabled&&this.equations.push(a)},d.prototype.addEquations=function(a){for(var b=0,c=a.length;b!==c;b++){var d=a[b];d.enabled&&this.equations.push(d)}},d.prototype.removeEquation=function(a){var b=this.equations.indexOf(a);-1!==b&&this.equations.splice(b,1)},d.prototype.removeAllEquations=function(){this.equations.length=0},d.GS=1,d.ISLAND=2},{"../events/EventEmitter":26,"../utils/Utils":57}],48:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../equations/ContactEquation"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.bodyA=a.bodyB=null,this}},{"../equations/ContactEquation":21,"./Pool":55}],49:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../equations/FrictionEquation"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.bodyA=a.bodyB=null,this}},{"../equations/FrictionEquation":23,"./Pool":55}],50:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../world/IslandNode"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.reset(),this}},{"../world/IslandNode":60,"./Pool":55}],51:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../world/Island"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.reset(),this}},{"../world/Island":58,"./Pool":55}],52:[function(a,b,c){function d(){this.overlappingShapesLastState=new e,this.overlappingShapesCurrentState=new e,this.recordPool=new f({size:16}),this.tmpDict=new e,this.tmpArray1=[]}var e=a("./TupleDictionary"),f=(a("./OverlapKeeperRecord"),a("./OverlapKeeperRecordPool"));a("./Utils");b.exports=d,d.prototype.tick=function(){for(var a=this.overlappingShapesLastState,b=this.overlappingShapesCurrentState,c=a.keys.length;c--;){var d=a.keys[c],e=a.getByKey(d);b.getByKey(d);e&&this.recordPool.release(e)}a.reset(),a.copy(b),b.reset()},d.prototype.setOverlapping=function(a,b,c,d){var e=(this.overlappingShapesLastState,this.overlappingShapesCurrentState);if(!e.get(b.id,d.id)){var f=this.recordPool.get();f.set(a,b,c,d),e.set(b.id,d.id,f)}},d.prototype.getNewOverlaps=function(a){return this.getDiff(this.overlappingShapesLastState,this.overlappingShapesCurrentState,a)},d.prototype.getEndOverlaps=function(a){return this.getDiff(this.overlappingShapesCurrentState,this.overlappingShapesLastState,a)},d.prototype.bodiesAreOverlapping=function(a,b){for(var c=this.overlappingShapesCurrentState,d=c.keys.length;d--;){var e=c.keys[d],f=c.data[e];if(f.bodyA===a&&f.bodyB===b||f.bodyA===b&&f.bodyB===a)return!0}return!1},d.prototype.getDiff=function(a,b,c){var c=c||[],d=a,e=b;c.length=0;for(var f=e.keys.length;f--;){var g=e.keys[f],h=e.data[g];if(!h)throw new Error("Key "+g+" had no data!");var i=d.data[g];i||c.push(h)}return c},d.prototype.isNewOverlap=function(a,b){var c=0|a.id,d=0|b.id,e=this.overlappingShapesLastState,f=this.overlappingShapesCurrentState;return!e.get(c,d)&&!!f.get(c,d)},d.prototype.getNewBodyOverlaps=function(a){this.tmpArray1.length=0;var b=this.getNewOverlaps(this.tmpArray1);return this.getBodyDiff(b,a)},d.prototype.getEndBodyOverlaps=function(a){this.tmpArray1.length=0;var b=this.getEndOverlaps(this.tmpArray1);return this.getBodyDiff(b,a)},d.prototype.getBodyDiff=function(a,b){b=b||[];for(var c=this.tmpDict,d=a.length;d--;){var e=a[d];c.set(0|e.bodyA.id,0|e.bodyB.id,e)}for(d=c.keys.length;d--;){var e=c.getByKey(c.keys[d]);e&&b.push(e.bodyA,e.bodyB)}return c.reset(),b}},{"./OverlapKeeperRecord":53,"./OverlapKeeperRecordPool":54,"./TupleDictionary":56,"./Utils":57}],53:[function(a,b,c){function d(a,b,c,d){this.shapeA=b,this.shapeB=d,this.bodyA=a,this.bodyB=c}b.exports=d,d.prototype.set=function(a,b,c,e){d.call(this,a,b,c,e)}},{}],54:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("./OverlapKeeperRecord"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.bodyA=a.bodyB=a.shapeA=a.shapeB=null,this}},{"./OverlapKeeperRecord":53,"./Pool":55}],55:[function(a,b,c){function d(a){a=a||{},this.objects=[],void 0!==a.size&&this.resize(a.size)}b.exports=d,d.prototype.resize=function(a){for(var b=this.objects;b.length>a;)b.pop();for(;b.length(0|b)?a<<16|65535&b:b<<16|65535&a)},d.prototype.getByKey=function(a){return a=0|a,this.data[a]},d.prototype.get=function(a,b){return this.data[this.getKey(a,b)]},d.prototype.set=function(a,b,c){if(!c)throw new Error("No data!");var d=this.getKey(a,b);return this.data[d]||this.keys.push(d),this.data[d]=c,d},d.prototype.reset=function(){for(var a=this.data,b=this.keys,c=b.length;c--;)delete a[b[c]];b.length=0},d.prototype.copy=function(a){this.reset(),e.appendArray(this.keys,a.keys);for(var b=a.keys.length;b--;){var c=a.keys[b];this.data[c]=a.data[c]}}},{"./Utils":57}],57:[function(a,b,c){function d(){}b.exports=d,d.appendArray=function(a,b){if(b.length<15e4)a.push.apply(a,b);else for(var c=0,d=b.length;c!==d;++c)a.push(b[c])},d.splice=function(a,b,c){c=c||1;for(var d=b,e=a.length-c;e>d;d++)a[d]=a[d+c];a.length=e},"undefined"!=typeof P2_ARRAY_TYPE?d.ARRAY_TYPE=P2_ARRAY_TYPE:"undefined"!=typeof Float32Array?d.ARRAY_TYPE=Float32Array:d.ARRAY_TYPE=Array,d.extend=function(a,b){for(var c in b)a[c]=b[c]},d.defaults=function(a,b){a=a||{};for(var c in b)c in a||(a[c]=b[c]);return a}},{}],58:[function(a,b,c){function d(){this.equations=[],this.bodies=[]}var e=a("../objects/Body");b.exports=d,d.prototype.reset=function(){this.equations.length=this.bodies.length=0};var f=[];d.prototype.getBodies=function(a){var b=a||[],c=this.equations;f.length=0;for(var d=0;d!==c.length;d++){var e=c[d];-1===f.indexOf(e.bodyA.id)&&(b.push(e.bodyA),f.push(e.bodyA.id)),-1===f.indexOf(e.bodyB.id)&&(b.push(e.bodyB),f.push(e.bodyB.id))}return b},d.prototype.wantsToSleep=function(){for(var a=0;a=a&&c>d;)this.internalStep(a),this.time+=a,this.accumulator-=a,d++;for(var e=this.accumulator%a/a,g=0;g!==this.bodies.length;g++){var h=this.bodies[g];f.lerp(h.interpolatedPosition,h.previousPosition,h.position,e),h.interpolatedAngle=h.previousAngle+e*(h.angle-h.previousAngle)}}};var y=[];d.prototype.internalStep=function(a){this.stepping=!0;var b=this.springs.length,c=this.springs,e=this.bodies,g=this.gravity,h=this.solver,i=this.bodies.length,j=this.broadphase,k=this.narrowphase,l=this.constraints,n=v,o=(f.scale,f.add),p=(f.rotate,this.islandManager);if(this.overlapKeeper.tick(),this.lastTimeStep=a,this.useWorldGravityAsFrictionGravity){var q=f.length(this.gravity);0===q&&this.useFrictionGravityOnZeroGravity||(this.frictionGravity=q)}if(this.applyGravity)for(var r=0;r!==i;r++){var t=e[r],u=t.force;t.type===m.DYNAMIC&&t.sleepState!==m.SLEEPING&&(f.scale(n,g,t.mass*t.gravityScale),o(u,u,n))}if(this.applySpringForces)for(var r=0;r!==b;r++){var w=c[r];w.applyForce()}if(this.applyDamping)for(var r=0;r!==i;r++){var t=e[r];t.type===m.DYNAMIC&&t.applyDamping(a)}for(var x=j.getCollisionPairs(this),z=this.disabledBodyCollisionPairs,r=z.length-2;r>=0;r-=2)for(var A=x.length-2;A>=0;A-=2)(z[r]===x[A]&&z[r+1]===x[A+1]||z[r+1]===x[A]&&z[r]===x[A+1])&&x.splice(A,2);var B=l.length;for(r=0;r!==B;r++){var C=l[r];if(!C.collideConnected)for(var A=x.length-2;A>=0;A-=2)(C.bodyA===x[A]&&C.bodyB===x[A+1]||C.bodyB===x[A]&&C.bodyA===x[A+1])&&x.splice(A,2)}this.postBroadphaseEvent.pairs=x,this.emit(this.postBroadphaseEvent),this.postBroadphaseEvent.pairs=null,k.reset(this);for(var r=0,D=x.length;r!==D;r+=2)for(var E=x[r],F=x[r+1],G=0,H=E.shapes.length;G!==H;G++)for(var I=E.shapes[G],J=I.position,K=I.angle,L=0,M=F.shapes.length;L!==M;L++){var N=F.shapes[L],O=N.position,P=N.angle,Q=this.defaultContactMaterial;if(I.material&&N.material){var R=this.getContactMaterial(I.material,N.material);R&&(Q=R)}this.runNarrowphase(k,E,I,J,K,F,N,O,P,Q,this.frictionGravity)}for(var r=0;r!==i;r++){var S=e[r];S._wakeUpAfterNarrowphase&&(S.wakeUp(),S._wakeUpAfterNarrowphase=!1)}if(this.has("endContact")){this.overlapKeeper.getEndOverlaps(y);for(var T=this.endContactEvent,L=y.length;L--;){var U=y[L];T.shapeA=U.shapeA,T.shapeB=U.shapeB,T.bodyA=U.bodyA,T.bodyB=U.bodyB,this.emit(T)}y.length=0}var V=this.preSolveEvent;V.contactEquations=k.contactEquations,V.frictionEquations=k.frictionEquations,this.emit(V),V.contactEquations=V.frictionEquations=null;var B=l.length;for(r=0;r!==B;r++)l[r].update();if(k.contactEquations.length||k.frictionEquations.length||B)if(this.islandSplit){for(p.equations.length=0,s.appendArray(p.equations,k.contactEquations),s.appendArray(p.equations,k.frictionEquations),r=0;r!==B;r++)s.appendArray(p.equations,l[r].equations);p.split(this);for(var r=0;r!==p.islands.length;r++){var W=p.islands[r];W.equations.length&&h.solveIsland(a,W)}}else{for(h.addEquations(k.contactEquations),h.addEquations(k.frictionEquations),r=0;r!==B;r++)h.addEquations(l[r].equations);this.solveConstraints&&h.solve(a,this),h.removeAllEquations()}for(var r=0;r!==i;r++){var S=e[r];S.integrate(a)}for(var r=0;r!==i;r++)e[r].setZeroForce();if(this.emitImpactEvent&&this.has("impact"))for(var X=this.impactEvent,r=0;r!==k.contactEquations.length;r++){var Y=k.contactEquations[r];Y.firstImpact&&(X.bodyA=Y.bodyA,X.bodyB=Y.bodyB,X.shapeA=Y.shapeA,X.shapeB=Y.shapeB,X.contactEquation=Y,this.emit(X))}if(this.sleepMode===d.BODY_SLEEPING)for(r=0;r!==i;r++)e[r].sleepTick(this.time,!1,a);else if(this.sleepMode===d.ISLAND_SLEEPING&&this.islandSplit){for(r=0;r!==i;r++)e[r].sleepTick(this.time,!0,a);for(var r=0;r0,a.frictionCoefficient=k.friction;var p;p=b.type===m.STATIC||b.type===m.KINEMATIC?g.mass:g.type===m.STATIC||g.type===m.KINEMATIC?b.mass:b.mass*g.mass/(b.mass+g.mass),a.slipForce=k.friction*l*p,a.restitution=k.restitution,a.surfaceVelocity=k.surfaceVelocity,a.frictionStiffness=k.frictionStiffness,a.frictionRelaxation=k.frictionRelaxation,a.stiffness=k.stiffness,a.relaxation=k.relaxation,a.contactSkinSize=k.contactSkinSize,a.enabledEquations=b.collisionResponse&&g.collisionResponse&&c.collisionResponse&&h.collisionResponse;var q=a[c.type|h.type],r=0;if(q){var s=c.sensor||h.sensor,t=a.frictionEquations.length;r=c.type=2*y&&(b._wakeUpAfterNarrowphase=!0)}if(g.allowSleep&&g.type===m.DYNAMIC&&g.sleepState===m.SLEEPING&&b.sleepState===m.AWAKE&&b.type!==m.STATIC){var z=f.squaredLength(b.velocity)+Math.pow(b.angularVelocity,2),A=Math.pow(b.sleepSpeedLimit,2);z>=2*A&&(g._wakeUpAfterNarrowphase=!0)}if(this.overlapKeeper.setOverlapping(b,c,g,h),this.has("beginContact")&&this.overlapKeeper.isNewOverlap(c,h)){var B=this.beginContactEvent;if(B.shapeA=c,B.shapeB=h,B.bodyA=b,B.bodyB=g,B.contactEquations.length=0,"number"==typeof r)for(var C=a.contactEquations.length-r;C1)for(var C=a.frictionEquations.length-u;C=0;b--)this.removeConstraint(a[b]);for(var c=this.bodies,b=c.length-1;b>=0;b--)this.removeBody(c[b]);for(var e=this.springs,b=e.length-1;b>=0;b--)this.removeSpring(e[b]);for(var f=this.contactMaterials,b=f.length-1;b>=0;b--)this.removeContactMaterial(f[b]);d.apply(this)};var z=f.create(),A=(f.fromValues(0,0),f.fromValues(0,0));d.prototype.hitTest=function(a,b,c){c=c||0;var d=new m({position:a}),e=new k,l=a,n=0,o=z,p=A;d.addShape(e);for(var q=this.narrowphase,r=[],s=0,t=b.length;s!==t;s++)for(var u=b[s],v=0,w=u.shapes.length;v!==w;v++){var x=u.shapes[v];f.rotate(o,x.position,u.angle),f.add(o,o,u.position);var y=x.angle+u.angle;(x instanceof g&&q.circleParticle(u,x,o,y,d,e,l,n,!0)||x instanceof h&&q.particleConvex(d,e,l,n,u,x,o,y,!0)||x instanceof i&&q.particlePlane(d,e,l,n,u,x,o,y,!0)||x instanceof j&&q.particleCapsule(d,e,l,n,u,x,o,y,!0)||x instanceof k&&f.squaredLength(f.sub(p,o,a))=0&&1>=i&&j>=0&&1>=j}},{"./Scalar":4}],2:[function(a,b,c){function d(){}b.exports=d,d.area=function(a,b,c){return(b[0]-a[0])*(c[1]-a[1])-(c[0]-a[0])*(b[1]-a[1])},d.left=function(a,b,c){return d.area(a,b,c)>0},d.leftOn=function(a,b,c){return d.area(a,b,c)>=0},d.right=function(a,b,c){return d.area(a,b,c)<0},d.rightOn=function(a,b,c){return d.area(a,b,c)<=0};var e=[],f=[];d.collinear=function(a,b,c,g){if(g){var h=e,i=f;h[0]=b[0]-a[0],h[1]=b[1]-a[1],i[0]=c[0]-b[0],i[1]=c[1]-b[1];var j=h[0]*i[0]+h[1]*i[1],k=Math.sqrt(h[0]*h[0]+h[1]*h[1]),l=Math.sqrt(i[0]*i[0]+i[1]*i[1]),m=Math.acos(j/(k*l));return g>m}return 0==d.area(a,b,c)},d.sqdist=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return c*c+d*d}},{}],3:[function(a,b,c){function d(){this.vertices=[]}function e(a,b,c,d,e){e=e||0;var f=b[1]-a[1],g=a[0]-b[0],i=f*a[0]+g*a[1],j=d[1]-c[1],k=c[0]-d[0],l=j*c[0]+k*c[1],m=f*k-j*g;return h.eq(m,0,e)?[0,0]:[(k*i-g*l)/m,(f*l-j*i)/m]}var f=a("./Line"),g=a("./Point"),h=a("./Scalar");b.exports=d,d.prototype.at=function(a){var b=this.vertices,c=b.length;return b[0>a?a%c+c:a%c]},d.prototype.first=function(){return this.vertices[0]},d.prototype.last=function(){return this.vertices[this.vertices.length-1]},d.prototype.clear=function(){this.vertices.length=0},d.prototype.append=function(a,b,c){if("undefined"==typeof b)throw new Error("From is not given!");if("undefined"==typeof c)throw new Error("To is not given!");if(b>c-1)throw new Error("lol1");if(c>a.vertices.length)throw new Error("lol2");if(0>b)throw new Error("lol3");for(var d=b;c>d;d++)this.vertices.push(a.vertices[d])},d.prototype.makeCCW=function(){for(var a=0,b=this.vertices,c=1;cb[a][0])&&(a=c);g.left(this.at(a-1),this.at(a),this.at(a+1))||this.reverse()},d.prototype.reverse=function(){for(var a=[],b=0,c=this.vertices.length;b!==c;b++)a.push(this.vertices.pop());this.vertices=a},d.prototype.isReflex=function(a){return g.right(this.at(a-1),this.at(a),this.at(a+1))};var i=[],j=[];d.prototype.canSee=function(a,b){var c,d,e=i,h=j;if(g.leftOn(this.at(a+1),this.at(a),this.at(b))&&g.rightOn(this.at(a-1),this.at(a),this.at(b)))return!1;d=g.sqdist(this.at(a),this.at(b));for(var k=0;k!==this.vertices.length;++k)if((k+1)%this.vertices.length!==a&&k!==a&&g.leftOn(this.at(a),this.at(b),this.at(k+1))&&g.rightOn(this.at(a),this.at(b),this.at(k))&&(e[0]=this.at(a),e[1]=this.at(b),h[0]=this.at(k),h[1]=this.at(k+1),c=f.lineInt(e,h),g.sqdist(this.at(a),c)a)for(var f=a;b>=f;f++)e.vertices.push(this.vertices[f]);else{for(var f=0;b>=f;f++)e.vertices.push(this.vertices[f]);for(var f=a;f0?this.slice(a):[this]},d.prototype.slice=function(a){if(0==a.length)return[this];if(a instanceof Array&&a.length&&a[0]instanceof Array&&2==a[0].length&&a[0][0]instanceof Array){for(var b=[this],c=0;cc;c++)if(f.segmentsIntersect(a[b],a[b+1],a[c],a[c+1]))return!1;for(var b=1;bh)return console.warn("quickDecomp: max level ("+h+") reached."),a;for(var x=0;xo&&(n=o,k=l,r=y))),g.left(v.at(x+1),v.at(x),v.at(y+1))&&g.rightOn(v.at(x+1),v.at(x),v.at(y))&&(l=e(v.at(x+1),v.at(x),v.at(y),v.at(y+1)),g.left(v.at(x-1),v.at(x),l)&&(o=g.sqdist(v.vertices[x],l),m>o&&(m=o,j=l,q=y)));if(r==(q+1)%this.vertices.length)l[0]=(k[0]+j[0])/2,l[1]=(k[1]+j[1])/2,c.push(l),q>x?(t.append(v,x,q+1),t.vertices.push(l),u.vertices.push(l),0!=r&&u.append(v,r,v.vertices.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,v.vertices.length),t.append(v,0,q+1),t.vertices.push(l),u.vertices.push(l),u.append(v,r,x+1));else{if(r>q&&(q+=this.vertices.length),p=Number.MAX_VALUE,r>q)return a;for(var y=r;q>=y;++y)g.leftOn(v.at(x-1),v.at(x),v.at(y))&&g.rightOn(v.at(x+1),v.at(x),v.at(y))&&(o=g.sqdist(v.at(x),v.at(y)),p>o&&(p=o,s=y%this.vertices.length));s>x?(t.append(v,x,s+1),0!=s&&u.append(v,s,w.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,w.length),t.append(v,0,s+1),u.append(v,s,x+1))}return t.vertices.length3&&c>=0;--c)g.collinear(this.at(c-1),this.at(c),this.at(c+1),a)&&(this.vertices.splice(c%this.vertices.length,1),c--,b++);return b}},{"./Line":1,"./Point":2,"./Scalar":4}],4:[function(a,b,c){function d(){}b.exports=d,d.eq=function(a,b,c){return c=c||0,Math.abs(a-b) (http://steffe.se)",keywords:["p2.js","p2","physics","engine","2d"],main:"./src/p2.js",engines:{node:"*"},repository:{type:"git",url:"https://github.com/schteppe/p2.js.git"},bugs:{url:"https://github.com/schteppe/p2.js/issues"},licenses:[{type:"MIT"}],devDependencies:{grunt:"^0.4.5","grunt-contrib-jshint":"^0.11.2","grunt-contrib-nodeunit":"^0.4.1","grunt-contrib-uglify":"~0.4.0","grunt-contrib-watch":"~0.5.0","grunt-browserify":"~2.0.1","grunt-contrib-concat":"^0.4.0"},dependencies:{"poly-decomp":"0.1.1"}}},{}],7:[function(a,b,c){function d(a){this.lowerBound=e.create(),a&&a.lowerBound&&e.copy(this.lowerBound,a.lowerBound),this.upperBound=e.create(),a&&a.upperBound&&e.copy(this.upperBound,a.upperBound)}var e=a("../math/vec2");a("../utils/Utils");b.exports=d;var f=e.create();d.prototype.setFromPoints=function(a,b,c,d){var g=this.lowerBound,h=this.upperBound;"number"!=typeof c&&(c=0),0!==c?e.rotate(g,a[0],c):e.copy(g,a[0]),e.copy(h,g);for(var i=Math.cos(c),j=Math.sin(c),k=1;ko;o++)l[o]>h[o]&&(h[o]=l[o]),l[o]c&&(this.lowerBound[b]=c);var d=a.upperBound[b];this.upperBound[b]i?-1:h>i?-1:h}},{"../math/vec2":30,"../utils/Utils":57}],8:[function(a,b,c){function d(a){this.type=a,this.result=[],this.world=null,this.boundingVolumeType=d.AABB}var e=a("../math/vec2"),f=a("../objects/Body");b.exports=d,d.AABB=1,d.BOUNDING_CIRCLE=2,d.prototype.setWorld=function(a){this.world=a},d.prototype.getCollisionPairs=function(a){};var g=e.create();d.boundingRadiusCheck=function(a,b){e.sub(g,a.position,b.position);var c=e.squaredLength(g),d=a.boundingRadius+b.boundingRadius;return d*d>=c},d.aabbCheck=function(a,b){return a.getAABB().overlaps(b.getAABB())},d.prototype.boundingVolumeCheck=function(a,b){var c;switch(this.boundingVolumeType){case d.BOUNDING_CIRCLE:c=d.boundingRadiusCheck(a,b);break;case d.AABB:c=d.aabbCheck(a,b);break;default:throw new Error("Bounding volume type not recognized: "+this.boundingVolumeType)}return c},d.canCollide=function(a,b){var c=f.KINEMATIC,d=f.STATIC;return a.type===d&&b.type===d?!1:a.type===c&&b.type===d||a.type===d&&b.type===c?!1:a.type===c&&b.type===c?!1:a.sleepState===f.SLEEPING&&b.sleepState===f.SLEEPING?!1:a.sleepState===f.SLEEPING&&b.type===d||b.sleepState===f.SLEEPING&&a.type===d?!1:!0},d.NAIVE=1,d.SAP=2},{"../math/vec2":30,"../objects/Body":31}],9:[function(a,b,c){function d(){e.call(this,e.NAIVE)}var e=(a("../shapes/Circle"),a("../shapes/Plane"),a("../shapes/Shape"),a("../shapes/Particle"),a("../collision/Broadphase"));a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.getCollisionPairs=function(a){var b=a.bodies,c=this.result;c.length=0;for(var d=0,f=b.length;d!==f;d++)for(var g=b[d],h=0;d>h;h++){var i=b[h];e.canCollide(g,i)&&this.boundingVolumeCheck(g,i)&&c.push(g,i)}return c},d.prototype.aabbQuery=function(a,b,c){c=c||[];for(var d=a.bodies,e=0;e=r*n)return!1;n=r}return!0}var g=a("../math/vec2"),h=g.sub,i=g.add,j=g.dot,k=(a("../utils/Utils"),a("../utils/ContactEquationPool")),l=a("../utils/FrictionEquationPool"),m=a("../utils/TupleDictionary"),n=a("../equations/Equation"),o=(a("../equations/ContactEquation"),a("../equations/FrictionEquation"),a("../shapes/Circle")),p=a("../shapes/Convex"),q=a("../shapes/Shape"),r=(a("../objects/Body"),a("../shapes/Box"));b.exports=d;var s=g.fromValues(0,1),t=g.fromValues(0,0),u=g.fromValues(0,0),v=g.fromValues(0,0),w=g.fromValues(0,0),x=g.fromValues(0,0),y=g.fromValues(0,0),z=g.fromValues(0,0),A=g.fromValues(0,0),B=g.fromValues(0,0),C=g.fromValues(0,0),D=g.fromValues(0,0),E=g.fromValues(0,0),F=g.fromValues(0,0),G=g.fromValues(0,0),H=g.fromValues(0,0),I=g.fromValues(0,0),J=g.fromValues(0,0),K=g.fromValues(0,0),L=[],M=g.create(),N=g.create();d.prototype.bodiesOverlap=function(a,b){for(var c=M,d=N,e=0,f=a.shapes.length;e!==f;e++){var g=a.shapes[e];a.toWorldFrame(c,g.position);for(var h=0,i=b.shapes.length;h!==i;h++){var j=b.shapes[h];if(b.toWorldFrame(d,j.position),this[g.type|j.type](a,g,c,g.angle+a.angle,b,j,d,j.angle+b.angle,!0))return!0}}return!1},d.prototype.collidedLastStep=function(a,b){var c=0|a.id,d=0|b.id;return!!this.collidingBodiesLastStep.get(c,d)},d.prototype.reset=function(){this.collidingBodiesLastStep.reset();for(var a=this.contactEquations,b=a.length;b--;){var c=a[b],d=c.bodyA.id,e=c.bodyB.id;this.collidingBodiesLastStep.set(d,e,!0)}for(var f=this.contactEquations,g=this.frictionEquations,h=0;hp;p++){g.set(m,(0===p?-1:1)*b.length/2,0),g.rotate(m,m,d),g.add(m,m,c);for(var q=0;2>q;q++){g.set(n,(0===q?-1:1)*h.length/2,0),g.rotate(n,n,j),g.add(n,n,i),this.enableFrictionReduction&&(l=this.enableFriction,this.enableFriction=!1);var r=this.circleCircle(a,b,m,d,f,h,n,j,k,b.radius,h.radius);if(this.enableFrictionReduction&&(this.enableFriction=l),k&&r)return!0;o+=r}}this.enableFrictionReduction&&(l=this.enableFriction,this.enableFriction=!1);var s=S;e(s,b);var t=this.convexCapsule(a,s,c,d,f,h,i,j,k);if(this.enableFrictionReduction&&(this.enableFriction=l),k&&t)return!0;if(o+=t,this.enableFrictionReduction){var l=this.enableFriction;this.enableFriction=!1}e(s,h);var u=this.convexCapsule(f,s,i,j,a,b,c,d,k);return this.enableFrictionReduction&&(this.enableFriction=l),k&&u?!0:(o+=u,this.enableFrictionReduction&&o&&this.enableFriction&&this.frictionEquations.push(this.createFrictionFromAverage(o)),o)},d.prototype[q.LINE|q.LINE]=d.prototype.lineLine=function(a,b,c,d,e,f,g,h,i){return i?!1:0},d.prototype[q.PLANE|q.LINE]=d.prototype.planeLine=function(a,b,c,d,e,f,k,l,m){var n=t,o=u,p=v,q=w,r=x,C=y,D=z,E=A,F=B,G=L,H=0;g.set(n,-f.length/2,0),g.set(o,f.length/2,0),g.rotate(p,n,l),g.rotate(q,o,l),i(p,p,k),i(q,q,k),g.copy(n,p),g.copy(o,q),h(r,o,n),g.normalize(C,r),g.rotate90cw(F,C),g.rotate(E,s,d),G[0]=n,G[1]=o;for(var I=0;IK){if(m)return!0;var M=this.createContactEquation(a,e,b,f);H++,g.copy(M.normalA,E),g.normalize(M.normalA,M.normalA),g.scale(D,E,K),h(M.contactPointA,J,D),h(M.contactPointA,M.contactPointA,a.position),h(M.contactPointB,J,k),i(M.contactPointB,M.contactPointB,k),h(M.contactPointB,M.contactPointB,e.position),this.contactEquations.push(M),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(M))}}return m?!1:(this.enableFrictionReduction||H&&this.enableFriction&&this.frictionEquations.push(this.createFrictionFromAverage(H)),H)},d.prototype[q.PARTICLE|q.CAPSULE]=d.prototype.particleCapsule=function(a,b,c,d,e,f,g,h,i){return this.circleLine(a,b,c,d,e,f,g,h,i,f.radius,0)},d.prototype[q.CIRCLE|q.LINE]=d.prototype.circleLine=function(a,b,c,d,e,f,k,l,m,n,o){var n=n||0,o="undefined"!=typeof o?o:b.radius,p=t,q=u,r=v,s=w,H=x,I=y,J=z,K=A,M=B,N=C,O=D,P=E,Q=F,R=G,S=L;g.set(K,-f.length/2,0),g.set(M,f.length/2,0),g.rotate(N,K,l),g.rotate(O,M,l),i(N,N,k),i(O,O,k),g.copy(K,N),g.copy(M,O),h(I,M,K),g.normalize(J,I),g.rotate90cw(H,J),h(P,c,K);var T=j(P,H);h(s,K,k),h(Q,c,k);var U=o+n;if(Math.abs(T)W&&X>V){if(m)return!0;var Y=this.createContactEquation(a,e,b,f);return g.scale(Y.normalA,p,-1),g.normalize(Y.normalA,Y.normalA),g.scale(Y.contactPointA,Y.normalA,o),i(Y.contactPointA,Y.contactPointA,c),h(Y.contactPointA,Y.contactPointA,a.position),h(Y.contactPointB,r,k),i(Y.contactPointB,Y.contactPointB,k),h(Y.contactPointB,Y.contactPointB,e.position),this.contactEquations.push(Y),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(Y)),1}}S[0]=K,S[1]=M;for(var Z=0;ZQ&&(g.copy(J,B),L=Q,g.scale(A,s,Q),g.add(A,A,B),K=!0)}}if(K){if(m)return!0;var R=this.createContactEquation(a,e,b,j);return g.sub(R.normalA,J,c),g.normalize(R.normalA,R.normalA),g.scale(R.contactPointA,R.normalA,n),i(R.contactPointA,R.contactPointA,c),h(R.contactPointA,R.contactPointA,a.position),h(R.contactPointB,A,k),i(R.contactPointB,R.contactPointB,k),h(R.contactPointB,R.contactPointB,e.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(R)),1}if(n>0)for(var N=0;NQ&&(I=Q,g.scale(E,s,Q),g.add(E,E,c),g.copy(H,s),L=!0)}if(L){var R=this.createContactEquation(a,e,b,k);return g.scale(R.normalA,H,-1),g.normalize(R.normalA,R.normalA),g.set(R.contactPointA,0,0),i(R.contactPointA,R.contactPointA,c),h(R.contactPointA,R.contactPointA,a.position),h(R.contactPointB,E,l),i(R.contactPointB,R.contactPointB,l),h(R.contactPointB,R.contactPointB,e.position),this.contactEquations.push(R),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(R)),1}return 0},d.prototype[q.CIRCLE]=d.prototype.circleCircle=function(a,b,c,d,e,f,j,k,l,m,n){var o=t,m=m||b.radius,n=n||f.radius;h(o,c,j);var p=m+n;if(g.squaredLength(o)>Math.pow(p,2))return 0;if(l)return!0;var q=this.createContactEquation(a,e,b,f);return h(q.normalA,j,c),g.normalize(q.normalA,q.normalA),g.scale(q.contactPointA,q.normalA,m),g.scale(q.contactPointB,q.normalA,-n),i(q.contactPointA,q.contactPointA,c),h(q.contactPointA,q.contactPointA,a.position),i(q.contactPointB,q.contactPointB,j),h(q.contactPointB,q.contactPointB,e.position),this.contactEquations.push(q),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(q)),1},d.prototype[q.PLANE|q.CONVEX]=d.prototype[q.PLANE|q.BOX]=d.prototype.planeConvex=function(a,b,c,d,e,f,k,l,m){var n=t,o=u,p=v,q=0;g.rotate(o,s,d);for(var r=0;r!==f.vertices.length;r++){var w=f.vertices[r];if(g.rotate(n,w,l),i(n,n,k),h(p,n,c),j(p,o)<=0){if(m)return!0;q++;var x=this.createContactEquation(a,e,b,f);h(p,n,c),g.copy(x.normalA,o);var y=j(p,x.normalA);g.scale(p,x.normalA,y),h(x.contactPointB,n,e.position),h(x.contactPointA,n,p),h(x.contactPointA,x.contactPointA,a.position),this.contactEquations.push(x),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(x))}}return this.enableFrictionReduction&&this.enableFriction&&q&&this.frictionEquations.push(this.createFrictionFromAverage(q)),q},d.prototype[q.PARTICLE|q.PLANE]=d.prototype.particlePlane=function(a,b,c,d,e,f,i,k,l){var m=t,n=u;k=k||0,h(m,c,i),g.rotate(n,s,k);var o=j(m,n);if(o>0)return 0;if(l)return!0;var p=this.createContactEquation(e,a,f,b);return g.copy(p.normalA,n),g.scale(m,p.normalA,o),h(p.contactPointA,c,m),h(p.contactPointA,p.contactPointA,e.position),h(p.contactPointB,c,a.position),this.contactEquations.push(p),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(p)),1},d.prototype[q.CIRCLE|q.PARTICLE]=d.prototype.circleParticle=function(a,b,c,d,e,f,j,k,l){var m=t;if(h(m,j,c),g.squaredLength(m)>Math.pow(b.radius,2))return 0;if(l)return!0;var n=this.createContactEquation(a,e,b,f);return g.copy(n.normalA,m),g.normalize(n.normalA,n.normalA),g.scale(n.contactPointA,n.normalA,b.radius),i(n.contactPointA,n.contactPointA,c),h(n.contactPointA,n.contactPointA,a.position),h(n.contactPointB,j,e.position),this.contactEquations.push(n),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(n)),1};var X=new o({radius:1}),Y=g.create(),Z=g.create();g.create();d.prototype[q.PLANE|q.CAPSULE]=d.prototype.planeCapsule=function(a,b,c,d,e,f,h,j,k){var l=Y,m=Z,n=X;g.set(l,-f.length/2,0),g.rotate(l,l,j),i(l,l,h),g.set(m,f.length/2,0),g.rotate(m,m,j),i(m,m,h),n.radius=f.radius;var o;this.enableFrictionReduction&&(o=this.enableFriction,this.enableFriction=!1);var p=this.circlePlane(e,n,l,0,a,b,c,d,k),q=this.circlePlane(e,n,m,0,a,b,c,d,k);if(this.enableFrictionReduction&&(this.enableFriction=o),k)return p||q;var r=p+q;return this.enableFrictionReduction&&r&&this.frictionEquations.push(this.createFrictionFromAverage(r)),r},d.prototype[q.CIRCLE|q.PLANE]=d.prototype.circlePlane=function(a,b,c,d,e,f,k,l,m){var n=a,o=b,p=c,q=e,r=k,w=l;w=w||0;var x=t,y=u,z=v;h(x,p,r),g.rotate(y,s,w);var A=j(y,x);if(A>o.radius)return 0;if(m)return!0;var B=this.createContactEquation(q,n,f,b);return g.copy(B.normalA,y),g.scale(B.contactPointB,B.normalA,-o.radius),i(B.contactPointB,B.contactPointB,p),h(B.contactPointB,B.contactPointB,n.position),g.scale(z,B.normalA,A),h(B.contactPointA,x,z),i(B.contactPointA,B.contactPointA,r),h(B.contactPointA,B.contactPointA,q.position),this.contactEquations.push(B),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(B)),1},d.prototype[q.CONVEX]=d.prototype[q.CONVEX|q.BOX]=d.prototype[q.BOX]=d.prototype.convexConvex=function(a,b,c,e,f,k,l,m,n,o){var p=t,q=u,r=v,s=w,y=x,C=z,D=A,E=B,F=0,o="number"==typeof o?o:0,G=d.findSeparatingAxis(b,c,e,k,l,m,p);if(!G)return 0;h(D,l,c),j(p,D)>0&&g.scale(p,p,-1);var H=d.getClosestEdge(b,e,p,!0),I=d.getClosestEdge(k,m,p);if(-1===H||-1===I)return 0;for(var J=0;2>J;J++){var K=H,L=I,M=b,N=k,O=c,P=l,Q=e,R=m,S=a,T=f;if(0===J){var U;U=K,K=L,L=U,U=M,M=N,N=U,U=O,O=P,P=U,U=Q,Q=R,R=U,U=S,S=T,T=U}for(var V=L;L+2>V;V++){var W=N.vertices[(V+N.vertices.length)%N.vertices.length];g.rotate(q,W,R),i(q,q,P);for(var X=0,Y=K-1;K+2>Y;Y++){var Z=M.vertices[(Y+M.vertices.length)%M.vertices.length],$=M.vertices[(Y+1+M.vertices.length)%M.vertices.length];g.rotate(r,Z,Q),g.rotate(s,$,Q),i(r,r,O),i(s,s,O),h(y,s,r),g.rotate90cw(E,y),g.normalize(E,E),h(D,q,r);var _=j(E,D);(Y===K&&o>=_||Y!==K&&0>=_)&&X++}if(X>=3){if(n)return!0;var aa=this.createContactEquation(S,T,M,N);F++;var Z=M.vertices[K%M.vertices.length],$=M.vertices[(K+1)%M.vertices.length];g.rotate(r,Z,Q),g.rotate(s,$,Q),i(r,r,O),i(s,s,O),h(y,s,r),g.rotate90cw(aa.normalA,y),g.normalize(aa.normalA,aa.normalA),h(D,q,r);var _=j(aa.normalA,D);g.scale(C,aa.normalA,_),h(aa.contactPointA,q,O),h(aa.contactPointA,aa.contactPointA,C),i(aa.contactPointA,aa.contactPointA,O),h(aa.contactPointA,aa.contactPointA,S.position),h(aa.contactPointB,q,P),i(aa.contactPointB,aa.contactPointB,P),h(aa.contactPointB,aa.contactPointB,T.position),this.contactEquations.push(aa),this.enableFrictionReduction||this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(aa))}}}return this.enableFrictionReduction&&this.enableFriction&&F&&this.frictionEquations.push(this.createFrictionFromAverage(F)),F};var $=g.fromValues(0,0);d.projectConvexOntoAxis=function(a,b,c,d,e){var f,h,i=null,k=null,l=$;g.rotate(l,d,-c);for(var m=0;mi)&&(i=h),(null===k||k>h)&&(k=h);if(k>i){var n=k;k=i,i=n}var o=j(b,d);g.set(e,k+o,i+o)};var _=g.fromValues(0,0),aa=g.fromValues(0,0),ba=g.fromValues(0,0),ca=g.fromValues(0,0),da=g.fromValues(0,0),ea=g.fromValues(0,0);d.findSeparatingAxis=function(a,b,c,e,f,i,j){var k=null,l=!1,m=!1,n=_,o=aa,p=ba,q=ca,s=da,t=ea;if(a instanceof r&&e instanceof r)for(var u=0;2!==u;u++){var v=a,w=c;1===u&&(v=e,w=i);for(var x=0;2!==x;x++){0===x?g.set(q,0,1):1===x&&g.set(q,1,0),0!==w&&g.rotate(q,q,w),d.projectConvexOntoAxis(a,b,c,q,s),d.projectConvexOntoAxis(e,f,i,q,t);var y=s,z=t,A=!1;s[0]>t[0]&&(z=s,y=t,A=!0);var B=z[0]-y[1];l=0>=B,(null===k||B>k)&&(g.copy(j,q),k=B,m=l)}}else for(var u=0;2!==u;u++){var v=a,w=c;1===u&&(v=e,w=i);for(var x=0;x!==v.vertices.length;x++){g.rotate(o,v.vertices[x],w),g.rotate(p,v.vertices[(x+1)%v.vertices.length],w),h(n,p,o),g.rotate90cw(q,n),g.normalize(q,q),d.projectConvexOntoAxis(a,b,c,q,s),d.projectConvexOntoAxis(e,f,i,q,t);var y=s,z=t,A=!1;s[0]>t[0]&&(z=s,y=t,A=!0);var B=z[0]-y[1];l=0>=B,(null===k||B>k)&&(g.copy(j,q),k=B,m=l)}}return m};var fa=g.fromValues(0,0),ga=g.fromValues(0,0),ha=g.fromValues(0,0);d.getClosestEdge=function(a,b,c,d){var e=fa,f=ga,i=ha;g.rotate(e,c,-b),d&&g.scale(e,e,-1);for(var k=-1,l=a.vertices.length,m=-1,n=0;n!==l;n++){h(f,a.vertices[(n+1)%l],a.vertices[n%l]),g.rotate90cw(i,f),g.normalize(i,i);var o=j(i,e);(-1===k||o>m)&&(k=n%l,m=o)}return k};var ia=g.create(),ja=g.create(),ka=g.create(),la=g.create(),ma=g.create(),na=g.create(),oa=g.create();d.prototype[q.CIRCLE|q.HEIGHTFIELD]=d.prototype.circleHeightfield=function(a,b,c,d,e,f,j,k,l,m){var n=f.heights,m=m||b.radius,o=f.elementWidth,p=ja,q=ia,r=ma,s=oa,t=na,u=ka,v=la,w=Math.floor((c[0]-m-j[0])/o),x=Math.ceil((c[0]+m-j[0])/o);0>w&&(w=0),x>=n.length&&(x=n.length-1);for(var y=n[w],z=n[x],A=w;x>A;A++)n[A]y&&(y=n[A]);if(c[1]-m>y)return l?!1:0;for(var B=!1,A=w;x>A;A++){g.set(u,A*o,n[A]),g.set(v,(A+1)*o,n[A+1]),g.add(u,u,j),g.add(v,v,j),g.sub(t,v,u),g.rotate(t,t,Math.PI/2),g.normalize(t,t),g.scale(q,t,-m),g.add(q,q,c),g.sub(p,q,u);var C=g.dot(p,t);if(q[0]>=u[0]&&q[0]=C){if(l)return!0;B=!0,g.scale(p,t,-C),g.add(r,q,p),g.copy(s,t);var D=this.createContactEquation(e,a,f,b);g.copy(D.normalA,s),g.scale(D.contactPointB,D.normalA,-m),i(D.contactPointB,D.contactPointB,c),h(D.contactPointB,D.contactPointB,a.position),g.copy(D.contactPointA,r),g.sub(D.contactPointA,D.contactPointA,e.position),this.contactEquations.push(D),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(D))}}if(B=!1,m>0)for(var A=w;x>=A;A++)if(g.set(u,A*o,n[A]),g.add(u,u,j),g.sub(p,c,u),g.squaredLength(p)q&&(q=0),r>=k.length&&(r=k.length-1);for(var s=k[q],t=k[r],u=q;r>u;u++)k[u]s&&(s=k[u]);if(a.aabb.lowerBound[1]>s)return j?!1:0;for(var v=0,u=q;r>u;u++){g.set(m,u*l,k[u]),g.set(n,(u+1)*l,k[u+1]),g.add(m,m,h),g.add(n,n,h);var w=100;g.set(o,.5*(n[0]+m[0]),.5*(n[1]+m[1]-w)),g.sub(p.vertices[0],n,o),g.sub(p.vertices[1],m,o),g.copy(p.vertices[2],p.vertices[1]),g.copy(p.vertices[3],p.vertices[0]),p.vertices[2][1]-=w,p.vertices[3][1]-=w,v+=this.convexConvex(a,b,c,d,e,p,o,0,j)}return v}},{"../equations/ContactEquation":21,"../equations/Equation":22,"../equations/FrictionEquation":23,"../math/vec2":30,"../objects/Body":31,"../shapes/Box":37,"../shapes/Circle":39,"../shapes/Convex":40,"../shapes/Shape":45,"../utils/ContactEquationPool":48,"../utils/FrictionEquationPool":49,"../utils/TupleDictionary":56,"../utils/Utils":57}],11:[function(a,b,c){function d(a){a=a||{},this.from=a.from?f.fromValues(a.from[0],a.from[1]):f.create(),this.to=a.to?f.fromValues(a.to[0],a.to[1]):f.create(),this.checkCollisionResponse=void 0!==a.checkCollisionResponse?a.checkCollisionResponse:!0,this.skipBackfaces=!!a.skipBackfaces,this.collisionMask=void 0!==a.collisionMask?a.collisionMask:-1,this.collisionGroup=void 0!==a.collisionGroup?a.collisionGroup:-1,this.mode=void 0!==a.mode?a.mode:d.ANY,this.callback=a.callback||function(a){},this.direction=f.create(),this.length=1,this.update()}function e(a,b,c){f.sub(h,c,a);var d=f.dot(h,b);return f.scale(i,b,d),f.add(i,i,a),f.squaredDistance(c,i)}b.exports=d;var f=a("../math/vec2");a("../collision/RaycastResult"),a("../shapes/Shape"),a("../collision/AABB");d.prototype.constructor=d,d.CLOSEST=1,d.ANY=2,d.ALL=4,d.prototype.update=function(){var a=this.direction;f.sub(a,this.to,this.from),this.length=f.length(a),f.normalize(a,a)},d.prototype.intersectBodies=function(a,b){for(var c=0,d=b.length;!a.shouldStop(this)&&d>c;c++){var e=b[c],f=e.getAABB();(f.overlapsRay(this)>=0||f.containsPoint(this.from))&&this.intersectBody(a,e)}};var g=f.create();d.prototype.intersectBody=function(a,b){var c=this.checkCollisionResponse;if(!c||b.collisionResponse)for(var d=g,e=0,h=b.shapes.length;h>e;e++){var i=b.shapes[e];if((!c||i.collisionResponse)&&0!==(this.collisionGroup&i.collisionMask)&&0!==(i.collisionGroup&this.collisionMask)){f.rotate(d,i.position,b.angle),f.add(d,d,b.position);var j=i.angle+b.angle;if(this.intersectShape(a,i,j,d,b),a.shouldStop(this))break}}},d.prototype.intersectShape=function(a,b,c,d,f){var g=this.from,h=e(g,this.direction,d);h>b.boundingRadius*b.boundingRadius||(this._currentBody=f,this._currentShape=b,b.raycast(a,this,d,c),this._currentBody=this._currentShape=null)},d.prototype.getAABB=function(a){var b=this.to,c=this.from;f.set(a.lowerBound,Math.min(b[0],c[0]),Math.min(b[1],c[1])),f.set(a.upperBound,Math.max(b[0],c[0]),Math.max(b[1],c[1]))};f.create();d.prototype.reportIntersection=function(a,b,c,e){var g=(this.from,this.to,this._currentShape),h=this._currentBody;if(!(this.skipBackfaces&&f.dot(c,this.direction)>0))switch(this.mode){case d.ALL:a.set(c,g,h,b,e),this.callback(a);break;case d.CLOSEST:(bc;c++){for(var e=a[c],f=c-1;f>=0&&!(a[f].aabb.lowerBound[b]<=e.aabb.lowerBound[b]);f--)a[f+1]=a[f];a[f+1]=e}return a},d.prototype.sortList=function(){var a=this.axisList,b=this.axisIndex;d.sortAxisList(a,b)},d.prototype.getCollisionPairs=function(a){var b=this.axisList,c=this.result,d=this.axisIndex;c.length=0;for(var e=b.length;e--;){var g=b[e];g.aabbNeedsUpdate&&g.updateAABB()}this.sortList();for(var h=0,i=0|b.length;h!==i;h++)for(var j=b[h],k=h+1;i>k;k++){var l=b[k],m=l.aabb.lowerBound[d]<=j.aabb.upperBound[d];if(!m)break;f.canCollide(j,l)&&this.boundingVolumeCheck(j,l)&&c.push(j,l)}return c},d.prototype.aabbQuery=function(a,b,c){c=c||[],this.sortList();var d=this.axisIndex,e="x";1===d&&(e="y"),2===d&&(e="z");for(var f=this.axisList,g=(b.lowerBound[e],b.upperBound[e],0);gthis.upperLimit&&(f.maxForce=0,f.minForce=-this.maxForce,this.distance=this.upperLimit,l=!0),this.lowerLimitEnabled&&this.positionc)h.scale(e.normalA,j,-1),h.sub(e.contactPointA,k,g.position),h.sub(e.contactPointB,l,i.position),h.scale(o,j,c),h.add(e.contactPointA,e.contactPointA,o),-1===a.indexOf(e)&&a.push(e);else{var u=a.indexOf(e);-1!==u&&a.splice(u,1)}if(this.lowerLimitEnabled&&d>s)h.scale(f.normalA,j,1),h.sub(f.contactPointA,k,g.position),h.sub(f.contactPointB,l,i.position),h.scale(o,j,d),h.sub(f.contactPointB,f.contactPointB,o),-1===a.indexOf(f)&&a.push(f);else{var u=a.indexOf(f);-1!==u&&a.splice(u,1)}},d.prototype.enableMotor=function(){this.motorEnabled||(this.equations.push(this.motorEquation),this.motorEnabled=!0)},d.prototype.disableMotor=function(){if(this.motorEnabled){var a=this.equations.indexOf(this.motorEquation);this.equations.splice(a,1),this.motorEnabled=!1}},d.prototype.setLimits=function(a,b){"number"==typeof a?(this.lowerLimit=a,this.lowerLimitEnabled=!0):(this.lowerLimit=a,this.lowerLimitEnabled=!1),"number"==typeof b?(this.upperLimit=b,this.upperLimitEnabled=!0):(this.upperLimit=b,this.upperLimitEnabled=!1)}},{"../equations/ContactEquation":21,"../equations/Equation":22,"../equations/RotationalLockEquation":24,"../math/vec2":30,"./Constraint":14}],19:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,e.REVOLUTE,c);var d=this.maxForce="undefined"!=typeof c.maxForce?c.maxForce:Number.MAX_VALUE;this.pivotA=i.create(),this.pivotB=i.create(),c.worldPivot?(i.sub(this.pivotA,c.worldPivot,a.position),i.sub(this.pivotB,c.worldPivot,b.position),i.rotate(this.pivotA,this.pivotA,-a.angle),i.rotate(this.pivotB,this.pivotB,-b.angle)):(i.copy(this.pivotA,c.localPivotA),i.copy(this.pivotB,c.localPivotB));var o=this.equations=[new f(a,b,-d,d),new f(a,b,-d,d)],p=o[0],q=o[1],r=this;p.computeGq=function(){return i.rotate(j,r.pivotA,a.angle),i.rotate(k,r.pivotB,b.angle),i.add(n,b.position,k),i.sub(n,n,a.position),i.sub(n,n,j),i.dot(n,l)},q.computeGq=function(){return i.rotate(j,r.pivotA,a.angle),i.rotate(k,r.pivotB,b.angle),i.add(n,b.position,k),i.sub(n,n,a.position),i.sub(n,n,j),i.dot(n,m)},q.minForce=p.minForce=-d,q.maxForce=p.maxForce=d,this.motorEquation=new g(a,b),this.motorEnabled=!1,this.angle=0,this.lowerLimitEnabled=!1,this.upperLimitEnabled=!1,this.lowerLimit=0,this.upperLimit=0,this.upperLimitEquation=new h(a,b),this.lowerLimitEquation=new h(a,b),this.upperLimitEquation.minForce=0,this.lowerLimitEquation.maxForce=0}var e=a("./Constraint"),f=a("../equations/Equation"),g=a("../equations/RotationalVelocityEquation"),h=a("../equations/RotationalLockEquation"),i=a("../math/vec2");b.exports=d;var j=i.create(),k=i.create(),l=i.fromValues(1,0),m=i.fromValues(0,1),n=i.create();d.prototype=new e,d.prototype.constructor=d,d.prototype.setLimits=function(a,b){"number"==typeof a?(this.lowerLimit=a,this.lowerLimitEnabled=!0):(this.lowerLimit=a,this.lowerLimitEnabled=!1),"number"==typeof b?(this.upperLimit=b,this.upperLimitEnabled=!0):(this.upperLimit=b,this.upperLimitEnabled=!1)},d.prototype.update=function(){var a=this.bodyA,b=this.bodyB,c=this.pivotA,d=this.pivotB,e=this.equations,f=(e[0],e[1],e[0]),g=e[1],h=this.upperLimit,n=this.lowerLimit,o=this.upperLimitEquation,p=this.lowerLimitEquation,q=this.angle=b.angle-a.angle;if(this.upperLimitEnabled&&q>h)o.angle=h,-1===e.indexOf(o)&&e.push(o);else{var r=e.indexOf(o);-1!==r&&e.splice(r,1)}if(this.lowerLimitEnabled&&n>q)p.angle=n,-1===e.indexOf(p)&&e.push(p);else{var r=e.indexOf(p);-1!==r&&e.splice(r,1)}i.rotate(j,c,a.angle),i.rotate(k,d,b.angle),f.G[0]=-1,f.G[1]=0,f.G[2]=-i.crossLength(j,l),f.G[3]=1,f.G[4]=0,f.G[5]=i.crossLength(k,l),g.G[0]=0,g.G[1]=-1,g.G[2]=-i.crossLength(j,m),g.G[3]=0,g.G[4]=1,g.G[5]=i.crossLength(k,m)},d.prototype.enableMotor=function(){this.motorEnabled||(this.equations.push(this.motorEquation),this.motorEnabled=!0)},d.prototype.disableMotor=function(){if(this.motorEnabled){var a=this.equations.indexOf(this.motorEquation);this.equations.splice(a,1),this.motorEnabled=!1}},d.prototype.motorIsEnabled=function(){return!!this.motorEnabled},d.prototype.setMotorSpeed=function(a){if(this.motorEnabled){var b=this.equations.indexOf(this.motorEquation);this.equations[b].relativeVelocity=a}},d.prototype.getMotorSpeed=function(){return this.motorEnabled?this.motorEquation.relativeVelocity:!1}},{"../equations/Equation":22,"../equations/RotationalLockEquation":24,"../equations/RotationalVelocityEquation":25,"../math/vec2":30,"./Constraint":14}],20:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.angle=c.angle||0,this.ratio="number"==typeof c.ratio?c.ratio:1,this.setRatio(this.ratio)}var e=a("./Equation");a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeGq=function(){return this.ratio*this.bodyA.angle-this.bodyB.angle+this.angle},d.prototype.setRatio=function(a){var b=this.G;b[2]=a,b[5]=-1,this.ratio=a},d.prototype.setMaxTorque=function(a){this.maxForce=a,this.minForce=-a}},{"../math/vec2":30,"./Equation":22}],21:[function(a,b,c){function d(a,b){e.call(this,a,b,0,Number.MAX_VALUE),this.contactPointA=f.create(),this.penetrationVec=f.create(),this.contactPointB=f.create(),this.normalA=f.create(),this.restitution=0,this.firstImpact=!1,this.shapeA=null,this.shapeB=null}var e=a("./Equation"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeB=function(a,b,c){var d=this.bodyA,e=this.bodyB,g=this.contactPointA,h=this.contactPointB,i=d.position,j=e.position,k=this.penetrationVec,l=this.normalA,m=this.G,n=f.crossLength(g,l),o=f.crossLength(h,l);m[0]=-l[0],m[1]=-l[1],m[2]=-n,m[3]=l[0],m[4]=l[1],m[5]=o,f.add(k,j,h),f.sub(k,k,i),f.sub(k,k,g);var p,q;this.firstImpact&&0!==this.restitution?(q=0,p=1/b*(1+this.restitution)*this.computeGW()):(q=f.dot(l,k)+this.offset,p=this.computeGW());var r=this.computeGiMf(),s=-q*a-p*b-c*r;return s};var g=f.create(),h=f.create(),i=f.create();d.prototype.getVelocityAlongNormal=function(){return this.bodyA.getVelocityAtPoint(g,this.contactPointA),this.bodyB.getVelocityAtPoint(h,this.contactPointB),f.subtract(i,g,h),f.dot(this.normalA,i)}},{"../math/vec2":30,"./Equation":22}],22:[function(a,b,c){function d(a,b,c,e){this.minForce="undefined"==typeof c?-Number.MAX_VALUE:c,this.maxForce="undefined"==typeof e?Number.MAX_VALUE:e,this.bodyA=a,this.bodyB=b,this.stiffness=d.DEFAULT_STIFFNESS,this.relaxation=d.DEFAULT_RELAXATION,this.G=new f.ARRAY_TYPE(6);for(var g=0;6>g;g++)this.G[g]=0;this.offset=0,this.a=0,this.b=0,this.epsilon=0,this.timeStep=1/60,this.needsUpdate=!0,this.multiplier=0,this.relativeVelocity=0,this.enabled=!0}b.exports=d;var e=a("../math/vec2"),f=a("../utils/Utils");a("../objects/Body");d.prototype.constructor=d,d.DEFAULT_STIFFNESS=1e6,d.DEFAULT_RELAXATION=4,d.prototype.update=function(){var a=this.stiffness,b=this.relaxation,c=this.timeStep;this.a=4/(c*(1+4*b)),this.b=4*b/(1+4*b),this.epsilon=4/(c*c*a*(1+4*b)),this.needsUpdate=!1},d.prototype.gmult=function(a,b,c,d,e){return a[0]*b[0]+a[1]*b[1]+a[2]*c+a[3]*d[0]+a[4]*d[1]+a[5]*e},d.prototype.computeB=function(a,b,c){var d=this.computeGW(),e=this.computeGq(),f=this.computeGiMf();return-e*a-d*b-f*c};var g=e.create(),h=e.create();d.prototype.computeGq=function(){var a=this.G,b=this.bodyA,c=this.bodyB,d=(b.position,c.position,b.angle),e=c.angle;return this.gmult(a,g,d,h,e)+this.offset},d.prototype.computeGW=function(){var a=this.G,b=this.bodyA,c=this.bodyB,d=b.velocity,e=c.velocity,f=b.angularVelocity,g=c.angularVelocity;return this.gmult(a,d,f,e,g)+this.relativeVelocity},d.prototype.computeGWlambda=function(){var a=this.G,b=this.bodyA,c=this.bodyB,d=b.vlambda,e=c.vlambda,f=b.wlambda,g=c.wlambda;return this.gmult(a,d,f,e,g)};var i=e.create(),j=e.create();d.prototype.computeGiMf=function(){var a=this.bodyA,b=this.bodyB,c=a.force,d=a.angularForce,f=b.force,g=b.angularForce,h=a.invMassSolve,k=b.invMassSolve,l=a.invInertiaSolve,m=b.invInertiaSolve,n=this.G;return e.scale(i,c,h),e.multiply(i,a.massMultiplier,i),e.scale(j,f,k),e.multiply(j,b.massMultiplier,j),this.gmult(n,i,d*l,j,g*m)},d.prototype.computeGiMGt=function(){var a=this.bodyA,b=this.bodyB,c=a.invMassSolve,d=b.invMassSolve,e=a.invInertiaSolve,f=b.invInertiaSolve,g=this.G;return g[0]*g[0]*c*a.massMultiplier[0]+g[1]*g[1]*c*a.massMultiplier[1]+g[2]*g[2]*e+g[3]*g[3]*d*b.massMultiplier[0]+g[4]*g[4]*d*b.massMultiplier[1]+g[5]*g[5]*f};var k=e.create(),l=e.create(),m=e.create();e.create(),e.create(),e.create();d.prototype.addToWlambda=function(a){var b=this.bodyA,c=this.bodyB,d=k,f=l,g=m,h=b.invMassSolve,i=c.invMassSolve,j=b.invInertiaSolve,n=c.invInertiaSolve,o=this.G;f[0]=o[0],f[1]=o[1],g[0]=o[3],g[1]=o[4],e.scale(d,f,h*a),e.multiply(d,d,b.massMultiplier),e.add(b.vlambda,b.vlambda,d),b.wlambda+=j*o[2]*a,e.scale(d,g,i*a),e.multiply(d,d,c.massMultiplier),e.add(c.vlambda,c.vlambda,d),c.wlambda+=n*o[5]*a},d.prototype.computeInvC=function(a){return 1/(this.computeGiMGt()+a)}},{"../math/vec2":30,"../objects/Body":31,"../utils/Utils":57}],23:[function(a,b,c){function d(a,b,c){f.call(this,a,b,-c,c),this.contactPointA=e.create(),this.contactPointB=e.create(),this.t=e.create(),this.contactEquations=[],this.shapeA=null,this.shapeB=null,this.frictionCoefficient=.3}var e=a("../math/vec2"),f=a("./Equation");a("../utils/Utils");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.setSlipForce=function(a){this.maxForce=a,this.minForce=-a},d.prototype.getSlipForce=function(){return this.maxForce},d.prototype.computeB=function(a,b,c){var d=(this.bodyA,this.bodyB,this.contactPointA),f=this.contactPointB,g=this.t,h=this.G;h[0]=-g[0],h[1]=-g[1],h[2]=-e.crossLength(d,g),h[3]=g[0],h[4]=g[1],h[5]=e.crossLength(f,g);var i=this.computeGW(),j=this.computeGiMf(),k=-i*b-c*j;return k}},{"../math/vec2":30,"../utils/Utils":57,"./Equation":22}],24:[function(a,b,c){function d(a,b,c){c=c||{},e.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.angle=c.angle||0;var d=this.G;d[2]=1,d[5]=-1}var e=a("./Equation"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d;var g=f.create(),h=f.create(),i=f.fromValues(1,0),j=f.fromValues(0,1);d.prototype.computeGq=function(){return f.rotate(g,i,this.bodyA.angle+this.angle),f.rotate(h,j,this.bodyB.angle),f.dot(g,h)}},{"../math/vec2":30,"./Equation":22}],25:[function(a,b,c){function d(a,b){e.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.relativeVelocity=1,this.ratio=1}var e=a("./Equation");a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeB=function(a,b,c){var d=this.G;d[2]=-1,d[5]=this.ratio;var e=this.computeGiMf(),f=this.computeGW(),g=-f*b-c*e;return g}},{"../math/vec2":30,"./Equation":22}],26:[function(a,b,c){var d=function(){};b.exports=d,d.prototype={constructor:d,on:function(a,b,c){b.context=c||this,void 0===this._listeners&&(this._listeners={});var d=this._listeners;return void 0===d[a]&&(d[a]=[]),-1===d[a].indexOf(b)&&d[a].push(b),this},has:function(a,b){if(void 0===this._listeners)return!1;var c=this._listeners;if(b){if(void 0!==c[a]&&-1!==c[a].indexOf(b))return!0}else if(void 0!==c[a])return!0;return!1},off:function(a,b){if(void 0===this._listeners)return this;var c=this._listeners,d=c[a].indexOf(b);return-1!==d&&c[a].splice(d,1),this},emit:function(a){if(void 0===this._listeners)return this;var b=this._listeners,c=b[a.type];if(void 0!==c){a.target=this;for(var d=0,e=c.length;e>d;d++){var f=c[d];f.call(f.context,a)}}return this}}},{}],27:[function(a,b,c){function d(a,b,c){if(c=c||{},!(a instanceof e&&b instanceof e))throw new Error("First two arguments must be Material instances.");this.id=d.idCounter++,this.materialA=a,this.materialB=b,this.friction="undefined"!=typeof c.friction?Number(c.friction):.3,this.restitution="undefined"!=typeof c.restitution?Number(c.restitution):0,this.stiffness="undefined"!=typeof c.stiffness?Number(c.stiffness):f.DEFAULT_STIFFNESS,this.relaxation="undefined"!=typeof c.relaxation?Number(c.relaxation):f.DEFAULT_RELAXATION,this.frictionStiffness="undefined"!=typeof c.frictionStiffness?Number(c.frictionStiffness):f.DEFAULT_STIFFNESS,this.frictionRelaxation="undefined"!=typeof c.frictionRelaxation?Number(c.frictionRelaxation):f.DEFAULT_RELAXATION,this.surfaceVelocity="undefined"!=typeof c.surfaceVelocity?Number(c.surfaceVelocity):0,this.contactSkinSize=.005}var e=a("./Material"),f=a("../equations/Equation");b.exports=d,d.idCounter=0},{"../equations/Equation":22,"./Material":28}],28:[function(a,b,c){function d(a){this.id=a||d.idCounter++}b.exports=d,d.idCounter=0},{}],29:[function(a,b,c){var d={};d.GetArea=function(a){if(a.length<6)return 0;for(var b=a.length-2,c=0,d=0;b>d;d+=2)c+=(a[d+2]-a[d])*(a[d+1]+a[d+3]);return c+=(a[0]-a[b])*(a[b+1]+a[1]),.5*-c},d.Triangulate=function(a){var b=a.length>>1;if(3>b)return[];for(var c=[],e=[],f=0;b>f;f++)e.push(f);for(var f=0,g=b;g>3;){var h=e[(f+0)%g],i=e[(f+1)%g],j=e[(f+2)%g],k=a[2*h],l=a[2*h+1],m=a[2*i],n=a[2*i+1],o=a[2*j],p=a[2*j+1],q=!1;if(d._convex(k,l,m,n,o,p)){q=!0;for(var r=0;g>r;r++){var s=e[r];if(s!=h&&s!=i&&s!=j&&d._PointInTriangle(a[2*s],a[2*s+1],k,l,m,n,o,p)){q=!1;break}}}if(q)c.push(h,i,j),e.splice((f+1)%g,1),g--,f=0;else if(f++>3*g)break}return c.push(e[0],e[1],e[2]),c},d._PointInTriangle=function(a,b,c,d,e,f,g,h){var i=g-c,j=h-d,k=e-c,l=f-d,m=a-c,n=b-d,o=i*i+j*j,p=i*k+j*l,q=i*m+j*n,r=k*k+l*l,s=k*m+l*n,t=1/(o*r-p*p),u=(r*q-p*s)*t,v=(o*s-p*q)*t;return u>=0&&v>=0&&1>u+v},d._convex=function(a,b,c,d,e,f){return(b-d)*(e-c)+(c-a)*(f-d)>=0},b.exports=d},{}],30:[function(a,b,c){var d=b.exports={},e=a("../utils/Utils");d.crossLength=function(a,b){return a[0]*b[1]-a[1]*b[0]},d.crossVZ=function(a,b,c){return d.rotate(a,b,-Math.PI/2),d.scale(a,a,c),a},d.crossZV=function(a,b,c){return d.rotate(a,c,Math.PI/2),d.scale(a,a,b),a},d.rotate=function(a,b,c){if(0!==c){var d=Math.cos(c),e=Math.sin(c),f=b[0],g=b[1];a[0]=d*f-e*g,a[1]=e*f+d*g}else a[0]=b[0],a[1]=b[1]},d.rotate90cw=function(a,b){var c=b[0],d=b[1];a[0]=d,a[1]=-c},d.toLocalFrame=function(a,b,c,e){d.copy(a,b),d.sub(a,a,c),d.rotate(a,a,-e)},d.toGlobalFrame=function(a,b,c,e){d.copy(a,b),d.rotate(a,a,e),d.add(a,a,c)},d.vectorToLocalFrame=function(a,b,c){d.rotate(a,b,-c)},d.vectorToGlobalFrame=function(a,b,c){d.rotate(a,b,c)},d.centroid=function(a,b,c,e){return d.add(a,b,c),d.add(a,a,e),d.scale(a,a,1/3),a},d.create=function(){var a=new e.ARRAY_TYPE(2);return a[0]=0,a[1]=0,a},d.clone=function(a){var b=new e.ARRAY_TYPE(2);return b[0]=a[0],b[1]=a[1],b},d.fromValues=function(a,b){var c=new e.ARRAY_TYPE(2);return c[0]=a,c[1]=b,c},d.copy=function(a,b){return a[0]=b[0],a[1]=b[1],a},d.set=function(a,b,c){return a[0]=b,a[1]=c,a},d.add=function(a,b,c){return a[0]=b[0]+c[0],a[1]=b[1]+c[1],a},d.subtract=function(a,b,c){return a[0]=b[0]-c[0],a[1]=b[1]-c[1],a},d.sub=d.subtract,d.multiply=function(a,b,c){return a[0]=b[0]*c[0],a[1]=b[1]*c[1],a},d.mul=d.multiply,d.divide=function(a,b,c){return a[0]=b[0]/c[0],a[1]=b[1]/c[1],a},d.div=d.divide,d.scale=function(a,b,c){return a[0]=b[0]*c,a[1]=b[1]*c,a},d.distance=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return Math.sqrt(c*c+d*d)},d.dist=d.distance,d.squaredDistance=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return c*c+d*d},d.sqrDist=d.squaredDistance,d.length=function(a){var b=a[0],c=a[1];return Math.sqrt(b*b+c*c)},d.len=d.length,d.squaredLength=function(a){var b=a[0],c=a[1];return b*b+c*c},d.sqrLen=d.squaredLength,d.negate=function(a,b){return a[0]=-b[0],a[1]=-b[1],a},d.normalize=function(a,b){var c=b[0],d=b[1],e=c*c+d*d;return e>0&&(e=1/Math.sqrt(e),a[0]=b[0]*e,a[1]=b[1]*e),a},d.dot=function(a,b){return a[0]*b[0]+a[1]*b[1]},d.str=function(a){return"vec2("+a[0]+", "+a[1]+")"},d.lerp=function(a,b,c,d){var e=b[0],f=b[1];return a[0]=e+d*(c[0]-e),a[1]=f+d*(c[1]-f),a},d.reflect=function(a,b,c){var d=b[0]*c[0]+b[1]*c[1];a[0]=b[0]-2*c[0]*d,a[1]=b[1]-2*c[1]*d},d.getLineSegmentsIntersection=function(a,b,c,e,f){var g=d.getLineSegmentsIntersectionFraction(b,c,e,f);return 0>g?!1:(a[0]=b[0]+g*(c[0]-b[0]),a[1]=b[1]+g*(c[1]-b[1]),!0)},d.getLineSegmentsIntersectionFraction=function(a,b,c,d){var e,f,g=b[0]-a[0],h=b[1]-a[1],i=d[0]-c[0],j=d[1]-c[1];return e=(-h*(a[0]-c[0])+g*(a[1]-c[1]))/(-i*h+g*j),f=(i*(a[1]-c[1])-j*(a[0]-c[0]))/(-i*h+g*j),e>=0&&1>=e&&f>=0&&1>=f?f:-1}},{"../utils/Utils":57}],31:[function(a,b,c){function d(a){a=a||{},k.call(this),this.id=a.id||++d._idCounter,this.world=null,this.shapes=[],this.mass=a.mass||0,this.invMass=0,this.inertia=0,this.invInertia=0,this.invMassSolve=0,this.invInertiaSolve=0,this.fixedRotation=!!a.fixedRotation,this.fixedX=!!a.fixedX,this.fixedY=!!a.fixedY,this.massMultiplier=e.create(),this.position=e.fromValues(0,0),a.position&&e.copy(this.position,a.position),this.interpolatedPosition=e.fromValues(0,0),this.interpolatedAngle=0,this.previousPosition=e.fromValues(0,0),this.previousAngle=0,this.velocity=e.fromValues(0,0),a.velocity&&e.copy(this.velocity,a.velocity),this.vlambda=e.fromValues(0,0),this.wlambda=0,this.angle=a.angle||0,this.angularVelocity=a.angularVelocity||0,this.force=e.create(),a.force&&e.copy(this.force,a.force),this.angularForce=a.angularForce||0,this.damping="number"==typeof a.damping?a.damping:.1, +this.angularDamping="number"==typeof a.angularDamping?a.angularDamping:.1,this.type=d.STATIC,"undefined"!=typeof a.type?this.type=a.type:a.mass?this.type=d.DYNAMIC:this.type=d.STATIC,this.boundingRadius=0,this.aabb=new j,this.aabbNeedsUpdate=!0,this.allowSleep=void 0!==a.allowSleep?a.allowSleep:!0,this.wantsToSleep=!1,this.sleepState=d.AWAKE,this.sleepSpeedLimit=void 0!==a.sleepSpeedLimit?a.sleepSpeedLimit:.2,this.sleepTimeLimit=void 0!==a.sleepTimeLimit?a.sleepTimeLimit:1,this.gravityScale=void 0!==a.gravityScale?a.gravityScale:1,this.collisionResponse=void 0!==a.collisionResponse?a.collisionResponse:!0,this.idleTime=0,this.timeLastSleepy=0,this.ccdSpeedThreshold=void 0!==a.ccdSpeedThreshold?a.ccdSpeedThreshold:-1,this.ccdIterations=void 0!==a.ccdIterations?a.ccdIterations:10,this.concavePath=null,this._wakeUpAfterNarrowphase=!1,this.updateMassProperties()}var e=a("../math/vec2"),f=a("poly-decomp"),g=a("../shapes/Convex"),h=a("../collision/RaycastResult"),i=a("../collision/Ray"),j=a("../collision/AABB"),k=a("../events/EventEmitter");b.exports=d,d.prototype=new k,d.prototype.constructor=d,d._idCounter=0,d.prototype.updateSolveMassProperties=function(){this.sleepState===d.SLEEPING||this.type===d.KINEMATIC?(this.invMassSolve=0,this.invInertiaSolve=0):(this.invMassSolve=this.invMass,this.invInertiaSolve=this.invInertia)},d.prototype.setDensity=function(a){var b=this.getArea();this.mass=b*a,this.updateMassProperties()},d.prototype.getArea=function(){for(var a=0,b=0;bc&&(c=g+h)}this.boundingRadius=c},d.prototype.addShape=function(a,b,c){if(a.body)throw new Error("A shape can only be added to one body.");a.body=this,b?e.copy(a.position,b):e.set(a.position,0,0),a.angle=c||0,this.shapes.push(a),this.updateMassProperties(),this.updateBoundingRadius(),this.aabbNeedsUpdate=!0},d.prototype.removeShape=function(a){var b=this.shapes.indexOf(a);return-1!==b?(this.shapes.splice(b,1),this.aabbNeedsUpdate=!0,a.body=null,!0):!1},d.prototype.updateMassProperties=function(){if(this.type===d.STATIC||this.type===d.KINEMATIC)this.mass=Number.MAX_VALUE,this.invMass=0,this.inertia=Number.MAX_VALUE,this.invInertia=0;else{var a=this.shapes,b=a.length,c=this.mass/b,f=0;if(this.fixedRotation)this.inertia=Number.MAX_VALUE,this.invInertia=0;else{for(var g=0;b>g;g++){var h=a[g],i=e.squaredLength(h.position),j=h.computeMomentOfInertia(c);f+=j+c*i}this.inertia=f,this.invInertia=f>0?1/f:0}this.invMass=1/this.mass,e.set(this.massMultiplier,this.fixedX?0:1,this.fixedY?0:1)}};e.create();d.prototype.applyForce=function(a,b){if(e.add(this.force,this.force,a),b){var c=e.crossLength(b,a);this.angularForce+=c}};var n=e.create(),o=e.create(),p=e.create();d.prototype.applyForceLocal=function(a,b){b=b||p;var c=n,d=o;this.vectorToWorldFrame(c,a),this.vectorToWorldFrame(d,b),this.applyForce(c,d)};var q=e.create();d.prototype.applyImpulse=function(a,b){if(this.type===d.DYNAMIC){var c=q;if(e.scale(c,a,this.invMass),e.multiply(c,this.massMultiplier,c),e.add(this.velocity,c,this.velocity),b){var f=e.crossLength(b,a);f*=this.invInertia,this.angularVelocity+=f}}};var r=e.create(),s=e.create(),t=e.create();d.prototype.applyImpulseLocal=function(a,b){b=b||t;var c=r,d=s;this.vectorToWorldFrame(c,a),this.vectorToWorldFrame(d,b),this.applyImpulse(c,d)},d.prototype.toLocalFrame=function(a,b){e.toLocalFrame(a,b,this.position,this.angle)},d.prototype.toWorldFrame=function(a,b){e.toGlobalFrame(a,b,this.position,this.angle)},d.prototype.vectorToLocalFrame=function(a,b){e.vectorToLocalFrame(a,b,this.angle)},d.prototype.vectorToWorldFrame=function(a,b){e.vectorToGlobalFrame(a,b,this.angle)},d.prototype.fromPolygon=function(a,b){b=b||{};for(var c=this.shapes.length;c>=0;--c)this.removeShape(this.shapes[c]);var d=new f.Polygon;if(d.vertices=a,d.makeCCW(),"number"==typeof b.removeCollinearPoints&&d.removeCollinearPoints(b.removeCollinearPoints),"undefined"==typeof b.skipSimpleCheck&&!d.isSimple())return!1;this.concavePath=d.vertices.slice(0);for(var c=0;c=g?(this.idleTime=0,this.sleepState=d.AWAKE):(this.idleTime+=c,this.sleepState=d.SLEEPY),this.idleTime>this.sleepTimeLimit&&(b?this.wantsToSleep=!0:this.sleep())}},d.prototype.overlaps=function(a){return this.world.overlapKeeper.bodiesAreOverlapping(this,a)};var x=e.create(),y=e.create();d.prototype.integrate=function(a){var b=this.invMass,c=this.force,d=this.position,f=this.velocity;e.copy(this.previousPosition,this.position),this.previousAngle=this.angle,this.fixedRotation||(this.angularVelocity+=this.angularForce*this.invInertia*a),e.scale(x,c,a*b),e.multiply(x,this.massMultiplier,x),e.add(f,x,f),this.integrateToTimeOfImpact(a)||(e.scale(y,f,a),e.add(d,d,y),this.fixedRotation||(this.angle+=this.angularVelocity*a)),this.aabbNeedsUpdate=!0};var z=new h,A=new i({mode:i.ALL}),B=e.create(),C=e.create(),D=e.create(),E=e.create();d.prototype.integrateToTimeOfImpact=function(a){if(this.ccdSpeedThreshold<0||e.squaredLength(this.velocity)=j&&ir;r++){var s=this.radius*(2*r-1);f.set(o,-q,s),f.set(p,q,s),f.toGlobalFrame(o,o,c,d),f.toGlobalFrame(p,p,c,d);var t=f.getLineSegmentsIntersectionFraction(e,g,o,p);if(t>=0&&(f.rotate(n,l,d),f.scale(n,n,2*r-1),b.reportIntersection(a,t,n,-1),a.shouldStop(b)))return}for(var u=Math.pow(this.radius,2)+Math.pow(q,2),r=0;2>r;r++){f.set(o,q*(2*r-1),0),f.toGlobalFrame(o,o,c,d);var v=Math.pow(g[0]-e[0],2)+Math.pow(g[1]-e[1],2),w=2*((g[0]-e[0])*(e[0]-o[0])+(g[1]-e[1])*(e[1]-o[1])),x=Math.pow(e[0]-o[0],2)+Math.pow(e[1]-o[1],2)-Math.pow(this.radius,2),t=Math.pow(w,2)-4*v*x;if(!(0>t))if(0===t){if(f.lerp(m,e,g,t),f.squaredDistance(m,c)>u&&(f.sub(n,m,o),f.normalize(n,n),b.reportIntersection(a,t,n,-1),a.shouldStop(b)))return}else{var y=Math.sqrt(t),z=1/(2*v),A=(-w-y)*z,B=(-w+y)*z;if(A>=0&&1>=A&&(f.lerp(m,e,g,A),f.squaredDistance(m,c)>u&&(f.sub(n,m,o),f.normalize(n,n),b.reportIntersection(a,A,n,-1),a.shouldStop(b))))return;if(B>=0&&1>=B&&(f.lerp(m,e,g,B),f.squaredDistance(m,c)>u&&(f.sub(n,m,o),f.normalize(n,n),b.reportIntersection(a,B,n,-1),a.shouldStop(b))))return}}}},{"../math/vec2":30,"./Shape":45}],39:[function(a,b,c){function d(a){"number"==typeof arguments[0]&&(a={radius:arguments[0]},console.warn("The Circle constructor signature has changed. Please use the following format: new Circle({ radius: 1 })")),a=a||{},this.radius=a.radius||1,a.type=e.CIRCLE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){var b=this.radius;return a*b*b/2},d.prototype.updateBoundingRadius=function(){this.boundingRadius=this.radius},d.prototype.updateArea=function(){this.area=Math.PI*this.radius*this.radius},d.prototype.computeAABB=function(a,b,c){var d=this.radius;f.set(a.upperBound,d,d),f.set(a.lowerBound,-d,-d),b&&(f.add(a.lowerBound,a.lowerBound,b),f.add(a.upperBound,a.upperBound,b))};var g=f.create(),h=f.create();d.prototype.raycast=function(a,b,c,d){var e=b.from,i=b.to,j=this.radius,k=Math.pow(i[0]-e[0],2)+Math.pow(i[1]-e[1],2),l=2*((i[0]-e[0])*(e[0]-c[0])+(i[1]-e[1])*(e[1]-c[1])),m=Math.pow(e[0]-c[0],2)+Math.pow(e[1]-c[1],2)-Math.pow(j,2),n=Math.pow(l,2)-4*k*m,o=g,p=h;if(!(0>n))if(0===n)f.lerp(o,e,i,n),f.sub(p,o,c),f.normalize(p,p),b.reportIntersection(a,n,p,-1);else{var q=Math.sqrt(n),r=1/(2*k),s=(-l-q)*r,t=(-l+q)*r;if(s>=0&&1>=s&&(f.lerp(o,e,i,s),f.sub(p,o,c),f.normalize(p,p),b.reportIntersection(a,s,p,-1),a.shouldStop(b)))return;t>=0&&1>=t&&(f.lerp(o,e,i,t),f.sub(p,o,c),f.normalize(p,p),b.reportIntersection(a,t,p,-1))}}},{"../math/vec2":30,"./Shape":45}],40:[function(a,b,c){function d(a){Array.isArray(arguments[0])&&(a={vertices:arguments[0],axes:arguments[1]},console.warn("The Convex constructor signature has changed. Please use the following format: new Convex({ vertices: [...], ... })")),a=a||{},this.vertices=[];for(var b=void 0!==a.vertices?a.vertices:[],c=0;ce)&&(e=d),(null===g||g>d)&&(g=d);if(g>e){var j=g;g=e,e=j}f.set(b,g,e)},d.prototype.projectOntoWorldAxis=function(a,b,c,d){var e=i;this.projectOntoLocalAxis(a,d),0!==c?f.rotate(e,a,c):e=a;var g=f.dot(b,e);f.set(d,d[0]+g,d[1]+g)},d.prototype.updateTriangles=function(){this.triangles.length=0;for(var a=[],b=0;bg;e=g,g++){var h=this.vertices[e],i=this.vertices[g],j=Math.abs(f.crossLength(h,i)),k=f.dot(i,i)+f.dot(i,h)+f.dot(h,h);b+=j*k,c+=j}return a/6*(b/c)},d.prototype.updateBoundingRadius=function(){for(var a=this.vertices,b=0,c=0;c!==a.length;c++){var d=f.squaredLength(a[c]);d>b&&(b=d)}this.boundingRadius=Math.sqrt(b)},d.triangleArea=function(a,b,c){return.5*((b[0]-a[0])*(c[1]-a[1])-(c[0]-a[0])*(b[1]-a[1]))},d.prototype.updateArea=function(){this.updateTriangles(),this.area=0;for(var a=this.triangles,b=this.vertices,c=0;c!==a.length;c++){var e=a[c],f=b[e[0]],g=b[e[1]],h=b[e[2]],i=d.triangleArea(f,g,h);this.area+=i}},d.prototype.computeAABB=function(a,b,c){a.setFromPoints(this.vertices,b,c,0)};var o=f.create(),p=f.create(),q=f.create();d.prototype.raycast=function(a,b,c,d){var e=o,g=p,h=q,i=this.vertices;f.toLocalFrame(e,b.from,c,d),f.toLocalFrame(g,b.to,c,d);for(var j=i.length,k=0;j>k&&!a.shouldStop(b);k++){var l=i[k],m=i[(k+1)%j],n=f.getLineSegmentsIntersectionFraction(e,g,l,m);n>=0&&(f.sub(h,m,l),f.rotate(h,h,-Math.PI/2+d),f.normalize(h,h),b.reportIntersection(a,n,h,k))}}},{"../math/polyk":29,"../math/vec2":30,"./Shape":45,"poly-decomp":5}],41:[function(a,b,c){function d(a){if(Array.isArray(arguments[0])){if(a={heights:arguments[0]},"object"==typeof arguments[1])for(var b in arguments[1])a[b]=arguments[1][b];console.warn("The Heightfield constructor signature has changed. Please use the following format: new Heightfield({ heights: [...], ... })")}a=a||{},this.heights=a.heights?a.heights.slice(0):[],this.maxValue=a.maxValue||null,this.minValue=a.minValue||null,this.elementWidth=a.elementWidth||.1,(void 0===a.maxValue||void 0===a.minValue)&&this.updateMaxMinValues(),a.type=e.HEIGHTFIELD,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");a("../utils/Utils");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.updateMaxMinValues=function(){for(var a=this.heights,b=a[0],c=a[0],d=0;d!==a.length;d++){var e=a[d];e>b&&(b=e),c>e&&(c=e)}this.maxValue=b,this.minValue=c},d.prototype.computeMomentOfInertia=function(a){return Number.MAX_VALUE},d.prototype.updateBoundingRadius=function(){this.boundingRadius=Number.MAX_VALUE},d.prototype.updateArea=function(){for(var a=this.heights,b=0,c=0;cs){var t=r;r=s,s=t}for(var u=0;u=0&&(f.sub(m,o,n),f.rotate(m,m,d+Math.PI/2),f.normalize(m,m),b.reportIntersection(a,v,m,-1),a.shouldStop(b)))return}}},{"../math/vec2":30,"../utils/Utils":57,"./Shape":45}],42:[function(a,b,c){function d(a){"number"==typeof arguments[0]&&(a={length:arguments[0]},console.warn("The Line constructor signature has changed. Please use the following format: new Line({ length: 1, ... })")),a=a||{},this.length=a.length||1,a.type=e.LINE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){return a*Math.pow(this.length,2)/12},d.prototype.updateBoundingRadius=function(){this.boundingRadius=this.length/2};var g=[f.create(),f.create()];d.prototype.computeAABB=function(a,b,c){var d=this.length/2;f.set(g[0],-d,0),f.set(g[1],d,0),a.setFromPoints(g,b,c,0)};var h=(f.create(),f.create()),i=f.create(),j=f.create(),k=f.fromValues(0,1);d.prototype.raycast=function(a,b,c,d){var e=b.from,g=b.to,l=i,m=j,n=this.length/2;f.set(l,-n,0),f.set(m,n,0),f.toGlobalFrame(l,l,c,d),f.toGlobalFrame(m,m,c,d);var o=f.getLineSegmentsIntersectionFraction(l,m,e,g);if(o>=0){var p=h;f.rotate(p,k,d),b.reportIntersection(a,o,p,-1)}}},{"../math/vec2":30,"./Shape":45}],43:[function(a,b,c){function d(a){a=a||{},a.type=e.PARTICLE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){return 0},d.prototype.updateBoundingRadius=function(){this.boundingRadius=0},d.prototype.computeAABB=function(a,b,c){f.copy(a.lowerBound,b),f.copy(a.upperBound,b)}},{"../math/vec2":30,"./Shape":45}],44:[function(a,b,c){function d(a){a=a||{},a.type=e.PLANE,e.call(this,a)}var e=a("./Shape"),f=a("../math/vec2");a("../utils/Utils");b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.computeMomentOfInertia=function(a){return 0},d.prototype.updateBoundingRadius=function(){this.boundingRadius=Number.MAX_VALUE},d.prototype.computeAABB=function(a,b,c){var d=c%(2*Math.PI),e=f.set,g=1e7,h=a.lowerBound,i=a.upperBound;e(h,-g,-g),e(i,g,g),0===d?i[1]=0:d===Math.PI/2?h[0]=0:d===Math.PI?h[1]=0:d===3*Math.PI/2&&(i[0]=0)},d.prototype.updateArea=function(){this.area=Number.MAX_VALUE};var g=f.create(),h=(f.create(),f.create(),f.create()),i=f.create();d.prototype.raycast=function(a,b,c,d){var e=b.from,j=b.to,k=b.direction,l=g,m=h,n=i;f.set(m,0,1),f.rotate(m,m,d),f.sub(n,e,c);var o=f.dot(n,m);f.sub(n,j,c);var p=f.dot(n,m);if(!(o*p>0||f.squaredDistance(e,j)=w*w)break}for(d.updateMultipliers(k,q,1/a),x=0;x!==l;x++){var z=k[x];if(z instanceof i){for(var A=0,B=0;B!==z.contactEquations.length;B++)A+=z.contactEquations[B].multiplier;A*=z.frictionCoefficient/z.contactEquations.length,z.maxForce=A,z.minForce=-A}}}for(c=0;c!==g;c++){for(w=0,x=0;x!==l;x++){v=k[x];var y=d.iterateEquation(x,v,v.epsilon,u,t,q,p,a,c);w+=Math.abs(y)}if(this.usedIterations++,m>=w*w)break}for(r=0;r!==o;r++)n[r].addConstraintVelocity();d.updateMultipliers(k,q,1/a)}},d.updateMultipliers=function(a,b,c){for(var d=a.length;d--;)a[d].multiplier=b[d]*c},d.iterateEquation=function(a,b,c,d,e,f,g,h,i){var j=d[a],k=e[a],l=f[a],m=b.computeGWlambda(),n=b.maxForce,o=b.minForce;g&&(j=0);var p=k*(j-m-c*l),q=l+p;return o*h>q?p=o*h-l:q>n*h&&(p=n*h-l),f[a]+=p,b.addToWlambda(p),p}},{"../equations/FrictionEquation":23,"../math/vec2":30,"../utils/Utils":57,"./Solver":47}],47:[function(a,b,c){function d(a,b){a=a||{},e.call(this),this.type=b,this.equations=[],this.equationSortFunction=a.equationSortFunction||!1}var e=(a("../utils/Utils"),a("../events/EventEmitter"));b.exports=d,d.prototype=new e,d.prototype.constructor=d,d.prototype.solve=function(a,b){throw new Error("Solver.solve should be implemented by subclasses!")};var f={bodies:[]};d.prototype.solveIsland=function(a,b){this.removeAllEquations(),b.equations.length&&(this.addEquations(b.equations),f.bodies.length=0,b.getBodies(f.bodies),f.bodies.length&&this.solve(a,f))},d.prototype.sortEquations=function(){this.equationSortFunction&&this.equations.sort(this.equationSortFunction)},d.prototype.addEquation=function(a){a.enabled&&this.equations.push(a)},d.prototype.addEquations=function(a){for(var b=0,c=a.length;b!==c;b++){var d=a[b];d.enabled&&this.equations.push(d)}},d.prototype.removeEquation=function(a){var b=this.equations.indexOf(a);-1!==b&&this.equations.splice(b,1)},d.prototype.removeAllEquations=function(){this.equations.length=0},d.GS=1,d.ISLAND=2},{"../events/EventEmitter":26,"../utils/Utils":57}],48:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../equations/ContactEquation"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.bodyA=a.bodyB=null,this}},{"../equations/ContactEquation":21,"./Pool":55}],49:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../equations/FrictionEquation"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.bodyA=a.bodyB=null,this}},{"../equations/FrictionEquation":23,"./Pool":55}],50:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../world/IslandNode"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.reset(),this}},{"../world/IslandNode":60,"./Pool":55}],51:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("../world/Island"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.reset(),this}},{"../world/Island":58,"./Pool":55}],52:[function(a,b,c){function d(){this.overlappingShapesLastState=new e,this.overlappingShapesCurrentState=new e,this.recordPool=new f({size:16}),this.tmpDict=new e,this.tmpArray1=[]}var e=a("./TupleDictionary"),f=(a("./OverlapKeeperRecord"),a("./OverlapKeeperRecordPool"));a("./Utils");b.exports=d,d.prototype.tick=function(){for(var a=this.overlappingShapesLastState,b=this.overlappingShapesCurrentState,c=a.keys.length;c--;){var d=a.keys[c],e=a.getByKey(d);b.getByKey(d);e&&this.recordPool.release(e)}a.reset(),a.copy(b),b.reset()},d.prototype.setOverlapping=function(a,b,c,d){var e=(this.overlappingShapesLastState,this.overlappingShapesCurrentState);if(!e.get(b.id,d.id)){var f=this.recordPool.get();f.set(a,b,c,d),e.set(b.id,d.id,f)}},d.prototype.getNewOverlaps=function(a){return this.getDiff(this.overlappingShapesLastState,this.overlappingShapesCurrentState,a)},d.prototype.getEndOverlaps=function(a){return this.getDiff(this.overlappingShapesCurrentState,this.overlappingShapesLastState,a)},d.prototype.bodiesAreOverlapping=function(a,b){for(var c=this.overlappingShapesCurrentState,d=c.keys.length;d--;){var e=c.keys[d],f=c.data[e];if(f.bodyA===a&&f.bodyB===b||f.bodyA===b&&f.bodyB===a)return!0}return!1},d.prototype.getDiff=function(a,b,c){var c=c||[],d=a,e=b;c.length=0;for(var f=e.keys.length;f--;){var g=e.keys[f],h=e.data[g];if(!h)throw new Error("Key "+g+" had no data!");var i=d.data[g];i||c.push(h)}return c},d.prototype.isNewOverlap=function(a,b){var c=0|a.id,d=0|b.id,e=this.overlappingShapesLastState,f=this.overlappingShapesCurrentState;return!e.get(c,d)&&!!f.get(c,d)},d.prototype.getNewBodyOverlaps=function(a){this.tmpArray1.length=0;var b=this.getNewOverlaps(this.tmpArray1);return this.getBodyDiff(b,a)},d.prototype.getEndBodyOverlaps=function(a){this.tmpArray1.length=0;var b=this.getEndOverlaps(this.tmpArray1);return this.getBodyDiff(b,a)},d.prototype.getBodyDiff=function(a,b){b=b||[];for(var c=this.tmpDict,d=a.length;d--;){var e=a[d];c.set(0|e.bodyA.id,0|e.bodyB.id,e)}for(d=c.keys.length;d--;){var e=c.getByKey(c.keys[d]);e&&b.push(e.bodyA,e.bodyB)}return c.reset(),b}},{"./OverlapKeeperRecord":53,"./OverlapKeeperRecordPool":54,"./TupleDictionary":56,"./Utils":57}],53:[function(a,b,c){function d(a,b,c,d){this.shapeA=b,this.shapeB=d,this.bodyA=a,this.bodyB=c}b.exports=d,d.prototype.set=function(a,b,c,e){d.call(this,a,b,c,e)}},{}],54:[function(a,b,c){function d(){f.apply(this,arguments)}var e=a("./OverlapKeeperRecord"),f=a("./Pool");b.exports=d,d.prototype=new f,d.prototype.constructor=d,d.prototype.create=function(){return new e},d.prototype.destroy=function(a){return a.bodyA=a.bodyB=a.shapeA=a.shapeB=null,this}},{"./OverlapKeeperRecord":53,"./Pool":55}],55:[function(a,b,c){function d(a){a=a||{},this.objects=[],void 0!==a.size&&this.resize(a.size)}b.exports=d,d.prototype.resize=function(a){for(var b=this.objects;b.length>a;)b.pop();for(;b.length(0|b)?a<<16|65535&b:b<<16|65535&a)},d.prototype.getByKey=function(a){return a=0|a,this.data[a]},d.prototype.get=function(a,b){return this.data[this.getKey(a,b)]},d.prototype.set=function(a,b,c){if(!c)throw new Error("No data!");var d=this.getKey(a,b);return this.data[d]||this.keys.push(d),this.data[d]=c,d},d.prototype.reset=function(){for(var a=this.data,b=this.keys,c=b.length;c--;)delete a[b[c]];b.length=0},d.prototype.copy=function(a){this.reset(),e.appendArray(this.keys,a.keys);for(var b=a.keys.length;b--;){var c=a.keys[b];this.data[c]=a.data[c]}}},{"./Utils":57}],57:[function(a,b,c){function d(){}b.exports=d,d.appendArray=function(a,b){if(b.length<15e4)a.push.apply(a,b);else for(var c=0,d=b.length;c!==d;++c)a.push(b[c])},d.splice=function(a,b,c){c=c||1;for(var d=b,e=a.length-c;e>d;d++)a[d]=a[d+c];a.length=e},"undefined"!=typeof P2_ARRAY_TYPE?d.ARRAY_TYPE=P2_ARRAY_TYPE:"undefined"!=typeof Float32Array?d.ARRAY_TYPE=Float32Array:d.ARRAY_TYPE=Array,d.extend=function(a,b){for(var c in b)a[c]=b[c]},d.defaults=function(a,b){a=a||{};for(var c in b)c in a||(a[c]=b[c]);return a}},{}],58:[function(a,b,c){function d(){this.equations=[],this.bodies=[]}var e=a("../objects/Body");b.exports=d,d.prototype.reset=function(){this.equations.length=this.bodies.length=0};var f=[];d.prototype.getBodies=function(a){var b=a||[],c=this.equations;f.length=0;for(var d=0;d!==c.length;d++){var e=c[d];-1===f.indexOf(e.bodyA.id)&&(b.push(e.bodyA),f.push(e.bodyA.id)),-1===f.indexOf(e.bodyB.id)&&(b.push(e.bodyB),f.push(e.bodyB.id))}return b},d.prototype.wantsToSleep=function(){for(var a=0;a=a&&c>d;)this.internalStep(a),this.time+=a,this.accumulator-=a,d++;for(var e=this.accumulator%a/a,g=0;g!==this.bodies.length;g++){var h=this.bodies[g];f.lerp(h.interpolatedPosition,h.previousPosition,h.position,e),h.interpolatedAngle=h.previousAngle+e*(h.angle-h.previousAngle)}}};var y=[];d.prototype.internalStep=function(a){this.stepping=!0;var b=this.springs.length,c=this.springs,e=this.bodies,g=this.gravity,h=this.solver,i=this.bodies.length,j=this.broadphase,k=this.narrowphase,l=this.constraints,n=v,o=(f.scale,f.add),p=(f.rotate,this.islandManager);if(this.overlapKeeper.tick(),this.lastTimeStep=a,this.useWorldGravityAsFrictionGravity){var q=f.length(this.gravity);0===q&&this.useFrictionGravityOnZeroGravity||(this.frictionGravity=q)}if(this.applyGravity)for(var r=0;r!==i;r++){var t=e[r],u=t.force;t.type===m.DYNAMIC&&t.sleepState!==m.SLEEPING&&(f.scale(n,g,t.mass*t.gravityScale),o(u,u,n))}if(this.applySpringForces)for(var r=0;r!==b;r++){var w=c[r];w.applyForce()}if(this.applyDamping)for(var r=0;r!==i;r++){var t=e[r];t.type===m.DYNAMIC&&t.applyDamping(a)}for(var x=j.getCollisionPairs(this),z=this.disabledBodyCollisionPairs,r=z.length-2;r>=0;r-=2)for(var A=x.length-2;A>=0;A-=2)(z[r]===x[A]&&z[r+1]===x[A+1]||z[r+1]===x[A]&&z[r]===x[A+1])&&x.splice(A,2);var B=l.length;for(r=0;r!==B;r++){var C=l[r];if(!C.collideConnected)for(var A=x.length-2;A>=0;A-=2)(C.bodyA===x[A]&&C.bodyB===x[A+1]||C.bodyB===x[A]&&C.bodyA===x[A+1])&&x.splice(A,2)}this.postBroadphaseEvent.pairs=x,this.emit(this.postBroadphaseEvent),this.postBroadphaseEvent.pairs=null,k.reset(this);for(var r=0,D=x.length;r!==D;r+=2)for(var E=x[r],F=x[r+1],G=0,H=E.shapes.length;G!==H;G++)for(var I=E.shapes[G],J=I.position,K=I.angle,L=0,M=F.shapes.length;L!==M;L++){var N=F.shapes[L],O=N.position,P=N.angle,Q=this.defaultContactMaterial;if(I.material&&N.material){var R=this.getContactMaterial(I.material,N.material);R&&(Q=R)}this.runNarrowphase(k,E,I,J,K,F,N,O,P,Q,this.frictionGravity)}for(var r=0;r!==i;r++){var S=e[r];S._wakeUpAfterNarrowphase&&(S.wakeUp(),S._wakeUpAfterNarrowphase=!1)}if(this.has("endContact")){this.overlapKeeper.getEndOverlaps(y);for(var T=this.endContactEvent,L=y.length;L--;){var U=y[L];T.shapeA=U.shapeA,T.shapeB=U.shapeB,T.bodyA=U.bodyA,T.bodyB=U.bodyB,this.emit(T)}y.length=0}var V=this.preSolveEvent;V.contactEquations=k.contactEquations,V.frictionEquations=k.frictionEquations,this.emit(V),V.contactEquations=V.frictionEquations=null;var B=l.length;for(r=0;r!==B;r++)l[r].update();if(k.contactEquations.length||k.frictionEquations.length||B)if(this.islandSplit){for(p.equations.length=0,s.appendArray(p.equations,k.contactEquations),s.appendArray(p.equations,k.frictionEquations),r=0;r!==B;r++)s.appendArray(p.equations,l[r].equations);p.split(this);for(var r=0;r!==p.islands.length;r++){var W=p.islands[r];W.equations.length&&h.solveIsland(a,W)}}else{for(h.addEquations(k.contactEquations),h.addEquations(k.frictionEquations),r=0;r!==B;r++)h.addEquations(l[r].equations);this.solveConstraints&&h.solve(a,this),h.removeAllEquations()}for(var r=0;r!==i;r++){var S=e[r];S.integrate(a)}for(var r=0;r!==i;r++)e[r].setZeroForce();if(this.emitImpactEvent&&this.has("impact"))for(var X=this.impactEvent,r=0;r!==k.contactEquations.length;r++){var Y=k.contactEquations[r];Y.firstImpact&&(X.bodyA=Y.bodyA,X.bodyB=Y.bodyB,X.shapeA=Y.shapeA,X.shapeB=Y.shapeB,X.contactEquation=Y,this.emit(X))}if(this.sleepMode===d.BODY_SLEEPING)for(r=0;r!==i;r++)e[r].sleepTick(this.time,!1,a);else if(this.sleepMode===d.ISLAND_SLEEPING&&this.islandSplit){for(r=0;r!==i;r++)e[r].sleepTick(this.time,!0,a);for(var r=0;r0,a.frictionCoefficient=k.friction;var p;p=b.type===m.STATIC||b.type===m.KINEMATIC?g.mass:g.type===m.STATIC||g.type===m.KINEMATIC?b.mass:b.mass*g.mass/(b.mass+g.mass),a.slipForce=k.friction*l*p,a.restitution=k.restitution,a.surfaceVelocity=k.surfaceVelocity,a.frictionStiffness=k.frictionStiffness,a.frictionRelaxation=k.frictionRelaxation,a.stiffness=k.stiffness,a.relaxation=k.relaxation,a.contactSkinSize=k.contactSkinSize,a.enabledEquations=b.collisionResponse&&g.collisionResponse&&c.collisionResponse&&h.collisionResponse;var q=a[c.type|h.type],r=0;if(q){var s=c.sensor||h.sensor,t=a.frictionEquations.length;r=c.type=2*y&&(b._wakeUpAfterNarrowphase=!0)}if(g.allowSleep&&g.type===m.DYNAMIC&&g.sleepState===m.SLEEPING&&b.sleepState===m.AWAKE&&b.type!==m.STATIC){var z=f.squaredLength(b.velocity)+Math.pow(b.angularVelocity,2),A=Math.pow(b.sleepSpeedLimit,2);z>=2*A&&(g._wakeUpAfterNarrowphase=!0)}if(this.overlapKeeper.setOverlapping(b,c,g,h),this.has("beginContact")&&this.overlapKeeper.isNewOverlap(c,h)){var B=this.beginContactEvent;if(B.shapeA=c,B.shapeB=h,B.bodyA=b,B.bodyB=g,B.contactEquations.length=0,"number"==typeof r)for(var C=a.contactEquations.length-r;C1)for(var C=a.frictionEquations.length-u;C=0;b--)this.removeConstraint(a[b]);for(var c=this.bodies,b=c.length-1;b>=0;b--)this.removeBody(c[b]);for(var e=this.springs,b=e.length-1;b>=0;b--)this.removeSpring(e[b]);for(var f=this.contactMaterials,b=f.length-1;b>=0;b--)this.removeContactMaterial(f[b]);d.apply(this)};var z=f.create(),A=(f.fromValues(0,0),f.fromValues(0,0));d.prototype.hitTest=function(a,b,c){c=c||0;var d=new m({position:a}),e=new k,l=a,n=0,o=z,p=A;d.addShape(e);for(var q=this.narrowphase,r=[],s=0,t=b.length;s!==t;s++)for(var u=b[s],v=0,w=u.shapes.length;v!==w;v++){var x=u.shapes[v];f.rotate(o,x.position,u.angle),f.add(o,o,u.position);var y=x.angle+u.angle;(x instanceof g&&q.circleParticle(u,x,o,y,d,e,l,n,!0)||x instanceof h&&q.particleConvex(d,e,l,n,u,x,o,y,!0)||x instanceof i&&q.particlePlane(d,e,l,n,u,x,o,y,!0)||x instanceof j&&q.particleCapsule(d,e,l,n,u,x,o,y,!0)||x instanceof k&&f.squaredLength(f.sub(p,o,a))
- API Docs for: 0.7.0 + API Docs for: 0.7.1
diff --git a/docs/classes/AngleLockEquation.html b/docs/classes/AngleLockEquation.html index 409e214e..c3786282 100644 --- a/docs/classes/AngleLockEquation.html +++ b/docs/classes/AngleLockEquation.html @@ -17,7 +17,7 @@

- API Docs for: 0.7.0 + API Docs for: 0.7.1
diff --git a/docs/classes/Body.html b/docs/classes/Body.html index 9f023b32..6bdec33c 100644 --- a/docs/classes/Body.html +++ b/docs/classes/Body.html @@ -17,7 +17,7 @@

- API Docs for: 0.7.0 + API Docs for: 0.7.1
@@ -152,54 +152,6 @@

Body

(
    -
  • - [options.force] -
    • -
  • - [options.position] -
    • -
  • - [options.velocity] -
    • -
  • - [options.allowSleep] -
    • -
  • - [options.collisionResponse] -
    • -
  • - [options.angle=0] -
    • -
  • - [options.angularForce=0] -
    • -
  • - [options.angularVelocity=0] -
    • -
  • - [options.ccdIterations=10] -
    • -
  • - [options.ccdSpeedThreshold=-1] -
    • -
  • - [options.fixedRotation=false] -
    • -
  • - [options.gravityScale] -
    • -
  • - [options.id] -
    • -
  • - [options.mass=0] -
    • -
  • - [options.sleepSpeedLimit] -
    • -
  • - [options.sleepTimeLimit] -
  • [options]
    • @@ -231,183 +183,6 @@

    Body

    Parameters:

      -
    • - [options.force] - Array - optional - - -
      - -
      - -
      • -
    • - [options.position] - Array - optional - - -
      - -
      - -
      • -
    • - [options.velocity] - Array - optional - - -
      - -
      - -
      • -
    • - [options.allowSleep] - Boolean - optional - - -
      - -
      - -
      • -
    • - [options.collisionResponse] - Boolean - optional - - -
      - -
      - -
      • -
    • - [options.angle=0] - Number - optional - - -
      - -
      - -
      • -
    • - [options.angularForce=0] - Number - optional - - -
      - -
      - -
      • -
    • - [options.angularVelocity=0] - Number - optional - - -
      - -
      - -
      • -
    • - [options.ccdIterations=10] - Number - optional - - -
      - -
      - -
      • -
    • - [options.ccdSpeedThreshold=-1] - Number - optional - - -
      - -
      - -
      • -
    • - [options.fixedRotation=false] - Number - optional - - -
      - -
      - -
      • -
    • - [options.gravityScale] - Number - optional - - -
      - -
      - -
      • -
    • - [options.id] - Number - optional - - -
      - -
      - -
      • -
    • - [options.mass=0] - Number - optional - - -
      -

      A number >= 0. If zero, the .type will be set to Body.STATIC.

      - -
      - -
      • -
    • - [options.sleepSpeedLimit] - Number - optional - - -
      - -
      - -
      • -
    • - [options.sleepTimeLimit] - Number - optional - - -
      - -
      - -
    • [options] Object @@ -418,6 +193,169 @@

      Parameters:

+
    +
  • + [force] + Array + optional + +
    + +
    + +
    • +
  • + [position] + Array + optional + +
    + +
    + +
    • +
  • + [velocity] + Array + optional + +
    + +
    + +
    • +
  • + [allowSleep] + Boolean + optional + +
    + +
    + +
    • +
  • + [collisionResponse] + Boolean + optional + +
    + +
    + +
    • +
  • + [angle=0] + Number + optional + +
    + +
    + +
    • +
  • + [angularForce=0] + Number + optional + +
    + +
    + +
    • +
  • + [angularVelocity=0] + Number + optional + +
    + +
    + +
    • +
  • + [ccdIterations=10] + Number + optional + +
    + +
    + +
    • +
  • + [ccdSpeedThreshold=-1] + Number + optional + +
    + +
    + +
    • +
  • + [fixedRotation=false] + Number + optional + +
    + +
    + +
    • +
  • + [gravityScale] + Number + optional + +
    + +
    + +
    • +
  • + [id] + Number + optional + +
    + +
    + +
    • +
  • + [mass=0] + Number + optional + +
    +

    A number >= 0. If zero, the .type will be set to Body.STATIC.

    + +
    + +
    • +
  • + [sleepSpeedLimit] + Number + optional + +
    + +
    + +
    • +
  • + [sleepTimeLimit] + Number + optional + +
    + +
    + +
    • +
@@ -1075,7 +1013,7 @@

applyForceLocal

localForce
  • - localPoint + [localPoint]
    • ) @@ -1118,8 +1056,9 @@

    Parameters:

  • - localPoint + [localPoint] Array + optional
    diff --git a/docs/classes/Box.html b/docs/classes/Box.html index 73df700a..58432f77 100644 --- a/docs/classes/Box.html +++ b/docs/classes/Box.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Broadphase.html b/docs/classes/Broadphase.html index 368a753d..d0ff29c6 100644 --- a/docs/classes/Broadphase.html +++ b/docs/classes/Broadphase.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Capsule.html b/docs/classes/Capsule.html index 7d9a56e5..f8b27f30 100644 --- a/docs/classes/Capsule.html +++ b/docs/classes/Capsule.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Circle.html b/docs/classes/Circle.html index 75163d67..35055f55 100644 --- a/docs/classes/Circle.html +++ b/docs/classes/Circle.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Constraint.html b/docs/classes/Constraint.html index a767bea9..3d04b588 100644 --- a/docs/classes/Constraint.html +++ b/docs/classes/Constraint.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/ContactEquation.html b/docs/classes/ContactEquation.html index f36292e4..b0160ff7 100644 --- a/docs/classes/ContactEquation.html +++ b/docs/classes/ContactEquation.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/ContactMaterial.html b/docs/classes/ContactMaterial.html index ba74306c..21f9e4d4 100644 --- a/docs/classes/ContactMaterial.html +++ b/docs/classes/ContactMaterial.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -384,7 +384,7 @@

    contactSkinSize

    Defined in - src/material/ContactMaterial.js:98 + src/material/ContactMaterial.js:101

    @@ -416,10 +416,11 @@

    friction

    -

    Friction to use in the contact of these two materials

    +

    Friction coefficient to use in the contact of these two materials. Friction = 0 will make the involved objects super slippery, and friction = 1 will make it much less slippery. A friction coefficient larger than 1 will allow for very large friction forces, which can be convenient for preventing car tires not slip on the ground.

    +

    Default: 0.3

    @@ -434,14 +435,14 @@

    frictionRelaxation

    Defined in - src/material/ContactMaterial.js:85 + src/material/ContactMaterial.js:87

    -

    Relaxation of the resulting FrictionEquation that this ContactMaterial generate

    +

    Relaxation of the resulting friction force. The default value should be good for most simulations. Default value is Equation.DEFAULT_RELAXATION.

    @@ -459,14 +460,14 @@

    frictionStiffness

    Defined in - src/material/ContactMaterial.js:78 + src/material/ContactMaterial.js:80

    -

    Stiffness of the resulting FrictionEquation that this ContactMaterial generate

    +

    Stiffness of the resulting friction force. For most cases, the value of this property should be a large number. I cannot think of any case where you would want less frictionStiffness. Default value is Equation.DEFAULT_STIFFNESS.

    @@ -559,14 +560,14 @@

    relaxation

    Defined in - src/material/ContactMaterial.js:71 + src/material/ContactMaterial.js:73

    -

    Relaxation of the resulting ContactEquation that this ContactMaterial generate

    +

    Relaxation of the resulting ContactEquation that this ContactMaterial generate. Default value is Equation.DEFAULT_RELAXATION.

    @@ -584,17 +585,18 @@

    restitution

    Defined in - src/material/ContactMaterial.js:57 + src/material/ContactMaterial.js:58

    -

    Restitution to use in the contact of these two materials

    +

    Restitution, or "bounciness" to use in the contact of these two materials. A restitution of 0 will make no bounce, while restitution=1 will approximately bounce back with the same velocity the object came with.

    +

    Default: 0

    @@ -609,14 +611,14 @@

    stiffness

    Defined in - src/material/ContactMaterial.js:64 + src/material/ContactMaterial.js:66

    -

    Stiffness of the resulting ContactEquation that this ContactMaterial generate

    +

    Hardness of the contact. Less stiffness will make the objects penetrate more, and will make the contact act more like a spring than a contact force. Default value is Equation.DEFAULT_STIFFNESS.

    @@ -634,7 +636,7 @@

    surfaceVelocity

    Defined in - src/material/ContactMaterial.js:92 + src/material/ContactMaterial.js:94

    @@ -645,6 +647,7 @@

    surfaceVelocity

    +

    Default: 0

    diff --git a/docs/classes/Convex.html b/docs/classes/Convex.html index 7248a4f5..b786eb69 100644 --- a/docs/classes/Convex.html +++ b/docs/classes/Convex.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/DistanceConstraint.html b/docs/classes/DistanceConstraint.html index be80cb43..1fbf6fdc 100644 --- a/docs/classes/DistanceConstraint.html +++ b/docs/classes/DistanceConstraint.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Equation.html b/docs/classes/Equation.html index f187ed31..89db80db 100644 --- a/docs/classes/Equation.html +++ b/docs/classes/Equation.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/EventEmitter.html b/docs/classes/EventEmitter.html index 12610110..0b5e6bb6 100644 --- a/docs/classes/EventEmitter.html +++ b/docs/classes/EventEmitter.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/FrictionEquation.html b/docs/classes/FrictionEquation.html index f4489cd8..6a882304 100644 --- a/docs/classes/FrictionEquation.html +++ b/docs/classes/FrictionEquation.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/GSSolver.html b/docs/classes/GSSolver.html index 857aee6a..a21f8a6c 100644 --- a/docs/classes/GSSolver.html +++ b/docs/classes/GSSolver.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -852,7 +852,7 @@

    solve

    Solver but overwritten in - src/solver/GSSolver.js:73 + src/solver/GSSolver.js:77

    @@ -1059,18 +1059,19 @@

    frictionIterations

    Defined in - src/solver/GSSolver.js:49 + src/solver/GSSolver.js:50

    -

    Number of solver iterations that are done to approximate normal forces. When these iterations are done, friction force will be computed from the contact normal forces. These friction forces will override any other friction forces set from the World for example. - The solver will use less iterations if the solution is below the .tolerance.

    +

    Number of solver iterations that are used to approximate normal forces used for friction (F_friction = mu * F_normal). These friction forces will override any other friction forces that are set. If you set frictionIterations = 0, then this feature will be disabled.

    +

    Use only frictionIterations > 0 if the approximated normal force (F_normal = mass * gravity) is not good enough. Examples of where it can happen is in space games where gravity is zero, or in tall stacks where the normal force is large at bottom but small at top.

    +

    Default: 0

    @@ -1136,7 +1137,7 @@

    usedIterations

    Defined in - src/solver/GSSolver.js:57 + src/solver/GSSolver.js:61

    diff --git a/docs/classes/GearConstraint.html b/docs/classes/GearConstraint.html index b537638b..dd736d8f 100644 --- a/docs/classes/GearConstraint.html +++ b/docs/classes/GearConstraint.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Heightfield.html b/docs/classes/Heightfield.html index 0dbc0dbb..023c2023 100644 --- a/docs/classes/Heightfield.html +++ b/docs/classes/Heightfield.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Island.html b/docs/classes/Island.html index 4735da0b..058811b7 100644 --- a/docs/classes/Island.html +++ b/docs/classes/Island.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/IslandManager.html b/docs/classes/IslandManager.html index c2890231..556bbfbd 100644 --- a/docs/classes/IslandManager.html +++ b/docs/classes/IslandManager.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/IslandNode.html b/docs/classes/IslandNode.html index 9745d656..43dbe336 100644 --- a/docs/classes/IslandNode.html +++ b/docs/classes/IslandNode.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Line.html b/docs/classes/Line.html index c2443015..1880d7f8 100644 --- a/docs/classes/Line.html +++ b/docs/classes/Line.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/LinearSpring.html b/docs/classes/LinearSpring.html index dce9c815..a9fbd5ec 100644 --- a/docs/classes/LinearSpring.html +++ b/docs/classes/LinearSpring.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/LockConstraint.html b/docs/classes/LockConstraint.html index 3a25ff1b..f3214be3 100644 --- a/docs/classes/LockConstraint.html +++ b/docs/classes/LockConstraint.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Material.html b/docs/classes/Material.html index e79c2d4e..e2196c29 100644 --- a/docs/classes/Material.html +++ b/docs/classes/Material.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/NaiveBroadphase.html b/docs/classes/NaiveBroadphase.html index 52c20ac1..93d9c248 100644 --- a/docs/classes/NaiveBroadphase.html +++ b/docs/classes/NaiveBroadphase.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Narrowphase.html b/docs/classes/Narrowphase.html index 059d4093..c15b0cba 100644 --- a/docs/classes/Narrowphase.html +++ b/docs/classes/Narrowphase.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Object pooling utility..html b/docs/classes/Object pooling utility..html index 52b21d9e..8e75be7a 100644 --- a/docs/classes/Object pooling utility..html +++ b/docs/classes/Object pooling utility..html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/OverlapKeeper.html b/docs/classes/OverlapKeeper.html index ee793abc..24a61b52 100644 --- a/docs/classes/OverlapKeeper.html +++ b/docs/classes/OverlapKeeper.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/OverlapKeeperRecord.html b/docs/classes/OverlapKeeperRecord.html index 9fb3826e..5e01c2b0 100644 --- a/docs/classes/OverlapKeeperRecord.html +++ b/docs/classes/OverlapKeeperRecord.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Particle.html b/docs/classes/Particle.html index be7b8256..140d06a0 100644 --- a/docs/classes/Particle.html +++ b/docs/classes/Particle.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Plane.html b/docs/classes/Plane.html index b111e2c0..5c8708df 100644 --- a/docs/classes/Plane.html +++ b/docs/classes/Plane.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/PrismaticConstraint.html b/docs/classes/PrismaticConstraint.html index 1a6b067f..b7527d7c 100644 --- a/docs/classes/PrismaticConstraint.html +++ b/docs/classes/PrismaticConstraint.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Ray.html b/docs/classes/Ray.html index 7063c509..08bd072e 100644 --- a/docs/classes/Ray.html +++ b/docs/classes/Ray.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/RaycastResult.html b/docs/classes/RaycastResult.html index fbfefcba..d9b92f1f 100644 --- a/docs/classes/RaycastResult.html +++ b/docs/classes/RaycastResult.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/RevoluteConstraint.html b/docs/classes/RevoluteConstraint.html index 1a4a72a2..cfa31642 100644 --- a/docs/classes/RevoluteConstraint.html +++ b/docs/classes/RevoluteConstraint.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/RotationalLockEquation.html b/docs/classes/RotationalLockEquation.html index 5e93d210..cb7af073 100644 --- a/docs/classes/RotationalLockEquation.html +++ b/docs/classes/RotationalLockEquation.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/RotationalSpring.html b/docs/classes/RotationalSpring.html index 4306b465..67da3a69 100644 --- a/docs/classes/RotationalSpring.html +++ b/docs/classes/RotationalSpring.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/RotationalVelocityEquation.html b/docs/classes/RotationalVelocityEquation.html index 75b66b07..08c60284 100644 --- a/docs/classes/RotationalVelocityEquation.html +++ b/docs/classes/RotationalVelocityEquation.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/SAPBroadphase.html b/docs/classes/SAPBroadphase.html index 9e0a791d..78c5f355 100644 --- a/docs/classes/SAPBroadphase.html +++ b/docs/classes/SAPBroadphase.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Shape.html b/docs/classes/Shape.html index fa26eb1b..8e05378a 100644 --- a/docs/classes/Shape.html +++ b/docs/classes/Shape.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Solver.html b/docs/classes/Solver.html index d52bd01f..31a91fb5 100644 --- a/docs/classes/Solver.html +++ b/docs/classes/Solver.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Spring.html b/docs/classes/Spring.html index 63c9f9f2..29cd77e0 100644 --- a/docs/classes/Spring.html +++ b/docs/classes/Spring.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/TopDownVehicle.html b/docs/classes/TopDownVehicle.html index d3db41d1..c1b06c04 100644 --- a/docs/classes/TopDownVehicle.html +++ b/docs/classes/TopDownVehicle.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/TupleDictionary.html b/docs/classes/TupleDictionary.html index 4be9b04e..71d06a1d 100644 --- a/docs/classes/TupleDictionary.html +++ b/docs/classes/TupleDictionary.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/Utils.html b/docs/classes/Utils.html index aa3d2a4d..758d8fa9 100644 --- a/docs/classes/Utils.html +++ b/docs/classes/Utils.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/WheelConstraint.html b/docs/classes/WheelConstraint.html index 1339da54..8e9fa95d 100644 --- a/docs/classes/WheelConstraint.html +++ b/docs/classes/WheelConstraint.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/World.html b/docs/classes/World.html index ecfeff3c..ed8846e8 100644 --- a/docs/classes/World.html +++ b/docs/classes/World.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -1572,7 +1572,7 @@

    raycast

    Defined in - src/world/World.js:1228 + src/world/World.js:1229

    @@ -2065,7 +2065,7 @@

    setGlobalRelaxation

    Defined in - src/world/World.js:1197 + src/world/World.js:1198

    @@ -2118,7 +2118,7 @@

    setGlobalStiffness

    Defined in - src/world/World.js:1167 + src/world/World.js:1168

    diff --git a/docs/classes/undefined.html b/docs/classes/undefined.html index 55861806..bd849274 100644 --- a/docs/classes/undefined.html +++ b/docs/classes/undefined.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/classes/vec2.html b/docs/classes/vec2.html index 8b59fc32..353af6ca 100644 --- a/docs/classes/vec2.html +++ b/docs/classes/vec2.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/data.json b/docs/data.json index 73c2c017..c2aee520 100644 --- a/docs/data.json +++ b/docs/data.json @@ -2,7 +2,7 @@ "project": { "name": "p2.js", "description": "A JavaScript 2D physics engine.", - "version": "0.7.0" + "version": "0.7.1" }, "files": { "src/collision/AABB.js": { @@ -1366,114 +1366,116 @@ "is_constructor": 1, "extends": "EventEmitter", "params": [ - { - "name": "options.force", - "description": "", - "type": "Array", - "optional": true - }, - { - "name": "options.position", - "description": "", - "type": "Array", - "optional": true - }, - { - "name": "options.velocity", - "description": "", - "type": "Array", - "optional": true - }, - { - "name": "options.allowSleep", - "description": "", - "type": "Boolean", - "optional": true - }, - { - "name": "options.collisionResponse", - "description": "", - "type": "Boolean", - "optional": true - }, - { - "name": "options.angle", - "description": "", - "type": "Number", - "optional": true, - "optdefault": "0" - }, - { - "name": "options.angularForce", - "description": "", - "type": "Number", - "optional": true, - "optdefault": "0" - }, - { - "name": "options.angularVelocity", - "description": "", - "type": "Number", - "optional": true, - "optdefault": "0" - }, - { - "name": "options.ccdIterations", - "description": "", - "type": "Number", - "optional": true, - "optdefault": "10" - }, - { - "name": "options.ccdSpeedThreshold", - "description": "", - "type": "Number", - "optional": true, - "optdefault": "-1" - }, - { - "name": "options.fixedRotation", - "description": "", - "type": "Number", - "optional": true, - "optdefault": "false" - }, - { - "name": "options.gravityScale", - "description": "", - "type": "Number", - "optional": true - }, - { - "name": "options.id", - "description": "", - "type": "Number", - "optional": true - }, - { - "name": "options.mass", - "description": "A number >= 0. If zero, the .type will be set to Body.STATIC.", - "type": "Number", - "optional": true, - "optdefault": "0" - }, - { - "name": "options.sleepSpeedLimit", - "description": "", - "type": "Number", - "optional": true - }, - { - "name": "options.sleepTimeLimit", - "description": "", - "type": "Number", - "optional": true - }, { "name": "options", "description": "", "type": "Object", - "optional": true + "optional": true, + "props": [ + { + "name": "force", + "description": "", + "type": "Array", + "optional": true + }, + { + "name": "position", + "description": "", + "type": "Array", + "optional": true + }, + { + "name": "velocity", + "description": "", + "type": "Array", + "optional": true + }, + { + "name": "allowSleep", + "description": "", + "type": "Boolean", + "optional": true + }, + { + "name": "collisionResponse", + "description": "", + "type": "Boolean", + "optional": true + }, + { + "name": "angle", + "description": "", + "type": "Number", + "optional": true, + "optdefault": "0" + }, + { + "name": "angularForce", + "description": "", + "type": "Number", + "optional": true, + "optdefault": "0" + }, + { + "name": "angularVelocity", + "description": "", + "type": "Number", + "optional": true, + "optdefault": "0" + }, + { + "name": "ccdIterations", + "description": "", + "type": "Number", + "optional": true, + "optdefault": "10" + }, + { + "name": "ccdSpeedThreshold", + "description": "", + "type": "Number", + "optional": true, + "optdefault": "-1" + }, + { + "name": "fixedRotation", + "description": "", + "type": "Number", + "optional": true, + "optdefault": "false" + }, + { + "name": "gravityScale", + "description": "", + "type": "Number", + "optional": true + }, + { + "name": "id", + "description": "", + "type": "Number", + "optional": true + }, + { + "name": "mass", + "description": "A number >= 0. If zero, the .type will be set to Body.STATIC.", + "type": "Number", + "optional": true, + "optdefault": "0" + }, + { + "name": "sleepSpeedLimit", + "description": "", + "type": "Number", + "optional": true + }, + { + "name": "sleepTimeLimit", + "description": "", + "type": "Number", + "optional": true + } + ] } ], "example": [ @@ -5444,6 +5446,16 @@ "type": "{Shape}", "class": "ContactEquation" }, + { + "file": "src/equations/ContactEquation.js", + "line": 120, + "description": "Get the relative velocity along the normal vector.", + "return": { + "description": "", + "type": "Number" + }, + "class": "ContactEquation" + }, { "file": "src/equations/Equation.js", "line": 18, @@ -5923,25 +5935,27 @@ { "file": "src/material/ContactMaterial.js", "line": 50, - "description": "Friction to use in the contact of these two materials", + "description": "Friction coefficient to use in the contact of these two materials. Friction = 0 will make the involved objects super slippery, and friction = 1 will make it much less slippery. A friction coefficient larger than 1 will allow for very large friction forces, which can be convenient for preventing car tires not slip on the ground.", "itemtype": "property", "name": "friction", "type": "{Number}", + "default": "0.3", "class": "ContactMaterial" }, { "file": "src/material/ContactMaterial.js", - "line": 57, - "description": "Restitution to use in the contact of these two materials", + "line": 58, + "description": "Restitution, or \"bounciness\" to use in the contact of these two materials. A restitution of 0 will make no bounce, while restitution=1 will approximately bounce back with the same velocity the object came with.", "itemtype": "property", "name": "restitution", "type": "{Number}", + "default": "0", "class": "ContactMaterial" }, { "file": "src/material/ContactMaterial.js", - "line": 64, - "description": "Stiffness of the resulting ContactEquation that this ContactMaterial generate", + "line": 66, + "description": "Hardness of the contact. Less stiffness will make the objects penetrate more, and will make the contact act more like a spring than a contact force. Default value is {{#crossLink \"Equation/DEFAULT_STIFFNESS:property\"}}Equation.DEFAULT_STIFFNESS{{/crossLink}}.", "itemtype": "property", "name": "stiffness", "type": "{Number}", @@ -5949,8 +5963,8 @@ }, { "file": "src/material/ContactMaterial.js", - "line": 71, - "description": "Relaxation of the resulting ContactEquation that this ContactMaterial generate", + "line": 73, + "description": "Relaxation of the resulting ContactEquation that this ContactMaterial generate. Default value is {{#crossLink \"Equation/DEFAULT_RELAXATION:property\"}}Equation.DEFAULT_RELAXATION{{/crossLink}}.", "itemtype": "property", "name": "relaxation", "type": "{Number}", @@ -5958,8 +5972,8 @@ }, { "file": "src/material/ContactMaterial.js", - "line": 78, - "description": "Stiffness of the resulting FrictionEquation that this ContactMaterial generate", + "line": 80, + "description": "Stiffness of the resulting friction force. For most cases, the value of this property should be a large number. I cannot think of any case where you would want less frictionStiffness. Default value is {{#crossLink \"Equation/DEFAULT_STIFFNESS:property\"}}Equation.DEFAULT_STIFFNESS{{/crossLink}}.", "itemtype": "property", "name": "frictionStiffness", "type": "{Number}", @@ -5967,8 +5981,8 @@ }, { "file": "src/material/ContactMaterial.js", - "line": 85, - "description": "Relaxation of the resulting FrictionEquation that this ContactMaterial generate", + "line": 87, + "description": "Relaxation of the resulting friction force. The default value should be good for most simulations. Default value is {{#crossLink \"Equation/DEFAULT_RELAXATION:property\"}}Equation.DEFAULT_RELAXATION{{/crossLink}}.", "itemtype": "property", "name": "frictionRelaxation", "type": "{Number}", @@ -5976,16 +5990,17 @@ }, { "file": "src/material/ContactMaterial.js", - "line": 92, + "line": 94, "description": "Will add surface velocity to this material. If bodyA rests on top if bodyB, and the surface velocity is positive, bodyA will slide to the right.", "itemtype": "property", "name": "surfaceVelocity", "type": "Number", + "default": "0", "class": "ContactMaterial" }, { "file": "src/material/ContactMaterial.js", - "line": 98, + "line": 101, "description": "Offset to be set on ContactEquations. A positive value will make the bodies penetrate more into each other. Can be useful in scenes where contacts need to be more persistent, for example when stacking. Aka \"cure for nervous contacts\".", "itemtype": "property", "name": "contactSkinSize", @@ -7467,7 +7482,8 @@ { "name": "localPoint", "description": "A point relative to the body in world space. If not given, it is set to zero and all of the impulse will be excerted on the center of mass.", - "type": "Array" + "type": "Array", + "optional": true } ], "class": "Body" @@ -9222,20 +9238,25 @@ "itemtype": "property", "name": "useZeroRHS", "type": "{Boolean}", + "todo": [ + "Remove", + "not used" + ], "class": "GSSolver" }, { "file": "src/solver/GSSolver.js", - "line": 49, - "description": "Number of solver iterations that are done to approximate normal forces. When these iterations are done, friction force will be computed from the contact normal forces. These friction forces will override any other friction forces set from the World for example.\nThe solver will use less iterations if the solution is below the .tolerance.", + "line": 50, + "description": "Number of solver iterations that are used to approximate normal forces used for friction (F_friction = mu * F_normal). These friction forces will override any other friction forces that are set. If you set frictionIterations = 0, then this feature will be disabled.\n\nUse only frictionIterations > 0 if the approximated normal force (F_normal = mass * gravity) is not good enough. Examples of where it can happen is in space games where gravity is zero, or in tall stacks where the normal force is large at bottom but small at top.", "itemtype": "property", "name": "frictionIterations", "type": "{Number}", + "default": "0", "class": "GSSolver" }, { "file": "src/solver/GSSolver.js", - "line": 57, + "line": 61, "description": "The number of iterations that were made during the last solve. If .tolerance is zero, this value will always be equal to .iterations, but if .tolerance is larger than zero, and the solver can quit early, then this number will be somewhere between 1 and .iterations.", "itemtype": "property", "name": "usedIterations", @@ -9244,7 +9265,7 @@ }, { "file": "src/solver/GSSolver.js", - "line": 73, + "line": 77, "description": "Solve the system of equations", "itemtype": "method", "name": "solve", @@ -11011,13 +11032,14 @@ }, "todo": [ "Should use an api similar to the raycast function", - "Should probably implement a .containsPoint method for all shapes. Would be more efficient" + "Should probably implement a .containsPoint method for all shapes. Would be more efficient", + "Should use the broadphase" ], "class": "World" }, { "file": "src/world/World.js", - "line": 1167, + "line": 1168, "description": "Set the stiffness for all equations and contact materials.", "itemtype": "method", "name": "setGlobalStiffness", @@ -11032,7 +11054,7 @@ }, { "file": "src/world/World.js", - "line": 1197, + "line": 1198, "description": "Set the relaxation for all equations and contact materials.", "itemtype": "method", "name": "setGlobalRelaxation", @@ -11047,7 +11069,7 @@ }, { "file": "src/world/World.js", - "line": 1228, + "line": 1229, "description": "Ray cast against all bodies in the world.", "itemtype": "method", "name": "raycast", @@ -11074,5 +11096,10 @@ "class": "World" } ], - "warnings": [] + "warnings": [ + { + "message": "Missing item type\nGet the relative velocity along the normal vector.", + "line": " src/equations/ContactEquation.js:120" + } + ] } \ No newline at end of file diff --git a/docs/files/src_collision_AABB.js.html b/docs/files/src_collision_AABB.js.html index 834b209f..3cd7e4f7 100644 --- a/docs/files/src_collision_AABB.js.html +++ b/docs/files/src_collision_AABB.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_collision_Broadphase.js.html b/docs/files/src_collision_Broadphase.js.html index 7f4d3e7f..290eacfd 100644 --- a/docs/files/src_collision_Broadphase.js.html +++ b/docs/files/src_collision_Broadphase.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_collision_NaiveBroadphase.js.html b/docs/files/src_collision_NaiveBroadphase.js.html index b0dbca3a..355c942c 100644 --- a/docs/files/src_collision_NaiveBroadphase.js.html +++ b/docs/files/src_collision_NaiveBroadphase.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_collision_Narrowphase.js.html b/docs/files/src_collision_Narrowphase.js.html index acfecba1..d835479f 100644 --- a/docs/files/src_collision_Narrowphase.js.html +++ b/docs/files/src_collision_Narrowphase.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_collision_Ray.js.html b/docs/files/src_collision_Ray.js.html index 5a80e481..853ac9bf 100644 --- a/docs/files/src_collision_Ray.js.html +++ b/docs/files/src_collision_Ray.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_collision_RaycastResult.js.html b/docs/files/src_collision_RaycastResult.js.html index eb49447a..a906fe64 100644 --- a/docs/files/src_collision_RaycastResult.js.html +++ b/docs/files/src_collision_RaycastResult.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_collision_SAPBroadphase.js.html b/docs/files/src_collision_SAPBroadphase.js.html index 7a3b6f19..fd5145b9 100644 --- a/docs/files/src_collision_SAPBroadphase.js.html +++ b/docs/files/src_collision_SAPBroadphase.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_constraints_Constraint.js.html b/docs/files/src_constraints_Constraint.js.html index a07c2572..b746b655 100644 --- a/docs/files/src_constraints_Constraint.js.html +++ b/docs/files/src_constraints_Constraint.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_constraints_DistanceConstraint.js.html b/docs/files/src_constraints_DistanceConstraint.js.html index d318838a..89939fda 100644 --- a/docs/files/src_constraints_DistanceConstraint.js.html +++ b/docs/files/src_constraints_DistanceConstraint.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_constraints_GearConstraint.js.html b/docs/files/src_constraints_GearConstraint.js.html index a2212025..736df39d 100644 --- a/docs/files/src_constraints_GearConstraint.js.html +++ b/docs/files/src_constraints_GearConstraint.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_constraints_LockConstraint.js.html b/docs/files/src_constraints_LockConstraint.js.html index 655d5a85..7651c9e0 100644 --- a/docs/files/src_constraints_LockConstraint.js.html +++ b/docs/files/src_constraints_LockConstraint.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_constraints_PrismaticConstraint.js.html b/docs/files/src_constraints_PrismaticConstraint.js.html index 73d2fc4b..4c61d933 100644 --- a/docs/files/src_constraints_PrismaticConstraint.js.html +++ b/docs/files/src_constraints_PrismaticConstraint.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_constraints_RevoluteConstraint.js.html b/docs/files/src_constraints_RevoluteConstraint.js.html index a9f8224a..105ac2b6 100644 --- a/docs/files/src_constraints_RevoluteConstraint.js.html +++ b/docs/files/src_constraints_RevoluteConstraint.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_equations_AngleLockEquation.js.html b/docs/files/src_equations_AngleLockEquation.js.html index d68445ae..cd31fc8a 100644 --- a/docs/files/src_equations_AngleLockEquation.js.html +++ b/docs/files/src_equations_AngleLockEquation.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_equations_ContactEquation.js.html b/docs/files/src_equations_ContactEquation.js.html index d531e44e..4db5f585 100644 --- a/docs/files/src_equations_ContactEquation.js.html +++ b/docs/files/src_equations_ContactEquation.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -243,6 +243,23 @@

    File: src/equations/ContactEquation.js

    return B; }; +var vi = vec2.create(); +var vj = vec2.create(); +var relVel = vec2.create(); + +/** + * Get the relative velocity along the normal vector. + * @return {number} + */ +ContactEquation.prototype.getVelocityAlongNormal = function(){ + + this.bodyA.getVelocityAtPoint(vi, this.contactPointA); + this.bodyB.getVelocityAtPoint(vj, this.contactPointB); + + vec2.subtract(relVel, vi, vj); + + return vec2.dot(this.normalA, relVel); +};
    diff --git a/docs/files/src_equations_Equation.js.html b/docs/files/src_equations_Equation.js.html index 8733d538..b3bdc640 100644 --- a/docs/files/src_equations_Equation.js.html +++ b/docs/files/src_equations_Equation.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_equations_FrictionEquation.js.html b/docs/files/src_equations_FrictionEquation.js.html index 5773cca5..e164aca0 100644 --- a/docs/files/src_equations_FrictionEquation.js.html +++ b/docs/files/src_equations_FrictionEquation.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_equations_RotationalLockEquation.js.html b/docs/files/src_equations_RotationalLockEquation.js.html index 4505625f..fdd196ba 100644 --- a/docs/files/src_equations_RotationalLockEquation.js.html +++ b/docs/files/src_equations_RotationalLockEquation.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_equations_RotationalVelocityEquation.js.html b/docs/files/src_equations_RotationalVelocityEquation.js.html index a3a9f645..a760edb6 100644 --- a/docs/files/src_equations_RotationalVelocityEquation.js.html +++ b/docs/files/src_equations_RotationalVelocityEquation.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_events_EventEmitter.js.html b/docs/files/src_events_EventEmitter.js.html index 0b70f888..6b195ff4 100644 --- a/docs/files/src_events_EventEmitter.js.html +++ b/docs/files/src_events_EventEmitter.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_material_ContactMaterial.js.html b/docs/files/src_material_ContactMaterial.js.html index 565b5b5f..648ef30b 100644 --- a/docs/files/src_material_ContactMaterial.js.html +++ b/docs/files/src_material_ContactMaterial.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -178,52 +178,55 @@

    File: src/material/ContactMaterial.js

    this.materialB = materialB; /** - * Friction to use in the contact of these two materials + * Friction coefficient to use in the contact of these two materials. Friction = 0 will make the involved objects super slippery, and friction = 1 will make it much less slippery. A friction coefficient larger than 1 will allow for very large friction forces, which can be convenient for preventing car tires not slip on the ground. * @property friction * @type {Number} + * @default 0.3 */ - this.friction = typeof(options.friction) !== "undefined" ? Number(options.friction) : 0.3; + this.friction = typeof(options.friction) !== "undefined" ? Number(options.friction) : 0.3; /** - * Restitution to use in the contact of these two materials + * Restitution, or "bounciness" to use in the contact of these two materials. A restitution of 0 will make no bounce, while restitution=1 will approximately bounce back with the same velocity the object came with. * @property restitution * @type {Number} + * @default 0 */ - this.restitution = typeof(options.restitution) !== "undefined" ? Number(options.restitution) : 0.0; + this.restitution = typeof(options.restitution) !== "undefined" ? Number(options.restitution) : 0; /** - * Stiffness of the resulting ContactEquation that this ContactMaterial generate + * Hardness of the contact. Less stiffness will make the objects penetrate more, and will make the contact act more like a spring than a contact force. Default value is {{#crossLink "Equation/DEFAULT_STIFFNESS:property"}}Equation.DEFAULT_STIFFNESS{{/crossLink}}. * @property stiffness * @type {Number} */ - this.stiffness = typeof(options.stiffness) !== "undefined" ? Number(options.stiffness) : Equation.DEFAULT_STIFFNESS; + this.stiffness = typeof(options.stiffness) !== "undefined" ? Number(options.stiffness) : Equation.DEFAULT_STIFFNESS; /** - * Relaxation of the resulting ContactEquation that this ContactMaterial generate + * Relaxation of the resulting ContactEquation that this ContactMaterial generate. Default value is {{#crossLink "Equation/DEFAULT_RELAXATION:property"}}Equation.DEFAULT_RELAXATION{{/crossLink}}. * @property relaxation * @type {Number} */ - this.relaxation = typeof(options.relaxation) !== "undefined" ? Number(options.relaxation) : Equation.DEFAULT_RELAXATION; + this.relaxation = typeof(options.relaxation) !== "undefined" ? Number(options.relaxation) : Equation.DEFAULT_RELAXATION; /** - * Stiffness of the resulting FrictionEquation that this ContactMaterial generate + * Stiffness of the resulting friction force. For most cases, the value of this property should be a large number. I cannot think of any case where you would want less frictionStiffness. Default value is {{#crossLink "Equation/DEFAULT_STIFFNESS:property"}}Equation.DEFAULT_STIFFNESS{{/crossLink}}. * @property frictionStiffness * @type {Number} */ - this.frictionStiffness = typeof(options.frictionStiffness) !== "undefined" ? Number(options.frictionStiffness) : Equation.DEFAULT_STIFFNESS; + this.frictionStiffness = typeof(options.frictionStiffness) !== "undefined" ? Number(options.frictionStiffness) : Equation.DEFAULT_STIFFNESS; /** - * Relaxation of the resulting FrictionEquation that this ContactMaterial generate + * Relaxation of the resulting friction force. The default value should be good for most simulations. Default value is {{#crossLink "Equation/DEFAULT_RELAXATION:property"}}Equation.DEFAULT_RELAXATION{{/crossLink}}. * @property frictionRelaxation * @type {Number} */ - this.frictionRelaxation = typeof(options.frictionRelaxation) !== "undefined" ? Number(options.frictionRelaxation) : Equation.DEFAULT_RELAXATION; + this.frictionRelaxation = typeof(options.frictionRelaxation) !== "undefined" ? Number(options.frictionRelaxation) : Equation.DEFAULT_RELAXATION; /** * Will add surface velocity to this material. If bodyA rests on top if bodyB, and the surface velocity is positive, bodyA will slide to the right. * @property {Number} surfaceVelocity + * @default 0 */ - this.surfaceVelocity = typeof(options.surfaceVelocity) !== "undefined" ? Number(options.surfaceVelocity) : 0; + this.surfaceVelocity = typeof(options.surfaceVelocity) !== "undefined" ? Number(options.surfaceVelocity) : 0; /** * Offset to be set on ContactEquations. A positive value will make the bodies penetrate more into each other. Can be useful in scenes where contacts need to be more persistent, for example when stacking. Aka "cure for nervous contacts". diff --git a/docs/files/src_material_Material.js.html b/docs/files/src_material_Material.js.html index 2e030c8c..8093fe60 100644 --- a/docs/files/src_material_Material.js.html +++ b/docs/files/src_material_Material.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_math_vec2.js.html b/docs/files/src_math_vec2.js.html index b1649ad2..c86b7272 100644 --- a/docs/files/src_math_vec2.js.html +++ b/docs/files/src_math_vec2.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_objects_Body.js.html b/docs/files/src_objects_Body.js.html index 8de87938..28843c7c 100644 --- a/docs/files/src_objects_Body.js.html +++ b/docs/files/src_objects_Body.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -145,6 +145,7 @@

    File: src/objects/Body.js

    * @class Body * @constructor * @extends EventEmitter + * @param {Object} [options] * @param {Array} [options.force] * @param {Array} [options.position] * @param {Array} [options.velocity] @@ -161,7 +162,6 @@

    File: src/objects/Body.js

    * @param {Number} [options.mass=0] A number >= 0. If zero, the .type will be set to Body.STATIC. * @param {Number} [options.sleepSpeedLimit] * @param {Number} [options.sleepTimeLimit] - * @param {Object} [options] * * @example * @@ -798,7 +798,7 @@

    File: src/objects/Body.js

    * Apply force to a body-local point. * @method applyForceLocal * @param {Array} localForce The force vector to add, oriented in local body space. - * @param {Array} localPoint A point relative to the body in world space. If not given, it is set to zero and all of the impulse will be excerted on the center of mass. + * @param {Array} [localPoint] A point relative to the body in world space. If not given, it is set to zero and all of the impulse will be excerted on the center of mass. */ var Body_applyForce_forceWorld = vec2.create(); var Body_applyForce_pointWorld = vec2.create(); diff --git a/docs/files/src_objects_LinearSpring.js.html b/docs/files/src_objects_LinearSpring.js.html index 2be58756..95c03764 100644 --- a/docs/files/src_objects_LinearSpring.js.html +++ b/docs/files/src_objects_LinearSpring.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_objects_RotationalSpring.js.html b/docs/files/src_objects_RotationalSpring.js.html index f7a40691..1a457f99 100644 --- a/docs/files/src_objects_RotationalSpring.js.html +++ b/docs/files/src_objects_RotationalSpring.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_objects_Spring.js.html b/docs/files/src_objects_Spring.js.html index b18878dd..f8b6bf6f 100644 --- a/docs/files/src_objects_Spring.js.html +++ b/docs/files/src_objects_Spring.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_objects_TopDownVehicle.js.html b/docs/files/src_objects_TopDownVehicle.js.html index eea9101d..3826bf01 100644 --- a/docs/files/src_objects_TopDownVehicle.js.html +++ b/docs/files/src_objects_TopDownVehicle.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Box.js.html b/docs/files/src_shapes_Box.js.html index 303cf1d7..dbf9605d 100644 --- a/docs/files/src_shapes_Box.js.html +++ b/docs/files/src_shapes_Box.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Capsule.js.html b/docs/files/src_shapes_Capsule.js.html index 4e88d8aa..61dde8ed 100644 --- a/docs/files/src_shapes_Capsule.js.html +++ b/docs/files/src_shapes_Capsule.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Circle.js.html b/docs/files/src_shapes_Circle.js.html index 4ee8c353..e5a84868 100644 --- a/docs/files/src_shapes_Circle.js.html +++ b/docs/files/src_shapes_Circle.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Convex.js.html b/docs/files/src_shapes_Convex.js.html index a7fc62ca..1fc78758 100644 --- a/docs/files/src_shapes_Convex.js.html +++ b/docs/files/src_shapes_Convex.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Heightfield.js.html b/docs/files/src_shapes_Heightfield.js.html index c1b0e139..6b0377c5 100644 --- a/docs/files/src_shapes_Heightfield.js.html +++ b/docs/files/src_shapes_Heightfield.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Line.js.html b/docs/files/src_shapes_Line.js.html index 480883d3..40b7d7a9 100644 --- a/docs/files/src_shapes_Line.js.html +++ b/docs/files/src_shapes_Line.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Particle.js.html b/docs/files/src_shapes_Particle.js.html index bab1ca50..34ca15b9 100644 --- a/docs/files/src_shapes_Particle.js.html +++ b/docs/files/src_shapes_Particle.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_shapes_Plane.js.html b/docs/files/src_shapes_Plane.js.html index 61ea118e..c82022f3 100644 --- a/docs/files/src_shapes_Plane.js.html +++ b/docs/files/src_shapes_Plane.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -174,42 +174,42 @@

    File: src/shapes/Plane.js

    Plane.prototype.computeAABB = function(out, position, angle){ var a = angle % (2 * Math.PI); var set = vec2.set; - var max = Number.MAX_VALUE; + var max = 1e7; var lowerBound = out.lowerBound; var upperBound = out.upperBound; + // Set max bounds + set(lowerBound, -max, -max); + set(upperBound, max, max); + if(a === 0){ // y goes from -inf to 0 - set(lowerBound, -max, -max); - set(upperBound, max, 0); + upperBound[1] = 0; + // set(lowerBound, -max, -max); + // set(upperBound, max, 0); } else if(a === Math.PI / 2){ // x goes from 0 to inf - set(lowerBound, 0, -max); - set(upperBound, max, max); + lowerBound[0] = 0; + // set(lowerBound, 0, -max); + // set(upperBound, max, max); } else if(a === Math.PI){ // y goes from 0 to inf - set(lowerBound, -max, 0); - set(upperBound, max, max); + lowerBound[1] = 0; + // set(lowerBound, -max, 0); + // set(upperBound, max, max); } else if(a === 3*Math.PI/2){ // x goes from -inf to 0 - set(lowerBound, -max, -max); - set(upperBound, 0, max); - - } else { + upperBound[0] = 0; + // set(lowerBound, -max, -max); + // set(upperBound, 0, max); - // Set max bounds - set(lowerBound, -max, -max); - set(upperBound, max, max); } - - vec2.add(lowerBound, lowerBound, position); - vec2.add(upperBound, upperBound, position); }; Plane.prototype.updateArea = function(){ diff --git a/docs/files/src_shapes_Shape.js.html b/docs/files/src_shapes_Shape.js.html index 8bb404db..0ea38a3f 100644 --- a/docs/files/src_shapes_Shape.js.html +++ b/docs/files/src_shapes_Shape.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_solver_GSSolver.js.html b/docs/files/src_solver_GSSolver.js.html index 0b187c5f..b35ebf74 100644 --- a/docs/files/src_solver_GSSolver.js.html +++ b/docs/files/src_solver_GSSolver.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -173,16 +173,20 @@

    File: src/solver/GSSolver.js

    * Set to true to set all right hand side terms to zero when solving. Can be handy for a few applications. * @property useZeroRHS * @type {Boolean} + * @todo Remove, not used */ this.useZeroRHS = false; /** - * Number of solver iterations that are done to approximate normal forces. When these iterations are done, friction force will be computed from the contact normal forces. These friction forces will override any other friction forces set from the World for example. - * The solver will use less iterations if the solution is below the .tolerance. + * Number of solver iterations that are used to approximate normal forces used for friction (F_friction = mu * F_normal). These friction forces will override any other friction forces that are set. If you set frictionIterations = 0, then this feature will be disabled. + * + * Use only frictionIterations > 0 if the approximated normal force (F_normal = mass * gravity) is not good enough. Examples of where it can happen is in space games where gravity is zero, or in tall stacks where the normal force is large at bottom but small at top. + * * @property frictionIterations * @type {Number} + * @default 0 */ - this.frictionIterations = 0; + this.frictionIterations = options.frictionIterations !== undefined ? 0 : options.frictionIterations; /** * The number of iterations that were made during the last solve. If .tolerance is zero, this value will always be equal to .iterations, but if .tolerance is larger than zero, and the solver can quit early, then this number will be somewhere between 1 and .iterations. diff --git a/docs/files/src_solver_Solver.js.html b/docs/files/src_solver_Solver.js.html index 53e10647..3f92e998 100644 --- a/docs/files/src_solver_Solver.js.html +++ b/docs/files/src_solver_Solver.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_ContactEquationPool.js.html b/docs/files/src_utils_ContactEquationPool.js.html index b2ccda56..e003f910 100644 --- a/docs/files/src_utils_ContactEquationPool.js.html +++ b/docs/files/src_utils_ContactEquationPool.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_FrictionEquationPool.js.html b/docs/files/src_utils_FrictionEquationPool.js.html index 468e6504..95fb8214 100644 --- a/docs/files/src_utils_FrictionEquationPool.js.html +++ b/docs/files/src_utils_FrictionEquationPool.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_IslandNodePool.js.html b/docs/files/src_utils_IslandNodePool.js.html index 5ca55752..094e786e 100644 --- a/docs/files/src_utils_IslandNodePool.js.html +++ b/docs/files/src_utils_IslandNodePool.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_IslandPool.js.html b/docs/files/src_utils_IslandPool.js.html index 9b5d1e56..d955d007 100644 --- a/docs/files/src_utils_IslandPool.js.html +++ b/docs/files/src_utils_IslandPool.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_OverlapKeeper.js.html b/docs/files/src_utils_OverlapKeeper.js.html index 52f73d88..4013f013 100644 --- a/docs/files/src_utils_OverlapKeeper.js.html +++ b/docs/files/src_utils_OverlapKeeper.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_OverlapKeeperRecord.js.html b/docs/files/src_utils_OverlapKeeperRecord.js.html index 9965a607..481998e6 100644 --- a/docs/files/src_utils_OverlapKeeperRecord.js.html +++ b/docs/files/src_utils_OverlapKeeperRecord.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_OverlapKeeperRecordPool.js.html b/docs/files/src_utils_OverlapKeeperRecordPool.js.html index 45b33690..10504141 100644 --- a/docs/files/src_utils_OverlapKeeperRecordPool.js.html +++ b/docs/files/src_utils_OverlapKeeperRecordPool.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_Pool.js.html b/docs/files/src_utils_Pool.js.html index 668493f7..ccf06190 100644 --- a/docs/files/src_utils_Pool.js.html +++ b/docs/files/src_utils_Pool.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_TupleDictionary.js.html b/docs/files/src_utils_TupleDictionary.js.html index b9093063..d2e15c9c 100644 --- a/docs/files/src_utils_TupleDictionary.js.html +++ b/docs/files/src_utils_TupleDictionary.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_utils_Utils.js.html b/docs/files/src_utils_Utils.js.html index 4fe0a03a..e131ee52 100644 --- a/docs/files/src_utils_Utils.js.html +++ b/docs/files/src_utils_Utils.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_world_Island.js.html b/docs/files/src_world_Island.js.html index f5c469ab..54384440 100644 --- a/docs/files/src_world_Island.js.html +++ b/docs/files/src_world_Island.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_world_IslandManager.js.html b/docs/files/src_world_IslandManager.js.html index 85c0783c..c7cdb4dd 100644 --- a/docs/files/src_world_IslandManager.js.html +++ b/docs/files/src_world_IslandManager.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_world_IslandNode.js.html b/docs/files/src_world_IslandNode.js.html index 472ddf15..3b992ed7 100644 --- a/docs/files/src_world_IslandNode.js.html +++ b/docs/files/src_world_IslandNode.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/docs/files/src_world_World.js.html b/docs/files/src_world_World.js.html index bcd378db..3b2e98ba 100644 --- a/docs/files/src_world_World.js.html +++ b/docs/files/src_world_World.js.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    @@ -1251,6 +1251,7 @@

    File: src/world/World.js

    * @return {Array} Array of bodies that overlap the point * @todo Should use an api similar to the raycast function * @todo Should probably implement a .containsPoint method for all shapes. Would be more efficient + * @todo Should use the broadphase */ World.prototype.hitTest = function(worldPoint,bodies,precision){ precision = precision || 0; diff --git a/docs/index.html b/docs/index.html index 0ee612b3..d7832525 100644 --- a/docs/index.html +++ b/docs/index.html @@ -17,7 +17,7 @@

    - API Docs for: 0.7.0 + API Docs for: 0.7.1
    diff --git a/package.json b/package.json index ddbeb83f..6bc3457e 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "p2", - "version": "0.7.0", + "version": "0.7.1", "description": "A JavaScript 2D physics engine.", "author": "Stefan Hedman (http://steffe.se)", "keywords": [ diff --git a/src/objects/Body.js b/src/objects/Body.js index be0af8a5..8335f484 100644 --- a/src/objects/Body.js +++ b/src/objects/Body.js @@ -15,6 +15,7 @@ module.exports = Body; * @class Body * @constructor * @extends EventEmitter + * @param {Object} [options] * @param {Array} [options.force] * @param {Array} [options.position] * @param {Array} [options.velocity] @@ -31,7 +32,6 @@ module.exports = Body; * @param {Number} [options.mass=0] A number >= 0. If zero, the .type will be set to Body.STATIC. * @param {Number} [options.sleepSpeedLimit] * @param {Number} [options.sleepTimeLimit] - * @param {Object} [options] * * @example *