/* Phaser Box2D Plugin by Photon Storm. Built: 2015-07-07 */
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d.x=b*e-c*f,d.y=c*e+b*f,d},box2d.b2RotateRadiansV=function(a,b,c){return box2d.b2RotateV(a,Math.cos(b),Math.sin(b),c)},box2d.b2RotateDegreesV=function(a,b,c){return box2d.b2RotateRadiansV(a,box2d.b2DegToRad(b),c)},box2d.b2DotVV=function(a,b){return a.x*b.x+a.y*b.y},box2d.b2CrossVV=function(a,b){return a.x*b.y-a.y*b.x},box2d.b2CrossVS=function(a,b,c){var d=a.x;return c.x=b*a.y,c.y=-b*d,c},box2d.b2CrossVOne=function(a,b){var c=a.x;return b.x=a.y,b.y=-c,b},box2d.b2CrossSV=function(a,b,c){var d=b.x;return c.x=-a*b.y,c.y=a*d,c},box2d.b2CrossOneV=function(a,b){var c=a.x;return b.x=-a.y,b.y=c,b},box2d.b2AddVV=function(a,b,c){return c.x=a.x+b.x,c.y=a.y+b.y,c},box2d.b2SubVV=function(a,b,c){return c.x=a.x-b.x,c.y=a.y-b.y,c},box2d.b2MulSV=function(a,b,c){return c.x=b.x*a,c.y=b.y*a,c},box2d.b2AddVMulSV=function(a,b,c,d){return d.x=a.x+b*c.x,d.y=a.y+b*c.y,d},box2d.b2SubVMulSV=function(a,b,c,d){return d.x=a.x-b*c.x,d.y=a.y-b*c.y,d},box2d.b2AddVCrossSV=function(a,b,c,d){var e=c.x;return d.x=a.x-b*c.y,d.y=a.y+b*e,d},box2d.b2MidVV=function(a,b,c){return c.x=.5*(a.x+b.x),c.y=.5*(a.y+b.y),c},box2d.b2ExtVV=function(a,b,c){return c.x=.5*(b.x-a.x),c.y=.5*(b.y-a.y),c},box2d.b2IsEqualToV=function(a,b){return a.x===b.x&&a.y===b.y},box2d.b2DistanceVV=function(a,b){var c=a.x-b.x,d=a.y-b.y;return Math.sqrt(c*c+d*d)},box2d.b2DistanceSquaredVV=function(a,b){var c=a.x-b.x,d=a.y-b.y;return c*c+d*d},box2d.b2NegV=function(a,b){return b.x=-a.x,b.y=-a.y,b},box2d.b2Vec3=function(a,b,c){this.x=a||0,this.y=b||0,this.z=c||0},box2d.b2Vec3.prototype.x=0,box2d.b2Vec3.prototype.y=0,box2d.b2Vec3.prototype.z=0,box2d.b2Vec3.ZERO=new box2d.b2Vec3,box2d.b2Vec3.s_t0=new box2d.b2Vec3,box2d.b2Vec3.prototype.Clone=function(){return new box2d.b2Vec3(this.x,this.y,this.z)},box2d.b2Vec3.prototype.SetZero=function(){return this.x=0,this.y=0,this.z=0,this},box2d.b2Vec3.prototype.SetXYZ=function(a,b,c){return this.x=a,this.y=b,this.z=c,this},box2d.b2Vec3.prototype.Copy=function(a){return this.x=a.x,this.y=a.y,this.z=a.z,this},box2d.b2Vec3.prototype.SelfNeg=function(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this},box2d.b2Vec3.prototype.SelfAdd=function(a){return this.x+=a.x,this.y+=a.y,this.z+=a.z,this},box2d.b2Vec3.prototype.SelfAddXYZ=function(a,b,c){return this.x+=a,this.y+=b,this.z+=c,this},box2d.b2Vec3.prototype.SelfSub=function(a){return this.x-=a.x,this.y-=a.y,this.z-=a.z,this},box2d.b2Vec3.prototype.SelfSubXYZ=function(a,b,c){return this.x-=a,this.y-=b,this.z-=c,this},box2d.b2Vec3.prototype.SelfMul=function(a){return this.x*=a,this.y*=a,this.z*=a,this},box2d.b2DotV3V3=function(a,b){return a.x*b.x+a.y*b.y+a.z*b.z},box2d.b2CrossV3V3=function(a,b,c){var d=a.x,e=a.y,f=a.z,g=b.x,h=b.y,i=b.z;return c.x=e*i-f*h,c.y=f*g-d*i,c.z=d*h-e*g,c},box2d.b2Mat22=function(){this.ex=new box2d.b2Vec2(1,0),this.ey=new box2d.b2Vec2(0,1)},box2d.b2Mat22.prototype.ex=null,box2d.b2Mat22.prototype.ey=null,box2d.b2Mat22.IDENTITY=new box2d.b2Mat22,box2d.b2Mat22.prototype.Clone=function(){return(new box2d.b2Mat22).Copy(this)},box2d.b2Mat22.FromVV=function(a,b){return(new box2d.b2Mat22).SetVV(a,b)},box2d.b2Mat22.FromSSSS=function(a,b,c,d){return(new box2d.b2Mat22).SetSSSS(a,b,c,d)},box2d.b2Mat22.FromAngleRadians=function(a){return(new box2d.b2Mat22).SetAngleRadians(a)},box2d.b2Mat22.prototype.SetSSSS=function(a,b,c,d){return this.ex.SetXY(a,c),this.ey.SetXY(b,d),this},box2d.b2Mat22.prototype.SetVV=function(a,b){return this.ex.Copy(a),this.ey.Copy(b),this},box2d.b2Mat22.prototype.SetAngle=function(a){var b=Math.cos(a),c=Math.sin(a);return this.ex.SetXY(b,c),this.ey.SetXY(-c,b),this},box2d.b2Mat22.prototype.SetAngleRadians=box2d.b2Mat22.prototype.SetAngle,box2d.b2Mat22.prototype.SetAngleDegrees=function(a){return this.SetAngle(box2d.b2DegToRad(a))},box2d.b2Mat22.prototype.Copy=function(a){return this.ex.Copy(a.ex),this.ey.Copy(a.ey),this},box2d.b2Mat22.prototype.SetIdentity=function(){return this.ex.SetXY(1,0),this.ey.SetXY(0,1),this},box2d.b2Mat22.prototype.SetZero=function(){return this.ex.SetZero(),this.ey.SetZero(),this},box2d.b2Mat22.prototype.GetAngle=function(){return Math.atan2(this.ex.y,this.ex.x)},box2d.b2Mat22.prototype.GetAngleRadians=box2d.b2Mat22.prototype.GetAngle,box2d.b2Mat22.prototype.GetInverse=function(a){var b=this.ex.x,c=this.ey.x,d=this.ex.y,e=this.ey.y,f=b*e-c*d;return 0!==f&&(f=1/f),a.ex.x=f*e,a.ey.x=-f*c,a.ex.y=-f*d,a.ey.y=f*b,a},box2d.b2Mat22.prototype.Solve=function(a,b,c){var d=this.ex.x,e=this.ey.x,f=this.ex.y,g=this.ey.y,h=d*g-e*f;return 0!==h&&(h=1/h),c.x=h*(g*a-e*b),c.y=h*(d*b-f*a),c},box2d.b2Mat22.prototype.SelfAbs=function(){return this.ex.SelfAbs(),this.ey.SelfAbs(),this},box2d.b2Mat22.prototype.SelfInv=function(){return this.GetInverse(this)},box2d.b2Mat22.prototype.SelfAddM=function(a){return this.ex.SelfAdd(a.ex),this.ey.SelfAdd(a.ey),this},box2d.b2Mat22.prototype.SelfSubM=function(a){return this.ex.SelfSub(a.ex),this.ey.SelfSub(a.ey),this},box2d.b2AbsM=function(a,b){var c=a.ex,d=a.ey;return b.ex.x=box2d.b2Abs(c.x),b.ex.y=box2d.b2Abs(c.y),b.ey.x=box2d.b2Abs(d.x),b.ey.y=box2d.b2Abs(d.y),b},box2d.b2MulMV=function(a,b,c){var d=a.ex,e=a.ey,f=b.x,g=b.y;return c.x=d.x*f+e.x*g,c.y=d.y*f+e.y*g,c},box2d.b2MulTMV=function(a,b,c){var d=a.ex,e=a.ey,f=b.x,g=b.y;return c.x=d.x*f+d.y*g,c.y=e.x*f+e.y*g,c},box2d.b2AddMM=function(a,b,c){var d=a.ex,e=a.ey,f=b.ex,g=b.ey;return c.ex.x=d.x+f.x,c.ex.y=d.y+f.y,c.ey.x=e.x+g.x,c.ey.y=e.y+g.y,c},box2d.b2MulMM=function(a,b,c){var d=a.ex.x,e=a.ex.y,f=a.ey.x,g=a.ey.y,h=b.ex.x,i=b.ex.y,j=b.ey.x,k=b.ey.y;return c.ex.x=d*h+f*i,c.ex.y=e*h+g*i,c.ey.x=d*j+f*k,c.ey.y=e*j+g*k,c},box2d.b2MulTMM=function(a,b,c){var d=a.ex.x,e=a.ex.y,f=a.ey.x,g=a.ey.y,h=b.ex.x,i=b.ex.y,j=b.ey.x,k=b.ey.y;return c.ex.x=d*h+e*i,c.ex.y=f*h+g*i,c.ey.x=d*j+e*k,c.ey.y=f*j+g*k,c},box2d.b2Mat33=function(){this.ex=new box2d.b2Vec3(1,0,0),this.ey=new box2d.b2Vec3(0,1,0),this.ez=new box2d.b2Vec3(0,0,1)},box2d.b2Mat33.prototype.ex=null,box2d.b2Mat33.prototype.ey=null,box2d.b2Mat33.prototype.ez=null,box2d.b2Mat33.IDENTITY=new box2d.b2Mat33,box2d.b2Mat33.prototype.Clone=function(){return(new box2d.b2Mat33).Copy(this)},box2d.b2Mat33.prototype.SetVVV=function(a,b,c){return this.ex.Copy(a),this.ey.Copy(b),this.ez.Copy(c),this},box2d.b2Mat33.prototype.Copy=function(a){return this.ex.Copy(a.ex),this.ey.Copy(a.ey),this.ez.Copy(a.ez),this},box2d.b2Mat33.prototype.SetIdentity=function(){return this.ex.SetXYZ(1,0,0),this.ey.SetXYZ(0,1,0),this.ez.SetXYZ(0,0,1),this},box2d.b2Mat33.prototype.SetZero=function(){return this.ex.SetZero(),this.ey.SetZero(),this.ez.SetZero(),this},box2d.b2Mat33.prototype.SelfAddM=function(a){return this.ex.SelfAdd(a.ex),this.ey.SelfAdd(a.ey),this.ez.SelfAdd(a.ez),this},box2d.b2Mat33.prototype.Solve33=function(a,b,c,d){var e=this.ex.x,f=this.ex.y,g=this.ex.z,h=this.ey.x,i=this.ey.y,j=this.ey.z,k=this.ez.x,l=this.ez.y,m=this.ez.z,n=e*(i*m-j*l)+f*(j*k-h*m)+g*(h*l-i*k);return 0!==n&&(n=1/n),d.x=n*(a*(i*m-j*l)+b*(j*k-h*m)+c*(h*l-i*k)),d.y=n*(e*(b*m-c*l)+f*(c*k-a*m)+g*(a*l-b*k)),d.z=n*(e*(i*c-j*b)+f*(j*a-h*c)+g*(h*b-i*a)),d},box2d.b2Mat33.prototype.Solve22=function(a,b,c){var d=this.ex.x,e=this.ey.x,f=this.ex.y,g=this.ey.y,h=d*g-e*f;return 0!==h&&(h=1/h),c.x=h*(g*a-e*b),c.y=h*(d*b-f*a),c},box2d.b2Mat33.prototype.GetInverse22=function(a){var b=this.ex.x,c=this.ey.x,d=this.ex.y,e=this.ey.y,f=b*e-c*d;0!==f&&(f=1/f),a.ex.x=f*e,a.ey.x=-f*c,a.ex.z=0,a.ex.y=-f*d,a.ey.y=f*b,a.ey.z=0,a.ez.x=0,a.ez.y=0,a.ez.z=0},box2d.b2Mat33.prototype.GetSymInverse33=function(a){var b=box2d.b2DotV3V3(this.ex,box2d.b2CrossV3V3(this.ey,this.ez,box2d.b2Vec3.s_t0));0!==b&&(b=1/b);var c=this.ex.x,d=this.ey.x,e=this.ez.x,f=this.ey.y,g=this.ez.y,h=this.ez.z;a.ex.x=b*(f*h-g*g),a.ex.y=b*(e*g-d*h),a.ex.z=b*(d*g-e*f),a.ey.x=a.ex.y,a.ey.y=b*(c*h-e*e),a.ey.z=b*(e*d-c*g),a.ez.x=a.ex.z,a.ez.y=a.ey.z,a.ez.z=b*(c*f-d*d)},box2d.b2MulM33V3=function(a,b,c){var d=b.x,e=b.y,f=b.z;return c.x=a.ex.x*d+a.ey.x*e+a.ez.x*f,c.y=a.ex.y*d+a.ey.y*e+a.ez.y*f,c.z=a.ex.z*d+a.ey.z*e+a.ez.z*f,c},box2d.b2MulM33XYZ=function(a,b,c,d,e){return e.x=a.ex.x*b+a.ey.x*c+a.ez.x*d,e.y=a.ex.y*b+a.ey.y*c+a.ez.y*d,e.z=a.ex.z*b+a.ey.z*c+a.ez.z*d,e},box2d.b2MulM33V2=function(a,b,c){var d=b.x,e=b.y;return c.x=a.ex.x*d+a.ey.x*e,c.y=a.ex.y*d+a.ey.y*e,c},box2d.b2MulM33XY=function(a,b,c,d){return d.x=a.ex.x*b+a.ey.x*c,d.y=a.ex.y*b+a.ey.y*c,d},box2d.b2Rot=function(a){a&&(this.angle=a,this.s=Math.sin(a),this.c=Math.cos(a))},box2d.b2Rot.prototype.angle=0,box2d.b2Rot.prototype.s=0,box2d.b2Rot.prototype.c=1,box2d.b2Rot.IDENTITY=new box2d.b2Rot,box2d.b2Rot.prototype.Clone=function(){return(new box2d.b2Rot).Copy(this)},box2d.b2Rot.prototype.Copy=function(a){return this.angle=a.angle,this.s=a.s,this.c=a.c,this},box2d.b2Rot.prototype.SetAngle=function(a){return this.angle!==a&&(this.angle=a,this.s=Math.sin(a),this.c=Math.cos(a)),this},box2d.b2Rot.prototype.SetAngleRadians=box2d.b2Rot.prototype.SetAngle,box2d.b2Rot.prototype.SetAngleDegrees=function(a){return this.SetAngle(box2d.b2DegToRad(a))},box2d.b2Rot.prototype.SetIdentity=function(){return this.angle=0,this.s=0,this.c=1,this},box2d.b2Rot.prototype.GetAngle=function(){return this.angle},box2d.b2Rot.prototype.GetAngleRadians=box2d.b2Rot.prototype.GetAngle,box2d.b2Rot.prototype.GetAngleDegrees=function(){return box2d.b2RadToDeg(this.GetAngle())},box2d.b2Rot.prototype.GetXAxis=function(a){return a.x=this.c,a.y=this.s,a},box2d.b2Rot.prototype.GetYAxis=function(a){return a.x=-this.s,a.y=this.c,a},box2d.b2MulRR=function(a,b,c){var d=a.c,e=a.s,f=b.c,g=b.s;for(c.s=e*f+d*g,c.c=d*f-e*g,c.angle=a.angle+b.angle;c.angle<-box2d.b2_pi;)c.angle+=box2d.b2_two_pi;for(;c.angle>=box2d.b2_pi;)c.angle-=box2d.b2_two_pi;return c},box2d.b2MulTRR=function(a,b,c){var d=a.c,e=a.s,f=b.c,g=b.s;for(c.s=d*g-e*f,c.c=d*f+e*g,c.angle=a.angle-b.angle;c.angle<-box2d.b2_pi;)c.angle+=box2d.b2_two_pi;for(;c.angle>=box2d.b2_pi;)c.angle-=box2d.b2_two_pi;return c},box2d.b2MulRV=function(a,b,c){var d=a.c,e=a.s,f=b.x,g=b.y;return c.x=d*f-e*g,c.y=e*f+d*g,c},box2d.b2MulTRV=function(a,b,c){var d=a.c,e=a.s,f=b.x,g=b.y;return c.x=d*f+e*g,c.y=-e*f+d*g,c},box2d.b2Transform=function(){this.p=new box2d.b2Vec2,this.q=new box2d.b2Rot},box2d.b2Transform.prototype.p=null,box2d.b2Transform.prototype.q=null,box2d.b2Transform.IDENTITY=new box2d.b2Transform,box2d.b2Transform.prototype.Clone=function(){return(new box2d.b2Transform).Copy(this)},box2d.b2Transform.prototype.Copy=function(a){return this.p.Copy(a.p),this.q.Copy(a.q),this},box2d.b2Transform.prototype.SetIdentity=function(){return this.p.SetZero(),this.q.SetIdentity(),this},box2d.b2Transform.prototype.SetPositionRotation=function(a,b){return this.p.Copy(a),this.q.Copy(b),this},box2d.b2Transform.prototype.SetPositionAngleRadians=function(a,b){return this.p.Copy(a),this.q.SetAngleRadians(b),this},box2d.b2Transform.prototype.SetPosition=function(a){return this.p.Copy(a),this},box2d.b2Transform.prototype.SetPositionXY=function(a,b){return this.p.SetXY(a,b),this},box2d.b2Transform.prototype.SetRotation=function(a){return this.q.Copy(a),this},box2d.b2Transform.prototype.SetRotationAngleRadians=function(a){return this.q.SetAngleRadians(a),this},box2d.b2Transform.prototype.GetPosition=function(){return this.p},box2d.b2Transform.prototype.GetRotation=function(){return this.q},box2d.b2Transform.prototype.GetRotationAngle=function(){return this.q.GetAngle()},box2d.b2Transform.prototype.GetRotationAngleRadians=box2d.b2Transform.prototype.GetRotationAngle,box2d.b2Transform.prototype.GetAngle=function(){return this.q.GetAngle()},box2d.b2Transform.prototype.GetAngleRadians=box2d.b2Transform.prototype.GetAngle,box2d.b2MulXV=function(a,b,c){var d=a.q.c,e=a.q.s,f=b.x,g=b.y;return c.x=d*f-e*g+a.p.x,c.y=e*f+d*g+a.p.y,c},box2d.b2MulTXV=function(a,b,c){var d=a.q.c,e=a.q.s,f=b.x-a.p.x,g=b.y-a.p.y;return c.x=d*f+e*g,c.y=-e*f+d*g,c},box2d.b2MulXX=function(a,b,c){return box2d.b2MulRR(a.q,b.q,c.q),box2d.b2AddVV(box2d.b2MulRV(a.q,b.p,c.p),a.p,c.p),c},box2d.b2MulTXX=function(a,b,c){return box2d.b2MulTRR(a.q,b.q,c.q),box2d.b2MulTRV(a.q,box2d.b2SubVV(b.p,a.p,c.p),c.p),c},box2d.b2Sweep=function(){this.localCenter=new box2d.b2Vec2,this.c0=new box2d.b2Vec2,this.c=new box2d.b2Vec2},box2d.b2Sweep.prototype.localCenter=null,box2d.b2Sweep.prototype.c0=null,box2d.b2Sweep.prototype.c=null,box2d.b2Sweep.prototype.a0=0,box2d.b2Sweep.prototype.a=0,box2d.b2Sweep.prototype.alpha0=0,box2d.b2Sweep.prototype.Clone=function(){return(new box2d.b2Sweep).Copy(this)},box2d.b2Sweep.prototype.Copy=function(a){return this.localCenter.Copy(a.localCenter),this.c0.Copy(a.c0),this.c.Copy(a.c),this.a0=a.a0,this.a=a.a,this.alpha0=a.alpha0,this},box2d.b2Sweep.prototype.GetTransform=function(a,b){var c=1-b;a.p.x=c*this.c0.x+b*this.c.x,a.p.y=c*this.c0.y+b*this.c.y;var d=c*this.a0+b*this.a;return a.q.SetAngleRadians(d),a.p.SelfSub(box2d.b2MulRV(a.q,this.localCenter,box2d.b2Vec2.s_t0)),a},box2d.b2Sweep.prototype.Advance=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.alpha0<1);var b=(a-this.alpha0)/(1-this.alpha0);this.c0.x+=b*(this.c.x-this.c0.x),this.c0.y+=b*(this.c.y-this.c0.y),this.a0+=b*(this.a-this.a0),this.alpha0=a},box2d.b2Sweep.prototype.Normalize=function(){var a=box2d.b2_two_pi*Math.floor(this.a0/box2d.b2_two_pi);this.a0-=a,this.a-=a},goog.provide("box2d.b2Controller"),goog.require("box2d.b2Settings"),box2d.b2ControllerEdge=function(){},box2d.b2ControllerEdge.prototype.controller=null,box2d.b2ControllerEdge.prototype.body=null,box2d.b2ControllerEdge.prototype.prevBody=null,box2d.b2ControllerEdge.prototype.nextBody=null,box2d.b2ControllerEdge.prototype.prevController=null,box2d.b2ControllerEdge.prototype.nextController=null,box2d.b2Controller=function(){},box2d.b2Controller.prototype.m_world=null,box2d.b2Controller.prototype.m_bodyList=null,box2d.b2Controller.prototype.m_bodyCount=0,box2d.b2Controller.prototype.m_prev=null,box2d.b2Controller.prototype.m_next=null,box2d.b2Controller.prototype.Step=function(){},box2d.b2Controller.prototype.Draw=function(){},box2d.b2Controller.prototype.GetNext=function(){return this.m_next
},box2d.b2Controller.prototype.GetPrev=function(){return this.m_prev},box2d.b2Controller.prototype.GetWorld=function(){return this.m_world},box2d.b2Controller.prototype.GetBodyList=function(){return this.m_bodyList},box2d.b2Controller.prototype.AddBody=function(a){var b=new box2d.b2ControllerEdge;b.body=a,b.controller=this,b.nextBody=this.m_bodyList,b.prevBody=null,this.m_bodyList&&(this.m_bodyList.prevBody=b),this.m_bodyList=b,++this.m_bodyCount,b.nextController=a.m_controllerList,b.prevController=null,a.m_controllerList&&(a.m_controllerList.prevController=b),a.m_controllerList=b,++a.m_controllerCount},box2d.b2Controller.prototype.RemoveBody=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_bodyCount>0);for(var b=this.m_bodyList;b&&b.body!==a;)b=b.nextBody;box2d.ENABLE_ASSERTS&&box2d.b2Assert(null!==b),b.prevBody&&(b.prevBody.nextBody=b.nextBody),b.nextBody&&(b.nextBody.prevBody=b.prevBody),this.m_bodyList===b&&(this.m_bodyList=b.nextBody),--this.m_bodyCount,b.nextController&&(b.nextController.prevController=b.prevController),b.prevController&&(b.prevController.nextController=b.nextController),a.m_controllerList===b&&(a.m_controllerList=b.nextController),--a.m_controllerCount},box2d.b2Controller.prototype.Clear=function(){for(;this.m_bodyList;)this.RemoveBody(this.m_bodyList.body);this.m_bodyCount=0},goog.provide("box2d.b2ConstantAccelController"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Controller"),goog.require("box2d.b2Math"),box2d.b2ConstantAccelController=function(){goog.base(this),this.A=new box2d.b2Vec2(0,0)},goog.inherits(box2d.b2ConstantAccelController,box2d.b2Controller),box2d.b2ConstantAccelController.prototype.A=null,box2d.b2ConstantAccelController.prototype.Step=function(a){for(var b=box2d.b2MulSV(a.dt,this.A,box2d.b2ConstantAccelController.prototype.Step.s_dtA),c=this.m_bodyList;c;c=c.nextBody){var d=c.body;d.IsAwake()&&d.SetLinearVelocity(box2d.b2AddVV(d.GetLinearVelocity(),b,box2d.b2Vec2.s_t0))}},box2d.b2ConstantAccelController.prototype.Step.s_dtA=new box2d.b2Vec2,goog.provide("box2d.b2Joint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),box2d.b2JointType={e_unknownJoint:0,e_revoluteJoint:1,e_prismaticJoint:2,e_distanceJoint:3,e_pulleyJoint:4,e_mouseJoint:5,e_gearJoint:6,e_wheelJoint:7,e_weldJoint:8,e_frictionJoint:9,e_ropeJoint:10,e_motorJoint:11,e_areaJoint:12},goog.exportProperty(box2d.b2JointType,"e_unknownJoint",box2d.b2JointType.e_unknownJoint),goog.exportProperty(box2d.b2JointType,"e_revoluteJoint",box2d.b2JointType.e_revoluteJoint),goog.exportProperty(box2d.b2JointType,"e_prismaticJoint",box2d.b2JointType.e_prismaticJoint),goog.exportProperty(box2d.b2JointType,"e_distanceJoint",box2d.b2JointType.e_distanceJoint),goog.exportProperty(box2d.b2JointType,"e_pulleyJoint",box2d.b2JointType.e_pulleyJoint),goog.exportProperty(box2d.b2JointType,"e_mouseJoint",box2d.b2JointType.e_mouseJoint),goog.exportProperty(box2d.b2JointType,"e_gearJoint",box2d.b2JointType.e_gearJoint),goog.exportProperty(box2d.b2JointType,"e_wheelJoint",box2d.b2JointType.e_wheelJoint),goog.exportProperty(box2d.b2JointType,"e_weldJoint",box2d.b2JointType.e_weldJoint),goog.exportProperty(box2d.b2JointType,"e_frictionJoint",box2d.b2JointType.e_frictionJoint),goog.exportProperty(box2d.b2JointType,"e_ropeJoint",box2d.b2JointType.e_ropeJoint),goog.exportProperty(box2d.b2JointType,"e_motorJoint",box2d.b2JointType.e_motorJoint),goog.exportProperty(box2d.b2JointType,"e_areaJoint",box2d.b2JointType.e_areaJoint),box2d.b2LimitState={e_inactiveLimit:0,e_atLowerLimit:1,e_atUpperLimit:2,e_equalLimits:3},goog.exportProperty(box2d.b2LimitState,"e_inactiveLimit",box2d.b2LimitState.e_inactiveLimit),goog.exportProperty(box2d.b2LimitState,"e_atLowerLimit",box2d.b2LimitState.e_atLowerLimit),goog.exportProperty(box2d.b2LimitState,"e_atUpperLimit",box2d.b2LimitState.e_atUpperLimit),goog.exportProperty(box2d.b2LimitState,"e_equalLimits",box2d.b2LimitState.e_equalLimits),box2d.b2Jacobian=function(){this.linear=new box2d.b2Vec2},box2d.b2Jacobian.prototype.linear=null,box2d.b2Jacobian.prototype.angularA=0,box2d.b2Jacobian.prototype.angularB=0,box2d.b2Jacobian.prototype.SetZero=function(){return this.linear.SetZero(),this.angularA=0,this.angularB=0,this},box2d.b2Jacobian.prototype.Set=function(a,b,c){return this.linear.Copy(a),this.angularA=b,this.angularB=c,this},box2d.b2JointEdge=function(){},box2d.b2JointEdge.prototype.other=null,box2d.b2JointEdge.prototype.joint=null,box2d.b2JointEdge.prototype.prev=null,box2d.b2JointEdge.prototype.next=null,box2d.b2JointDef=function(a){this.type=a},box2d.b2JointDef.prototype.type=box2d.b2JointType.e_unknownJoint,box2d.b2JointDef.prototype.userData=null,box2d.b2JointDef.prototype.bodyA=null,box2d.b2JointDef.prototype.bodyB=null,box2d.b2JointDef.prototype.collideConnected=!1,box2d.b2Joint=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.bodyA!==a.bodyB),this.m_type=a.type,this.m_edgeA=new box2d.b2JointEdge,this.m_edgeB=new box2d.b2JointEdge,this.m_bodyA=a.bodyA,this.m_bodyB=a.bodyB,this.m_collideConnected=a.collideConnected,this.m_userData=a.userData},box2d.b2Joint.prototype.m_type=box2d.b2JointType.e_unknownJoint,box2d.b2Joint.prototype.m_prev=null,box2d.b2Joint.prototype.m_next=null,box2d.b2Joint.prototype.m_edgeA=null,box2d.b2Joint.prototype.m_edgeB=null,box2d.b2Joint.prototype.m_bodyA=null,box2d.b2Joint.prototype.m_bodyB=null,box2d.b2Joint.prototype.m_index=0,box2d.b2Joint.prototype.m_islandFlag=!1,box2d.b2Joint.prototype.m_collideConnected=!1,box2d.b2Joint.prototype.m_userData=null,box2d.b2Joint.prototype.GetAnchorA=function(a){return a.SetZero()},box2d.b2Joint.prototype.GetAnchorB=function(a){return a.SetZero()},box2d.b2Joint.prototype.GetReactionForce=function(a,b){return b.SetZero()},box2d.b2Joint.prototype.GetReactionTorque=function(){return 0},box2d.b2Joint.prototype.InitVelocityConstraints=function(){},box2d.b2Joint.prototype.SolveVelocityConstraints=function(){},box2d.b2Joint.prototype.SolvePositionConstraints=function(){return!1},box2d.b2Joint.prototype.GetType=function(){return this.m_type},box2d.b2Joint.prototype.GetBodyA=function(){return this.m_bodyA},box2d.b2Joint.prototype.GetBodyB=function(){return this.m_bodyB},box2d.b2Joint.prototype.GetNext=function(){return this.m_next},box2d.b2Joint.prototype.GetUserData=function(){return this.m_userData},box2d.b2Joint.prototype.SetUserData=function(a){this.m_userData=a},box2d.b2Joint.prototype.GetCollideConnected=function(){return this.m_collideConnected},box2d.b2Joint.prototype.Dump=function(){box2d.DEBUG&&box2d.b2Log("// Dump is not supported for this joint type.\n")},box2d.b2Joint.prototype.IsActive=function(){return this.m_bodyA.IsActive()&&this.m_bodyB.IsActive()},box2d.b2Joint.prototype.ShiftOrigin=function(){},goog.provide("box2d.b2RevoluteJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2RevoluteJointDef=function(){goog.base(this,box2d.b2JointType.e_revoluteJoint),this.localAnchorA=new box2d.b2Vec2(0,0),this.localAnchorB=new box2d.b2Vec2(0,0)},goog.inherits(box2d.b2RevoluteJointDef,box2d.b2JointDef),box2d.b2RevoluteJointDef.prototype.localAnchorA=null,box2d.b2RevoluteJointDef.prototype.localAnchorB=null,box2d.b2RevoluteJointDef.prototype.referenceAngle=0,box2d.b2RevoluteJointDef.prototype.enableLimit=!1,box2d.b2RevoluteJointDef.prototype.lowerAngle=0,box2d.b2RevoluteJointDef.prototype.upperAngle=0,box2d.b2RevoluteJointDef.prototype.enableMotor=!1,box2d.b2RevoluteJointDef.prototype.motorSpeed=0,box2d.b2RevoluteJointDef.prototype.maxMotorTorque=0,box2d.b2RevoluteJointDef.prototype.Initialize=function(a,b,c){this.bodyA=a,this.bodyB=b,this.bodyA.GetLocalPoint(c,this.localAnchorA),this.bodyB.GetLocalPoint(c,this.localAnchorB),this.referenceAngle=this.bodyB.GetAngleRadians()-this.bodyA.GetAngleRadians()},box2d.b2RevoluteJoint=function(a){goog.base(this,a),this.m_localAnchorA=new box2d.b2Vec2,this.m_localAnchorB=new box2d.b2Vec2,this.m_impulse=new box2d.b2Vec3,this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_mass=new box2d.b2Mat33,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_K=new box2d.b2Mat22,this.m_localAnchorA.Copy(a.localAnchorA),this.m_localAnchorB.Copy(a.localAnchorB),this.m_referenceAngle=a.referenceAngle,this.m_impulse.SetZero(),this.m_motorImpulse=0,this.m_lowerAngle=a.lowerAngle,this.m_upperAngle=a.upperAngle,this.m_maxMotorTorque=a.maxMotorTorque,this.m_motorSpeed=a.motorSpeed,this.m_enableLimit=a.enableLimit,this.m_enableMotor=a.enableMotor,this.m_limitState=box2d.b2LimitState.e_inactiveLimit},goog.inherits(box2d.b2RevoluteJoint,box2d.b2Joint),box2d.b2RevoluteJoint.prototype.m_localAnchorA=null,box2d.b2RevoluteJoint.prototype.m_localAnchorB=null,box2d.b2RevoluteJoint.prototype.m_impulse=null,box2d.b2RevoluteJoint.prototype.m_motorImpulse=0,box2d.b2RevoluteJoint.prototype.m_enableMotor=!1,box2d.b2RevoluteJoint.prototype.m_maxMotorTorque=0,box2d.b2RevoluteJoint.prototype.m_motorSpeed=0,box2d.b2RevoluteJoint.prototype.m_enableLimit=!1,box2d.b2RevoluteJoint.prototype.m_referenceAngle=0,box2d.b2RevoluteJoint.prototype.m_lowerAngle=0,box2d.b2RevoluteJoint.prototype.m_upperAngle=0,box2d.b2RevoluteJoint.prototype.m_indexA=0,box2d.b2RevoluteJoint.prototype.m_indexB=0,box2d.b2RevoluteJoint.prototype.m_rA=null,box2d.b2RevoluteJoint.prototype.m_rB=null,box2d.b2RevoluteJoint.prototype.m_localCenterA=null,box2d.b2RevoluteJoint.prototype.m_localCenterB=null,box2d.b2RevoluteJoint.prototype.m_invMassA=0,box2d.b2RevoluteJoint.prototype.m_invMassB=0,box2d.b2RevoluteJoint.prototype.m_invIA=0,box2d.b2RevoluteJoint.prototype.m_invIB=0,box2d.b2RevoluteJoint.prototype.m_mass=null,box2d.b2RevoluteJoint.prototype.m_motorMass=0,box2d.b2RevoluteJoint.prototype.m_limitState=box2d.b2LimitState.e_inactiveLimit,box2d.b2RevoluteJoint.prototype.m_qA=null,box2d.b2RevoluteJoint.prototype.m_qB=null,box2d.b2RevoluteJoint.prototype.m_lalcA=null,box2d.b2RevoluteJoint.prototype.m_lalcB=null,box2d.b2RevoluteJoint.prototype.m_K=null,box2d.b2RevoluteJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].a,c=a.velocities[this.m_indexA].v,d=a.velocities[this.m_indexA].w,e=a.positions[this.m_indexB].a,f=a.velocities[this.m_indexB].v,g=a.velocities[this.m_indexB].w,h=this.m_qA.SetAngleRadians(b),i=this.m_qB.SetAngleRadians(e);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),box2d.b2MulRV(h,this.m_lalcA,this.m_rA),box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),box2d.b2MulRV(i,this.m_lalcB,this.m_rB);var j=this.m_invMassA,k=this.m_invMassB,l=this.m_invIA,m=this.m_invIB,n=l+m===0;if(this.m_mass.ex.x=j+k+this.m_rA.y*this.m_rA.y*l+this.m_rB.y*this.m_rB.y*m,this.m_mass.ey.x=-this.m_rA.y*this.m_rA.x*l-this.m_rB.y*this.m_rB.x*m,this.m_mass.ez.x=-this.m_rA.y*l-this.m_rB.y*m,this.m_mass.ex.y=this.m_mass.ey.x,this.m_mass.ey.y=j+k+this.m_rA.x*this.m_rA.x*l+this.m_rB.x*this.m_rB.x*m,this.m_mass.ez.y=this.m_rA.x*l+this.m_rB.x*m,this.m_mass.ex.z=this.m_mass.ez.x,this.m_mass.ey.z=this.m_mass.ez.y,this.m_mass.ez.z=l+m,this.m_motorMass=l+m,this.m_motorMass>0&&(this.m_motorMass=1/this.m_motorMass),(this.m_enableMotor===!1||n)&&(this.m_motorImpulse=0),this.m_enableLimit&&n===!1){var o=e-b-this.m_referenceAngle;box2d.b2Abs(this.m_upperAngle-this.m_lowerAngle)<2*box2d.b2_angularSlop?this.m_limitState=box2d.b2LimitState.e_equalLimits:o<=this.m_lowerAngle?(this.m_limitState!==box2d.b2LimitState.e_atLowerLimit&&(this.m_impulse.z=0),this.m_limitState=box2d.b2LimitState.e_atLowerLimit):o>=this.m_upperAngle?(this.m_limitState!==box2d.b2LimitState.e_atUpperLimit&&(this.m_impulse.z=0),this.m_limitState=box2d.b2LimitState.e_atUpperLimit):(this.m_limitState=box2d.b2LimitState.e_inactiveLimit,this.m_impulse.z=0)}else this.m_limitState=box2d.b2LimitState.e_inactiveLimit;if(a.step.warmStarting){this.m_impulse.SelfMul(a.step.dtRatio),this.m_motorImpulse*=a.step.dtRatio;var p=box2d.b2RevoluteJoint.prototype.InitVelocityConstraints.s_P.SetXY(this.m_impulse.x,this.m_impulse.y);c.SelfMulSub(j,p),d-=l*(box2d.b2CrossVV(this.m_rA,p)+this.m_motorImpulse+this.m_impulse.z),f.SelfMulAdd(k,p),g+=m*(box2d.b2CrossVV(this.m_rB,p)+this.m_motorImpulse+this.m_impulse.z)}else this.m_impulse.SetZero(),this.m_motorImpulse=0;a.velocities[this.m_indexA].w=d,a.velocities[this.m_indexB].w=g},box2d.b2RevoluteJoint.prototype.InitVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=this.m_invMassA,g=this.m_invMassB,h=this.m_invIA,i=this.m_invIB,j=h+i===0;if(this.m_enableMotor&&this.m_limitState!==box2d.b2LimitState.e_equalLimits&&j===!1){var k=e-c-this.m_motorSpeed,l=-this.m_motorMass*k,m=this.m_motorImpulse,n=a.step.dt*this.m_maxMotorTorque;this.m_motorImpulse=box2d.b2Clamp(this.m_motorImpulse+l,-n,n),l=this.m_motorImpulse-m,c-=h*l,e+=i*l}if(this.m_enableLimit&&this.m_limitState!==box2d.b2LimitState.e_inactiveLimit&&j===!1){var o=box2d.b2SubVV(box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2Vec2.s_t1),box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_Cdot1),p=e-c,l=this.m_mass.Solve33(o.x,o.y,p,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_impulse3).SelfNeg();if(this.m_limitState===box2d.b2LimitState.e_equalLimits)this.m_impulse.SelfAdd(l);else if(this.m_limitState===box2d.b2LimitState.e_atLowerLimit){var q=this.m_impulse.z+l.z;if(0>q){var r=-o.x+this.m_impulse.z*this.m_mass.ez.x,s=-o.y+this.m_impulse.z*this.m_mass.ez.y,t=this.m_mass.Solve22(r,s,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_reduced);l.x=t.x,l.y=t.y,l.z=-this.m_impulse.z,this.m_impulse.x+=t.x,this.m_impulse.y+=t.y,this.m_impulse.z=0}else this.m_impulse.SelfAdd(l)}else if(this.m_limitState===box2d.b2LimitState.e_atUpperLimit){var q=this.m_impulse.z+l.z;if(q>0){var r=-o.x+this.m_impulse.z*this.m_mass.ez.x,s=-o.y+this.m_impulse.z*this.m_mass.ez.y,t=this.m_mass.Solve22(r,s,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_reduced);l.x=t.x,l.y=t.y,l.z=-this.m_impulse.z,this.m_impulse.x+=t.x,this.m_impulse.y+=t.y,this.m_impulse.z=0}else this.m_impulse.SelfAdd(l)}var u=box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_P.SetXY(l.x,l.y);b.SelfMulSub(f,u),c-=h*(box2d.b2CrossVV(this.m_rA,u)+l.z),d.SelfMulAdd(g,u),e+=i*(box2d.b2CrossVV(this.m_rB,u)+l.z)}else{var k=box2d.b2SubVV(box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2Vec2.s_t1),box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_Cdot),l=this.m_mass.Solve22(-k.x,-k.y,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_impulse2);this.m_impulse.x+=l.x,this.m_impulse.y+=l.y,b.SelfMulSub(f,l),c-=h*box2d.b2CrossVV(this.m_rA,l),d.SelfMulAdd(g,l),e+=i*box2d.b2CrossVV(this.m_rB,l)}a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_Cdot=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_Cdot1=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_impulse3=new box2d.b2Vec3,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_reduced=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.SolveVelocityConstraints.s_impulse2=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.SolvePositionConstraints=function(a){var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.positions[this.m_indexB].c,e=a.positions[this.m_indexB].a,f=this.m_qA.SetAngleRadians(c),g=this.m_qB.SetAngleRadians(e),h=0,i=0,j=this.m_invIA+this.m_invIB===0;if(this.m_enableLimit&&this.m_limitState!==box2d.b2LimitState.e_inactiveLimit&&j===!1){var k=e-c-this.m_referenceAngle,l=0;if(this.m_limitState===box2d.b2LimitState.e_equalLimits){var m=box2d.b2Clamp(k-this.m_lowerAngle,-box2d.b2_maxAngularCorrection,box2d.b2_maxAngularCorrection);l=-this.m_motorMass*m,h=box2d.b2Abs(m)}else if(this.m_limitState===box2d.b2LimitState.e_atLowerLimit){var m=k-this.m_lowerAngle;h=-m,m=box2d.b2Clamp(m+box2d.b2_angularSlop,-box2d.b2_maxAngularCorrection,0),l=-this.m_motorMass*m}else if(this.m_limitState===box2d.b2LimitState.e_atUpperLimit){var m=k-this.m_upperAngle;h=m,m=box2d.b2Clamp(m-box2d.b2_angularSlop,0,box2d.b2_maxAngularCorrection),l=-this.m_motorMass*m}c-=this.m_invIA*l,e+=this.m_invIB*l}f.SetAngleRadians(c),g.SetAngleRadians(e),box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var n=box2d.b2MulRV(f,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var o=box2d.b2MulRV(g,this.m_lalcB,this.m_rB),m=box2d.b2SubVV(box2d.b2AddVV(d,o,box2d.b2Vec2.s_t0),box2d.b2AddVV(b,n,box2d.b2Vec2.s_t1),box2d.b2RevoluteJoint.prototype.SolvePositionConstraints.s_C);i=m.GetLength();var p=this.m_invMassA,q=this.m_invMassB,r=this.m_invIA,s=this.m_invIB,t=this.m_K;t.ex.x=p+q+r*n.y*n.y+s*o.y*o.y,t.ex.y=-r*n.x*n.y-s*o.x*o.y,t.ey.x=t.ex.y,t.ey.y=p+q+r*n.x*n.x+s*o.x*o.x;var u=t.Solve(m.x,m.y,box2d.b2RevoluteJoint.prototype.SolvePositionConstraints.s_impulse).SelfNeg();return b.SelfMulSub(p,u),c-=r*box2d.b2CrossVV(n,u),d.SelfMulAdd(q,u),e+=s*box2d.b2CrossVV(o,u),a.positions[this.m_indexA].a=c,a.positions[this.m_indexB].a=e,i<=box2d.b2_linearSlop&&h<=box2d.b2_angularSlop},box2d.b2RevoluteJoint.prototype.SolvePositionConstraints.s_C=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.SolvePositionConstraints.s_impulse=new box2d.b2Vec2,box2d.b2RevoluteJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2RevoluteJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2RevoluteJoint.prototype.GetReactionForce=function(a,b){return b.SetXY(a*this.m_impulse.x,a*this.m_impulse.y)},box2d.b2RevoluteJoint.prototype.GetReactionTorque=function(a){return a*this.m_impulse.z},box2d.b2RevoluteJoint.prototype.GetLocalAnchorA=function(a){return a.Copy(this.m_localAnchorA)},box2d.b2RevoluteJoint.prototype.GetLocalAnchorB=function(a){return a.Copy(this.m_localAnchorB)},box2d.b2RevoluteJoint.prototype.GetReferenceAngle=function(){return this.m_referenceAngle},box2d.b2RevoluteJoint.prototype.GetJointAngleRadians=function(){return this.m_bodyB.m_sweep.a-this.m_bodyA.m_sweep.a-this.m_referenceAngle},box2d.b2RevoluteJoint.prototype.GetJointSpeed=function(){return this.m_bodyB.m_angularVelocity-this.m_bodyA.m_angularVelocity},box2d.b2RevoluteJoint.prototype.IsMotorEnabled=function(){return this.m_enableMotor},box2d.b2RevoluteJoint.prototype.EnableMotor=function(a){this.m_enableMotor!==a&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=a)},box2d.b2RevoluteJoint.prototype.GetMotorTorque=function(a){return a*this.m_motorImpulse},box2d.b2RevoluteJoint.prototype.GetMotorSpeed=function(){return this.m_motorSpeed},box2d.b2RevoluteJoint.prototype.SetMaxMotorTorque=function(a){this.m_maxMotorTorque=a},box2d.b2RevoluteJoint.prototype.GetMaxMotorTorque=function(){return this.m_maxMotorTorque},box2d.b2RevoluteJoint.prototype.IsLimitEnabled=function(){return this.m_enableLimit},box2d.b2RevoluteJoint.prototype.EnableLimit=function(a){a!==this.m_enableLimit&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableLimit=a,this.m_impulse.z=0)},box2d.b2RevoluteJoint.prototype.GetLowerLimit=function(){return this.m_lowerAngle},box2d.b2RevoluteJoint.prototype.GetUpperLimit=function(){return this.m_upperAngle},box2d.b2RevoluteJoint.prototype.SetLimits=function(a,b){(a!==this.m_lowerAngle||b!==this.m_upperAngle)&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_impulse.z=0,this.m_lowerAngle=a,this.m_upperAngle=b)},box2d.b2RevoluteJoint.prototype.SetMotorSpeed=function(a){this.m_motorSpeed!==a&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=a)},box2d.b2RevoluteJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2RevoluteJointDef*/ var jd = new box2d.b2RevoluteJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.referenceAngle = %.15f;\n",this.m_referenceAngle),box2d.b2Log("  jd.enableLimit = %s;\n",this.m_enableLimit?"true":"false"),box2d.b2Log("  jd.lowerAngle = %.15f;\n",this.m_lowerAngle),box2d.b2Log("  jd.upperAngle = %.15f;\n",this.m_upperAngle),box2d.b2Log("  jd.enableMotor = %s;\n",this.m_enableMotor?"true":"false"),box2d.b2Log("  jd.motorSpeed = %.15f;\n",this.m_motorSpeed),box2d.b2Log("  jd.maxMotorTorque = %.15f;\n",this.m_maxMotorTorque),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d.b2PrismaticJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2PrismaticJointDef=function(){goog.base(this,box2d.b2JointType.e_prismaticJoint),this.localAnchorA=new box2d.b2Vec2,this.localAnchorB=new box2d.b2Vec2,this.localAxisA=new box2d.b2Vec2(1,0)},goog.inherits(box2d.b2PrismaticJointDef,box2d.b2JointDef),box2d.b2PrismaticJointDef.prototype.localAnchorA=null,box2d.b2PrismaticJointDef.prototype.localAnchorB=null,box2d.b2PrismaticJointDef.prototype.localAxisA=null,box2d.b2PrismaticJointDef.prototype.referenceAngle=0,box2d.b2PrismaticJointDef.prototype.enableLimit=!1,box2d.b2PrismaticJointDef.prototype.lowerTranslation=0,box2d.b2PrismaticJointDef.prototype.upperTranslation=0,box2d.b2PrismaticJointDef.prototype.enableMotor=!1,box2d.b2PrismaticJointDef.prototype.maxMotorForce=0,box2d.b2PrismaticJointDef.prototype.motorSpeed=0,box2d.b2PrismaticJointDef.prototype.Initialize=function(a,b,c,d){this.bodyA=a,this.bodyB=b,this.bodyA.GetLocalPoint(c,this.localAnchorA),this.bodyB.GetLocalPoint(c,this.localAnchorB),this.bodyA.GetLocalVector(d,this.localAxisA),this.referenceAngle=this.bodyB.GetAngleRadians()-this.bodyA.GetAngleRadians()},box2d.b2PrismaticJoint=function(a){goog.base(this,a),this.m_localAnchorA=a.localAnchorA.Clone(),this.m_localAnchorB=a.localAnchorB.Clone(),this.m_localXAxisA=a.localAxisA.Clone().SelfNormalize(),this.m_localYAxisA=box2d.b2CrossOneV(this.m_localXAxisA,new box2d.b2Vec2),this.m_referenceAngle=a.referenceAngle,this.m_impulse=new box2d.b2Vec3(0,0,0),this.m_lowerTranslation=a.lowerTranslation,this.m_upperTranslation=a.upperTranslation,this.m_maxMotorForce=a.maxMotorForce,this.m_motorSpeed=a.motorSpeed,this.m_enableLimit=a.enableLimit,this.m_enableMotor=a.enableMotor,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_axis=new box2d.b2Vec2(0,0),this.m_perp=new box2d.b2Vec2(0,0),this.m_K=new box2d.b2Mat33,this.m_K3=new box2d.b2Mat33,this.m_K2=new box2d.b2Mat22,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2},goog.inherits(box2d.b2PrismaticJoint,box2d.b2Joint),box2d.b2PrismaticJoint.prototype.m_localAnchorA=null,box2d.b2PrismaticJoint.prototype.m_localAnchorB=null,box2d.b2PrismaticJoint.prototype.m_localXAxisA=null,box2d.b2PrismaticJoint.prototype.m_localYAxisA=null,box2d.b2PrismaticJoint.prototype.m_referenceAngle=0,box2d.b2PrismaticJoint.prototype.m_impulse=null,box2d.b2PrismaticJoint.prototype.m_motorImpulse=0,box2d.b2PrismaticJoint.prototype.m_lowerTranslation=0,box2d.b2PrismaticJoint.prototype.m_upperTranslation=0,box2d.b2PrismaticJoint.prototype.m_maxMotorForce=0,box2d.b2PrismaticJoint.prototype.m_motorSpeed=0,box2d.b2PrismaticJoint.prototype.m_enableLimit=!1,box2d.b2PrismaticJoint.prototype.m_enableMotor=!1,box2d.b2PrismaticJoint.prototype.m_limitState=box2d.b2LimitState.e_inactiveLimit,box2d.b2PrismaticJoint.prototype.m_indexA=0,box2d.b2PrismaticJoint.prototype.m_indexB=0,box2d.b2PrismaticJoint.prototype.m_localCenterA=null,box2d.b2PrismaticJoint.prototype.m_localCenterB=null,box2d.b2PrismaticJoint.prototype.m_invMassA=0,box2d.b2PrismaticJoint.prototype.m_invMassB=0,box2d.b2PrismaticJoint.prototype.m_invIA=0,box2d.b2PrismaticJoint.prototype.m_invIB=0,box2d.b2PrismaticJoint.prototype.m_axis=null,box2d.b2PrismaticJoint.prototype.m_perp=null,box2d.b2PrismaticJoint.prototype.m_s1=0,box2d.b2PrismaticJoint.prototype.m_s2=0,box2d.b2PrismaticJoint.prototype.m_a1=0,box2d.b2PrismaticJoint.prototype.m_a2=0,box2d.b2PrismaticJoint.prototype.m_K=null,box2d.b2PrismaticJoint.prototype.m_K3=null,box2d.b2PrismaticJoint.prototype.m_K2=null,box2d.b2PrismaticJoint.prototype.m_motorMass=0,box2d.b2PrismaticJoint.prototype.m_qA=null,box2d.b2PrismaticJoint.prototype.m_qB=null,box2d.b2PrismaticJoint.prototype.m_lalcA=null,box2d.b2PrismaticJoint.prototype.m_lalcB=null,box2d.b2PrismaticJoint.prototype.m_rA=null,box2d.b2PrismaticJoint.prototype.m_rB=null,box2d.b2PrismaticJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.velocities[this.m_indexA].v,e=a.velocities[this.m_indexA].w,f=a.positions[this.m_indexB].c,g=a.positions[this.m_indexB].a,h=a.velocities[this.m_indexB].v,i=a.velocities[this.m_indexB].w,j=this.m_qA.SetAngleRadians(c),k=this.m_qB.SetAngleRadians(g);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var l=box2d.b2MulRV(j,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var m=box2d.b2MulRV(k,this.m_lalcB,this.m_rB),n=box2d.b2AddVV(box2d.b2SubVV(f,b,box2d.b2Vec2.s_t0),box2d.b2SubVV(m,l,box2d.b2Vec2.s_t1),box2d.b2PrismaticJoint.prototype.InitVelocityConstraints.s_d),o=this.m_invMassA,p=this.m_invMassB,q=this.m_invIA,r=this.m_invIB;if(box2d.b2MulRV(j,this.m_localXAxisA,this.m_axis),this.m_a1=box2d.b2CrossVV(box2d.b2AddVV(n,l,box2d.b2Vec2.s_t0),this.m_axis),this.m_a2=box2d.b2CrossVV(m,this.m_axis),this.m_motorMass=o+p+q*this.m_a1*this.m_a1+r*this.m_a2*this.m_a2,this.m_motorMass>0&&(this.m_motorMass=1/this.m_motorMass),box2d.b2MulRV(j,this.m_localYAxisA,this.m_perp),this.m_s1=box2d.b2CrossVV(box2d.b2AddVV(n,l,box2d.b2Vec2.s_t0),this.m_perp),this.m_s2=box2d.b2CrossVV(m,this.m_perp),this.m_K.ex.x=o+p+q*this.m_s1*this.m_s1+r*this.m_s2*this.m_s2,this.m_K.ex.y=q*this.m_s1+r*this.m_s2,this.m_K.ex.z=q*this.m_s1*this.m_a1+r*this.m_s2*this.m_a2,this.m_K.ey.x=this.m_K.ex.y,this.m_K.ey.y=q+r,0===this.m_K.ey.y&&(this.m_K.ey.y=1),this.m_K.ey.z=q*this.m_a1+r*this.m_a2,this.m_K.ez.x=this.m_K.ex.z,this.m_K.ez.y=this.m_K.ey.z,this.m_K.ez.z=o+p+q*this.m_a1*this.m_a1+r*this.m_a2*this.m_a2,this.m_enableLimit){var s=box2d.b2DotVV(this.m_axis,n);box2d.b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*box2d.b2_linearSlop?this.m_limitState=box2d.b2LimitState.e_equalLimits:s<=this.m_lowerTranslation?this.m_limitState!==box2d.b2LimitState.e_atLowerLimit&&(this.m_limitState=box2d.b2LimitState.e_atLowerLimit,this.m_impulse.z=0):s>=this.m_upperTranslation?this.m_limitState!==box2d.b2LimitState.e_atUpperLimit&&(this.m_limitState=box2d.b2LimitState.e_atUpperLimit,this.m_impulse.z=0):(this.m_limitState=box2d.b2LimitState.e_inactiveLimit,this.m_impulse.z=0)}else this.m_limitState=box2d.b2LimitState.e_inactiveLimit,this.m_impulse.z=0;if(this.m_enableMotor===!1&&(this.m_motorImpulse=0),a.step.warmStarting){this.m_impulse.SelfMul(a.step.dtRatio),this.m_motorImpulse*=a.step.dtRatio;var t=box2d.b2AddVV(box2d.b2MulSV(this.m_impulse.x,this.m_perp,box2d.b2Vec2.s_t0),box2d.b2MulSV(this.m_motorImpulse+this.m_impulse.z,this.m_axis,box2d.b2Vec2.s_t1),box2d.b2PrismaticJoint.prototype.InitVelocityConstraints.s_P),u=this.m_impulse.x*this.m_s1+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a1,v=this.m_impulse.x*this.m_s2+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a2;d.SelfMulSub(o,t),e-=q*u,h.SelfMulAdd(p,t),i+=r*v}else this.m_impulse.SetZero(),this.m_motorImpulse=0;a.velocities[this.m_indexA].w=e,a.velocities[this.m_indexB].w=i},box2d.b2PrismaticJoint.prototype.InitVelocityConstraints.s_d=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.InitVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=this.m_invMassA,g=this.m_invMassB,h=this.m_invIA,i=this.m_invIB;if(this.m_enableMotor&&this.m_limitState!==box2d.b2LimitState.e_equalLimits){var j=box2d.b2DotVV(this.m_axis,box2d.b2SubVV(d,b,box2d.b2Vec2.s_t0))+this.m_a2*e-this.m_a1*c,k=this.m_motorMass*(this.m_motorSpeed-j),l=this.m_motorImpulse,m=a.step.dt*this.m_maxMotorForce;this.m_motorImpulse=box2d.b2Clamp(this.m_motorImpulse+k,-m,m),k=this.m_motorImpulse-l;var n=box2d.b2MulSV(k,this.m_axis,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_P),o=k*this.m_a1,p=k*this.m_a2;b.SelfMulSub(f,n),c-=h*o,d.SelfMulAdd(g,n),e+=i*p}var q=box2d.b2DotVV(this.m_perp,box2d.b2SubVV(d,b,box2d.b2Vec2.s_t0))+this.m_s2*e-this.m_s1*c,r=e-c;if(this.m_enableLimit&&this.m_limitState!==box2d.b2LimitState.e_inactiveLimit){var s=box2d.b2DotVV(this.m_axis,box2d.b2SubVV(d,b,box2d.b2Vec2.s_t0))+this.m_a2*e-this.m_a1*c,t=box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_f1.Copy(this.m_impulse),u=this.m_K.Solve33(-q,-r,-s,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_df3);this.m_impulse.SelfAdd(u),this.m_limitState===box2d.b2LimitState.e_atLowerLimit?this.m_impulse.z=box2d.b2Max(this.m_impulse.z,0):this.m_limitState===box2d.b2LimitState.e_atUpperLimit&&(this.m_impulse.z=box2d.b2Min(this.m_impulse.z,0));var v=-q-(this.m_impulse.z-t.z)*this.m_K.ez.x,w=-r-(this.m_impulse.z-t.z)*this.m_K.ez.y,x=this.m_K.Solve22(v,w,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_f2r);x.x+=t.x,x.y+=t.y,this.m_impulse.x=x.x,this.m_impulse.y=x.y,u.x=this.m_impulse.x-t.x,u.y=this.m_impulse.y-t.y,u.z=this.m_impulse.z-t.z;var n=box2d.b2AddVV(box2d.b2MulSV(u.x,this.m_perp,box2d.b2Vec2.s_t0),box2d.b2MulSV(u.z,this.m_axis,box2d.b2Vec2.s_t1),box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_P),o=u.x*this.m_s1+u.y+u.z*this.m_a1,p=u.x*this.m_s2+u.y+u.z*this.m_a2;b.SelfMulSub(f,n),c-=h*o,d.SelfMulAdd(g,n),e+=i*p}else{var u=this.m_K.Solve22(-q,-r,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_df2);this.m_impulse.x+=u.x,this.m_impulse.y+=u.y;var n=box2d.b2MulSV(u.x,this.m_perp,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_P),o=u.x*this.m_s1+u.y,p=u.x*this.m_s2+u.y;b.SelfMulSub(f,n),c-=h*o,d.SelfMulAdd(g,n),e+=i*p}a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_f2r=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_f1=new box2d.b2Vec3,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_df3=new box2d.b2Vec3,box2d.b2PrismaticJoint.prototype.SolveVelocityConstraints.s_df2=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.SolvePositionConstraints=function(a){var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.positions[this.m_indexB].c,e=a.positions[this.m_indexB].a,f=this.m_qA.SetAngleRadians(c),g=this.m_qB.SetAngleRadians(e),h=this.m_invMassA,i=this.m_invMassB,j=this.m_invIA,k=this.m_invIB,l=box2d.b2MulRV(f,this.m_lalcA,this.m_rA),m=box2d.b2MulRV(g,this.m_lalcB,this.m_rB),n=box2d.b2SubVV(box2d.b2AddVV(d,m,box2d.b2Vec2.s_t0),box2d.b2AddVV(b,l,box2d.b2Vec2.s_t1),box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_d),o=box2d.b2MulRV(f,this.m_localXAxisA,this.m_axis),p=box2d.b2CrossVV(box2d.b2AddVV(n,l,box2d.b2Vec2.s_t0),o),q=box2d.b2CrossVV(m,o),r=box2d.b2MulRV(f,this.m_localYAxisA,this.m_perp),s=box2d.b2CrossVV(box2d.b2AddVV(n,l,box2d.b2Vec2.s_t0),r),t=box2d.b2CrossVV(m,r),u=box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_impulse,v=box2d.b2DotVV(r,n),w=e-c-this.m_referenceAngle,x=box2d.b2Abs(v),y=box2d.b2Abs(w),z=!1,A=0;
if(this.m_enableLimit){var B=box2d.b2DotVV(o,n);box2d.b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*box2d.b2_linearSlop?(A=box2d.b2Clamp(B,-box2d.b2_maxLinearCorrection,box2d.b2_maxLinearCorrection),x=box2d.b2Max(x,box2d.b2Abs(B)),z=!0):B<=this.m_lowerTranslation?(A=box2d.b2Clamp(B-this.m_lowerTranslation+box2d.b2_linearSlop,-box2d.b2_maxLinearCorrection,0),x=box2d.b2Max(x,this.m_lowerTranslation-B),z=!0):B>=this.m_upperTranslation&&(A=box2d.b2Clamp(B-this.m_upperTranslation-box2d.b2_linearSlop,0,box2d.b2_maxLinearCorrection),x=box2d.b2Max(x,B-this.m_upperTranslation),z=!0)}if(z){var C=h+i+j*s*s+k*t*t,D=j*s+k*t,E=j*s*p+k*t*q,F=j+k;0===F&&(F=1);var G=j*p+k*q,H=h+i+j*p*p+k*q*q,I=this.m_K3;I.ex.SetXYZ(C,D,E),I.ey.SetXYZ(D,F,G),I.ez.SetXYZ(E,G,H),u=I.Solve33(-v,-w,-A,u)}else{var C=h+i+j*s*s+k*t*t,D=j*s+k*t,F=j+k;0===F&&(F=1);var J=this.m_K2;J.ex.SetXY(C,D),J.ey.SetXY(D,F);var K=J.Solve(-v,-w,box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_impulse1);u.x=K.x,u.y=K.y,u.z=0}var L=box2d.b2AddVV(box2d.b2MulSV(u.x,r,box2d.b2Vec2.s_t0),box2d.b2MulSV(u.z,o,box2d.b2Vec2.s_t1),box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_P),M=u.x*s+u.y+u.z*p,N=u.x*t+u.y+u.z*q;return b.SelfMulSub(h,L),c-=j*M,d.SelfMulAdd(i,L),e+=k*N,a.positions[this.m_indexA].a=c,a.positions[this.m_indexB].a=e,x<=box2d.b2_linearSlop&&y<=box2d.b2_angularSlop},box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_d=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_impulse=new box2d.b2Vec3,box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_impulse1=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.SolvePositionConstraints.s_P=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2PrismaticJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2PrismaticJoint.prototype.GetReactionForce=function(a,b){return b.SetXY(a*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.x),a*(this.m_impulse.x*this.m_perp.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_axis.y))},box2d.b2PrismaticJoint.prototype.GetReactionTorque=function(a){return a*this.m_impulse.y},box2d.b2PrismaticJoint.prototype.GetLocalAnchorA=function(a){return a.Copy(this.m_localAnchorA)},box2d.b2PrismaticJoint.prototype.GetLocalAnchorB=function(a){return a.Copy(this.m_localAnchorB)},box2d.b2PrismaticJoint.prototype.GetLocalAxisA=function(a){return a.Copy(this.m_localXAxisA)},box2d.b2PrismaticJoint.prototype.GetReferenceAngle=function(){return this.m_referenceAngle},box2d.b2PrismaticJoint.prototype.GetJointTranslation=function(){var a=this.m_bodyA.GetWorldPoint(this.m_localAnchorA,box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_pA),b=this.m_bodyB.GetWorldPoint(this.m_localAnchorB,box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_pB),c=box2d.b2SubVV(b,a,box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_d),d=this.m_bodyA.GetWorldVector(this.m_localXAxisA,box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_axis),e=box2d.b2DotVV(c,d);return e},box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_pA=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_pB=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_d=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.GetJointTranslation.s_axis=new box2d.b2Vec2,box2d.b2PrismaticJoint.prototype.GetJointSpeed=function(){var a=this.m_bodyA,b=this.m_bodyB;box2d.b2SubVV(this.m_localAnchorA,a.m_sweep.localCenter,this.m_lalcA);var c=box2d.b2MulRV(a.m_xf.q,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,b.m_sweep.localCenter,this.m_lalcB);var d=box2d.b2MulRV(b.m_xf.q,this.m_lalcB,this.m_rB),e=box2d.b2AddVV(a.m_sweep.c,c,box2d.b2Vec2.s_t0),f=box2d.b2AddVV(b.m_sweep.c,d,box2d.b2Vec2.s_t1),g=box2d.b2SubVV(f,e,box2d.b2Vec2.s_t2),h=a.GetWorldVector(this.m_localXAxisA,this.m_axis),i=a.m_linearVelocity,j=b.m_linearVelocity,k=a.m_angularVelocity,l=b.m_angularVelocity,m=box2d.b2DotVV(g,box2d.b2CrossSV(k,h,box2d.b2Vec2.s_t0))+box2d.b2DotVV(h,box2d.b2SubVV(box2d.b2AddVCrossSV(j,l,d,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(i,k,c,box2d.b2Vec2.s_t1),box2d.b2Vec2.s_t0));return m},box2d.b2PrismaticJoint.prototype.IsLimitEnabled=function(){return this.m_enableLimit},box2d.b2PrismaticJoint.prototype.EnableLimit=function(a){a!==this.m_enableLimit&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableLimit=a,this.m_impulse.z=0)},box2d.b2PrismaticJoint.prototype.GetLowerLimit=function(){return this.m_lowerTranslation},box2d.b2PrismaticJoint.prototype.GetUpperLimit=function(){return this.m_upperTranslation},box2d.b2PrismaticJoint.prototype.SetLimits=function(a,b){(a!==this.m_lowerTranslation||b!==this.m_upperTranslation)&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_lowerTranslation=a,this.m_upperTranslation=b,this.m_impulse.z=0)},box2d.b2PrismaticJoint.prototype.IsMotorEnabled=function(){return this.m_enableMotor},box2d.b2PrismaticJoint.prototype.EnableMotor=function(a){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=a},box2d.b2PrismaticJoint.prototype.SetMotorSpeed=function(a){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=a},box2d.b2PrismaticJoint.prototype.GetMotorSpeed=function(){return this.m_motorSpeed},box2d.b2PrismaticJoint.prototype.SetMaxMotorForce=function(a){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_maxMotorForce=a},box2d.b2PrismaticJoint.prototype.GetMaxMotorForce=function(){return this.m_maxMotorForce},box2d.b2PrismaticJoint.prototype.GetMotorForce=function(a){return a*this.m_motorImpulse},box2d.b2PrismaticJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2PrismaticJointDef*/ var jd = new box2d.b2PrismaticJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.localAxisA.SetXY(%.15f, %.15f);\n",this.m_localXAxisA.x,this.m_localXAxisA.y),box2d.b2Log("  jd.referenceAngle = %.15f;\n",this.m_referenceAngle),box2d.b2Log("  jd.enableLimit = %s;\n",this.m_enableLimit?"true":"false"),box2d.b2Log("  jd.lowerTranslation = %.15f;\n",this.m_lowerTranslation),box2d.b2Log("  jd.upperTranslation = %.15f;\n",this.m_upperTranslation),box2d.b2Log("  jd.enableMotor = %s;\n",this.m_enableMotor?"true":"false"),box2d.b2Log("  jd.motorSpeed = %.15f;\n",this.m_motorSpeed),box2d.b2Log("  jd.maxMotorForce = %.15f;\n",this.m_maxMotorForce),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d.b2GearJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),goog.require("box2d.b2RevoluteJoint"),goog.require("box2d.b2PrismaticJoint"),box2d.b2GearJointDef=function(){goog.base(this,box2d.b2JointType.e_gearJoint)},goog.inherits(box2d.b2GearJointDef,box2d.b2JointDef),box2d.b2GearJointDef.prototype.joint1=null,box2d.b2GearJointDef.prototype.joint2=null,box2d.b2GearJointDef.prototype.ratio=1,box2d.b2GearJoint=function(a){goog.base(this,a),this.m_joint1=a.joint1,this.m_joint2=a.joint2,this.m_localAnchorA=new box2d.b2Vec2,this.m_localAnchorB=new box2d.b2Vec2,this.m_localAnchorC=new box2d.b2Vec2,this.m_localAnchorD=new box2d.b2Vec2,this.m_localAxisC=new box2d.b2Vec2,this.m_localAxisD=new box2d.b2Vec2,this.m_lcA=new box2d.b2Vec2,this.m_lcB=new box2d.b2Vec2,this.m_lcC=new box2d.b2Vec2,this.m_lcD=new box2d.b2Vec2,this.m_JvAC=new box2d.b2Vec2,this.m_JvBD=new box2d.b2Vec2,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_qC=new box2d.b2Rot,this.m_qD=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_lalcC=new box2d.b2Vec2,this.m_lalcD=new box2d.b2Vec2,this.m_typeA=this.m_joint1.GetType(),this.m_typeB=this.m_joint2.GetType(),box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_typeA===box2d.b2JointType.e_revoluteJoint||this.m_typeA===box2d.b2JointType.e_prismaticJoint),box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_typeB===box2d.b2JointType.e_revoluteJoint||this.m_typeB===box2d.b2JointType.e_prismaticJoint);var b,c;this.m_bodyC=this.m_joint1.GetBodyA(),this.m_bodyA=this.m_joint1.GetBodyB();var d=this.m_bodyA.m_xf,e=this.m_bodyA.m_sweep.a,f=this.m_bodyC.m_xf,g=this.m_bodyC.m_sweep.a;if(this.m_typeA===box2d.b2JointType.e_revoluteJoint){var h=a.joint1;this.m_localAnchorC.Copy(h.m_localAnchorA),this.m_localAnchorA.Copy(h.m_localAnchorB),this.m_referenceAngleA=h.m_referenceAngle,this.m_localAxisC.SetZero(),b=e-g-this.m_referenceAngleA}else{var i=a.joint1;this.m_localAnchorC.Copy(i.m_localAnchorA),this.m_localAnchorA.Copy(i.m_localAnchorB),this.m_referenceAngleA=i.m_referenceAngle,this.m_localAxisC.Copy(i.m_localXAxisA);var j=this.m_localAnchorC,k=box2d.b2MulTRV(f.q,box2d.b2AddVV(box2d.b2MulRV(d.q,this.m_localAnchorA,box2d.b2Vec2.s_t0),box2d.b2SubVV(d.p,f.p,box2d.b2Vec2.s_t1),box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0);b=box2d.b2DotVV(box2d.b2SubVV(k,j,box2d.b2Vec2.s_t0),this.m_localAxisC)}this.m_bodyD=this.m_joint2.GetBodyA(),this.m_bodyB=this.m_joint2.GetBodyB();var l=this.m_bodyB.m_xf,m=this.m_bodyB.m_sweep.a,n=this.m_bodyD.m_xf,o=this.m_bodyD.m_sweep.a;if(this.m_typeB===box2d.b2JointType.e_revoluteJoint){var h=a.joint2;this.m_localAnchorD.Copy(h.m_localAnchorA),this.m_localAnchorB.Copy(h.m_localAnchorB),this.m_referenceAngleB=h.m_referenceAngle,this.m_localAxisD.SetZero(),c=m-o-this.m_referenceAngleB}else{var i=a.joint2;this.m_localAnchorD.Copy(i.m_localAnchorA),this.m_localAnchorB.Copy(i.m_localAnchorB),this.m_referenceAngleB=i.m_referenceAngle,this.m_localAxisD.Copy(i.m_localXAxisA);var p=this.m_localAnchorD,q=box2d.b2MulTRV(n.q,box2d.b2AddVV(box2d.b2MulRV(l.q,this.m_localAnchorB,box2d.b2Vec2.s_t0),box2d.b2SubVV(l.p,n.p,box2d.b2Vec2.s_t1),box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0);c=box2d.b2DotVV(box2d.b2SubVV(q,p,box2d.b2Vec2.s_t0),this.m_localAxisD)}this.m_ratio=a.ratio,this.m_constant=b+this.m_ratio*c,this.m_impulse=0},goog.inherits(box2d.b2GearJoint,box2d.b2Joint),box2d.b2GearJoint.prototype.m_joint1=null,box2d.b2GearJoint.prototype.m_joint2=null,box2d.b2GearJoint.prototype.m_typeA=box2d.b2JointType.e_unknownJoint,box2d.b2GearJoint.prototype.m_typeB=box2d.b2JointType.e_unknownJoint,box2d.b2GearJoint.prototype.m_bodyC=null,box2d.b2GearJoint.prototype.m_bodyD=null,box2d.b2GearJoint.prototype.m_localAnchorA=null,box2d.b2GearJoint.prototype.m_localAnchorB=null,box2d.b2GearJoint.prototype.m_localAnchorC=null,box2d.b2GearJoint.prototype.m_localAnchorD=null,box2d.b2GearJoint.prototype.m_localAxisC=null,box2d.b2GearJoint.prototype.m_localAxisD=null,box2d.b2GearJoint.prototype.m_referenceAngleA=0,box2d.b2GearJoint.prototype.m_referenceAngleB=0,box2d.b2GearJoint.prototype.m_constant=0,box2d.b2GearJoint.prototype.m_ratio=0,box2d.b2GearJoint.prototype.m_impulse=0,box2d.b2GearJoint.prototype.m_indexA=0,box2d.b2GearJoint.prototype.m_indexB=0,box2d.b2GearJoint.prototype.m_indexC=0,box2d.b2GearJoint.prototype.m_indexD=0,box2d.b2GearJoint.prototype.m_lcA=null,box2d.b2GearJoint.prototype.m_lcB=null,box2d.b2GearJoint.prototype.m_lcC=null,box2d.b2GearJoint.prototype.m_lcD=null,box2d.b2GearJoint.prototype.m_mA=0,box2d.b2GearJoint.prototype.m_mB=0,box2d.b2GearJoint.prototype.m_mC=0,box2d.b2GearJoint.prototype.m_mD=0,box2d.b2GearJoint.prototype.m_iA=0,box2d.b2GearJoint.prototype.m_iB=0,box2d.b2GearJoint.prototype.m_iC=0,box2d.b2GearJoint.prototype.m_iD=0,box2d.b2GearJoint.prototype.m_JvAC=null,box2d.b2GearJoint.prototype.m_JvBD=null,box2d.b2GearJoint.prototype.m_JwA=0,box2d.b2GearJoint.prototype.m_JwB=0,box2d.b2GearJoint.prototype.m_JwC=0,box2d.b2GearJoint.prototype.m_JwD=0,box2d.b2GearJoint.prototype.m_mass=0,box2d.b2GearJoint.prototype.m_qA=null,box2d.b2GearJoint.prototype.m_qB=null,box2d.b2GearJoint.prototype.m_qC=null,box2d.b2GearJoint.prototype.m_qD=null,box2d.b2GearJoint.prototype.m_lalcA=null,box2d.b2GearJoint.prototype.m_lalcB=null,box2d.b2GearJoint.prototype.m_lalcC=null,box2d.b2GearJoint.prototype.m_lalcD=null,box2d.b2GearJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_indexC=this.m_bodyC.m_islandIndex,this.m_indexD=this.m_bodyD.m_islandIndex,this.m_lcA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_lcB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_lcC.Copy(this.m_bodyC.m_sweep.localCenter),this.m_lcD.Copy(this.m_bodyD.m_sweep.localCenter),this.m_mA=this.m_bodyA.m_invMass,this.m_mB=this.m_bodyB.m_invMass,this.m_mC=this.m_bodyC.m_invMass,this.m_mD=this.m_bodyD.m_invMass,this.m_iA=this.m_bodyA.m_invI,this.m_iB=this.m_bodyB.m_invI,this.m_iC=this.m_bodyC.m_invI,this.m_iD=this.m_bodyD.m_invI;var b=a.positions[this.m_indexA].a,c=a.velocities[this.m_indexA].v,d=a.velocities[this.m_indexA].w,e=a.positions[this.m_indexB].a,f=a.velocities[this.m_indexB].v,g=a.velocities[this.m_indexB].w,h=a.positions[this.m_indexC].a,i=a.velocities[this.m_indexC].v,j=a.velocities[this.m_indexC].w,k=a.positions[this.m_indexD].a,l=a.velocities[this.m_indexD].v,m=a.velocities[this.m_indexD].w,n=this.m_qA.SetAngleRadians(b),o=this.m_qB.SetAngleRadians(e),p=this.m_qC.SetAngleRadians(h),q=this.m_qD.SetAngleRadians(k);if(this.m_mass=0,this.m_typeA===box2d.b2JointType.e_revoluteJoint)this.m_JvAC.SetZero(),this.m_JwA=1,this.m_JwC=1,this.m_mass+=this.m_iA+this.m_iC;else{var r=box2d.b2MulRV(p,this.m_localAxisC,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_u);box2d.b2SubVV(this.m_localAnchorC,this.m_lcC,this.m_lalcC);var s=box2d.b2MulRV(p,this.m_lalcC,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rC);box2d.b2SubVV(this.m_localAnchorA,this.m_lcA,this.m_lalcA);var t=box2d.b2MulRV(n,this.m_lalcA,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rA);this.m_JvAC.Copy(r),this.m_JwC=box2d.b2CrossVV(s,r),this.m_JwA=box2d.b2CrossVV(t,r),this.m_mass+=this.m_mC+this.m_mA+this.m_iC*this.m_JwC*this.m_JwC+this.m_iA*this.m_JwA*this.m_JwA}if(this.m_typeB===box2d.b2JointType.e_revoluteJoint)this.m_JvBD.SetZero(),this.m_JwB=this.m_ratio,this.m_JwD=this.m_ratio,this.m_mass+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD);else{var r=box2d.b2MulRV(q,this.m_localAxisD,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_u);box2d.b2SubVV(this.m_localAnchorD,this.m_lcD,this.m_lalcD);var u=box2d.b2MulRV(q,this.m_lalcD,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rD);box2d.b2SubVV(this.m_localAnchorB,this.m_lcB,this.m_lalcB);var v=box2d.b2MulRV(o,this.m_lalcB,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rB);box2d.b2MulSV(this.m_ratio,r,this.m_JvBD),this.m_JwD=this.m_ratio*box2d.b2CrossVV(u,r),this.m_JwB=this.m_ratio*box2d.b2CrossVV(v,r),this.m_mass+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*this.m_JwD*this.m_JwD+this.m_iB*this.m_JwB*this.m_JwB}this.m_mass=this.m_mass>0?1/this.m_mass:0,a.step.warmStarting?(c.SelfMulAdd(this.m_mA*this.m_impulse,this.m_JvAC),d+=this.m_iA*this.m_impulse*this.m_JwA,f.SelfMulAdd(this.m_mB*this.m_impulse,this.m_JvBD),g+=this.m_iB*this.m_impulse*this.m_JwB,i.SelfMulSub(this.m_mC*this.m_impulse,this.m_JvAC),j-=this.m_iC*this.m_impulse*this.m_JwC,l.SelfMulSub(this.m_mD*this.m_impulse,this.m_JvBD),m-=this.m_iD*this.m_impulse*this.m_JwD):this.m_impulse=0,a.velocities[this.m_indexA].w=d,a.velocities[this.m_indexB].w=g,a.velocities[this.m_indexC].w=j,a.velocities[this.m_indexD].w=m},box2d.b2GearJoint.prototype.InitVelocityConstraints.s_u=new box2d.b2Vec2,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rA=new box2d.b2Vec2,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rB=new box2d.b2Vec2,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rC=new box2d.b2Vec2,box2d.b2GearJoint.prototype.InitVelocityConstraints.s_rD=new box2d.b2Vec2,box2d.b2GearJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=a.velocities[this.m_indexC].v,g=a.velocities[this.m_indexC].w,h=a.velocities[this.m_indexD].v,i=a.velocities[this.m_indexD].w,j=box2d.b2DotVV(this.m_JvAC,box2d.b2SubVV(b,f,box2d.b2Vec2.s_t0))+box2d.b2DotVV(this.m_JvBD,box2d.b2SubVV(d,h,box2d.b2Vec2.s_t0));j+=this.m_JwA*c-this.m_JwC*g+(this.m_JwB*e-this.m_JwD*i);var k=-this.m_mass*j;this.m_impulse+=k,b.SelfMulAdd(this.m_mA*k,this.m_JvAC),c+=this.m_iA*k*this.m_JwA,d.SelfMulAdd(this.m_mB*k,this.m_JvBD),e+=this.m_iB*k*this.m_JwB,f.SelfMulSub(this.m_mC*k,this.m_JvAC),g-=this.m_iC*k*this.m_JwC,h.SelfMulSub(this.m_mD*k,this.m_JvBD),i-=this.m_iD*k*this.m_JwD,a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e,a.velocities[this.m_indexC].w=g,a.velocities[this.m_indexD].w=i},box2d.b2GearJoint.prototype.SolvePositionConstraints=function(a){var b,c,d,e,f,g,h=a.positions[this.m_indexA].c,i=a.positions[this.m_indexA].a,j=a.positions[this.m_indexB].c,k=a.positions[this.m_indexB].a,l=a.positions[this.m_indexC].c,m=a.positions[this.m_indexC].a,n=a.positions[this.m_indexD].c,o=a.positions[this.m_indexD].a,p=this.m_qA.SetAngleRadians(i),q=this.m_qB.SetAngleRadians(k),r=this.m_qC.SetAngleRadians(m),s=this.m_qD.SetAngleRadians(o),t=0,u=this.m_JvAC,v=this.m_JvBD,w=0;if(this.m_typeA===box2d.b2JointType.e_revoluteJoint)u.SetZero(),d=1,f=1,w+=this.m_iA+this.m_iC,b=i-m-this.m_referenceAngleA;else{var x=box2d.b2MulRV(r,this.m_localAxisC,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_u),y=box2d.b2MulRV(r,this.m_lalcC,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rC),z=box2d.b2MulRV(p,this.m_lalcA,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rA);u.Copy(x),f=box2d.b2CrossVV(y,x),d=box2d.b2CrossVV(z,x),w+=this.m_mC+this.m_mA+this.m_iC*f*f+this.m_iA*d*d;var A=this.m_lalcC,B=box2d.b2MulTRV(r,box2d.b2AddVV(z,box2d.b2SubVV(h,l,box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0);b=box2d.b2DotVV(box2d.b2SubVV(B,A,box2d.b2Vec2.s_t0),this.m_localAxisC)}if(this.m_typeB===box2d.b2JointType.e_revoluteJoint)v.SetZero(),e=this.m_ratio,g=this.m_ratio,w+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD),c=k-o-this.m_referenceAngleB;else{var x=box2d.b2MulRV(s,this.m_localAxisD,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_u),C=box2d.b2MulRV(s,this.m_lalcD,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rD),D=box2d.b2MulRV(q,this.m_lalcB,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rB);box2d.b2MulSV(this.m_ratio,x,v),g=this.m_ratio*box2d.b2CrossVV(C,x),e=this.m_ratio*box2d.b2CrossVV(D,x),w+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*g*g+this.m_iB*e*e;var E=this.m_lalcD,F=box2d.b2MulTRV(s,box2d.b2AddVV(D,box2d.b2SubVV(j,n,box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0);c=box2d.b2DotVV(box2d.b2SubVV(F,E,box2d.b2Vec2.s_t0),this.m_localAxisD)}var G=b+this.m_ratio*c-this.m_constant,H=0;return w>0&&(H=-G/w),h.SelfMulAdd(this.m_mA*H,u),i+=this.m_iA*H*d,j.SelfMulAdd(this.m_mB*H,v),k+=this.m_iB*H*e,l.SelfMulSub(this.m_mC*H,u),m-=this.m_iC*H*f,n.SelfMulSub(this.m_mD*H,v),o-=this.m_iD*H*g,a.positions[this.m_indexA].a=i,a.positions[this.m_indexB].a=k,a.positions[this.m_indexC].a=m,a.positions[this.m_indexD].a=o,t<box2d.b2_linearSlop},box2d.b2GearJoint.prototype.SolvePositionConstraints.s_u=new box2d.b2Vec2,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rA=new box2d.b2Vec2,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rB=new box2d.b2Vec2,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rC=new box2d.b2Vec2,box2d.b2GearJoint.prototype.SolvePositionConstraints.s_rD=new box2d.b2Vec2,box2d.b2GearJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2GearJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2GearJoint.prototype.GetReactionForce=function(a,b){return box2d.b2MulSV(a*this.m_impulse,this.m_JvAC,b)},box2d.b2GearJoint.prototype.GetReactionTorque=function(a){return a*this.m_impulse*this.m_JwA},box2d.b2GearJoint.prototype.GetJoint1=function(){return this.m_joint1},box2d.b2GearJoint.prototype.GetJoint2=function(){return this.m_joint2},box2d.b2GearJoint.prototype.GetRatio=function(){return this.m_ratio},box2d.b2GearJoint.prototype.SetRatio=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a)),this.m_ratio=a},box2d.b2GearJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex,c=this.m_joint1.m_index,d=this.m_joint2.m_index;box2d.b2Log("  /*box2d.b2GearJointDef*/ var jd = new box2d.b2GearJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.joint1 = joints[%d];\n",c),box2d.b2Log("  jd.joint2 = joints[%d];\n",d),box2d.b2Log("  jd.ratio = %.15f;\n",this.m_ratio),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d.b2Distance"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),box2d.b2DistanceProxy=function(){this.m_buffer=box2d.b2Vec2.MakeArray(2)},box2d.b2DistanceProxy.prototype.m_buffer=null,box2d.b2DistanceProxy.prototype.m_vertices=null,box2d.b2DistanceProxy.prototype.m_count=0,box2d.b2DistanceProxy.prototype.m_radius=0,box2d.b2DistanceProxy.prototype.Reset=function(){return this.m_vertices=null,this.m_count=0,this.m_radius=0,this},box2d.b2DistanceProxy.prototype.SetShape=function(a,b){a.SetupDistanceProxy(this,b)},box2d.b2DistanceProxy.prototype.GetSupport=function(a){for(var b=0,c=box2d.b2DotVV(this.m_vertices[0],a),d=1;d<this.m_count;++d){var e=box2d.b2DotVV(this.m_vertices[d],a);e>c&&(b=d,c=e)}return b},box2d.b2DistanceProxy.prototype.GetSupportVertex=function(a,b){for(var c=0,d=box2d.b2DotVV(this.m_vertices[0],a),e=1;e<this.m_count;++e){var f=box2d.b2DotVV(this.m_vertices[e],a);f>d&&(c=e,d=f)}return b.Copy(this.m_vertices[c])},box2d.b2DistanceProxy.prototype.GetVertexCount=function(){return this.m_count},box2d.b2DistanceProxy.prototype.GetVertex=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(a>=0&&a<this.m_count),this.m_vertices[a]},box2d.b2SimplexCache=function(){this.indexA=box2d.b2MakeNumberArray(3),this.indexB=box2d.b2MakeNumberArray(3)},box2d.b2SimplexCache.prototype.metric=0,box2d.b2SimplexCache.prototype.count=0,box2d.b2SimplexCache.prototype.indexA=null,box2d.b2SimplexCache.prototype.indexB=null,box2d.b2SimplexCache.prototype.Reset=function(){return this.metric=0,this.count=0,this},box2d.b2DistanceInput=function(){this.proxyA=new box2d.b2DistanceProxy,this.proxyB=new box2d.b2DistanceProxy,this.transformA=new box2d.b2Transform,this.transformB=new box2d.b2Transform},box2d.b2DistanceInput.prototype.proxyA=null,box2d.b2DistanceInput.prototype.proxyB=null,box2d.b2DistanceInput.prototype.transformA=null,box2d.b2DistanceInput.prototype.transformB=null,box2d.b2DistanceInput.prototype.useRadii=!1,box2d.b2DistanceInput.prototype.Reset=function(){return this.proxyA.Reset(),this.proxyB.Reset(),this.transformA.SetIdentity(),this.transformB.SetIdentity(),this.useRadii=!1,this},box2d.b2DistanceOutput=function(){this.pointA=new box2d.b2Vec2,this.pointB=new box2d.b2Vec2},box2d.b2DistanceOutput.prototype.pointA=null,box2d.b2DistanceOutput.prototype.pointB=null,box2d.b2DistanceOutput.prototype.distance=0,box2d.b2DistanceOutput.prototype.iterations=0,box2d.b2DistanceOutput.prototype.Reset=function(){return this.pointA.SetZero(),this.pointB.SetZero(),this.distance=0,this.iterations=0,this},box2d.b2_gjkCalls=0,box2d.b2_gjkIters=0,box2d.b2_gjkMaxIters=0,box2d.b2SimplexVertex=function(){this.wA=new box2d.b2Vec2,this.wB=new box2d.b2Vec2,this.w=new box2d.b2Vec2},box2d.b2SimplexVertex.prototype.wA=null,box2d.b2SimplexVertex.prototype.wB=null,box2d.b2SimplexVertex.prototype.w=null,box2d.b2SimplexVertex.prototype.a=0,box2d.b2SimplexVertex.prototype.indexA=0,box2d.b2SimplexVertex.prototype.indexB=0,box2d.b2SimplexVertex.prototype.Copy=function(a){return this.wA.Copy(a.wA),this.wB.Copy(a.wB),this.w.Copy(a.w),this.a=a.a,this.indexA=a.indexA,this.indexB=a.indexB,this},box2d.b2Simplex=function(){this.m_v1=new box2d.b2SimplexVertex,this.m_v2=new box2d.b2SimplexVertex,this.m_v3=new box2d.b2SimplexVertex,this.m_vertices=new Array(3),this.m_vertices[0]=this.m_v1,this.m_vertices[1]=this.m_v2,this.m_vertices[2]=this.m_v3},box2d.b2Simplex.prototype.m_v1=null,box2d.b2Simplex.prototype.m_v2=null,box2d.b2Simplex.prototype.m_v3=null,box2d.b2Simplex.prototype.m_vertices=null,box2d.b2Simplex.prototype.m_count=0,box2d.b2Simplex.prototype.ReadCache=function(a,b,c,d,e){box2d.ENABLE_ASSERTS&&box2d.b2Assert(0<=a.count&&a.count<=3),this.m_count=a.count;for(var f=this.m_vertices,g=0;g<this.m_count;++g){var h=f[g];h.indexA=a.indexA[g],h.indexB=a.indexB[g];var i=b.GetVertex(h.indexA),j=d.GetVertex(h.indexB);box2d.b2MulXV(c,i,h.wA),box2d.b2MulXV(e,j,h.wB),box2d.b2SubVV(h.wB,h.wA,h.w),h.a=0}if(this.m_count>1){var k=a.metric,l=this.GetMetric();(.5*k>l||l>2*k||l<box2d.b2_epsilon)&&(this.m_count=0)}if(0===this.m_count){var h=f[0];h.indexA=0,h.indexB=0;var i=b.GetVertex(0),j=d.GetVertex(0);box2d.b2MulXV(c,i,h.wA),box2d.b2MulXV(e,j,h.wB),box2d.b2SubVV(h.wB,h.wA,h.w),h.a=1,this.m_count=1}},box2d.b2Simplex.prototype.WriteCache=function(a){a.metric=this.GetMetric(),a.count=this.m_count;for(var b=this.m_vertices,c=0;c<this.m_count;++c)a.indexA[c]=b[c].indexA,a.indexB[c]=b[c].indexB},box2d.b2Simplex.prototype.GetSearchDirection=function(a){switch(this.m_count){case 1:return box2d.b2NegV(this.m_v1.w,a);case 2:var b=box2d.b2SubVV(this.m_v2.w,this.m_v1.w,a),c=box2d.b2CrossVV(b,box2d.b2NegV(this.m_v1.w,box2d.b2Vec2.s_t0));return c>0?box2d.b2CrossOneV(b,a):box2d.b2CrossVOne(b,a);default:return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),a.SetZero()}},box2d.b2Simplex.prototype.GetClosestPoint=function(a){switch(this.m_count){case 0:return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),a.SetZero();case 1:return a.Copy(this.m_v1.w);case 2:return a.SetXY(this.m_v1.a*this.m_v1.w.x+this.m_v2.a*this.m_v2.w.x,this.m_v1.a*this.m_v1.w.y+this.m_v2.a*this.m_v2.w.y);case 3:return a.SetZero();default:return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),a.SetZero()}},box2d.b2Simplex.prototype.GetWitnessPoints=function(a,b){switch(this.m_count){case 0:box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1);break;case 1:a.Copy(this.m_v1.wA),b.Copy(this.m_v1.wB);break;case 2:a.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x,a.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y,b.x=this.m_v1.a*this.m_v1.wB.x+this.m_v2.a*this.m_v2.wB.x,b.y=this.m_v1.a*this.m_v1.wB.y+this.m_v2.a*this.m_v2.wB.y;break;case 3:b.x=a.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x+this.m_v3.a*this.m_v3.wA.x,b.y=a.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y+this.m_v3.a*this.m_v3.wA.y;break;default:box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1)}},box2d.b2Simplex.prototype.GetMetric=function(){switch(this.m_count){case 0:return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),0;case 1:return 0;case 2:return box2d.b2DistanceVV(this.m_v1.w,this.m_v2.w);case 3:return box2d.b2CrossVV(box2d.b2SubVV(this.m_v2.w,this.m_v1.w,box2d.b2Vec2.s_t0),box2d.b2SubVV(this.m_v3.w,this.m_v1.w,box2d.b2Vec2.s_t1));default:return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),0}},box2d.b2Simplex.prototype.Solve2=function(){var a=this.m_v1.w,b=this.m_v2.w,c=box2d.b2SubVV(b,a,box2d.b2Simplex.s_e12),d=-box2d.b2DotVV(a,c);if(0>=d)return this.m_v1.a=1,void(this.m_count=1);var e=box2d.b2DotVV(b,c);if(0>=e)return this.m_v2.a=1,this.m_count=1,void this.m_v1.Copy(this.m_v2);var f=1/(e+d);this.m_v1.a=e*f,this.m_v2.a=d*f,this.m_count=2},box2d.b2Simplex.prototype.Solve3=function(){var a=this.m_v1.w,b=this.m_v2.w,c=this.m_v3.w,d=box2d.b2SubVV(b,a,box2d.b2Simplex.s_e12),e=box2d.b2DotVV(a,d),f=box2d.b2DotVV(b,d),g=f,h=-e,i=box2d.b2SubVV(c,a,box2d.b2Simplex.s_e13),j=box2d.b2DotVV(a,i),k=box2d.b2DotVV(c,i),l=k,m=-j,n=box2d.b2SubVV(c,b,box2d.b2Simplex.s_e23),o=box2d.b2DotVV(b,n),p=box2d.b2DotVV(c,n),q=p,r=-o,s=box2d.b2CrossVV(d,i),t=s*box2d.b2CrossVV(b,c),u=s*box2d.b2CrossVV(c,a),v=s*box2d.b2CrossVV(a,b);if(0>=h&&0>=m)return this.m_v1.a=1,void(this.m_count=1);if(g>0&&h>0&&0>=v){var w=1/(g+h);return this.m_v1.a=g*w,this.m_v2.a=h*w,void(this.m_count=2)}if(l>0&&m>0&&0>=u){var x=1/(l+m);return this.m_v1.a=l*x,this.m_v3.a=m*x,this.m_count=2,void this.m_v2.Copy(this.m_v3)}if(0>=g&&0>=r)return this.m_v2.a=1,this.m_count=1,void this.m_v1.Copy(this.m_v2);if(0>=l&&0>=q)return this.m_v3.a=1,this.m_count=1,void this.m_v1.Copy(this.m_v3);if(q>0&&r>0&&0>=t){var y=1/(q+r);return this.m_v2.a=q*y,this.m_v3.a=r*y,this.m_count=2,void this.m_v1.Copy(this.m_v3)}var z=1/(t+u+v);this.m_v1.a=t*z,this.m_v2.a=u*z,this.m_v3.a=v*z,this.m_count=3},box2d.b2Simplex.s_e12=new box2d.b2Vec2,box2d.b2Simplex.s_e13=new box2d.b2Vec2,box2d.b2Simplex.s_e23=new box2d.b2Vec2,box2d.b2Distance=function(a,b,c){++box2d.b2_gjkCalls;var d=c.proxyA,e=c.proxyB,f=c.transformA,g=c.transformB,h=box2d.b2Distance.s_simplex;h.ReadCache(b,d,f,e,g);for(var i=h.m_vertices,j=20,k=box2d.b2Distance.s_saveA,l=box2d.b2Distance.s_saveB,m=0,n=box2d.b2_maxFloat,o=n,p=0;j>p;){m=h.m_count;for(var q=0;m>q;++q)k[q]=i[q].indexA,l[q]=i[q].indexB;switch(h.m_count){case 1:break;case 2:h.Solve2();break;case 3:h.Solve3();break;default:box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1)}if(3===h.m_count)break;var r=h.GetClosestPoint(box2d.b2Distance.s_p);o=r.GetLengthSquared(),n=o;var s=h.GetSearchDirection(box2d.b2Distance.s_d);if(s.GetLengthSquared()<box2d.b2_epsilon_sq)break;var t=i[h.m_count];t.indexA=d.GetSupport(box2d.b2MulTRV(f.q,box2d.b2NegV(s,box2d.b2Vec2.s_t0),box2d.b2Distance.s_supportA)),box2d.b2MulXV(f,d.GetVertex(t.indexA),t.wA),t.indexB=e.GetSupport(box2d.b2MulTRV(g.q,s,box2d.b2Distance.s_supportB)),box2d.b2MulXV(g,e.GetVertex(t.indexB),t.wB),box2d.b2SubVV(t.wB,t.wA,t.w),++p,++box2d.b2_gjkIters;for(var u=!1,q=0;m>q;++q)if(t.indexA===k[q]&&t.indexB===l[q]){u=!0;break}if(u)break;++h.m_count}if(box2d.b2_gjkMaxIters=box2d.b2Max(box2d.b2_gjkMaxIters,p),h.GetWitnessPoints(a.pointA,a.pointB),a.distance=box2d.b2DistanceVV(a.pointA,a.pointB),a.iterations=p,h.WriteCache(b),c.useRadii){var v=d.m_radius,w=e.m_radius;if(a.distance>v+w&&a.distance>box2d.b2_epsilon){a.distance-=v+w;var x=box2d.b2SubVV(a.pointB,a.pointA,box2d.b2Distance.s_normal);x.Normalize(),a.pointA.SelfMulAdd(v,x),a.pointB.SelfMulSub(w,x)}else{var r=box2d.b2MidVV(a.pointA,a.pointB,box2d.b2Distance.s_p);a.pointA.Copy(r),a.pointB.Copy(r),a.distance=0}}},box2d.b2Distance.s_simplex=new box2d.b2Simplex,box2d.b2Distance.s_saveA=box2d.b2MakeNumberArray(3),box2d.b2Distance.s_saveB=box2d.b2MakeNumberArray(3),box2d.b2Distance.s_p=new box2d.b2Vec2,box2d.b2Distance.s_d=new box2d.b2Vec2,box2d.b2Distance.s_normal=new box2d.b2Vec2,box2d.b2Distance.s_supportA=new box2d.b2Vec2,box2d.b2Distance.s_supportB=new box2d.b2Vec2,goog.provide("box2d.b2WeldJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2WeldJointDef=function(){goog.base(this,box2d.b2JointType.e_weldJoint),this.localAnchorA=new box2d.b2Vec2,this.localAnchorB=new box2d.b2Vec2},goog.inherits(box2d.b2WeldJointDef,box2d.b2JointDef),box2d.b2WeldJointDef.prototype.localAnchorA=null,box2d.b2WeldJointDef.prototype.localAnchorB=null,box2d.b2WeldJointDef.prototype.referenceAngle=0,box2d.b2WeldJointDef.prototype.frequencyHz=0,box2d.b2WeldJointDef.prototype.dampingRatio=0,box2d.b2WeldJointDef.prototype.Initialize=function(a,b,c){this.bodyA=a,this.bodyB=b,this.bodyA.GetLocalPoint(c,this.localAnchorA),this.bodyB.GetLocalPoint(c,this.localAnchorB),this.referenceAngle=this.bodyB.GetAngleRadians()-this.bodyA.GetAngleRadians()},box2d.b2WeldJoint=function(a){goog.base(this,a),this.m_frequencyHz=a.frequencyHz,this.m_dampingRatio=a.dampingRatio,this.m_localAnchorA=a.localAnchorA.Clone(),this.m_localAnchorB=a.localAnchorB.Clone(),this.m_referenceAngle=a.referenceAngle,this.m_impulse=new box2d.b2Vec3(0,0,0),this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_mass=new box2d.b2Mat33,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_K=new box2d.b2Mat33
},goog.inherits(box2d.b2WeldJoint,box2d.b2Joint),box2d.b2WeldJoint.prototype.m_frequencyHz=0,box2d.b2WeldJoint.prototype.m_dampingRatio=0,box2d.b2WeldJoint.prototype.m_bias=0,box2d.b2WeldJoint.prototype.m_localAnchorA=null,box2d.b2WeldJoint.prototype.m_localAnchorB=null,box2d.b2WeldJoint.prototype.m_referenceAngle=0,box2d.b2WeldJoint.prototype.m_gamma=0,box2d.b2WeldJoint.prototype.m_impulse=null,box2d.b2WeldJoint.prototype.m_indexA=0,box2d.b2WeldJoint.prototype.m_indexB=0,box2d.b2WeldJoint.prototype.m_rA=null,box2d.b2WeldJoint.prototype.m_rB=null,box2d.b2WeldJoint.prototype.m_localCenterA=null,box2d.b2WeldJoint.prototype.m_localCenterB=null,box2d.b2WeldJoint.prototype.m_invMassA=0,box2d.b2WeldJoint.prototype.m_invMassB=0,box2d.b2WeldJoint.prototype.m_invIA=0,box2d.b2WeldJoint.prototype.m_invIB=0,box2d.b2WeldJoint.prototype.m_mass=null,box2d.b2WeldJoint.prototype.m_qA=null,box2d.b2WeldJoint.prototype.m_qB=null,box2d.b2WeldJoint.prototype.m_lalcA=null,box2d.b2WeldJoint.prototype.m_lalcB=null,box2d.b2WeldJoint.prototype.m_K=null,box2d.b2WeldJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].a,c=a.velocities[this.m_indexA].v,d=a.velocities[this.m_indexA].w,e=a.positions[this.m_indexB].a,f=a.velocities[this.m_indexB].v,g=a.velocities[this.m_indexB].w,h=this.m_qA.SetAngleRadians(b),i=this.m_qB.SetAngleRadians(e);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),box2d.b2MulRV(h,this.m_lalcA,this.m_rA),box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),box2d.b2MulRV(i,this.m_lalcB,this.m_rB);var j=this.m_invMassA,k=this.m_invMassB,l=this.m_invIA,m=this.m_invIB,n=this.m_K;if(n.ex.x=j+k+this.m_rA.y*this.m_rA.y*l+this.m_rB.y*this.m_rB.y*m,n.ey.x=-this.m_rA.y*this.m_rA.x*l-this.m_rB.y*this.m_rB.x*m,n.ez.x=-this.m_rA.y*l-this.m_rB.y*m,n.ex.y=n.ey.x,n.ey.y=j+k+this.m_rA.x*this.m_rA.x*l+this.m_rB.x*this.m_rB.x*m,n.ez.y=this.m_rA.x*l+this.m_rB.x*m,n.ex.z=n.ez.x,n.ey.z=n.ez.y,n.ez.z=l+m,this.m_frequencyHz>0){n.GetInverse22(this.m_mass);var o=l+m,p=o>0?1/o:0,q=e-b-this.m_referenceAngle,r=2*box2d.b2_pi*this.m_frequencyHz,s=2*p*this.m_dampingRatio*r,t=p*r*r,u=a.step.dt;this.m_gamma=u*(s+u*t),this.m_gamma=0!==this.m_gamma?1/this.m_gamma:0,this.m_bias=q*u*t*this.m_gamma,o+=this.m_gamma,this.m_mass.ez.z=0!==o?1/o:0}else n.GetSymInverse33(this.m_mass),this.m_gamma=0,this.m_bias=0;if(a.step.warmStarting){this.m_impulse.SelfMul(a.step.dtRatio);var v=box2d.b2WeldJoint.prototype.InitVelocityConstraints.s_P.SetXY(this.m_impulse.x,this.m_impulse.y);c.SelfMulSub(j,v),d-=l*(box2d.b2CrossVV(this.m_rA,v)+this.m_impulse.z),f.SelfMulAdd(k,v),g+=m*(box2d.b2CrossVV(this.m_rB,v)+this.m_impulse.z)}else this.m_impulse.SetZero();a.velocities[this.m_indexA].w=d,a.velocities[this.m_indexB].w=g},box2d.b2WeldJoint.prototype.InitVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2WeldJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=this.m_invMassA,g=this.m_invMassB,h=this.m_invIA,i=this.m_invIB;if(this.m_frequencyHz>0){var j=e-c,k=-this.m_mass.ez.z*(j+this.m_bias+this.m_gamma*this.m_impulse.z);this.m_impulse.z+=k,c-=h*k,e+=i*k;var l=box2d.b2SubVV(box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2Vec2.s_t1),box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_Cdot1),m=box2d.b2MulM33XY(this.m_mass,l.x,l.y,box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_impulse1).SelfNeg();this.m_impulse.x+=m.x,this.m_impulse.y+=m.y;var n=m;b.SelfMulSub(f,n),c-=h*box2d.b2CrossVV(this.m_rA,n),d.SelfMulAdd(g,n),e+=i*box2d.b2CrossVV(this.m_rB,n)}else{var l=box2d.b2SubVV(box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2Vec2.s_t1),box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_Cdot1),j=e-c,o=box2d.b2MulM33XYZ(this.m_mass,l.x,l.y,j,box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_impulse).SelfNeg();this.m_impulse.SelfAdd(o);var n=box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_P.SetXY(o.x,o.y);b.SelfMulSub(f,n),c-=h*(box2d.b2CrossVV(this.m_rA,n)+o.z),d.SelfMulAdd(g,n),e+=i*(box2d.b2CrossVV(this.m_rB,n)+o.z)}a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_Cdot1=new box2d.b2Vec2,box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_impulse1=new box2d.b2Vec2,box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_impulse=new box2d.b2Vec3,box2d.b2WeldJoint.prototype.SolveVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2WeldJoint.prototype.SolvePositionConstraints=function(a){var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.positions[this.m_indexB].c,e=a.positions[this.m_indexB].a,f=this.m_qA.SetAngleRadians(c),g=this.m_qB.SetAngleRadians(e),h=this.m_invMassA,i=this.m_invMassB,j=this.m_invIA,k=this.m_invIB;box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var l=box2d.b2MulRV(f,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var m,n,o=box2d.b2MulRV(g,this.m_lalcB,this.m_rB),p=this.m_K;if(p.ex.x=h+i+l.y*l.y*j+o.y*o.y*k,p.ey.x=-l.y*l.x*j-o.y*o.x*k,p.ez.x=-l.y*j-o.y*k,p.ex.y=p.ey.x,p.ey.y=h+i+l.x*l.x*j+o.x*o.x*k,p.ez.y=l.x*j+o.x*k,p.ex.z=p.ez.x,p.ey.z=p.ez.y,p.ez.z=j+k,this.m_frequencyHz>0){var q=box2d.b2SubVV(box2d.b2AddVV(d,o,box2d.b2Vec2.s_t0),box2d.b2AddVV(b,l,box2d.b2Vec2.s_t1),box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_C1);m=q.GetLength(),n=0;var r=p.Solve22(q.x,q.y,box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_P).SelfNeg();b.SelfMulSub(h,r),c-=j*box2d.b2CrossVV(l,r),d.SelfMulAdd(i,r),e+=k*box2d.b2CrossVV(o,r)}else{var q=box2d.b2SubVV(box2d.b2AddVV(d,o,box2d.b2Vec2.s_t0),box2d.b2AddVV(b,l,box2d.b2Vec2.s_t1),box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_C1),s=e-c-this.m_referenceAngle;m=q.GetLength(),n=box2d.b2Abs(s);var t=p.Solve33(q.x,q.y,s,box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_impulse).SelfNeg(),r=box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_P.SetXY(t.x,t.y);b.SelfMulSub(h,r),c-=j*(box2d.b2CrossVV(this.m_rA,r)+t.z),d.SelfMulAdd(i,r),e+=k*(box2d.b2CrossVV(this.m_rB,r)+t.z)}return a.positions[this.m_indexA].a=c,a.positions[this.m_indexB].a=e,m<=box2d.b2_linearSlop&&n<=box2d.b2_angularSlop},box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_C1=new box2d.b2Vec2,box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_P=new box2d.b2Vec2,box2d.b2WeldJoint.prototype.SolvePositionConstraints.s_impulse=new box2d.b2Vec3,box2d.b2WeldJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2WeldJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2WeldJoint.prototype.GetReactionForce=function(a,b){return b.SetXY(a*this.m_impulse.x,a*this.m_impulse.y)},box2d.b2WeldJoint.prototype.GetReactionTorque=function(a){return a*this.m_impulse.z},box2d.b2WeldJoint.prototype.GetLocalAnchorA=function(a){return a.Copy(this.m_localAnchorA)},box2d.b2WeldJoint.prototype.GetLocalAnchorB=function(a){return a.Copy(this.m_localAnchorB)},box2d.b2WeldJoint.prototype.GetReferenceAngle=function(){return this.m_referenceAngle},box2d.b2WeldJoint.prototype.SetFrequency=function(a){this.m_frequencyHz=a},box2d.b2WeldJoint.prototype.GetFrequency=function(){return this.m_frequencyHz},box2d.b2WeldJoint.prototype.SetDampingRatio=function(a){this.m_dampingRatio=a},box2d.b2WeldJoint.prototype.GetDampingRatio=function(){return this.m_dampingRatio},box2d.b2WeldJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2WeldJointDef*/ var jd = new box2d.b2WeldJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.referenceAngle = %.15f;\n",this.m_referenceAngle),box2d.b2Log("  jd.frequencyHz = %.15f;\n",this.m_frequencyHz),box2d.b2Log("  jd.dampingRatio = %.15f;\n",this.m_dampingRatio),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d.b2RopeJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2RopeJointDef=function(){goog.base(this,box2d.b2JointType.e_ropeJoint),this.localAnchorA=new box2d.b2Vec2(-1,0),this.localAnchorB=new box2d.b2Vec2(1,0)},goog.inherits(box2d.b2RopeJointDef,box2d.b2JointDef),box2d.b2RopeJointDef.prototype.localAnchorA=null,box2d.b2RopeJointDef.prototype.localAnchorB=null,box2d.b2RopeJointDef.prototype.maxLength=0,box2d.b2RopeJoint=function(a){goog.base(this,a),this.m_localAnchorA=a.localAnchorA.Clone(),this.m_localAnchorB=a.localAnchorB.Clone(),this.m_maxLength=a.maxLength,this.m_u=new box2d.b2Vec2,this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2},goog.inherits(box2d.b2RopeJoint,box2d.b2Joint),box2d.b2RopeJoint.prototype.m_localAnchorA=null,box2d.b2RopeJoint.prototype.m_localAnchorB=null,box2d.b2RopeJoint.prototype.m_maxLength=0,box2d.b2RopeJoint.prototype.m_length=0,box2d.b2RopeJoint.prototype.m_impulse=0,box2d.b2RopeJoint.prototype.m_indexA=0,box2d.b2RopeJoint.prototype.m_indexB=0,box2d.b2RopeJoint.prototype.m_u=null,box2d.b2RopeJoint.prototype.m_rA=null,box2d.b2RopeJoint.prototype.m_rB=null,box2d.b2RopeJoint.prototype.m_localCenterA=null,box2d.b2RopeJoint.prototype.m_localCenterB=null,box2d.b2RopeJoint.prototype.m_invMassA=0,box2d.b2RopeJoint.prototype.m_invMassB=0,box2d.b2RopeJoint.prototype.m_invIA=0,box2d.b2RopeJoint.prototype.m_invIB=0,box2d.b2RopeJoint.prototype.m_mass=0,box2d.b2RopeJoint.prototype.m_state=box2d.b2LimitState.e_inactiveLimit,box2d.b2RopeJoint.prototype.m_qA=null,box2d.b2RopeJoint.prototype.m_qB=null,box2d.b2RopeJoint.prototype.m_lalcA=null,box2d.b2RopeJoint.prototype.m_lalcB=null,box2d.b2RopeJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.velocities[this.m_indexA].v,e=a.velocities[this.m_indexA].w,f=a.positions[this.m_indexB].c,g=a.positions[this.m_indexB].a,h=a.velocities[this.m_indexB].v,i=a.velocities[this.m_indexB].w,j=this.m_qA.SetAngleRadians(c),k=this.m_qB.SetAngleRadians(g);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),box2d.b2MulRV(j,this.m_lalcA,this.m_rA),box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),box2d.b2MulRV(k,this.m_lalcB,this.m_rB),this.m_u.Copy(f).SelfAdd(this.m_rB).SelfSub(b).SelfSub(this.m_rA),this.m_length=this.m_u.GetLength();var l=this.m_length-this.m_maxLength;if(this.m_state=l>0?box2d.b2LimitState.e_atUpperLimit:box2d.b2LimitState.e_inactiveLimit,!(this.m_length>box2d.b2_linearSlop))return this.m_u.SetZero(),this.m_mass=0,void(this.m_impulse=0);this.m_u.SelfMul(1/this.m_length);var m=box2d.b2CrossVV(this.m_rA,this.m_u),n=box2d.b2CrossVV(this.m_rB,this.m_u),o=this.m_invMassA+this.m_invIA*m*m+this.m_invMassB+this.m_invIB*n*n;if(this.m_mass=0!==o?1/o:0,a.step.warmStarting){this.m_impulse*=a.step.dtRatio;var p=box2d.b2MulSV(this.m_impulse,this.m_u,box2d.b2RopeJoint.prototype.InitVelocityConstraints.s_P);d.SelfMulSub(this.m_invMassA,p),e-=this.m_invIA*box2d.b2CrossVV(this.m_rA,p),h.SelfMulAdd(this.m_invMassB,p),i+=this.m_invIB*box2d.b2CrossVV(this.m_rB,p)}else this.m_impulse=0;a.velocities[this.m_indexA].w=e,a.velocities[this.m_indexB].w=i},box2d.b2RopeJoint.prototype.InitVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2RopeJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2RopeJoint.prototype.SolveVelocityConstraints.s_vpA),g=box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2RopeJoint.prototype.SolveVelocityConstraints.s_vpB),h=this.m_length-this.m_maxLength,i=box2d.b2DotVV(this.m_u,box2d.b2SubVV(g,f,box2d.b2Vec2.s_t0));0>h&&(i+=a.step.inv_dt*h);var j=-this.m_mass*i,k=this.m_impulse;this.m_impulse=box2d.b2Min(0,this.m_impulse+j),j=this.m_impulse-k;var l=box2d.b2MulSV(j,this.m_u,box2d.b2RopeJoint.prototype.SolveVelocityConstraints.s_P);b.SelfMulSub(this.m_invMassA,l),c-=this.m_invIA*box2d.b2CrossVV(this.m_rA,l),d.SelfMulAdd(this.m_invMassB,l),e+=this.m_invIB*box2d.b2CrossVV(this.m_rB,l),a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2RopeJoint.prototype.SolveVelocityConstraints.s_vpA=new box2d.b2Vec2,box2d.b2RopeJoint.prototype.SolveVelocityConstraints.s_vpB=new box2d.b2Vec2,box2d.b2RopeJoint.prototype.SolveVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2RopeJoint.prototype.SolvePositionConstraints=function(a){var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.positions[this.m_indexB].c,e=a.positions[this.m_indexB].a,f=this.m_qA.SetAngleRadians(c),g=this.m_qB.SetAngleRadians(e);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var h=box2d.b2MulRV(f,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var i=box2d.b2MulRV(g,this.m_lalcB,this.m_rB),j=this.m_u.Copy(d).SelfAdd(i).SelfSub(b).SelfSub(h),k=j.Normalize(),l=k-this.m_maxLength;l=box2d.b2Clamp(l,0,box2d.b2_maxLinearCorrection);var m=-this.m_mass*l,n=box2d.b2MulSV(m,j,box2d.b2RopeJoint.prototype.SolvePositionConstraints.s_P);return b.SelfMulSub(this.m_invMassA,n),c-=this.m_invIA*box2d.b2CrossVV(h,n),d.SelfMulAdd(this.m_invMassB,n),e+=this.m_invIB*box2d.b2CrossVV(i,n),a.positions[this.m_indexA].a=c,a.positions[this.m_indexB].a=e,k-this.m_maxLength<box2d.b2_linearSlop},box2d.b2RopeJoint.prototype.SolvePositionConstraints.s_P=new box2d.b2Vec2,box2d.b2RopeJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2RopeJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2RopeJoint.prototype.GetReactionForce=function(a,b){var c=box2d.b2MulSV(a*this.m_impulse,this.m_u,b);return c},box2d.b2RopeJoint.prototype.GetReactionTorque=function(){return 0},box2d.b2RopeJoint.prototype.GetLocalAnchorA=function(a){return a.Copy(this.m_localAnchorA)},box2d.b2RopeJoint.prototype.GetLocalAnchorB=function(a){return a.Copy(this.m_localAnchorB)},box2d.b2RopeJoint.prototype.SetMaxLength=function(a){this.m_maxLength=a},box2d.b2RopeJoint.prototype.GetMaxLength=function(){return this.m_maxLength},box2d.b2RopeJoint.prototype.GetLimitState=function(){return this.m_state},box2d.b2RopeJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2RopeJointDef*/ var jd = new box2d.b2RopeJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.maxLength = %.15f;\n",this.m_maxLength),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d.b2GravityController"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Controller"),goog.require("box2d.b2Math"),box2d.b2GravityController=function(){goog.base(this)},goog.inherits(box2d.b2GravityController,box2d.b2Controller),box2d.b2GravityController.prototype.G=1,box2d.b2GravityController.prototype.invSqr=!0,box2d.b2GravityController.prototype.Step=function(){if(this.invSqr)for(var a=this.m_bodyList;a;a=a.nextBody)for(var b=a.body,c=b.GetWorldCenter(),d=b.GetMass(),e=this.m_bodyList;e!==a;e=e.nextBody){var f=e.body,g=f.GetWorldCenter(),h=f.GetMass(),i=g.x-c.x,j=g.y-c.y,k=i*i+j*j;if(!(k<box2d.b2_epsilon)){var l=box2d.b2GravityController.prototype.Step.s_f.SetXY(i,j);l.SelfMul(this.G/k/box2d.b2Sqrt(k)*d*h),b.IsAwake()&&b.ApplyForce(l,c),f.IsAwake()&&f.ApplyForce(l.SelfMul(-1),g)}}else for(var a=this.m_bodyList;a;a=a.nextBody)for(var b=a.body,c=b.GetWorldCenter(),d=b.GetMass(),e=this.m_bodyList;e!==a;e=e.nextBody){var f=e.body,g=f.GetWorldCenter(),h=f.GetMass(),i=g.x-c.x,j=g.y-c.y,k=i*i+j*j;if(!(k<box2d.b2_epsilon)){var l=box2d.b2GravityController.prototype.Step.s_f.SetXY(i,j);l.SelfMul(this.G/k*d*h),b.IsAwake()&&b.ApplyForce(l,c),f.IsAwake()&&f.ApplyForce(l.SelfMul(-1),g)}}},box2d.b2GravityController.prototype.Step.s_f=new box2d.b2Vec2,goog.provide("box2d.b2TimeStep"),goog.require("box2d.b2Settings"),box2d.b2Profile=function(){},box2d.b2Profile.prototype.step=0,box2d.b2Profile.prototype.collide=0,box2d.b2Profile.prototype.solve=0,box2d.b2Profile.prototype.solveInit=0,box2d.b2Profile.prototype.solveVelocity=0,box2d.b2Profile.prototype.solvePosition=0,box2d.b2Profile.prototype.broadphase=0,box2d.b2Profile.prototype.solveTOI=0,box2d.b2Profile.prototype.Reset=function(){return this.step=0,this.collide=0,this.solve=0,this.solveInit=0,this.solveVelocity=0,this.solvePosition=0,this.broadphase=0,this.solveTOI=0,this},box2d.b2TimeStep=function(){},box2d.b2TimeStep.prototype.dt=0,box2d.b2TimeStep.prototype.inv_dt=0,box2d.b2TimeStep.prototype.dtRatio=0,box2d.b2TimeStep.prototype.velocityIterations=0,box2d.b2TimeStep.prototype.positionIterations=0,box2d.b2TimeStep.prototype.warmStarting=!1,box2d.b2TimeStep.prototype.Copy=function(a){return this.dt=a.dt,this.inv_dt=a.inv_dt,this.dtRatio=a.dtRatio,this.positionIterations=a.positionIterations,this.velocityIterations=a.velocityIterations,this.warmStarting=a.warmStarting,this},box2d.b2Position=function(){this.c=new box2d.b2Vec2},box2d.b2Position.prototype.c=null,box2d.b2Position.prototype.a=0,box2d.b2Position.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2Position})},box2d.b2Velocity=function(){this.v=new box2d.b2Vec2},box2d.b2Velocity.prototype.v=null,box2d.b2Velocity.prototype.w=0,box2d.b2Velocity.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2Velocity})},box2d.b2SolverData=function(){this.step=new box2d.b2TimeStep},box2d.b2SolverData.prototype.step=null,box2d.b2SolverData.prototype.positions=null,box2d.b2SolverData.prototype.velocities=null,goog.provide("box2d.b2Collision"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),goog.require("box2d.b2Distance"),box2d.b2ContactFeatureType={e_vertex:0,e_face:1},goog.exportProperty(box2d.b2ContactFeatureType,"e_vertex",box2d.b2ContactFeatureType.e_vertex),goog.exportProperty(box2d.b2ContactFeatureType,"e_face",box2d.b2ContactFeatureType.e_face),box2d.b2ContactFeature=function(a){this._id=a},box2d.b2ContactFeature.prototype._id=null,box2d.b2ContactFeature.prototype._indexA=0,box2d.b2ContactFeature.prototype._indexB=0,box2d.b2ContactFeature.prototype._typeA=0,box2d.b2ContactFeature.prototype._typeB=0,Object.defineProperty(box2d.b2ContactFeature.prototype,"indexA",{enumerable:!1,configurable:!0,get:function(){return this._indexA},set:function(a){this._indexA=a,this._id._key=4294967040&this._id._key|255&this._indexA}}),Object.defineProperty(box2d.b2ContactFeature.prototype,"indexB",{enumerable:!1,configurable:!0,get:function(){return this._indexB},set:function(a){this._indexB=a,this._id._key=4294902015&this._id._key|this._indexB<<8&65280}}),Object.defineProperty(box2d.b2ContactFeature.prototype,"typeA",{enumerable:!1,configurable:!0,get:function(){return this._typeA},set:function(a){this._typeA=a,this._id._key=4278255615&this._id._key|this._typeA<<16&16711680}}),Object.defineProperty(box2d.b2ContactFeature.prototype,"typeB",{enumerable:!1,configurable:!0,get:function(){return this._typeB},set:function(a){this._typeB=a,this._id._key=16777215&this._id._key|this._typeB<<24&4278190080}}),box2d.b2ContactID=function(){this.cf=new box2d.b2ContactFeature(this)},box2d.b2ContactID.prototype.cf=null,box2d.b2ContactID.prototype.key=0,box2d.b2ContactID.prototype.Copy=function(a){return this.key=a.key,this},box2d.b2ContactID.prototype.Clone=function(){return(new box2d.b2ContactID).Copy(this)},Object.defineProperty(box2d.b2ContactID.prototype,"key",{enumerable:!1,configurable:!0,get:function(){return this._key},set:function(a){this._key=a,this.cf._indexA=255&this._key,this.cf._indexB=this._key>>8&255,this.cf._typeA=this._key>>16&255,this.cf._typeB=this._key>>24&255}}),box2d.b2ManifoldPoint=function(){this.localPoint=new box2d.b2Vec2,this.id=new box2d.b2ContactID},box2d.b2ManifoldPoint.prototype.localPoint=null,box2d.b2ManifoldPoint.prototype.normalImpulse=0,box2d.b2ManifoldPoint.prototype.tangentImpulse=0,box2d.b2ManifoldPoint.prototype.id=null,box2d.b2ManifoldPoint.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2ManifoldPoint})},box2d.b2ManifoldPoint.prototype.Reset=function(){this.localPoint.SetZero(),this.normalImpulse=0,this.tangentImpulse=0,this.id.key=0},box2d.b2ManifoldPoint.prototype.Copy=function(a){return this.localPoint.Copy(a.localPoint),this.normalImpulse=a.normalImpulse,this.tangentImpulse=a.tangentImpulse,this.id.Copy(a.id),this},box2d.b2ManifoldType={e_unknown:-1,e_circles:0,e_faceA:1,e_faceB:2},goog.exportProperty(box2d.b2ManifoldType,"e_unknown",box2d.b2ManifoldType.e_unknown),goog.exportProperty(box2d.b2ManifoldType,"e_circles",box2d.b2ManifoldType.e_circles),goog.exportProperty(box2d.b2ManifoldType,"e_faceA",box2d.b2ManifoldType.e_faceA),goog.exportProperty(box2d.b2ManifoldType,"e_faceB",box2d.b2ManifoldType.e_faceB),box2d.b2Manifold=function(){this.points=box2d.b2ManifoldPoint.MakeArray(box2d.b2_maxManifoldPoints),this.localNormal=new box2d.b2Vec2,this.localPoint=new box2d.b2Vec2,this.type=box2d.b2ManifoldType.e_unknown,this.pointCount=0},box2d.b2Manifold.prototype.points=null,box2d.b2Manifold.prototype.localNormal=null,box2d.b2Manifold.prototype.localPoint=null,box2d.b2Manifold.prototype.type=box2d.b2ManifoldType.e_unknown,box2d.b2Manifold.prototype.pointCount=0,box2d.b2Manifold.prototype.Reset=function(){for(var a=0,b=box2d.b2_maxManifoldPoints;b>a;++a)this.points[a].Reset();this.localNormal.SetZero(),this.localPoint.SetZero(),this.type=box2d.b2ManifoldType.e_unknown,this.pointCount=0},box2d.b2Manifold.prototype.Copy=function(a){this.pointCount=a.pointCount;for(var b=0,c=box2d.b2_maxManifoldPoints;c>b;++b)this.points[b].Copy(a.points[b]);return this.localNormal.Copy(a.localNormal),this.localPoint.Copy(a.localPoint),this.type=a.type,this},box2d.b2Manifold.prototype.Clone=function(){return(new box2d.b2Manifold).Copy(this)},box2d.b2WorldManifold=function(){this.normal=new box2d.b2Vec2,this.points=box2d.b2Vec2.MakeArray(box2d.b2_maxManifoldPoints),this.separations=box2d.b2MakeNumberArray(box2d.b2_maxManifoldPoints)},box2d.b2WorldManifold.prototype.normal=null,box2d.b2WorldManifold.prototype.points=null,box2d.b2WorldManifold.prototype.separations=null,box2d.b2WorldManifold.prototype.Initialize=function(a,b,c,d,e){if(0!==a.pointCount)switch(a.type){case box2d.b2ManifoldType.e_circles:this.normal.SetXY(1,0);var f=box2d.b2MulXV(b,a.localPoint,box2d.b2WorldManifold.prototype.Initialize.s_pointA),g=box2d.b2MulXV(d,a.points[0].localPoint,box2d.b2WorldManifold.prototype.Initialize.s_pointB);box2d.b2DistanceSquaredVV(f,g)>box2d.b2_epsilon_sq&&box2d.b2SubVV(g,f,this.normal).SelfNormalize();var h=box2d.b2AddVMulSV(f,c,this.normal,box2d.b2WorldManifold.prototype.Initialize.s_cA),i=box2d.b2SubVMulSV(g,e,this.normal,box2d.b2WorldManifold.prototype.Initialize.s_cB);box2d.b2MidVV(h,i,this.points[0]),this.separations[0]=box2d.b2DotVV(box2d.b2SubVV(i,h,box2d.b2Vec2.s_t0),this.normal);break;case box2d.b2ManifoldType.e_faceA:box2d.b2MulRV(b.q,a.localNormal,this.normal);for(var j=box2d.b2MulXV(b,a.localPoint,box2d.b2WorldManifold.prototype.Initialize.s_planePoint),k=0,l=a.pointCount;l>k;++k){var m=box2d.b2MulXV(d,a.points[k].localPoint,box2d.b2WorldManifold.prototype.Initialize.s_clipPoint),n=c-box2d.b2DotVV(box2d.b2SubVV(m,j,box2d.b2Vec2.s_t0),this.normal),h=box2d.b2AddVMulSV(m,n,this.normal,box2d.b2WorldManifold.prototype.Initialize.s_cA),i=box2d.b2SubVMulSV(m,e,this.normal,box2d.b2WorldManifold.prototype.Initialize.s_cB);box2d.b2MidVV(h,i,this.points[k]),this.separations[k]=box2d.b2DotVV(box2d.b2SubVV(i,h,box2d.b2Vec2.s_t0),this.normal)}break;case box2d.b2ManifoldType.e_faceB:box2d.b2MulRV(d.q,a.localNormal,this.normal);for(var j=box2d.b2MulXV(d,a.localPoint,box2d.b2WorldManifold.prototype.Initialize.s_planePoint),k=0,l=a.pointCount;l>k;++k){var m=box2d.b2MulXV(b,a.points[k].localPoint,box2d.b2WorldManifold.prototype.Initialize.s_clipPoint),n=e-box2d.b2DotVV(box2d.b2SubVV(m,j,box2d.b2Vec2.s_t0),this.normal),i=box2d.b2AddVMulSV(m,n,this.normal,box2d.b2WorldManifold.prototype.Initialize.s_cB),h=box2d.b2SubVMulSV(m,c,this.normal,box2d.b2WorldManifold.prototype.Initialize.s_cA);box2d.b2MidVV(h,i,this.points[k]),this.separations[k]=box2d.b2DotVV(box2d.b2SubVV(h,i,box2d.b2Vec2.s_t0),this.normal)}this.normal.SelfNeg()}},box2d.b2WorldManifold.prototype.Initialize.s_pointA=new box2d.b2Vec2,box2d.b2WorldManifold.prototype.Initialize.s_pointB=new box2d.b2Vec2,box2d.b2WorldManifold.prototype.Initialize.s_cA=new box2d.b2Vec2,box2d.b2WorldManifold.prototype.Initialize.s_cB=new box2d.b2Vec2,box2d.b2WorldManifold.prototype.Initialize.s_planePoint=new box2d.b2Vec2,box2d.b2WorldManifold.prototype.Initialize.s_clipPoint=new box2d.b2Vec2,box2d.b2PointState={b2_nullState:0,b2_addState:1,b2_persistState:2,b2_removeState:3},goog.exportProperty(box2d.b2PointState,"b2_nullState   ",box2d.b2PointState.b2_nullState),goog.exportProperty(box2d.b2PointState,"b2_addState    ",box2d.b2PointState.b2_addState),goog.exportProperty(box2d.b2PointState,"b2_persistState",box2d.b2PointState.b2_persistState),goog.exportProperty(box2d.b2PointState,"b2_removeState ",box2d.b2PointState.b2_removeState),box2d.b2GetPointStates=function(a,b,c,d){for(var e=0,f=c.pointCount;f>e;++e){var g=c.points[e].id,h=g.key;a[e]=box2d.b2PointState.b2_removeState;for(var i=0,j=d.pointCount;j>i;++i)if(d.points[i].id.key===h){a[e]=box2d.b2PointState.b2_persistState;break}}for(var f=box2d.b2_maxManifoldPoints;f>e;++e)a[e]=box2d.b2PointState.b2_nullState;for(var e=0,f=d.pointCount;f>e;++e){var g=d.points[e].id,h=g.key;b[e]=box2d.b2PointState.b2_addState;for(var i=0,j=c.pointCount;j>i;++i)if(c.points[i].id.key===h){b[e]=box2d.b2PointState.b2_persistState;break}}for(var f=box2d.b2_maxManifoldPoints;f>e;++e)b[e]=box2d.b2PointState.b2_nullState},box2d.b2ClipVertex=function(){this.v=new box2d.b2Vec2,this.id=new box2d.b2ContactID},box2d.b2ClipVertex.prototype.v=null,box2d.b2ClipVertex.prototype.id=null,box2d.b2ClipVertex.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2ClipVertex})},box2d.b2ClipVertex.prototype.Copy=function(a){return this.v.Copy(a.v),this.id.Copy(a.id),this},box2d.b2RayCastInput=function(){this.p1=new box2d.b2Vec2,this.p2=new box2d.b2Vec2,this.maxFraction=1},box2d.b2RayCastInput.prototype.p1=null,box2d.b2RayCastInput.prototype.p2=null,box2d.b2RayCastInput.prototype.maxFraction=1,box2d.b2RayCastInput.prototype.Copy=function(a){return this.p1.Copy(a.p1),this.p2.Copy(a.p2),this.maxFraction=a.maxFraction,this},box2d.b2RayCastOutput=function(){this.normal=new box2d.b2Vec2,this.fraction=0},box2d.b2RayCastOutput.prototype.normal=null,box2d.b2RayCastOutput.prototype.fraction=0,box2d.b2RayCastOutput.prototype.Copy=function(a){return this.normal.Copy(a.normal),this.fraction=a.fraction,this},box2d.b2AABB=function(){this.lowerBound=new box2d.b2Vec2,this.upperBound=new box2d.b2Vec2,this.m_out_center=new box2d.b2Vec2,this.m_out_extent=new box2d.b2Vec2},box2d.b2AABB.prototype.lowerBound=null,box2d.b2AABB.prototype.upperBound=null,box2d.b2AABB.prototype.m_out_center=null,box2d.b2AABB.prototype.m_out_extent=null,box2d.b2AABB.prototype.Copy=function(a){return this.lowerBound.Copy(a.lowerBound),this.upperBound.Copy(a.upperBound),this},box2d.b2AABB.prototype.IsValid=function(){var a=this.upperBound.x-this.lowerBound.x,b=this.upperBound.y-this.lowerBound.y,c=a>=0&&b>=0;return c=c&&this.lowerBound.IsValid()&&this.upperBound.IsValid()},box2d.b2AABB.prototype.GetCenter=function(){return box2d.b2MidVV(this.lowerBound,this.upperBound,this.m_out_center)},box2d.b2AABB.prototype.GetExtents=function(){return box2d.b2ExtVV(this.lowerBound,this.upperBound,this.m_out_extent)},box2d.b2AABB.prototype.GetPerimeter=function(){var a=this.upperBound.x-this.lowerBound.x,b=this.upperBound.y-this.lowerBound.y;return 2*(a+b)},box2d.b2AABB.prototype.Combine1=function(a){return this.lowerBound.x=box2d.b2Min(this.lowerBound.x,a.lowerBound.x),this.lowerBound.y=box2d.b2Min(this.lowerBound.y,a.lowerBound.y),this.upperBound.x=box2d.b2Max(this.upperBound.x,a.upperBound.x),this.upperBound.y=box2d.b2Max(this.upperBound.y,a.upperBound.y),this},box2d.b2AABB.prototype.Combine2=function(a,b){return this.lowerBound.x=box2d.b2Min(a.lowerBound.x,b.lowerBound.x),this.lowerBound.y=box2d.b2Min(a.lowerBound.y,b.lowerBound.y),this.upperBound.x=box2d.b2Max(a.upperBound.x,b.upperBound.x),this.upperBound.y=box2d.b2Max(a.upperBound.y,b.upperBound.y),this},box2d.b2AABB.Combine=function(a,b,c){return c.Combine2(a,b),c},box2d.b2AABB.prototype.Contains=function(a){var b=!0;return b=b&&this.lowerBound.x<=a.lowerBound.x,b=b&&this.lowerBound.y<=a.lowerBound.y,b=b&&a.upperBound.x<=this.upperBound.x,b=b&&a.upperBound.y<=this.upperBound.y},box2d.b2AABB.prototype.RayCast=function(a,b){var c=-box2d.b2_maxFloat,d=box2d.b2_maxFloat,e=b.p1.x,f=b.p1.y,g=b.p2.x-b.p1.x,h=b.p2.y-b.p1.y,i=box2d.b2Abs(g),j=box2d.b2Abs(h),k=a.normal;if(i<box2d.b2_epsilon){if(e<this.lowerBound.x||this.upperBound.x<e)return!1}else{var l=1/g,m=(this.lowerBound.x-e)*l,n=(this.upperBound.x-e)*l,o=-1;if(m>n){var p=m;m=n,n=p,o=1}if(m>c&&(k.x=o,k.y=0,c=m),d=box2d.b2Min(d,n),c>d)return!1}if(j<box2d.b2_epsilon){if(f<this.lowerBound.y||this.upperBound.y<f)return!1}else{var l=1/h,m=(this.lowerBound.y-f)*l,n=(this.upperBound.y-f)*l,o=-1;if(m>n){var p=m;m=n,n=p,o=1}if(m>c&&(k.x=0,k.y=o,c=m),d=box2d.b2Min(d,n),c>d)return!1}return 0>c||b.maxFraction<c?!1:(a.fraction=c,!0)},box2d.b2AABB.prototype.TestOverlap=function(a){var b=a.lowerBound.x-this.upperBound.x,c=a.lowerBound.y-this.upperBound.y,d=this.lowerBound.x-a.upperBound.x,e=this.lowerBound.y-a.upperBound.y;return b>0||c>0?!1:d>0||e>0?!1:!0},box2d.b2TestOverlapAABB=function(a,b){var c=b.lowerBound.x-a.upperBound.x,d=b.lowerBound.y-a.upperBound.y,e=a.lowerBound.x-b.upperBound.x,f=a.lowerBound.y-b.upperBound.y;return c>0||d>0?!1:e>0||f>0?!1:!0},box2d.b2ClipSegmentToLine=function(a,b,c,d,e){var f=0,g=b[0],h=b[1],i=box2d.b2DotVV(c,g.v)-d,j=box2d.b2DotVV(c,h.v)-d;if(0>=i&&a[f++].Copy(g),0>=j&&a[f++].Copy(h),0>i*j){var k=i/(i-j),l=a[f].v;l.x=g.v.x+k*(h.v.x-g.v.x),l.y=g.v.y+k*(h.v.y-g.v.y);var m=a[f].id;m.cf.indexA=e,m.cf.indexB=g.id.cf.indexB,m.cf.typeA=box2d.b2ContactFeatureType.e_vertex,m.cf.typeB=box2d.b2ContactFeatureType.e_face,++f}return f},box2d.b2TestOverlapShape=function(a,b,c,d,e,f){var g=box2d.b2TestOverlapShape.s_input.Reset();
g.proxyA.SetShape(a,b),g.proxyB.SetShape(c,d),g.transformA.Copy(e),g.transformB.Copy(f),g.useRadii=!0;var h=box2d.b2TestOverlapShape.s_simplexCache.Reset();h.count=0;var i=box2d.b2TestOverlapShape.s_output.Reset();return box2d.b2Distance(i,h,g),i.distance<10*box2d.b2_epsilon},box2d.b2TestOverlapShape.s_input=new box2d.b2DistanceInput,box2d.b2TestOverlapShape.s_simplexCache=new box2d.b2SimplexCache,box2d.b2TestOverlapShape.s_output=new box2d.b2DistanceOutput,goog.provide("box2d.b2Timer"),goog.require("box2d.b2Settings"),box2d.b2Timer=function(){this.m_start=(new Date).getTime()},box2d.b2Timer.prototype.m_start=0,box2d.b2Timer.prototype.Reset=function(){return this.m_start=(new Date).getTime(),this},box2d.b2Timer.prototype.GetMilliseconds=function(){return(new Date).getTime()-this.m_start},box2d.b2Counter=function(){},box2d.b2Counter.prototype.m_count=0,box2d.b2Counter.prototype.m_min_count=0,box2d.b2Counter.prototype.m_max_count=0,box2d.b2Counter.prototype.GetCount=function(){return this.m_count},box2d.b2Counter.prototype.GetMinCount=function(){return this.m_min_count},box2d.b2Counter.prototype.GetMaxCount=function(){return this.m_max_count},box2d.b2Counter.prototype.ResetCount=function(){var a=this.m_count;return this.m_count=0,a},box2d.b2Counter.prototype.ResetMinCount=function(){this.m_min_count=0},box2d.b2Counter.prototype.ResetMaxCount=function(){this.m_max_count=0},box2d.b2Counter.prototype.Increment=function(){this.m_count++,this.m_max_count<this.m_count&&(this.m_max_count=this.m_count)},box2d.b2Counter.prototype.Decrement=function(){this.m_count--,this.m_min_count>this.m_count&&(this.m_min_count=this.m_count)},goog.provide("box2d.b2TimeOfImpact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Distance"),goog.require("box2d.b2Math"),goog.require("box2d.b2Timer"),box2d.b2_toiTime=0,box2d.b2_toiMaxTime=0,box2d.b2_toiCalls=0,box2d.b2_toiIters=0,box2d.b2_toiMaxIters=0,box2d.b2_toiRootIters=0,box2d.b2_toiMaxRootIters=0,box2d.b2TOIInput=function(){this.proxyA=new box2d.b2DistanceProxy,this.proxyB=new box2d.b2DistanceProxy,this.sweepA=new box2d.b2Sweep,this.sweepB=new box2d.b2Sweep},box2d.b2TOIInput.prototype.proxyA=null,box2d.b2TOIInput.prototype.proxyB=null,box2d.b2TOIInput.prototype.sweepA=null,box2d.b2TOIInput.prototype.sweepB=null,box2d.b2TOIInput.prototype.tMax=0,box2d.b2TOIOutputState={e_unknown:0,e_failed:1,e_overlapped:2,e_touching:3,e_separated:4},goog.exportProperty(box2d.b2TOIOutputState,"e_unknown",box2d.b2TOIOutputState.e_unknown),goog.exportProperty(box2d.b2TOIOutputState,"e_failed",box2d.b2TOIOutputState.e_failed),goog.exportProperty(box2d.b2TOIOutputState,"e_overlapped",box2d.b2TOIOutputState.e_overlapped),goog.exportProperty(box2d.b2TOIOutputState,"e_touching",box2d.b2TOIOutputState.e_touching),goog.exportProperty(box2d.b2TOIOutputState,"e_separated",box2d.b2TOIOutputState.e_separated),box2d.b2TOIOutput=function(){},box2d.b2TOIOutput.prototype.state=box2d.b2TOIOutputState.e_unknown,box2d.b2TOIOutput.prototype.t=0,box2d.b2SeparationFunctionType={e_unknown:-1,e_points:0,e_faceA:1,e_faceB:2},goog.exportProperty(box2d.b2SeparationFunctionType,"e_unknown",box2d.b2SeparationFunctionType.e_unknown),goog.exportProperty(box2d.b2SeparationFunctionType,"e_points",box2d.b2SeparationFunctionType.e_points),goog.exportProperty(box2d.b2SeparationFunctionType,"e_faceA",box2d.b2SeparationFunctionType.e_faceA),goog.exportProperty(box2d.b2SeparationFunctionType,"e_faceB",box2d.b2SeparationFunctionType.e_faceB),box2d.b2SeparationFunction=function(){this.m_sweepA=new box2d.b2Sweep,this.m_sweepB=new box2d.b2Sweep,this.m_localPoint=new box2d.b2Vec2,this.m_axis=new box2d.b2Vec2},box2d.b2SeparationFunction.prototype.m_proxyA=null,box2d.b2SeparationFunction.prototype.m_proxyB=null,box2d.b2SeparationFunction.prototype.m_sweepA=null,box2d.b2SeparationFunction.prototype.m_sweepB=null,box2d.b2SeparationFunction.prototype.m_type=box2d.b2SeparationFunctionType.e_unknown,box2d.b2SeparationFunction.prototype.m_localPoint=null,box2d.b2SeparationFunction.prototype.m_axis=null,box2d.b2SeparationFunction.prototype.Initialize=function(a,b,c,d,e,f){this.m_proxyA=b,this.m_proxyB=d;var g=a.count;box2d.ENABLE_ASSERTS&&box2d.b2Assert(g>0&&3>g),this.m_sweepA.Copy(c),this.m_sweepB.Copy(e);var h=box2d.b2TimeOfImpact.s_xfA,i=box2d.b2TimeOfImpact.s_xfB;if(this.m_sweepA.GetTransform(h,f),this.m_sweepB.GetTransform(i,f),1===g){this.m_type=box2d.b2SeparationFunctionType.e_points;var j=this.m_proxyA.GetVertex(a.indexA[0]),k=this.m_proxyB.GetVertex(a.indexB[0]),l=box2d.b2MulXV(h,j,box2d.b2TimeOfImpact.s_pointA),m=box2d.b2MulXV(i,k,box2d.b2TimeOfImpact.s_pointB);box2d.b2SubVV(m,l,this.m_axis);var n=this.m_axis.Normalize();return n}if(a.indexA[0]===a.indexA[1]){this.m_type=box2d.b2SeparationFunctionType.e_faceB;var o=this.m_proxyB.GetVertex(a.indexB[0]),p=this.m_proxyB.GetVertex(a.indexB[1]);box2d.b2CrossVOne(box2d.b2SubVV(p,o,box2d.b2Vec2.s_t0),this.m_axis).SelfNormalize();var q=box2d.b2MulRV(i.q,this.m_axis,box2d.b2TimeOfImpact.s_normal);box2d.b2MidVV(o,p,this.m_localPoint);var m=box2d.b2MulXV(i,this.m_localPoint,box2d.b2TimeOfImpact.s_pointB),j=this.m_proxyA.GetVertex(a.indexA[0]),l=box2d.b2MulXV(h,j,box2d.b2TimeOfImpact.s_pointA),n=box2d.b2DotVV(box2d.b2SubVV(l,m,box2d.b2Vec2.s_t0),q);return 0>n&&(this.m_axis.SelfNeg(),n=-n),n}this.m_type=box2d.b2SeparationFunctionType.e_faceA;var r=this.m_proxyA.GetVertex(a.indexA[0]),s=this.m_proxyA.GetVertex(a.indexA[1]);box2d.b2CrossVOne(box2d.b2SubVV(s,r,box2d.b2Vec2.s_t0),this.m_axis).SelfNormalize();var q=box2d.b2MulRV(h.q,this.m_axis,box2d.b2TimeOfImpact.s_normal);box2d.b2MidVV(r,s,this.m_localPoint);var l=box2d.b2MulXV(h,this.m_localPoint,box2d.b2TimeOfImpact.s_pointA),k=this.m_proxyB.GetVertex(a.indexB[0]),m=box2d.b2MulXV(i,k,box2d.b2TimeOfImpact.s_pointB),n=box2d.b2DotVV(box2d.b2SubVV(m,l,box2d.b2Vec2.s_t0),q);return 0>n&&(this.m_axis.SelfNeg(),n=-n),n},box2d.b2SeparationFunction.prototype.FindMinSeparation=function(a,b,c){var d=box2d.b2TimeOfImpact.s_xfA,e=box2d.b2TimeOfImpact.s_xfB;switch(this.m_sweepA.GetTransform(d,c),this.m_sweepB.GetTransform(e,c),this.m_type){case box2d.b2SeparationFunctionType.e_points:var f=box2d.b2MulTRV(d.q,this.m_axis,box2d.b2TimeOfImpact.s_axisA),g=box2d.b2MulTRV(e.q,box2d.b2NegV(this.m_axis,box2d.b2Vec2.s_t0),box2d.b2TimeOfImpact.s_axisB);a[0]=this.m_proxyA.GetSupport(f),b[0]=this.m_proxyB.GetSupport(g);var h=this.m_proxyA.GetVertex(a[0]),i=this.m_proxyB.GetVertex(b[0]),j=box2d.b2MulXV(d,h,box2d.b2TimeOfImpact.s_pointA),k=box2d.b2MulXV(e,i,box2d.b2TimeOfImpact.s_pointB),l=box2d.b2DotVV(box2d.b2SubVV(k,j,box2d.b2Vec2.s_t0),this.m_axis);return l;case box2d.b2SeparationFunctionType.e_faceA:var m=box2d.b2MulRV(d.q,this.m_axis,box2d.b2TimeOfImpact.s_normal),j=box2d.b2MulXV(d,this.m_localPoint,box2d.b2TimeOfImpact.s_pointA),g=box2d.b2MulTRV(e.q,box2d.b2NegV(m,box2d.b2Vec2.s_t0),box2d.b2TimeOfImpact.s_axisB);a[0]=-1,b[0]=this.m_proxyB.GetSupport(g);var i=this.m_proxyB.GetVertex(b[0]),k=box2d.b2MulXV(e,i,box2d.b2TimeOfImpact.s_pointB),l=box2d.b2DotVV(box2d.b2SubVV(k,j,box2d.b2Vec2.s_t0),m);return l;case box2d.b2SeparationFunctionType.e_faceB:var m=box2d.b2MulRV(e.q,this.m_axis,box2d.b2TimeOfImpact.s_normal),k=box2d.b2MulXV(e,this.m_localPoint,box2d.b2TimeOfImpact.s_pointB),f=box2d.b2MulTRV(d.q,box2d.b2NegV(m,box2d.b2Vec2.s_t0),box2d.b2TimeOfImpact.s_axisA);b[0]=-1,a[0]=this.m_proxyA.GetSupport(f);var h=this.m_proxyA.GetVertex(a[0]),j=box2d.b2MulXV(d,h,box2d.b2TimeOfImpact.s_pointA),l=box2d.b2DotVV(box2d.b2SubVV(j,k,box2d.b2Vec2.s_t0),m);return l;default:return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),a[0]=-1,b[0]=-1,0}},box2d.b2SeparationFunction.prototype.Evaluate=function(a,b,c){var d=box2d.b2TimeOfImpact.s_xfA,e=box2d.b2TimeOfImpact.s_xfB;switch(this.m_sweepA.GetTransform(d,c),this.m_sweepB.GetTransform(e,c),this.m_type){case box2d.b2SeparationFunctionType.e_points:var f=this.m_proxyA.GetVertex(a),g=this.m_proxyB.GetVertex(b),h=box2d.b2MulXV(d,f,box2d.b2TimeOfImpact.s_pointA),i=box2d.b2MulXV(e,g,box2d.b2TimeOfImpact.s_pointB),j=box2d.b2DotVV(box2d.b2SubVV(i,h,box2d.b2Vec2.s_t0),this.m_axis);return j;case box2d.b2SeparationFunctionType.e_faceA:var k=box2d.b2MulRV(d.q,this.m_axis,box2d.b2TimeOfImpact.s_normal),h=box2d.b2MulXV(d,this.m_localPoint,box2d.b2TimeOfImpact.s_pointA),g=this.m_proxyB.GetVertex(b),i=box2d.b2MulXV(e,g,box2d.b2TimeOfImpact.s_pointB),j=box2d.b2DotVV(box2d.b2SubVV(i,h,box2d.b2Vec2.s_t0),k);return j;case box2d.b2SeparationFunctionType.e_faceB:var k=box2d.b2MulRV(e.q,this.m_axis,box2d.b2TimeOfImpact.s_normal),i=box2d.b2MulXV(e,this.m_localPoint,box2d.b2TimeOfImpact.s_pointB),f=this.m_proxyA.GetVertex(a),h=box2d.b2MulXV(d,f,box2d.b2TimeOfImpact.s_pointA),j=box2d.b2DotVV(box2d.b2SubVV(h,i,box2d.b2Vec2.s_t0),k);return j;default:return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),0}},box2d.b2TimeOfImpact=function(a,b){var c=box2d.b2TimeOfImpact.s_timer.Reset();++box2d.b2_toiCalls,a.state=box2d.b2TOIOutputState.e_unknown,a.t=b.tMax;var d=b.proxyA,e=b.proxyB,f=box2d.b2TimeOfImpact.s_sweepA.Copy(b.sweepA),g=box2d.b2TimeOfImpact.s_sweepB.Copy(b.sweepB);f.Normalize(),g.Normalize();var h=b.tMax,i=d.m_radius+e.m_radius,j=box2d.b2Max(box2d.b2_linearSlop,i-3*box2d.b2_linearSlop),k=.25*box2d.b2_linearSlop;box2d.ENABLE_ASSERTS&&box2d.b2Assert(j>k);var l=0,m=20,n=0,o=box2d.b2TimeOfImpact.s_cache;o.count=0;var p=box2d.b2TimeOfImpact.s_distanceInput;for(p.proxyA=b.proxyA,p.proxyB=b.proxyB,p.useRadii=!1;;){var q=box2d.b2TimeOfImpact.s_xfA,r=box2d.b2TimeOfImpact.s_xfB;f.GetTransform(q,l),g.GetTransform(r,l),p.transformA.Copy(q),p.transformB.Copy(r);var s=box2d.b2TimeOfImpact.s_distanceOutput;if(box2d.b2Distance(s,o,p),s.distance<=0){a.state=box2d.b2TOIOutputState.e_overlapped,a.t=0;break}if(s.distance<j+k){a.state=box2d.b2TOIOutputState.e_touching,a.t=l;break}var t=box2d.b2TimeOfImpact.s_fcn;t.Initialize(o,d,f,e,g,l);for(var u=!1,v=h,w=0;;){var x=box2d.b2TimeOfImpact.s_indexA,y=box2d.b2TimeOfImpact.s_indexB,z=t.FindMinSeparation(x,y,v);if(z>j+k){a.state=box2d.b2TOIOutputState.e_separated,a.t=h,u=!0;break}if(z>j-k){l=v;break}var A=t.Evaluate(x[0],y[0],l);if(j-k>A){a.state=box2d.b2TOIOutputState.e_failed,a.t=l,u=!0;break}if(j+k>=A){a.state=box2d.b2TOIOutputState.e_touching,a.t=l,u=!0;break}for(var B=0,C=l,D=v;;){var E=0;E=1&B?C+(j-A)*(D-C)/(z-A):.5*(C+D),++B,++box2d.b2_toiRootIters;var F=t.Evaluate(x[0],y[0],E);if(box2d.b2Abs(F-j)<k){v=E;break}if(F>j?(C=E,A=F):(D=E,z=F),50===B)break}if(box2d.b2_toiMaxRootIters=box2d.b2Max(box2d.b2_toiMaxRootIters,B),++w,w===box2d.b2_maxPolygonVertices)break}if(++n,++box2d.b2_toiIters,u)break;if(n===m){a.state=box2d.b2TOIOutputState.e_failed,a.t=l;break}}box2d.b2_toiMaxIters=box2d.b2Max(box2d.b2_toiMaxIters,n);var G=c.GetMilliseconds();box2d.b2_toiMaxTime=box2d.b2Max(box2d.b2_toiMaxTime,G),box2d.b2_toiTime+=G},box2d.b2TimeOfImpact.s_timer=new box2d.b2Timer,box2d.b2TimeOfImpact.s_cache=new box2d.b2SimplexCache,box2d.b2TimeOfImpact.s_distanceInput=new box2d.b2DistanceInput,box2d.b2TimeOfImpact.s_distanceOutput=new box2d.b2DistanceOutput,box2d.b2TimeOfImpact.s_xfA=new box2d.b2Transform,box2d.b2TimeOfImpact.s_xfB=new box2d.b2Transform,box2d.b2TimeOfImpact.s_indexA=box2d.b2MakeNumberArray(1),box2d.b2TimeOfImpact.s_indexB=box2d.b2MakeNumberArray(1),box2d.b2TimeOfImpact.s_fcn=new box2d.b2SeparationFunction,box2d.b2TimeOfImpact.s_sweepA=new box2d.b2Sweep,box2d.b2TimeOfImpact.s_sweepB=new box2d.b2Sweep,box2d.b2TimeOfImpact.s_pointA=new box2d.b2Vec2,box2d.b2TimeOfImpact.s_pointB=new box2d.b2Vec2,box2d.b2TimeOfImpact.s_normal=new box2d.b2Vec2,box2d.b2TimeOfImpact.s_axisA=new box2d.b2Vec2,box2d.b2TimeOfImpact.s_axisB=new box2d.b2Vec2,goog.provide("box2d.b2Contact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Collision"),goog.require("box2d.b2TimeOfImpact"),box2d.b2MixFriction=function(a,b){return box2d.b2Sqrt(a*b)},box2d.b2MixRestitution=function(a,b){return a>b?a:b},box2d.b2ContactEdge=function(){},box2d.b2ContactEdge.prototype.other=null,box2d.b2ContactEdge.prototype.contact=null,box2d.b2ContactEdge.prototype.prev=null,box2d.b2ContactEdge.prototype.next=null,box2d.b2ContactFlag={e_none:0,e_islandFlag:1,e_touchingFlag:2,e_enabledFlag:4,e_filterFlag:8,e_bulletHitFlag:16,e_toiFlag:32},goog.exportProperty(box2d.b2ContactFlag,"e_none",box2d.b2ContactFlag.e_none),goog.exportProperty(box2d.b2ContactFlag,"e_islandFlag",box2d.b2ContactFlag.e_islandFlag),goog.exportProperty(box2d.b2ContactFlag,"e_touchingFlag",box2d.b2ContactFlag.e_touchingFlag),goog.exportProperty(box2d.b2ContactFlag,"e_enabledFlag",box2d.b2ContactFlag.e_enabledFlag),goog.exportProperty(box2d.b2ContactFlag,"e_filterFlag",box2d.b2ContactFlag.e_filterFlag),goog.exportProperty(box2d.b2ContactFlag,"e_bulletHitFlag",box2d.b2ContactFlag.e_bulletHitFlag),goog.exportProperty(box2d.b2ContactFlag,"e_toiFlag",box2d.b2ContactFlag.e_toiFlag),box2d.b2Contact=function(){this.m_nodeA=new box2d.b2ContactEdge,this.m_nodeB=new box2d.b2ContactEdge,this.m_manifold=new box2d.b2Manifold,this.m_oldManifold=new box2d.b2Manifold},box2d.b2Contact.prototype.m_flags=box2d.b2ContactFlag.e_none,box2d.b2Contact.prototype.m_prev=null,box2d.b2Contact.prototype.m_next=null,box2d.b2Contact.prototype.m_nodeA=null,box2d.b2Contact.prototype.m_nodeB=null,box2d.b2Contact.prototype.m_fixtureA=null,box2d.b2Contact.prototype.m_fixtureB=null,box2d.b2Contact.prototype.m_indexA=0,box2d.b2Contact.prototype.m_indexB=0,box2d.b2Contact.prototype.m_manifold=null,box2d.b2Contact.prototype.m_toiCount=0,box2d.b2Contact.prototype.m_toi=0,box2d.b2Contact.prototype.m_friction=0,box2d.b2Contact.prototype.m_restitution=0,box2d.b2Contact.prototype.m_tangentSpeed=0,box2d.b2Contact.prototype.m_oldManifold=null,box2d.b2Contact.prototype.GetManifold=function(){return this.m_manifold},box2d.b2Contact.prototype.GetWorldManifold=function(a){var b=this.m_fixtureA.GetBody(),c=this.m_fixtureB.GetBody(),d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();a.Initialize(this.m_manifold,b.GetTransform(),d.m_radius,c.GetTransform(),e.m_radius)},box2d.b2Contact.prototype.IsTouching=function(){return(this.m_flags&box2d.b2ContactFlag.e_touchingFlag)===box2d.b2ContactFlag.e_touchingFlag},box2d.b2Contact.prototype.SetEnabled=function(a){a?this.m_flags|=box2d.b2ContactFlag.e_enabledFlag:this.m_flags&=~box2d.b2ContactFlag.e_enabledFlag},box2d.b2Contact.prototype.IsEnabled=function(){return(this.m_flags&box2d.b2ContactFlag.e_enabledFlag)===box2d.b2ContactFlag.e_enabledFlag},box2d.b2Contact.prototype.GetNext=function(){return this.m_next},box2d.b2Contact.prototype.GetFixtureA=function(){return this.m_fixtureA},box2d.b2Contact.prototype.GetChildIndexA=function(){return this.m_indexA},box2d.b2Contact.prototype.GetFixtureB=function(){return this.m_fixtureB},box2d.b2Contact.prototype.GetChildIndexB=function(){return this.m_indexB},box2d.b2Contact.prototype.Evaluate=function(){},box2d.b2Contact.prototype.FlagForFiltering=function(){this.m_flags|=box2d.b2ContactFlag.e_filterFlag},box2d.b2Contact.prototype.SetFriction=function(a){this.m_friction=a},box2d.b2Contact.prototype.GetFriction=function(){return this.m_friction},box2d.b2Contact.prototype.ResetFriction=function(){this.m_friction=box2d.b2MixFriction(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction)},box2d.b2Contact.prototype.SetRestitution=function(a){this.m_restitution=a},box2d.b2Contact.prototype.GetRestitution=function(){return this.m_restitution},box2d.b2Contact.prototype.ResetRestitution=function(){this.m_restitution=box2d.b2MixRestitution(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution)},box2d.b2Contact.prototype.SetTangentSpeed=function(a){this.m_tangentSpeed=a},box2d.b2Contact.prototype.GetTangentSpeed=function(){return this.m_tangentSpeed},box2d.b2Contact.prototype.Reset=function(a,b,c,d){this.m_flags=box2d.b2ContactFlag.e_enabledFlag,this.m_fixtureA=a,this.m_fixtureB=c,this.m_indexA=b,this.m_indexB=d,this.m_manifold.pointCount=0,this.m_prev=null,this.m_next=null,this.m_nodeA.contact=null,this.m_nodeA.prev=null,this.m_nodeA.next=null,this.m_nodeA.other=null,this.m_nodeB.contact=null,this.m_nodeB.prev=null,this.m_nodeB.next=null,this.m_nodeB.other=null,this.m_toiCount=0,this.m_friction=box2d.b2MixFriction(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction),this.m_restitution=box2d.b2MixRestitution(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution)},box2d.b2Contact.prototype.Update=function(a){var b=this.m_oldManifold;this.m_oldManifold=this.m_manifold,this.m_manifold=b,this.m_flags|=box2d.b2ContactFlag.e_enabledFlag;var c=!1,d=(this.m_flags&box2d.b2ContactFlag.e_touchingFlag)===box2d.b2ContactFlag.e_touchingFlag,e=this.m_fixtureA.IsSensor(),f=this.m_fixtureB.IsSensor(),g=e||f,h=this.m_fixtureA.GetBody(),i=this.m_fixtureB.GetBody(),j=h.GetTransform(),k=i.GetTransform();if(g){var l=this.m_fixtureA.GetShape(),m=this.m_fixtureB.GetShape();c=box2d.b2TestOverlapShape(l,this.m_indexA,m,this.m_indexB,j,k),this.m_manifold.pointCount=0}else{this.Evaluate(this.m_manifold,j,k),c=this.m_manifold.pointCount>0;for(var n=0;n<this.m_manifold.pointCount;++n){var o=this.m_manifold.points[n];o.normalImpulse=0,o.tangentImpulse=0;for(var p=o.id,q=0;q<this.m_oldManifold.pointCount;++q){var r=this.m_oldManifold.points[q];if(r.id.key===p.key){o.normalImpulse=r.normalImpulse,o.tangentImpulse=r.tangentImpulse;break}}}c!==d&&(h.SetAwake(!0),i.SetAwake(!0))}c?this.m_flags|=box2d.b2ContactFlag.e_touchingFlag:this.m_flags&=~box2d.b2ContactFlag.e_touchingFlag,d===!1&&c===!0&&a&&a.BeginContact(this),d===!0&&c===!1&&a&&a.EndContact(this),g===!1&&c&&a&&a.PreSolve(this,this.m_oldManifold)},box2d.b2Contact.prototype.ComputeTOI=function(a,b){var c=box2d.b2Contact.prototype.ComputeTOI.s_input;c.proxyA.SetShape(this.m_fixtureA.GetShape(),this.m_indexA),c.proxyB.SetShape(this.m_fixtureB.GetShape(),this.m_indexB),c.sweepA.Copy(a),c.sweepB.Copy(b),c.tMax=box2d.b2_linearSlop;var d=box2d.b2Contact.prototype.ComputeTOI.s_output;return box2d.b2TimeOfImpact(d,c),d.t},box2d.b2Contact.prototype.ComputeTOI.s_input=new box2d.b2TOIInput,box2d.b2Contact.prototype.ComputeTOI.s_output=new box2d.b2TOIOutput,goog.provide("box2d.b2PolygonAndCircleContact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),box2d.b2PolygonAndCircleContact=function(){goog.base(this)},goog.inherits(box2d.b2PolygonAndCircleContact,box2d.b2Contact),box2d.b2PolygonAndCircleContact.Create=function(){return new box2d.b2PolygonAndCircleContact},box2d.b2PolygonAndCircleContact.Destroy=function(){},box2d.b2PolygonAndCircleContact.prototype.Reset=function(a,b,c,d){goog.base(this,"Reset",a,b,c,d),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.GetType()===box2d.b2ShapeType.e_polygonShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(c.GetType()===box2d.b2ShapeType.e_circleShape)},box2d.b2PolygonAndCircleContact.prototype.Evaluate=function(a,b,c){var d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2PolygonShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2CircleShape),box2d.b2CollidePolygonAndCircle(a,d instanceof box2d.b2PolygonShape?d:null,b,e instanceof box2d.b2CircleShape?e:null,c)},goog.provide("box2d.b2EdgeAndPolygonContact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),box2d.b2EdgeAndPolygonContact=function(){goog.base(this)},goog.inherits(box2d.b2EdgeAndPolygonContact,box2d.b2Contact),box2d.b2EdgeAndPolygonContact.Create=function(){return new box2d.b2EdgeAndPolygonContact},box2d.b2EdgeAndPolygonContact.Destroy=function(){},box2d.b2EdgeAndPolygonContact.prototype.Reset=function(a,b,c,d){goog.base(this,"Reset",a,b,c,d),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.GetType()===box2d.b2ShapeType.e_edgeShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(c.GetType()===box2d.b2ShapeType.e_polygonShape)},box2d.b2EdgeAndPolygonContact.prototype.Evaluate=function(a,b,c){var d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2EdgeShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2PolygonShape),box2d.b2CollideEdgeAndPolygon(a,d instanceof box2d.b2EdgeShape?d:null,b,e instanceof box2d.b2PolygonShape?e:null,c)},goog.provide("box2d.b2Shape"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),goog.require("box2d.b2Distance"),box2d.b2MassData=function(){this.center=new box2d.b2Vec2(0,0)},box2d.b2MassData.prototype.mass=0,box2d.b2MassData.prototype.center=null,box2d.b2MassData.prototype.I=0,box2d.b2ShapeType={e_unknown:-1,e_circleShape:0,e_edgeShape:1,e_polygonShape:2,e_chainShape:3,e_shapeTypeCount:4},goog.exportProperty(box2d.b2ShapeType,"e_unknown",box2d.b2ShapeType.e_unknown),goog.exportProperty(box2d.b2ShapeType,"e_circleShape",box2d.b2ShapeType.e_circleShape),goog.exportProperty(box2d.b2ShapeType,"e_edgeShape",box2d.b2ShapeType.e_edgeShape),goog.exportProperty(box2d.b2ShapeType,"e_polygonShape",box2d.b2ShapeType.e_polygonShape),goog.exportProperty(box2d.b2ShapeType,"e_chainShape",box2d.b2ShapeType.e_chainShape),goog.exportProperty(box2d.b2ShapeType,"e_shapeTypeCount",box2d.b2ShapeType.e_shapeTypeCount),box2d.b2Shape=function(a,b){this.m_type=a,this.m_radius=b},box2d.b2Shape.prototype.m_type=box2d.b2ShapeType.e_unknown,box2d.b2Shape.prototype.m_radius=0,box2d.b2Shape.prototype.Clone=function(){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),null},box2d.b2Shape.prototype.Copy=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_type===a.m_type),this.m_radius=a.m_radius,this},box2d.b2Shape.prototype.GetType=function(){return this.m_type},box2d.b2Shape.prototype.GetChildCount=function(){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual"),0},box2d.b2Shape.prototype.TestPoint=function(){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual"),!1},box2d.b2Shape.prototype.RayCast=function(){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual"),!1},box2d.b2Shape.prototype.ComputeAABB=function(){box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual")},box2d.b2Shape.prototype.ComputeMass=function(){box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual")},box2d.b2Shape.prototype.SetupDistanceProxy=function(){box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual")},box2d.b2Shape.prototype.ComputeSubmergedArea=function(){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual"),0},box2d.b2Shape.prototype.Dump=function(){box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1,"pure virtual")},goog.provide("box2d.b2PolygonShape"),goog.require("box2d.b2Shape"),box2d.b2PolygonShape=function(){goog.base(this,box2d.b2ShapeType.e_polygonShape,box2d.b2_polygonRadius),this.m_centroid=new box2d.b2Vec2(0,0),this.m_vertices=box2d.b2Vec2.MakeArray(box2d.b2_maxPolygonVertices),this.m_normals=box2d.b2Vec2.MakeArray(box2d.b2_maxPolygonVertices)},goog.inherits(box2d.b2PolygonShape,box2d.b2Shape),box2d.b2PolygonShape.prototype.m_centroid=null,box2d.b2PolygonShape.prototype.m_vertices=null,box2d.b2PolygonShape.prototype.m_normals=null,box2d.b2PolygonShape.prototype.m_count=0,box2d.b2PolygonShape.prototype.Clone=function(){return(new box2d.b2PolygonShape).Copy(this)},box2d.b2PolygonShape.prototype.Copy=function(a){goog.base(this,"Copy",a),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a instanceof box2d.b2PolygonShape),this.m_centroid.Copy(a.m_centroid),this.m_count=a.m_count;for(var b=0,c=this.m_count;c>b;++b)this.m_vertices[b].Copy(a.m_vertices[b]),this.m_normals[b].Copy(a.m_normals[b]);return this},box2d.b2PolygonShape.prototype.SetAsBox=function(a,b){return this.m_count=4,this.m_vertices[0].SetXY(-a,-b),this.m_vertices[1].SetXY(a,-b),this.m_vertices[2].SetXY(a,b),this.m_vertices[3].SetXY(-a,b),this.m_normals[0].SetXY(0,-1),this.m_normals[1].SetXY(1,0),this.m_normals[2].SetXY(0,1),this.m_normals[3].SetXY(-1,0),this.m_centroid.SetZero(),this},box2d.b2PolygonShape.prototype.SetAsOrientedBox=function(a,b,c,d){this.m_count=4,this.m_vertices[0].SetXY(-a,-b),this.m_vertices[1].SetXY(a,-b),this.m_vertices[2].SetXY(a,b),this.m_vertices[3].SetXY(-a,b),this.m_normals[0].SetXY(0,-1),this.m_normals[1].SetXY(1,0),this.m_normals[2].SetXY(0,1),this.m_normals[3].SetXY(-1,0),this.m_centroid.Copy(c);var e=new box2d.b2Transform;e.SetPosition(c),e.SetRotationAngleRadians(d);for(var f=0,g=this.m_count;g>f;++f)box2d.b2MulXV(e,this.m_vertices[f],this.m_vertices[f]),box2d.b2MulRV(e.q,this.m_normals[f],this.m_normals[f]);return this},box2d.b2PolygonShape.prototype.Set=function(a,b){if(void 0===b&&(b=a.length),box2d.ENABLE_ASSERTS&&box2d.b2Assert(b>=3&&b<=box2d.b2_maxPolygonVertices),3>b)return this.SetAsBox(1,1);for(var c=box2d.b2Min(b,box2d.b2_maxPolygonVertices),d=box2d.b2PolygonShape.prototype.Set.s_ps,e=0,f=0;c>f;++f){for(var g=a[f],h=!0,i=0;e>i;++i)if(box2d.b2DistanceSquaredVV(g,d[i])<.5*box2d.b2_linearSlop){h=!1;break}h&&d[e++].Copy(g)}if(c=e,3>c)return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),this.SetAsBox(1,1);for(var j=0,k=d[0].x,f=1;c>f;++f){var l=d[f].x;(l>k||l===k&&d[f].y<d[j].y)&&(j=f,k=l)}for(var m=box2d.b2PolygonShape.prototype.Set.s_hull,n=0,o=j;;){m[n]=o;for(var p=0,i=1;c>i;++i)if(p!==o){var q=box2d.b2SubVV(d[p],d[m[n]],box2d.b2PolygonShape.prototype.Set.s_r),g=box2d.b2SubVV(d[i],d[m[n]],box2d.b2PolygonShape.prototype.Set.s_v),r=box2d.b2CrossVV(q,g);0>r&&(p=i),0===r&&g.GetLengthSquared()>q.GetLengthSquared()&&(p=i)}else p=i;if(++n,o=p,p===j)break}this.m_count=n;for(var f=0;n>f;++f)this.m_vertices[f].Copy(d[m[f]]);for(var f=0,s=n;s>f;++f){var t=this.m_vertices[f],u=this.m_vertices[(f+1)%s],v=box2d.b2SubVV(u,t,box2d.b2Vec2.s_t0);box2d.ENABLE_ASSERTS&&box2d.b2Assert(v.GetLengthSquared()>box2d.b2_epsilon_sq),box2d.b2CrossVOne(v,this.m_normals[f]).SelfNormalize()}return box2d.b2PolygonShape.ComputeCentroid(this.m_vertices,n,this.m_centroid),this},box2d.b2PolygonShape.prototype.Set.s_ps=box2d.b2Vec2.MakeArray(box2d.b2_maxPolygonVertices),box2d.b2PolygonShape.prototype.Set.s_hull=box2d.b2MakeNumberArray(box2d.b2_maxPolygonVertices),box2d.b2PolygonShape.prototype.Set.s_r=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.Set.s_v=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.SetAsVector=function(a,b){return this.Set(a,b),this},box2d.b2PolygonShape.prototype.SetAsArray=function(a,b){return this.Set(a,b),this},box2d.b2PolygonShape.prototype.GetChildCount=function(){return 1},box2d.b2PolygonShape.prototype.TestPoint=function(a,b){for(var c=box2d.b2MulTXV(a,b,box2d.b2PolygonShape.prototype.TestPoint.s_pLocal),d=0,e=this.m_count;e>d;++d){var f=box2d.b2DotVV(this.m_normals[d],box2d.b2SubVV(c,this.m_vertices[d],box2d.b2Vec2.s_t0));if(f>0)return!1}return!0},box2d.b2PolygonShape.prototype.TestPoint.s_pLocal=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.RayCast=function(a,b,c){for(var d=box2d.b2MulTXV(c,b.p1,box2d.b2PolygonShape.prototype.RayCast.s_p1),e=box2d.b2MulTXV(c,b.p2,box2d.b2PolygonShape.prototype.RayCast.s_p2),f=box2d.b2SubVV(e,d,box2d.b2PolygonShape.prototype.RayCast.s_d),g=0,h=b.maxFraction,i=-1,j=0,k=this.m_count;k>j;++j){var l=box2d.b2DotVV(this.m_normals[j],box2d.b2SubVV(this.m_vertices[j],d,box2d.b2Vec2.s_t0)),m=box2d.b2DotVV(this.m_normals[j],f);if(0===m){if(0>l)return!1}else 0>m&&g*m>l?(g=l/m,i=j):m>0&&h*m>l&&(h=l/m);if(g>h)return!1}return box2d.ENABLE_ASSERTS&&box2d.b2Assert(g>=0&&g<=b.maxFraction),i>=0?(a.fraction=g,box2d.b2MulRV(c.q,this.m_normals[i],a.normal),!0):!1},box2d.b2PolygonShape.prototype.RayCast.s_p1=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.RayCast.s_p2=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.RayCast.s_d=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeAABB=function(a,b){for(var c=box2d.b2MulXV(b,this.m_vertices[0],a.lowerBound),d=a.upperBound.Copy(c),e=0,f=this.m_count;f>e;++e){var g=box2d.b2MulXV(b,this.m_vertices[e],box2d.b2PolygonShape.prototype.ComputeAABB.s_v);box2d.b2MinV(g,c,c),box2d.b2MaxV(g,d,d)}var h=this.m_radius;c.SelfSubXY(h,h),d.SelfAddXY(h,h)},box2d.b2PolygonShape.prototype.ComputeAABB.s_v=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeMass=function(a,b){box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_count>=3);for(var c=box2d.b2PolygonShape.prototype.ComputeMass.s_center.SetZero(),d=0,e=0,f=box2d.b2PolygonShape.prototype.ComputeMass.s_s.SetZero(),g=0,h=this.m_count;h>g;++g)f.SelfAdd(this.m_vertices[g]);f.SelfMul(1/this.m_count);for(var i=1/3,g=0,h=this.m_count;h>g;++g){var j=box2d.b2SubVV(this.m_vertices[g],f,box2d.b2PolygonShape.prototype.ComputeMass.s_e1),k=box2d.b2SubVV(this.m_vertices[(g+1)%h],f,box2d.b2PolygonShape.prototype.ComputeMass.s_e2),l=box2d.b2CrossVV(j,k),m=.5*l;d+=m,c.SelfAdd(box2d.b2MulSV(m*i,box2d.b2AddVV(j,k,box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t1));var n=j.x,o=j.y,p=k.x,q=k.y,r=n*n+p*n+p*p,s=o*o+q*o+q*q;e+=.25*i*l*(r+s)}a.mass=b*d,box2d.ENABLE_ASSERTS&&box2d.b2Assert(d>box2d.b2_epsilon),c.SelfMul(1/d),box2d.b2AddVV(c,f,a.center),a.I=b*e,a.I+=a.mass*(box2d.b2DotVV(a.center,a.center)-box2d.b2DotVV(c,c))},box2d.b2PolygonShape.prototype.ComputeMass.s_center=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeMass.s_s=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeMass.s_e1=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeMass.s_e2=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.Validate=function(){for(var a=0;a<this.m_count;++a)for(var b=a,c=(a+1)%this.m_count,d=this.m_vertices[b],e=box2d.b2SubVV(this.m_vertices[c],d,box2d.b2PolygonShape.prototype.Validate.s_e),f=0;f<this.m_count;++f)if(f!==b&&f!==c){var g=box2d.b2SubVV(this.m_vertices[f],d,box2d.b2PolygonShape.prototype.Validate.s_v),h=box2d.b2CrossVV(e,g);if(0>h)return!1}return!0},box2d.b2PolygonShape.prototype.Validate.s_e=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.Validate.s_v=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.SetupDistanceProxy=function(a){a.m_vertices=this.m_vertices,a.m_count=this.m_count,a.m_radius=this.m_radius},box2d.b2PolygonShape.prototype.ComputeSubmergedArea=function(a,b,c,d){for(var e=box2d.b2MulTRV(c.q,a,box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_normalL),f=b-box2d.b2DotVV(a,c.p),g=box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_depths,h=0,i=-1,j=-1,k=!1,l=0,m=this.m_count;m>l;++l){g[l]=box2d.b2DotVV(e,this.m_vertices[l])-f;var n=g[l]<-box2d.b2_epsilon;l>0&&(n?k||(i=l-1,h++):k&&(j=l-1,h++)),k=n}switch(h){case 0:if(k){var o=box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_md;return this.ComputeMass(o,1),box2d.b2MulXV(c,o.center,d),o.mass}return 0;case 1:-1===i?i=this.m_count-1:j=this.m_count-1}for(var p=(i+1)%this.m_count,q=(j+1)%this.m_count,r=(0-g[i])/(g[p]-g[i]),s=(0-g[j])/(g[q]-g[j]),t=box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_intoVec.SetXY(this.m_vertices[i].x*(1-r)+this.m_vertices[p].x*r,this.m_vertices[i].y*(1-r)+this.m_vertices[p].y*r),u=box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_outoVec.SetXY(this.m_vertices[j].x*(1-s)+this.m_vertices[q].x*s,this.m_vertices[j].y*(1-s)+this.m_vertices[q].y*s),v=0,w=box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_center.SetZero(),x=this.m_vertices[p],y=null,l=p;l!==q;){l=(l+1)%this.m_count,y=l===q?u:this.m_vertices[l];var z=.5*((x.x-t.x)*(y.y-t.y)-(x.y-t.y)*(y.x-t.x));v+=z,w.x+=z*(t.x+x.x+y.x)/3,w.y+=z*(t.y+x.y+y.y)/3,x=y}return w.SelfMul(1/v),box2d.b2MulXV(c,w,d),v},box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_normalL=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_depths=box2d.b2MakeNumberArray(box2d.b2_maxPolygonVertices),box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_md=new box2d.b2MassData,box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_intoVec=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_outoVec=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.ComputeSubmergedArea.s_center=new box2d.b2Vec2,box2d.b2PolygonShape.prototype.Dump=function(){box2d.b2Log("    /*box2d.b2PolygonShape*/ var shape = new box2d.b2PolygonShape();\n"),box2d.b2Log("    /*box2d.b2Vec2[]*/ var vs = box2d.b2Vec2.MakeArray(%d);\n",box2d.b2_maxPolygonVertices);for(var a=0;a<this.m_count;++a)box2d.b2Log("    vs[%d].SetXY(%.15f, %.15f);\n",a,this.m_vertices[a].x,this.m_vertices[a].y);box2d.b2Log("    shape.Set(vs, %d);\n",this.m_count)},box2d.b2PolygonShape.ComputeCentroid=function(a,b,c){box2d.ENABLE_ASSERTS&&box2d.b2Assert(b>=3);
var d=c;d.SetZero();for(var e=0,f=box2d.b2PolygonShape.ComputeCentroid.s_pRef.SetZero(),g=1/3,h=0;b>h;++h){var i=f,j=a[h],k=a[(h+1)%b],l=box2d.b2SubVV(j,i,box2d.b2PolygonShape.ComputeCentroid.s_e1),m=box2d.b2SubVV(k,i,box2d.b2PolygonShape.ComputeCentroid.s_e2),n=box2d.b2CrossVV(l,m),o=.5*n;e+=o,d.x+=o*g*(i.x+j.x+k.x),d.y+=o*g*(i.y+j.y+k.y)}return box2d.ENABLE_ASSERTS&&box2d.b2Assert(e>box2d.b2_epsilon),d.SelfMul(1/e),d},box2d.b2PolygonShape.ComputeCentroid.s_pRef=new box2d.b2Vec2,box2d.b2PolygonShape.ComputeCentroid.s_e1=new box2d.b2Vec2,box2d.b2PolygonShape.ComputeCentroid.s_e2=new box2d.b2Vec2,goog.provide("box2d.b2CollideEdge"),goog.require("box2d.b2Collision"),box2d.b2CollideEdgeAndCircle=function(a,b,c,d,e){a.pointCount=0;var f=box2d.b2MulTXV(c,box2d.b2MulXV(e,d.m_p,box2d.b2Vec2.s_t0),box2d.b2CollideEdgeAndCircle.s_Q),g=b.m_vertex1,h=b.m_vertex2,i=box2d.b2SubVV(h,g,box2d.b2CollideEdgeAndCircle.s_e),j=box2d.b2DotVV(i,box2d.b2SubVV(h,f,box2d.b2Vec2.s_t0)),k=box2d.b2DotVV(i,box2d.b2SubVV(f,g,box2d.b2Vec2.s_t0)),l=b.m_radius+d.m_radius,m=box2d.b2CollideEdgeAndCircle.s_id;if(m.cf.indexB=0,m.cf.typeB=box2d.b2ContactFeatureType.e_vertex,0>=k){var n=g,o=box2d.b2SubVV(f,n,box2d.b2CollideEdgeAndCircle.s_d),p=box2d.b2DotVV(o,o);if(p>l*l)return;if(b.m_hasVertex0){var q=b.m_vertex0,r=g,s=box2d.b2SubVV(r,q,box2d.b2CollideEdgeAndCircle.s_e1),t=box2d.b2DotVV(s,box2d.b2SubVV(r,f,box2d.b2Vec2.s_t0));if(t>0)return}return m.cf.indexA=0,m.cf.typeA=box2d.b2ContactFeatureType.e_vertex,a.pointCount=1,a.type=box2d.b2ManifoldType.e_circles,a.localNormal.SetZero(),a.localPoint.Copy(n),a.points[0].id.Copy(m),void a.points[0].localPoint.Copy(d.m_p)}if(0>=j){var n=h,o=box2d.b2SubVV(f,n,box2d.b2CollideEdgeAndCircle.s_d),p=box2d.b2DotVV(o,o);if(p>l*l)return;if(b.m_hasVertex3){var u=b.m_vertex3,v=h,w=box2d.b2SubVV(u,v,box2d.b2CollideEdgeAndCircle.s_e2),x=box2d.b2DotVV(w,box2d.b2SubVV(f,v,box2d.b2Vec2.s_t0));if(x>0)return}return m.cf.indexA=1,m.cf.typeA=box2d.b2ContactFeatureType.e_vertex,a.pointCount=1,a.type=box2d.b2ManifoldType.e_circles,a.localNormal.SetZero(),a.localPoint.Copy(n),a.points[0].id.Copy(m),void a.points[0].localPoint.Copy(d.m_p)}var y=box2d.b2DotVV(i,i);box2d.ENABLE_ASSERTS&&box2d.b2Assert(y>0);var n=box2d.b2CollideEdgeAndCircle.s_P;n.x=1/y*(j*g.x+k*h.x),n.y=1/y*(j*g.y+k*h.y);var o=box2d.b2SubVV(f,n,box2d.b2CollideEdgeAndCircle.s_d),p=box2d.b2DotVV(o,o);if(!(p>l*l)){var z=box2d.b2CollideEdgeAndCircle.s_n.SetXY(-i.y,i.x);box2d.b2DotVV(z,box2d.b2SubVV(f,g,box2d.b2Vec2.s_t0))<0&&z.SetXY(-z.x,-z.y),z.Normalize(),m.cf.indexA=0,m.cf.typeA=box2d.b2ContactFeatureType.e_face,a.pointCount=1,a.type=box2d.b2ManifoldType.e_faceA,a.localNormal.Copy(z),a.localPoint.Copy(g),a.points[0].id.Copy(m),a.points[0].localPoint.Copy(d.m_p)}},box2d.b2CollideEdgeAndCircle.s_Q=new box2d.b2Vec2,box2d.b2CollideEdgeAndCircle.s_e=new box2d.b2Vec2,box2d.b2CollideEdgeAndCircle.s_d=new box2d.b2Vec2,box2d.b2CollideEdgeAndCircle.s_e1=new box2d.b2Vec2,box2d.b2CollideEdgeAndCircle.s_e2=new box2d.b2Vec2,box2d.b2CollideEdgeAndCircle.s_P=new box2d.b2Vec2,box2d.b2CollideEdgeAndCircle.s_n=new box2d.b2Vec2,box2d.b2CollideEdgeAndCircle.s_id=new box2d.b2ContactID,box2d.b2EPAxisType={e_unknown:0,e_edgeA:1,e_edgeB:2},goog.exportProperty(box2d.b2EPAxisType,"e_unknown",box2d.b2EPAxisType.e_unknown),goog.exportProperty(box2d.b2EPAxisType,"e_edgeA",box2d.b2EPAxisType.e_edgeA),goog.exportProperty(box2d.b2EPAxisType,"e_edgeB",box2d.b2EPAxisType.e_edgeB),box2d.b2EPAxis=function(){},box2d.b2EPAxis.prototype.type=box2d.b2EPAxisType.e_unknown,box2d.b2EPAxis.prototype.index=0,box2d.b2EPAxis.prototype.separation=0,box2d.b2TempPolygon=function(){this.vertices=box2d.b2Vec2.MakeArray(box2d.b2_maxPolygonVertices),this.normals=box2d.b2Vec2.MakeArray(box2d.b2_maxPolygonVertices),this.count=0},box2d.b2TempPolygon.prototype.vertices=null,box2d.b2TempPolygon.prototype.normals=null,box2d.b2TempPolygon.prototype.count=0,box2d.b2ReferenceFace=function(){this.i1=0,this.i2=0,this.v1=new box2d.b2Vec2,this.v2=new box2d.b2Vec2,this.normal=new box2d.b2Vec2,this.sideNormal1=new box2d.b2Vec2,this.sideOffset1=0,this.sideNormal2=new box2d.b2Vec2,this.sideOffset2=0},box2d.b2ReferenceFace.prototype.i1=0,box2d.b2ReferenceFace.prototype.i2=0,box2d.b2ReferenceFace.prototype.v1=null,box2d.b2ReferenceFace.prototype.v2=null,box2d.b2ReferenceFace.prototype.normal=null,box2d.b2ReferenceFace.prototype.sideNormal1=null,box2d.b2ReferenceFace.prototype.sideOffset1=0,box2d.b2ReferenceFace.prototype.sideNormal2=null,box2d.b2ReferenceFace.prototype.sideOffset2=0,box2d.b2EPColliderVertexType={e_isolated:0,e_concave:1,e_convex:2},goog.exportProperty(box2d.b2EPColliderVertexType,"e_isolated",box2d.b2EPColliderVertexType.e_isolated),goog.exportProperty(box2d.b2EPColliderVertexType,"e_concave",box2d.b2EPColliderVertexType.e_concave),goog.exportProperty(box2d.b2EPColliderVertexType,"e_convex",box2d.b2EPColliderVertexType.e_convex),box2d.b2EPCollider=function(){this.m_polygonB=new box2d.b2TempPolygon,this.m_xf=new box2d.b2Transform,this.m_centroidB=new box2d.b2Vec2,this.m_v0=new box2d.b2Vec2,this.m_v1=new box2d.b2Vec2,this.m_v2=new box2d.b2Vec2,this.m_v3=new box2d.b2Vec2,this.m_normal0=new box2d.b2Vec2,this.m_normal1=new box2d.b2Vec2,this.m_normal2=new box2d.b2Vec2,this.m_normal=new box2d.b2Vec2,this.m_type1=box2d.b2EPColliderVertexType.e_isolated,this.m_type2=box2d.b2EPColliderVertexType.e_isolated,this.m_lowerLimit=new box2d.b2Vec2,this.m_upperLimit=new box2d.b2Vec2,this.m_radius=0,this.m_front=!1},box2d.b2EPCollider.prototype.m_polygonB=null,box2d.b2EPCollider.prototype.m_xf=null,box2d.b2EPCollider.prototype.m_centroidB=null,box2d.b2EPCollider.prototype.m_v0=null,box2d.b2EPCollider.prototype.m_v1=null,box2d.b2EPCollider.prototype.m_v2=null,box2d.b2EPCollider.prototype.m_v3=null,box2d.b2EPCollider.prototype.m_normal0=null,box2d.b2EPCollider.prototype.m_normal1=null,box2d.b2EPCollider.prototype.m_normal2=null,box2d.b2EPCollider.prototype.m_normal=null,box2d.b2EPCollider.prototype.m_type1=box2d.b2EPColliderVertexType.e_isolated,box2d.b2EPCollider.prototype.m_type2=box2d.b2EPColliderVertexType.e_isolated,box2d.b2EPCollider.prototype.m_lowerLimit=null,box2d.b2EPCollider.prototype.m_upperLimit=null,box2d.b2EPCollider.prototype.m_radius=0,box2d.b2EPCollider.prototype.m_front=!1,box2d.b2EPCollider.prototype.Collide=function(a,b,c,d,e){box2d.b2MulTXX(c,e,this.m_xf),box2d.b2MulXV(this.m_xf,d.m_centroid,this.m_centroidB),this.m_v0.Copy(b.m_vertex0),this.m_v1.Copy(b.m_vertex1),this.m_v2.Copy(b.m_vertex2),this.m_v3.Copy(b.m_vertex3);var f=b.m_hasVertex0,g=b.m_hasVertex3,h=box2d.b2SubVV(this.m_v2,this.m_v1,box2d.b2EPCollider.s_edge1);h.Normalize(),this.m_normal1.SetXY(h.y,-h.x);var i=box2d.b2DotVV(this.m_normal1,box2d.b2SubVV(this.m_centroidB,this.m_v1,box2d.b2Vec2.s_t0)),j=0,k=0,l=!1,m=!1;if(f){var n=box2d.b2SubVV(this.m_v1,this.m_v0,box2d.b2EPCollider.s_edge0);n.Normalize(),this.m_normal0.SetXY(n.y,-n.x),l=box2d.b2CrossVV(n,h)>=0,j=box2d.b2DotVV(this.m_normal0,box2d.b2SubVV(this.m_centroidB,this.m_v0,box2d.b2Vec2.s_t0))}if(g){var o=box2d.b2SubVV(this.m_v3,this.m_v2,box2d.b2EPCollider.s_edge2);o.Normalize(),this.m_normal2.SetXY(o.y,-o.x),m=box2d.b2CrossVV(h,o)>0,k=box2d.b2DotVV(this.m_normal2,box2d.b2SubVV(this.m_centroidB,this.m_v2,box2d.b2Vec2.s_t0))}f&&g?l&&m?(this.m_front=j>=0||i>=0||k>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal0),this.m_upperLimit.Copy(this.m_normal2)):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal1).SelfNeg(),this.m_upperLimit.Copy(this.m_normal1).SelfNeg())):l?(this.m_front=j>=0||i>=0&&k>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal0),this.m_upperLimit.Copy(this.m_normal1)):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal2).SelfNeg(),this.m_upperLimit.Copy(this.m_normal1).SelfNeg())):m?(this.m_front=k>=0||j>=0&&i>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal1),this.m_upperLimit.Copy(this.m_normal2)):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal1).SelfNeg(),this.m_upperLimit.Copy(this.m_normal0).SelfNeg())):(this.m_front=j>=0&&i>=0&&k>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal1),this.m_upperLimit.Copy(this.m_normal1)):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal2).SelfNeg(),this.m_upperLimit.Copy(this.m_normal0).SelfNeg())):f?l?(this.m_front=j>=0||i>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal0),this.m_upperLimit.Copy(this.m_normal1).SelfNeg()):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal1),this.m_upperLimit.Copy(this.m_normal1).SelfNeg())):(this.m_front=j>=0&&i>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal1),this.m_upperLimit.Copy(this.m_normal1).SelfNeg()):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal1),this.m_upperLimit.Copy(this.m_normal0).SelfNeg())):g?m?(this.m_front=i>=0||k>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal1).SelfNeg(),this.m_upperLimit.Copy(this.m_normal2)):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal1).SelfNeg(),this.m_upperLimit.Copy(this.m_normal1))):(this.m_front=i>=0&&k>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal1).SelfNeg(),this.m_upperLimit.Copy(this.m_normal1)):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal2).SelfNeg(),this.m_upperLimit.Copy(this.m_normal1))):(this.m_front=i>=0,this.m_front?(this.m_normal.Copy(this.m_normal1),this.m_lowerLimit.Copy(this.m_normal1).SelfNeg(),this.m_upperLimit.Copy(this.m_normal1).SelfNeg()):(this.m_normal.Copy(this.m_normal1).SelfNeg(),this.m_lowerLimit.Copy(this.m_normal1),this.m_upperLimit.Copy(this.m_normal1))),this.m_polygonB.count=d.m_count;for(var p=0,q=d.m_count;q>p;++p)box2d.b2MulXV(this.m_xf,d.m_vertices[p],this.m_polygonB.vertices[p]),box2d.b2MulRV(this.m_xf.q,d.m_normals[p],this.m_polygonB.normals[p]);this.m_radius=2*box2d.b2_polygonRadius,a.pointCount=0;var r=this.ComputeEdgeSeparation(box2d.b2EPCollider.s_edgeAxis);if(r.type!==box2d.b2EPAxisType.e_unknown&&!(r.separation>this.m_radius)){var s=this.ComputePolygonSeparation(box2d.b2EPCollider.s_polygonAxis);if(!(s.type!==box2d.b2EPAxisType.e_unknown&&s.separation>this.m_radius)){var t,u=.98,v=.001;t=s.type===box2d.b2EPAxisType.e_unknown?r:s.separation>u*r.separation+v?s:r;var w=box2d.b2EPCollider.s_ie,x=box2d.b2EPCollider.s_rf;if(t.type===box2d.b2EPAxisType.e_edgeA){a.type=box2d.b2ManifoldType.e_faceA;for(var y=0,z=box2d.b2DotVV(this.m_normal,this.m_polygonB.normals[0]),p=1,q=this.m_polygonB.count;q>p;++p){var A=box2d.b2DotVV(this.m_normal,this.m_polygonB.normals[p]);z>A&&(z=A,y=p)}var B=y,C=(B+1)%this.m_polygonB.count,D=w[0];D.v.Copy(this.m_polygonB.vertices[B]),D.id.cf.indexA=0,D.id.cf.indexB=B,D.id.cf.typeA=box2d.b2ContactFeatureType.e_face,D.id.cf.typeB=box2d.b2ContactFeatureType.e_vertex;var E=w[1];E.v.Copy(this.m_polygonB.vertices[C]),E.id.cf.indexA=0,E.id.cf.indexB=C,E.id.cf.typeA=box2d.b2ContactFeatureType.e_face,E.id.cf.typeB=box2d.b2ContactFeatureType.e_vertex,this.m_front?(x.i1=0,x.i2=1,x.v1.Copy(this.m_v1),x.v2.Copy(this.m_v2),x.normal.Copy(this.m_normal1)):(x.i1=1,x.i2=0,x.v1.Copy(this.m_v2),x.v2.Copy(this.m_v1),x.normal.Copy(this.m_normal1).SelfNeg())}else{a.type=box2d.b2ManifoldType.e_faceB;var D=w[0];D.v.Copy(this.m_v1),D.id.cf.indexA=0,D.id.cf.indexB=t.index,D.id.cf.typeA=box2d.b2ContactFeatureType.e_vertex,D.id.cf.typeB=box2d.b2ContactFeatureType.e_face;var E=w[1];E.v.Copy(this.m_v2),E.id.cf.indexA=0,E.id.cf.indexB=t.index,E.id.cf.typeA=box2d.b2ContactFeatureType.e_vertex,E.id.cf.typeB=box2d.b2ContactFeatureType.e_face,x.i1=t.index,x.i2=(x.i1+1)%this.m_polygonB.count,x.v1.Copy(this.m_polygonB.vertices[x.i1]),x.v2.Copy(this.m_polygonB.vertices[x.i2]),x.normal.Copy(this.m_polygonB.normals[x.i1])}x.sideNormal1.SetXY(x.normal.y,-x.normal.x),x.sideNormal2.Copy(x.sideNormal1).SelfNeg(),x.sideOffset1=box2d.b2DotVV(x.sideNormal1,x.v1),x.sideOffset2=box2d.b2DotVV(x.sideNormal2,x.v2);var F=box2d.b2EPCollider.s_clipPoints1,G=box2d.b2EPCollider.s_clipPoints2,H=0;if(H=box2d.b2ClipSegmentToLine(F,w,x.sideNormal1,x.sideOffset1,x.i1),!(H<box2d.b2_maxManifoldPoints||(H=box2d.b2ClipSegmentToLine(G,F,x.sideNormal2,x.sideOffset2,x.i2),H<box2d.b2_maxManifoldPoints))){t.type===box2d.b2EPAxisType.e_edgeA?(a.localNormal.Copy(x.normal),a.localPoint.Copy(x.v1)):(a.localNormal.Copy(d.m_normals[x.i1]),a.localPoint.Copy(d.m_vertices[x.i1]));for(var I=0,p=0,q=box2d.b2_maxManifoldPoints;q>p;++p){var J;if(J=box2d.b2DotVV(x.normal,box2d.b2SubVV(G[p].v,x.v1,box2d.b2Vec2.s_t0)),J<=this.m_radius){var K=a.points[I];t.type===box2d.b2EPAxisType.e_edgeA?(box2d.b2MulTXV(this.m_xf,G[p].v,K.localPoint),K.id=G[p].id):(K.localPoint.Copy(G[p].v),K.id.cf.typeA=G[p].id.cf.typeB,K.id.cf.typeB=G[p].id.cf.typeA,K.id.cf.indexA=G[p].id.cf.indexB,K.id.cf.indexB=G[p].id.cf.indexA),++I}}a.pointCount=I}}}},box2d.b2EPCollider.s_edge1=new box2d.b2Vec2,box2d.b2EPCollider.s_edge0=new box2d.b2Vec2,box2d.b2EPCollider.s_edge2=new box2d.b2Vec2,box2d.b2EPCollider.s_ie=box2d.b2ClipVertex.MakeArray(2),box2d.b2EPCollider.s_rf=new box2d.b2ReferenceFace,box2d.b2EPCollider.s_clipPoints1=box2d.b2ClipVertex.MakeArray(2),box2d.b2EPCollider.s_clipPoints2=box2d.b2ClipVertex.MakeArray(2),box2d.b2EPCollider.s_edgeAxis=new box2d.b2EPAxis,box2d.b2EPCollider.s_polygonAxis=new box2d.b2EPAxis,box2d.b2EPCollider.prototype.ComputeEdgeSeparation=function(a){var b=a;b.type=box2d.b2EPAxisType.e_edgeA,b.index=this.m_front?0:1,b.separation=box2d.b2_maxFloat;for(var c=0,d=this.m_polygonB.count;d>c;++c){var e=box2d.b2DotVV(this.m_normal,box2d.b2SubVV(this.m_polygonB.vertices[c],this.m_v1,box2d.b2Vec2.s_t0));e<b.separation&&(b.separation=e)}return b},box2d.b2EPCollider.prototype.ComputePolygonSeparation=function(a){var b=a;b.type=box2d.b2EPAxisType.e_unknown,b.index=-1,b.separation=-box2d.b2_maxFloat;for(var c=box2d.b2EPCollider.s_perp.SetXY(-this.m_normal.y,this.m_normal.x),d=0,e=this.m_polygonB.count;e>d;++d){var f=box2d.b2NegV(this.m_polygonB.normals[d],box2d.b2EPCollider.s_n),g=box2d.b2DotVV(f,box2d.b2SubVV(this.m_polygonB.vertices[d],this.m_v1,box2d.b2Vec2.s_t0)),h=box2d.b2DotVV(f,box2d.b2SubVV(this.m_polygonB.vertices[d],this.m_v2,box2d.b2Vec2.s_t0)),i=box2d.b2Min(g,h);if(i>this.m_radius)return b.type=box2d.b2EPAxisType.e_edgeB,b.index=d,b.separation=i,b;if(box2d.b2DotVV(f,c)>=0){if(box2d.b2DotVV(box2d.b2SubVV(f,this.m_upperLimit,box2d.b2Vec2.s_t0),this.m_normal)<-box2d.b2_angularSlop)continue}else if(box2d.b2DotVV(box2d.b2SubVV(f,this.m_lowerLimit,box2d.b2Vec2.s_t0),this.m_normal)<-box2d.b2_angularSlop)continue;i>b.separation&&(b.type=box2d.b2EPAxisType.e_edgeB,b.index=d,b.separation=i)}return b},box2d.b2EPCollider.s_n=new box2d.b2Vec2,box2d.b2EPCollider.s_perp=new box2d.b2Vec2,box2d.b2CollideEdgeAndPolygon=function(a,b,c,d,e){var f=box2d.b2CollideEdgeAndPolygon.s_collider;f.Collide(a,b,c,d,e)},box2d.b2CollideEdgeAndPolygon.s_collider=new box2d.b2EPCollider,goog.provide("box2d.b2EdgeShape"),goog.require("box2d.b2Shape"),box2d.b2EdgeShape=function(){goog.base(this,box2d.b2ShapeType.e_edgeShape,box2d.b2_polygonRadius),this.m_vertex1=new box2d.b2Vec2,this.m_vertex2=new box2d.b2Vec2,this.m_vertex0=new box2d.b2Vec2,this.m_vertex3=new box2d.b2Vec2},goog.inherits(box2d.b2EdgeShape,box2d.b2Shape),box2d.b2EdgeShape.prototype.m_vertex1=null,box2d.b2EdgeShape.prototype.m_vertex2=null,box2d.b2EdgeShape.prototype.m_vertex0=null,box2d.b2EdgeShape.prototype.m_vertex3=null,box2d.b2EdgeShape.prototype.m_hasVertex0=!1,box2d.b2EdgeShape.prototype.m_hasVertex3=!1,box2d.b2EdgeShape.prototype.Set=function(a,b){return this.m_vertex1.Copy(a),this.m_vertex2.Copy(b),this.m_hasVertex0=!1,this.m_hasVertex3=!1,this},box2d.b2EdgeShape.prototype.SetAsEdge=box2d.b2EdgeShape.prototype.Set,box2d.b2EdgeShape.prototype.Clone=function(){return(new box2d.b2EdgeShape).Copy(this)},box2d.b2EdgeShape.prototype.Copy=function(a){return goog.base(this,"Copy",a),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a instanceof box2d.b2EdgeShape),this.m_vertex1.Copy(a.m_vertex1),this.m_vertex2.Copy(a.m_vertex2),this.m_vertex0.Copy(a.m_vertex0),this.m_vertex3.Copy(a.m_vertex3),this.m_hasVertex0=a.m_hasVertex0,this.m_hasVertex3=a.m_hasVertex3,this},box2d.b2EdgeShape.prototype.GetChildCount=function(){return 1},box2d.b2EdgeShape.prototype.TestPoint=function(){return!1},box2d.b2EdgeShape.prototype.RayCast=function(a,b,c){var d=box2d.b2MulTXV(c,b.p1,box2d.b2EdgeShape.prototype.RayCast.s_p1),e=box2d.b2MulTXV(c,b.p2,box2d.b2EdgeShape.prototype.RayCast.s_p2),f=box2d.b2SubVV(e,d,box2d.b2EdgeShape.prototype.RayCast.s_d),g=this.m_vertex1,h=this.m_vertex2,i=box2d.b2SubVV(h,g,box2d.b2EdgeShape.prototype.RayCast.s_e),j=a.normal.SetXY(i.y,-i.x).SelfNormalize(),k=box2d.b2DotVV(j,box2d.b2SubVV(g,d,box2d.b2Vec2.s_t0)),l=box2d.b2DotVV(j,f);if(0===l)return!1;var m=k/l;if(0>m||b.maxFraction<m)return!1;var n=box2d.b2AddVMulSV(d,m,f,box2d.b2EdgeShape.prototype.RayCast.s_q),o=box2d.b2SubVV(h,g,box2d.b2EdgeShape.prototype.RayCast.s_r),p=box2d.b2DotVV(o,o);if(0===p)return!1;var q=box2d.b2DotVV(box2d.b2SubVV(n,g,box2d.b2Vec2.s_t0),o)/p;return 0>q||q>1?!1:(a.fraction=m,box2d.b2MulRV(c.q,a.normal,a.normal),k>0&&a.normal.SelfNeg(),!0)},box2d.b2EdgeShape.prototype.RayCast.s_p1=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.RayCast.s_p2=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.RayCast.s_d=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.RayCast.s_e=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.RayCast.s_q=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.RayCast.s_r=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.ComputeAABB=function(a,b){var c=box2d.b2MulXV(b,this.m_vertex1,box2d.b2EdgeShape.prototype.ComputeAABB.s_v1),d=box2d.b2MulXV(b,this.m_vertex2,box2d.b2EdgeShape.prototype.ComputeAABB.s_v2);box2d.b2MinV(c,d,a.lowerBound),box2d.b2MaxV(c,d,a.upperBound);var e=this.m_radius;a.lowerBound.SelfSubXY(e,e),a.upperBound.SelfAddXY(e,e)},box2d.b2EdgeShape.prototype.ComputeAABB.s_v1=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.ComputeAABB.s_v2=new box2d.b2Vec2,box2d.b2EdgeShape.prototype.ComputeMass=function(a){a.mass=0,box2d.b2MidVV(this.m_vertex1,this.m_vertex2,a.center),a.I=0},box2d.b2EdgeShape.prototype.SetupDistanceProxy=function(a){a.m_vertices=new Array(2),a.m_vertices[0]=this.m_vertex1,a.m_vertices[1]=this.m_vertex2,a.m_count=2,a.m_radius=this.m_radius},box2d.b2EdgeShape.prototype.ComputeSubmergedArea=function(a,b,c,d){return d.SetZero(),0},box2d.b2EdgeShape.prototype.Dump=function(){box2d.b2Log("    /*box2d.b2EdgeShape*/ var shape = new box2d.b2EdgeShape();\n"),box2d.b2Log("    shape.m_radius = %.15f;\n",this.m_radius),box2d.b2Log("    shape.m_vertex0.SetXY(%.15f, %.15f);\n",this.m_vertex0.x,this.m_vertex0.y),box2d.b2Log("    shape.m_vertex1.SetXY(%.15f, %.15f);\n",this.m_vertex1.x,this.m_vertex1.y),box2d.b2Log("    shape.m_vertex2.SetXY(%.15f, %.15f);\n",this.m_vertex2.x,this.m_vertex2.y),box2d.b2Log("    shape.m_vertex3.SetXY(%.15f, %.15f);\n",this.m_vertex3.x,this.m_vertex3.y),box2d.b2Log("    shape.m_hasVertex0 = %s;\n",this.m_hasVertex0),box2d.b2Log("    shape.m_hasVertex3 = %s;\n",this.m_hasVertex3)},goog.provide("box2d.b2ChainShape"),goog.require("box2d.b2Shape"),goog.require("box2d.b2EdgeShape"),box2d.b2ChainShape=function(){goog.base(this,box2d.b2ShapeType.e_chainShape,box2d.b2_polygonRadius),this.m_prevVertex=new box2d.b2Vec2,this.m_nextVertex=new box2d.b2Vec2},goog.inherits(box2d.b2ChainShape,box2d.b2Shape),box2d.b2ChainShape.prototype.m_vertices=null,box2d.b2ChainShape.prototype.m_count=0,box2d.b2ChainShape.prototype.m_prevVertex=null,box2d.b2ChainShape.prototype.m_nextVertex=null,box2d.b2ChainShape.prototype.m_hasPrevVertex=!1,box2d.b2ChainShape.prototype.m_hasNextVertex=!1,box2d.b2ChainShape.prototype.CreateLoop=function(a,b){if(b=b||a.length,box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===this.m_vertices&&0===this.m_count),box2d.ENABLE_ASSERTS&&box2d.b2Assert(b>=3),box2d.ENABLE_ASSERTS)for(var c=1;b>c;++c){var d=a[c-1],e=a[c];box2d.b2Assert(box2d.b2DistanceSquaredVV(d,e)>box2d.b2_linearSlop*box2d.b2_linearSlop)}this.m_count=b+1,this.m_vertices=box2d.b2Vec2.MakeArray(this.m_count);for(var c=0;b>c;++c)this.m_vertices[c].Copy(a[c]);return this.m_vertices[b].Copy(this.m_vertices[0]),this.m_prevVertex.Copy(this.m_vertices[this.m_count-2]),this.m_nextVertex.Copy(this.m_vertices[1]),this.m_hasPrevVertex=!0,this.m_hasNextVertex=!0,this},box2d.b2ChainShape.prototype.CreateChain=function(a,b){if(b=b||a.length,box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===this.m_vertices&&0===this.m_count),box2d.ENABLE_ASSERTS&&box2d.b2Assert(b>=2),box2d.ENABLE_ASSERTS)for(var c=1;b>c;++c){var d=a[c-1],e=a[c];box2d.b2Assert(box2d.b2DistanceSquaredVV(d,e)>box2d.b2_linearSlop*box2d.b2_linearSlop)}this.m_count=b,this.m_vertices=box2d.b2Vec2.MakeArray(b);for(var c=0;b>c;++c)this.m_vertices[c].Copy(a[c]);return this.m_hasPrevVertex=!1,this.m_hasNextVertex=!1,this.m_prevVertex.SetZero(),this.m_nextVertex.SetZero(),this},box2d.b2ChainShape.prototype.SetPrevVertex=function(a){return this.m_prevVertex.Copy(a),this.m_hasPrevVertex=!0,this},box2d.b2ChainShape.prototype.SetNextVertex=function(a){return this.m_nextVertex.Copy(a),this.m_hasNextVertex=!0,this},box2d.b2ChainShape.prototype.Clone=function(){return(new box2d.b2ChainShape).Copy(this)},box2d.b2ChainShape.prototype.Copy=function(a){return goog.base(this,"Copy",a),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a instanceof box2d.b2ChainShape),this.CreateChain(a.m_vertices,a.m_count),this.m_prevVertex.Copy(a.m_prevVertex),this.m_nextVertex.Copy(a.m_nextVertex),this.m_hasPrevVertex=a.m_hasPrevVertex,this.m_hasNextVertex=a.m_hasNextVertex,this},box2d.b2ChainShape.prototype.GetChildCount=function(){return this.m_count-1},box2d.b2ChainShape.prototype.GetChildEdge=function(a,b){box2d.ENABLE_ASSERTS&&box2d.b2Assert(b>=0&&b<this.m_count-1),a.m_type=box2d.b2ShapeType.e_edgeShape,a.m_radius=this.m_radius,a.m_vertex1.Copy(this.m_vertices[b]),a.m_vertex2.Copy(this.m_vertices[b+1]),b>0?(a.m_vertex0.Copy(this.m_vertices[b-1]),a.m_hasVertex0=!0):(a.m_vertex0.Copy(this.m_prevVertex),a.m_hasVertex0=this.m_hasPrevVertex),b<this.m_count-2?(a.m_vertex3.Copy(this.m_vertices[b+2]),a.m_hasVertex3=!0):(a.m_vertex3.Copy(this.m_nextVertex),a.m_hasVertex3=this.m_hasNextVertex)},box2d.b2ChainShape.prototype.TestPoint=function(){return!1},box2d.b2ChainShape.prototype.RayCast=function(a,b,c,d){box2d.ENABLE_ASSERTS&&box2d.b2Assert(d<this.m_count);var e=box2d.b2ChainShape.s_edgeShape;return e.m_vertex1.Copy(this.m_vertices[d]),e.m_vertex2.Copy(this.m_vertices[(d+1)%this.m_count]),e.RayCast(a,b,c,0)},box2d.b2ChainShape.s_edgeShape=new box2d.b2EdgeShape,box2d.b2ChainShape.prototype.ComputeAABB=function(a,b,c){box2d.ENABLE_ASSERTS&&box2d.b2Assert(c<this.m_count);var d=this.m_vertices[c],e=this.m_vertices[(c+1)%this.m_count],f=box2d.b2MulXV(b,d,box2d.b2ChainShape.prototype.ComputeAABB.s_v1),g=box2d.b2MulXV(b,e,box2d.b2ChainShape.prototype.ComputeAABB.s_v2);box2d.b2MinV(f,g,a.lowerBound),box2d.b2MaxV(f,g,a.upperBound)},box2d.b2ChainShape.prototype.ComputeAABB.s_v1=new box2d.b2Vec2,box2d.b2ChainShape.prototype.ComputeAABB.s_v2=new box2d.b2Vec2,box2d.b2ChainShape.prototype.ComputeMass=function(a){a.mass=0,a.center.SetZero(),a.I=0},box2d.b2ChainShape.prototype.SetupDistanceProxy=function(a,b){box2d.ENABLE_ASSERTS&&box2d.b2Assert(b>=0&&b<this.m_count),a.m_buffer[0].Copy(this.m_vertices[b]),a.m_buffer[1].Copy(b+1<this.m_count?this.m_vertices[b+1]:this.m_vertices[0]),a.m_vertices=a.m_buffer,a.m_count=2,a.m_radius=this.m_radius},box2d.b2ChainShape.prototype.ComputeSubmergedArea=function(a,b,c,d){return d.SetZero(),0},box2d.b2ChainShape.prototype.Dump=function(){box2d.b2Log("    /*box2d.b2ChainShape*/ var shape = new box2d.b2ChainShape();\n"),box2d.b2Log("    /*box2d.b2Vec2[]*/ var vs = box2d.b2Vec2.MakeArray(%d);\n",box2d.b2_maxPolygonVertices);for(var a=0;a<this.m_count;++a)box2d.b2Log("    vs[%d].SetXY(%.15f, %.15f);\n",a,this.m_vertices[a].x,this.m_vertices[a].y);box2d.b2Log("    shape.CreateChain(vs, %d);\n",this.m_count),box2d.b2Log("    shape.m_prevVertex.SetXY(%.15f, %.15f);\n",this.m_prevVertex.x,this.m_prevVertex.y),box2d.b2Log("    shape.m_nextVertex.SetXY(%.15f, %.15f);\n",this.m_nextVertex.x,this.m_nextVertex.y),box2d.b2Log("    shape.m_hasPrevVertex = %s;\n",this.m_hasPrevVertex?"true":"false"),box2d.b2Log("    shape.m_hasNextVertex = %s;\n",this.m_hasNextVertex?"true":"false")},goog.provide("box2d.b2ChainAndPolygonContact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),goog.require("box2d.b2CollideEdge"),goog.require("box2d.b2ChainShape"),goog.require("box2d.b2PolygonShape"),box2d.b2ChainAndPolygonContact=function(){goog.base(this)},goog.inherits(box2d.b2ChainAndPolygonContact,box2d.b2Contact),box2d.b2ChainAndPolygonContact.Create=function(){return new box2d.b2ChainAndPolygonContact},box2d.b2ChainAndPolygonContact.Destroy=function(){},box2d.b2ChainAndPolygonContact.prototype.Reset=function(a,b,c,d){goog.base(this,"Reset",a,b,c,d),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.GetType()===box2d.b2ShapeType.e_chainShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(c.GetType()===box2d.b2ShapeType.e_polygonShape)},box2d.b2ChainAndPolygonContact.prototype.Evaluate=function(a,b,c){var d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2ChainShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2PolygonShape);var f=d instanceof box2d.b2ChainShape?d:null,g=box2d.b2ChainAndPolygonContact.prototype.Evaluate.s_edge;f.GetChildEdge(g,this.m_indexA),box2d.b2CollideEdgeAndPolygon(a,g,b,e instanceof box2d.b2PolygonShape?e:null,c)},box2d.b2ChainAndPolygonContact.prototype.Evaluate.s_edge=new box2d.b2EdgeShape,goog.provide("box2d.b2CollidePolygon"),goog.require("box2d.b2Collision"),box2d.b2FindMaxSeparation=function(a,b,c,d,e){for(var f=b.m_count,g=d.m_count,h=b.m_normals,i=b.m_vertices,j=d.m_vertices,k=box2d.b2MulTXX(e,c,box2d.b2FindMaxSeparation.s_xf),l=0,m=-box2d.b2_maxFloat,n=0;f>n;++n){for(var o=box2d.b2MulRV(k.q,h[n],box2d.b2FindMaxSeparation.s_n),p=box2d.b2MulXV(k,i[n],box2d.b2FindMaxSeparation.s_v1),q=box2d.b2_maxFloat,r=0;g>r;++r){var s=box2d.b2DotVV(o,box2d.b2SubVV(j[r],p,box2d.b2Vec2.s_t0));q>s&&(q=s)}q>m&&(m=q,l=n)}return a[0]=l,m},box2d.b2FindMaxSeparation.s_xf=new box2d.b2Transform,box2d.b2FindMaxSeparation.s_n=new box2d.b2Vec2,box2d.b2FindMaxSeparation.s_v1=new box2d.b2Vec2,box2d.b2FindIncidentEdge=function(a,b,c,d,e,f){var g=b.m_count,h=b.m_normals,i=e.m_count,j=e.m_vertices,k=e.m_normals;box2d.ENABLE_ASSERTS&&box2d.b2Assert(d>=0&&g>d);for(var l=box2d.b2MulTRV(f.q,box2d.b2MulRV(c.q,h[d],box2d.b2Vec2.s_t0),box2d.b2FindIncidentEdge.s_normal1),m=0,n=box2d.b2_maxFloat,o=0;i>o;++o){var p=box2d.b2DotVV(l,k[o]);n>p&&(n=p,m=o)}var q=m,r=(q+1)%i,s=a[0];box2d.b2MulXV(f,j[q],s.v);var t=s.id.cf;t.indexA=d,t.indexB=q,t.typeA=box2d.b2ContactFeatureType.e_face,t.typeB=box2d.b2ContactFeatureType.e_vertex;var u=a[1];box2d.b2MulXV(f,j[r],u.v);var v=u.id.cf;v.indexA=d,v.indexB=r,v.typeA=box2d.b2ContactFeatureType.e_face,v.typeB=box2d.b2ContactFeatureType.e_vertex},box2d.b2FindIncidentEdge.s_normal1=new box2d.b2Vec2,box2d.b2CollidePolygons=function(a,b,c,d,e){a.pointCount=0;var f=b.m_radius+d.m_radius,g=box2d.b2CollidePolygons.s_edgeA;g[0]=0;var h=box2d.b2FindMaxSeparation(g,b,c,d,e);if(!(h>f)){var i=box2d.b2CollidePolygons.s_edgeB;i[0]=0;var j=box2d.b2FindMaxSeparation(i,d,e,b,c);if(!(j>f)){var k,l,m,n,o=0,p=0,q=.98,r=.001;j>q*h+r?(k=d,l=b,m=e,n=c,o=i[0],a.type=box2d.b2ManifoldType.e_faceB,p=1):(k=b,l=d,m=c,n=e,o=g[0],a.type=box2d.b2ManifoldType.e_faceA,p=0);var s=box2d.b2CollidePolygons.s_incidentEdge;box2d.b2FindIncidentEdge(s,k,m,o,l,n);var t=k.m_count,u=k.m_vertices,v=o,w=(o+1)%t,x=u[v],y=u[w],z=box2d.b2SubVV(y,x,box2d.b2CollidePolygons.s_localTangent);z.Normalize();var A,B=box2d.b2CrossVOne(z,box2d.b2CollidePolygons.s_localNormal),C=box2d.b2MidVV(x,y,box2d.b2CollidePolygons.s_planePoint),D=box2d.b2MulRV(m.q,z,box2d.b2CollidePolygons.s_tangent),E=box2d.b2CrossVOne(D,box2d.b2CollidePolygons.s_normal),F=box2d.b2MulXV(m,x,box2d.b2CollidePolygons.s_v11),G=box2d.b2MulXV(m,y,box2d.b2CollidePolygons.s_v12),H=box2d.b2DotVV(E,F),I=-box2d.b2DotVV(D,F)+f,J=box2d.b2DotVV(D,G)+f,K=box2d.b2CollidePolygons.s_clipPoints1,L=box2d.b2CollidePolygons.s_clipPoints2,M=box2d.b2NegV(D,box2d.b2CollidePolygons.s_ntangent);if(A=box2d.b2ClipSegmentToLine(K,s,M,I,v),!(2>A||(A=box2d.b2ClipSegmentToLine(L,K,D,J,w),2>A))){a.localNormal.Copy(B),a.localPoint.Copy(C);for(var N=0,O=0;O<box2d.b2_maxManifoldPoints;++O){var P=L[O],Q=box2d.b2DotVV(E,P.v)-H;if(f>=Q){var R=a.points[N];if(box2d.b2MulTXV(n,P.v,R.localPoint),R.id.Copy(P.id),p){var S=R.id.cf;R.id.cf.indexA=S.indexB,R.id.cf.indexB=S.indexA,R.id.cf.typeA=S.typeB,R.id.cf.typeB=S.typeA}++N}}a.pointCount=N}}}},box2d.b2CollidePolygons.s_incidentEdge=box2d.b2ClipVertex.MakeArray(2),box2d.b2CollidePolygons.s_clipPoints1=box2d.b2ClipVertex.MakeArray(2),box2d.b2CollidePolygons.s_clipPoints2=box2d.b2ClipVertex.MakeArray(2),box2d.b2CollidePolygons.s_edgeA=box2d.b2MakeNumberArray(1),box2d.b2CollidePolygons.s_edgeB=box2d.b2MakeNumberArray(1),box2d.b2CollidePolygons.s_localTangent=new box2d.b2Vec2,box2d.b2CollidePolygons.s_localNormal=new box2d.b2Vec2,box2d.b2CollidePolygons.s_planePoint=new box2d.b2Vec2,box2d.b2CollidePolygons.s_normal=new box2d.b2Vec2,box2d.b2CollidePolygons.s_tangent=new box2d.b2Vec2,box2d.b2CollidePolygons.s_ntangent=new box2d.b2Vec2,box2d.b2CollidePolygons.s_v11=new box2d.b2Vec2,box2d.b2CollidePolygons.s_v12=new box2d.b2Vec2,goog.provide("box2d.b2PolygonContact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),goog.require("box2d.b2CollidePolygon"),box2d.b2PolygonContact=function(){goog.base(this)},goog.inherits(box2d.b2PolygonContact,box2d.b2Contact),box2d.b2PolygonContact.Create=function(){return new box2d.b2PolygonContact},box2d.b2PolygonContact.Destroy=function(){},box2d.b2PolygonContact.prototype.Reset=function(a,b,c,d){goog.base(this,"Reset",a,b,c,d)},box2d.b2PolygonContact.prototype.Evaluate=function(a,b,c){var d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2PolygonShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2PolygonShape),box2d.b2CollidePolygons(a,d instanceof box2d.b2PolygonShape?d:null,b,e instanceof box2d.b2PolygonShape?e:null,c)},goog.provide("box2d.b2CollideCircle"),goog.require("box2d.b2Collision"),box2d.b2CollideCircles=function(a,b,c,d,e){a.pointCount=0;var f=box2d.b2MulXV(c,b.m_p,box2d.b2CollideCircles.s_pA),g=box2d.b2MulXV(e,d.m_p,box2d.b2CollideCircles.s_pB),h=box2d.b2DistanceSquaredVV(f,g),i=b.m_radius+d.m_radius;h>i*i||(a.type=box2d.b2ManifoldType.e_circles,a.localPoint.Copy(b.m_p),a.localNormal.SetZero(),a.pointCount=1,a.points[0].localPoint.Copy(d.m_p),a.points[0].id.key=0)},box2d.b2CollideCircles.s_pA=new box2d.b2Vec2,box2d.b2CollideCircles.s_pB=new box2d.b2Vec2,box2d.b2CollidePolygonAndCircle=function(a,b,c,d,e){a.pointCount=0;for(var f=box2d.b2MulXV(e,d.m_p,box2d.b2CollidePolygonAndCircle.s_c),g=box2d.b2MulTXV(c,f,box2d.b2CollidePolygonAndCircle.s_cLocal),h=0,i=-box2d.b2_maxFloat,j=b.m_radius+d.m_radius,k=b.m_count,l=b.m_vertices,m=b.m_normals,n=0;k>n;++n){var o=box2d.b2DotVV(m[n],box2d.b2SubVV(g,l[n],box2d.b2Vec2.s_t0));if(o>j)return;o>i&&(i=o,h=n)}var p=h,q=(p+1)%k,r=l[p],s=l[q];if(i<box2d.b2_epsilon)return a.pointCount=1,a.type=box2d.b2ManifoldType.e_faceA,a.localNormal.Copy(m[h]),box2d.b2MidVV(r,s,a.localPoint),a.points[0].localPoint.Copy(d.m_p),void(a.points[0].id.key=0);var t=box2d.b2DotVV(box2d.b2SubVV(g,r,box2d.b2Vec2.s_t0),box2d.b2SubVV(s,r,box2d.b2Vec2.s_t1)),u=box2d.b2DotVV(box2d.b2SubVV(g,s,box2d.b2Vec2.s_t0),box2d.b2SubVV(r,s,box2d.b2Vec2.s_t1));if(0>=t){if(box2d.b2DistanceSquaredVV(g,r)>j*j)return;
a.pointCount=1,a.type=box2d.b2ManifoldType.e_faceA,box2d.b2SubVV(g,r,a.localNormal).SelfNormalize(),a.localPoint.Copy(r),a.points[0].localPoint.Copy(d.m_p),a.points[0].id.key=0}else if(0>=u){if(box2d.b2DistanceSquaredVV(g,s)>j*j)return;a.pointCount=1,a.type=box2d.b2ManifoldType.e_faceA,box2d.b2SubVV(g,s,a.localNormal).SelfNormalize(),a.localPoint.Copy(s),a.points[0].localPoint.Copy(d.m_p),a.points[0].id.key=0}else{var v=box2d.b2MidVV(r,s,box2d.b2CollidePolygonAndCircle.s_faceCenter);if(i=box2d.b2DotVV(box2d.b2SubVV(g,v,box2d.b2Vec2.s_t1),m[p]),i>j)return;a.pointCount=1,a.type=box2d.b2ManifoldType.e_faceA,a.localNormal.Copy(m[p]).SelfNormalize(),a.localPoint.Copy(v),a.points[0].localPoint.Copy(d.m_p),a.points[0].id.key=0}},box2d.b2CollidePolygonAndCircle.s_c=new box2d.b2Vec2,box2d.b2CollidePolygonAndCircle.s_cLocal=new box2d.b2Vec2,box2d.b2CollidePolygonAndCircle.s_faceCenter=new box2d.b2Vec2,goog.provide("box2d.b2CircleContact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),goog.require("box2d.b2CollideCircle"),box2d.b2CircleContact=function(){goog.base(this)},goog.inherits(box2d.b2CircleContact,box2d.b2Contact),box2d.b2CircleContact.Create=function(){return new box2d.b2CircleContact},box2d.b2CircleContact.Destroy=function(){},box2d.b2CircleContact.prototype.Reset=function(a,b,c,d){goog.base(this,"Reset",a,b,c,d)},box2d.b2CircleContact.prototype.Evaluate=function(a,b,c){var d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2CircleShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2CircleShape),box2d.b2CollideCircles(a,d instanceof box2d.b2CircleShape?d:null,b,e instanceof box2d.b2CircleShape?e:null,c)},goog.provide("box2d.b2ChainAndCircleContact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),goog.require("box2d.b2CollideEdge"),box2d.b2ChainAndCircleContact=function(){goog.base(this)},goog.inherits(box2d.b2ChainAndCircleContact,box2d.b2Contact),box2d.b2ChainAndCircleContact.Create=function(){return new box2d.b2ChainAndCircleContact},box2d.b2ChainAndCircleContact.Destroy=function(){},box2d.b2ChainAndCircleContact.prototype.Reset=function(a,b,c,d){goog.base(this,"Reset",a,b,c,d),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.GetType()===box2d.b2ShapeType.e_chainShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(c.GetType()===box2d.b2ShapeType.e_circleShape)},box2d.b2ChainAndCircleContact.prototype.Evaluate=function(a,b,c){var d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2ChainShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2CircleShape);var f=d instanceof box2d.b2ChainShape?d:null,g=box2d.b2ChainAndCircleContact.prototype.Evaluate.s_edge;f.GetChildEdge(g,this.m_indexA),box2d.b2CollideEdgeAndCircle(a,g,b,e instanceof box2d.b2CircleShape?e:null,c)},box2d.b2ChainAndCircleContact.prototype.Evaluate.s_edge=new box2d.b2EdgeShape,goog.provide("box2d.b2EdgeAndCircleContact"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),goog.require("box2d.b2CollideEdge"),box2d.b2EdgeAndCircleContact=function(){goog.base(this)},goog.inherits(box2d.b2EdgeAndCircleContact,box2d.b2Contact),box2d.b2EdgeAndCircleContact.Create=function(){return new box2d.b2EdgeAndCircleContact},box2d.b2EdgeAndCircleContact.Destroy=function(){},box2d.b2EdgeAndCircleContact.prototype.Reset=function(a,b,c,d){goog.base(this,"Reset",a,b,c,d),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.GetType()===box2d.b2ShapeType.e_edgeShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(c.GetType()===box2d.b2ShapeType.e_circleShape)},box2d.b2EdgeAndCircleContact.prototype.Evaluate=function(a,b,c){var d=this.m_fixtureA.GetShape(),e=this.m_fixtureB.GetShape();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2EdgeShape),box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2CircleShape),box2d.b2CollideEdgeAndCircle(a,d instanceof box2d.b2EdgeShape?d:null,b,e instanceof box2d.b2CircleShape?e:null,c)},goog.provide("box2d.b2ContactSolver"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),goog.require("box2d.b2Collision"),goog.require("box2d.b2CircleContact"),goog.require("box2d.b2PolygonAndCircleContact"),goog.require("box2d.b2PolygonContact"),goog.require("box2d.b2EdgeAndCircleContact"),goog.require("box2d.b2EdgeAndPolygonContact"),goog.require("box2d.b2ChainAndCircleContact"),goog.require("box2d.b2ChainAndPolygonContact"),box2d.b2VelocityConstraintPoint=function(){this.rA=new box2d.b2Vec2,this.rB=new box2d.b2Vec2},box2d.b2VelocityConstraintPoint.prototype.rA=null,box2d.b2VelocityConstraintPoint.prototype.rB=null,box2d.b2VelocityConstraintPoint.prototype.normalImpulse=0,box2d.b2VelocityConstraintPoint.prototype.tangentImpulse=0,box2d.b2VelocityConstraintPoint.prototype.normalMass=0,box2d.b2VelocityConstraintPoint.prototype.tangentMass=0,box2d.b2VelocityConstraintPoint.prototype.velocityBias=0,box2d.b2VelocityConstraintPoint.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2VelocityConstraintPoint})},box2d.b2ContactVelocityConstraint=function(){this.points=box2d.b2VelocityConstraintPoint.MakeArray(box2d.b2_maxManifoldPoints),this.normal=new box2d.b2Vec2,this.tangent=new box2d.b2Vec2,this.normalMass=new box2d.b2Mat22,this.K=new box2d.b2Mat22},box2d.b2ContactVelocityConstraint.prototype.points=null,box2d.b2ContactVelocityConstraint.prototype.normal=null,box2d.b2ContactVelocityConstraint.prototype.tangent=null,box2d.b2ContactVelocityConstraint.prototype.normalMass=null,box2d.b2ContactVelocityConstraint.prototype.K=null,box2d.b2ContactVelocityConstraint.prototype.indexA=0,box2d.b2ContactVelocityConstraint.prototype.indexB=0,box2d.b2ContactVelocityConstraint.prototype.invMassA=0,box2d.b2ContactVelocityConstraint.prototype.invMassB=0,box2d.b2ContactVelocityConstraint.prototype.invIA=0,box2d.b2ContactVelocityConstraint.prototype.invIB=0,box2d.b2ContactVelocityConstraint.prototype.friction=0,box2d.b2ContactVelocityConstraint.prototype.restitution=0,box2d.b2ContactVelocityConstraint.prototype.tangentSpeed=0,box2d.b2ContactVelocityConstraint.prototype.pointCount=0,box2d.b2ContactVelocityConstraint.prototype.contactIndex=0,box2d.b2ContactVelocityConstraint.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2ContactVelocityConstraint})},box2d.b2ContactPositionConstraint=function(){this.localPoints=box2d.b2Vec2.MakeArray(box2d.b2_maxManifoldPoints),this.localNormal=new box2d.b2Vec2,this.localPoint=new box2d.b2Vec2,this.localCenterA=new box2d.b2Vec2,this.localCenterB=new box2d.b2Vec2},box2d.b2ContactPositionConstraint.prototype.localPoints=null,box2d.b2ContactPositionConstraint.prototype.localNormal=null,box2d.b2ContactPositionConstraint.prototype.localPoint=null,box2d.b2ContactPositionConstraint.prototype.indexA=0,box2d.b2ContactPositionConstraint.prototype.indexB=0,box2d.b2ContactPositionConstraint.prototype.invMassA=0,box2d.b2ContactPositionConstraint.prototype.invMassB=0,box2d.b2ContactPositionConstraint.prototype.localCenterA=null,box2d.b2ContactPositionConstraint.prototype.localCenterB=null,box2d.b2ContactPositionConstraint.prototype.invIA=0,box2d.b2ContactPositionConstraint.prototype.invIB=0,box2d.b2ContactPositionConstraint.prototype.type=box2d.b2ManifoldType.e_unknown,box2d.b2ContactPositionConstraint.prototype.radiusA=0,box2d.b2ContactPositionConstraint.prototype.radiusB=0,box2d.b2ContactPositionConstraint.prototype.pointCount=0,box2d.b2ContactPositionConstraint.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2ContactPositionConstraint})},box2d.b2ContactSolverDef=function(){this.step=new box2d.b2TimeStep},box2d.b2ContactSolverDef.prototype.step=null,box2d.b2ContactSolverDef.prototype.contacts=null,box2d.b2ContactSolverDef.prototype.count=0,box2d.b2ContactSolverDef.prototype.positions=null,box2d.b2ContactSolverDef.prototype.velocities=null,box2d.b2ContactSolverDef.prototype.allocator=null,box2d.b2ContactSolver=function(){this.m_step=new box2d.b2TimeStep,this.m_positionConstraints=box2d.b2ContactPositionConstraint.MakeArray(1024),this.m_velocityConstraints=box2d.b2ContactVelocityConstraint.MakeArray(1024)},box2d.b2ContactSolver.prototype.m_step=null,box2d.b2ContactSolver.prototype.m_positions=null,box2d.b2ContactSolver.prototype.m_velocities=null,box2d.b2ContactSolver.prototype.m_allocator=null,box2d.b2ContactSolver.prototype.m_positionConstraints=null,box2d.b2ContactSolver.prototype.m_velocityConstraints=null,box2d.b2ContactSolver.prototype.m_contacts=null,box2d.b2ContactSolver.prototype.m_count=0,box2d.b2ContactSolver.prototype.Initialize=function(a){if(this.m_step.Copy(a.step),this.m_allocator=a.allocator,this.m_count=a.count,this.m_positionConstraints.length<this.m_count){var b=box2d.b2Max(2*this.m_positionConstraints.length,this.m_count);for(box2d.DEBUG&&window.console.log("box2d.b2ContactSolver.m_positionConstraints: "+b);this.m_positionConstraints.length<b;)this.m_positionConstraints[this.m_positionConstraints.length]=new box2d.b2ContactPositionConstraint}if(this.m_velocityConstraints.length<this.m_count){var b=box2d.b2Max(2*this.m_velocityConstraints.length,this.m_count);for(box2d.DEBUG&&window.console.log("box2d.b2ContactSolver.m_velocityConstraints: "+b);this.m_velocityConstraints.length<b;)this.m_velocityConstraints[this.m_velocityConstraints.length]=new box2d.b2ContactVelocityConstraint}this.m_positions=a.positions,this.m_velocities=a.velocities,this.m_contacts=a.contacts;var c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u;for(c=0,d=this.m_count;d>c;++c)for(g=this.m_contacts[c],h=g.m_fixtureA,i=g.m_fixtureB,j=h.GetShape(),k=i.GetShape(),l=j.m_radius,m=k.m_radius,n=h.GetBody(),o=i.GetBody(),p=g.GetManifold(),q=p.pointCount,box2d.ENABLE_ASSERTS&&box2d.b2Assert(q>0),r=this.m_velocityConstraints[c],r.friction=g.m_friction,r.restitution=g.m_restitution,r.tangentSpeed=g.m_tangentSpeed,r.indexA=n.m_islandIndex,r.indexB=o.m_islandIndex,r.invMassA=n.m_invMass,r.invMassB=o.m_invMass,r.invIA=n.m_invI,r.invIB=o.m_invI,r.contactIndex=c,r.pointCount=q,r.K.SetZero(),r.normalMass.SetZero(),s=this.m_positionConstraints[c],s.indexA=n.m_islandIndex,s.indexB=o.m_islandIndex,s.invMassA=n.m_invMass,s.invMassB=o.m_invMass,s.localCenterA.Copy(n.m_sweep.localCenter),s.localCenterB.Copy(o.m_sweep.localCenter),s.invIA=n.m_invI,s.invIB=o.m_invI,s.localNormal.Copy(p.localNormal),s.localPoint.Copy(p.localPoint),s.pointCount=q,s.radiusA=l,s.radiusB=m,s.type=p.type,e=0,f=q;f>e;++e)t=p.points[e],u=r.points[e],this.m_step.warmStarting?(u.normalImpulse=this.m_step.dtRatio*t.normalImpulse,u.tangentImpulse=this.m_step.dtRatio*t.tangentImpulse):(u.normalImpulse=0,u.tangentImpulse=0),u.rA.SetZero(),u.rB.SetZero(),u.normalMass=0,u.tangentMass=0,u.velocityBias=0,s.localPoints[e].Copy(t.localPoint);return this},box2d.b2ContactSolver.prototype.InitializeVelocityConstraints=function(){var a,b,c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u,v,w,x,y,z,A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S=box2d.b2ContactSolver.prototype.InitializeVelocityConstraints.s_xfA,T=box2d.b2ContactSolver.prototype.InitializeVelocityConstraints.s_xfB,U=box2d.b2ContactSolver.prototype.InitializeVelocityConstraints.s_worldManifold,V=1e3;for(a=0,b=this.m_count;b>a;++a){for(e=this.m_velocityConstraints[a],f=this.m_positionConstraints[a],g=f.radiusA,h=f.radiusB,i=this.m_contacts[e.contactIndex].GetManifold(),j=e.indexA,k=e.indexB,l=e.invMassA,m=e.invMassB,n=e.invIA,o=e.invIB,p=f.localCenterA,q=f.localCenterB,r=this.m_positions[j].c,s=this.m_positions[j].a,t=this.m_velocities[j].v,u=this.m_velocities[j].w,v=this.m_positions[k].c,w=this.m_positions[k].a,x=this.m_velocities[k].v,y=this.m_velocities[k].w,box2d.ENABLE_ASSERTS&&box2d.b2Assert(i.pointCount>0),S.q.SetAngleRadians(s),T.q.SetAngleRadians(w),box2d.b2SubVV(r,box2d.b2MulRV(S.q,p,box2d.b2Vec2.s_t0),S.p),box2d.b2SubVV(v,box2d.b2MulRV(T.q,q,box2d.b2Vec2.s_t0),T.p),U.Initialize(i,S,g,T,h),e.normal.Copy(U.normal),box2d.b2CrossVOne(e.normal,e.tangent),z=e.pointCount,c=0,d=z;d>c;++c)A=e.points[c],box2d.b2SubVV(U.points[c],r,A.rA),box2d.b2SubVV(U.points[c],v,A.rB),B=box2d.b2CrossVV(A.rA,e.normal),C=box2d.b2CrossVV(A.rB,e.normal),D=l+m+n*B*B+o*C*C,A.normalMass=D>0?1/D:0,E=e.tangent,F=box2d.b2CrossVV(A.rA,E),G=box2d.b2CrossVV(A.rB,E),H=l+m+n*F*F+o*G*G,A.tangentMass=H>0?1/H:0,A.velocityBias=0,I=box2d.b2DotVV(e.normal,box2d.b2SubVV(box2d.b2AddVCrossSV(x,y,A.rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(t,u,A.rA,box2d.b2Vec2.s_t1),box2d.b2Vec2.s_t0)),I<-box2d.b2_velocityThreshold&&(A.velocityBias+=-e.restitution*I);2===e.pointCount&&(J=e.points[0],K=e.points[1],L=box2d.b2CrossVV(J.rA,e.normal),M=box2d.b2CrossVV(J.rB,e.normal),N=box2d.b2CrossVV(K.rA,e.normal),O=box2d.b2CrossVV(K.rB,e.normal),P=l+m+n*L*L+o*M*M,Q=l+m+n*N*N+o*O*O,R=l+m+n*L*N+o*M*O,V*(P*Q-R*R)>P*P?(e.K.ex.SetXY(P,R),e.K.ey.SetXY(R,Q),e.K.GetInverse(e.normalMass)):e.pointCount=1)}},box2d.b2ContactSolver.prototype.InitializeVelocityConstraints.s_xfA=new box2d.b2Transform,box2d.b2ContactSolver.prototype.InitializeVelocityConstraints.s_xfB=new box2d.b2Transform,box2d.b2ContactSolver.prototype.InitializeVelocityConstraints.s_worldManifold=new box2d.b2WorldManifold,box2d.b2ContactSolver.prototype.WarmStart=function(){var a,b,c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t=box2d.b2ContactSolver.prototype.WarmStart.s_P;for(a=0,b=this.m_count;b>a;++a){for(e=this.m_velocityConstraints[a],f=e.indexA,g=e.indexB,h=e.invMassA,i=e.invIA,j=e.invMassB,k=e.invIB,l=e.pointCount,m=this.m_velocities[f].v,n=this.m_velocities[f].w,o=this.m_velocities[g].v,p=this.m_velocities[g].w,q=e.normal,r=e.tangent,c=0,d=l;d>c;++c)s=e.points[c],box2d.b2AddVV(box2d.b2MulSV(s.normalImpulse,q,box2d.b2Vec2.s_t0),box2d.b2MulSV(s.tangentImpulse,r,box2d.b2Vec2.s_t1),t),n-=i*box2d.b2CrossVV(s.rA,t),m.SelfMulSub(h,t),p+=k*box2d.b2CrossVV(s.rB,t),o.SelfMulAdd(j,t);this.m_velocities[f].w=n,this.m_velocities[g].w=p}},box2d.b2ContactSolver.prototype.WarmStart.s_P=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints=function(){var a,b,c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u,v,w,x,y,z,A,B,C,D=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_dv,E=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_dv1,F=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_dv2,G=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P,H=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_a,I=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_b,J=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_x,K=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_d,L=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P1,M=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P2,N=box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P1P2;for(a=0,b=this.m_count;b>a;++a){for(e=this.m_velocityConstraints[a],f=e.indexA,g=e.indexB,h=e.invMassA,i=e.invIA,j=e.invMassB,k=e.invIB,l=e.pointCount,m=this.m_velocities[f].v,n=this.m_velocities[f].w,o=this.m_velocities[g].v,p=this.m_velocities[g].w,q=e.normal,r=e.tangent,s=e.friction,box2d.ENABLE_ASSERTS&&box2d.b2Assert(1===l||2===l),c=0,d=l;d>c;++c)t=e.points[c],box2d.b2SubVV(box2d.b2AddVCrossSV(o,p,t.rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(m,n,t.rA,box2d.b2Vec2.s_t1),D),u=box2d.b2DotVV(D,r)-e.tangentSpeed,w=t.tangentMass*-u,x=s*t.normalImpulse,y=box2d.b2Clamp(t.tangentImpulse+w,-x,x),w=y-t.tangentImpulse,t.tangentImpulse=y,box2d.b2MulSV(w,r,G),m.SelfMulSub(h,G),n-=i*box2d.b2CrossVV(t.rA,G),o.SelfMulAdd(j,G),p+=k*box2d.b2CrossVV(t.rB,G);if(1===e.pointCount)t=e.points[0],box2d.b2SubVV(box2d.b2AddVCrossSV(o,p,t.rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(m,n,t.rA,box2d.b2Vec2.s_t1),D),v=box2d.b2DotVV(D,q),w=-t.normalMass*(v-t.velocityBias),y=box2d.b2Max(t.normalImpulse+w,0),w=y-t.normalImpulse,t.normalImpulse=y,box2d.b2MulSV(w,q,G),m.SelfMulSub(h,G),n-=i*box2d.b2CrossVV(t.rA,G),o.SelfMulAdd(j,G),p+=k*box2d.b2CrossVV(t.rB,G);else for(z=e.points[0],A=e.points[1],H.SetXY(z.normalImpulse,A.normalImpulse),box2d.ENABLE_ASSERTS&&box2d.b2Assert(H.x>=0&&H.y>=0),box2d.b2SubVV(box2d.b2AddVCrossSV(o,p,z.rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(m,n,z.rA,box2d.b2Vec2.s_t1),E),box2d.b2SubVV(box2d.b2AddVCrossSV(o,p,A.rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(m,n,A.rA,box2d.b2Vec2.s_t1),F),B=box2d.b2DotVV(E,q),C=box2d.b2DotVV(F,q),I.x=B-z.velocityBias,I.y=C-A.velocityBias,I.SelfSub(box2d.b2MulMV(e.K,H,box2d.b2Vec2.s_t0));;){if(box2d.b2MulMV(e.normalMass,I,J).SelfNeg(),J.x>=0&&J.y>=0){box2d.b2SubVV(J,H,K),box2d.b2MulSV(K.x,q,L),box2d.b2MulSV(K.y,q,M),box2d.b2AddVV(L,M,N),m.SelfMulSub(h,N),n-=i*(box2d.b2CrossVV(z.rA,L)+box2d.b2CrossVV(A.rA,M)),o.SelfMulAdd(j,N),p+=k*(box2d.b2CrossVV(z.rB,L)+box2d.b2CrossVV(A.rB,M)),z.normalImpulse=J.x,A.normalImpulse=J.y;break}if(J.x=-z.normalMass*I.x,J.y=0,B=0,C=e.K.ex.y*J.x+I.y,J.x>=0&&C>=0){box2d.b2SubVV(J,H,K),box2d.b2MulSV(K.x,q,L),box2d.b2MulSV(K.y,q,M),box2d.b2AddVV(L,M,N),m.SelfMulSub(h,N),n-=i*(box2d.b2CrossVV(z.rA,L)+box2d.b2CrossVV(A.rA,M)),o.SelfMulAdd(j,N),p+=k*(box2d.b2CrossVV(z.rB,L)+box2d.b2CrossVV(A.rB,M)),z.normalImpulse=J.x,A.normalImpulse=J.y;break}if(J.x=0,J.y=-A.normalMass*I.y,B=e.K.ey.x*J.y+I.x,C=0,J.y>=0&&B>=0){box2d.b2SubVV(J,H,K),box2d.b2MulSV(K.x,q,L),box2d.b2MulSV(K.y,q,M),box2d.b2AddVV(L,M,N),m.SelfMulSub(h,N),n-=i*(box2d.b2CrossVV(z.rA,L)+box2d.b2CrossVV(A.rA,M)),o.SelfMulAdd(j,N),p+=k*(box2d.b2CrossVV(z.rB,L)+box2d.b2CrossVV(A.rB,M)),z.normalImpulse=J.x,A.normalImpulse=J.y;break}if(J.x=0,J.y=0,B=I.x,C=I.y,B>=0&&C>=0){box2d.b2SubVV(J,H,K),box2d.b2MulSV(K.x,q,L),box2d.b2MulSV(K.y,q,M),box2d.b2AddVV(L,M,N),m.SelfMulSub(h,N),n-=i*(box2d.b2CrossVV(z.rA,L)+box2d.b2CrossVV(A.rA,M)),o.SelfMulAdd(j,N),p+=k*(box2d.b2CrossVV(z.rB,L)+box2d.b2CrossVV(A.rB,M)),z.normalImpulse=J.x,A.normalImpulse=J.y;break}break}this.m_velocities[f].w=n,this.m_velocities[g].w=p}},box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_dv=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_dv1=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_dv2=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_a=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_b=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_x=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_d=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P1=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P2=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveVelocityConstraints.s_P1P2=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.StoreImpulses=function(){var a,b,c,d,e,f;for(a=0,b=this.m_count;b>a;++a)for(e=this.m_velocityConstraints[a],f=this.m_contacts[e.contactIndex].GetManifold(),c=0,d=e.pointCount;d>c;++c)f.points[c].normalImpulse=e.points[c].normalImpulse,f.points[c].tangentImpulse=e.points[c].tangentImpulse},box2d.b2PositionSolverManifold=function(){this.normal=new box2d.b2Vec2,this.point=new box2d.b2Vec2},box2d.b2PositionSolverManifold.prototype.normal=null,box2d.b2PositionSolverManifold.prototype.point=null,box2d.b2PositionSolverManifold.prototype.separation=0,box2d.b2PositionSolverManifold.prototype.Initialize=function(a,b,c,d){var e=box2d.b2PositionSolverManifold.prototype.Initialize.s_pointA,f=box2d.b2PositionSolverManifold.prototype.Initialize.s_pointB,g=box2d.b2PositionSolverManifold.prototype.Initialize.s_planePoint,h=box2d.b2PositionSolverManifold.prototype.Initialize.s_clipPoint;switch(box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.pointCount>0),a.type){case box2d.b2ManifoldType.e_circles:box2d.b2MulXV(b,a.localPoint,e),box2d.b2MulXV(c,a.localPoints[0],f),box2d.b2SubVV(f,e,this.normal).SelfNormalize(),box2d.b2MidVV(e,f,this.point),this.separation=box2d.b2DotVV(box2d.b2SubVV(f,e,box2d.b2Vec2.s_t0),this.normal)-a.radiusA-a.radiusB;break;case box2d.b2ManifoldType.e_faceA:box2d.b2MulRV(b.q,a.localNormal,this.normal),box2d.b2MulXV(b,a.localPoint,g),box2d.b2MulXV(c,a.localPoints[d],h),this.separation=box2d.b2DotVV(box2d.b2SubVV(h,g,box2d.b2Vec2.s_t0),this.normal)-a.radiusA-a.radiusB,this.point.Copy(h);break;case box2d.b2ManifoldType.e_faceB:box2d.b2MulRV(c.q,a.localNormal,this.normal),box2d.b2MulXV(c,a.localPoint,g),box2d.b2MulXV(b,a.localPoints[d],h),this.separation=box2d.b2DotVV(box2d.b2SubVV(h,g,box2d.b2Vec2.s_t0),this.normal)-a.radiusA-a.radiusB,this.point.Copy(h),this.normal.SelfNeg()}},box2d.b2PositionSolverManifold.prototype.Initialize.s_pointA=new box2d.b2Vec2,box2d.b2PositionSolverManifold.prototype.Initialize.s_pointB=new box2d.b2Vec2,box2d.b2PositionSolverManifold.prototype.Initialize.s_planePoint=new box2d.b2Vec2,box2d.b2PositionSolverManifold.prototype.Initialize.s_clipPoint=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolvePositionConstraints=function(){var a,b,c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u,v,w,x,y,z,A=box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_xfA,B=box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_xfB,C=box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_psm,D=box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_rA,E=box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_rB,F=box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_P,G=0;for(a=0,b=this.m_count;b>a;++a){for(e=this.m_positionConstraints[a],f=e.indexA,g=e.indexB,h=e.localCenterA,i=e.invMassA,j=e.invIA,k=e.localCenterB,l=e.invMassB,m=e.invIB,n=e.pointCount,o=this.m_positions[f].c,p=this.m_positions[f].a,q=this.m_positions[g].c,r=this.m_positions[g].a,c=0,d=n;d>c;++c)A.q.SetAngleRadians(p),B.q.SetAngleRadians(r),box2d.b2SubVV(o,box2d.b2MulRV(A.q,h,box2d.b2Vec2.s_t0),A.p),box2d.b2SubVV(q,box2d.b2MulRV(B.q,k,box2d.b2Vec2.s_t0),B.p),C.Initialize(e,A,B,c),s=C.normal,t=C.point,u=C.separation,box2d.b2SubVV(t,o,D),box2d.b2SubVV(t,q,E),G=box2d.b2Min(G,u),v=box2d.b2Clamp(box2d.b2_baumgarte*(u+box2d.b2_linearSlop),-box2d.b2_maxLinearCorrection,0),w=box2d.b2CrossVV(D,s),x=box2d.b2CrossVV(E,s),y=i+l+j*w*w+m*x*x,z=y>0?-v/y:0,box2d.b2MulSV(z,s,F),o.SelfMulSub(i,F),p-=j*box2d.b2CrossVV(D,F),q.SelfMulAdd(l,F),r+=m*box2d.b2CrossVV(E,F);this.m_positions[f].a=p,this.m_positions[g].a=r}return G>-3*box2d.b2_linearSlop},box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_xfA=new box2d.b2Transform,box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_xfB=new box2d.b2Transform,box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_psm=new box2d.b2PositionSolverManifold,box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_rA=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_rB=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolvePositionConstraints.s_P=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints=function(a,b){var c,d,e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u,v,w,x,y,z,A,B,C=box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_xfA,D=box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_xfB,E=box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_psm,F=box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_rA,G=box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_rB,H=box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_P,I=0;for(c=0,d=this.m_count;d>c;++c){for(g=this.m_positionConstraints[c],h=g.indexA,i=g.indexB,j=g.localCenterA,k=g.localCenterB,l=g.pointCount,m=0,n=0,(h===a||h===b)&&(m=g.invMassA,n=g.invIA),o=0,p=0,(i===a||i===b)&&(o=g.invMassB,p=g.invIB),q=this.m_positions[h].c,r=this.m_positions[h].a,s=this.m_positions[i].c,t=this.m_positions[i].a,e=0,f=l;f>e;++e)C.q.SetAngleRadians(r),D.q.SetAngleRadians(t),box2d.b2SubVV(q,box2d.b2MulRV(C.q,j,box2d.b2Vec2.s_t0),C.p),box2d.b2SubVV(s,box2d.b2MulRV(D.q,k,box2d.b2Vec2.s_t0),D.p),E.Initialize(g,C,D,e),u=E.normal,v=E.point,w=E.separation,box2d.b2SubVV(v,q,F),box2d.b2SubVV(v,s,G),I=box2d.b2Min(I,w),x=box2d.b2Clamp(box2d.b2_toiBaumgarte*(w+box2d.b2_linearSlop),-box2d.b2_maxLinearCorrection,0),y=box2d.b2CrossVV(F,u),z=box2d.b2CrossVV(G,u),A=m+o+n*y*y+p*z*z,B=A>0?-x/A:0,box2d.b2MulSV(B,u,H),q.SelfMulSub(m,H),r-=n*box2d.b2CrossVV(F,H),s.SelfMulAdd(o,H),t+=p*box2d.b2CrossVV(G,H);this.m_positions[h].a=r,this.m_positions[i].a=t}return I>=-1.5*box2d.b2_linearSlop},box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_xfA=new box2d.b2Transform,box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_xfB=new box2d.b2Transform,box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_psm=new box2d.b2PositionSolverManifold,box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_rA=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_rB=new box2d.b2Vec2,box2d.b2ContactSolver.prototype.SolveTOIPositionConstraints.s_P=new box2d.b2Vec2,goog.provide("box2d.b2WorldCallbacks"),goog.require("box2d.b2Settings"),box2d.b2DestructionListener=function(){},box2d.b2DestructionListener.prototype.SayGoodbyeJoint=function(){},box2d.b2DestructionListener.prototype.SayGoodbyeFixture=function(){},box2d.b2ContactFilter=function(){},box2d.b2ContactFilter.prototype.ShouldCollide=function(a,b){var c=a.GetFilterData(),d=b.GetFilterData();if(c.groupIndex===d.groupIndex&&0!==c.groupIndex)return c.groupIndex>0;var e=0!==(c.maskBits&d.categoryBits)&&0!==(c.categoryBits&d.maskBits);return e},box2d.b2ContactFilter.b2_defaultFilter=new box2d.b2ContactFilter,box2d.b2ContactImpulse=function(){this.normalImpulses=box2d.b2MakeNumberArray(box2d.b2_maxManifoldPoints),this.tangentImpulses=box2d.b2MakeNumberArray(box2d.b2_maxManifoldPoints)},box2d.b2ContactImpulse.prototype.normalImpulses=null,box2d.b2ContactImpulse.prototype.tangentImpulses=null,box2d.b2ContactImpulse.prototype.count=0,box2d.b2ContactListener=function(){},box2d.b2ContactListener.prototype.BeginContact=function(){},box2d.b2ContactListener.prototype.EndContact=function(){},box2d.b2ContactListener.prototype.PreSolve=function(){},box2d.b2ContactListener.prototype.PostSolve=function(){},box2d.b2ContactListener.b2_defaultListener=new box2d.b2ContactListener,box2d.b2QueryCallback=function(){},box2d.b2QueryCallback.prototype.ReportFixture=function(){return!0},box2d.b2RayCastCallback=function(){},box2d.b2RayCastCallback.prototype.ReportFixture=function(a,b,c,d){return d},goog.provide("box2d.b2Island"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Timer"),goog.require("box2d.b2TimeStep"),goog.require("box2d.b2WorldCallbacks"),goog.require("box2d.b2ContactSolver"),box2d.b2Island=function(){this.m_bodies=new Array(1024),this.m_contacts=new Array(1024),this.m_joints=new Array(1024),this.m_positions=box2d.b2Position.MakeArray(1024),this.m_velocities=box2d.b2Velocity.MakeArray(1024)},box2d.b2Island.prototype.m_allocator=null,box2d.b2Island.prototype.m_listener=null,box2d.b2Island.prototype.m_bodies=null,box2d.b2Island.prototype.m_contacts=null,box2d.b2Island.prototype.m_joints=null,box2d.b2Island.prototype.m_positions=null,box2d.b2Island.prototype.m_velocities=null,box2d.b2Island.prototype.m_bodyCount=0,box2d.b2Island.prototype.m_jointCount=0,box2d.b2Island.prototype.m_contactCount=0,box2d.b2Island.prototype.m_bodyCapacity=0,box2d.b2Island.prototype.m_contactCapacity=0,box2d.b2Island.prototype.m_jointCapacity=0,box2d.b2Island.prototype.Initialize=function(a,b,c,d,e){for(this.m_bodyCapacity=a,this.m_contactCapacity=b,this.m_jointCapacity=c,this.m_bodyCount=0,this.m_contactCount=0,this.m_jointCount=0,this.m_allocator=d,this.m_listener=e;this.m_bodies.length<a;)this.m_bodies[this.m_bodies.length]=null;for(;this.m_contacts.length<b;)this.m_contacts[this.m_contacts.length]=null;for(;this.m_joints.length<c;)this.m_joints[this.m_joints.length]=null;if(this.m_positions.length<a){var f=box2d.b2Max(2*this.m_positions.length,a);for(box2d.DEBUG&&window.console.log("box2d.b2Island.m_positions: "+f);this.m_positions.length<f;)this.m_positions[this.m_positions.length]=new box2d.b2Position}if(this.m_velocities.length<a){var f=box2d.b2Max(2*this.m_velocities.length,a);for(box2d.DEBUG&&window.console.log("box2d.b2Island.m_velocities: "+f);this.m_velocities.length<f;)this.m_velocities[this.m_velocities.length]=new box2d.b2Velocity}},box2d.b2Island.prototype.Clear=function(){this.m_bodyCount=0,this.m_contactCount=0,this.m_jointCount=0},box2d.b2Island.prototype.AddBody=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_bodyCount<this.m_bodyCapacity),a.m_islandIndex=this.m_bodyCount,this.m_bodies[this.m_bodyCount++]=a},box2d.b2Island.prototype.AddContact=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_contactCount<this.m_contactCapacity),this.m_contacts[this.m_contactCount++]=a},box2d.b2Island.prototype.AddJoint=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_jointCount<this.m_jointCapacity),this.m_joints[this.m_jointCount++]=a},box2d.b2Island.prototype.Solve=function(a,b,c,d){for(var e=box2d.b2Island.s_timer.Reset(),f=b.dt,g=0;g<this.m_bodyCount;++g){var h=this.m_bodies[g],i=this.m_positions[g].c.Copy(h.m_sweep.c),j=h.m_sweep.a,k=this.m_velocities[g].v.Copy(h.m_linearVelocity),l=h.m_angularVelocity;h.m_sweep.c0.Copy(h.m_sweep.c),h.m_sweep.a0=h.m_sweep.a,h.m_type===box2d.b2BodyType.b2_dynamicBody&&(k.x+=f*(h.m_gravityScale*c.x+h.m_invMass*h.m_force.x),k.y+=f*(h.m_gravityScale*c.y+h.m_invMass*h.m_force.y),l+=f*h.m_invI*h.m_torque,k.SelfMul(1/(1+f*h.m_linearDamping)),l*=1/(1+f*h.m_angularDamping)),this.m_positions[g].a=j,this.m_velocities[g].w=l}e.Reset();var m=box2d.b2Island.s_solverData;m.step.Copy(b),m.positions=this.m_positions,m.velocities=this.m_velocities;var n=box2d.b2Island.s_contactSolverDef;n.step.Copy(b),n.contacts=this.m_contacts,n.count=this.m_contactCount,n.positions=this.m_positions,n.velocities=this.m_velocities,n.allocator=this.m_allocator;var o=box2d.b2Island.s_contactSolver.Initialize(n);o.InitializeVelocityConstraints(),b.warmStarting&&o.WarmStart();for(var g=0;g<this.m_jointCount;++g)this.m_joints[g].InitVelocityConstraints(m);a.solveInit=e.GetMilliseconds(),e.Reset();for(var g=0;g<b.velocityIterations;++g){for(var p=0;p<this.m_jointCount;++p)this.m_joints[p].SolveVelocityConstraints(m);o.SolveVelocityConstraints()}o.StoreImpulses(),a.solveVelocity=e.GetMilliseconds();for(var g=0;g<this.m_bodyCount;++g){var i=this.m_positions[g].c,j=this.m_positions[g].a,k=this.m_velocities[g].v,l=this.m_velocities[g].w,q=box2d.b2MulSV(f,k,box2d.b2Island.s_translation);if(box2d.b2DotVV(q,q)>box2d.b2_maxTranslationSquared){var r=box2d.b2_maxTranslation/q.GetLength();k.SelfMul(r)}var s=f*l;if(s*s>box2d.b2_maxRotationSquared){var r=box2d.b2_maxRotation/box2d.b2Abs(s);l*=r}i.x+=f*k.x,i.y+=f*k.y,j+=f*l,this.m_positions[g].a=j,this.m_velocities[g].w=l}e.Reset();for(var t=!1,g=0;g<b.positionIterations;++g){for(var u=o.SolvePositionConstraints(),v=!0,p=0;p<this.m_jointCount;++p){var w=this.m_joints[p].SolvePositionConstraints(m);v=v&&w}if(u&&v){t=!0;break}}for(var g=0;g<this.m_bodyCount;++g){var x=this.m_bodies[g];x.m_sweep.c.Copy(this.m_positions[g].c),x.m_sweep.a=this.m_positions[g].a,x.m_linearVelocity.Copy(this.m_velocities[g].v),x.m_angularVelocity=this.m_velocities[g].w,x.SynchronizeTransform()}if(a.solvePosition=e.GetMilliseconds(),this.Report(o.m_velocityConstraints),d){for(var y=box2d.b2_maxFloat,z=box2d.b2_linearSleepTolerance*box2d.b2_linearSleepTolerance,A=box2d.b2_angularSleepTolerance*box2d.b2_angularSleepTolerance,g=0;g<this.m_bodyCount;++g){var h=this.m_bodies[g];h.GetType()!==box2d.b2BodyType.b2_staticBody&&(0===(h.m_flags&box2d.b2BodyFlag.e_autoSleepFlag)||h.m_angularVelocity*h.m_angularVelocity>A||box2d.b2DotVV(h.m_linearVelocity,h.m_linearVelocity)>z?(h.m_sleepTime=0,y=0):(h.m_sleepTime+=f,y=box2d.b2Min(y,h.m_sleepTime)))}if(y>=box2d.b2_timeToSleep&&t)for(var g=0;g<this.m_bodyCount;++g){var h=this.m_bodies[g];h.SetAwake(!1)}}},box2d.b2Island.prototype.SolveTOI=function(a,b,c){box2d.ENABLE_ASSERTS&&box2d.b2Assert(b<this.m_bodyCount),box2d.ENABLE_ASSERTS&&box2d.b2Assert(c<this.m_bodyCount);for(var d=0;d<this.m_bodyCount;++d){var e=this.m_bodies[d];
this.m_positions[d].c.Copy(e.m_sweep.c),this.m_positions[d].a=e.m_sweep.a,this.m_velocities[d].v.Copy(e.m_linearVelocity),this.m_velocities[d].w=e.m_angularVelocity}var f=box2d.b2Island.s_contactSolverDef;f.contacts=this.m_contacts,f.count=this.m_contactCount,f.allocator=this.m_allocator,f.step.Copy(a),f.positions=this.m_positions,f.velocities=this.m_velocities;for(var g=box2d.b2Island.s_contactSolver.Initialize(f),d=0;d<a.positionIterations;++d){var h=g.SolveTOIPositionConstraints(b,c);if(h)break}this.m_bodies[b].m_sweep.c0.Copy(this.m_positions[b].c),this.m_bodies[b].m_sweep.a0=this.m_positions[b].a,this.m_bodies[c].m_sweep.c0.Copy(this.m_positions[c].c),this.m_bodies[c].m_sweep.a0=this.m_positions[c].a,g.InitializeVelocityConstraints();for(var d=0;d<a.velocityIterations;++d)g.SolveVelocityConstraints();for(var i=a.dt,d=0;d<this.m_bodyCount;++d){var j=this.m_positions[d].c,k=this.m_positions[d].a,l=this.m_velocities[d].v,m=this.m_velocities[d].w,n=box2d.b2MulSV(i,l,box2d.b2Island.s_translation);if(box2d.b2DotVV(n,n)>box2d.b2_maxTranslationSquared){var o=box2d.b2_maxTranslation/n.GetLength();l.SelfMul(o)}var p=i*m;if(p*p>box2d.b2_maxRotationSquared){var o=box2d.b2_maxRotation/box2d.b2Abs(p);m*=o}j.SelfMulAdd(i,l),k+=i*m,this.m_positions[d].a=k,this.m_velocities[d].w=m;var q=this.m_bodies[d];q.m_sweep.c.Copy(j),q.m_sweep.a=k,q.m_linearVelocity.Copy(l),q.m_angularVelocity=m,q.SynchronizeTransform()}this.Report(g.m_velocityConstraints)},box2d.b2Island.prototype.Report=function(a){if(null!==this.m_listener)for(var b=0;b<this.m_contactCount;++b){var c=this.m_contacts[b];if(c){var d=a[b],e=box2d.b2Island.s_impulse;e.count=d.pointCount;for(var f=0;f<d.pointCount;++f)e.normalImpulses[f]=d.points[f].normalImpulse,e.tangentImpulses[f]=d.points[f].tangentImpulse;this.m_listener.PostSolve(c,e)}}},box2d.b2Island.s_timer=new box2d.b2Timer,box2d.b2Island.s_solverData=new box2d.b2SolverData,box2d.b2Island.s_contactSolverDef=new box2d.b2ContactSolverDef,box2d.b2Island.s_contactSolver=new box2d.b2ContactSolver,box2d.b2Island.s_translation=new box2d.b2Vec2,box2d.b2Island.s_impulse=new box2d.b2ContactImpulse,goog.provide("box2d.b2ContactFactory"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Contact"),box2d.b2ContactRegister=function(){},box2d.b2ContactRegister.prototype.createFcn=null,box2d.b2ContactRegister.prototype.destroyFcn=null,box2d.b2ContactRegister.prototype.primary=!1,box2d.b2ContactFactory=function(a){this.m_allocator=a,this.InitializeRegisters()},box2d.b2ContactFactory.prototype.m_allocator=null,box2d.b2ContactFactory.prototype.AddType=function(a,b,c,d){var e=box2d.b2MakeArray(256,function(){return a()}),f=function(b){return e.length>0?e.pop():a(b)},g=function(a){e.push(a)};this.m_registers[c][d].pool=e,this.m_registers[c][d].createFcn=f,this.m_registers[c][d].destroyFcn=g,this.m_registers[c][d].primary=!0,c!==d&&(this.m_registers[d][c].pool=e,this.m_registers[d][c].createFcn=f,this.m_registers[d][c].destroyFcn=g,this.m_registers[d][c].primary=!1)},box2d.b2ContactFactory.prototype.InitializeRegisters=function(){this.m_registers=new Array(box2d.b2ShapeType.e_shapeTypeCount);for(var a=0;a<box2d.b2ShapeType.e_shapeTypeCount;a++){this.m_registers[a]=new Array(box2d.b2ShapeType.e_shapeTypeCount);for(var b=0;b<box2d.b2ShapeType.e_shapeTypeCount;b++)this.m_registers[a][b]=new box2d.b2ContactRegister}this.AddType(box2d.b2CircleContact.Create,box2d.b2CircleContact.Destroy,box2d.b2ShapeType.e_circleShape,box2d.b2ShapeType.e_circleShape),this.AddType(box2d.b2PolygonAndCircleContact.Create,box2d.b2PolygonAndCircleContact.Destroy,box2d.b2ShapeType.e_polygonShape,box2d.b2ShapeType.e_circleShape),this.AddType(box2d.b2PolygonContact.Create,box2d.b2PolygonContact.Destroy,box2d.b2ShapeType.e_polygonShape,box2d.b2ShapeType.e_polygonShape),this.AddType(box2d.b2EdgeAndCircleContact.Create,box2d.b2EdgeAndCircleContact.Destroy,box2d.b2ShapeType.e_edgeShape,box2d.b2ShapeType.e_circleShape),this.AddType(box2d.b2EdgeAndPolygonContact.Create,box2d.b2EdgeAndPolygonContact.Destroy,box2d.b2ShapeType.e_edgeShape,box2d.b2ShapeType.e_polygonShape),this.AddType(box2d.b2ChainAndCircleContact.Create,box2d.b2ChainAndCircleContact.Destroy,box2d.b2ShapeType.e_chainShape,box2d.b2ShapeType.e_circleShape),this.AddType(box2d.b2ChainAndPolygonContact.Create,box2d.b2ChainAndPolygonContact.Destroy,box2d.b2ShapeType.e_chainShape,box2d.b2ShapeType.e_polygonShape)},box2d.b2ContactFactory.prototype.Create=function(a,b,c,d){var e=a.GetType(),f=c.GetType();box2d.ENABLE_ASSERTS&&box2d.b2Assert(e>=0&&e<box2d.b2ShapeType.e_shapeTypeCount),box2d.ENABLE_ASSERTS&&box2d.b2Assert(f>=0&&f<box2d.b2ShapeType.e_shapeTypeCount);var g=this.m_registers[e][f],h=g.createFcn;if(null!==h){if(g.primary){var i=h(this.m_allocator);return i.Reset(a,b,c,d),i}var i=h(this.m_allocator);return i.Reset(c,d,a,b),i}return null},box2d.b2ContactFactory.prototype.Destroy=function(a){var b=a.m_fixtureA,c=a.m_fixtureB;a.m_manifold.pointCount>0&&b.IsSensor()===!1&&c.IsSensor()===!1&&(b.GetBody().SetAwake(!0),c.GetBody().SetAwake(!0));var d=b.GetType(),e=c.GetType();box2d.ENABLE_ASSERTS&&box2d.b2Assert(d>=0&&e<box2d.b2ShapeType.e_shapeTypeCount),box2d.ENABLE_ASSERTS&&box2d.b2Assert(d>=0&&e<box2d.b2ShapeType.e_shapeTypeCount);var f=this.m_registers[d][e],g=f.destroyFcn;g(a,this.m_allocator)},goog.provide("box2d.b2GrowableStack"),goog.require("box2d.b2Settings"),box2d.b2GrowableStack=function(a){this.m_stack=new Array(a)},box2d.b2GrowableStack.prototype.m_stack=null,box2d.b2GrowableStack.prototype.m_count=0,box2d.b2GrowableStack.prototype.Reset=function(){return this.m_count=0,this},box2d.b2GrowableStack.prototype.Push=function(a){this.m_stack[this.m_count]=a,++this.m_count},box2d.b2GrowableStack.prototype.Pop=function(){box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_count>0),--this.m_count;var a=this.m_stack[this.m_count];return this.m_stack[this.m_count]=null,a},box2d.b2GrowableStack.prototype.GetCount=function(){return this.m_count},goog.provide("box2d.b2DynamicTree"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Collision"),goog.require("box2d.b2GrowableStack"),box2d.b2TreeNode=function(a){this.m_id=a||0,this.aabb=new box2d.b2AABB},box2d.b2TreeNode.prototype.m_id=0,box2d.b2TreeNode.prototype.aabb=null,box2d.b2TreeNode.prototype.userData=null,box2d.b2TreeNode.prototype.parent=null,box2d.b2TreeNode.prototype.child1=null,box2d.b2TreeNode.prototype.child2=null,box2d.b2TreeNode.prototype.height=0,box2d.b2TreeNode.prototype.IsLeaf=function(){return null===this.child1},box2d.b2DynamicTree=function(){},box2d.b2DynamicTree.prototype.m_root=null,box2d.b2DynamicTree.prototype.m_freeList=null,box2d.b2DynamicTree.prototype.m_path=0,box2d.b2DynamicTree.prototype.m_insertionCount=0,box2d.b2DynamicTree.s_stack=new box2d.b2GrowableStack(256),box2d.b2DynamicTree.s_r=new box2d.b2Vec2,box2d.b2DynamicTree.s_v=new box2d.b2Vec2,box2d.b2DynamicTree.s_abs_v=new box2d.b2Vec2,box2d.b2DynamicTree.s_segmentAABB=new box2d.b2AABB,box2d.b2DynamicTree.s_subInput=new box2d.b2RayCastInput,box2d.b2DynamicTree.s_combinedAABB=new box2d.b2AABB,box2d.b2DynamicTree.s_aabb=new box2d.b2AABB,box2d.b2DynamicTree.prototype.GetUserData=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(null!==a),a.userData},box2d.b2DynamicTree.prototype.GetFatAABB=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(null!==a),a.aabb},box2d.b2DynamicTree.prototype.Query=function(a,b){if(null!==this.m_root){var c=box2d.b2DynamicTree.s_stack.Reset();for(c.Push(this.m_root);c.GetCount()>0;){var d=c.Pop();if(null!==d&&d.aabb.TestOverlap(b))if(d.IsLeaf()){var e=a(d);if(e===!1)return}else c.Push(d.child1),c.Push(d.child2)}}},box2d.b2DynamicTree.prototype.RayCast=function(a,b){if(null!==this.m_root){var c=b.p1,d=b.p2,e=box2d.b2SubVV(d,c,box2d.b2DynamicTree.s_r);box2d.ENABLE_ASSERTS&&box2d.b2Assert(e.GetLengthSquared()>0),e.Normalize();var f=box2d.b2CrossOneV(e,box2d.b2DynamicTree.s_v),g=box2d.b2AbsV(f,box2d.b2DynamicTree.s_abs_v),h=b.maxFraction,i=box2d.b2DynamicTree.s_segmentAABB,j=c.x+h*(d.x-c.x),k=c.y+h*(d.y-c.y);i.lowerBound.x=box2d.b2Min(c.x,j),i.lowerBound.y=box2d.b2Min(c.y,k),i.upperBound.x=box2d.b2Max(c.x,j),i.upperBound.y=box2d.b2Max(c.y,k);var l=box2d.b2DynamicTree.s_stack.Reset();for(l.Push(this.m_root);l.GetCount()>0;){var m=l.Pop();if(null!==m&&box2d.b2TestOverlapAABB(m.aabb,i)!==!1){var n=m.aabb.GetCenter(),o=m.aabb.GetExtents(),p=box2d.b2Abs(box2d.b2DotVV(f,box2d.b2SubVV(c,n,box2d.b2Vec2.s_t0)))-box2d.b2DotVV(g,o);if(!(p>0))if(m.IsLeaf()){var q=box2d.b2DynamicTree.s_subInput;q.p1.Copy(b.p1),q.p2.Copy(b.p2),q.maxFraction=h;var r=a(q,m);if(0===r)return;r>0&&(h=r,j=c.x+h*(d.x-c.x),k=c.y+h*(d.y-c.y),i.lowerBound.x=box2d.b2Min(c.x,j),i.lowerBound.y=box2d.b2Min(c.y,k),i.upperBound.x=box2d.b2Max(c.x,j),i.upperBound.y=box2d.b2Max(c.y,k))}else l.Push(m.child1),l.Push(m.child2)}}}},box2d.b2DynamicTree.prototype.AllocateNode=function(){if(this.m_freeList){var a=this.m_freeList;return this.m_freeList=a.parent,a.parent=null,a.child1=null,a.child2=null,a.height=0,a.userData=null,a}return new box2d.b2TreeNode(box2d.b2DynamicTree.prototype.s_node_id++)},box2d.b2DynamicTree.prototype.s_node_id=0,box2d.b2DynamicTree.prototype.FreeNode=function(a){a.parent=this.m_freeList,a.height=-1,this.m_freeList=a},box2d.b2DynamicTree.prototype.CreateProxy=function(a,b){var c=this.AllocateNode(),d=box2d.b2_aabbExtension,e=box2d.b2_aabbExtension;return c.aabb.lowerBound.x=a.lowerBound.x-d,c.aabb.lowerBound.y=a.lowerBound.y-e,c.aabb.upperBound.x=a.upperBound.x+d,c.aabb.upperBound.y=a.upperBound.y+e,c.userData=b,c.height=0,this.InsertLeaf(c),c},box2d.b2DynamicTree.prototype.DestroyProxy=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.IsLeaf()),this.RemoveLeaf(a),this.FreeNode(a)},box2d.b2DynamicTree.prototype.MoveProxy=function(a,b,c){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.IsLeaf()),a.aabb.Contains(b))return!1;this.RemoveLeaf(a);var d=box2d.b2_aabbExtension+box2d.b2_aabbMultiplier*(c.x>0?c.x:-c.x),e=box2d.b2_aabbExtension+box2d.b2_aabbMultiplier*(c.y>0?c.y:-c.y);return a.aabb.lowerBound.x=b.lowerBound.x-d,a.aabb.lowerBound.y=b.lowerBound.y-e,a.aabb.upperBound.x=b.upperBound.x+d,a.aabb.upperBound.y=b.upperBound.y+e,this.InsertLeaf(a),!0},box2d.b2DynamicTree.prototype.InsertLeaf=function(a){if(++this.m_insertionCount,null===this.m_root)return this.m_root=a,void(this.m_root.parent=null);for(var b,c,d=a.aabb,e=(d.GetCenter(),this.m_root);e.IsLeaf()===!1;){b=e.child1,c=e.child2;var f=e.aabb.GetPerimeter(),g=box2d.b2DynamicTree.s_combinedAABB;g.Combine2(e.aabb,d);var h,i,j,k=g.GetPerimeter(),l=2*k,m=2*(k-f),n=box2d.b2DynamicTree.s_aabb;b.IsLeaf()?(n.Combine2(d,b.aabb),h=n.GetPerimeter()+m):(n.Combine2(d,b.aabb),i=b.aabb.GetPerimeter(),j=n.GetPerimeter(),h=j-i+m);var o;if(c.IsLeaf()?(n.Combine2(d,c.aabb),o=n.GetPerimeter()+m):(n.Combine2(d,c.aabb),i=c.aabb.GetPerimeter(),j=n.GetPerimeter(),o=j-i+m),h>l&&o>l)break;e=o>h?b:c}var p=e,q=p.parent,r=this.AllocateNode();for(r.parent=q,r.userData=null,r.aabb.Combine2(d,p.aabb),r.height=p.height+1,q?(q.child1===p?q.child1=r:q.child2=r,r.child1=p,r.child2=a,p.parent=r,a.parent=r):(r.child1=p,r.child2=a,p.parent=r,a.parent=r,this.m_root=r),e=a.parent;null!==e;)e=this.Balance(e),b=e.child1,c=e.child2,box2d.ENABLE_ASSERTS&&box2d.b2Assert(null!==b),box2d.ENABLE_ASSERTS&&box2d.b2Assert(null!==c),e.height=1+box2d.b2Max(b.height,c.height),e.aabb.Combine2(b.aabb,c.aabb),e=e.parent},box2d.b2DynamicTree.prototype.RemoveLeaf=function(a){if(a===this.m_root)return void(this.m_root=null);var b,c=a.parent,d=c.parent;if(b=c.child1===a?c.child2:c.child1,d){d.child1===c?d.child1=b:d.child2=b,b.parent=d,this.FreeNode(c);for(var e=d;e;){e=this.Balance(e);var f=e.child1,g=e.child2;e.aabb.Combine2(f.aabb,g.aabb),e.height=1+box2d.b2Max(f.height,g.height),e=e.parent}}else this.m_root=b,b.parent=null,this.FreeNode(c)},box2d.b2DynamicTree.prototype.Balance=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(null!==a),a.IsLeaf()||a.height<2)return a;var b=a.child1,c=a.child2,d=c.height-b.height;if(d>1){var e=c.child1,f=c.child2;return c.child1=a,c.parent=a.parent,a.parent=c,null!==c.parent?c.parent.child1===a?c.parent.child1=c:(box2d.ENABLE_ASSERTS&&box2d.b2Assert(c.parent.child2===a),c.parent.child2=c):this.m_root=c,e.height>f.height?(c.child2=e,a.child2=f,f.parent=a,a.aabb.Combine2(b.aabb,f.aabb),c.aabb.Combine2(a.aabb,e.aabb),a.height=1+box2d.b2Max(b.height,f.height),c.height=1+box2d.b2Max(a.height,e.height)):(c.child2=f,a.child2=e,e.parent=a,a.aabb.Combine2(b.aabb,e.aabb),c.aabb.Combine2(a.aabb,f.aabb),a.height=1+box2d.b2Max(b.height,e.height),c.height=1+box2d.b2Max(a.height,f.height)),c}if(-1>d){var g=b.child1,h=b.child2;return b.child1=a,b.parent=a.parent,a.parent=b,null!==b.parent?b.parent.child1===a?b.parent.child1=b:(box2d.ENABLE_ASSERTS&&box2d.b2Assert(b.parent.child2===a),b.parent.child2=b):this.m_root=b,g.height>h.height?(b.child2=g,a.child1=h,h.parent=a,a.aabb.Combine2(c.aabb,h.aabb),b.aabb.Combine2(a.aabb,g.aabb),a.height=1+box2d.b2Max(c.height,h.height),b.height=1+box2d.b2Max(a.height,g.height)):(b.child2=h,a.child1=g,g.parent=a,a.aabb.Combine2(c.aabb,g.aabb),b.aabb.Combine2(a.aabb,h.aabb),a.height=1+box2d.b2Max(c.height,g.height),b.height=1+box2d.b2Max(a.height,h.height)),b}return a},box2d.b2DynamicTree.prototype.GetHeight=function(){return null===this.m_root?0:this.m_root.height},box2d.b2DynamicTree.prototype.GetAreaRatio=function(){if(null===this.m_root)return 0;var a=this.m_root,b=a.aabb.GetPerimeter(),c=function(a){if(null===a)return 0;if(a.IsLeaf())return 0;var b=a.aabb.GetPerimeter();return b+=c(a.child1),b+=c(a.child2)},d=c(this.m_root);return d/b},box2d.b2DynamicTree.prototype.ComputeHeightNode=function(a){if(a.IsLeaf())return 0;var b=this.ComputeHeightNode(a.child1),c=this.ComputeHeightNode(a.child2);return 1+box2d.b2Max(b,c)},box2d.b2DynamicTree.prototype.ComputeHeight=function(){var a=this.ComputeHeightNode(this.m_root);return a},box2d.b2DynamicTree.prototype.ValidateStructure=function(a){if(null!==a){a===this.m_root&&box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===a.parent);var b=a,c=b.child1,d=b.child2;if(b.IsLeaf())return box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===c),box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===d),void(box2d.ENABLE_ASSERTS&&box2d.b2Assert(0===b.height));box2d.ENABLE_ASSERTS&&box2d.b2Assert(c.parent===a),box2d.ENABLE_ASSERTS&&box2d.b2Assert(d.parent===a),this.ValidateStructure(c),this.ValidateStructure(d)}},box2d.b2DynamicTree.prototype.ValidateMetrics=function(a){if(null!==a){var b=a,c=b.child1,d=b.child2;if(b.IsLeaf())return box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===c),box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===d),void(box2d.ENABLE_ASSERTS&&box2d.b2Assert(0===b.height));var e,f=c.height,g=d.height;e=1+box2d.b2Max(f,g),box2d.ENABLE_ASSERTS&&box2d.b2Assert(b.height===e);var h=box2d.b2DynamicTree.s_aabb;h.Combine2(c.aabb,d.aabb),box2d.ENABLE_ASSERTS&&box2d.b2Assert(h.lowerBound===b.aabb.lowerBound),box2d.ENABLE_ASSERTS&&box2d.b2Assert(h.upperBound===b.aabb.upperBound),this.ValidateMetrics(c),this.ValidateMetrics(d)}},box2d.b2DynamicTree.prototype.Validate=function(){this.ValidateStructure(this.m_root),this.ValidateMetrics(this.m_root);for(var a=0,b=this.m_freeList;null!==b;)b=b.parent,++a;box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.GetHeight()===this.ComputeHeight())},box2d.b2DynamicTree.prototype.GetMaxBalance=function(){var a=function(a,b){if(null===a)return b;if(a.height<=1)return b;box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.IsLeaf()===!1);var c=a.child1,d=a.child2,e=box2d.b2Abs(d.height-c.height);return box2d.b2Max(b,e)},b=a(this.m_root,0);return b},box2d.b2DynamicTree.prototype.RebuildBottomUp=function(){this.Validate()},box2d.b2DynamicTree.prototype.ShiftOrigin=function(a){var b=function(a,c){if(null!==a&&!(a.height<=1)){box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.IsLeaf()===!1);var d=a.child1,e=a.child2;b(d,c),b(e,c),a.aabb.lowerBound.SelfSub(c),a.aabb.upperBound.SelfSub(c)}};b(this.m_root,a)},goog.provide("box2d.b2BroadPhase"),goog.require("box2d.b2Settings"),goog.require("box2d.b2DynamicTree"),box2d.b2Pair=function(){},box2d.b2Pair.prototype.proxyA=null,box2d.b2Pair.prototype.proxyB=null,box2d.b2BroadPhase=function(){this.m_tree=new box2d.b2DynamicTree,this.m_moveBuffer=new Array,this.m_pairBuffer=new Array},box2d.b2BroadPhase.prototype.m_tree=null,box2d.b2BroadPhase.prototype.m_proxyCount=0,box2d.b2BroadPhase.prototype.m_moveCount=0,box2d.b2BroadPhase.prototype.m_moveBuffer=null,box2d.b2BroadPhase.prototype.m_pairCount=0,box2d.b2BroadPhase.prototype.m_pairBuffer=null,box2d.b2BroadPhase.prototype.CreateProxy=function(a,b){var c=this.m_tree.CreateProxy(a,b);return++this.m_proxyCount,this.BufferMove(c),c},box2d.b2BroadPhase.prototype.DestroyProxy=function(a){this.UnBufferMove(a),--this.m_proxyCount,this.m_tree.DestroyProxy(a)},box2d.b2BroadPhase.prototype.MoveProxy=function(a,b,c){var d=this.m_tree.MoveProxy(a,b,c);d&&this.BufferMove(a)},box2d.b2BroadPhase.prototype.TouchProxy=function(a){this.BufferMove(a)},box2d.b2BroadPhase.prototype.GetFatAABB=function(a){return this.m_tree.GetFatAABB(a)},box2d.b2BroadPhase.prototype.GetUserData=function(a){return this.m_tree.GetUserData(a)},box2d.b2BroadPhase.prototype.TestOverlap=function(a,b){var c=this.m_tree.GetFatAABB(a),d=this.m_tree.GetFatAABB(b);return box2d.b2TestOverlapAABB(c,d)},box2d.b2BroadPhase.prototype.GetProxyCount=function(){return this.m_proxyCount},box2d.b2BroadPhase.prototype.GetTreeHeight=function(){return this.m_tree.GetHeight()},box2d.b2BroadPhase.prototype.GetTreeBalance=function(){return this.m_tree.GetMaxBalance()},box2d.b2BroadPhase.prototype.GetTreeQuality=function(){return this.m_tree.GetAreaRatio()},box2d.b2BroadPhase.prototype.ShiftOrigin=function(a){this.m_tree.ShiftOrigin(a)},box2d.b2BroadPhase.prototype.UpdatePairs=function(a){this.m_pairCount=0;for(var b=0;b<this.m_moveCount;++b){var c=this.m_moveBuffer[b];if(null!==c){var d=this,e=function(a){if(a.m_id===c.m_id)return!0;d.m_pairCount===d.m_pairBuffer.length&&(d.m_pairBuffer[d.m_pairCount]=new box2d.b2Pair);var b=d.m_pairBuffer[d.m_pairCount];return a.m_id<c.m_id?(b.proxyA=a,b.proxyB=c):(b.proxyA=c,b.proxyB=a),++d.m_pairCount,!0},f=this.m_tree.GetFatAABB(c);this.m_tree.Query(e,f)}}this.m_moveCount=0,this.m_pairBuffer.length=this.m_pairCount,this.m_pairBuffer.sort(box2d.b2PairLessThan);for(var b=0;b<this.m_pairCount;){var g=this.m_pairBuffer[b],h=this.m_tree.GetUserData(g.proxyA),i=this.m_tree.GetUserData(g.proxyB);for(a.AddPair(h,i),++b;b<this.m_pairCount;){var j=this.m_pairBuffer[b];if(j.proxyA.m_id!==g.proxyA.m_id||j.proxyB.m_id!==g.proxyB.m_id)break;++b}}},box2d.b2BroadPhase.prototype.Query=function(a,b){this.m_tree.Query(a,b)},box2d.b2BroadPhase.prototype.RayCast=function(a,b){this.m_tree.RayCast(a,b)},box2d.b2BroadPhase.prototype.BufferMove=function(a){this.m_moveBuffer[this.m_moveCount]=a,++this.m_moveCount},box2d.b2BroadPhase.prototype.UnBufferMove=function(a){var b=this.m_moveBuffer.indexOf(a);this.m_moveBuffer[b]=null},box2d.b2PairLessThan=function(a,b){return a.proxyA.m_id===b.proxyA.m_id?a.proxyB.m_id-b.proxyB.m_id:a.proxyA.m_id-b.proxyA.m_id},goog.provide("box2d.b2ContactManager"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),goog.require("box2d.b2Collision"),goog.require("box2d.b2BroadPhase"),goog.require("box2d.b2ContactFactory"),box2d.b2ContactManager=function(){this.m_broadPhase=new box2d.b2BroadPhase,this.m_contactFactory=new box2d.b2ContactFactory(this.m_allocator)},box2d.b2ContactManager.prototype.m_broadPhase=null,box2d.b2ContactManager.prototype.m_contactList=null,box2d.b2ContactManager.prototype.m_contactCount=0,box2d.b2ContactManager.prototype.m_contactFilter=box2d.b2ContactFilter.b2_defaultFilter,box2d.b2ContactManager.prototype.m_contactListener=box2d.b2ContactListener.b2_defaultListener,box2d.b2ContactManager.prototype.m_allocator=null,box2d.b2ContactManager.prototype.m_contactFactory=null,box2d.b2ContactManager.prototype.Destroy=function(a){var b=a.GetFixtureA(),c=a.GetFixtureB(),d=b.GetBody(),e=c.GetBody();this.m_contactListener&&a.IsTouching()&&this.m_contactListener.EndContact(a),a.m_prev&&(a.m_prev.m_next=a.m_next),a.m_next&&(a.m_next.m_prev=a.m_prev),a===this.m_contactList&&(this.m_contactList=a.m_next),a.m_nodeA.prev&&(a.m_nodeA.prev.next=a.m_nodeA.next),a.m_nodeA.next&&(a.m_nodeA.next.prev=a.m_nodeA.prev),a.m_nodeA===d.m_contactList&&(d.m_contactList=a.m_nodeA.next),a.m_nodeB.prev&&(a.m_nodeB.prev.next=a.m_nodeB.next),a.m_nodeB.next&&(a.m_nodeB.next.prev=a.m_nodeB.prev),a.m_nodeB===e.m_contactList&&(e.m_contactList=a.m_nodeB.next),this.m_contactFactory.Destroy(a),--this.m_contactCount},box2d.b2ContactManager.prototype.Collide=function(){for(var a=this.m_contactList;a;){var b=a.GetFixtureA(),c=a.GetFixtureB(),d=a.GetChildIndexA(),e=a.GetChildIndexB(),f=b.GetBody(),g=c.GetBody();if(a.m_flags&box2d.b2ContactFlag.e_filterFlag){if(g.ShouldCollide(f)===!1){var h=a;a=h.m_next,this.Destroy(h);continue}if(this.m_contactFilter&&this.m_contactFilter.ShouldCollide(b,c)===!1){h=a,a=h.m_next,this.Destroy(h);continue}a.m_flags&=~box2d.b2ContactFlag.e_filterFlag}var i=f.IsAwake()&&f.m_type!==box2d.b2BodyType.b2_staticBody,j=g.IsAwake()&&g.m_type!==box2d.b2BodyType.b2_staticBody;if(i!==!1||j!==!1){var k=b.m_proxies[d].proxy,l=c.m_proxies[e].proxy,m=this.m_broadPhase.TestOverlap(k,l);m!==!1?(a.Update(this.m_contactListener),a=a.m_next):(h=a,a=h.m_next,this.Destroy(h))}else a=a.m_next}},box2d.b2ContactManager.prototype.FindNewContacts=function(){this.m_broadPhase.UpdatePairs(this)},box2d.b2ContactManager.prototype.AddPair=function(a,b){box2d.ENABLE_ASSERTS&&box2d.b2Assert(a instanceof box2d.b2FixtureProxy),box2d.ENABLE_ASSERTS&&box2d.b2Assert(b instanceof box2d.b2FixtureProxy);var c=a,d=b,e=c.fixture,f=d.fixture,g=c.childIndex,h=d.childIndex,i=e.GetBody(),j=f.GetBody();if(i!==j){for(var k=j.GetContactList();k;){if(k.other===i){var l=k.contact.GetFixtureA(),m=k.contact.GetFixtureB(),n=k.contact.GetChildIndexA(),o=k.contact.GetChildIndexB();if(l===e&&m===f&&n===g&&o===h)return;if(l===f&&m===e&&n===h&&o===g)return}k=k.next}if(j.ShouldCollide(i)!==!1&&(!this.m_contactFilter||this.m_contactFilter.ShouldCollide(e,f)!==!1)){var p=this.m_contactFactory.Create(e,g,f,h);null!==p&&(e=p.GetFixtureA(),f=p.GetFixtureB(),g=p.GetChildIndexA(),h=p.GetChildIndexB(),i=e.m_body,j=f.m_body,p.m_prev=null,p.m_next=this.m_contactList,null!==this.m_contactList&&(this.m_contactList.m_prev=p),this.m_contactList=p,p.m_nodeA.contact=p,p.m_nodeA.other=j,p.m_nodeA.prev=null,p.m_nodeA.next=i.m_contactList,null!==i.m_contactList&&(i.m_contactList.prev=p.m_nodeA),i.m_contactList=p.m_nodeA,p.m_nodeB.contact=p,p.m_nodeB.other=i,p.m_nodeB.prev=null,p.m_nodeB.next=j.m_contactList,null!==j.m_contactList&&(j.m_contactList.prev=p.m_nodeB),j.m_contactList=p.m_nodeB,e.IsSensor()===!1&&f.IsSensor()===!1&&(i.SetAwake(!0),j.SetAwake(!0)),++this.m_contactCount)}}},goog.provide("box2d.b2JointFactory"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),goog.require("box2d.b2Joint"),box2d.b2JointFactory.Create=function(a){var b=null;switch(a.type){case box2d.b2JointType.e_distanceJoint:b=new box2d.b2DistanceJoint(a instanceof box2d.b2DistanceJointDef?a:null);break;case box2d.b2JointType.e_mouseJoint:b=new box2d.b2MouseJoint(a instanceof box2d.b2MouseJointDef?a:null);break;case box2d.b2JointType.e_prismaticJoint:b=new box2d.b2PrismaticJoint(a instanceof box2d.b2PrismaticJointDef?a:null);break;case box2d.b2JointType.e_revoluteJoint:b=new box2d.b2RevoluteJoint(a instanceof box2d.b2RevoluteJointDef?a:null);break;case box2d.b2JointType.e_pulleyJoint:b=new box2d.b2PulleyJoint(a instanceof box2d.b2PulleyJointDef?a:null);break;case box2d.b2JointType.e_gearJoint:b=new box2d.b2GearJoint(a instanceof box2d.b2GearJointDef?a:null);break;case box2d.b2JointType.e_wheelJoint:b=new box2d.b2WheelJoint(a instanceof box2d.b2WheelJointDef?a:null);break;case box2d.b2JointType.e_weldJoint:b=new box2d.b2WeldJoint(a instanceof box2d.b2WeldJointDef?a:null);break;case box2d.b2JointType.e_frictionJoint:b=new box2d.b2FrictionJoint(a instanceof box2d.b2FrictionJointDef?a:null);break;case box2d.b2JointType.e_ropeJoint:b=new box2d.b2RopeJoint(a instanceof box2d.b2RopeJointDef?a:null);break;case box2d.b2JointType.e_motorJoint:b=new box2d.b2MotorJoint(a instanceof box2d.b2MotorJointDef?a:null);break;case box2d.b2JointType.e_areaJoint:b=new box2d.b2AreaJoint(a instanceof box2d.b2AreaJointDef?a:null);break;default:box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1)}return b},box2d.b2JointFactory.Destroy=function(){},goog.provide("box2d.b2Draw"),goog.require("box2d.b2Settings"),box2d.b2Color=function(a,b,c){this.r=a,this.g=b,this.b=c},box2d.b2Color.prototype.r=.5,box2d.b2Color.prototype.g=.5,box2d.b2Color.prototype.b=.5,box2d.b2Color.prototype.SetRGB=function(a,b,c){return this.r=a,this.g=b,this.b=c,this},box2d.b2Color.prototype.MakeStyleString=function(a){var b=Math.round(Math.max(0,Math.min(255,255*this.r))),c=Math.round(Math.max(0,Math.min(255,255*this.g))),d=Math.round(Math.max(0,Math.min(255,255*this.b))),e="undefined"==typeof a?1:Math.max(0,Math.min(1,a));return box2d.b2Color.MakeStyleString(b,c,d,e)},box2d.b2Color.MakeStyleString=function(a,b,c,d){return 1>d?"rgba("+a+","+b+","+c+","+d+")":"rgb("+a+","+b+","+c+")"},box2d.b2Color.RED=new box2d.b2Color(1,0,0),box2d.b2Color.GREEN=new box2d.b2Color(0,1,0),box2d.b2Color.BLUE=new box2d.b2Color(0,0,1),box2d.b2DrawFlags={e_none:0,e_shapeBit:1,e_jointBit:2,e_aabbBit:4,e_pairBit:8,e_centerOfMassBit:16,e_controllerBit:32,e_all:63},goog.exportProperty(box2d.b2DrawFlags,"e_none",box2d.b2DrawFlags.e_none),goog.exportProperty(box2d.b2DrawFlags,"e_shapeBit",box2d.b2DrawFlags.e_shapeBit),goog.exportProperty(box2d.b2DrawFlags,"e_jointBit",box2d.b2DrawFlags.e_jointBit),goog.exportProperty(box2d.b2DrawFlags,"e_aabbBit",box2d.b2DrawFlags.e_aabbBit),goog.exportProperty(box2d.b2DrawFlags,"e_pairBit",box2d.b2DrawFlags.e_pairBit),goog.exportProperty(box2d.b2DrawFlags,"e_centerOfMassBit",box2d.b2DrawFlags.e_centerOfMassBit),goog.exportProperty(box2d.b2DrawFlags,"e_controllerBit",box2d.b2DrawFlags.e_controllerBit),goog.exportProperty(box2d.b2DrawFlags,"e_all",box2d.b2DrawFlags.e_all),box2d.b2Draw=function(){},box2d.b2Draw.prototype.m_drawFlags=box2d.b2DrawFlags.e_none,box2d.b2Draw.prototype.SetFlags=function(a){this.m_drawFlags=a},box2d.b2Draw.prototype.GetFlags=function(){return this.m_drawFlags},box2d.b2Draw.prototype.AppendFlags=function(a){this.m_drawFlags|=a},box2d.b2Draw.prototype.ClearFlags=function(a){this.m_drawFlags&=~a},box2d.b2Draw.prototype.PushTransform=function(){},box2d.b2Draw.prototype.PopTransform=function(){},box2d.b2Draw.prototype.DrawPolygon=function(){},box2d.b2Draw.prototype.DrawSolidPolygon=function(){},box2d.b2Draw.prototype.DrawCircle=function(){},box2d.b2Draw.prototype.DrawSolidCircle=function(){},box2d.b2Draw.prototype.DrawSegment=function(){},box2d.b2Draw.prototype.DrawTransform=function(){},goog.provide("box2d.b2Fixture"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Collision"),goog.require("box2d.b2Shape"),box2d.b2Filter=function(){},box2d.b2Filter.prototype.categoryBits=1,box2d.b2Filter.prototype.maskBits=65535,box2d.b2Filter.prototype.groupIndex=0,box2d.b2Filter.prototype.Clone=function(){return(new box2d.b2Filter).Copy(this)},box2d.b2Filter.prototype.Copy=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(this!==a),this.categoryBits=a.categoryBits,this.maskBits=a.maskBits,this.groupIndex=a.groupIndex,this},box2d.b2FixtureDef=function(){this.filter=new box2d.b2Filter},box2d.b2FixtureDef.prototype.shape=null,box2d.b2FixtureDef.prototype.userData=null,box2d.b2FixtureDef.prototype.friction=.2,box2d.b2FixtureDef.prototype.restitution=0,box2d.b2FixtureDef.prototype.density=0,box2d.b2FixtureDef.prototype.isSensor=!1,box2d.b2FixtureDef.prototype.filter=null,box2d.b2FixtureProxy=function(){this.aabb=new box2d.b2AABB},box2d.b2FixtureProxy.prototype.aabb=null,box2d.b2FixtureProxy.prototype.fixture=null,box2d.b2FixtureProxy.prototype.childIndex=0,box2d.b2FixtureProxy.prototype.proxy=null,box2d.b2FixtureProxy.MakeArray=function(a){return box2d.b2MakeArray(a,function(){return new box2d.b2FixtureProxy})},box2d.b2Fixture=function(){this.m_proxyCount=0,this.m_filter=new box2d.b2Filter},box2d.b2Fixture.prototype.m_density=0,box2d.b2Fixture.prototype.m_next=null,box2d.b2Fixture.prototype.m_body=null,box2d.b2Fixture.prototype.m_shape=null,box2d.b2Fixture.prototype.m_friction=0,box2d.b2Fixture.prototype.m_restitution=0,box2d.b2Fixture.prototype.m_proxies=null,box2d.b2Fixture.prototype.m_proxyCount=0,box2d.b2Fixture.prototype.m_filter=null,box2d.b2Fixture.prototype.m_isSensor=!1,box2d.b2Fixture.prototype.m_userData=null,box2d.b2Fixture.prototype.GetType=function(){return this.m_shape.GetType()},box2d.b2Fixture.prototype.GetShape=function(){return this.m_shape},box2d.b2Fixture.prototype.IsSensor=function(){return this.m_isSensor},box2d.b2Fixture.prototype.GetFilterData=function(){return this.m_filter},box2d.b2Fixture.prototype.GetUserData=function(){return this.m_userData},box2d.b2Fixture.prototype.SetUserData=function(a){this.m_userData=a},box2d.b2Fixture.prototype.GetBody=function(){return this.m_body},box2d.b2Fixture.prototype.GetNext=function(){return this.m_next},box2d.b2Fixture.prototype.SetDensity=function(a){this.m_density=a},box2d.b2Fixture.prototype.GetDensity=function(){return this.m_density},box2d.b2Fixture.prototype.GetFriction=function(){return this.m_friction},box2d.b2Fixture.prototype.SetFriction=function(a){this.m_friction=a},box2d.b2Fixture.prototype.GetRestitution=function(){return this.m_restitution},box2d.b2Fixture.prototype.SetRestitution=function(a){this.m_restitution=a},box2d.b2Fixture.prototype.TestPoint=function(a){return this.m_shape.TestPoint(this.m_body.GetTransform(),a)},box2d.b2Fixture.prototype.RayCast=function(a,b,c){return this.m_shape.RayCast(a,b,this.m_body.GetTransform(),c)},box2d.b2Fixture.prototype.GetMassData=function(a){return a=a||new box2d.b2MassData,this.m_shape.ComputeMass(a,this.m_density),a},box2d.b2Fixture.prototype.GetAABB=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(a>=0&&a<this.m_proxyCount),this.m_proxies[a].aabb},box2d.b2Fixture.prototype.Create=function(a,b){this.m_userData=b.userData,this.m_friction=b.friction,this.m_restitution=b.restitution,this.m_body=a,this.m_next=null,this.m_filter.Copy(b.filter),this.m_isSensor=b.isSensor,this.m_shape=b.shape.Clone(),this.m_proxies=box2d.b2FixtureProxy.MakeArray(this.m_shape.GetChildCount()),this.m_proxyCount=0,this.m_density=b.density},box2d.b2Fixture.prototype.Destroy=function(){box2d.ENABLE_ASSERTS&&box2d.b2Assert(0===this.m_proxyCount),this.m_shape=null},box2d.b2Fixture.prototype.CreateProxies=function(a,b){box2d.ENABLE_ASSERTS&&box2d.b2Assert(0===this.m_proxyCount),this.m_proxyCount=this.m_shape.GetChildCount();for(var c=0;c<this.m_proxyCount;++c){var d=this.m_proxies[c];this.m_shape.ComputeAABB(d.aabb,b,c),d.proxy=a.CreateProxy(d.aabb,d),d.fixture=this,d.childIndex=c}},box2d.b2Fixture.prototype.DestroyProxies=function(a){for(var b=0;b<this.m_proxyCount;++b){var c=this.m_proxies[b];a.DestroyProxy(c.proxy),c.proxy=null}this.m_proxyCount=0},box2d.b2Fixture.prototype.Synchronize=function(a,b,c){if(0!==this.m_proxyCount)for(var d=0;d<this.m_proxyCount;++d){var e=this.m_proxies[d],f=box2d.b2Fixture.prototype.Synchronize.s_aabb1,g=box2d.b2Fixture.prototype.Synchronize.s_aabb2;this.m_shape.ComputeAABB(f,b,d),this.m_shape.ComputeAABB(g,c,d),e.aabb.Combine2(f,g);var h=box2d.b2SubVV(c.p,b.p,box2d.b2Fixture.prototype.Synchronize.s_displacement);a.MoveProxy(e.proxy,e.aabb,h)}},box2d.b2Fixture.prototype.Synchronize.s_aabb1=new box2d.b2AABB,box2d.b2Fixture.prototype.Synchronize.s_aabb2=new box2d.b2AABB,box2d.b2Fixture.prototype.Synchronize.s_displacement=new box2d.b2Vec2,box2d.b2Fixture.prototype.SetFilterData=function(a){this.m_filter.Copy(a),this.Refilter()},box2d.b2Fixture.prototype.Refilter=function(){if(!this.m_body){for(var a=this.m_body.GetContactList();a;){var b=a.contact,c=b.GetFixtureA(),d=b.GetFixtureB();(c===this||d===this)&&b.FlagForFiltering(),a=a.next
}var e=this.m_body.GetWorld();if(null!==e)for(var f=e.m_contactManager.m_broadPhase,g=0;g<this.m_proxyCount;++g)f.TouchProxy(this.m_proxies[g].proxy)}},box2d.b2Fixture.prototype.SetSensor=function(a){a!==this.m_isSensor&&(this.m_body.SetAwake(!0),this.m_isSensor=a)},box2d.b2Fixture.prototype.Dump=function(a){box2d.DEBUG&&(box2d.b2Log("    /*box2d.b2FixtureDef*/ var fd = new box2d.b2FixtureDef();\n"),box2d.b2Log("    fd.friction = %.15f;\n",this.m_friction),box2d.b2Log("    fd.restitution = %.15f;\n",this.m_restitution),box2d.b2Log("    fd.density = %.15f;\n",this.m_density),box2d.b2Log("    fd.isSensor = %s;\n",this.m_isSensor?"true":"false"),box2d.b2Log("    fd.filter.categoryBits = %d;\n",this.m_filter.categoryBits),box2d.b2Log("    fd.filter.maskBits = %d;\n",this.m_filter.maskBits),box2d.b2Log("    fd.filter.groupIndex = %d;\n",this.m_filter.groupIndex),this.m_shape.Dump(),box2d.b2Log("\n"),box2d.b2Log("    fd.shape = shape;\n"),box2d.b2Log("\n"),box2d.b2Log("    bodies[%d].CreateFixture(fd);\n",a))},goog.provide("box2d.b2Body"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),goog.require("box2d.b2Fixture"),box2d.b2BodyType={b2_unknown:-1,b2_staticBody:0,b2_kinematicBody:1,b2_dynamicBody:2,b2_bulletBody:3},goog.exportProperty(box2d.b2BodyType,"b2_unknown",box2d.b2BodyType.b2_unknown),goog.exportProperty(box2d.b2BodyType,"b2_staticBody",box2d.b2BodyType.b2_staticBody),goog.exportProperty(box2d.b2BodyType,"b2_kinematicBody",box2d.b2BodyType.b2_kinematicBody),goog.exportProperty(box2d.b2BodyType,"b2_dynamicBody",box2d.b2BodyType.b2_dynamicBody),goog.exportProperty(box2d.b2BodyType,"b2_bulletBody",box2d.b2BodyType.b2_bulletBody),box2d.b2BodyDef=function(){this.position=new box2d.b2Vec2(0,0),this.linearVelocity=new box2d.b2Vec2(0,0)},box2d.b2BodyDef.prototype.type=box2d.b2BodyType.b2_staticBody,box2d.b2BodyDef.prototype.position=null,box2d.b2BodyDef.prototype.angle=0,box2d.b2BodyDef.prototype.linearVelocity=null,box2d.b2BodyDef.prototype.angularVelocity=0,box2d.b2BodyDef.prototype.linearDamping=0,box2d.b2BodyDef.prototype.angularDamping=0,box2d.b2BodyDef.prototype.allowSleep=!0,box2d.b2BodyDef.prototype.awake=!0,box2d.b2BodyDef.prototype.fixedRotation=!1,box2d.b2BodyDef.prototype.bullet=!1,box2d.b2BodyDef.prototype.active=!0,box2d.b2BodyDef.prototype.userData=null,box2d.b2BodyDef.prototype.gravityScale=1,box2d.b2BodyFlag={e_none:0,e_islandFlag:1,e_awakeFlag:2,e_autoSleepFlag:4,e_bulletFlag:8,e_fixedRotationFlag:16,e_activeFlag:32,e_toiFlag:64},goog.exportProperty(box2d.b2BodyFlag,"e_none",box2d.b2BodyFlag.e_none),goog.exportProperty(box2d.b2BodyFlag,"e_islandFlag",box2d.b2BodyFlag.e_islandFlag),goog.exportProperty(box2d.b2BodyFlag,"e_awakeFlag",box2d.b2BodyFlag.e_awakeFlag),goog.exportProperty(box2d.b2BodyFlag,"e_autoSleepFlag",box2d.b2BodyFlag.e_autoSleepFlag),goog.exportProperty(box2d.b2BodyFlag,"e_bulletFlag",box2d.b2BodyFlag.e_bulletFlag),goog.exportProperty(box2d.b2BodyFlag,"e_fixedRotationFlag",box2d.b2BodyFlag.e_fixedRotationFlag),goog.exportProperty(box2d.b2BodyFlag,"e_activeFlag",box2d.b2BodyFlag.e_activeFlag),goog.exportProperty(box2d.b2BodyFlag,"e_toiFlag",box2d.b2BodyFlag.e_toiFlag),box2d.b2Body=function(a,b){this.m_xf=new box2d.b2Transform,this.m_out_xf=new box2d.b2Transform,this.m_sweep=new box2d.b2Sweep,this.m_out_sweep=new box2d.b2Sweep,this.m_linearVelocity=new box2d.b2Vec2,this.m_out_linearVelocity=new box2d.b2Vec2,this.m_force=new box2d.b2Vec2,box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.position.IsValid()),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.linearVelocity.IsValid()),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.angle)),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.angularVelocity)),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.gravityScale)&&a.gravityScale>=0),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.angularDamping)&&a.angularDamping>=0),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.linearDamping)&&a.linearDamping>=0),this.m_flags=box2d.b2BodyFlag.e_none,a.bullet&&(this.m_flags|=box2d.b2BodyFlag.e_bulletFlag),a.fixedRotation&&(this.m_flags|=box2d.b2BodyFlag.e_fixedRotationFlag),a.allowSleep&&(this.m_flags|=box2d.b2BodyFlag.e_autoSleepFlag),a.awake&&(this.m_flags|=box2d.b2BodyFlag.e_awakeFlag),a.active&&(this.m_flags|=box2d.b2BodyFlag.e_activeFlag),this.m_world=b,this.m_xf.p.Copy(a.position),this.m_xf.q.SetAngleRadians(a.angle),this.m_sweep.localCenter.SetZero(),this.m_sweep.c0.Copy(this.m_xf.p),this.m_sweep.c.Copy(this.m_xf.p),this.m_sweep.a0=a.angle,this.m_sweep.a=a.angle,this.m_sweep.alpha0=0,this.m_linearVelocity.Copy(a.linearVelocity),this.m_angularVelocity=a.angularVelocity,this.m_linearDamping=a.linearDamping,this.m_angularDamping=a.angularDamping,this.m_gravityScale=a.gravityScale,this.m_force.SetZero(),this.m_torque=0,this.m_sleepTime=0,this.m_type=a.type,a.type===box2d.b2BodyType.b2_dynamicBody?(this.m_mass=1,this.m_invMass=1):(this.m_mass=0,this.m_invMass=0),this.m_I=0,this.m_invI=0,this.m_userData=a.userData,this.m_fixtureList=null,this.m_fixtureCount=0,this.m_controllerList=null,this.m_controllerCount=0},box2d.b2Body.prototype.m_flags=box2d.b2BodyFlag.e_none,box2d.b2Body.prototype.m_islandIndex=0,box2d.b2Body.prototype.m_world=null,box2d.b2Body.prototype.m_xf=null,box2d.b2Body.prototype.m_out_xf=null,box2d.b2Body.prototype.m_sweep=null,box2d.b2Body.prototype.m_out_sweep=null,box2d.b2Body.prototype.m_jointList=null,box2d.b2Body.prototype.m_contactList=null,box2d.b2Body.prototype.m_prev=null,box2d.b2Body.prototype.m_next=null,box2d.b2Body.prototype.m_linearVelocity=null,box2d.b2Body.prototype.m_out_linearVelocity=null,box2d.b2Body.prototype.m_angularVelocity=0,box2d.b2Body.prototype.m_linearDamping=0,box2d.b2Body.prototype.m_angularDamping=0,box2d.b2Body.prototype.m_gravityScale=1,box2d.b2Body.prototype.m_force=null,box2d.b2Body.prototype.m_torque=0,box2d.b2Body.prototype.m_sleepTime=0,box2d.b2Body.prototype.m_type=box2d.b2BodyType.b2_staticBody,box2d.b2Body.prototype.m_mass=1,box2d.b2Body.prototype.m_invMass=1,box2d.b2Body.prototype.m_I=0,box2d.b2Body.prototype.m_invI=0,box2d.b2Body.prototype.m_userData=null,box2d.b2Body.prototype.m_fixtureList=null,box2d.b2Body.prototype.m_fixtureCount=0,box2d.b2Body.prototype.m_controllerList=null,box2d.b2Body.prototype.m_controllerCount=0,box2d.b2Body.prototype.CreateFixture=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_world.IsLocked()===!1),this.m_world.IsLocked()===!0)return null;var b=new box2d.b2Fixture;if(b.Create(this,a),this.m_flags&box2d.b2BodyFlag.e_activeFlag){var c=this.m_world.m_contactManager.m_broadPhase;b.CreateProxies(c,this.m_xf)}return b.m_next=this.m_fixtureList,this.m_fixtureList=b,++this.m_fixtureCount,b.m_body=this,b.m_density>0&&this.ResetMassData(),this.m_world.m_flags|=box2d.b2WorldFlag.e_newFixture,b},box2d.b2Body.prototype.CreateFixture2=function(a,b){void 0===b&&(b=0);var c=box2d.b2Body.prototype.CreateFixture2.s_def;return c.shape=a,c.density=b,this.CreateFixture(c)},box2d.b2Body.prototype.CreateFixture2.s_def=new box2d.b2FixtureDef,box2d.b2Body.prototype.DestroyFixture=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_world.IsLocked()===!1),this.m_world.IsLocked()!==!0){box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.m_body===this),box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_fixtureCount>0);for(var b=this.m_fixtureList,c=null,d=!1;null!==b;){if(b===a){c?c.m_next=a.m_next:this.m_fixtureList=a.m_next,d=!0;break}c=b,b=b.m_next}box2d.ENABLE_ASSERTS&&box2d.b2Assert(d);for(var e=this.m_contactList;e;){var f=e.contact;e=e.next;var g=f.GetFixtureA(),h=f.GetFixtureB();(a===g||a===h)&&this.m_world.m_contactManager.Destroy(f)}if(this.m_flags&box2d.b2BodyFlag.e_activeFlag){var i=this.m_world.m_contactManager.m_broadPhase;a.DestroyProxies(i)}a.Destroy(),a.m_body=null,a.m_next=null,--this.m_fixtureCount,this.ResetMassData()}},box2d.b2Body.prototype.SetTransformVecRadians=function(a,b){this.SetTransformXYRadians(a.x,a.y,b)},box2d.b2Body.prototype.SetTransformXYRadians=function(a,b,c){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_world.IsLocked()===!1),this.m_world.IsLocked()!==!0&&(this.m_xf.p.x!==a||this.m_xf.p.y!==b||this.m_xf.q.GetAngleRadians()!==c)){this.m_xf.q.SetAngleRadians(c),this.m_xf.p.SetXY(a,b),box2d.b2MulXV(this.m_xf,this.m_sweep.localCenter,this.m_sweep.c),this.m_sweep.a=c,this.m_sweep.c0.Copy(this.m_sweep.c),this.m_sweep.a0=c;for(var d=this.m_world.m_contactManager.m_broadPhase,e=this.m_fixtureList;e;e=e.m_next)e.Synchronize(d,this.m_xf,this.m_xf)}},box2d.b2Body.prototype.SetTransform=function(a){this.SetTransformVecRadians(a.p,a.GetAngleRadians())},box2d.b2Body.prototype.GetTransform=function(a){return a=a||this.m_out_xf,a.Copy(this.m_xf)},box2d.b2Body.prototype.GetPosition=function(a){return a=a||this.m_out_xf.p,a.Copy(this.m_xf.p)},box2d.b2Body.prototype.SetPosition=function(a){this.SetTransformVecRadians(a,this.GetAngleRadians())},box2d.b2Body.prototype.SetPositionXY=function(a,b){this.SetTransformXYRadians(a,b,this.GetAngleRadians())},box2d.b2Body.prototype.GetAngle=function(){return this.m_sweep.a},box2d.b2Body.prototype.GetAngleRadians=box2d.b2Body.prototype.GetAngle,box2d.b2Body.prototype.GetAngleDegrees=function(){return box2d.b2RadToDeg(this.GetAngle())},box2d.b2Body.prototype.SetAngle=function(a){this.SetTransformVecRadians(this.GetPosition(),a)},box2d.b2Body.prototype.SetAngleRadians=box2d.b2Body.prototype.SetAngle,box2d.b2Body.prototype.SetAngleDegrees=function(a){this.SetAngle(box2d.b2DegToRad(a))},box2d.b2Body.prototype.GetWorldCenter=function(a){return a=a||this.m_out_sweep.c,a.Copy(this.m_sweep.c)},box2d.b2Body.prototype.GetLocalCenter=function(a){return a=a||this.m_out_sweep.localCenter,a.Copy(this.m_sweep.localCenter)},box2d.b2Body.prototype.SetLinearVelocity=function(a){this.m_type!==box2d.b2BodyType.b2_staticBody&&(box2d.b2DotVV(a,a)>0&&this.SetAwake(!0),this.m_linearVelocity.Copy(a))},box2d.b2Body.prototype.GetLinearVelocity=function(a){return a=a||this.m_out_linearVelocity,a.Copy(this.m_linearVelocity)},box2d.b2Body.prototype.SetAngularVelocity=function(a){this.m_type!==box2d.b2BodyType.b2_staticBody&&(a*a>0&&this.SetAwake(!0),this.m_angularVelocity=a)},box2d.b2Body.prototype.GetAngularVelocity=function(){return this.m_angularVelocity},box2d.b2Body.prototype.GetDefinition=function(a){return a.type=this.GetType(),a.allowSleep=(this.m_flags&box2d.b2BodyFlag.e_autoSleepFlag)===box2d.b2BodyFlag.e_autoSleepFlag,a.angle=this.GetAngleRadians(),a.angularDamping=this.m_angularDamping,a.gravityScale=this.m_gravityScale,a.angularVelocity=this.m_angularVelocity,a.fixedRotation=(this.m_flags&box2d.b2BodyFlag.e_fixedRotationFlag)===box2d.b2BodyFlag.e_fixedRotationFlag,a.bullet=(this.m_flags&box2d.b2BodyFlag.e_bulletFlag)===box2d.b2BodyFlag.e_bulletFlag,a.awake=(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)===box2d.b2BodyFlag.e_awakeFlag,a.linearDamping=this.m_linearDamping,a.linearVelocity.Copy(this.GetLinearVelocity()),a.position.Copy(this.GetPosition()),a.userData=this.GetUserData(),a},box2d.b2Body.prototype.ApplyForce=function(a,b,c){c=c||!0,this.m_type===box2d.b2BodyType.b2_dynamicBody&&(c&&0===(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)&&this.SetAwake(!0),this.m_flags&box2d.b2BodyFlag.e_awakeFlag&&(this.m_force.x+=a.x,this.m_force.y+=a.y,this.m_torque+=(b.x-this.m_sweep.c.x)*a.y-(b.y-this.m_sweep.c.y)*a.x))},box2d.b2Body.prototype.ApplyForceToCenter=function(a,b){b=b||!0,this.m_type===box2d.b2BodyType.b2_dynamicBody&&(b&&0===(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)&&this.SetAwake(!0),this.m_flags&box2d.b2BodyFlag.e_awakeFlag&&(this.m_force.x+=a.x,this.m_force.y+=a.y))},box2d.b2Body.prototype.ApplyTorque=function(a,b){b=b||!0,this.m_type===box2d.b2BodyType.b2_dynamicBody&&(b&&0===(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)&&this.SetAwake(!0),this.m_flags&box2d.b2BodyFlag.e_awakeFlag&&(this.m_torque+=a))},box2d.b2Body.prototype.ApplyLinearImpulse=function(a,b,c){c=c||!0,this.m_type===box2d.b2BodyType.b2_dynamicBody&&(c&&0===(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)&&this.SetAwake(!0),this.m_flags&box2d.b2BodyFlag.e_awakeFlag&&(this.m_linearVelocity.x+=this.m_invMass*a.x,this.m_linearVelocity.y+=this.m_invMass*a.y,this.m_angularVelocity+=this.m_invI*((b.x-this.m_sweep.c.x)*a.y-(b.y-this.m_sweep.c.y)*a.x)))},box2d.b2Body.prototype.ApplyAngularImpulse=function(a,b){b=b||!0,this.m_type===box2d.b2BodyType.b2_dynamicBody&&(b&&0===(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)&&this.SetAwake(!0),this.m_flags&box2d.b2BodyFlag.e_awakeFlag&&(this.m_angularVelocity+=this.m_invI*a))},box2d.b2Body.prototype.GetMass=function(){return this.m_mass},box2d.b2Body.prototype.GetInertia=function(){return this.m_I+this.m_mass*box2d.b2DotVV(this.m_sweep.localCenter,this.m_sweep.localCenter)},box2d.b2Body.prototype.GetMassData=function(a){return a.mass=this.m_mass,a.I=this.m_I+this.m_mass*box2d.b2DotVV(this.m_sweep.localCenter,this.m_sweep.localCenter),a.center.Copy(this.m_sweep.localCenter),a},box2d.b2Body.prototype.SetMassData=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_world.IsLocked()===!1),this.m_world.IsLocked()!==!0&&this.m_type===box2d.b2BodyType.b2_dynamicBody){this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_mass=a.mass,this.m_mass<=0&&(this.m_mass=1),this.m_invMass=1/this.m_mass,a.I>0&&0===(this.m_flags&box2d.b2BodyFlag.e_fixedRotationFlag)&&(this.m_I=a.I-this.m_mass*box2d.b2DotVV(a.center,a.center),box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_I>0),this.m_invI=1/this.m_I);var b=box2d.b2Body.prototype.SetMassData.s_oldCenter.Copy(this.m_sweep.c);this.m_sweep.localCenter.Copy(a.center),box2d.b2MulXV(this.m_xf,this.m_sweep.localCenter,this.m_sweep.c),this.m_sweep.c0.Copy(this.m_sweep.c),box2d.b2AddVCrossSV(this.m_linearVelocity,this.m_angularVelocity,box2d.b2SubVV(this.m_sweep.c,b,box2d.b2Vec2.s_t0),this.m_linearVelocity)}},box2d.b2Body.prototype.SetMassData.s_oldCenter=new box2d.b2Vec2,box2d.b2Body.prototype.ResetMassData=function(){if(this.m_mass=0,this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_sweep.localCenter.SetZero(),this.m_type===box2d.b2BodyType.b2_staticBody||this.m_type===box2d.b2BodyType.b2_kinematicBody)return this.m_sweep.c0.Copy(this.m_xf.p),this.m_sweep.c.Copy(this.m_xf.p),void(this.m_sweep.a0=this.m_sweep.a);box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_type===box2d.b2BodyType.b2_dynamicBody);for(var a=box2d.b2Body.prototype.ResetMassData.s_localCenter.SetZero(),b=this.m_fixtureList;b;b=b.m_next)if(0!==b.m_density){var c=b.GetMassData(box2d.b2Body.prototype.ResetMassData.s_massData);this.m_mass+=c.mass,a.x+=c.center.x*c.mass,a.y+=c.center.y*c.mass,this.m_I+=c.I}this.m_mass>0?(this.m_invMass=1/this.m_mass,a.x*=this.m_invMass,a.y*=this.m_invMass):(this.m_mass=1,this.m_invMass=1),this.m_I>0&&0===(this.m_flags&box2d.b2BodyFlag.e_fixedRotationFlag)?(this.m_I-=this.m_mass*box2d.b2DotVV(a,a),box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_I>0),this.m_invI=1/this.m_I):(this.m_I=0,this.m_invI=0);var d=box2d.b2Body.prototype.ResetMassData.s_oldCenter.Copy(this.m_sweep.c);this.m_sweep.localCenter.Copy(a),box2d.b2MulXV(this.m_xf,this.m_sweep.localCenter,this.m_sweep.c),this.m_sweep.c0.Copy(this.m_sweep.c),box2d.b2AddVCrossSV(this.m_linearVelocity,this.m_angularVelocity,box2d.b2SubVV(this.m_sweep.c,d,box2d.b2Vec2.s_t0),this.m_linearVelocity)},box2d.b2Body.prototype.ResetMassData.s_localCenter=new box2d.b2Vec2,box2d.b2Body.prototype.ResetMassData.s_oldCenter=new box2d.b2Vec2,box2d.b2Body.prototype.ResetMassData.s_massData=new box2d.b2MassData,box2d.b2Body.prototype.GetWorldPoint=function(a,b){return box2d.b2MulXV(this.m_xf,a,b)},box2d.b2Body.prototype.GetWorldVector=function(a,b){return box2d.b2MulRV(this.m_xf.q,a,b)},box2d.b2Body.prototype.GetLocalPoint=function(a,b){return box2d.b2MulTXV(this.m_xf,a,b)},box2d.b2Body.prototype.GetLocalVector=function(a,b){return box2d.b2MulTRV(this.m_xf.q,a,b)},box2d.b2Body.prototype.GetLinearVelocityFromWorldPoint=function(a,b){return box2d.b2AddVCrossSV(this.m_linearVelocity,this.m_angularVelocity,box2d.b2SubVV(a,this.m_sweep.c,box2d.b2Vec2.s_t0),b)},box2d.b2Body.prototype.GetLinearVelocityFromLocalPoint=function(a,b){return this.GetLinearVelocityFromWorldPoint(this.GetWorldPoint(a,b),b)},box2d.b2Body.prototype.GetLinearDamping=function(){return this.m_linearDamping},box2d.b2Body.prototype.SetLinearDamping=function(a){this.m_linearDamping=a},box2d.b2Body.prototype.GetAngularDamping=function(){return this.m_angularDamping},box2d.b2Body.prototype.SetAngularDamping=function(a){this.m_angularDamping=a},box2d.b2Body.prototype.GetGravityScale=function(){return this.m_gravityScale},box2d.b2Body.prototype.SetGravityScale=function(a){this.m_gravityScale=a},box2d.b2Body.prototype.SetType=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_world.IsLocked()===!1),this.m_world.IsLocked()!==!0&&this.m_type!==a){this.m_type=a,this.ResetMassData(),this.m_type===box2d.b2BodyType.b2_staticBody&&(this.m_linearVelocity.SetZero(),this.m_angularVelocity=0,this.m_sweep.a0=this.m_sweep.a,this.m_sweep.c0.Copy(this.m_sweep.c),this.SynchronizeFixtures()),this.SetAwake(!0),this.m_force.SetZero(),this.m_torque=0;for(var b=this.m_contactList;b;){var c=b;b=b.next,this.m_world.m_contactManager.Destroy(c.contact)}this.m_contactList=null;for(var d=this.m_world.m_contactManager.m_broadPhase,e=this.m_fixtureList;e;e=e.m_next)for(var f=e.m_proxyCount,g=0;f>g;++g)d.TouchProxy(e.m_proxies[g].proxy)}},box2d.b2Body.prototype.GetType=function(){return this.m_type},box2d.b2Body.prototype.SetBullet=function(a){a?this.m_flags|=box2d.b2BodyFlag.e_bulletFlag:this.m_flags&=~box2d.b2BodyFlag.e_bulletFlag},box2d.b2Body.prototype.IsBullet=function(){return(this.m_flags&box2d.b2BodyFlag.e_bulletFlag)===box2d.b2BodyFlag.e_bulletFlag},box2d.b2Body.prototype.SetSleepingAllowed=function(a){a?this.m_flags|=box2d.b2BodyFlag.e_autoSleepFlag:(this.m_flags&=~box2d.b2BodyFlag.e_autoSleepFlag,this.SetAwake(!0))},box2d.b2Body.prototype.IsSleepingAllowed=function(){return(this.m_flags&box2d.b2BodyFlag.e_autoSleepFlag)===box2d.b2BodyFlag.e_autoSleepFlag},box2d.b2Body.prototype.SetAwake=function(a){a?0===(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)&&(this.m_flags|=box2d.b2BodyFlag.e_awakeFlag,this.m_sleepTime=0):(this.m_flags&=~box2d.b2BodyFlag.e_awakeFlag,this.m_sleepTime=0,this.m_linearVelocity.SetZero(),this.m_angularVelocity=0,this.m_force.SetZero(),this.m_torque=0)},box2d.b2Body.prototype.IsAwake=function(){return(this.m_flags&box2d.b2BodyFlag.e_awakeFlag)===box2d.b2BodyFlag.e_awakeFlag},box2d.b2Body.prototype.SetActive=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_world.IsLocked()===!1),a!==this.IsActive())if(a){this.m_flags|=box2d.b2BodyFlag.e_activeFlag;for(var b=this.m_world.m_contactManager.m_broadPhase,c=this.m_fixtureList;c;c=c.m_next)c.CreateProxies(b,this.m_xf)}else{this.m_flags&=~box2d.b2BodyFlag.e_activeFlag;for(var b=this.m_world.m_contactManager.m_broadPhase,c=this.m_fixtureList;c;c=c.m_next)c.DestroyProxies(b);for(var d=this.m_contactList;d;){var e=d;d=d.next,this.m_world.m_contactManager.Destroy(e.contact)}this.m_contactList=null}},box2d.b2Body.prototype.IsActive=function(){return(this.m_flags&box2d.b2BodyFlag.e_activeFlag)===box2d.b2BodyFlag.e_activeFlag},box2d.b2Body.prototype.SetFixedRotation=function(a){var b=(this.m_flags&box2d.b2BodyFlag.e_fixedRotationFlag)===box2d.b2BodyFlag.e_fixedRotationFlag;b!==a&&(a?this.m_flags|=box2d.b2BodyFlag.e_fixedRotationFlag:this.m_flags&=~box2d.b2BodyFlag.e_fixedRotationFlag,this.m_angularVelocity=0,this.ResetMassData())},box2d.b2Body.prototype.IsFixedRotation=function(){return(this.m_flags&box2d.b2BodyFlag.e_fixedRotationFlag)===box2d.b2BodyFlag.e_fixedRotationFlag},box2d.b2Body.prototype.GetFixtureList=function(){return this.m_fixtureList},box2d.b2Body.prototype.GetJointList=function(){return this.m_jointList},box2d.b2Body.prototype.GetContactList=function(){return this.m_contactList},box2d.b2Body.prototype.GetNext=function(){return this.m_next},box2d.b2Body.prototype.GetUserData=function(){return this.m_userData},box2d.b2Body.prototype.SetUserData=function(a){this.m_userData=a},box2d.b2Body.prototype.GetWorld=function(){return this.m_world},box2d.b2Body.prototype.SynchronizeFixtures=function(){var a=box2d.b2Body.prototype.SynchronizeFixtures.s_xf1;a.q.SetAngleRadians(this.m_sweep.a0),box2d.b2MulRV(a.q,this.m_sweep.localCenter,a.p),box2d.b2SubVV(this.m_sweep.c0,a.p,a.p);for(var b=this.m_world.m_contactManager.m_broadPhase,c=this.m_fixtureList;c;c=c.m_next)c.Synchronize(b,a,this.m_xf)},box2d.b2Body.prototype.SynchronizeFixtures.s_xf1=new box2d.b2Transform,box2d.b2Body.prototype.SynchronizeTransform=function(){this.m_xf.q.SetAngleRadians(this.m_sweep.a),box2d.b2MulRV(this.m_xf.q,this.m_sweep.localCenter,this.m_xf.p),box2d.b2SubVV(this.m_sweep.c,this.m_xf.p,this.m_xf.p)},box2d.b2Body.prototype.ShouldCollide=function(a){if(this.m_type!==box2d.b2BodyType.b2_dynamicBody&&a.m_type!==box2d.b2BodyType.b2_dynamicBody)return!1;for(var b=this.m_jointList;b;b=b.next)if(b.other===a&&b.joint.m_collideConnected===!1)return!1;return!0},box2d.b2Body.prototype.Advance=function(a){this.m_sweep.Advance(a),this.m_sweep.c.Copy(this.m_sweep.c0),this.m_sweep.a=this.m_sweep.a0,this.m_xf.q.SetAngleRadians(this.m_sweep.a),box2d.b2MulRV(this.m_xf.q,this.m_sweep.localCenter,this.m_xf.p),box2d.b2SubVV(this.m_sweep.c,this.m_xf.p,this.m_xf.p)},box2d.b2Body.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_islandIndex;box2d.b2Log("if (true)\n"),box2d.b2Log("{\n"),box2d.b2Log("  /*box2d.b2BodyDef*/ var bd = new box2d.b2BodyDef();\n");var b="";switch(this.m_type){case box2d.b2BodyType.b2_staticBody:b="box2d.b2BodyType.b2_staticBody";break;case box2d.b2BodyType.b2_kinematicBody:b="box2d.b2BodyType.b2_kinematicBody";break;case box2d.b2BodyType.b2_dynamicBody:b="box2d.b2BodyType.b2_dynamicBody";break;default:box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1)}box2d.b2Log("  bd.type = %s;\n",b),box2d.b2Log("  bd.position.SetXY(%.15f, %.15f);\n",this.m_xf.p.x,this.m_xf.p.y),box2d.b2Log("  bd.angle = %.15f;\n",this.m_sweep.a),box2d.b2Log("  bd.linearVelocity.SetXY(%.15f, %.15f);\n",this.m_linearVelocity.x,this.m_linearVelocity.y),box2d.b2Log("  bd.angularVelocity = %.15f;\n",this.m_angularVelocity),box2d.b2Log("  bd.linearDamping = %.15f;\n",this.m_linearDamping),box2d.b2Log("  bd.angularDamping = %.15f;\n",this.m_angularDamping),box2d.b2Log("  bd.allowSleep = %s;\n",this.m_flags&box2d.b2BodyFlag.e_autoSleepFlag?"true":"false"),box2d.b2Log("  bd.awake = %s;\n",this.m_flags&box2d.b2BodyFlag.e_awakeFlag?"true":"false"),box2d.b2Log("  bd.fixedRotation = %s;\n",this.m_flags&box2d.b2BodyFlag.e_fixedRotationFlag?"true":"false"),box2d.b2Log("  bd.bullet = %s;\n",this.m_flags&box2d.b2BodyFlag.e_bulletFlag?"true":"false"),box2d.b2Log("  bd.active = %s;\n",this.m_flags&box2d.b2BodyFlag.e_activeFlag?"true":"false"),box2d.b2Log("  bd.gravityScale = %.15f;\n",this.m_gravityScale),box2d.b2Log("\n"),box2d.b2Log("  bodies[%d] = this.m_world.CreateBody(bd);\n",this.m_islandIndex),box2d.b2Log("\n");for(var c=this.m_fixtureList;c;c=c.m_next)box2d.b2Log("  if (true)\n"),box2d.b2Log("  {\n"),c.Dump(a),box2d.b2Log("  }\n");box2d.b2Log("}\n")}},box2d.b2Body.prototype.GetControllerList=function(){return this.m_controllerList},box2d.b2Body.prototype.GetControllerCount=function(){return this.m_controllerCount},goog.provide("box2d.b2World"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Draw"),goog.require("box2d.b2ContactManager"),goog.require("box2d.b2ContactSolver"),goog.require("box2d.b2Island"),goog.require("box2d.b2Body"),goog.require("box2d.b2Math"),goog.require("box2d.b2Collision"),goog.require("box2d.b2TimeStep"),goog.require("box2d.b2WorldCallbacks"),goog.require("box2d.b2JointFactory"),box2d.b2WorldFlag={e_none:0,e_newFixture:1,e_locked:2,e_clearForces:4},goog.exportProperty(box2d.b2WorldFlag,"e_none",box2d.b2WorldFlag.e_none),goog.exportProperty(box2d.b2WorldFlag,"e_newFixture",box2d.b2WorldFlag.e_newFixture),goog.exportProperty(box2d.b2WorldFlag,"e_locked",box2d.b2WorldFlag.e_locked),goog.exportProperty(box2d.b2WorldFlag,"e_clearForces",box2d.b2WorldFlag.e_clearForces),box2d.b2World=function(a){this.m_flags=box2d.b2WorldFlag.e_clearForces,this.m_contactManager=new box2d.b2ContactManager,this.m_gravity=a.Clone(),this.m_out_gravity=new box2d.b2Vec2,this.m_allowSleep=!0,this.m_destructionListener=null,this.m_debugDraw=null,this.m_warmStarting=!0,this.m_continuousPhysics=!0,this.m_subStepping=!1,this.m_stepComplete=!0,this.m_profile=new box2d.b2Profile,this.m_island=new box2d.b2Island,this.s_stack=new Array},box2d.b2World.prototype.m_flags=box2d.b2WorldFlag.e_none,box2d.b2World.prototype.m_contactManager=null,box2d.b2World.prototype.m_bodyList=null,box2d.b2World.prototype.m_jointList=null,box2d.b2World.prototype.m_bodyCount=0,box2d.b2World.prototype.m_jointCount=0,box2d.b2World.prototype.m_gravity=null,box2d.b2World.prototype.m_out_gravity=null,box2d.b2World.prototype.m_allowSleep=!0,box2d.b2World.prototype.m_destructionListener=null,box2d.b2World.prototype.m_debugDraw=null,box2d.b2World.prototype.m_inv_dt0=0,box2d.b2World.prototype.m_warmStarting=!0,box2d.b2World.prototype.m_continuousPhysics=!0,box2d.b2World.prototype.m_subStepping=!1,box2d.b2World.prototype.m_stepComplete=!0,box2d.b2World.prototype.m_profile=null,box2d.b2World.prototype.m_island=null,box2d.b2World.prototype.s_stack=null,box2d.b2World.prototype.m_controllerList=null,box2d.b2World.prototype.m_controllerCount=0,box2d.b2World.prototype.SetAllowSleeping=function(a){if(a!==this.m_allowSleep&&(this.m_allowSleep=a,this.m_allowSleep===!1))for(var b=this.m_bodyList;b;b=b.m_next)b.SetAwake(!0)},box2d.b2World.prototype.GetAllowSleeping=function(){return this.m_allowSleep},box2d.b2World.prototype.SetWarmStarting=function(a){this.m_warmStarting=a},box2d.b2World.prototype.GetWarmStarting=function(){return this.m_warmStarting},box2d.b2World.prototype.SetContinuousPhysics=function(a){this.m_continuousPhysics=a},box2d.b2World.prototype.GetContinuousPhysics=function(){return this.m_continuousPhysics},box2d.b2World.prototype.SetSubStepping=function(a){this.m_subStepping=a},box2d.b2World.prototype.GetSubStepping=function(){return this.m_subStepping},box2d.b2World.prototype.GetBodyList=function(){return this.m_bodyList},box2d.b2World.prototype.GetJointList=function(){return this.m_jointList},box2d.b2World.prototype.GetContactList=function(){return this.m_contactManager.m_contactList},box2d.b2World.prototype.GetBodyCount=function(){return this.m_bodyCount},box2d.b2World.prototype.GetJointCount=function(){return this.m_jointCount},box2d.b2World.prototype.GetContactCount=function(){return this.m_contactManager.m_contactCount},box2d.b2World.prototype.SetGravity=function(a,b){if(b=b||!0,(this.m_gravity.x!==a.x||this.m_gravity.y!==a.y)&&(this.m_gravity.Copy(a),b))for(var c=this.m_bodyList;c;c=c.m_next)c.SetAwake(!0)},box2d.b2World.prototype.GetGravity=function(a){return a=a||this.m_out_gravity,a.Copy(this.m_gravity)},box2d.b2World.prototype.IsLocked=function(){return(this.m_flags&box2d.b2WorldFlag.e_locked)>0},box2d.b2World.prototype.SetAutoClearForces=function(a){a?this.m_flags|=box2d.b2WorldFlag.e_clearForces:this.m_flags&=~box2d.b2WorldFlag.e_clearForces},box2d.b2World.prototype.GetAutoClearForces=function(){return(this.m_flags&box2d.b2WorldFlag.e_clearForces)===box2d.b2WorldFlag.e_clearForces},box2d.b2World.prototype.GetContactManager=function(){return this.m_contactManager},box2d.b2World.prototype.GetProfile=function(){return this.m_profile},box2d.b2World.prototype.SetDestructionListener=function(a){this.m_destructionListener=a},box2d.b2World.prototype.SetContactFilter=function(a){this.m_contactManager.m_contactFilter=a},box2d.b2World.prototype.SetContactListener=function(a){this.m_contactManager.m_contactListener=a},box2d.b2World.prototype.SetDebugDraw=function(a){this.m_debugDraw=a},box2d.b2World.prototype.CreateBody=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.IsLocked()===!1),this.IsLocked())return null;var b=new box2d.b2Body(a,this);return b.m_prev=null,b.m_next=this.m_bodyList,this.m_bodyList&&(this.m_bodyList.m_prev=b),this.m_bodyList=b,++this.m_bodyCount,b},box2d.b2World.prototype.DestroyBody=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_bodyCount>0),box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.IsLocked()===!1),!this.IsLocked()){for(var b=a.m_jointList;b;){var c=b;b=b.next,this.m_destructionListener&&this.m_destructionListener.SayGoodbyeJoint(c.joint),this.DestroyJoint(c.joint),a.m_jointList=b}a.m_jointList=null;for(var d=a.m_controllerList;d;){var e=d;d=d.nextController,e.controller.RemoveBody(a)}for(var f=a.m_contactList;f;){var g=f;f=f.next,this.m_contactManager.Destroy(g.contact)}a.m_contactList=null;for(var h=a.m_fixtureList;h;){var i=h;h=h.m_next,this.m_destructionListener&&this.m_destructionListener.SayGoodbyeFixture(i),i.DestroyProxies(this.m_contactManager.m_broadPhase),i.Destroy(),a.m_fixtureList=h,a.m_fixtureCount-=1}a.m_fixtureList=null,a.m_fixtureCount=0,a.m_prev&&(a.m_prev.m_next=a.m_next),a.m_next&&(a.m_next.m_prev=a.m_prev),a===this.m_bodyList&&(this.m_bodyList=a.m_next),--this.m_bodyCount}},box2d.b2World.prototype.CreateJoint=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.IsLocked()===!1),this.IsLocked())return null;var b=box2d.b2JointFactory.Create(a,null);b.m_prev=null,b.m_next=this.m_jointList,this.m_jointList&&(this.m_jointList.m_prev=b),this.m_jointList=b,++this.m_jointCount,b.m_edgeA.joint=b,b.m_edgeA.other=b.m_bodyB,b.m_edgeA.prev=null,b.m_edgeA.next=b.m_bodyA.m_jointList,b.m_bodyA.m_jointList&&(b.m_bodyA.m_jointList.prev=b.m_edgeA),b.m_bodyA.m_jointList=b.m_edgeA,b.m_edgeB.joint=b,b.m_edgeB.other=b.m_bodyA,b.m_edgeB.prev=null,b.m_edgeB.next=b.m_bodyB.m_jointList,b.m_bodyB.m_jointList&&(b.m_bodyB.m_jointList.prev=b.m_edgeB),b.m_bodyB.m_jointList=b.m_edgeB;var c=a.bodyA,d=a.bodyB;if(a.collideConnected===!1)for(var e=d.GetContactList();e;)e.other===c&&e.contact.FlagForFiltering(),e=e.next;return b},box2d.b2World.prototype.DestroyJoint=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.IsLocked()===!1),!this.IsLocked()){var b=a.m_collideConnected;a.m_prev&&(a.m_prev.m_next=a.m_next),a.m_next&&(a.m_next.m_prev=a.m_prev),a===this.m_jointList&&(this.m_jointList=a.m_next);var c=a.m_bodyA,d=a.m_bodyB;if(c.SetAwake(!0),d.SetAwake(!0),a.m_edgeA.prev&&(a.m_edgeA.prev.next=a.m_edgeA.next),a.m_edgeA.next&&(a.m_edgeA.next.prev=a.m_edgeA.prev),a.m_edgeA===c.m_jointList&&(c.m_jointList=a.m_edgeA.next),a.m_edgeA.prev=null,a.m_edgeA.next=null,a.m_edgeB.prev&&(a.m_edgeB.prev.next=a.m_edgeB.next),a.m_edgeB.next&&(a.m_edgeB.next.prev=a.m_edgeB.prev),a.m_edgeB===d.m_jointList&&(d.m_jointList=a.m_edgeB.next),a.m_edgeB.prev=null,a.m_edgeB.next=null,box2d.b2JointFactory.Destroy(a,null),box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.m_jointCount>0),--this.m_jointCount,b===!1)for(var e=d.GetContactList();e;)e.other===c&&e.contact.FlagForFiltering(),e=e.next}},box2d.b2World.prototype.Solve=function(a){for(var b=this.m_controllerList;b;b=b.m_next)b.Step(a);this.m_profile.solveInit=0,this.m_profile.solveVelocity=0,this.m_profile.solvePosition=0;var c=this.m_island;c.Initialize(this.m_bodyCount,this.m_contactManager.m_contactCount,this.m_jointCount,null,this.m_contactManager.m_contactListener);for(var d=this.m_bodyList;d;d=d.m_next)d.m_flags&=~box2d.b2BodyFlag.e_islandFlag;for(var e=this.m_contactManager.m_contactList;e;e=e.m_next)e.m_flags&=~box2d.b2ContactFlag.e_islandFlag;for(var f=this.m_jointList;f;f=f.m_next)f.m_islandFlag=!1;for(var g=this.m_bodyCount,h=this.s_stack,i=this.m_bodyList;i;i=i.m_next)if(!(i.m_flags&box2d.b2BodyFlag.e_islandFlag)&&i.IsAwake()!==!1&&i.IsActive()!==!1&&i.GetType()!==box2d.b2BodyType.b2_staticBody){c.Clear();var j=0;for(h[j++]=i,i.m_flags|=box2d.b2BodyFlag.e_islandFlag;j>0;){var d=h[--j];if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(d.IsActive()===!0),c.AddBody(d),d.SetAwake(!0),d.GetType()!==box2d.b2BodyType.b2_staticBody){for(var k=d.m_contactList;k;k=k.next){var l=k.contact;if(!(l.m_flags&box2d.b2ContactFlag.e_islandFlag)&&l.IsEnabled()!==!1&&l.IsTouching()!==!1){var m=l.m_fixtureA.m_isSensor,n=l.m_fixtureB.m_isSensor;
if(!m&&!n){c.AddContact(l),l.m_flags|=box2d.b2ContactFlag.e_islandFlag;var o=k.other;o.m_flags&box2d.b2BodyFlag.e_islandFlag||(box2d.ENABLE_ASSERTS&&box2d.b2Assert(g>j),h[j++]=o,o.m_flags|=box2d.b2BodyFlag.e_islandFlag)}}}for(var p=d.m_jointList;p;p=p.next)if(p.joint.m_islandFlag!==!0){var o=p.other;o.IsActive()!==!1&&(c.AddJoint(p.joint),p.joint.m_islandFlag=!0,o.m_flags&box2d.b2BodyFlag.e_islandFlag||(box2d.ENABLE_ASSERTS&&box2d.b2Assert(g>j),h[j++]=o,o.m_flags|=box2d.b2BodyFlag.e_islandFlag))}}}var q=new box2d.b2Profile;c.Solve(q,a,this.m_gravity,this.m_allowSleep),this.m_profile.solveInit+=q.solveInit,this.m_profile.solveVelocity+=q.solveVelocity,this.m_profile.solvePosition+=q.solvePosition;for(var r=0;r<c.m_bodyCount;++r){var d=c.m_bodies[r];d.GetType()===box2d.b2BodyType.b2_staticBody&&(d.m_flags&=~box2d.b2BodyFlag.e_islandFlag)}}for(var r=0;r<h.length&&h[r];++r)h[r]=null;for(var s=new box2d.b2Timer,d=this.m_bodyList;d;d=d.m_next)0!==(d.m_flags&box2d.b2BodyFlag.e_islandFlag)&&d.GetType()!==box2d.b2BodyType.b2_staticBody&&d.SynchronizeFixtures();this.m_contactManager.FindNewContacts(),this.m_profile.broadphase=s.GetMilliseconds()},box2d.b2World.prototype.SolveTOI=function(a){var b=this.m_island;if(b.Initialize(2*box2d.b2_maxTOIContacts,box2d.b2_maxTOIContacts,0,null,this.m_contactManager.m_contactListener),this.m_stepComplete){for(var c=this.m_bodyList;c;c=c.m_next)c.m_flags&=~box2d.b2BodyFlag.e_islandFlag,c.m_sweep.alpha0=0;for(var d=this.m_contactManager.m_contactList;d;d=d.m_next)d.m_flags&=~(box2d.b2ContactFlag.e_toiFlag|box2d.b2ContactFlag.e_islandFlag),d.m_toiCount=0,d.m_toi=1}for(;;){for(var e=null,f=1,d=this.m_contactManager.m_contactList;d;d=d.m_next)if(d.IsEnabled()!==!1&&!(d.m_toiCount>box2d.b2_maxSubSteps)){var g=1;if(d.m_flags&box2d.b2ContactFlag.e_toiFlag)g=d.m_toi;else{var h=d.GetFixtureA(),i=d.GetFixtureB();if(h.IsSensor()||i.IsSensor())continue;var j=h.GetBody(),k=i.GetBody(),l=j.m_type,m=k.m_type;box2d.ENABLE_ASSERTS&&box2d.b2Assert(l===box2d.b2BodyType.b2_dynamicBody||m===box2d.b2BodyType.b2_dynamicBody);var n=j.IsAwake()&&l!==box2d.b2BodyType.b2_staticBody,o=k.IsAwake()&&m!==box2d.b2BodyType.b2_staticBody;if(n===!1&&o===!1)continue;var p=j.IsBullet()||l!==box2d.b2BodyType.b2_dynamicBody,q=k.IsBullet()||m!==box2d.b2BodyType.b2_dynamicBody;if(p===!1&&q===!1)continue;var r=j.m_sweep.alpha0;j.m_sweep.alpha0<k.m_sweep.alpha0?(r=k.m_sweep.alpha0,j.m_sweep.Advance(r)):k.m_sweep.alpha0<j.m_sweep.alpha0&&(r=j.m_sweep.alpha0,k.m_sweep.Advance(r)),box2d.ENABLE_ASSERTS&&box2d.b2Assert(1>r);var s=d.GetChildIndexA(),t=d.GetChildIndexB(),u=box2d.b2World.prototype.SolveTOI.s_toi_input;u.proxyA.SetShape(h.GetShape(),s),u.proxyB.SetShape(i.GetShape(),t),u.sweepA.Copy(j.m_sweep),u.sweepB.Copy(k.m_sweep),u.tMax=1;var v=box2d.b2World.prototype.SolveTOI.s_toi_output;box2d.b2TimeOfImpact(v,u);var w=v.t;g=v.state===box2d.b2TOIOutputState.e_touching?box2d.b2Min(r+(1-r)*w,1):1,d.m_toi=g,d.m_flags|=box2d.b2ContactFlag.e_toiFlag}f>g&&(e=d,f=g)}if(null===e||1-10*box2d.b2_epsilon<f){this.m_stepComplete=!0;break}var h=e.GetFixtureA(),i=e.GetFixtureB(),j=h.GetBody(),k=i.GetBody(),x=box2d.b2World.prototype.SolveTOI.s_backup1.Copy(j.m_sweep),y=box2d.b2World.prototype.SolveTOI.s_backup2.Copy(k.m_sweep);if(j.Advance(f),k.Advance(f),e.Update(this.m_contactManager.m_contactListener),e.m_flags&=~box2d.b2ContactFlag.e_toiFlag,++e.m_toiCount,e.IsEnabled()!==!1&&e.IsTouching()!==!1){j.SetAwake(!0),k.SetAwake(!0),b.Clear(),b.AddBody(j),b.AddBody(k),b.AddContact(e),j.m_flags|=box2d.b2BodyFlag.e_islandFlag,k.m_flags|=box2d.b2BodyFlag.e_islandFlag,e.m_flags|=box2d.b2ContactFlag.e_islandFlag;for(var z=0;2>z;++z){var A=0===z?j:k;if(A.m_type===box2d.b2BodyType.b2_dynamicBody)for(var B=A.m_contactList;B&&b.m_bodyCount!==b.m_bodyCapacity&&b.m_contactCount!==b.m_contactCapacity;B=B.next){var C=B.contact;if(!(C.m_flags&box2d.b2ContactFlag.e_islandFlag)){var D=B.other;if(D.m_type!==box2d.b2BodyType.b2_dynamicBody||A.IsBullet()!==!1||D.IsBullet()!==!1){var E=C.m_fixtureA.m_isSensor,F=C.m_fixtureB.m_isSensor;if(!E&&!F){var G=box2d.b2World.prototype.SolveTOI.s_backup.Copy(D.m_sweep);0===(D.m_flags&box2d.b2BodyFlag.e_islandFlag)&&D.Advance(f),C.Update(this.m_contactManager.m_contactListener),C.IsEnabled()!==!1&&C.IsTouching()!==!1?(C.m_flags|=box2d.b2ContactFlag.e_islandFlag,b.AddContact(C),D.m_flags&box2d.b2BodyFlag.e_islandFlag||(D.m_flags|=box2d.b2BodyFlag.e_islandFlag,D.m_type!==box2d.b2BodyType.b2_staticBody&&D.SetAwake(!0),b.AddBody(D))):(D.m_sweep.Copy(G),D.SynchronizeTransform())}}}}}var H=box2d.b2World.prototype.SolveTOI.s_subStep;H.dt=(1-f)*a.dt,H.inv_dt=1/H.dt,H.dtRatio=1,H.positionIterations=20,H.velocityIterations=a.velocityIterations,H.warmStarting=!1,b.SolveTOI(H,j.m_islandIndex,k.m_islandIndex);for(var z=0;z<b.m_bodyCount;++z){var A=b.m_bodies[z];if(A.m_flags&=~box2d.b2BodyFlag.e_islandFlag,A.m_type===box2d.b2BodyType.b2_dynamicBody){A.SynchronizeFixtures();for(var B=A.m_contactList;B;B=B.next)B.contact.m_flags&=~(box2d.b2ContactFlag.e_toiFlag|box2d.b2ContactFlag.e_islandFlag)}}if(this.m_contactManager.FindNewContacts(),this.m_subStepping){this.m_stepComplete=!1;break}}else e.SetEnabled(!1),j.m_sweep.Copy(x),k.m_sweep.Copy(y),j.SynchronizeTransform(),k.SynchronizeTransform()}},box2d.b2World.prototype.SolveTOI.s_subStep=new box2d.b2TimeStep,box2d.b2World.prototype.SolveTOI.s_backup=new box2d.b2Sweep,box2d.b2World.prototype.SolveTOI.s_backup1=new box2d.b2Sweep,box2d.b2World.prototype.SolveTOI.s_backup2=new box2d.b2Sweep,box2d.b2World.prototype.SolveTOI.s_toi_input=new box2d.b2TOIInput,box2d.b2World.prototype.SolveTOI.s_toi_output=new box2d.b2TOIOutput,box2d.b2World.prototype.Step=function(a,b,c){var d=new box2d.b2Timer;this.m_flags&box2d.b2WorldFlag.e_newFixture&&(this.m_contactManager.FindNewContacts(),this.m_flags&=~box2d.b2WorldFlag.e_newFixture),this.m_flags|=box2d.b2WorldFlag.e_locked;var e=box2d.b2World.prototype.Step.s_step;e.dt=a,e.velocityIterations=b,e.positionIterations=c,e.inv_dt=a>0?1/a:0,e.dtRatio=this.m_inv_dt0*a,e.warmStarting=this.m_warmStarting;var f=new box2d.b2Timer;if(this.m_contactManager.Collide(),this.m_profile.collide=f.GetMilliseconds(),this.m_stepComplete&&e.dt>0){var f=new box2d.b2Timer;this.Solve(e),this.m_profile.solve=f.GetMilliseconds()}if(this.m_continuousPhysics&&e.dt>0){var f=new box2d.b2Timer;this.SolveTOI(e),this.m_profile.solveTOI=f.GetMilliseconds()}e.dt>0&&(this.m_inv_dt0=e.inv_dt),this.m_flags&box2d.b2WorldFlag.e_clearForces&&this.ClearForces(),this.m_flags&=~box2d.b2WorldFlag.e_locked,this.m_profile.step=d.GetMilliseconds()},box2d.b2World.prototype.Step.s_step=new box2d.b2TimeStep,box2d.b2World.prototype.ClearForces=function(){for(var a=this.m_bodyList;a;a=a.m_next)a.m_force.SetZero(),a.m_torque=0},box2d.b2World.prototype.QueryAABB=function(a,b){var c=this.m_contactManager.m_broadPhase,d=function(b){var d=c.GetUserData(b);box2d.ENABLE_ASSERTS&&box2d.b2Assert(d instanceof box2d.b2FixtureProxy);{var e=d.fixture;d.childIndex}return a instanceof box2d.b2QueryCallback?a.ReportFixture(e):a(e)};c.Query(d,b)},box2d.b2World.prototype.QueryShape=function(a,b,c){var d=this.m_contactManager.m_broadPhase,e=function(e){var f=d.GetUserData(e);box2d.ENABLE_ASSERTS&&box2d.b2Assert(f instanceof box2d.b2FixtureProxy);{var g=f.fixture;f.childIndex}return box2d.b2TestOverlapShape(b,0,g.GetShape(),0,c,g.GetBody().GetTransform())?a instanceof box2d.b2QueryCallback?a.ReportFixture(g):a(g):!0},f=box2d.b2World.prototype.QueryShape.s_aabb;b.ComputeAABB(f,c,0),d.Query(e,f)},box2d.b2World.prototype.QueryShape.s_aabb=new box2d.b2AABB,box2d.b2World.prototype.QueryPoint=function(a,b){var c=this.m_contactManager.m_broadPhase,d=function(d){var e=c.GetUserData(d);box2d.ENABLE_ASSERTS&&box2d.b2Assert(e instanceof box2d.b2FixtureProxy);{var f=e.fixture;e.childIndex}return f.TestPoint(b)?a instanceof box2d.b2QueryCallback?a.ReportFixture(f):a(f):!0},e=box2d.b2World.prototype.QueryPoint.s_aabb;e.lowerBound.SetXY(b.x-box2d.b2_linearSlop,b.y-box2d.b2_linearSlop),e.upperBound.SetXY(b.x+box2d.b2_linearSlop,b.y+box2d.b2_linearSlop),c.Query(d,e)},box2d.b2World.prototype.QueryPoint.s_aabb=new box2d.b2AABB,box2d.b2World.prototype.RayCast=function(a,b,c){var d=this.m_contactManager.m_broadPhase,e=function(e,f){var g=d.GetUserData(f);box2d.ENABLE_ASSERTS&&box2d.b2Assert(g instanceof box2d.b2FixtureProxy);var h=g.fixture,i=g.childIndex,j=box2d.b2World.prototype.RayCast.s_output,k=h.RayCast(j,e,i);if(k){var l=j.fraction,m=box2d.b2World.prototype.RayCast.s_point;return m.SetXY((1-l)*b.x+l*c.x,(1-l)*b.y+l*c.y),a instanceof box2d.b2RayCastCallback?a.ReportFixture(h,m,j.normal,l):a(h,m,j.normal,l)}return e.maxFraction},f=box2d.b2World.prototype.RayCast.s_input;f.maxFraction=1,f.p1.Copy(b),f.p2.Copy(c),d.RayCast(e,f)},box2d.b2World.prototype.RayCast.s_input=new box2d.b2RayCastInput,box2d.b2World.prototype.RayCast.s_output=new box2d.b2RayCastOutput,box2d.b2World.prototype.RayCast.s_point=new box2d.b2Vec2,box2d.b2World.prototype.RayCastOne=function(a,b){function c(a,b,c,f){return e>f&&(e=f,d=a),e}var d=null,e=1;return this.RayCast(c,a,b),d},box2d.b2World.prototype.RayCastAll=function(a,b,c){function d(a){return c.push(a),1}return c.length=0,this.RayCast(d,a,b),c},box2d.b2World.prototype.DrawShape=function(a,b){var c=a.GetShape();switch(c.m_type){case box2d.b2ShapeType.e_circleShape:var d=c instanceof box2d.b2CircleShape?c:null,e=d.m_p,f=d.m_radius,g=box2d.b2Vec2.UNITX;this.m_debugDraw.DrawSolidCircle(e,f,g,b);break;case box2d.b2ShapeType.e_edgeShape:var h=c instanceof box2d.b2EdgeShape?c:null,i=h.m_vertex1,j=h.m_vertex2;this.m_debugDraw.DrawSegment(i,j,b);break;case box2d.b2ShapeType.e_chainShape:for(var k=c instanceof box2d.b2ChainShape?c:null,l=k.m_count,m=k.m_vertices,i=m[0],n=0;l>n;++n){var j=m[n];this.m_debugDraw.DrawSegment(i,j,b),this.m_debugDraw.DrawCircle(j,.05,b),i=j}break;case box2d.b2ShapeType.e_polygonShape:var o=c instanceof box2d.b2PolygonShape?c:null,p=o.m_count,m=o.m_vertices;this.m_debugDraw.DrawSolidPolygon(m,p,b)}},box2d.b2World.prototype.DrawJoint=function(a){var b=a.GetBodyA(),c=a.GetBodyB(),d=b.m_xf,e=c.m_xf,f=d.p,g=e.p,h=a.GetAnchorA(box2d.b2World.prototype.DrawJoint.s_p1),i=a.GetAnchorB(box2d.b2World.prototype.DrawJoint.s_p2),j=box2d.b2World.prototype.DrawJoint.s_color.SetRGB(.5,.8,.8);switch(a.m_type){case box2d.b2JointType.e_distanceJoint:this.m_debugDraw.DrawSegment(h,i,j);break;case box2d.b2JointType.e_pulleyJoint:var k=a instanceof box2d.b2PulleyJoint?a:null,l=k.GetGroundAnchorA(box2d.b2World.prototype.DrawJoint.s_s1),m=k.GetGroundAnchorB(box2d.b2World.prototype.DrawJoint.s_s2);this.m_debugDraw.DrawSegment(l,h,j),this.m_debugDraw.DrawSegment(m,i,j),this.m_debugDraw.DrawSegment(l,m,j);break;case box2d.b2JointType.e_mouseJoint:this.m_debugDraw.DrawSegment(h,i,j);break;default:this.m_debugDraw.DrawSegment(f,h,j),this.m_debugDraw.DrawSegment(h,i,j),this.m_debugDraw.DrawSegment(g,i,j)}},box2d.b2World.prototype.DrawJoint.s_p1=new box2d.b2Vec2,box2d.b2World.prototype.DrawJoint.s_p2=new box2d.b2Vec2,box2d.b2World.prototype.DrawJoint.s_color=new box2d.b2Color(.5,.8,.8),box2d.b2World.prototype.DrawJoint.s_s1=new box2d.b2Vec2,box2d.b2World.prototype.DrawJoint.s_s2=new box2d.b2Vec2,box2d.b2World.prototype.DrawDebugData=function(){if(null!==this.m_debugDraw){var a=this.m_debugDraw.GetFlags(),b=box2d.b2World.prototype.DrawDebugData.s_color.SetRGB(0,0,0);if(a&box2d.b2DrawFlags.e_shapeBit)for(var c=this.m_bodyList;c;c=c.m_next){var d=c.m_xf;this.m_debugDraw.PushTransform(d);for(var e=c.GetFixtureList();e;e=e.m_next)c.IsActive()===!1?(b.SetRGB(.5,.5,.3),this.DrawShape(e,b)):c.GetType()===box2d.b2BodyType.b2_staticBody?(b.SetRGB(.5,.9,.5),this.DrawShape(e,b)):c.GetType()===box2d.b2BodyType.b2_kinematicBody?(b.SetRGB(.5,.5,.9),this.DrawShape(e,b)):c.IsAwake()===!1?(b.SetRGB(.6,.6,.6),this.DrawShape(e,b)):(b.SetRGB(.9,.7,.7),this.DrawShape(e,b));this.m_debugDraw.PopTransform(d)}if(a&box2d.b2DrawFlags.e_jointBit)for(var f=this.m_jointList;f;f=f.m_next)this.DrawJoint(f);if(a&box2d.b2DrawFlags.e_aabbBit){b.SetRGB(.9,.3,.9);for(var g=this.m_contactManager.m_broadPhase,h=box2d.b2World.prototype.DrawDebugData.s_vs,c=this.m_bodyList;c;c=c.m_next)if(c.IsActive()!==!1)for(var e=c.GetFixtureList();e;e=e.m_next)for(var i=0;i<e.m_proxyCount;++i){var j=e.m_proxies[i],k=g.GetFatAABB(j.proxy);h[0].SetXY(k.lowerBound.x,k.lowerBound.y),h[1].SetXY(k.upperBound.x,k.lowerBound.y),h[2].SetXY(k.upperBound.x,k.upperBound.y),h[3].SetXY(k.lowerBound.x,k.upperBound.y),this.m_debugDraw.DrawPolygon(h,4,b)}}if(a&box2d.b2DrawFlags.e_centerOfMassBit)for(var c=this.m_bodyList;c;c=c.m_next){var d=box2d.b2World.prototype.DrawDebugData.s_xf;d.q.Copy(c.m_xf.q),d.p.Copy(c.GetWorldCenter()),this.m_debugDraw.DrawTransform(d)}if(a&box2d.b2DrawFlags.e_controllerBit)for(var l=this.m_controllerList;l;l=l.m_next)l.Draw(this.m_debugDraw)}},box2d.b2World.prototype.DrawDebugData.s_color=new box2d.b2Color(0,0,0),box2d.b2World.prototype.DrawDebugData.s_vs=box2d.b2Vec2.MakeArray(4),box2d.b2World.prototype.DrawDebugData.s_xf=new box2d.b2Transform,box2d.b2World.prototype.SetBroadPhase=function(a){var b=this.m_contactManager.m_broadPhase;this.m_contactManager.m_broadPhase=a;for(var c=this.m_bodyList;c;c=c.m_next)for(var d=c.m_fixtureList;d;d=d.m_next)d.m_proxy=a.CreateProxy(b.GetFatAABB(d.m_proxy),d)},box2d.b2World.prototype.GetProxyCount=function(){return this.m_contactManager.m_broadPhase.GetProxyCount()},box2d.b2World.prototype.GetTreeHeight=function(){return this.m_contactManager.m_broadPhase.GetTreeHeight()},box2d.b2World.prototype.GetTreeBalance=function(){return this.m_contactManager.m_broadPhase.GetTreeBalance()},box2d.b2World.prototype.GetTreeQuality=function(){return this.m_contactManager.m_broadPhase.GetTreeQuality()},box2d.b2World.prototype.ShiftOrigin=function(a){if(box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.IsLocked()===!1),!this.IsLocked()){for(var b=this.m_bodyList;b;b=b.m_next)b.m_xf.p.SelfSub(a),b.m_sweep.c0.SelfSub(a),b.m_sweep.c.SelfSub(a);for(var c=this.m_jointList;c;c=c.m_next)c.ShiftOrigin(a);this.m_contactManager.m_broadPhase.ShiftOrigin(a)}},box2d.b2World.prototype.Dump=function(){if(box2d.DEBUG){if((this.m_flags&box2d.b2WorldFlag.e_locked)===box2d.b2WorldFlag.e_locked)return;box2d.b2Log("/** @type {box2d.b2Vec2} */ var g = new box2d.b2Vec2(%.15f, %.15f);\n",this.m_gravity.x,this.m_gravity.y),box2d.b2Log("this.m_world.SetGravity(g);\n"),box2d.b2Log("/** @type {Array.<box2d.b2Body>} */ var bodies = new Array(%d);\n",this.m_bodyCount),box2d.b2Log("/** @type {Array.<box2d.b2Joint>} */ var joints = new Array(%d);\n",this.m_jointCount);for(var a=0,b=this.m_bodyList;b;b=b.m_next)b.m_islandIndex=a,b.Dump(),++a;a=0;for(var c=this.m_jointList;c;c=c.m_next)c.m_index=a,++a;for(var c=this.m_jointList;c;c=c.m_next)c.m_type!==box2d.b2JointType.e_gearJoint&&(box2d.b2Log("if (true)\n"),box2d.b2Log("{\n"),c.Dump(),box2d.b2Log("}\n"));for(var c=this.m_jointList;c;c=c.m_next)c.m_type===box2d.b2JointType.e_gearJoint&&(box2d.b2Log("if (true)\n"),box2d.b2Log("{\n"),c.Dump(),box2d.b2Log("}\n"))}},box2d.b2World.prototype.AddController=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(null===a.m_world,"Controller can only be a member of one world"),a.m_world=this,a.m_next=this.m_controllerList,a.m_prev=null,this.m_controllerList&&(this.m_controllerList.m_prev=a),this.m_controllerList=a,++this.m_controllerCount,a},box2d.b2World.prototype.RemoveController=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.m_world===this,"Controller is not a member of this world"),a.m_prev&&(a.m_prev.m_next=a.m_next),a.m_next&&(a.m_next.m_prev=a.m_prev),this.m_controllerList===a&&(this.m_controllerList=a.m_next),--this.m_controllerCount,a.m_prev=null,a.m_next=null,a.m_world=null},goog.provide("box2d.b2AreaJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2AreaJointDef=function(){goog.base(this,box2d.b2JointType.e_areaJoint),this.bodies=new Array},goog.inherits(box2d.b2AreaJointDef,box2d.b2JointDef),box2d.b2AreaJointDef.prototype.world=null,box2d.b2AreaJointDef.prototype.bodies=null,box2d.b2AreaJointDef.prototype.frequencyHz=0,box2d.b2AreaJointDef.prototype.dampingRatio=0,box2d.b2AreaJointDef.prototype.AddBody=function(a){this.bodies.push(a),1===this.bodies.length?this.bodyA=a:2===this.bodies.length&&(this.bodyB=a)},box2d.b2AreaJoint=function(a){goog.base(this,a),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.bodies.length>=3,"You cannot create an area joint with less than three bodies."),this.m_bodies=a.bodies,this.m_frequencyHz=a.frequencyHz,this.m_dampingRatio=a.dampingRatio,this.m_targetLengths=box2d.b2MakeNumberArray(a.bodies.length),this.m_normals=box2d.b2Vec2.MakeArray(a.bodies.length),this.m_joints=new Array(a.bodies.length),this.m_deltas=box2d.b2Vec2.MakeArray(a.bodies.length),this.m_delta=new box2d.b2Vec2;var b=new box2d.b2DistanceJointDef;b.frequencyHz=a.frequencyHz,b.dampingRatio=a.dampingRatio,this.m_targetArea=0;for(var c=0,d=this.m_bodies.length;d>c;++c){var e=this.m_bodies[c],f=this.m_bodies[(c+1)%d],g=e.GetWorldCenter(),h=f.GetWorldCenter();this.m_targetLengths[c]=box2d.b2DistanceVV(g,h),this.m_targetArea+=box2d.b2CrossVV(g,h),b.Initialize(e,f,g,h),this.m_joints[c]=a.world.CreateJoint(b)}this.m_targetArea*=.5},goog.inherits(box2d.b2AreaJoint,box2d.b2Joint),box2d.b2AreaJoint.prototype.m_bodies=null,box2d.b2AreaJoint.prototype.m_frequencyHz=0,box2d.b2AreaJoint.prototype.m_dampingRatio=0,box2d.b2AreaJoint.prototype.m_impulse=0,box2d.b2AreaJoint.prototype.m_targetLengths=null,box2d.b2AreaJoint.prototype.m_targetArea=0,box2d.b2AreaJoint.prototype.m_normals=null,box2d.b2AreaJoint.prototype.m_joints=null,box2d.b2AreaJoint.prototype.m_deltas=null,box2d.b2AreaJoint.prototype.m_delta=null,box2d.b2AreaJoint.prototype.GetAnchorA=function(a){return a.SetZero()},box2d.b2AreaJoint.prototype.GetAnchorB=function(a){return a.SetZero()},box2d.b2AreaJoint.prototype.GetReactionForce=function(a,b){return b.SetZero()},box2d.b2AreaJoint.prototype.GetReactionTorque=function(){return 0},box2d.b2AreaJoint.prototype.SetFrequency=function(a){this.m_frequencyHz=a;for(var b=0,c=this.m_joints.length;c>b;++b)this.m_joints[b].SetFrequency(a)},box2d.b2AreaJoint.prototype.GetFrequency=function(){return this.m_frequencyHz},box2d.b2AreaJoint.prototype.SetDampingRatio=function(a){this.m_dampingRatio=a;for(var b=0,c=this.m_joints.length;c>b;++b)this.m_joints[b].SetDampingRatio(a)},box2d.b2AreaJoint.prototype.GetDampingRatio=function(){return this.m_dampingRatio},box2d.b2AreaJoint.prototype.Dump=function(){box2d.DEBUG&&box2d.b2Log("Area joint dumping is not supported.\n")},box2d.b2AreaJoint.prototype.InitVelocityConstraints=function(a){for(var b=0,c=this.m_bodies.length;c>b;++b){var d=this.m_bodies[(b+c-1)%c],e=this.m_bodies[(b+1)%c],f=a.positions[d.m_islandIndex].c,g=a.positions[e.m_islandIndex].c,h=this.m_deltas[b];box2d.b2SubVV(g,f,h)}if(a.step.warmStarting){this.m_impulse*=a.step.dtRatio;for(var b=0,c=this.m_bodies.length;c>b;++b){var i=this.m_bodies[b],j=a.velocities[i.m_islandIndex].v,h=this.m_deltas[b];j.x+=i.m_invMass*h.y*.5*this.m_impulse,j.y+=i.m_invMass*-h.x*.5*this.m_impulse}}else this.m_impulse=0},box2d.b2AreaJoint.prototype.SolveVelocityConstraints=function(a){for(var b=0,c=0,d=0,e=this.m_bodies.length;e>d;++d){var f=this.m_bodies[d],g=a.velocities[f.m_islandIndex].v,h=this.m_deltas[d];b+=h.GetLengthSquared()/f.GetMass(),c+=box2d.b2CrossVV(g,h)}var i=-2*c/b;this.m_impulse+=i;for(var d=0,e=this.m_bodies.length;e>d;++d){var f=this.m_bodies[d],g=a.velocities[f.m_islandIndex].v,h=this.m_deltas[d];g.x+=f.m_invMass*h.y*.5*i,g.y+=f.m_invMass*-h.x*.5*i}},box2d.b2AreaJoint.prototype.SolvePositionConstraints=function(a){for(var b=0,c=0,d=0,e=this.m_bodies.length;e>d;++d){var f=this.m_bodies[d],g=this.m_bodies[(d+1)%e],h=a.positions[f.m_islandIndex].c,i=a.positions[g.m_islandIndex].c,j=box2d.b2SubVV(i,h,this.m_delta),k=j.GetLength();k<box2d.b2_epsilon&&(k=1),this.m_normals[d].x=j.y/k,this.m_normals[d].y=-j.x/k,b+=k,c+=box2d.b2CrossVV(h,i)}c*=.5;for(var l=this.m_targetArea-c,m=.5*l/b,n=!0,d=0,e=this.m_bodies.length;e>d;++d){var f=this.m_bodies[d],h=a.positions[f.m_islandIndex].c,o=(d+1)%e,j=box2d.b2AddVV(this.m_normals[d],this.m_normals[o],this.m_delta);j.SelfMul(m);var p=j.GetLengthSquared();p>box2d.b2Sq(box2d.b2_maxLinearCorrection)&&j.SelfMul(box2d.b2_maxLinearCorrection/box2d.b2Sqrt(p)),p>box2d.b2Sq(box2d.b2_linearSlop)&&(n=!1),h.x+=j.x,h.y+=j.y}return n},goog.provide("box2d.b2BuoyancyController"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Controller"),goog.require("box2d.b2Math"),goog.require("box2d.b2WorldCallbacks"),box2d.b2BuoyancyController=function(){goog.base(this),this.normal=new box2d.b2Vec2(0,1),this.velocity=new box2d.b2Vec2(0,0),this.gravity=new box2d.b2Vec2(0,0)},goog.inherits(box2d.b2BuoyancyController,box2d.b2Controller),box2d.b2BuoyancyController.prototype.normal=null,box2d.b2BuoyancyController.prototype.offset=0,box2d.b2BuoyancyController.prototype.density=0,box2d.b2BuoyancyController.prototype.velocity=null,box2d.b2BuoyancyController.prototype.linearDrag=0,box2d.b2BuoyancyController.prototype.angularDrag=0,box2d.b2BuoyancyController.prototype.useDensity=!1,box2d.b2BuoyancyController.prototype.useWorldGravity=!0,box2d.b2BuoyancyController.prototype.gravity=null,box2d.b2BuoyancyController.prototype.Step=function(){if(this.m_bodyList){this.useWorldGravity&&this.gravity.Copy(this.GetWorld().GetGravity());for(var a=this.m_bodyList;a;a=a.nextBody){var b=a.body;if(b.IsAwake()!==!1){for(var c=new box2d.b2Vec2,d=new box2d.b2Vec2,e=0,f=0,g=b.GetFixtureList();g;g=g.m_next){var h=new box2d.b2Vec2,i=g.GetShape().ComputeSubmergedArea(this.normal,this.offset,b.GetTransform(),h);e+=i,c.x+=i*h.x,c.y+=i*h.y;var j=0;j=this.useDensity?g.GetDensity():1,f+=i*j,d.x+=i*h.x*j,d.y+=i*h.y*j}if(c.x/=e,c.y/=e,d.x/=f,d.y/=f,!(e<box2d.b2_epsilon)){var k=box2d.b2NegV(this.gravity,new box2d.b2Vec2);k.SelfMul(this.density*e),b.ApplyForce(k,d);var l=b.GetLinearVelocityFromWorldPoint(c,new box2d.b2Vec2);l.SelfSub(this.velocity),l.SelfMul(-this.linearDrag*e),b.ApplyForce(l,c),b.ApplyTorque(-b.GetInertia()/b.GetMass()*e*b.GetAngularVelocity()*this.angularDrag)}}}}},box2d.b2BuoyancyController.prototype.Draw=function(a){var b=100,c=new box2d.b2Vec2,d=new box2d.b2Vec2;c.x=this.normal.x*this.offset+this.normal.y*b,c.y=this.normal.y*this.offset-this.normal.x*b,d.x=this.normal.x*this.offset-this.normal.y*b,d.y=this.normal.y*this.offset+this.normal.x*b;var e=new box2d.b2Color(0,0,.8);a.DrawSegment(c,d,e)},goog.provide("box2d.b2TensorDampingController"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Controller"),goog.require("box2d.b2Math"),box2d.b2TensorDampingController=function(){goog.base(this),this.T=new box2d.b2Mat22,this.maxTimestep=0},goog.inherits(box2d.b2TensorDampingController,box2d.b2Controller),box2d.b2TensorDampingController.prototype.T=new box2d.b2Mat22,box2d.b2TensorDampingController.prototype.maxTimestep=0,box2d.b2TensorDampingController.prototype.Step=function(a){var b=a.dt;if(!(b<=box2d.b2_epsilon)){b>this.maxTimestep&&this.maxTimestep>0&&(b=this.maxTimestep);for(var c=this.m_bodyList;c;c=c.nextBody){var d=c.body;if(d.IsAwake()){var e=d.GetWorldVector(box2d.b2MulMV(this.T,d.GetLocalVector(d.GetLinearVelocity(),box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t1),box2d.b2TensorDampingController.prototype.Step.s_damping);d.SetLinearVelocity(box2d.b2AddVV(d.GetLinearVelocity(),box2d.b2MulSV(b,e,box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t1))}}}},box2d.b2TensorDampingController.prototype.Step.s_damping=new box2d.b2Vec2,box2d.b2TensorDampingController.prototype.SetAxisAligned=function(a,b){this.T.ex.x=-a,this.T.ex.y=0,this.T.ey.x=0,this.T.ey.y=-b,this.maxTimestep=a>0||b>0?1/box2d.b2Max(a,b):0},goog.provide("box2d.b2DistanceJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2DistanceJointDef=function(){goog.base(this,box2d.b2JointType.e_distanceJoint),this.localAnchorA=new box2d.b2Vec2,this.localAnchorB=new box2d.b2Vec2},goog.inherits(box2d.b2DistanceJointDef,box2d.b2JointDef),box2d.b2DistanceJointDef.prototype.localAnchorA=null,box2d.b2DistanceJointDef.prototype.localAnchorB=null,box2d.b2DistanceJointDef.prototype.length=1,box2d.b2DistanceJointDef.prototype.frequencyHz=0,box2d.b2DistanceJointDef.prototype.dampingRatio=0,box2d.b2DistanceJointDef.prototype.Initialize=function(a,b,c,d){this.bodyA=a,this.bodyB=b,this.bodyA.GetLocalPoint(c,this.localAnchorA),this.bodyB.GetLocalPoint(d,this.localAnchorB),this.length=box2d.b2DistanceVV(c,d),this.frequencyHz=0,this.dampingRatio=0},box2d.b2DistanceJoint=function(a){goog.base(this,a),this.m_u=new box2d.b2Vec2,this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_frequencyHz=a.frequencyHz,this.m_dampingRatio=a.dampingRatio,this.m_localAnchorA=a.localAnchorA.Clone(),this.m_localAnchorB=a.localAnchorB.Clone(),this.m_length=a.length},goog.inherits(box2d.b2DistanceJoint,box2d.b2Joint),box2d.b2DistanceJoint.prototype.m_frequencyHz=0,box2d.b2DistanceJoint.prototype.m_dampingRatio=0,box2d.b2DistanceJoint.prototype.m_bias=0,box2d.b2DistanceJoint.prototype.m_localAnchorA=null,box2d.b2DistanceJoint.prototype.m_localAnchorB=null,box2d.b2DistanceJoint.prototype.m_gamma=0,box2d.b2DistanceJoint.prototype.m_impulse=0,box2d.b2DistanceJoint.prototype.m_length=0,box2d.b2DistanceJoint.prototype.m_indexA=0,box2d.b2DistanceJoint.prototype.m_indexB=0,box2d.b2DistanceJoint.prototype.m_u=null,box2d.b2DistanceJoint.prototype.m_rA=null,box2d.b2DistanceJoint.prototype.m_rB=null,box2d.b2DistanceJoint.prototype.m_localCenterA=null,box2d.b2DistanceJoint.prototype.m_localCenterB=null,box2d.b2DistanceJoint.prototype.m_invMassA=0,box2d.b2DistanceJoint.prototype.m_invMassB=0,box2d.b2DistanceJoint.prototype.m_invIA=0,box2d.b2DistanceJoint.prototype.m_invIB=0,box2d.b2DistanceJoint.prototype.m_mass=0,box2d.b2DistanceJoint.prototype.m_qA=null,box2d.b2DistanceJoint.prototype.m_qB=null,box2d.b2DistanceJoint.prototype.m_lalcA=null,box2d.b2DistanceJoint.prototype.m_lalcB=null,box2d.b2DistanceJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2DistanceJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2DistanceJoint.prototype.GetReactionForce=function(a,b){return b.SetXY(a*this.m_impulse*this.m_u.x,a*this.m_impulse*this.m_u.y)},box2d.b2DistanceJoint.prototype.GetReactionTorque=function(){return 0},box2d.b2DistanceJoint.prototype.GetLocalAnchorA=function(a){return a.Copy(this.m_localAnchorA)},box2d.b2DistanceJoint.prototype.GetLocalAnchorB=function(a){return a.Copy(this.m_localAnchorB)},box2d.b2DistanceJoint.prototype.SetLength=function(a){this.m_length=a},box2d.b2DistanceJoint.prototype.GetLength=function(){return this.m_length},box2d.b2DistanceJoint.prototype.SetFrequency=function(a){this.m_frequencyHz=a},box2d.b2DistanceJoint.prototype.GetFrequency=function(){return this.m_frequencyHz},box2d.b2DistanceJoint.prototype.SetDampingRatio=function(a){this.m_dampingRatio=a},box2d.b2DistanceJoint.prototype.GetDampingRatio=function(){return this.m_dampingRatio},box2d.b2DistanceJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2DistanceJointDef*/ var jd = new box2d.b2DistanceJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.length = %.15f;\n",this.m_length),box2d.b2Log("  jd.frequencyHz = %.15f;\n",this.m_frequencyHz),box2d.b2Log("  jd.dampingRatio = %.15f;\n",this.m_dampingRatio),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},box2d.b2DistanceJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.velocities[this.m_indexA].v,e=a.velocities[this.m_indexA].w,f=a.positions[this.m_indexB].c,g=a.positions[this.m_indexB].a,h=a.velocities[this.m_indexB].v,i=a.velocities[this.m_indexB].w,j=this.m_qA.SetAngleRadians(c),k=this.m_qB.SetAngleRadians(g);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),box2d.b2MulRV(j,this.m_lalcA,this.m_rA),box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),box2d.b2MulRV(k,this.m_lalcB,this.m_rB),this.m_u.x=f.x+this.m_rB.x-b.x-this.m_rA.x,this.m_u.y=f.y+this.m_rB.y-b.y-this.m_rA.y;var l=this.m_u.GetLength();l>box2d.b2_linearSlop?this.m_u.SelfMul(1/l):this.m_u.SetZero();var m=box2d.b2CrossVV(this.m_rA,this.m_u),n=box2d.b2CrossVV(this.m_rB,this.m_u),o=this.m_invMassA+this.m_invIA*m*m+this.m_invMassB+this.m_invIB*n*n;if(this.m_mass=0!==o?1/o:0,this.m_frequencyHz>0){var p=l-this.m_length,q=2*box2d.b2_pi*this.m_frequencyHz,r=2*this.m_mass*this.m_dampingRatio*q,s=this.m_mass*q*q,t=a.step.dt;this.m_gamma=t*(r+t*s),this.m_gamma=0!==this.m_gamma?1/this.m_gamma:0,this.m_bias=p*t*s*this.m_gamma,o+=this.m_gamma,this.m_mass=0!==o?1/o:0}else this.m_gamma=0,this.m_bias=0;if(a.step.warmStarting){this.m_impulse*=a.step.dtRatio;var u=box2d.b2MulSV(this.m_impulse,this.m_u,box2d.b2DistanceJoint.prototype.InitVelocityConstraints.s_P);d.SelfMulSub(this.m_invMassA,u),e-=this.m_invIA*box2d.b2CrossVV(this.m_rA,u),h.SelfMulAdd(this.m_invMassB,u),i+=this.m_invIB*box2d.b2CrossVV(this.m_rB,u)}else this.m_impulse=0;a.velocities[this.m_indexA].w=e,a.velocities[this.m_indexB].w=i},box2d.b2DistanceJoint.prototype.InitVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2DistanceJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2DistanceJoint.prototype.SolveVelocityConstraints.s_vpA),g=box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2DistanceJoint.prototype.SolveVelocityConstraints.s_vpB),h=box2d.b2DotVV(this.m_u,box2d.b2SubVV(g,f,box2d.b2Vec2.s_t0)),i=-this.m_mass*(h+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=i;var j=box2d.b2MulSV(i,this.m_u,box2d.b2DistanceJoint.prototype.SolveVelocityConstraints.s_P);b.SelfMulSub(this.m_invMassA,j),c-=this.m_invIA*box2d.b2CrossVV(this.m_rA,j),d.SelfMulAdd(this.m_invMassB,j),e+=this.m_invIB*box2d.b2CrossVV(this.m_rB,j),a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2DistanceJoint.prototype.SolveVelocityConstraints.s_vpA=new box2d.b2Vec2,box2d.b2DistanceJoint.prototype.SolveVelocityConstraints.s_vpB=new box2d.b2Vec2,box2d.b2DistanceJoint.prototype.SolveVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2DistanceJoint.prototype.SolvePositionConstraints=function(a){if(this.m_frequencyHz>0)return!0;var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.positions[this.m_indexB].c,e=a.positions[this.m_indexB].a,f=(this.m_qA.SetAngleRadians(c),this.m_qB.SetAngleRadians(e),box2d.b2MulRV(this.m_qA,this.m_lalcA,this.m_rA)),g=box2d.b2MulRV(this.m_qB,this.m_lalcB,this.m_rB),h=this.m_u;h.x=d.x+g.x-b.x-f.x,h.y=d.y+g.y-b.y-f.y;var i=this.m_u.Normalize(),j=i-this.m_length;j=box2d.b2Clamp(j,-box2d.b2_maxLinearCorrection,box2d.b2_maxLinearCorrection);var k=-this.m_mass*j,l=box2d.b2MulSV(k,h,box2d.b2DistanceJoint.prototype.SolvePositionConstraints.s_P);return b.SelfMulSub(this.m_invMassA,l),c-=this.m_invIA*box2d.b2CrossVV(f,l),d.SelfMulAdd(this.m_invMassB,l),e+=this.m_invIB*box2d.b2CrossVV(g,l),a.positions[this.m_indexA].a=c,a.positions[this.m_indexB].a=e,box2d.b2Abs(j)<box2d.b2_linearSlop
},box2d.b2DistanceJoint.prototype.SolvePositionConstraints.s_P=new box2d.b2Vec2,goog.provide("box2d.b2FrictionJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2FrictionJointDef=function(){goog.base(this,box2d.b2JointType.e_frictionJoint),this.localAnchorA=new box2d.b2Vec2,this.localAnchorB=new box2d.b2Vec2},goog.inherits(box2d.b2FrictionJointDef,box2d.b2JointDef),box2d.b2FrictionJointDef.prototype.localAnchorA=null,box2d.b2FrictionJointDef.prototype.localAnchorB=null,box2d.b2FrictionJointDef.prototype.maxForce=0,box2d.b2FrictionJointDef.prototype.maxTorque=0,box2d.b2FrictionJointDef.prototype.Initialize=function(a,b,c){this.bodyA=a,this.bodyB=b,this.bodyA.GetLocalPoint(c,this.localAnchorA),this.bodyB.GetLocalPoint(c,this.localAnchorB)},box2d.b2FrictionJoint=function(a){goog.base(this,a),this.m_localAnchorA=a.localAnchorA.Clone(),this.m_localAnchorB=a.localAnchorB.Clone(),this.m_linearImpulse=(new box2d.b2Vec2).SetZero(),this.m_maxForce=a.maxForce,this.m_maxTorque=a.maxTorque,this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_linearMass=(new box2d.b2Mat22).SetZero(),this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_K=new box2d.b2Mat22},goog.inherits(box2d.b2FrictionJoint,box2d.b2Joint),box2d.b2FrictionJoint.prototype.m_localAnchorA=null,box2d.b2FrictionJoint.prototype.m_localAnchorB=null,box2d.b2FrictionJoint.prototype.m_linearImpulse=null,box2d.b2FrictionJoint.prototype.m_angularImpulse=0,box2d.b2FrictionJoint.prototype.m_maxForce=0,box2d.b2FrictionJoint.prototype.m_maxTorque=0,box2d.b2FrictionJoint.prototype.m_indexA=0,box2d.b2FrictionJoint.prototype.m_indexB=0,box2d.b2FrictionJoint.prototype.m_rA=null,box2d.b2FrictionJoint.prototype.m_rB=null,box2d.b2FrictionJoint.prototype.m_localCenterA=null,box2d.b2FrictionJoint.prototype.m_localCenterB=null,box2d.b2FrictionJoint.prototype.m_invMassA=0,box2d.b2FrictionJoint.prototype.m_invMassB=0,box2d.b2FrictionJoint.prototype.m_invIA=0,box2d.b2FrictionJoint.prototype.m_invIB=0,box2d.b2FrictionJoint.prototype.m_linearMass=null,box2d.b2FrictionJoint.prototype.m_angularMass=0,box2d.b2FrictionJoint.prototype.m_qA=null,box2d.b2FrictionJoint.prototype.m_qB=null,box2d.b2FrictionJoint.prototype.m_lalcA=null,box2d.b2FrictionJoint.prototype.m_lalcB=null,box2d.b2FrictionJoint.prototype.m_K=null,box2d.b2FrictionJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].a,c=a.velocities[this.m_indexA].v,d=a.velocities[this.m_indexA].w,e=a.positions[this.m_indexB].a,f=a.velocities[this.m_indexB].v,g=a.velocities[this.m_indexB].w,h=this.m_qA.SetAngleRadians(b),i=this.m_qB.SetAngleRadians(e);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var j=box2d.b2MulRV(h,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var k=box2d.b2MulRV(i,this.m_lalcB,this.m_rB),l=this.m_invMassA,m=this.m_invMassB,n=this.m_invIA,o=this.m_invIB,p=this.m_K;if(p.ex.x=l+m+n*j.y*j.y+o*k.y*k.y,p.ex.y=-n*j.x*j.y-o*k.x*k.y,p.ey.x=p.ex.y,p.ey.y=l+m+n*j.x*j.x+o*k.x*k.x,p.GetInverse(this.m_linearMass),this.m_angularMass=n+o,this.m_angularMass>0&&(this.m_angularMass=1/this.m_angularMass),a.step.warmStarting){this.m_linearImpulse.SelfMul(a.step.dtRatio),this.m_angularImpulse*=a.step.dtRatio;var q=this.m_linearImpulse;c.SelfMulSub(l,q),d-=n*(box2d.b2CrossVV(this.m_rA,q)+this.m_angularImpulse),f.SelfMulAdd(m,q),g+=o*(box2d.b2CrossVV(this.m_rB,q)+this.m_angularImpulse)}else this.m_linearImpulse.SetZero(),this.m_angularImpulse=0;a.velocities[this.m_indexA].w=d,a.velocities[this.m_indexB].w=g},box2d.b2FrictionJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=this.m_invMassA,g=this.m_invMassB,h=this.m_invIA,i=this.m_invIB,j=a.step.dt,k=e-c,l=-this.m_angularMass*k,m=this.m_angularImpulse,n=j*this.m_maxTorque;this.m_angularImpulse=box2d.b2Clamp(this.m_angularImpulse+l,-n,n),l=this.m_angularImpulse-m,c-=h*l,e+=i*l;var k=box2d.b2SubVV(box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2Vec2.s_t0),box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2Vec2.s_t1),box2d.b2FrictionJoint.prototype.SolveVelocityConstraints.s_Cdot),o=box2d.b2MulMV(this.m_linearMass,k,box2d.b2FrictionJoint.prototype.SolveVelocityConstraints.s_impulseV).SelfNeg(),p=box2d.b2FrictionJoint.prototype.SolveVelocityConstraints.s_oldImpulseV.Copy(this.m_linearImpulse);this.m_linearImpulse.SelfAdd(o);var n=j*this.m_maxForce;this.m_linearImpulse.GetLengthSquared()>n*n&&(this.m_linearImpulse.Normalize(),this.m_linearImpulse.SelfMul(n)),box2d.b2SubVV(this.m_linearImpulse,p,o),b.SelfMulSub(f,o),c-=h*box2d.b2CrossVV(this.m_rA,o),d.SelfMulAdd(g,o),e+=i*box2d.b2CrossVV(this.m_rB,o),a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2FrictionJoint.prototype.SolveVelocityConstraints.s_Cdot=new box2d.b2Vec2,box2d.b2FrictionJoint.prototype.SolveVelocityConstraints.s_impulseV=new box2d.b2Vec2,box2d.b2FrictionJoint.prototype.SolveVelocityConstraints.s_oldImpulseV=new box2d.b2Vec2,box2d.b2FrictionJoint.prototype.SolvePositionConstraints=function(){return!0},box2d.b2FrictionJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2FrictionJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2FrictionJoint.prototype.GetReactionForce=function(a,b){return b.SetXY(a*this.m_linearImpulse.x,a*this.m_linearImpulse.y)},box2d.b2FrictionJoint.prototype.GetReactionTorque=function(a){return a*this.m_angularImpulse},box2d.b2FrictionJoint.prototype.GetLocalAnchorA=function(a){return a.Copy(this.m_localAnchorA)},box2d.b2FrictionJoint.prototype.GetLocalAnchorB=function(a){return a.Copy(this.m_localAnchorB)},box2d.b2FrictionJoint.prototype.SetMaxForce=function(a){this.m_maxForce=a},box2d.b2FrictionJoint.prototype.GetMaxForce=function(){return this.m_maxForce},box2d.b2FrictionJoint.prototype.SetMaxTorque=function(a){this.m_maxTorque=a},box2d.b2FrictionJoint.prototype.GetMaxTorque=function(){return this.m_maxTorque},box2d.b2FrictionJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2FrictionJointDef*/ var jd = new box2d.b2FrictionJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.maxForce = %.15f;\n",this.m_maxForce),box2d.b2Log("  jd.maxTorque = %.15f;\n",this.m_maxTorque),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d.b2MouseJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2MouseJointDef=function(){goog.base(this,box2d.b2JointType.e_mouseJoint),this.target=new box2d.b2Vec2},goog.inherits(box2d.b2MouseJointDef,box2d.b2JointDef),box2d.b2MouseJointDef.prototype.target=null,box2d.b2MouseJointDef.prototype.maxForce=0,box2d.b2MouseJointDef.prototype.frequencyHz=5,box2d.b2MouseJointDef.prototype.dampingRatio=.7,box2d.b2MouseJoint=function(a){goog.base(this,a),this.m_localAnchorB=new box2d.b2Vec2,this.m_targetA=new box2d.b2Vec2,this.m_impulse=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_mass=new box2d.b2Mat22,this.m_C=new box2d.b2Vec2,this.m_qB=new box2d.b2Rot,this.m_lalcB=new box2d.b2Vec2,this.m_K=new box2d.b2Mat22,box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.target.IsValid()),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.maxForce)&&a.maxForce>=0),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.frequencyHz)&&a.frequencyHz>=0),box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a.dampingRatio)&&a.dampingRatio>=0),this.m_targetA.Copy(a.target),box2d.b2MulTXV(this.m_bodyB.GetTransform(),this.m_targetA,this.m_localAnchorB),this.m_maxForce=a.maxForce,this.m_impulse.SetZero(),this.m_frequencyHz=a.frequencyHz,this.m_dampingRatio=a.dampingRatio,this.m_beta=0,this.m_gamma=0},goog.inherits(box2d.b2MouseJoint,box2d.b2Joint),box2d.b2MouseJoint.prototype.m_localAnchorB=null,box2d.b2MouseJoint.prototype.m_targetA=null,box2d.b2MouseJoint.prototype.m_frequencyHz=0,box2d.b2MouseJoint.prototype.m_dampingRatio=0,box2d.b2MouseJoint.prototype.m_beta=0,box2d.b2MouseJoint.prototype.m_impulse=null,box2d.b2MouseJoint.prototype.m_maxForce=0,box2d.b2MouseJoint.prototype.m_gamma=0,box2d.b2MouseJoint.prototype.m_indexA=0,box2d.b2MouseJoint.prototype.m_indexB=0,box2d.b2MouseJoint.prototype.m_rB=null,box2d.b2MouseJoint.prototype.m_localCenterB=null,box2d.b2MouseJoint.prototype.m_invMassB=0,box2d.b2MouseJoint.prototype.m_invIB=0,box2d.b2MouseJoint.prototype.m_mass=null,box2d.b2MouseJoint.prototype.m_C=null,box2d.b2MouseJoint.prototype.m_qB=null,box2d.b2MouseJoint.prototype.m_lalcB=null,box2d.b2MouseJoint.prototype.m_K=null,box2d.b2MouseJoint.prototype.SetTarget=function(a){this.m_bodyB.IsAwake()===!1&&this.m_bodyB.SetAwake(!0),this.m_targetA.Copy(a)},box2d.b2MouseJoint.prototype.GetTarget=function(a){return a.Copy(this.m_targetA)},box2d.b2MouseJoint.prototype.SetMaxForce=function(a){this.m_maxForce=a},box2d.b2MouseJoint.prototype.GetMaxForce=function(){return this.m_maxForce},box2d.b2MouseJoint.prototype.SetFrequency=function(a){this.m_frequencyHz=a},box2d.b2MouseJoint.prototype.GetFrequency=function(){return this.m_frequencyHz},box2d.b2MouseJoint.prototype.SetDampingRatio=function(a){this.m_dampingRatio=a},box2d.b2MouseJoint.prototype.GetDampingRatio=function(){return this.m_dampingRatio},box2d.b2MouseJoint.prototype.InitVelocityConstraints=function(a){this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexB].c,c=a.positions[this.m_indexB].a,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=this.m_qB.SetAngleRadians(c),g=this.m_bodyB.GetMass(),h=2*box2d.b2_pi*this.m_frequencyHz,i=2*g*this.m_dampingRatio*h,j=g*h*h,k=a.step.dt;box2d.ENABLE_ASSERTS&&box2d.b2Assert(i+k*j>box2d.b2_epsilon),this.m_gamma=k*(i+k*j),0!==this.m_gamma&&(this.m_gamma=1/this.m_gamma),this.m_beta=k*j*this.m_gamma,box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),box2d.b2MulRV(f,this.m_lalcB,this.m_rB);var l=this.m_K;l.ex.x=this.m_invMassB+this.m_invIB*this.m_rB.y*this.m_rB.y+this.m_gamma,l.ex.y=-this.m_invIB*this.m_rB.x*this.m_rB.y,l.ey.x=l.ex.y,l.ey.y=this.m_invMassB+this.m_invIB*this.m_rB.x*this.m_rB.x+this.m_gamma,l.GetInverse(this.m_mass),this.m_C.x=b.x+this.m_rB.x-this.m_targetA.x,this.m_C.y=b.y+this.m_rB.y-this.m_targetA.y,this.m_C.SelfMul(this.m_beta),e*=.98,a.step.warmStarting?(this.m_impulse.SelfMul(a.step.dtRatio),d.x+=this.m_invMassB*this.m_impulse.x,d.y+=this.m_invMassB*this.m_impulse.y,e+=this.m_invIB*box2d.b2CrossVV(this.m_rB,this.m_impulse)):this.m_impulse.SetZero(),a.velocities[this.m_indexB].w=e},box2d.b2MouseJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexB].v,c=a.velocities[this.m_indexB].w,d=box2d.b2AddVCrossSV(b,c,this.m_rB,box2d.b2MouseJoint.prototype.SolveVelocityConstraints.s_Cdot),e=box2d.b2MulMV(this.m_mass,box2d.b2AddVV(d,box2d.b2AddVV(this.m_C,box2d.b2MulSV(this.m_gamma,this.m_impulse,box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0).SelfNeg(),box2d.b2MouseJoint.prototype.SolveVelocityConstraints.s_impulse),f=box2d.b2MouseJoint.prototype.SolveVelocityConstraints.s_oldImpulse.Copy(this.m_impulse);this.m_impulse.SelfAdd(e);var g=a.step.dt*this.m_maxForce;this.m_impulse.GetLengthSquared()>g*g&&this.m_impulse.SelfMul(g/this.m_impulse.GetLength()),box2d.b2SubVV(this.m_impulse,f,e),b.SelfMulAdd(this.m_invMassB,e),c+=this.m_invIB*box2d.b2CrossVV(this.m_rB,e),a.velocities[this.m_indexB].w=c},box2d.b2MouseJoint.prototype.SolveVelocityConstraints.s_Cdot=new box2d.b2Vec2,box2d.b2MouseJoint.prototype.SolveVelocityConstraints.s_impulse=new box2d.b2Vec2,box2d.b2MouseJoint.prototype.SolveVelocityConstraints.s_oldImpulse=new box2d.b2Vec2,box2d.b2MouseJoint.prototype.SolvePositionConstraints=function(){return!0},box2d.b2MouseJoint.prototype.GetAnchorA=function(a){return a.Copy(this.m_targetA)},box2d.b2MouseJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2MouseJoint.prototype.GetReactionForce=function(a,b){return box2d.b2MulSV(a,this.m_impulse,b)},box2d.b2MouseJoint.prototype.GetReactionTorque=function(){return 0},box2d.b2MouseJoint.prototype.Dump=function(){box2d.DEBUG&&box2d.b2Log("Mouse joint dumping is not supported.\n")},box2d.b2MouseJoint.prototype.ShiftOrigin=function(a){this.m_targetA.SelfSub(a)},goog.provide("box2d.b2ConstantForceController"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Controller"),goog.require("box2d.b2Math"),box2d.b2ConstantForceController=function(){goog.base(this),this.F=new box2d.b2Vec2(0,0)},goog.inherits(box2d.b2ConstantForceController,box2d.b2Controller),box2d.b2ConstantAccelController.prototype.F=null,box2d.b2ConstantForceController.prototype.Step=function(){for(var a=this.m_bodyList;a;a=a.nextBody){var b=a.body;b.IsAwake()&&b.ApplyForce(this.F,b.GetWorldCenter())}},goog.provide("box2d.b2PulleyJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Joint"),goog.require("box2d.b2Math"),box2d.b2_minPulleyLength=2,box2d.b2PulleyJointDef=function(){goog.base(this,box2d.b2JointType.e_pulleyJoint),this.collideConnected=!0,this.groundAnchorA=new box2d.b2Vec2(-1,1),this.groundAnchorB=new box2d.b2Vec2(1,1),this.localAnchorA=new box2d.b2Vec2(-1,0),this.localAnchorB=new box2d.b2Vec2(1,0)},goog.inherits(box2d.b2PulleyJointDef,box2d.b2JointDef),box2d.b2PulleyJointDef.prototype.groundAnchorA=null,box2d.b2PulleyJointDef.prototype.groundAnchorB=null,box2d.b2PulleyJointDef.prototype.localAnchorA=null,box2d.b2PulleyJointDef.prototype.localAnchorB=null,box2d.b2PulleyJointDef.prototype.lengthA=0,box2d.b2PulleyJointDef.prototype.lengthB=0,box2d.b2PulleyJointDef.prototype.ratio=1,box2d.b2PulleyJointDef.prototype.Initialize=function(a,b,c,d,e,f,g){this.bodyA=a,this.bodyB=b,this.groundAnchorA.Copy(c),this.groundAnchorB.Copy(d),this.bodyA.GetLocalPoint(e,this.localAnchorA),this.bodyB.GetLocalPoint(f,this.localAnchorB),this.lengthA=box2d.b2DistanceVV(e,c),this.lengthB=box2d.b2DistanceVV(f,d),this.ratio=g,box2d.ENABLE_ASSERTS&&box2d.b2Assert(this.ratio>box2d.b2_epsilon)},box2d.b2PulleyJoint=function(a){goog.base(this,a),this.m_groundAnchorA=new box2d.b2Vec2,this.m_groundAnchorB=new box2d.b2Vec2,this.m_localAnchorA=new box2d.b2Vec2,this.m_localAnchorB=new box2d.b2Vec2,this.m_uA=new box2d.b2Vec2,this.m_uB=new box2d.b2Vec2,this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_groundAnchorA.Copy(a.groundAnchorA),this.m_groundAnchorB.Copy(a.groundAnchorB),this.m_localAnchorA.Copy(a.localAnchorA),this.m_localAnchorB.Copy(a.localAnchorB),this.m_lengthA=a.lengthA,this.m_lengthB=a.lengthB,box2d.ENABLE_ASSERTS&&box2d.b2Assert(0!==a.ratio),this.m_ratio=a.ratio,this.m_constant=a.lengthA+this.m_ratio*a.lengthB,this.m_impulse=0},goog.inherits(box2d.b2PulleyJoint,box2d.b2Joint),box2d.b2PulleyJoint.prototype.m_groundAnchorA=null,box2d.b2PulleyJoint.prototype.m_groundAnchorB=null,box2d.b2PulleyJoint.prototype.m_lengthA=0,box2d.b2PulleyJoint.prototype.m_lengthB=0,box2d.b2PulleyJoint.prototype.m_localAnchorA=null,box2d.b2PulleyJoint.prototype.m_localAnchorB=null,box2d.b2PulleyJoint.prototype.m_constant=0,box2d.b2PulleyJoint.prototype.m_ratio=0,box2d.b2PulleyJoint.prototype.m_impulse=0,box2d.b2PulleyJoint.prototype.m_indexA=0,box2d.b2PulleyJoint.prototype.m_indexB=0,box2d.b2PulleyJoint.prototype.m_uA=null,box2d.b2PulleyJoint.prototype.m_uB=null,box2d.b2PulleyJoint.prototype.m_rA=null,box2d.b2PulleyJoint.prototype.m_rB=null,box2d.b2PulleyJoint.prototype.m_localCenterA=null,box2d.b2PulleyJoint.prototype.m_localCenterB=null,box2d.b2PulleyJoint.prototype.m_invMassA=0,box2d.b2PulleyJoint.prototype.m_invMassB=0,box2d.b2PulleyJoint.prototype.m_invIA=0,box2d.b2PulleyJoint.prototype.m_invIB=0,box2d.b2PulleyJoint.prototype.m_mass=0,box2d.b2PulleyJoint.prototype.m_qA=null,box2d.b2PulleyJoint.prototype.m_qB=null,box2d.b2PulleyJoint.prototype.m_lalcA=null,box2d.b2PulleyJoint.prototype.m_lalcB=null,box2d.b2PulleyJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.velocities[this.m_indexA].v,e=a.velocities[this.m_indexA].w,f=a.positions[this.m_indexB].c,g=a.positions[this.m_indexB].a,h=a.velocities[this.m_indexB].v,i=a.velocities[this.m_indexB].w,j=this.m_qA.SetAngleRadians(c),k=this.m_qB.SetAngleRadians(g);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),box2d.b2MulRV(j,this.m_lalcA,this.m_rA),box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),box2d.b2MulRV(k,this.m_lalcB,this.m_rB),this.m_uA.Copy(b).SelfAdd(this.m_rA).SelfSub(this.m_groundAnchorA),this.m_uB.Copy(f).SelfAdd(this.m_rB).SelfSub(this.m_groundAnchorB);var l=this.m_uA.GetLength(),m=this.m_uB.GetLength();l>10*box2d.b2_linearSlop?this.m_uA.SelfMul(1/l):this.m_uA.SetZero(),m>10*box2d.b2_linearSlop?this.m_uB.SelfMul(1/m):this.m_uB.SetZero();var n=box2d.b2CrossVV(this.m_rA,this.m_uA),o=box2d.b2CrossVV(this.m_rB,this.m_uB),p=this.m_invMassA+this.m_invIA*n*n,q=this.m_invMassB+this.m_invIB*o*o;if(this.m_mass=p+this.m_ratio*this.m_ratio*q,this.m_mass>0&&(this.m_mass=1/this.m_mass),a.step.warmStarting){this.m_impulse*=a.step.dtRatio;var r=box2d.b2MulSV(-this.m_impulse,this.m_uA,box2d.b2PulleyJoint.prototype.InitVelocityConstraints.s_PA),s=box2d.b2MulSV(-this.m_ratio*this.m_impulse,this.m_uB,box2d.b2PulleyJoint.prototype.InitVelocityConstraints.s_PB);d.SelfMulAdd(this.m_invMassA,r),e+=this.m_invIA*box2d.b2CrossVV(this.m_rA,r),h.SelfMulAdd(this.m_invMassB,s),i+=this.m_invIB*box2d.b2CrossVV(this.m_rB,s)}else this.m_impulse=0;a.velocities[this.m_indexA].w=e,a.velocities[this.m_indexB].w=i},box2d.b2PulleyJoint.prototype.InitVelocityConstraints.s_PA=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.InitVelocityConstraints.s_PB=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=box2d.b2AddVCrossSV(b,c,this.m_rA,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_vpA),g=box2d.b2AddVCrossSV(d,e,this.m_rB,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_vpB),h=-box2d.b2DotVV(this.m_uA,f)-this.m_ratio*box2d.b2DotVV(this.m_uB,g),i=-this.m_mass*h;this.m_impulse+=i;var j=box2d.b2MulSV(-i,this.m_uA,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_PA),k=box2d.b2MulSV(-this.m_ratio*i,this.m_uB,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_PB);b.SelfMulAdd(this.m_invMassA,j),c+=this.m_invIA*box2d.b2CrossVV(this.m_rA,j),d.SelfMulAdd(this.m_invMassB,k),e+=this.m_invIB*box2d.b2CrossVV(this.m_rB,k),a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_vpA=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_vpB=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_PA=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.SolveVelocityConstraints.s_PB=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.SolvePositionConstraints=function(a){var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.positions[this.m_indexB].c,e=a.positions[this.m_indexB].a,f=this.m_qA.SetAngleRadians(c),g=this.m_qB.SetAngleRadians(e);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var h=box2d.b2MulRV(f,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var i=box2d.b2MulRV(g,this.m_lalcB,this.m_rB),j=this.m_uA.Copy(b).SelfAdd(h).SelfSub(this.m_groundAnchorA),k=this.m_uB.Copy(d).SelfAdd(i).SelfSub(this.m_groundAnchorB),l=j.GetLength(),m=k.GetLength();l>10*box2d.b2_linearSlop?j.SelfMul(1/l):j.SetZero(),m>10*box2d.b2_linearSlop?k.SelfMul(1/m):k.SetZero();var n=box2d.b2CrossVV(h,j),o=box2d.b2CrossVV(i,k),p=this.m_invMassA+this.m_invIA*n*n,q=this.m_invMassB+this.m_invIB*o*o,r=p+this.m_ratio*this.m_ratio*q;r>0&&(r=1/r);var s=this.m_constant-l-this.m_ratio*m,t=box2d.b2Abs(s),u=-r*s,v=box2d.b2MulSV(-u,j,box2d.b2PulleyJoint.prototype.SolvePositionConstraints.s_PA),w=box2d.b2MulSV(-this.m_ratio*u,k,box2d.b2PulleyJoint.prototype.SolvePositionConstraints.s_PB);return b.SelfMulAdd(this.m_invMassA,v),c+=this.m_invIA*box2d.b2CrossVV(h,v),d.SelfMulAdd(this.m_invMassB,w),e+=this.m_invIB*box2d.b2CrossVV(i,w),a.positions[this.m_indexA].a=c,a.positions[this.m_indexB].a=e,t<box2d.b2_linearSlop},box2d.b2PulleyJoint.prototype.SolvePositionConstraints.s_PA=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.SolvePositionConstraints.s_PB=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2PulleyJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2PulleyJoint.prototype.GetReactionForce=function(a,b){return b.SetXY(a*this.m_impulse*this.m_uB.x,a*this.m_impulse*this.m_uB.y)},box2d.b2PulleyJoint.prototype.GetReactionTorque=function(){return 0},box2d.b2PulleyJoint.prototype.GetGroundAnchorA=function(a){return a.Copy(this.m_groundAnchorA)},box2d.b2PulleyJoint.prototype.GetGroundAnchorB=function(a){return a.Copy(this.m_groundAnchorB)},box2d.b2PulleyJoint.prototype.GetLengthA=function(){return this.m_lengthA},box2d.b2PulleyJoint.prototype.GetLengthB=function(){return this.m_lengthB},box2d.b2PulleyJoint.prototype.GetRatio=function(){return this.m_ratio},box2d.b2PulleyJoint.prototype.GetCurrentLengthA=function(){var a=this.m_bodyA.GetWorldPoint(this.m_localAnchorA,box2d.b2PulleyJoint.prototype.GetCurrentLengthA.s_p),b=this.m_groundAnchorA;return box2d.b2DistanceVV(a,b)},box2d.b2PulleyJoint.prototype.GetCurrentLengthA.s_p=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.GetCurrentLengthB=function(){var a=this.m_bodyB.GetWorldPoint(this.m_localAnchorB,box2d.b2PulleyJoint.prototype.GetCurrentLengthB.s_p),b=this.m_groundAnchorB;return box2d.b2DistanceVV(a,b)},box2d.b2PulleyJoint.prototype.GetCurrentLengthB.s_p=new box2d.b2Vec2,box2d.b2PulleyJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2PulleyJointDef*/ var jd = new box2d.b2PulleyJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.groundAnchorA.SetXY(%.15f, %.15f);\n",this.m_groundAnchorA.x,this.m_groundAnchorA.y),box2d.b2Log("  jd.groundAnchorB.SetXY(%.15f, %.15f);\n",this.m_groundAnchorB.x,this.m_groundAnchorB.y),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.lengthA = %.15f;\n",this.m_lengthA),box2d.b2Log("  jd.lengthB = %.15f;\n",this.m_lengthB),box2d.b2Log("  jd.ratio = %.15f;\n",this.m_ratio),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},box2d.b2PulleyJoint.prototype.ShiftOrigin=function(a){this.m_groundAnchorA.SelfSub(a),this.m_groundAnchorB.SelfSub(a)},goog.provide("box2d.b2CircleShape"),goog.require("box2d.b2Shape"),box2d.b2CircleShape=function(a){goog.base(this,box2d.b2ShapeType.e_circleShape,a||0),this.m_p=new box2d.b2Vec2},goog.inherits(box2d.b2CircleShape,box2d.b2Shape),box2d.b2CircleShape.prototype.m_p=null,box2d.b2CircleShape.prototype.Clone=function(){return(new box2d.b2CircleShape).Copy(this)},box2d.b2CircleShape.prototype.Copy=function(a){return goog.base(this,"Copy",a),box2d.ENABLE_ASSERTS&&box2d.b2Assert(a instanceof box2d.b2CircleShape),this.m_p.Copy(a.m_p),this},box2d.b2CircleShape.prototype.GetChildCount=function(){return 1},box2d.b2CircleShape.prototype.TestPoint=function(a,b){var c=box2d.b2MulXV(a,this.m_p,box2d.b2CircleShape.prototype.TestPoint.s_center),d=box2d.b2SubVV(b,c,box2d.b2CircleShape.prototype.TestPoint.s_d);return box2d.b2DotVV(d,d)<=box2d.b2Sq(this.m_radius)},box2d.b2CircleShape.prototype.TestPoint.s_center=new box2d.b2Vec2,box2d.b2CircleShape.prototype.TestPoint.s_d=new box2d.b2Vec2,box2d.b2CircleShape.prototype.RayCast=function(a,b,c){var d=box2d.b2MulXV(c,this.m_p,box2d.b2CircleShape.prototype.RayCast.s_position),e=box2d.b2SubVV(b.p1,d,box2d.b2CircleShape.prototype.RayCast.s_s),f=box2d.b2DotVV(e,e)-box2d.b2Sq(this.m_radius),g=box2d.b2SubVV(b.p2,b.p1,box2d.b2CircleShape.prototype.RayCast.s_r),h=box2d.b2DotVV(e,g),i=box2d.b2DotVV(g,g),j=h*h-i*f;if(0>j||i<box2d.b2_epsilon)return!1;var k=-(h+box2d.b2Sqrt(j));return k>=0&&k<=b.maxFraction*i?(k/=i,a.fraction=k,box2d.b2AddVMulSV(e,k,g,a.normal).SelfNormalize(),!0):!1},box2d.b2CircleShape.prototype.RayCast.s_position=new box2d.b2Vec2,box2d.b2CircleShape.prototype.RayCast.s_s=new box2d.b2Vec2,box2d.b2CircleShape.prototype.RayCast.s_r=new box2d.b2Vec2,box2d.b2CircleShape.prototype.ComputeAABB=function(a,b){var c=box2d.b2MulXV(b,this.m_p,box2d.b2CircleShape.prototype.ComputeAABB.s_p);a.lowerBound.SetXY(c.x-this.m_radius,c.y-this.m_radius),a.upperBound.SetXY(c.x+this.m_radius,c.y+this.m_radius)},box2d.b2CircleShape.prototype.ComputeAABB.s_p=new box2d.b2Vec2,box2d.b2CircleShape.prototype.ComputeMass=function(a,b){var c=box2d.b2Sq(this.m_radius);a.mass=b*box2d.b2_pi*c,a.center.Copy(this.m_p),a.I=a.mass*(.5*c+box2d.b2DotVV(this.m_p,this.m_p))},box2d.b2CircleShape.prototype.SetupDistanceProxy=function(a){a.m_vertices=new Array(1,!0),a.m_vertices[0]=this.m_p,a.m_count=1,a.m_radius=this.m_radius},box2d.b2CircleShape.prototype.ComputeSubmergedArea=function(a,b,c,d){var e=box2d.b2MulXV(c,this.m_p,new box2d.b2Vec2),f=-(box2d.b2DotVV(a,e)-b);if(f<-this.m_radius+box2d.b2_epsilon)return 0;if(f>this.m_radius)return d.Copy(e),box2d.b2_pi*this.m_radius*this.m_radius;var g=this.m_radius*this.m_radius,h=f*f,i=g*(box2d.b2Asin(f/this.m_radius)+box2d.b2_pi/2)+f*box2d.b2Sqrt(g-h),j=-2/3*box2d.b2Pow(g-h,1.5)/i;return d.x=e.x+a.x*j,d.y=e.y+a.y*j,i},box2d.b2CircleShape.prototype.Dump=function(){box2d.b2Log("    /*box2d.b2CircleShape*/ var shape = new box2d.b2CircleShape();\n"),box2d.b2Log("    shape.m_radius = %.15f;\n",this.m_radius),box2d.b2Log("    shape.m_p.SetXY(%.15f, %.15f);\n",this.m_p.x,this.m_p.y)},goog.provide("box2d.b2Rope"),goog.require("box2d.b2Math"),goog.require("box2d.b2Draw"),box2d.b2RopeDef=function(){this.vertices=new Array,this.masses=new Array,this.gravity=new box2d.b2Vec2},box2d.b2RopeDef.prototype.vertices=null,box2d.b2RopeDef.prototype.count=0,box2d.b2RopeDef.prototype.masses=null,box2d.b2RopeDef.prototype.gravity=null,box2d.b2RopeDef.prototype.damping=.1,box2d.b2RopeDef.prototype.k2=.9,box2d.b2RopeDef.prototype.k3=.1,box2d.b2Rope=function(){this.m_gravity=new box2d.b2Vec2},box2d.b2Rope.prototype.m_count=0,box2d.b2Rope.prototype.m_ps=null,box2d.b2Rope.prototype.m_p0s=null,box2d.b2Rope.prototype.m_vs=null,box2d.b2Rope.prototype.m_ims=null,box2d.b2Rope.prototype.m_Ls=null,box2d.b2Rope.prototype.m_as=null,box2d.b2Rope.prototype.m_gravity=null,box2d.b2Rope.prototype.m_damping=0,box2d.b2Rope.prototype.m_k2=1,box2d.b2Rope.prototype.m_k3=.1,box2d.b2Rope.prototype.GetVertexCount=function(){return this.m_count},box2d.b2Rope.prototype.GetVertices=function(){return this.m_ps},box2d.b2Rope.prototype.Initialize=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(a.count>=3),this.m_count=a.count,this.m_ps=box2d.b2Vec2.MakeArray(this.m_count),this.m_p0s=box2d.b2Vec2.MakeArray(this.m_count),this.m_vs=box2d.b2Vec2.MakeArray(this.m_count),this.m_ims=box2d.b2MakeNumberArray(this.m_count);for(var b=0;b<this.m_count;++b){this.m_ps[b].Copy(a.vertices[b]),this.m_p0s[b].Copy(a.vertices[b]),this.m_vs[b].SetZero();var c=a.masses[b];this.m_ims[b]=c>0?1/c:0}var d=this.m_count-1,e=this.m_count-2;this.m_Ls=box2d.b2MakeNumberArray(d),this.m_as=box2d.b2MakeNumberArray(e);for(var b=0;d>b;++b){var f=this.m_ps[b],g=this.m_ps[b+1];this.m_Ls[b]=box2d.b2DistanceVV(f,g)}for(var b=0;e>b;++b){var f=this.m_ps[b],g=this.m_ps[b+1],h=this.m_ps[b+2],i=box2d.b2SubVV(g,f,box2d.b2Vec2.s_t0),j=box2d.b2SubVV(h,g,box2d.b2Vec2.s_t1),k=box2d.b2CrossVV(i,j),l=box2d.b2DotVV(i,j);this.m_as[b]=box2d.b2Atan2(k,l)}this.m_gravity.Copy(a.gravity),this.m_damping=a.damping,this.m_k2=a.k2,this.m_k3=a.k3},box2d.b2Rope.prototype.Step=function(a,b){if(0!==a){for(var c=Math.exp(-a*this.m_damping),d=0;d<this.m_count;++d)this.m_p0s[d].Copy(this.m_ps[d]),this.m_ims[d]>0&&this.m_vs[d].SelfMulAdd(a,this.m_gravity),this.m_vs[d].SelfMul(c),this.m_ps[d].SelfMulAdd(a,this.m_vs[d]);for(var d=0;b>d;++d)this.SolveC2(),this.SolveC3(),this.SolveC2();for(var e=1/a,d=0;d<this.m_count;++d)box2d.b2MulSV(e,box2d.b2SubVV(this.m_ps[d],this.m_p0s[d],box2d.b2Vec2.s_t0),this.m_vs[d])}},box2d.b2Rope.prototype.SolveC2=function(){for(var a=this.m_count-1,b=0;a>b;++b){var c=this.m_ps[b],d=this.m_ps[b+1],e=box2d.b2SubVV(d,c,box2d.b2Rope.s_d),f=e.Normalize(),g=this.m_ims[b],h=this.m_ims[b+1];if(g+h!==0){var i=g/(g+h),j=h/(g+h);c.SelfMulSub(this.m_k2*i*(this.m_Ls[b]-f),e),d.SelfMulAdd(this.m_k2*j*(this.m_Ls[b]-f),e)}}},box2d.b2Rope.s_d=new box2d.b2Vec2,box2d.b2Rope.prototype.SetAngleRadians=function(a){for(var b=this.m_count-2,c=0;b>c;++c)this.m_as[c]=a},box2d.b2Rope.prototype.SolveC3=function(){for(var a=this.m_count-2,b=0;a>b;++b){var c=this.m_ps[b],d=this.m_ps[b+1],e=this.m_ps[b+2],f=this.m_ims[b],g=this.m_ims[b+1],h=this.m_ims[b+2],i=box2d.b2SubVV(d,c,box2d.b2Rope.s_d1),j=box2d.b2SubVV(e,d,box2d.b2Rope.s_d2),k=i.GetLengthSquared(),l=j.GetLengthSquared();if(k*l!==0){var m=box2d.b2CrossVV(i,j),n=box2d.b2DotVV(i,j),o=box2d.b2Atan2(m,n),p=box2d.b2MulSV(-1/k,i.SelfSkew(),box2d.b2Rope.s_Jd1),q=box2d.b2MulSV(1/l,j.SelfSkew(),box2d.b2Rope.s_Jd2),r=box2d.b2NegV(p,box2d.b2Rope.s_J1),s=box2d.b2SubVV(p,q,box2d.b2Rope.s_J2),t=q,u=f*box2d.b2DotVV(r,r)+g*box2d.b2DotVV(s,s)+h*box2d.b2DotVV(t,t);if(0!==u){u=1/u;for(var v=o-this.m_as[b];v>box2d.b2_pi;)o-=2*box2d.b2_pi,v=o-this.m_as[b];for(;v<-box2d.b2_pi;)o+=2*box2d.b2_pi,v=o-this.m_as[b];var w=-this.m_k3*u*v;c.SelfMulAdd(f*w,r),d.SelfMulAdd(g*w,s),e.SelfMulAdd(h*w,t)}}}},box2d.b2Rope.s_d1=new box2d.b2Vec2,box2d.b2Rope.s_d2=new box2d.b2Vec2,box2d.b2Rope.s_Jd1=new box2d.b2Vec2,box2d.b2Rope.s_Jd2=new box2d.b2Vec2,box2d.b2Rope.s_J1=new box2d.b2Vec2,box2d.b2Rope.s_J2=new box2d.b2Vec2,box2d.b2Rope.prototype.Draw=function(a){for(var b=new box2d.b2Color(.4,.5,.7),c=0;c<this.m_count-1;++c)a.DrawSegment(this.m_ps[c],this.m_ps[c+1],b)},goog.provide("box2d.b2WheelJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),box2d.b2WheelJointDef=function(){goog.base(this,box2d.b2JointType.e_wheelJoint),this.localAnchorA=new box2d.b2Vec2(0,0),this.localAnchorB=new box2d.b2Vec2(0,0),this.localAxisA=new box2d.b2Vec2(1,0)
},goog.inherits(box2d.b2WheelJointDef,box2d.b2JointDef),box2d.b2WheelJointDef.prototype.localAnchorA=null,box2d.b2WheelJointDef.prototype.localAnchorB=null,box2d.b2WheelJointDef.prototype.localAxisA=null,box2d.b2WheelJointDef.prototype.enableMotor=!1,box2d.b2WheelJointDef.prototype.maxMotorTorque=0,box2d.b2WheelJointDef.prototype.motorSpeed=0,box2d.b2WheelJointDef.prototype.frequencyHz=2,box2d.b2WheelJointDef.prototype.dampingRatio=.7,box2d.b2WheelJointDef.prototype.Initialize=function(a,b,c,d){this.bodyA=a,this.bodyB=b,this.bodyA.GetLocalPoint(c,this.localAnchorA),this.bodyB.GetLocalPoint(c,this.localAnchorB),this.bodyA.GetLocalVector(d,this.localAxisA)},box2d.b2WheelJoint=function(a){goog.base(this,a),this.m_frequencyHz=a.frequencyHz,this.m_dampingRatio=a.dampingRatio,this.m_localAnchorA=a.localAnchorA.Clone(),this.m_localAnchorB=a.localAnchorB.Clone(),this.m_localXAxisA=a.localAxisA.Clone(),this.m_localYAxisA=box2d.b2CrossOneV(this.m_localXAxisA,new box2d.b2Vec2),this.m_maxMotorTorque=a.maxMotorTorque,this.m_motorSpeed=a.motorSpeed,this.m_enableMotor=a.enableMotor,this.m_localCenterA=new box2d.b2Vec2,this.m_localCenterB=new box2d.b2Vec2,this.m_ax=new box2d.b2Vec2,this.m_ay=new box2d.b2Vec2,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_lalcA=new box2d.b2Vec2,this.m_lalcB=new box2d.b2Vec2,this.m_rA=new box2d.b2Vec2,this.m_rB=new box2d.b2Vec2,this.m_ax.SetZero(),this.m_ay.SetZero()},goog.inherits(box2d.b2WheelJoint,box2d.b2Joint),box2d.b2WheelJoint.prototype.m_frequencyHz=0,box2d.b2WheelJoint.prototype.m_dampingRatio=0,box2d.b2WheelJoint.prototype.m_localAnchorA=null,box2d.b2WheelJoint.prototype.m_localAnchorB=null,box2d.b2WheelJoint.prototype.m_localXAxisA=null,box2d.b2WheelJoint.prototype.m_localYAxisA=null,box2d.b2WheelJoint.prototype.m_impulse=0,box2d.b2WheelJoint.prototype.m_motorImpulse=0,box2d.b2WheelJoint.prototype.m_springImpulse=0,box2d.b2WheelJoint.prototype.m_maxMotorTorque=0,box2d.b2WheelJoint.prototype.m_motorSpeed=0,box2d.b2WheelJoint.prototype.m_enableMotor=!1,box2d.b2WheelJoint.prototype.m_indexA=0,box2d.b2WheelJoint.prototype.m_indexB=0,box2d.b2WheelJoint.prototype.m_localCenterA=null,box2d.b2WheelJoint.prototype.m_localCenterB=null,box2d.b2WheelJoint.prototype.m_invMassA=0,box2d.b2WheelJoint.prototype.m_invMassB=0,box2d.b2WheelJoint.prototype.m_invIA=0,box2d.b2WheelJoint.prototype.m_invIB=0,box2d.b2WheelJoint.prototype.m_ax=null,box2d.b2WheelJoint.prototype.m_ay=null,box2d.b2WheelJoint.prototype.m_sAx=0,box2d.b2WheelJoint.prototype.m_sBx=0,box2d.b2WheelJoint.prototype.m_sAy=0,box2d.b2WheelJoint.prototype.m_sBy=0,box2d.b2WheelJoint.prototype.m_mass=0,box2d.b2WheelJoint.prototype.m_motorMass=0,box2d.b2WheelJoint.prototype.m_springMass=0,box2d.b2WheelJoint.prototype.m_bias=0,box2d.b2WheelJoint.prototype.m_gamma=0,box2d.b2WheelJoint.prototype.m_qA=null,box2d.b2WheelJoint.prototype.m_qB=null,box2d.b2WheelJoint.prototype.m_lalcA=null,box2d.b2WheelJoint.prototype.m_lalcB=null,box2d.b2WheelJoint.prototype.m_rA=null,box2d.b2WheelJoint.prototype.m_rB=null,box2d.b2WheelJoint.prototype.GetMotorSpeed=function(){return this.m_motorSpeed},box2d.b2WheelJoint.prototype.GetMaxMotorTorque=function(){return this.m_maxMotorTorque},box2d.b2WheelJoint.prototype.SetSpringFrequencyHz=function(a){this.m_frequencyHz=a},box2d.b2WheelJoint.prototype.GetSpringFrequencyHz=function(){return this.m_frequencyHz},box2d.b2WheelJoint.prototype.SetSpringDampingRatio=function(a){this.m_dampingRatio=a},box2d.b2WheelJoint.prototype.GetSpringDampingRatio=function(){return this.m_dampingRatio},box2d.b2WheelJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=this.m_invMassA,c=this.m_invMassB,d=this.m_invIA,e=this.m_invIB,f=a.positions[this.m_indexA].c,g=a.positions[this.m_indexA].a,h=a.velocities[this.m_indexA].v,i=a.velocities[this.m_indexA].w,j=a.positions[this.m_indexB].c,k=a.positions[this.m_indexB].a,l=a.velocities[this.m_indexB].v,m=a.velocities[this.m_indexB].w,n=this.m_qA.SetAngleRadians(g),o=this.m_qB.SetAngleRadians(k);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var p=box2d.b2MulRV(n,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var q=box2d.b2MulRV(o,this.m_lalcB,this.m_rB),r=box2d.b2SubVV(box2d.b2AddVV(j,q,box2d.b2Vec2.s_t0),box2d.b2AddVV(f,p,box2d.b2Vec2.s_t1),box2d.b2WheelJoint.prototype.InitVelocityConstraints.s_d);if(box2d.b2MulRV(n,this.m_localYAxisA,this.m_ay),this.m_sAy=box2d.b2CrossVV(box2d.b2AddVV(r,p,box2d.b2Vec2.s_t0),this.m_ay),this.m_sBy=box2d.b2CrossVV(q,this.m_ay),this.m_mass=b+c+d*this.m_sAy*this.m_sAy+e*this.m_sBy*this.m_sBy,this.m_mass>0&&(this.m_mass=1/this.m_mass),this.m_springMass=0,this.m_bias=0,this.m_gamma=0,this.m_frequencyHz>0){box2d.b2MulRV(n,this.m_localXAxisA,this.m_ax),this.m_sAx=box2d.b2CrossVV(box2d.b2AddVV(r,p,box2d.b2Vec2.s_t0),this.m_ax),this.m_sBx=box2d.b2CrossVV(q,this.m_ax);var s=b+c+d*this.m_sAx*this.m_sAx+e*this.m_sBx*this.m_sBx;if(s>0){this.m_springMass=1/s;var t=box2d.b2DotVV(r,this.m_ax),u=2*box2d.b2_pi*this.m_frequencyHz,v=2*this.m_springMass*this.m_dampingRatio*u,w=this.m_springMass*u*u,x=a.step.dt;this.m_gamma=x*(v+x*w),this.m_gamma>0&&(this.m_gamma=1/this.m_gamma),this.m_bias=t*x*w*this.m_gamma,this.m_springMass=s+this.m_gamma,this.m_springMass>0&&(this.m_springMass=1/this.m_springMass)}}else this.m_springImpulse=0;if(this.m_enableMotor?(this.m_motorMass=d+e,this.m_motorMass>0&&(this.m_motorMass=1/this.m_motorMass)):(this.m_motorMass=0,this.m_motorImpulse=0),a.step.warmStarting){this.m_impulse*=a.step.dtRatio,this.m_springImpulse*=a.step.dtRatio,this.m_motorImpulse*=a.step.dtRatio;var y=box2d.b2AddVV(box2d.b2MulSV(this.m_impulse,this.m_ay,box2d.b2Vec2.s_t0),box2d.b2MulSV(this.m_springImpulse,this.m_ax,box2d.b2Vec2.s_t1),box2d.b2WheelJoint.prototype.InitVelocityConstraints.s_P),z=this.m_impulse*this.m_sAy+this.m_springImpulse*this.m_sAx+this.m_motorImpulse,A=this.m_impulse*this.m_sBy+this.m_springImpulse*this.m_sBx+this.m_motorImpulse;h.SelfMulSub(this.m_invMassA,y),i-=this.m_invIA*z,l.SelfMulAdd(this.m_invMassB,y),m+=this.m_invIB*A}else this.m_impulse=0,this.m_springImpulse=0,this.m_motorImpulse=0;a.velocities[this.m_indexA].w=i,a.velocities[this.m_indexB].w=m},box2d.b2WheelJoint.prototype.InitVelocityConstraints.s_d=new box2d.b2Vec2,box2d.b2WheelJoint.prototype.InitVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2WheelJoint.prototype.SolveVelocityConstraints=function(a){var b=this.m_invMassA,c=this.m_invMassB,d=this.m_invIA,e=this.m_invIB,f=a.velocities[this.m_indexA].v,g=a.velocities[this.m_indexA].w,h=a.velocities[this.m_indexB].v,i=a.velocities[this.m_indexB].w,j=box2d.b2DotVV(this.m_ax,box2d.b2SubVV(h,f,box2d.b2Vec2.s_t0))+this.m_sBx*i-this.m_sAx*g,k=-this.m_springMass*(j+this.m_bias+this.m_gamma*this.m_springImpulse);this.m_springImpulse+=k;var l=box2d.b2MulSV(k,this.m_ax,box2d.b2WheelJoint.prototype.SolveVelocityConstraints.s_P),m=k*this.m_sAx,n=k*this.m_sBx;f.SelfMulSub(b,l),g-=d*m,h.SelfMulAdd(c,l),i+=e*n;var j=i-g-this.m_motorSpeed,k=-this.m_motorMass*j,o=this.m_motorImpulse,p=a.step.dt*this.m_maxMotorTorque;this.m_motorImpulse=box2d.b2Clamp(this.m_motorImpulse+k,-p,p),k=this.m_motorImpulse-o,g-=d*k,i+=e*k;var j=box2d.b2DotVV(this.m_ay,box2d.b2SubVV(h,f,box2d.b2Vec2.s_t0))+this.m_sBy*i-this.m_sAy*g,k=-this.m_mass*j;this.m_impulse+=k;var l=box2d.b2MulSV(k,this.m_ay,box2d.b2WheelJoint.prototype.SolveVelocityConstraints.s_P),m=k*this.m_sAy,n=k*this.m_sBy;f.SelfMulSub(b,l),g-=d*m,h.SelfMulAdd(c,l),i+=e*n,a.velocities[this.m_indexA].w=g,a.velocities[this.m_indexB].w=i},box2d.b2WheelJoint.prototype.SolveVelocityConstraints.s_P=new box2d.b2Vec2,box2d.b2WheelJoint.prototype.SolvePositionConstraints=function(a){var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.positions[this.m_indexB].c,e=a.positions[this.m_indexB].a,f=this.m_qA.SetAngleRadians(c),g=this.m_qB.SetAngleRadians(e);box2d.b2SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);var h=box2d.b2MulRV(f,this.m_lalcA,this.m_rA);box2d.b2SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);var i,j=box2d.b2MulRV(g,this.m_lalcB,this.m_rB),k=box2d.b2AddVV(box2d.b2SubVV(d,b,box2d.b2Vec2.s_t0),box2d.b2SubVV(j,h,box2d.b2Vec2.s_t1),box2d.b2WheelJoint.prototype.SolvePositionConstraints.s_d),l=box2d.b2MulRV(f,this.m_localYAxisA,this.m_ay),m=box2d.b2CrossVV(box2d.b2AddVV(k,h,box2d.b2Vec2.s_t0),l),n=box2d.b2CrossVV(j,l),o=box2d.b2DotVV(k,this.m_ay),p=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_sAy*this.m_sAy+this.m_invIB*this.m_sBy*this.m_sBy;i=0!==p?-o/p:0;var q=box2d.b2MulSV(i,l,box2d.b2WheelJoint.prototype.SolvePositionConstraints.s_P),r=i*m,s=i*n;return b.SelfMulSub(this.m_invMassA,q),c-=this.m_invIA*r,d.SelfMulAdd(this.m_invMassB,q),e+=this.m_invIB*s,a.positions[this.m_indexA].a=c,a.positions[this.m_indexB].a=e,box2d.b2Abs(o)<=box2d.b2_linearSlop},box2d.b2WheelJoint.prototype.SolvePositionConstraints.s_d=new box2d.b2Vec2,box2d.b2WheelJoint.prototype.SolvePositionConstraints.s_P=new box2d.b2Vec2,box2d.b2WheelJoint.prototype.GetDefinition=function(a){return box2d.ENABLE_ASSERTS&&box2d.b2Assert(!1),a},box2d.b2WheelJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,a)},box2d.b2WheelJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,a)},box2d.b2WheelJoint.prototype.GetReactionForce=function(a,b){return b.x=a*(this.m_impulse*this.m_ay.x+this.m_springImpulse*this.m_ax.x),b.y=a*(this.m_impulse*this.m_ay.y+this.m_springImpulse*this.m_ax.y),b},box2d.b2WheelJoint.prototype.GetReactionTorque=function(a){return a*this.m_motorImpulse},box2d.b2WheelJoint.prototype.GetLocalAnchorA=function(a){return a.Copy(this.m_localAnchorA)},box2d.b2WheelJoint.prototype.GetLocalAnchorB=function(a){return a.Copy(this.m_localAnchorB)},box2d.b2WheelJoint.prototype.GetLocalAxisA=function(a){return a.Copy(this.m_localXAxisA)},box2d.b2WheelJoint.prototype.GetJointTranslation=function(){var a=this.m_bodyA,b=this.m_bodyB,c=a.GetWorldPoint(this.m_localAnchorA,new box2d.b2Vec2),d=b.GetWorldPoint(this.m_localAnchorB,new box2d.b2Vec2),e=box2d.b2SubVV(d,c,new box2d.b2Vec2),f=a.GetWorldVector(this.m_localXAxisA,new box2d.b2Vec2),g=box2d.b2DotVV(e,f);return g},box2d.b2WheelJoint.prototype.GetJointSpeed=function(){var a=this.m_bodyA.m_angularVelocity,b=this.m_bodyB.m_angularVelocity;return b-a},box2d.b2WheelJoint.prototype.IsMotorEnabled=function(){return this.m_enableMotor},box2d.b2WheelJoint.prototype.EnableMotor=function(a){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=a},box2d.b2WheelJoint.prototype.SetMotorSpeed=function(a){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=a},box2d.b2WheelJoint.prototype.SetMaxMotorTorque=function(a){this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_maxMotorTorque=a},box2d.b2WheelJoint.prototype.GetMotorTorque=function(a){return a*this.m_motorImpulse},box2d.b2WheelJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2WheelJointDef*/ var jd = new box2d.b2WheelJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.localAnchorA.SetXY(%.15f, %.15f);\n",this.m_localAnchorA.x,this.m_localAnchorA.y),box2d.b2Log("  jd.localAnchorB.SetXY(%.15f, %.15f);\n",this.m_localAnchorB.x,this.m_localAnchorB.y),box2d.b2Log("  jd.localAxisA.Set(%.15f, %.15f);\n",this.m_localXAxisA.x,this.m_localXAxisA.y),box2d.b2Log("  jd.enableMotor = %s;\n",this.m_enableMotor?"true":"false"),box2d.b2Log("  jd.motorSpeed = %.15f;\n",this.m_motorSpeed),box2d.b2Log("  jd.maxMotorTorque = %.15f;\n",this.m_maxMotorTorque),box2d.b2Log("  jd.frequencyHz = %.15f;\n",this.m_frequencyHz),box2d.b2Log("  jd.dampingRatio = %.15f;\n",this.m_dampingRatio),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d.b2MotorJoint"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Math"),box2d.b2MotorJointDef=function(){goog.base(this,box2d.b2JointType.e_motorJoint),this.linearOffset=new box2d.b2Vec2(0,0)},goog.inherits(box2d.b2MotorJointDef,box2d.b2JointDef),box2d.b2MotorJointDef.prototype.linearOffset=null,box2d.b2MotorJointDef.prototype.angularOffset=0,box2d.b2MotorJointDef.prototype.maxForce=1,box2d.b2MotorJointDef.prototype.maxTorque=1,box2d.b2MotorJointDef.prototype.correctionFactor=.3,box2d.b2MotorJointDef.prototype.Initialize=function(a,b){this.bodyA=a,this.bodyB=b,this.bodyA.GetLocalPoint(this.bodyB.GetPosition(),this.linearOffset);var c=this.bodyA.GetAngleRadians(),d=this.bodyB.GetAngleRadians();this.angularOffset=d-c},box2d.b2MotorJoint=function(a){goog.base(this,a),this.m_linearOffset=a.linearOffset.Clone(),this.m_linearImpulse=new box2d.b2Vec2(0,0),this.m_maxForce=a.maxForce,this.m_maxTorque=a.maxTorque,this.m_correctionFactor=a.correctionFactor,this.m_rA=new box2d.b2Vec2(0,0),this.m_rB=new box2d.b2Vec2(0,0),this.m_localCenterA=new box2d.b2Vec2(0,0),this.m_localCenterB=new box2d.b2Vec2(0,0),this.m_linearError=new box2d.b2Vec2(0,0),this.m_linearMass=new box2d.b2Mat22,this.m_qA=new box2d.b2Rot,this.m_qB=new box2d.b2Rot,this.m_K=new box2d.b2Mat22},goog.inherits(box2d.b2MotorJoint,box2d.b2Joint),box2d.b2MotorJoint.prototype.m_linearOffset=null,box2d.b2MotorJoint.prototype.m_angularOffset=0,box2d.b2MotorJoint.prototype.m_linearImpulse=null,box2d.b2MotorJoint.prototype.m_angularImpulse=0,box2d.b2MotorJoint.prototype.m_maxForce=0,box2d.b2MotorJoint.prototype.m_maxTorque=0,box2d.b2MotorJoint.prototype.m_correctionFactor=.3,box2d.b2MotorJoint.prototype.m_indexA=0,box2d.b2MotorJoint.prototype.m_indexB=0,box2d.b2MotorJoint.prototype.m_rA=null,box2d.b2MotorJoint.prototype.m_rB=null,box2d.b2MotorJoint.prototype.m_localCenterA=null,box2d.b2MotorJoint.prototype.m_localCenterB=null,box2d.b2MotorJoint.prototype.m_linearError=null,box2d.b2MotorJoint.prototype.m_angularError=0,box2d.b2MotorJoint.prototype.m_invMassA=0,box2d.b2MotorJoint.prototype.m_invMassB=0,box2d.b2MotorJoint.prototype.m_invIA=0,box2d.b2MotorJoint.prototype.m_invIB=0,box2d.b2MotorJoint.prototype.m_linearMass=null,box2d.b2MotorJoint.prototype.m_angularMass=0,box2d.b2MotorJoint.prototype.m_qA=null,box2d.b2MotorJoint.prototype.m_qB=null,box2d.b2MotorJoint.prototype.m_K=null,box2d.b2MotorJoint.prototype.GetAnchorA=function(a){return this.m_bodyA.GetPosition(a)},box2d.b2MotorJoint.prototype.GetAnchorB=function(a){return this.m_bodyB.GetPosition(a)},box2d.b2MotorJoint.prototype.GetReactionForce=function(a,b){return box2d.b2MulSV(a,this.m_linearImpulse,b)},box2d.b2MotorJoint.prototype.GetReactionTorque=function(a){return a*this.m_angularImpulse},box2d.b2MotorJoint.prototype.SetCorrectionFactor=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a)&&a>=0&&1>=a),this._correctionFactor=a},box2d.b2MotorJoint.prototype.GetCorrectionFactor=function(){return this.m_correctionFactor},box2d.b2MotorJoint.prototype.SetLinearOffset=function(a){box2d.b2IsEqualToV(a,this.m_linearOffset)||(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_linearOffset.Copy(a))},box2d.b2MotorJoint.prototype.GetLinearOffset=function(a){return a.Copy(this.m_linearOffset)},box2d.b2MotorJoint.prototype.SetAngularOffset=function(a){a!==this.m_angularOffset&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_angularOffset=a)},box2d.b2MotorJoint.prototype.GetAngularOffset=function(){return this.m_angularOffset},box2d.b2MotorJoint.prototype.SetMaxForce=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a)&&a>=0),this.m_maxForce=a},box2d.b2MotorJoint.prototype.GetMaxForce=function(){return this.m_maxForce},box2d.b2MotorJoint.prototype.SetMaxTorque=function(a){box2d.ENABLE_ASSERTS&&box2d.b2Assert(box2d.b2IsValid(a)&&a>=0),this.m_maxTorque=a},box2d.b2MotorJoint.prototype.GetMaxTorque=function(){return this.m_maxTorque},box2d.b2MotorJoint.prototype.InitVelocityConstraints=function(a){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;var b=a.positions[this.m_indexA].c,c=a.positions[this.m_indexA].a,d=a.velocities[this.m_indexA].v,e=a.velocities[this.m_indexA].w,f=a.positions[this.m_indexB].c,g=a.positions[this.m_indexB].a,h=a.velocities[this.m_indexB].v,i=a.velocities[this.m_indexB].w,j=this.m_qA.SetAngleRadians(c),k=this.m_qB.SetAngleRadians(g),l=box2d.b2MulRV(j,box2d.b2NegV(this.m_localCenterA,box2d.b2Vec2.s_t0),this.m_rA),m=box2d.b2MulRV(k,box2d.b2NegV(this.m_localCenterB,box2d.b2Vec2.s_t0),this.m_rB),n=this.m_invMassA,o=this.m_invMassB,p=this.m_invIA,q=this.m_invIB,r=this.m_K;if(r.ex.x=n+o+p*l.y*l.y+q*m.y*m.y,r.ex.y=-p*l.x*l.y-q*m.x*m.y,r.ey.x=r.ex.y,r.ey.y=n+o+p*l.x*l.x+q*m.x*m.x,r.GetInverse(this.m_linearMass),this.m_angularMass=p+q,this.m_angularMass>0&&(this.m_angularMass=1/this.m_angularMass),box2d.b2SubVV(box2d.b2SubVV(box2d.b2AddVV(f,m,box2d.b2Vec2.s_t0),box2d.b2AddVV(b,l,box2d.b2Vec2.s_t1),box2d.b2Vec2.s_t2),box2d.b2MulRV(j,this.m_linearOffset,box2d.b2Vec2.s_t3),this.m_linearError),this.m_angularError=g-c-this.m_angularOffset,a.step.warmStarting){this.m_linearImpulse.SelfMul(a.step.dtRatio),this.m_angularImpulse*=a.step.dtRatio;var s=this.m_linearImpulse;d.SelfMulSub(n,s),e-=p*(box2d.b2CrossVV(l,s)+this.m_angularImpulse),h.SelfMulAdd(o,s),i+=q*(box2d.b2CrossVV(m,s)+this.m_angularImpulse)}else this.m_linearImpulse.SetZero(),this.m_angularImpulse=0;a.velocities[this.m_indexA].w=e,a.velocities[this.m_indexB].w=i},box2d.b2MotorJoint.prototype.SolveVelocityConstraints=function(a){var b=a.velocities[this.m_indexA].v,c=a.velocities[this.m_indexA].w,d=a.velocities[this.m_indexB].v,e=a.velocities[this.m_indexB].w,f=this.m_invMassA,g=this.m_invMassB,h=this.m_invIA,i=this.m_invIB,j=a.step.dt,k=a.step.inv_dt,l=e-c+k*this.m_correctionFactor*this.m_angularError,m=-this.m_angularMass*l,n=this.m_angularImpulse,o=j*this.m_maxTorque;this.m_angularImpulse=box2d.b2Clamp(this.m_angularImpulse+m,-o,o),m=this.m_angularImpulse-n,c-=h*m,e+=i*m;var p=this.m_rA,q=this.m_rB,l=box2d.b2AddVV(box2d.b2SubVV(box2d.b2AddVV(d,box2d.b2CrossSV(e,q,box2d.b2Vec2.s_t0),box2d.b2Vec2.s_t0),box2d.b2AddVV(b,box2d.b2CrossSV(c,p,box2d.b2Vec2.s_t1),box2d.b2Vec2.s_t1),box2d.b2Vec2.s_t2),box2d.b2MulSV(k*this.m_correctionFactor,this.m_linearError,box2d.b2Vec2.s_t3),box2d.b2MotorJoint.prototype.SolveVelocityConstraints.s_Cdot),m=box2d.b2MulMV(this.m_linearMass,l,box2d.b2MotorJoint.prototype.SolveVelocityConstraints.s_impulse).SelfNeg(),n=box2d.b2MotorJoint.prototype.SolveVelocityConstraints.s_oldImpulse.Copy(this.m_linearImpulse);this.m_linearImpulse.SelfAdd(m);var o=j*this.m_maxForce;this.m_linearImpulse.GetLengthSquared()>o*o&&(this.m_linearImpulse.Normalize(),this.m_linearImpulse.SelfMul(o)),box2d.b2SubVV(this.m_linearImpulse,n,m),b.SelfMulSub(f,m),c-=h*box2d.b2CrossVV(p,m),d.SelfMulAdd(g,m),e+=i*box2d.b2CrossVV(q,m),a.velocities[this.m_indexA].w=c,a.velocities[this.m_indexB].w=e},box2d.b2MotorJoint.prototype.SolveVelocityConstraints.s_Cdot=new box2d.b2Vec2,box2d.b2MotorJoint.prototype.SolveVelocityConstraints.s_impulse=new box2d.b2Vec2,box2d.b2MotorJoint.prototype.SolveVelocityConstraints.s_oldImpulse=new box2d.b2Vec2,box2d.b2MotorJoint.prototype.SolvePositionConstraints=function(){return!0},box2d.b2MotorJoint.prototype.Dump=function(){if(box2d.DEBUG){var a=this.m_bodyA.m_islandIndex,b=this.m_bodyB.m_islandIndex;box2d.b2Log("  /*box2d.b2MotorJointDef*/ var jd = new box2d.b2MotorJointDef();\n"),box2d.b2Log("  jd.bodyA = bodies[%d];\n",a),box2d.b2Log("  jd.bodyB = bodies[%d];\n",b),box2d.b2Log("  jd.collideConnected = %s;\n",this.m_collideConnected?"true":"false"),box2d.b2Log("  jd.linearOffset.SetXY(%.15f, %.15f);\n",this.m_linearOffset.x,this.m_linearOffset.y),box2d.b2Log("  jd.angularOffset = %.15f;\n",this.m_angularOffset),box2d.b2Log("  jd.maxForce = %.15f;\n",this.m_maxForce),box2d.b2Log("  jd.maxTorque = %.15f;\n",this.m_maxTorque),box2d.b2Log("  jd.correctionFactor = %.15f;\n",this.m_correctionFactor),box2d.b2Log("  joints[%d] = this.m_world.CreateJoint(jd);\n",this.m_index)}},goog.provide("box2d"),goog.require("box2d.b2Settings"),goog.require("box2d.b2Draw"),goog.require("box2d.b2Timer"),goog.require("box2d.b2CircleShape"),goog.require("box2d.b2EdgeShape"),goog.require("box2d.b2ChainShape"),goog.require("box2d.b2PolygonShape"),goog.require("box2d.b2BroadPhase"),goog.require("box2d.b2Distance"),goog.require("box2d.b2DynamicTree"),goog.require("box2d.b2TimeOfImpact"),goog.require("box2d.b2Body"),goog.require("box2d.b2Fixture"),goog.require("box2d.b2WorldCallbacks"),goog.require("box2d.b2TimeStep"),goog.require("box2d.b2World"),goog.require("box2d.b2Contact"),goog.require("box2d.b2AreaJoint"),goog.require("box2d.b2DistanceJoint"),goog.require("box2d.b2FrictionJoint"),goog.require("box2d.b2GearJoint"),goog.require("box2d.b2MotorJoint"),goog.require("box2d.b2MouseJoint"),goog.require("box2d.b2PrismaticJoint"),goog.require("box2d.b2PulleyJoint"),goog.require("box2d.b2RevoluteJoint"),goog.require("box2d.b2RopeJoint"),goog.require("box2d.b2WeldJoint"),goog.require("box2d.b2WheelJoint"),goog.require("box2d.b2Rope"),goog.require("box2d.b2BuoyancyController"),goog.require("box2d.b2ConstantAccelController"),goog.require("box2d.b2ConstantForceController"),goog.require("box2d.b2GravityController"),goog.require("box2d.b2TensorDampingController"),Phaser.Physics.Box2D=function(a,b){this.game=a,this.version="1.0.2",this.ptmRatio=50,this.world=new box2d.b2World(new box2d.b2Vec2(0,0)),this.debugDraw=new Phaser.Physics.Box2D.DefaultDebugDraw(this.mpx(1)),this.world.SetDebugDraw(this.debugDraw),this.contactListener=new Phaser.Physics.Box2D.DefaultContactListener,this.world.SetContactListener(this.contactListener),this.nextBodyId=0,this.nextFixtureId=0,this.gravity=new Phaser.Physics.Box2D.PointProxy(this,this.world,this.world.GetGravity,this.world.SetGravity),this.friction=.2,this.restitution=0,this.density=1,this.frameRate=1/100,this.velocityIterations=3,this.positionIterations=3,this.useElapsedTime=!1,this.paused=!1,this.particleSystem=null;var c=new box2d.b2BodyDef;this.mouseJointBody=this.world.CreateBody(c),this.mouseJoint=null,b.hasOwnProperty("mpx")&&b.hasOwnProperty("pxm")&&(this.mpx=b.mpx,this.pxm=b.pxm),this.walls={left:null,right:null,top:null,bottom:null},this.onBodyAdded=new Phaser.Signal,this.onBodyRemoved=new Phaser.Signal,this._toRemove=[]},Phaser.Physics.Box2D.worldBoundsFilterCategory=32768,Phaser.Physics.Box2D.prototype={getNextBodyId:function(){var a=this.nextBodyId;return this.nextBodyId+=1,a},getNextFixtureId:function(){var a=this.nextFixtureId;return this.nextFixtureId+=1,a},removeBodyNextStep:function(a){this._toRemove.push(a)},preUpdate:function(){for(var a=this._toRemove.length;a--;)this.removeBody(this._toRemove[a]);this._toRemove.length=0},enable:function(a,b){"undefined"==typeof b&&(b=!0);var c=1;if(Array.isArray(a))for(c=a.length;c--;)a[c]instanceof Phaser.Group?this.enable(a[c].children,b):(this.enableBody(a[c]),b&&a[c].hasOwnProperty("children")&&a[c].children.length>0&&this.enable(a[c],!0));else a instanceof Phaser.Group?this.enable(a.children,b):(this.enableBody(a),b&&a.hasOwnProperty("children")&&a.children.length>0&&this.enable(a.children,!0))},enableBody:function(a){a.hasOwnProperty("body")&&null===a.body&&(a.body=new Phaser.Physics.Box2D.Body(this.game,a,a.x,a.y,2),a.anchor.set(.5))},setBoundsToWorld:function(a,b,c,d,e,f){"undefined"==typeof a&&(a=!0),"undefined"==typeof b&&(b=!0),"undefined"==typeof c&&(c=!0),"undefined"==typeof d&&(d=!0),"undefined"==typeof e&&(e=1),"undefined"==typeof f&&(e=4294967295),this.setBounds(this.game.world.bounds.x,this.game.world.bounds.y,this.game.world.bounds.width,this.game.world.bounds.height,a,b,c,d,e,f)},setBounds:function(a,b,c,d,e,f,g,h,i,j){"undefined"==typeof e&&(e=!0),"undefined"==typeof f&&(f=!0),"undefined"==typeof g&&(g=!0),"undefined"==typeof h&&(h=!0),"undefined"==typeof i&&(i=1),"undefined"==typeof j&&(j=4294967295),this.walls.left&&this.removeBody(this.walls.left),this.walls.right&&this.removeBody(this.walls.right),this.walls.top&&this.removeBody(this.walls.top),this.walls.bottom&&this.removeBody(this.walls.bottom);var k=new box2d.b2PolygonShape,l=new box2d.b2FixtureDef;l.shape=k,l.filter.categoryBits=Phaser.Physics.Box2D.worldBoundsFilterCategory,l.filter.maskBits=65535;var m=this.pxm(100),n=this.game.world.bounds;if(e){this.walls.left=this.createBody(0,0,0),k.SetAsOrientedBox(m,this.pxm(n.height)+m,new box2d.b2Vec2(m,0),0);var o=this.walls.left.data.CreateFixture(l);o.id=this.getNextFixtureId()}if(f){this.walls.right=this.createBody(0,0,0),k.SetAsOrientedBox(m,this.pxm(n.height)+m,new box2d.b2Vec2(this.pxm(-n.width)-m,0),0);var o=this.walls.right.data.CreateFixture(l);o.id=this.getNextFixtureId()}if(g){this.walls.top=this.createBody(0,0,0),k.SetAsOrientedBox(this.pxm(n.width)+m,m,new box2d.b2Vec2(0,m),0);var o=this.walls.top.data.CreateFixture(l);o.id=this.getNextFixtureId()}if(h){this.walls.bottom=this.createBody(0,0,0),k.SetAsOrientedBox(this.pxm(n.width)+m,m,new box2d.b2Vec2(0,this.pxm(-n.height)-m),0);var o=this.walls.bottom.data.CreateFixture(l);o.id=this.getNextFixtureId()}},pause:function(){this.paused=!0},resume:function(){this.paused=!1},update:function(){this.paused||(this.useElapsedTime?this.world.Step(this.game.time.physicsElapsed,this.velocityIterations,this.positionIterations):this.world.Step(this.frameRate,this.velocityIterations,this.positionIterations))},reset:function(){this.clear()},clear:function(){var a=this.world.GetGravity().Clone();this.world=new box2d.b2World(a),this.world.SetDebugDraw(this.debugDraw),this.world.SetContactListener(this.contactListener),this._toRemove=[]},destroy:function(){this.clear(),this.gravity=null,this.world=null,this.game=null},createBody:function(a,b,c){var d=new Phaser.Physics.Box2D.Body(this.game,null,a,b,c,this);return d},createCircle:function(a,b,c,d,e){var f=this.createBody(a,b,2);return f.setCircle(c,d,e)},createRectangle:function(a,b,c,d,e,f,g){var h=this.createBody(a,b,2);return h.setRectangle(c,d,e,f,g)},createPolygon:function(a,b,c,d,e){var f=this.createBody(a,b,2);return f.setPolygon(c,d,e)},addBody:function(a){return a.data.world?!1:(a.data=this.world.CreateBody(a.bodyDef),a.data.world=this.world,a.data.parent=a,this.onBodyAdded.dispatch(a),!0)},removeBody:function(a){return a.data.world==this.world&&(this.world.DestroyBody(a.data),this.onBodyRemoved.dispatch(a)),a},getBodies:function(){for(var a=[],b=this.world.GetBodyList();b;b=b.GetNext())a.push(b);return a},getBody:function(a){return a instanceof box2d.b2Body?a:a instanceof Phaser.Physics.Box2D.Body?a.data:a.body&&a.body.type===Phaser.Physics.BOX2D?a.body.data:null},toJSON:function(){return this.world.toJSON()},mpx:function(a){return a*=this.ptmRatio},pxm:function(a){return a/this.ptmRatio},renderDebugDraw:function(a){if(this.game.physics.box2d){var b=this.game.physics.box2d;b.debugDraw.start(a),b.world.DrawDebugData(),b.debugDraw.stop()}},renderBodyInfo:function(a,b){a.line("Position: x: "+b.x.toFixed(3)+" y: "+b.y.toFixed(3)),a.line("Rotation: "+b.rotation.toFixed(3)+" degrees"),a.line("Velocity: x: "+b.velocity.x.toFixed(3)+" y: "+b.velocity.y.toFixed(3)),a.line("Angular velocity: "+b.angularVelocity.toFixed(3)+" degrees/sec")},getFixturesAtPoint:function(a,b,c,d){"undefined"==typeof c&&(c=!1),"undefined"==typeof d&&(d=!1);var e=this.pxm(-a),f=this.pxm(-b),g=new box2d.b2Vec2(e,f),h=new box2d.b2AABB,i=new box2d.b2Vec2;i.SetXY(.001,.001),box2d.b2SubVV(g,i,h.lowerBound),box2d.b2AddVV(g,i,h.upperBound);var j=[],k=function(a){return d&&a.GetBody().GetType()!==box2d.b2BodyType.b2_dynamicBody?!0:a.TestPoint(g)?(j.push(a),!c):!0};return this.world.QueryAABB(k,h),j},getBodiesAtPoint:function(a,b,c,d){"undefined"==typeof c&&(c=!1),"undefined"==typeof d&&(d=!1);var e=this.getFixturesAtPoint(a,b,c,d);if(e.length<1)return e;for(var f=[],g=0;g<e.length;g++)f.push(e[g].GetBody().parent);return f.filter(function(a,b){return f.indexOf(a)===b}),f},mouseDragStart:function(a){this.mouseDragEnd();var b=this.getFixturesAtPoint(a.x,a.y,!0,!0);if(!(b.length<1)){var c=this.pxm(-a.x),d=this.pxm(-a.y),e=new box2d.b2Vec2(c,d),f=new box2d.b2MouseJointDef;f.bodyA=this.mouseJointBody,f.bodyB=b[0].GetBody(),f.target.Copy(e),f.maxForce=1e3*f.bodyB.GetMass(),this.mouseJoint=this.world.CreateJoint(f),f.bodyB.SetAwake(!0)}},mouseDragMove:function(a){if(this.mouseJoint){var b=this.pxm(-a.x),c=this.pxm(-a.y),d=new box2d.b2Vec2(b,c);this.mouseJoint.SetTarget(d)}},mouseDragEnd:function(){this.mouseJoint&&(this.world.DestroyJoint(this.mouseJoint),this.mouseJoint=null)},distanceJoint:function(a,b,c,d,e,f,g,h,i){"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=0),"undefined"==typeof i&&(i=0),d=this.pxm(-d),e=this.pxm(-e),f=this.pxm(-f),g=this.pxm(-g),a.body&&(a=a.body),b.body&&(b=b.body);var j=new box2d.b2DistanceJointDef;if(j.bodyA=a.data,j.bodyB=b.data,j.localAnchorA.SetXY(d,e),j.localAnchorB.SetXY(f,g),null===c||"undefined"==typeof c){var k=new box2d.b2Vec2,l=new box2d.b2Vec2;j.bodyA.GetWorldPoint(j.localAnchorA,k),j.bodyB.GetWorldPoint(j.localAnchorB,l),k.SelfSub(l),c=k.Length()}else c=this.pxm(c);return j.length=c,j.frequencyHz=h,j.dampingRatio=i,this.world.CreateJoint(j)},ropeJoint:function(a,b,c,d,e,f,g){"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),d=this.pxm(-d),e=this.pxm(-e),f=this.pxm(-f),g=this.pxm(-g),a.body&&(a=a.body),b.body&&(b=b.body);var h=new box2d.b2RopeJointDef;if(h.bodyA=a.data,h.bodyB=b.data,h.localAnchorA.SetXY(d,e),h.localAnchorB.SetXY(f,g),null===c||"undefined"==typeof c){var i=new box2d.b2Vec2,j=new box2d.b2Vec2;h.bodyA.GetWorldPoint(h.localAnchorA,i),h.bodyB.GetWorldPoint(h.localAnchorB,j),i.SelfSub(j),c=i.Length()}else c=this.pxm(c);return h.maxLength=c,this.world.CreateJoint(h)},revoluteJoint:function(a,b,c,d,e,f,g,h,i,j,k,l){"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=0),"undefined"==typeof i&&(i=!1),"undefined"==typeof j&&(j=0),"undefined"==typeof k&&(k=0),"undefined"==typeof l&&(l=!1),c=this.pxm(-c),d=this.pxm(-d),e=this.pxm(-e),f=this.pxm(-f),a.body&&(a=a.body),b.body&&(b=b.body);var m=new box2d.b2RevoluteJointDef;return m.bodyA=a.data,m.bodyB=b.data,m.localAnchorA.SetXY(c,d),m.localAnchorB.SetXY(e,f),m.motorSpeed=Phaser.Math.degToRad(-g),m.maxMotorTorque=h,m.enableMotor=i,m.lowerAngle=Phaser.Math.degToRad(j),m.upperAngle=Phaser.Math.degToRad(k),m.enableLimit=l,this.world.CreateJoint(m)},prismaticJoint:function(a,b,c,d,e,f,g,h,i,j,k,l,m,n,o){"undefined"==typeof c&&(c=1),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=0),"undefined"==typeof i&&(i=0),"undefined"==typeof j&&(j=0),"undefined"==typeof l&&(l=0),"undefined"==typeof m&&(m=0),"undefined"==typeof n&&(n=!1),"undefined"==typeof k&&(k=!1),"undefined"==typeof o&&(o=0),c*=-1,d*=-1,e=this.pxm(-e),f=this.pxm(-f),g=this.pxm(-g),h=this.pxm(-h),i=this.pxm(i),l=this.pxm(l),m=this.pxm(m),a.body&&(a=a.body),b.body&&(b=b.body);var p=new box2d.b2PrismaticJointDef;return p.bodyA=a.data,p.bodyB=b.data,p.localAxisA.SetXY(c,d),p.localAnchorA.SetXY(e,f),p.localAnchorB.SetXY(g,h),p.motorSpeed=i,p.maxMotorForce=j,p.enableMotor=k,p.lowerTranslation=l,p.upperTranslation=m,p.enableLimit=n,p.referenceAngle=Phaser.Math.degToRad(-o),this.world.CreateJoint(p)
},frictionJoint:function(a,b,c,d,e,f,g,h){"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=0),"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),e=this.pxm(-e),f=this.pxm(-f),g=this.pxm(-g),h=this.pxm(-h),a.body&&(a=a.body),b.body&&(b=b.body);var i=new box2d.b2FrictionJointDef;return i.bodyA=a.data,i.bodyB=b.data,i.localAnchorA.SetXY(e,f),i.localAnchorB.SetXY(g,h),i.maxForce=c,i.maxTorque=d,this.world.CreateJoint(i)},weldJoint:function(a,b,c,d,e,f,g,h){"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=0),c=this.pxm(-c),d=this.pxm(-d),e=this.pxm(-e),f=this.pxm(-f),a.body&&(a=a.body),b.body&&(b=b.body);var i=new box2d.b2WeldJointDef;return i.bodyA=a.data,i.bodyB=b.data,i.localAnchorA.SetXY(c,d),i.localAnchorB.SetXY(e,f),i.frequencyHz=g,i.dampingRatio=h,this.world.CreateJoint(i)},motorJoint:function(a,b,c,d,e,f,g,h){"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=0),"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=1),f=this.pxm(-f),g=this.pxm(-g),a.body&&(a=a.body),b.body&&(b=b.body);var i=new box2d.b2MotorJointDef;return i.bodyA=a.data,i.bodyB=b.data,i.linearOffset.SetXY(f,g),i.maxForce=c,i.maxTorque=d,i.angularOffset=Phaser.Math.degToRad(-h),i.correctionFactor=e,this.world.CreateJoint(i)},wheelJoint:function(a,b,c,d,e,f,g,h,i,j,k,l,m){"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=1),"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof k&&(k=0),"undefined"==typeof l&&(l=0),"undefined"==typeof m&&(m=!1),"undefined"==typeof i&&(i=0),"undefined"==typeof j&&(j=0),g*=-1,h*=-1,c=this.pxm(-c),d=this.pxm(-d),e=this.pxm(-e),f=this.pxm(-f),a.body&&(a=a.body),b.body&&(b=b.body);var n=new box2d.b2WheelJointDef;return n.bodyA=a.data,n.bodyB=b.data,n.localAxisA.SetXY(g,h),n.localAnchorA.SetXY(c,d),n.localAnchorB.SetXY(e,f),n.motorSpeed=Phaser.Math.degToRad(-k),n.maxMotorTorque=l,n.enableMotor=m,n.frequencyHz=i,n.dampingRatio=j,this.world.CreateJoint(n)},pulleyJoint:function(a,b,c,d,e,f,g,h,i,j,k,l,m){"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),"undefined"==typeof f&&(f=0),"undefined"==typeof g&&(g=0),"undefined"==typeof h&&(h=0),"undefined"==typeof i&&(i=0),"undefined"==typeof j&&(j=0),"undefined"==typeof k&&(k=1),"undefined"==typeof l&&(l=100),"undefined"==typeof m&&(m=100),c=this.pxm(-c),d=this.pxm(-d),e=this.pxm(-e),f=this.pxm(-f),g=this.pxm(-g),h=this.pxm(-h),i=this.pxm(-i),j=this.pxm(-j),l=this.pxm(l),m=this.pxm(m),a.body&&(a=a.body),b.body&&(b=b.body);var n=new box2d.b2PulleyJointDef;return n.bodyA=a.data,n.bodyB=b.data,n.localAnchorA.SetXY(c,d),n.localAnchorB.SetXY(e,f),n.groundAnchorA.SetXY(g,h),n.groundAnchorB.SetXY(i,j),n.lengthA=l,n.lengthB=m,n.ratio=k,this.world.CreateJoint(n)},gearJoint:function(a,b,c){"undefined"==typeof c&&(c=1);var d=new box2d.b2GearJointDef;return d.joint1=a,d.joint2=b,d.ratio=-c,d.bodyA=a.GetBodyA(),d.bodyB=b.GetBodyB(),this.world.CreateJoint(d)},clearTilemapLayerBodies:function(a,b){b=a.getLayer(b);for(var c=a.layers[b].bodies.length;c--;)a.layers[b].bodies[c].destroy();a.layers[b].bodies.length=0},convertTilemap:function(a,b,c,d){b=a.getLayer(b),"undefined"==typeof c&&(c=!0),"undefined"==typeof d&&(d=!0),this.clearTilemapLayerBodies(a,b);for(var e=0,f=0,g=0,h=0,i=a.layers[b].height;i>h;h++){e=0;for(var j=0,k=a.layers[b].width;k>j;j++){var l=a.layers[b].data[h][j];if(l&&l.index>-1&&l.collides)if(d){var m=a.getTileRight(b,j,h);if(0===e&&(f=l.x*l.width,g=l.y*l.height,e=l.width),m&&m.collides)e+=l.width;else{var n=new Phaser.Physics.Box2D.Body(this.game,null,f,g,0);n.addRectangle(e,l.height,e/2,l.height/2,0),c&&this.addBody(n),a.layers[b].bodies.push(n),e=0}}else{var n=this.createBody(l.x*l.width,l.y*l.height,0,!1);n.addRectangle(l.width,l.height,l.width/2,l.height/2,0),c&&this.addBody(n),a.layers[b].bodies.push(n)}}}return a.layers[b].bodies},raycast:function(a,b,c,d,e,f){"undefined"==typeof e&&(e=!0),"undefined"==typeof f&&(f=null),a=this.pxm(-a),b=this.pxm(-b),c=this.pxm(-c),d=this.pxm(-d);var g=new box2d.b2Vec2(a,b),h=new box2d.b2Vec2(c,d),i=[],j=new Phaser.Physics.Box2D.RayCastCallback(this,e,f);this.world.RayCast(j,g,h);for(var k=0;k<j.hits.length;k++){var l=j.hits[k];l.point={x:this.mpx(-l.point.x),y:this.mpx(-l.point.y)},l.normal={x:-l.normal.x,y:-l.normal.y},i.push(l)}return i},queryAABB:function(a,b,c,d){a=this.pxm(-a),b=this.pxm(-b),c=this.pxm(c),d=this.pxm(d);var e=new box2d.b2AABB;e.lowerBound.SetXY(a-c,b-d),e.upperBound.SetXY(a,b);var f=new Phaser.Physics.Box2D.QueryCallback(this);return this.world.QueryAABB(f,e),f.hits},queryFixture:function(a){var b=new Phaser.Physics.Box2D.QueryCallback(this);return this.world.QueryShape(b,a.GetShape(),a.GetBody().GetTransform()),b.hits},setPTMRatio:function(a){this.ptmRatio=a,this.debugDraw=new Phaser.Physics.Box2D.DefaultDebugDraw(this.ptmRatio),this.world.SetDebugDraw(this.debugDraw)}},Phaser.Physics.Box2D.RayCastCallback=function(a,b,c){this.world=a,this.closestHitOnly=b,this.filterFunction=c,this.hits=[]},goog.inherits(Phaser.Physics.Box2D.RayCastCallback,box2d.b2RayCastCallback),Phaser.Physics.Box2D.RayCastCallback.prototype.ReportFixture=function(a,b,c,d){if(null!==this.filterFunction){var e={x:this.world.mpx(-b.x),y:this.world.mpx(-b.y)},f={x:-c.x,y:-c.y},g=a.GetBody().parent;if(!this.filterFunction.call(this,g,a,e,f))return-1}this.closestHitOnly&&(this.hits=[]);var h={};return h.body=a.GetBody().parent,h.fixture=a,h.point={x:b.x,y:b.y},h.normal={x:c.x,y:c.y},this.hits.push(h),this.closestHitOnly?d:1},Phaser.Physics.Box2D.QueryCallback=function(a){this.world=a,this.hits=[]},goog.inherits(Phaser.Physics.Box2D.QueryCallback,box2d.b2QueryCallback),Phaser.Physics.Box2D.QueryCallback.prototype.ReportFixture=function(a){var b={};return b.body=a.GetBody().parent,b.fixture=a,this.hits.push(b),!0},Phaser.Physics.Box2D.renderBody=function(a,b,c,d){c=c||"rgb(255,255,255)","undefined"==typeof d&&(d=!0);var e=b.data,f=e.GetTransform(),g=b.world;f.p.x+=-b.game.camera.x/g.ptmRatio,f.p.y-=-b.game.camera.y/g.ptmRatio,g.debugDraw.start(a),g.debugDraw.PushTransform(f);var h=Phaser.Color.webToColor(c),i=g.debugDraw.color;i.r=h.r/255,i.g=h.g/255,i.b=h.b/255;for(var j=e.GetFixtureList();j;j=j.GetNext())g.world.DrawShape(j,i);g.debugDraw.PopTransform(),g.debugDraw.stop()},Phaser.Physics.Box2D.Body=function(a,b,c,d,e,f){"undefined"==typeof b&&(b=null),"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=2),"undefined"==typeof f&&(f=a.physics.box2d),this.game=a,this.world=f,this.id=this.world.getNextBodyId(),this.sprite=b,this.type=Phaser.Physics.BOX2D,this.offset=new Phaser.Point,this.bodyDef=new box2d.b2BodyDef,this.bodyDef.position.SetXY(-this.world.pxm(c),-this.world.pxm(d)),0===e?this.bodyDef.type=box2d.b2BodyType.b2_staticBody:1===e?this.bodyDef.type=box2d.b2BodyType.b2_kinematicBody:2===e?this.bodyDef.type=box2d.b2BodyType.b2_dynamicBody:3===e&&(this.bodyDef.type=box2d.b2BodyType.b2_bulletBody),this.data=this.world.world.CreateBody(this.bodyDef),this.data.world=this.world.world,this.data.parent=this,this.velocity=new Phaser.Physics.Box2D.PointProxy(this.world,this.data,this.data.GetLinearVelocity,this.data.SetLinearVelocity),this.removeNextStep=!1,this._fixtureContactCallbacks={},this._fixtureContactCallbackContext={},this._bodyContactCallbacks={},this._bodyContactCallbackContext={},this._categoryContactCallbacks={},this._categoryContactCallbackContext={},this._fixturePresolveCallbacks={},this._fixturePresolveCallbackContext={},this._bodyPresolveCallbacks={},this._bodyPresolveCallbackContext={},this._categoryPresolveCallbacks={},this._categoryPresolveCallbackContext={},this._fixturePostsolveCallbacks={},this._fixturePostsolveCallbackContext={},this._bodyPostsolveCallbacks={},this._bodyPostsolveCallbackContext={},this._categoryPostsolveCallbacks={},this._categoryPostsolveCallbackContext={},b&&this.setRectangleFromSprite(b)},Phaser.Physics.Box2D.Body.prototype={setBodyContactCallback:function(a,b,c){var d=-1;a.id?d=a.id:a.body&&(d=a.body.id),d>-1&&(null===b?(delete this._bodyContactCallbacks[d],delete this._bodyContactCallbackContext[d]):(this._bodyContactCallbacks[d]=b,this._bodyContactCallbackContext[d]=c))},setFixtureContactCallback:function(a,b,c){var d=a.id;d>-1&&(null===b?(delete this._fixtureContactCallbacks[d],delete this._fixtureContactCallbackContext[d]):(this._fixtureContactCallbacks[d]=b,this._fixtureContactCallbackContext[d]=c))},setCategoryContactCallback:function(a,b,c){null===b?(delete this._categoryContactCallbacks[a],delete this._categoryContactCallbacksContext[a]):(this._categoryContactCallbacks[a]=b,this._categoryContactCallbackContext[a]=c)},setBodyPresolveCallback:function(a,b,c){var d=-1;a.id?d=a.id:a.body&&(d=a.body.id),d>-1&&(null===b?(delete this._bodyPresolveCallbacks[d],delete this._bodyPresolveCallbackContext[d]):(this._bodyPresolveCallbacks[d]=b,this._bodyPresolveCallbackContext[d]=c))},setFixturePresolveCallback:function(a,b,c){var d=a.id;d>-1&&(null===b?(delete this._fixturePresolveCallbacks[d],delete this._fixturePresolveCallbackContext[d]):(this._fixturePresolveCallbacks[d]=b,this._fixturePresolveCallbackContext[d]=c))},setCategoryPresolveCallback:function(a,b,c){null===b?(delete this._categoryPresolveCallbacks[a],delete this._categoryPresolveCallbacksContext[a]):(this._categoryPresolveCallbacks[a]=b,this._categoryPresolveCallbackContext[a]=c)},setBodyPostsolveCallback:function(a,b,c){var d=-1;a.id?d=a.id:a.body&&(d=a.body.id),d>-1&&(null===b?(delete this._bodyPostsolveCallbacks[d],delete this._bodyPostsolveCallbackContext[d]):(this._bodyPostsolveCallbacks[d]=b,this._bodyPostsolveCallbackContext[d]=c))},setFixturePostsolveCallback:function(a,b,c){var d=a.id;d>-1&&(null===b?(delete this._fixturePostsolveCallbacks[d],delete this._fixturePostsolveCallbackContext[d]):(this._fixturePostsolveCallbacks[d]=b,this._fixturePostsolveCallbackContext[d]=c))},setCategoryPostsolveCallback:function(a,b,c){null===b?(delete this._categoryPostsolveCallbacks[a],delete this._categoryPostsolveCallbacksContext[a]):(this._categoryPostsolveCallbacks[a]=b,this._categoryPostsolveCallbackContext[a]=c)},setCollisionCategory:function(a,b){if("undefined"==typeof b)for(var c=this.data.GetFixtureList();c;c=c.GetNext()){var d=c.GetFilterData();d.categoryBits=a}else{var d=b.GetFilterData();d.categoryBits=a}},setCollisionMask:function(a,b){if("undefined"==typeof b)for(var c=this.data.GetFixtureList();c;c=c.GetNext()){var d=c.GetFilterData();d.maskBits=a}else{var d=b.GetFilterData();d.maskBits=a}},applyForce:function(a,b){this.data.ApplyForce(new box2d.b2Vec2(-a,-b),this.data.GetWorldCenter(),!0)},setZeroRotation:function(){this.data.SetAngularVelocity(0)},setZeroVelocity:function(){this.data.SetLinearVelocity(box2d.b2Vec2.ZERO)},setZeroDamping:function(){this.data.SetLinearDamping(0),this.data.SetAngularDamping(0)},toLocalPoint:function(a,b){return a.x=this.world.pxm(-b.x),a.y=this.world.pxm(-b.y),this.data.GetLocalPoint(a,a),a.x=this.world.mpx(-a.x),a.y=this.world.mpx(-a.y),a},toWorldPoint:function(a,b){return a.x=this.world.pxm(-b.x),a.y=this.world.pxm(-b.y),this.data.GetWorldPoint(a,a),a.x=this.world.mpx(-a.x),a.y=this.world.mpx(-a.y),a},toLocalVector:function(a,b){return a.x=this.world.pxm(-b.x),a.y=this.world.pxm(-b.y),this.data.GetLocalVector(a,a),a.x=this.world.mpx(-a.x),a.y=this.world.mpx(-a.y),a},toWorldVector:function(a,b){a.x=this.world.pxm(-b.x),a.y=this.world.pxm(-b.y),this.data.GetWorldVector(a,a),a.x=this.world.mpx(-a.x),a.y=this.world.mpx(-a.y)},rotateLeft:function(a){this.data.SetAngularVelocity(this.world.pxm(-a))},rotateRight:function(a){this.data.SetAngularVelocity(this.world.pxm(a))},moveForward:function(a){var b=this.world.pxm(a),c=new box2d.b2Vec2;this.toWorldVector(c,{x:0,y:b}),this.data.SetLinearVelocity(c)},moveBackward:function(a){var b=this.world.pxm(-a),c=new box2d.b2Vec2;this.toWorldVector(c,{x:0,y:b}),this.data.SetLinearVelocity(c)},thrust:function(a){var b=this.world.pxm(a)*this.data.GetMass(),c=new box2d.b2Vec2;this.toWorldVector(c,{x:0,y:b}),this.data.ApplyForce(c,this.data.GetWorldCenter(),!0)},reverse:function(a){var b=-this.world.pxm(a)*this.data.GetMass(),c=new box2d.b2Vec2;this.toWorldVector(c,{x:0,y:b}),this.data.ApplyForce(c,this.data.GetWorldCenter(),!0)},moveLeft:function(a){this.velocity.x=-a},moveRight:function(a){this.velocity.x=a},moveUp:function(a){this.velocity.y=-a},moveDown:function(a){this.velocity.y=a},preUpdate:function(){this.removeNextStep&&(this.removeFromWorld(),this.removeNextStep=!1)},postUpdate:function(){this.sprite&&(this.sprite.x=this.world.mpx(-this.data.GetPosition().x),this.sprite.y=this.world.mpx(-this.data.GetPosition().y),this.sprite.rotation=this.data.GetAngle())},kill:function(){this.data.SetActive(!1)},reset:function(a,b){this.data.SetPositionXY(this.world.pxm(-a),this.world.pxm(-b)),this.data.SetActive(!0)},removeFromWorld:function(){this.data.world===this.game.physics.box2d.world&&this.game.physics.box2d.removeBodyNextStep(this)},destroy:function(){this.removeFromWorld(),this._bodyCallbacks={},this._bodyCallbackContext={},this._categoryCallbacks={},this._categoryCallbackContext={},this.sprite=null},clearFixtures:function(){for(var a=[],b=this.data.GetFixtureList();b;b=b.GetNext())a.push(b);for(var c=a.length;c--;)this.data.DestroyFixture(a[c])},addCircle:function(a,b,c){var d=new box2d.b2CircleShape(this.world.pxm(a));d.m_p.SetXY(this.world.pxm(-b),this.world.pxm(-c));var e=new box2d.b2FixtureDef;e.shape=d,e.friction=this.world.friction,e.restitution=this.world.restitution,e.density=this.world.density;var f=this.data.CreateFixture(e);return f.id=this.world.getNextFixtureId(),f},addRectangle:function(a,b,c,d,e){"undefined"==typeof a&&(a=16),"undefined"==typeof b&&(b=16),"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),"undefined"==typeof e&&(e=0),a=this.world.pxm(a),b=this.world.pxm(b);var f=new box2d.b2PolygonShape;f.SetAsOrientedBox(.5*a,.5*b,new box2d.b2Vec2(this.world.pxm(-c),this.world.pxm(-d)),e);var g=new box2d.b2FixtureDef;g.shape=f,g.friction=this.world.friction,g.restitution=this.world.restitution,g.density=this.world.density;var h=this.data.CreateFixture(g);return h.id=this.world.getNextFixtureId(),h},addEdge:function(a,b,c,d){var e=new box2d.b2EdgeShape;e.Set(new box2d.b2Vec2(this.world.pxm(-a),this.world.pxm(-b)),new box2d.b2Vec2(this.world.pxm(-c),this.world.pxm(-d)));var f=new box2d.b2FixtureDef;f.shape=e,f.friction=this.world.friction,f.restitution=this.world.restitution,f.density=this.world.density;var g=this.data.CreateFixture(f);return g.id=this.world.getNextFixtureId(),g},addChain:function(a,b,c,d){if("undefined"==typeof a)return null;if(a.length<4)return null;"undefined"==typeof b&&(b=0),"undefined"==typeof c&&(c=(a.length-b)/2);for(var e=[],f=b;b+c>f;f++)e.push(new box2d.b2Vec2(this.world.pxm(-a[2*f]),this.world.pxm(-a[2*f+1])));var g=new box2d.b2ChainShape;d?g.CreateLoop(e,e.length):g.CreateChain(e,e.length);var h=new box2d.b2FixtureDef;h.shape=g,h.friction=this.world.friction,h.restitution=this.world.restitution,h.density=this.world.density;var i=this.data.CreateFixture(h);return i.id=this.world.getNextFixtureId(),i},addLoop:function(a,b,c){return this.addChain(a,b,c,!0)},addPolygon:function(a,b,c){if("undefined"==typeof a)return null;if(a.length<6)return null;"undefined"==typeof b&&(b=0),"undefined"==typeof c&&(c=(a.length-b)/2);for(var d=[],e=b;b+c>e;e++)d.push({x:this.world.pxm(-a[2*e]),y:this.world.pxm(-a[2*e+1])});var f=new Phaser.Physics.Box2D.Polygon;f.setFromXYObjects(d);for(var g=f.decompose(d),h=null,e=0;e<g.length;e++){var i=new box2d.b2PolygonShape;i.Set(g[e],g[e].length);var j=new box2d.b2FixtureDef;j.shape=i,j.friction=this.world.friction,j.restitution=this.world.restitution,j.density=this.world.density,h=this.data.CreateFixture(j),h.id=this.world.getNextFixtureId()}return h},removeFixture:function(a){return a.GetBody()!=this.data?!1:(this.data.DestroyFixture(a),!0)},setCircle:function(a,b,c){return"undefined"==typeof a&&(a=32),"undefined"==typeof b&&(b=0),"undefined"==typeof c&&(c=0),this.clearFixtures(),this.addCircle(a,b,c)},setRectangle:function(a,b,c,d,e){return this.clearFixtures(),this.addRectangle(a,b,c,d,e)},setRectangleFromSprite:function(a){return"undefined"==typeof a&&(a=this.sprite),this.clearFixtures(),this.addRectangle(a.width,a.height,0,0,a.rotation)},setEdge:function(a,b,c,d){return"undefined"==typeof a&&(a=0),"undefined"==typeof b&&(b=0),"undefined"==typeof c&&(c=0),"undefined"==typeof d&&(d=0),this.clearFixtures(),this.addEdge(a,b,c,d)},setChain:function(a,b,c,d){return"undefined"==typeof a?null:a.length<4?null:("undefined"==typeof b&&(b=0),"undefined"==typeof c&&(c=(a.length-b)/2),this.clearFixtures(),this.addChain(a,b,c,d))},setLoop:function(a,b,c){return this.setChain(a,b,c,!0)},setPolygon:function(a,b,c){return"undefined"==typeof a?null:a.length<4?null:("undefined"==typeof b&&(b=0),"undefined"==typeof c&&(c=(a.length-b)/2),this.clearFixtures(),this.addPolygon(a,b,c))},loadPolygon:function(a,b,c){"undefined"==typeof c&&(c=null);for(var d=this.game.cache.getPhysicsData(a,b),e=0;e<d.length;e++){for(var f=[],g=0;g<d[e].shape.length;g+=2)f.push(new box2d.b2Vec2(this.world.pxm(-d[e].shape[g]),this.world.pxm(-d[e].shape[g+1])));if(c)for(var h=this.world.pxm(-.5*c.width),i=this.world.pxm(-.5*c.height),j=0;j<f.length;j++)f[j].x-=h,f[j].y-=i;var k=new box2d.b2PolygonShape;k.Set(f,f.length);var l=new box2d.b2FixtureDef;l.shape=k,l.friction=d[e].friction,l.restitution=d[e].bounce,l.density=d[e].density,l.filter.categoryBits=d[e].filter.categoryBits,l.filter.maskBits=d[e].filter.maskBits;var m=this.data.CreateFixture(l);m.id=this.world.getNextFixtureId()}return!0},containsPoint:function(a){for(var b=this.world.pxm(-a.x),c=this.world.pxm(-a.y),d=new box2d.b2Vec2(b,c),e=this.data.GetFixtureList();e;e=e.GetNext())if(e.TestPoint(d))return!0;return!1}},Phaser.Physics.Box2D.Body.prototype.constructor=Phaser.Physics.Box2D.Body,Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"static",{get:function(){return this.data.GetType()===box2d.b2BodyType.b2_staticBody},set:function(a){a&&this.data.GetType()!==box2d.b2BodyType.b2_staticBody?this.data.SetType(box2d.b2BodyType.b2_staticBody):a||this.data.GetType()!==box2d.b2BodyType.b2_staticBody||this.data.SetType(box2d.b2BodyType.b2_dynamicBody)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"dynamic",{get:function(){return this.data.GetType()===box2d.b2BodyType.b2_dynamicBody},set:function(a){a&&this.data.GetType()!==box2d.b2BodyType.b2_dynamicBody?this.data.SetType(box2d.b2BodyType.b2_dynamicBody):a||this.data.GetType()!==box2d.b2BodyType.b2_dynamicBody||this.data.SetType(box2d.b2BodyType.b2_staticBody)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"kinematic",{get:function(){return this.data.GetType()===box2d.b2BodyType.b2_kinematicBody},set:function(a){a&&this.data.GetType()!==box2d.b2BodyType.b2_kinematicBody?this.data.SetType(box2d.b2BodyType.b2_kinematicBody):a||this.data.GetType()!==box2d.b2BodyType.b2_kinematicBody||this.data.SetType(box2d.b2BodyType.b2_staticBody)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"angle",{get:function(){return Phaser.Math.wrapAngle(Phaser.Math.radToDeg(this.data.GetAngle()))},set:function(a){this.data.SetAngle(Phaser.Math.degToRad(Phaser.Math.wrapAngle(a)))}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"linearDamping",{get:function(){return this.data.GetLinearDamping()},set:function(a){this.data.SetLinearDamping(a)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"angularDamping",{get:function(){return this.data.GetAngularDamping()},set:function(a){this.data.SetAngularDamping(a)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"angularVelocity",{get:function(){return this.data.GetAngularVelocity()},set:function(a){this.data.SetAngularVelocity(a)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"fixedRotation",{get:function(){return this.data.IsFixedRotation()},set:function(a){this.data.SetFixedRotation(a)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"gravityScale",{get:function(){return this.data.GetGravityScale()},set:function(a){this.data.SetGravityScale(a)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"friction",{get:function(){var a=this.data.GetFixtureList();return a?a.GetFriction():0},set:function(a){for(var b=this.data.GetFixtureList();b;b=b.GetNext())b.SetFriction(a),b.Refilter()}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"restitution",{get:function(){var a=this.data.GetFixtureList();return a?a.GetRestitution():0},set:function(a){for(var b=this.data.GetFixtureList();b;b=b.GetNext())b.SetRestitution(a),b.Refilter()}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"sensor",{get:function(){var a=this.data.GetFixtureList();return a?a.IsSensor():0},set:function(a){for(var b=this.data.GetFixtureList();b;b=b.GetNext())b.SetSensor(a),b.Refilter()}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"bullet",{get:function(){return this.data.IsBullet()},set:function(a){this.data.SetBullet(a)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"mass",{get:function(){return this.data.GetMass()},set:function(a){if(0===a)this.data.SetType(box2d.b2BodyType.b2_staticBody);else{this.data.GetType()!==box2d.b2BodyType.b2_dynamicBody&&this.data.SetType(box2d.b2BodyType.b2_dynamicBody);for(var b=this.data.GetMass(),c=a/b,d=this.data.GetFixtureList();d;d=d.GetNext()){var e=d.GetDensity();d.SetDensity(e*c)}this.data.ResetMassData()}}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"rotation",{get:function(){return this.data.GetAngle()},set:function(a){this.data.SetAngle(a)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"x",{get:function(){return this.world.mpx(-this.data.GetPosition().x)},set:function(a){this.data.SetPositionXY(this.world.pxm(-a),this.data.GetPosition().y)}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"y",{get:function(){return this.world.mpx(-this.data.GetPosition().y)},set:function(a){this.data.SetPositionXY(this.data.GetPosition().x,this.world.pxm(-a))}}),Object.defineProperty(Phaser.Physics.Box2D.Body.prototype,"collideWorldBounds",{get:function(){for(var a=this.data.GetFixtureList();a;a=a.GetNext()){var b=a.GetFilterData();if(b.maskBits&Phaser.Physics.Box2D.worldBoundsFilterCategory)return!0}return!1},set:function(a){for(var b=this.data.GetFixtureList();b;b=b.GetNext()){var c=b.GetFilterData();a?c.maskBits|=Phaser.Physics.Box2D.worldBoundsFilterCategory:c.maskBits&=~Phaser.Physics.Box2D.worldBoundsFilterCategory}}}),Phaser.Physics.Box2D.PointProxy=function(a,b,c,d){this.world=a,this.object=b,this.gettor=c,this.settor=d},Phaser.Physics.Box2D.PointProxy.prototype.constructor=Phaser.Physics.Box2D.PointProxy,Object.defineProperty(Phaser.Physics.Box2D.PointProxy.prototype,"x",{get:function(){return this.world.mpx(-this.gettor.call(this.object).x)},set:function(a){var b=this.gettor.call(this.object);b.x=this.world.pxm(-a),this.settor.call(this.object,b)}}),Object.defineProperty(Phaser.Physics.Box2D.PointProxy.prototype,"y",{get:function(){return this.world.mpx(-this.gettor.call(this.object).y)},set:function(a){var b=this.gettor.call(this.object);b.y=this.world.pxm(-a),this.settor.call(this.object,b)}}),Phaser.Physics.Box2D.DefaultDebugDraw=function(a){this.context=null,this.pixelsPerMeter=a,this.flags=box2d.b2DrawFlags.e_shapeBit},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.color=new box2d.b2Color(1,1,1),Phaser.Physics.Box2D.DefaultDebugDraw.prototype.SetFlags=function(a){this.flags=a},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.GetFlags=function(){return this.flags},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.start=function(a){this.context=a,this.context.save(),this.context.scale(-1,-1),this.context.scale(this.pixelsPerMeter,this.pixelsPerMeter)},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.stop=function(){this.context.restore()},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.PushTransform=function(a){var b=this.context;b.save(),b.translate(a.p.x,a.p.y),b.rotate(a.q.GetAngleRadians())},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.PopTransform=function(){var a=this.context;a.restore()},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawPolygon=function(a,b,c){if(b){var d=this.context;d.lineWidth=1/this.pixelsPerMeter,d.beginPath(),d.moveTo(a[0].x,a[0].y);for(var e=1;b>e;e++)d.lineTo(a[e].x,a[e].y);d.closePath(),d.strokeStyle=c.MakeStyleString(1),d.stroke()}},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawSolidPolygon=function(a,b,c){if(b){var d=this.context;d.lineWidth=1/this.pixelsPerMeter,d.beginPath(),d.moveTo(a[0].x,a[0].y);for(var e=1;b>e;e++)d.lineTo(a[e].x,a[e].y);d.closePath(),d.fillStyle=c.MakeStyleString(.5),d.fill(),d.strokeStyle=c.MakeStyleString(1),d.stroke()}},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawCircle=function(a,b,c){if(b){var d=this.context;d.beginPath(),d.arc(a.x,a.y,b,0,2*Math.PI,!0),d.strokeStyle=c.MakeStyleString(1),d.stroke()}},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawSolidCircle=function(a,b,c,d){if(b){var e=this.context;e.lineWidth=1/this.pixelsPerMeter;var f=a.x,g=a.y;e.beginPath(),e.arc(f,g,b,0,2*Math.PI,!0),e.moveTo(f,g),e.lineTo(f+c.x*b,g+c.y*b),e.fillStyle=d.MakeStyleString(.5),e.fill(),e.strokeStyle=d.MakeStyleString(1),e.stroke()}},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawSegment=function(a,b,c){var d=this.context;d.lineWidth=1/this.pixelsPerMeter,d.beginPath(),d.moveTo(a.x,a.y),d.lineTo(b.x,b.y),d.strokeStyle=c.MakeStyleString(1),d.stroke()},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawTransform=function(a){var b=this.context;b.lineWidth=1/this.pixelsPerMeter,this.PushTransform(a),b.beginPath(),b.moveTo(0,0),b.lineTo(1,0),b.strokeStyle=box2d.b2Color.RED.MakeStyleString(1),b.stroke(),b.beginPath(),b.moveTo(0,0),b.lineTo(0,1),b.strokeStyle=box2d.b2Color.GREEN.MakeStyleString(1),b.stroke(),this.PopTransform(a)},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawPoint=function(a,b,c){var d=this.context;d.fillStyle=c.MakeStyleString();var e=b/2;d.fillRect(a.x-e,a.y-e,b,b)},Phaser.Physics.Box2D.DefaultDebugDraw.prototype.DrawAABB=function(a,b){var c=this.context;c.strokeStyle=b.MakeStyleString();var d=a.lowerBound.x,e=a.lowerBound.y,f=a.upperBound.x-a.lowerBound.x,g=a.upperBound.y-a.lowerBound.y;c.strokeRect(d,e,f,g)},Object.defineProperty(Phaser.Physics.Box2D.DefaultDebugDraw.prototype,"shapes",{get:function(){return this.flags&box2d.b2DrawFlags.e_shapeBit},set:function(a){a?this.flags|=box2d.b2DrawFlags.e_shapeBit:this.flags&=~box2d.b2DrawFlags.e_shapeBit}}),Object.defineProperty(Phaser.Physics.Box2D.DefaultDebugDraw.prototype,"joints",{get:function(){return this.flags&box2d.b2DrawFlags.e_jointBit},set:function(a){a?this.flags|=box2d.b2DrawFlags.e_jointBit:this.flags&=~box2d.b2DrawFlags.e_jointBit}}),Object.defineProperty(Phaser.Physics.Box2D.DefaultDebugDraw.prototype,"aabbs",{get:function(){return this.flags&box2d.b2DrawFlags.e_aabbBit},set:function(a){a?this.flags|=box2d.b2DrawFlags.e_aabbBit:this.flags&=~box2d.b2DrawFlags.e_aabbBit}}),Object.defineProperty(Phaser.Physics.Box2D.DefaultDebugDraw.prototype,"pairs",{get:function(){return this.flags&box2d.b2DrawFlags.e_pairBit},set:function(a){a?this.flags|=box2d.b2DrawFlags.e_pairBit:this.flags&=~box2d.b2DrawFlags.e_pairBit}}),Object.defineProperty(Phaser.Physics.Box2D.DefaultDebugDraw.prototype,"centerOfMass",{get:function(){return this.flags&box2d.b2DrawFlags.e_centerOfMassBit},set:function(a){a?this.flags|=box2d.b2DrawFlags.e_centerOfMassBit:this.flags&=~box2d.b2DrawFlags.e_centerOfMassBit}}),Phaser.Physics.Box2D.DefaultContactListener=function(){},Phaser.Physics.Box2D.DefaultContactListener.prototype.BeginContact=function(a){this.handleContactBeginOrEnd(a,!0)},Phaser.Physics.Box2D.DefaultContactListener.prototype.EndContact=function(a){this.handleContactBeginOrEnd(a,!1)},Phaser.Physics.Box2D.DefaultContactListener.prototype.handleContactBeginOrEnd=function(a,b){var c=a.GetFixtureA(),d=a.GetFixtureB(),e=c.GetBody(),f=d.GetBody(),g=c.GetFilterData().categoryBits,h=d.GetFilterData().categoryBits,i=e.parent,j=f.parent;if(void 0!==i&&void 0!==j){var k=i.id,l=j.id;i._bodyContactCallbacks[l]&&i._bodyContactCallbacks[l].call(i._bodyContactCallbackContext[l],i,j,c,d,b,a),j._bodyContactCallbacks[k]&&j._bodyContactCallbacks[k].call(j._bodyContactCallbackContext[k],j,i,d,c,b,a),i._fixtureContactCallbacks[d.id]&&i._fixtureContactCallbacks[d.id].call(i._fixtureContactCallbackContext[d.id],i,j,c,d,b,a),j._fixtureContactCallbacks[c.id]&&j._fixtureContactCallbacks[c.id].call(j._fixtureContactCallbackContext[c.id],j,i,d,c,b,a),i._fixtureContactCallbacks[c.id]&&i._fixtureContactCallbacks[c.id].call(i._fixtureContactCallbackContext[c.id],i,j,c,d,b,a),j._fixtureContactCallbacks[d.id]&&j._fixtureContactCallbacks[d.id].call(j._fixtureContactCallbackContext[d.id],j,i,d,c,b,a),i._categoryContactCallbacks[h]&&i._categoryContactCallbacks[h].call(i._categoryContactCallbackContext[h],i,j,c,d,b,a),j._categoryContactCallbacks[g]&&j._categoryContactCallbacks[g].call(j._categoryContactCallbackContext[g],j,i,d,c,b,a),i._categoryContactCallbacks[g]&&i._categoryContactCallbacks[g].call(i._categoryContactCallbackContext[g],i,j,c,d,b,a),j._categoryContactCallbacks[h]&&j._categoryContactCallbacks[h].call(j._categoryContactCallbackContext[h],j,i,d,c,b,a)}},Phaser.Physics.Box2D.DefaultContactListener.prototype.PreSolve=function(a,b){var c=a.GetFixtureA(),d=a.GetFixtureB(),e=c.GetBody(),f=d.GetBody(),g=c.GetFilterData().categoryBits,h=d.GetFilterData().categoryBits,i=e.parent,j=f.parent;if(void 0!==i&&void 0!==j){var k=i.id,l=j.id;i._bodyPresolveCallbacks[l]&&i._bodyPresolveCallbacks[l].call(i._bodyPresolveCallbackContext[l],i,j,c,d,a,b),j._bodyPresolveCallbacks[k]&&j._bodyPresolveCallbacks[k].call(j._bodyPresolveCallbackContext[k],j,i,d,c,a,b),i._fixturePresolveCallbacks[d.id]&&i._fixturePresolveCallbacks[d.id].call(i._fixturePresolveCallbackContext[d.id],i,j,c,d,a,b),j._fixturePresolveCallbacks[c.id]&&j._fixturePresolveCallbacks[c.id].call(j._fixturePresolveCallbackContext[c.id],j,i,d,c,a,b),i._categoryPresolveCallbacks[h]&&i._categoryPresolveCallbacks[h].call(i._categoryPresolveCallbackContext[h],i,j,c,d,a,b),j._categoryPresolveCallbacks[g]&&j._categoryPresolveCallbacks[g].call(j._categoryPresolveCallbackContext[g],j,i,d,c,a,b)}},Phaser.Physics.Box2D.DefaultContactListener.prototype.PostSolve=function(a,b){var c=a.GetFixtureA(),d=a.GetFixtureB(),e=c.GetBody(),f=d.GetBody(),g=c.GetFilterData().categoryBits,h=d.GetFilterData().categoryBits,i=e.parent,j=f.parent;if(void 0!==i&&void 0!==j){var k=i.id,l=j.id;i._bodyPostsolveCallbacks[l]&&i._bodyPostsolveCallbacks[l].call(i._bodyPostsolveCallbackContext[l],i,j,c,d,a,b),j._bodyPostsolveCallbacks[k]&&j._bodyPostsolveCallbacks[k].call(j._bodyPostsolveCallbackContext[k],j,i,d,c,a,b),i._fixturePostsolveCallbacks[d.id]&&i._fixturePostsolveCallbacks[d.id].call(i._fixturePostsolveCallbackContext[d.id],i,j,c,d,a,b),j._fixturePostsolveCallbacks[c.id]&&j._fixturePostsolveCallbacks[c.id].call(j._fixturePostsolveCallbackContext[c.id],j,i,d,c,a,b),i._categoryPostsolveCallbacks[h]&&i._categoryPostsolveCallbacks[h].call(i._categoryPostsolveCallbackContext[h],i,j,c,d,a,b),j._categoryPostsolveCallbacks[g]&&j._categoryPostsolveCallbacks[g].call(j._categoryPostsolveCallbackContext[g],j,i,d,c,a,b)}},Phaser.Physics.Box2D.Polygon=function(){this.vertices=[]},Phaser.Physics.Box2D.Polygon.prototype.setFromFlatXYCoords=function(a){this.vertices=[];for(var b=0;b<a.length/2;b++)this.vertices.push({x:a[2*b],y:a[2*b+1]})},Phaser.Physics.Box2D.Polygon.prototype.setFromXYObjects=function(a){this.vertices=a.concat()},Phaser.Physics.Box2D.Polygon.prototype.addVertex=function(a){this.vertices.push(a)
},Phaser.Physics.Box2D.Polygon.prototype.at=function(a){var b=this.vertices.length;return this.vertices[0>a?a%b+b:a%b]},Phaser.Physics.Box2D.Polygon.prototype.indicesAreAdjacent=function(a,b){if(a%=this.vertices.length,b%=this.vertices.length,a==b)return!0;var c=Math.abs(a-b);return 2>c?!0:c==this.vertices.length-1?!0:!1},Phaser.Physics.Box2D.Polygon.prototype.areaInTriangle=function(a,b,c){return a=this.at(a),b=this.at(b),c=this.at(c),.5*((b.x-a.x)*(c.y-a.y)-(c.x-a.x)*(b.y-a.y))},Phaser.Physics.Box2D.Polygon.prototype.left=function(a,b,c){return this.areaInTriangle(a,b,c)>0},Phaser.Physics.Box2D.Polygon.prototype.leftOn=function(a,b,c){return this.areaInTriangle(a,b,c)>=0},Phaser.Physics.Box2D.Polygon.prototype.right=function(a,b,c){return this.areaInTriangle(a,b,c)<0},Phaser.Physics.Box2D.Polygon.prototype.rightOn=function(a,b,c){return this.areaInTriangle(a,b,c)<=0},Phaser.Physics.Box2D.Polygon.sqdist=function(a,b){var c=b.x-a.x,d=b.y-a.y;return c*c+d*d},Phaser.Physics.Box2D.Polygon.prototype.makeCCW=function(){for(var a=0,b=1,c=this.vertices.length;c>b;b++)(this.at(b).y<this.at(a).y||this.at(b).y===this.at(a).y&&this.at(b).x>this.at(a).x)&&(a=b);return this.left(a-1,a,a+1)?!1:(this.vertices.reverse(),!0)},Phaser.Physics.Box2D.Polygon.prototype.isConvex=function(){for(var a=!1,b=!1,c=0,d=this.vertices.length;d>c;c++){var e=c,f=(c+1)%d,g=(c+2)%d;this.areaInTriangle(this.vertices[e],this.vertices[f],this.vertices[g])>0?a=!0:b=!0}return b^a},Phaser.Physics.Box2D.Polygon.prototype.isReflex=function(a){return this.right(a-1,a,a+1)},Phaser.Physics.Box2D.Polygon.areVecsEqual=function(a,b){return a.x==b.x&&a.y==b.y},Phaser.Physics.Box2D.Polygon.linesCross=function(a,b,c,d){if(Phaser.Physics.Box2D.Polygon.areVecsEqual(b,c)||Phaser.Physics.Box2D.Polygon.areVecsEqual(a,c)||Phaser.Physics.Box2D.Polygon.areVecsEqual(b,d)||Phaser.Physics.Box2D.Polygon.areVecsEqual(a,d))return null;var e={};box2d.b2SubVV(b,a,e),box2d.b2CrossVS(e,1,e);var f=box2d.b2DotVV(e,a),g=box2d.b2DotVV(e,c),h=box2d.b2DotVV(e,d);if(g>f&&h>f)return null;if(f>g&&f>h)return null;var i={};box2d.b2SubVV(d,c,i),box2d.b2CrossVS(i,1,i);var g=box2d.b2DotVV(i,c),f=box2d.b2DotVV(i,a),j=box2d.b2DotVV(i,b);if(f>g&&j>g)return null;if(g>f&&g>j)return null;var k=(g-f)/(j-f),l={x:a.x+k*(b.x-a.x),y:a.y+k*(b.y-a.y)};return l},Phaser.Physics.Box2D.Polygon.prototype.canSee=function(a,b){if(this.indicesAreAdjacent(a,b))return!1;if(this.leftOn(a+1,a,b)&&this.rightOn(a-1,a,b))return!1;for(var c=0;c<this.vertices.length;++c)if((c+1)%this.vertices.length!=a&&c!=a&&this.leftOn(a,b,c+1)&&this.rightOn(a,b,c)&&Phaser.Physics.Box2D.Polygon.linesCross(this.at(a),this.at(b),this.at(c),this.at(c+1)))return!1;return!0},Phaser.Physics.Box2D.Polygon.prototype.subPolygon=function(a,b){var c=new Phaser.Physics.Box2D.Polygon;if(b>a)for(var d=a;b+1>d;d++)c.addVertex(this.at(d));else{for(var d=a;d<this.vertices.length;d++)c.addVertex(this.at(d));for(var d=0;b+1>d;d++)c.addVertex(this.at(d))}return c},Phaser.Physics.Box2D.Polygon.prototype.decomposeOptimal=function(a){if("undefined"==typeof a&&(a=0),a>1)return this.vertices;this.makeCCW();for(var b=[],c=[],d=[],e=Number.MAX_VALUE,f=0;f<this.vertices.length;f++)if(this.isReflex(f))for(var g=0;g<this.vertices.length;g++)this.canSee(f,g)&&(c=this.subPolygon(f,g).decompose(a+1),d=this.subPolygon(g,f).decompose(a+1),c.length+d.length<e&&(b=c.concat(d),e=b.length));return 0===b.length&&b.push(this.vertices),b},Phaser.Physics.Box2D.Polygon.prototype.decompose=function(a){"undefined"==typeof a&&(a=0),this.makeCCW();for(var b,c,d=[],e=Number.MAX_VALUE,f=!1,g=0;g<this.vertices.length;g++)if(this.isReflex(g)){f=!0;for(var h=this.at(g),i=0;i<this.vertices.length;i++)if(this.canSee(g,i)){var j=this.at(i),k=j.x-h.x,l=j.y-h.y,m=k*k*l*l;e>m&&(b=g,c=i,e=m)}}if(!f&&this.vertices.length>8&&(b=0,c=Math.floor(this.vertices.length/2),f=!0),f){var n=this.subPolygon(b,c).decompose(a+1),o=this.subPolygon(c,b).decompose(a+1);d=n.concat(o)}return 0===d.length&&d.push(this.vertices),d};