matter.js

/**
* matter-0.8.0.min.js 0.8.0-alpha 2014-05-04
* http://brm.io/matter-js/
* License: MIT
*/

!function(){var a={},b={};!function(){var a=1;b.create=function(a){var b={id:o.nextId(),type:"body",label:"Body",angle:0,vertices:z.fromPath("L 0 0 L 40 0 L 40 40 L 0 40"),position:{x:0,y:0},force:{x:0,y:0},torque:0,positionImpulse:{x:0,y:0},constraintImpulse:{x:0,y:0,angle:0},speed:0,angularSpeed:0,velocity:{x:0,y:0},angularVelocity:0,isStatic:!1,isSleeping:!1,motion:0,sleepThreshold:60,density:.001,restitution:0,friction:.1,frictionAir:.01,groupId:0,slop:.05,timeScale:1,render:{visible:!0,sprite:{xScale:1,yScale:1},lineWidth:1.5}},d=o.extend(b,a);return c(d),d},b.nextGroupId=function(){return a++};var c=function(a){a.axes=a.axes||w.fromVertices(a.vertices),a.area=z.area(a.vertices),a.bounds=x.create(a.vertices),a.mass=a.mass||a.density*a.area,a.inverseMass=1/a.mass,a.inertia=a.inertia||z.inertia(a.vertices,a.mass),a.inverseInertia=1/a.inertia,a.positionPrev=a.positionPrev||{x:a.position.x,y:a.position.y},a.anglePrev=a.anglePrev||a.angle,a.render.fillStyle=a.render.fillStyle||(a.isStatic?"#eeeeee":o.choose(["#556270","#4ECDC4","#C7F464","#FF6B6B","#C44D58"])),a.render.strokeStyle=a.render.strokeStyle||o.shadeColor(a.render.fillStyle,-20),z.create(a.vertices,a);var c=z.centre(a.vertices);z.translate(a.vertices,a.position),z.translate(a.vertices,c,-1),z.rotate(a.vertices,a.angle,a.position),w.rotate(a.axes,a.angle),x.update(a.bounds,a.vertices,a.velocity),b.setStatic(a,a.isStatic),t.set(a,a.isSleeping)};b.setStatic=function(a,b){a.isStatic=b,b&&(a.restitution=0,a.friction=1,a.mass=a.inertia=a.density=1/0,a.inverseMass=a.inverseInertia=0,a.render.lineWidth=1,a.positionPrev.x=a.position.x,a.positionPrev.y=a.position.y,a.anglePrev=a.angle,a.angularVelocity=0,a.speed=0,a.angularSpeed=0,a.motion=0)},b.resetForcesAll=function(a){for(var b=0;b<a.length;b++){var c=a[b];c.force.x=0,c.force.y=0,c.torque=0}},b.applyGravityAll=function(a,b){for(var c=0;c<a.length;c++){var d=a[c];d.isStatic||d.isSleeping||(d.force.y+=d.mass*b.y*.001,d.force.x+=d.mass*b.x*.001)}},b.updateAll=function(a,c,d,e,f){for(var g=0;g<a.length;g++){var h=a[g];h.isStatic||h.isSleeping||h.bounds.max.x<f.min.x||h.bounds.min.x>f.max.x||h.bounds.max.y<f.min.y||h.bounds.min.y>f.max.y||b.update(h,c,d,e)}},b.update=function(a,b,c,d){var e=Math.pow(b*c*a.timeScale,2),f=1-a.frictionAir*c*a.timeScale,g=a.position.x-a.positionPrev.x,h=a.position.y-a.positionPrev.y;a.velocity.x=g*f*d+a.force.x/a.mass*e,a.velocity.y=h*f*d+a.force.y/a.mass*e,a.positionPrev.x=a.position.x,a.positionPrev.y=a.position.y,a.position.x+=a.velocity.x,a.position.y+=a.velocity.y,a.angularVelocity=(a.angle-a.anglePrev)*f*d+a.torque/a.inertia*e,a.anglePrev=a.angle,a.angle+=a.angularVelocity,a.speed=y.magnitude(a.velocity),a.angularSpeed=Math.abs(a.angularVelocity),z.translate(a.vertices,a.velocity),0!==a.angularVelocity&&(z.rotate(a.vertices,a.angularVelocity,a.position),w.rotate(a.axes,a.angularVelocity)),x.update(a.bounds,a.vertices,a.velocity)},b.applyForce=function(a,b,c){a.force.x+=c.x,a.force.y+=c.y;var d={x:b.x-a.position.x,y:b.y-a.position.y};a.torque+=(d.x*c.y-d.y*c.x)*a.inverseInertia},b.translate=function(a,b){a.positionPrev.x+=b.x,a.positionPrev.y+=b.y,a.position.x+=b.x,a.position.y+=b.y,z.translate(a.vertices,b),x.update(a.bounds,a.vertices,a.velocity)},b.rotate=function(a,b){a.anglePrev+=b,a.angle+=b,z.rotate(a.vertices,b,a.position),w.rotate(a.axes,b),x.update(a.bounds,a.vertices,a.velocity)},b.scale=function(a,b,c,d){z.scale(a.vertices,b,c,d),a.axes=w.fromVertices(a.vertices),a.area=z.area(a.vertices),a.mass=a.density*a.area,a.inverseMass=1/a.mass,z.translate(a.vertices,{x:-a.position.x,y:-a.position.y}),a.inertia=z.inertia(a.vertices,a.mass),a.inverseInertia=1/a.inertia,z.translate(a.vertices,{x:a.position.x,y:a.position.y}),x.update(a.bounds,a.vertices,a.velocity)}}();var c={};!function(){c.create=function(a){return o.extend({id:o.nextId(),type:"composite",parent:null,isModified:!1,bodies:[],constraints:[],composites:[],label:"Composite"},a)},c.setModified=function(a,b,d,e){if(a.isModified=b,d&&a.parent&&c.setModified(a.parent,b,d,e),e)for(var f=0;f<a.composites.length;f++){var g=a.composites[f];c.setModified(g,b,d,e)}},c.add=function(a,b){for(var d=[].concat(b),e=0;e<d.length;e++){var f=d[e];switch(f.type){case"body":c.addBody(a,f);break;case"constraint":c.addConstraint(a,f);break;case"composite":c.addComposite(a,f);break;case"mouseConstraint":c.addConstraint(a,f.constraint)}}return a},c.remove=function(a,b,d){for(var e=[].concat(b),f=0;f<e.length;f++){var g=e[f];switch(g.type){case"body":c.removeBody(a,g,d);break;case"constraint":c.removeConstraint(a,g,d);break;case"composite":c.removeComposite(a,g,d);break;case"mouseConstraint":c.removeConstraint(a,g.constraint)}}return a},c.addComposite=function(a,b){return 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e,f;switch(d){case"body":e=c.allBodies(a);break;case"constraint":e=c.allConstraints(a);break;case"composite":e=c.allComposites(a).concat(a)}return e?(f=e.filter(function(a){return a.id.toString()===b.toString()}),0===f.length?null:f[0]):null},c.move=function(a,b,d){return c.remove(a,b),c.add(d,b),a},c.rebase=function(a){for(var b=c.allBodies(a).concat(c.allConstraints(a)).concat(c.allComposites(a)),d=0;d<b.length;d++)b[d].id=o.nextId();return c.setModified(a,!0,!0,!1),a}}();var d={};!function(){d.create=function(a){var b=c.create(),d={label:"World",gravity:{x:0,y:1},bounds:{min:{x:0,y:0},max:{x:800,y:600}}};return o.extend(b,d,a)}}();var e={};!function(){e.create=function(a){return{id:e.id(a),vertex:a,normalImpulse:0,tangentImpulse:0}},e.id=function(a){return a.body.id+"_"+a.index}}();var f={};!function(){f.collisions=function(a,b){for(var c=[],d=b.metrics,e=b.pairs.table,f=0;f<a.length;f++){var g=a[f][0],i=a[f][1];if(!(g.groupId&&i.groupId&&g.groupId===i.groupId||(g.isStatic||g.isSleeping)&&(i.isStatic||i.isSleeping)||(d.midphaseTests+=1,!x.overlaps(g.bounds,i.bounds)))){var j,k=h.id(g,i),m=e[k];j=m&&m.isActive?m.collision:null;var n=l.collides(g,i,j);d.narrowphaseTests+=1,n.reused&&(d.narrowReuseCount+=1),n.collided&&(c.push(n),d.narrowDetections+=1)}}return c},f.bruteForce=function(a,b){for(var c=[],d=b.metrics,e=b.pairs.table,f=0;f<a.length;f++)for(var g=f+1;g<a.length;g++){var i=a[f],j=a[g];if(!(i.groupId&&j.groupId&&i.groupId===j.groupId||(i.isStatic||i.isSleeping)&&(j.isStatic||j.isSleeping)||(d.midphaseTests+=1,!x.overlaps(i.bounds,j.bounds)))){var k,m=h.id(i,j),n=e[m];k=n&&n.isActive?n.collision:null;var o=l.collides(i,j,k);d.narrowphaseTests+=1,o.reused&&(d.narrowReuseCount+=1),o.collided&&(c.push(o),d.narrowDetections+=1)}}return c}}();var g={};!function(){g.create=function(a,b){return{buckets:{},pairs:{},pairsList:[],bucketWidth:a||48,bucketHeight:b||48}},g.update=function(c,g,h,k){var l,m,n,o,p,q=h.world,r=c.buckets,s=h.metrics,t=!1;for(s.broadphaseTests=0,l=0;l<g.length;l++){var u=g[l];if((!u.isSleeping||k)&&!(u.bounds.max.x<0||u.bounds.min.x>q.bounds.width||u.bounds.max.y<0||u.bounds.min.y>q.bounds.height)){var v=b(c,u);if(!u.region||v.id!==u.region.id||k){s.broadphaseTests+=1,(!u.region||k)&&(u.region=v);var w=a(v,u.region);for(m=w.startCol;m<=w.endCol;m++)for(n=w.startRow;n<=w.endRow;n++){p=d(m,n),o=r[p];var x=m>=v.startCol&&m<=v.endCol&&n>=v.startRow&&n<=v.endRow,y=m>=u.region.startCol&&m<=u.region.endCol&&n>=u.region.startRow&&n<=u.region.endRow;!x&&y&&y&&o&&i(c,o,u),(u.region===v||x&&!y||k)&&(o||(o=e(r,p)),f(c,o,u))}u.region=v,t=!0}}}t&&(c.pairsList=j(c))},g.clear=function(a){a.buckets={},a.pairs={},a.pairsList=[]};var a=function(a,b){var d=Math.min(a.startCol,b.startCol),e=Math.max(a.endCol,b.endCol),f=Math.min(a.startRow,b.startRow),g=Math.max(a.endRow,b.endRow);return c(d,e,f,g)},b=function(a,b){var d=b.bounds,e=Math.floor(d.min.x/a.bucketWidth),f=Math.floor(d.max.x/a.bucketWidth),g=Math.floor(d.min.y/a.bucketHeight),h=Math.floor(d.max.y/a.bucketHeight);return c(e,f,g,h)},c=function(a,b,c,d){return{id:a+","+b+","+c+","+d,startCol:a,endCol:b,startRow:c,endRow:d}},d=function(a,b){return a+","+b},e=function(a,b){var c=a[b]=[];return c},f=function(a,b,c){for(var d=0;d<b.length;d++){var e=b[d];if(!(c.id===e.id||c.isStatic&&e.isStatic)){var f=h.id(c,e),g=a.pairs[f];g?g[2]+=1:a.pairs[f]=[c,e,1]}}b.push(c)},i=function(a,b,c){b.splice(b.indexOf(c),1);for(var d=0;d<b.length;d++){var e=b[d],f=h.id(c,e),g=a.pairs[f];g&&(g[2]-=1)}},j=function(a){var b,c,d=[];b=o.keys(a.pairs);for(var e=0;e<b.length;e++)c=a.pairs[b[e]],c[2]>0?d.push(c):delete a.pairs[b[e]];return d}}();var h={};!function(){h.create=function(a,b){var c=a.bodyA,d=a.bodyB,e={id:h.id(c,d),bodyA:c,bodyB:d,contacts:{},activeContacts:[],separation:0,isActive:!0,timeCreated:b,timeUpdated:b,inverseMass:c.inverseMass+d.inverseMass,friction:Math.min(c.friction,d.friction),restitution:Math.max(c.restitution,d.restitution),slop:Math.max(c.slop,d.slop)};return h.update(e,a,b),e},h.update=function(a,b,c){var d=a.contacts,f=b.supports,g=a.activeContacts;if(a.collision=b,g.length=0,b.collided){for(var i=0;i<f.length;i++){var j=f[i],k=e.id(j),l=d[k];g.push(l?l:d[k]=e.create(j))}a.separation=b.depth,h.setActive(a,!0,c)}else a.isActive===!0&&h.setActive(a,!1,c)},h.setActive=function(a,b,c){b?(a.isActive=!0,a.timeUpdated=c):(a.isActive=!1,a.activeContacts.length=0)},h.id=function(a,b){return a.id<b.id?a.id+"_"+b.id:b.id+"_"+a.id}}();var i={};!function(){var a=1e3;i.create=function(a){return o.extend({table:{},list:[],collisionStart:[],collisionActive:[],collisionEnd:[]},a)},i.update=function(a,b,c){var d,e,f,g,i=a.list,j=a.table,k=a.collisionStart,l=a.collisionEnd,m=a.collisionActive,n=[];for(k.length=0,l.length=0,m.length=0,g=0;g<b.length;g++)d=b[g],d.collided&&(e=h.id(d.bodyA,d.bodyB),n.push(e),f=j[e],f?(f.isActive?m.push(f):k.push(f),h.update(f,d,c)):(f=h.create(d,c),j[e]=f,k.push(f),i.push(f)));for(g=0;g<i.length;g++)f=i[g],f.isActive&&-1===n.indexOf(f.id)&&(h.setActive(f,!1,c),l.push(f))},i.removeOld=function(b,c){var d,e,f,g,h=b.list,i=b.table,j=[];for(g=0;g<h.length;g++)d=h[g],e=d.collision,e.bodyA.isSleeping||e.bodyB.isSleeping?d.timeUpdated=c:c-d.timeUpdated>a&&j.push(g);for(g=0;g<j.length;g++)f=j[g]-g,d=h[f],delete i[d.id],h.splice(f,1)},i.clear=function(a){return a.table={},a.list.length=0,a.collisionStart.length=0,a.collisionActive.length=0,a.collisionEnd.length=0,a}}();var j={};!function(){j.ray=function(a,b,c,d){d=d||Number.MIN_VALUE;for(var e=y.angle(b,c),f=y.magnitude(y.sub(b,c)),g=.5*(c.x+b.x),h=.5*(c.y+b.y),i=u.rectangle(g,h,f,d,{angle:e}),j=[],k=0;k<a.length;k++){var m=a[k];if(x.overlaps(m.bounds,i.bounds)){var n=l.collides(m,i);n.collided&&(n.body=n.bodyA=n.bodyB=m,j.push(n))}}return j},j.region=function(a,b,c){for(var d=[],e=0;e<a.length;e++){var f=a[e],g=x.overlaps(f.bounds,b);(g&&!c||!g&&c)&&d.push(f)}return d}}();var k={};!function(){var a=4,b=.2,c=.6;k.solvePosition=function(a,c){var d,e,f,g,h,i,j,k,l;for(d=0;d<a.length;d++)e=a[d],e.isActive&&(f=e.collision,g=f.bodyA,h=f.bodyB,i=f.supports[0],j=f.supportCorrected,k=f.normal,l=y.sub(y.add(h.positionImpulse,i),y.add(g.positionImpulse,j)),e.separation=y.dot(k,l));for(d=0;d<a.length;d++)e=a[d],e.isActive&&(f=e.collision,g=f.bodyA,h=f.bodyB,k=f.normal,positionImpulse=(e.separation*b-e.slop)*c,(g.isStatic||h.isStatic)&&(positionImpulse*=2),g.isStatic||g.isSleeping||(g.positionImpulse.x+=k.x*positionImpulse,g.positionImpulse.y+=k.y*positionImpulse),h.isStatic||h.isSleeping||(h.positionImpulse.x-=k.x*positionImpulse,h.positionImpulse.y-=k.y*positionImpulse))},k.postSolvePosition=function(a){for(var b=0;b<a.length;b++){var d=a[b];(0!==d.positionImpulse.x||0!==d.positionImpulse.y)&&(d.position.x+=d.positionImpulse.x,d.position.y+=d.positionImpulse.y,d.positionPrev.x+=d.positionImpulse.x,d.positionPrev.y+=d.positionImpulse.y,z.translate(d.vertices,d.positionImpulse),x.update(d.bounds,d.vertices,d.velocity),d.positionImpulse.x*=c,d.positionImpulse.y*=c)}},k.preSolveVelocity=function(a){var b,c,d,e,f,g,h,i,j,k,l,m,n,o,p={};for(b=0;b<a.length;b++)if(d=a[b],d.isActive)for(e=d.activeContacts,f=d.collision,g=f.bodyA,h=f.bodyB,i=f.normal,j=f.tangent,c=0;c<e.length;c++)k=e[c],l=k.vertex,m=k.normalImpulse,n=k.tangentImpulse,p.x=i.x*m+j.x*n,p.y=i.y*m+j.y*n,g.isStatic||g.isSleeping||(o=y.sub(l,g.position),g.positionPrev.x+=p.x*g.inverseMass,g.positionPrev.y+=p.y*g.inverseMass,g.anglePrev+=y.cross(o,p)*g.inverseInertia),h.isStatic||h.isSleeping||(o=y.sub(l,h.position),h.positionPrev.x-=p.x*h.inverseMass,h.positionPrev.y-=p.y*h.inverseMass,h.anglePrev-=y.cross(o,p)*h.inverseInertia)},k.solveVelocity=function(b,c){for(var d={},e=c*c,f=0;f<b.length;f++){var g=b[f];if(g.isActive){var h=g.collision,i=h.bodyA,j=h.bodyB,k=h.normal,l=h.tangent,m=g.activeContacts,n=1/m.length;i.velocity.x=i.position.x-i.positionPrev.x,i.velocity.y=i.position.y-i.positionPrev.y,j.velocity.x=j.position.x-j.positionPrev.x,j.velocity.y=j.position.y-j.positionPrev.y,i.angularVelocity=i.angle-i.anglePrev,j.angularVelocity=j.angle-j.anglePrev;for(var p=0;p<m.length;p++){var q=m[p],r=q.vertex,s=y.sub(r,i.position),t=y.sub(r,j.position),u=y.add(i.velocity,y.mult(y.perp(s),i.angularVelocity)),v=y.add(j.velocity,y.mult(y.perp(t),j.angularVelocity)),w=y.sub(u,v),x=y.dot(k,w),z=y.dot(l,w),A=Math.abs(z),B=o.sign(z),C=(1+g.restitution)*x,D=o.clamp(g.separation+x,0,1),E=z;A>D*g.friction*e&&(E=D*g.friction*e*B);var F=y.cross(s,k),G=y.cross(t,k),H=n/(g.inverseMass+i.inverseInertia*F*F+j.inverseInertia*G*G);if(C*=H,E*=H,0>x&&x*x>a*e)q.normalImpulse=0,q.tangentImpulse=0;else{var I=q.normalImpulse;q.normalImpulse=Math.min(q.normalImpulse+C,0),C=q.normalImpulse-I;var J=q.tangentImpulse;q.tangentImpulse=o.clamp(q.tangentImpulse+E,-A,A),E=q.tangentImpulse-J}d.x=k.x*C+l.x*E,d.y=k.y*C+l.y*E,i.isStatic||i.isSleeping||(i.positionPrev.x+=d.x*i.inverseMass,i.positionPrev.y+=d.y*i.inverseMass,i.anglePrev+=y.cross(s,d)*i.inverseInertia),j.isStatic||j.isSleeping||(j.positionPrev.x-=d.x*j.inverseMass,j.positionPrev.y-=d.y*j.inverseMass,j.anglePrev-=y.cross(t,d)*j.inverseInertia)}}}}}();var l={};!function(){l.collides=function(b,d,e){var f,g,h,i,j=e,k=!1;if(j){var l=b.speed*b.speed+b.angularSpeed*b.angularSpeed+d.speed*d.speed+d.angularSpeed*d.angularSpeed;k=j&&j.collided&&.2>l,i=j}else i={collided:!1,bodyA:b,bodyB:d};if(j&&k){var m=[j.bodyA.axes[j.axisNumber]];if(h=a(j.bodyA.vertices,j.bodyB.vertices,m),i.reused=!0,h.overlap<=0)return i.collided=!1,i}else{if(f=a(b.vertices,d.vertices,b.axes),f.overlap<=0)return i.collided=!1,i;if(g=a(d.vertices,b.vertices,d.axes),g.overlap<=0)return i.collided=!1,i;f.overlap<g.overlap?(h=f,i.bodyA=b,i.bodyB=d):(h=g,i.bodyA=d,i.bodyB=b),i.axisNumber=h.axisNumber}i.collided=!0,i.normal=h.axis,i.depth=h.overlap,b=i.bodyA,d=i.bodyB,y.dot(i.normal,y.sub(d.position,b.position))>0&&(i.normal=y.neg(i.normal)),i.tangent=y.perp(i.normal),i.penetration={x:i.normal.x*i.depth,y:i.normal.y*i.depth};var n=c(b,d,i.normal),o=[n[0]];if(z.contains(b.vertices,n[1]))o.push(n[1]);else{var p=c(d,b,y.neg(i.normal));z.contains(d.vertices,p[0])&&o.push(p[0]),o.length<2&&z.contains(d.vertices,p[1])&&o.push(p[1])}return i.supports=o,i.supportCorrected=y.sub(n[0],i.penetration),i};var a=function(a,c,d){for(var e,f,g={},h={},i={overlap:Number.MAX_VALUE},j=0;j<d.length;j++){if(f=d[j],b(g,a,f),b(h,c,f),e=g.min<h.min?g.max-h.min:h.max-g.min,0>=e)return i.overlap=e,i;e<i.overlap&&(i.overlap=e,i.axis=f,i.axisNumber=j)}return i},b=function(a,b,c){for(var d=y.dot(b[0],c),e=d,f=1;f<b.length;f+=1){var 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c.render=o.extend(g,c.render),c.id=c.id||o.nextId(),c.label=c.label||"Constraint",c.type="constraint",c.stiffness=c.stiffness||1,c.angularStiffness=c.angularStiffness||0,c.angleA=c.bodyA?c.bodyA.angle:c.angleA,c.angleB=c.bodyB?c.bodyB.angle:c.angleB,c},m.solveAll=function(a,b){for(var c=0;c<a.length;c++)m.solve(a[c],b)},m.solve=function(c,d){var e=c.bodyA,f=c.bodyB,g=c.pointA,h=c.pointB;e&&!e.isStatic&&(c.pointA=y.rotate(g,e.angle-c.angleA),c.angleA=e.angle),f&&!f.isStatic&&(c.pointB=y.rotate(h,f.angle-c.angleB),c.angleB=f.angle);var i=g,j=h;if(e&&(i=y.add(e.position,g)),f&&(j=y.add(f.position,h)),i&&j){var k=y.sub(i,j),l=y.magnitude(k);0===l&&(l=a);var m=(l-c.length)/l,n=y.div(k,l),p=y.mult(k,.5*m*c.stiffness*d*d);if(!(Math.abs(1-l/c.length)<b*d)){var q,r,s,u,v,w,x,z;e&&!e.isStatic?(s={x:i.x-e.position.x+p.x,y:i.y-e.position.y+p.y},e.velocity.x=e.position.x-e.positionPrev.x,e.velocity.y=e.position.y-e.positionPrev.y,e.angularVelocity=e.angle-e.anglePrev,q=y.add(e.velocity,y.mult(y.perp(s),e.angularVelocity)),v=y.dot(s,n),x=e.inverseMass+e.inverseInertia*v*v):(q={x:0,y:0},x=e?e.inverseMass:0),f&&!f.isStatic?(u={x:j.x-f.position.x-p.x,y:j.y-f.position.y-p.y},f.velocity.x=f.position.x-f.positionPrev.x,f.velocity.y=f.position.y-f.positionPrev.y,f.angularVelocity=f.angle-f.anglePrev,r=y.add(f.velocity,y.mult(y.perp(u),f.angularVelocity)),w=y.dot(u,n),z=f.inverseMass+f.inverseInertia*w*w):(r={x:0,y:0},z=f?f.inverseMass:0);var A=y.sub(r,q),B=y.dot(n,A)/(x+z);B>0&&(B=0);var C,D={x:n.x*B,y:n.y*B};e&&!e.isStatic&&(C=y.cross(s,D)*e.inverseInertia*(1-c.angularStiffness),t.set(e,!1),C=o.clamp(C,-.01,.01),e.constraintImpulse.x-=p.x,e.constraintImpulse.y-=p.y,e.constraintImpulse.angle+=C,e.position.x-=p.x,e.position.y-=p.y,e.angle+=C),f&&!f.isStatic&&(C=y.cross(u,D)*f.inverseInertia*(1-c.angularStiffness),t.set(f,!1),C=o.clamp(C,-.01,.01),f.constraintImpulse.x+=p.x,f.constraintImpulse.y+=p.y,f.constraintImpulse.angle-=C,f.position.x+=p.x,f.position.y+=p.y,f.angle-=C)}}},m.postSolveAll=function(a){for(var b=0;b<a.length;b++){var c=a[b],d=c.constraintImpulse;z.translate(c.vertices,d),0!==d.angle&&(z.rotate(c.vertices,d.angle,c.position),w.rotate(c.axes,d.angle),d.angle=0),x.update(c.bounds,c.vertices),d.x=0,d.y=0}}}();var n={};!function(){n.create=function(a,b){var d=a.input.mouse,e=m.create({label:"Mouse 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e={enabled:!0,positionIterations:6,velocityIterations:4,constraintIterations:2,enableSleeping:!1,timeScale:1,input:{},events:[],timing:{fps:a,timestamp:0,delta:h,correction:1,deltaMin:1e3/a,deltaMax:1e3/(.5*a),timeScale:1,isFixed:!1},render:{element:b,controller:A}},j=o.extend(e,c);return j.render=j.render.controller.create(j.render),j.world=d.create(j.world),j.pairs=i.create(),j.metrics=j.metrics||r.create(),j.input.mouse=j.input.mouse||s.create(j.render.canvas),j.broadphase=j.broadphase||{current:"grid",grid:{controller:g,instance:g.create(),detector:f.collisions},bruteForce:{detector:f.bruteForce}},j},p.run=function(a){var b,c=0,d=0,f=[],g=1;!function h(i){if(j(h),a.enabled){var k,m,o=a.timing,r={timestamp:i};q.trigger(a,"beforeTick",r),o.isFixed?k=o.delta:(k=i-b||o.delta,b=i,f.push(k),f=f.slice(-e),k=Math.min.apply(null,f),k=k<o.deltaMin?o.deltaMin:k,k=k>o.deltaMax?o.deltaMax:k,m=k/o.delta,o.delta=k),0!==g&&(m*=o.timeScale/g),0===o.timeScale&&(m=0),g=o.timeScale,d+=1,i-c>=1e3&&(o.fps=d*((i-c)/1e3),c=i,d=0),q.trigger(a,"tick",r),a.world.isModified&&a.render.controller.clear(a.render),p.update(a,k,m),n(a),l(a),p.render(a),q.trigger(a,"afterTick",r)}}()},p.update=function(a,d,e){e="undefined"!=typeof e?e:1;var f,g=a.world,h=a.timing,j=a.broadphase[a.broadphase.current],l=[];h.timestamp+=d*h.timeScale,h.correction=e;var n={timestamp:a.timing.timestamp};q.trigger(a,"beforeUpdate",n);var o=c.allBodies(g),p=c.allConstraints(g);for(r.reset(a.metrics),a.enableSleeping&&t.update(o),b.applyGravityAll(o,g.gravity),b.updateAll(o,d,h.timeScale,e,g.bounds),f=0;f<a.constraintIterations;f++)m.solveAll(p,h.timeScale);m.postSolveAll(o),j.controller?(g.isModified&&j.controller.clear(j.instance),j.controller.update(j.instance,o,a,g.isModified),l=j.instance.pairsList):l=o;var s=j.detector(l,a),u=a.pairs,v=h.timestamp;for(i.update(u,s,v),i.removeOld(u,v),a.enableSleeping&&t.afterCollisions(u.list),k.preSolveVelocity(u.list),f=0;f<a.velocityIterations;f++)k.solveVelocity(u.list,h.timeScale);for(f=0;f<a.positionIterations;f++)k.solvePosition(u.list,h.timeScale);return k.postSolvePosition(o),r.update(a.metrics,a),b.resetForcesAll(o),g.isModified&&c.setModified(g,!1,!1,!0),q.trigger(a,"afterUpdate",n),a},p.render=function(a){var b={timestamp:a.timing.timestamp};q.trigger(a,"beforeRender",b),a.render.controller.world(a),q.trigger(a,"afterRender",b)},p.merge=function(a,b){if(o.extend(a,b),b.world){a.world=b.world,p.clear(a);for(var d=c.allBodies(a.world),e=0;e<d.length;e++){var f=d[e];t.set(f,!1),f.id=o.nextId()}}},p.clear=function(a){var b=a.world;i.clear(a.pairs);var d=a.broadphase[a.broadphase.current];if(d.controller){var e=c.allBodies(b);d.controller.clear(d.instance),d.controller.update(d.instance,e,a,!0)}};var l=function(a){var b=a.input.mouse,c=b.sourceEvents;c.mousemove&&q.trigger(a,"mousemove",{mouse:b}),c.mousedown&&q.trigger(a,"mousedown",{mouse:b}),c.mouseup&&q.trigger(a,"mouseup",{mouse:b}),s.clearSourceEvents(b)},n=function(a){var b=a.pairs;b.collisionStart.length>0&&q.trigger(a,"collisionStart",{pairs:b.collisionStart}),b.collisionActive.length>0&&q.trigger(a,"collisionActive",{pairs:b.collisionActive}),b.collisionEnd.length>0&&q.trigger(a,"collisionEnd",{pairs:b.collisionEnd})}}();var q={};!function(){q.on=function(a,b,c){for(var d,e=b.split(" "),f=0;f<e.length;f++)d=e[f],a.events=a.events||{},a.events[d]=a.events[d]||[],a.events[d].push(c);return c},q.off=function(a,b,c){if(!b)return void(a.events={});"function"==typeof b&&(c=b,b=o.keys(a.events).join(" "));for(var d=b.split(" "),e=0;e<d.length;e++){var f=a.events[d[e]],g=[];if(c)for(var h=0;h<f.length;h++)f[h]!==c&&g.push(f[h]);a.events[d[e]]=g}},q.trigger=function(a,b,c){var d,e,f,g;if(a.events){c||(c={}),d=b.split(" ");for(var h=0;h<d.length;h++)if(e=d[h],f=a.events[e]){g=o.clone(c,!1),g.name=e,g.source=a;for(var i=0;i<f.length;i++)f[i].apply(a,[g])}}}}();var r={};!function(){r.create=function(){return{extended:!1,narrowDetections:0,narrowphaseTests:0,narrowReuse:0,narrowReuseCount:0,midphaseTests:0,broadphaseTests:0,narrowEff:1e-4,midEff:1e-4,broadEff:1e-4,collisions:0,buckets:0,bodies:0,pairs:0}},r.reset=function(a){a.extended&&(a.narrowDetections=0,a.narrowphaseTests=0,a.narrowReuse=0,a.narrowReuseCount=0,a.midphaseTests=0,a.broadphaseTests=0,a.narrowEff=0,a.midEff=0,a.broadEff=0,a.collisions=0,a.buckets=0,a.pairs=0,a.bodies=0)},r.update=function(a,b){if(a.extended){var d=b.world,e=(b.broadphase[b.broadphase.current],c.allBodies(d));a.collisions=a.narrowDetections,a.pairs=b.pairs.list.length,a.bodies=e.length,a.midEff=(a.narrowDetections/(a.midphaseTests||1)).toFixed(2),a.narrowEff=(a.narrowDetections/(a.narrowphaseTests||1)).toFixed(2),a.broadEff=(1-a.broadphaseTests/(e.length||1)).toFixed(2),a.narrowReuse=(a.narrowReuseCount/(a.narrowphaseTests||1)).toFixed(2)}}}();var s;!function(){s=function(b){var c=this;this.element=b||document.body,this.absolute={x:0,y:0},this.position={x:0,y:0},this.mousedownPosition={x:0,y:0},this.mouseupPosition={x:0,y:0},this.offset={x:0,y:0},this.scale={x:1,y:1},this.wheelDelta=0,this.button=-1,this.sourceEvents={mousemove:null,mousedown:null,mouseup:null,mousewheel:null},this.mousemove=function(b){var d=a(b,c.element),e=b.changedTouches;e&&(c.button=0,b.preventDefault()),c.absolute.x=d.x,c.absolute.y=d.y,c.position.x=c.absolute.x*c.scale.x+c.offset.x,c.position.y=c.absolute.y*c.scale.y+c.offset.y,c.sourceEvents.mousemove=b},this.mousedown=function(b){var d=a(b,c.element),e=b.changedTouches;e?(c.button=0,b.preventDefault()):c.button=b.button,c.absolute.x=d.x,c.absolute.y=d.y,c.position.x=c.absolute.x*c.scale.x+c.offset.x,c.position.y=c.absolute.y*c.scale.y+c.offset.y,c.mousedownPosition.x=c.position.x,c.mousedownPosition.y=c.position.y,c.sourceEvents.mousedown=b},this.mouseup=function(b){var d=a(b,c.element),e=b.changedTouches;e&&b.preventDefault(),c.button=-1,c.absolute.x=d.x,c.absolute.y=d.y,c.position.x=c.absolute.x*c.scale.x+c.offset.x,c.position.y=c.absolute.y*c.scale.y+c.offset.y,c.mouseupPosition.x=c.position.x,c.mouseupPosition.y=c.position.y,c.sourceEvents.mouseup=b},this.mousewheel=function(a){c.wheelDelta=Math.max(-1,Math.min(1,a.wheelDelta||-a.detail)),a.preventDefault()},s.setElement(c,c.element)},s.create=function(a){return new 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l=d.activeContacts[0].vertex.x,m=d.activeContacts[0].vertex.y;2===d.activeContacts.length&&(l=(d.activeContacts[0].vertex.x+d.activeContacts[1].vertex.x)/2,m=(d.activeContacts[0].vertex.y+d.activeContacts[1].vertex.y)/2),h.moveTo(l-8*e.normal.x,m-8*e.normal.y),h.lineTo(l,m)}h.strokeStyle=i.wireframes?"rgba(255,165,0,0.7)":"orange",h.lineWidth=1,h.stroke()},A.grid=function(a,b,c){var d=c,e=a.render.options;d.strokeStyle=e.wireframes?"rgba(255,180,0,0.1)":"rgba(255,180,0,0.5)",d.beginPath();for(var f=o.keys(b.buckets),g=0;g<f.length;g++){var h=f[g];if(!(b.buckets[h].length<2)){var i=h.split(",");d.rect(.5+parseInt(i[0],10)*b.bucketWidth,.5+parseInt(i[1],10)*b.bucketHeight,b.bucketWidth,b.bucketHeight)}}d.lineWidth=1,d.stroke()},A.inspector=function(a,b){var c,d=a.engine,e=(d.input.mouse,a.selected),f=d.render,g=f.options;if(g.hasBounds){var 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n=m.pointA;m.bodyA&&(n=m.pointB),b.beginPath(),b.arc(n.x,n.y,10,0,2*Math.PI),b.closePath(),b.stroke()}b.setLineDash([0]),b.translate(-.5,-.5)}null!==a.selectStart&&(b.translate(.5,.5),b.lineWidth=1,b.strokeStyle="rgba(255,165,0,0.6)",b.fillStyle="rgba(255,165,0,0.1)",c=a.selectBounds,b.beginPath(),b.rect(Math.floor(c.min.x),Math.floor(c.min.y),Math.floor(c.max.x-c.min.x),Math.floor(c.max.y-c.min.y)),b.closePath(),b.stroke(),b.fill(),b.translate(-.5,-.5)),g.hasBounds&&b.setTransform(1,0,0,1,0,0)};var a=function(a,b){var c=document.createElement("canvas");return c.width=a,c.height=b,c.oncontextmenu=function(){return!1},c.onselectstart=function(){return!1},c},b=function(a,b){var c=a.textures[b];return c?c:(c=a.textures[b]=new Image,c.src=b,c)}}();var B={};!function(){B.create=function(a){var 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