throwable Discord Emojis

throwme.js

 /* 
     * throwable
     * JQuery plugin 
     */

    /**------------------------------------**/
    //              CREDITS
    /**------------------------------------**/
    /*
     - Mr. Doobs :: http://mrdoob.com/92/Google_Gravity
     - Alex Arnell's inheritance.js :: http://code.google.com/p/inheritance/
     - Box2Djs :: http://box2d-js.sourceforge.net/
    */

    /**
     * JQuery throwable plugin
     * @param {type} $
     * @param {type} window
     * @param {type} document
     * @param {type} undefined
     * @returns {undefined}
     */
    (function ($, window, document, undefined) {
        
                /********* libraries *********/
        
                /* Based on Alex Arnell's inheritance implementation. */
        
                function $A(e) { if (!e) return []; if (e.toArray) return e.toArray(); var t = e.length || 0, n = new Array(t); while (t--) n[t] = e[t]; return n } var Class = { create: function () { function n() { this.initialize.apply(this, arguments) } var e = null, t = $A(arguments); if ($.isFunction(t[0])) e = t.shift(); Object.extend(n, Class.Methods); n.superclass = e; n.subclasses = []; if (e) { var r = function () { }; r.prototype = e.prototype; n.prototype = new r; e.subclasses.push(n) } for (var i = 0; i < t.length; i++)n.addMethods(t[i]); if (!n.prototype.initialize) n.prototype.initialize = this.emptyFunction; n.prototype.constructor = n; return n }, emptyFunction: function () { } }; Class.Methods = { addMethods: function (e) { var t = this.superclass && this.superclass.prototype; var n = Object.keys(e); if (!Object.keys({ toString: true }).length) n.push("toString", "valueOf"); for (var r = 0, i = n.length; r < i; r++) { var s = n[r], o = e[s]; if (t && $.isFunction(o) && o.argumentNames().first() == "$super") { var u = o, o = Object.extend(function (e) { return function () { return t[e].apply(this, arguments) } }(s).wrap(u), { valueOf: function () { return u }, toString: function () { return u.toString() } }) } this.prototype[s] = o } return this } }; Object.extend = function (e, t) { for (var n in t) e[n] = t[n]; return e }; Object.extend(Object, { inspect: function (e) { try { if (Object.isUndefined(e)) return "undefined"; if (e === null) return "null"; return e.inspect ? e.inspect() : String(e) } catch (t) { if (t instanceof RangeError) return "..."; throw t } }, toJSON: function (e) { var t = typeof e; switch (t) { case "undefined": case "function": case "unknown": return; case "boolean": return e.toString() }if (e === null) return "null"; if (e.toJSON) return e.toJSON(); if (Object.isElement(e)) return; var n = []; for (var r in e) { var i = Object.toJSON(e[r]); if (!Object.isUndefined(i)) n.push(r.toJSON() + ": " + i) } return "{" + n.join(", ") + "}" }, toQueryString: function (e) { return $H(e).toQueryString() }, toHTML: function (e) { return e && e.toHTML ? e.toHTML() : String.interpret(e) }, keys: function (e) { var t = []; for (var n in e) t.push(n); return t }, values: function (e) { var t = []; for (var n in e) t.push(e[n]); return t }, clone: function (e) { return Object.extend({}, e) }, isElement: function (e) { return e && e.nodeType == 1 }, isHash: function (e) { return e instanceof Hash }, isString: function (e) { return typeof e == "string" }, isUndefined: function (e) { return typeof e == "undefined" } })
        
                if (WebKit = navigator.userAgent.indexOf('AppleWebKit/index.html') > -1) {
                    $A = function (iterable) {
                        if (!iterable) return [];
                        if (!($.isFunction(iterable) && iterable == '[object NodeList]') &&
                            iterable.toArray) return iterable.toArray();
                        var length = iterable.length || 0, results = new Array(length);
                        while (length--) results[length] = iterable[length];
                        return results;
                    };
                }
        
                ///==============================================================================================
                /* 
                * Box2Djs 
                * Minified version
                */
                var b2Settings = Class.create(); b2Settings.prototype = { initialize: function () { } }; b2Settings.USHRT_MAX = 65535; b2Settings.b2_pi = Math.PI; b2Settings.b2_massUnitsPerKilogram = 1; b2Settings.b2_timeUnitsPerSecond = 1; b2Settings.b2_lengthUnitsPerMeter = 30; b2Settings.b2_maxManifoldPoints = 2; b2Settings.b2_maxShapesPerBody = 64; b2Settings.b2_maxPolyVertices = 8; b2Settings.b2_maxProxies = 1024; b2Settings.b2_maxPairs = 8 * b2Settings.b2_maxProxies; b2Settings.b2_linearSlop = .005 * b2Settings.b2_lengthUnitsPerMeter; b2Settings.b2_angularSlop = 2 / 180 * b2Settings.b2_pi; b2Settings.b2_velocityThreshold = 1 * b2Settings.b2_lengthUnitsPerMeter / b2Settings.b2_timeUnitsPerSecond; b2Settings.b2_maxLinearCorrection = .2 * b2Settings.b2_lengthUnitsPerMeter; b2Settings.b2_maxAngularCorrection = 8 / 180 * b2Settings.b2_pi; b2Settings.b2_contactBaumgarte = .2; b2Settings.b2_timeToSleep = .5 * b2Settings.b2_timeUnitsPerSecond; b2Settings.b2_linearSleepTolerance = .01 * b2Settings.b2_lengthUnitsPerMeter / b2Settings.b2_timeUnitsPerSecond; b2Settings.b2_angularSleepTolerance = 2 / 180 / b2Settings.b2_timeUnitsPerSecond; b2Settings.b2Assert = function (e) { if (!e) { var t; t.x++ } }; var b2Vec2 = Class.create(); b2Vec2.prototype = { initialize: function (e, t) { this.x = e; this.y = t }, SetZero: function () { this.x = 0; this.y = 0 }, Set: function (e, t) { this.x = e; this.y = t }, SetV: function (e) { this.x = e.x; this.y = e.y }, Negative: function () { return new b2Vec2(-this.x, -this.y) }, Copy: function () { return new b2Vec2(this.x, this.y) }, Add: function (e) { this.x += e.x; this.y += e.y }, Subtract: function (e) { this.x -= e.x; this.y -= e.y }, Multiply: function (e) { this.x *= e; this.y *= e }, MulM: function (e) { var t = this.x; this.x = e.col1.x * t + e.col2.x * this.y; this.y = e.col1.y * t + e.col2.y * this.y }, MulTM: function (e) { var t = b2Math.b2Dot(this, e.col1); this.y = b2Math.b2Dot(this, e.col2); this.x = t }, CrossVF: function (e) { var t = this.x; this.x = e * this.y; this.y = -e * t }, CrossFV: function (e) { var t = this.x; this.x = -e * this.y; this.y = e * t }, MinV: function (e) { this.x = this.x < e.x ? this.x : e.x; this.y = this.y < e.y ? this.y : e.y }, MaxV: function (e) { this.x = this.x > e.x ? this.x : e.x; this.y = this.y > e.y ? this.y : e.y }, Abs: function () { this.x = Math.abs(this.x); this.y = Math.abs(this.y) }, Length: function () { return Math.sqrt(this.x * this.x + this.y * this.y) }, Normalize: function () { var e = this.Length(); if (e < Number.MIN_VALUE) { return 0 } var t = 1 / e; this.x *= t; this.y *= t; return e }, IsValid: function () { return b2Math.b2IsValid(this.x) && b2Math.b2IsValid(this.y) }, x: null, y: null }; b2Vec2.Make = function (e, t) { return new b2Vec2(e, t) }; var b2Mat22 = Class.create(); b2Mat22.prototype = { initialize: function (e, t, n) { if (e == null) e = 0; this.col1 = new b2Vec2; this.col2 = new b2Vec2; if (t != null && n != null) { this.col1.SetV(t); this.col2.SetV(n) } else { var r = Math.cos(e); var i = Math.sin(e); this.col1.x = r; this.col2.x = -i; this.col1.y = i; this.col2.y = r } }, Set: function (e) { var t = Math.cos(e); var n = Math.sin(e); this.col1.x = t; this.col2.x = -n; this.col1.y = n; this.col2.y = t }, SetVV: function (e, t) { this.col1.SetV(e); this.col2.SetV(t) }, Copy: function () { return new b2Mat22(0, this.col1, this.col2) }, SetM: function (e) { this.col1.SetV(e.col1); this.col2.SetV(e.col2) }, AddM: function (e) { this.col1.x += e.col1.x; this.col1.y += e.col1.y; this.col2.x += e.col2.x; this.col2.y += e.col2.y }, SetIdentity: function () { this.col1.x = 1; this.col2.x = 0; this.col1.y = 0; this.col2.y = 1 }, SetZero: function () { this.col1.x = 0; this.col2.x = 0; this.col1.y = 0; this.col2.y = 0 }, Invert: function (e) { var t = this.col1.x; var n = this.col2.x; var r = this.col1.y; var i = this.col2.y; var s = t * i - n * r; s = 1 / s; e.col1.x = s * i; e.col2.x = -s * n; e.col1.y = -s * r; e.col2.y = s * t; return e }, Solve: function (e, t, n) { var r = this.col1.x; var i = this.col2.x; var s = this.col1.y; var o = this.col2.y; var u = r * o - i * s; u = 1 / u; e.x = u * (o * t - i * n); e.y = u * (r * n - s * t); return e }, Abs: function () { this.col1.Abs(); this.col2.Abs() }, col1: new b2Vec2, col2: new b2Vec2 }; var b2Math = Class.create(); b2Math.prototype = { initialize: function () { } }; b2Math.b2IsValid = function (e) { return isFinite(e) }; b2Math.b2Dot = function (e, t) { return e.x * t.x + e.y * t.y }; b2Math.b2CrossVV = function (e, t) { return e.x * t.y - e.y * t.x }; b2Math.b2CrossVF = function (e, t) { var n = new b2Vec2(t * e.y, -t * e.x); return n }; b2Math.b2CrossFV = function (e, t) { var n = new b2Vec2(-e * t.y, e * t.x); return n }; b2Math.b2MulMV = function (e, t) { var n = new b2Vec2(e.col1.x * t.x + e.col2.x * t.y, e.col1.y * t.x + e.col2.y * t.y); return n }; b2Math.b2MulTMV = function (e, t) { var n = new b2Vec2(b2Math.b2Dot(t, e.col1), b2Math.b2Dot(t, e.col2)); return n }; b2Math.AddVV = function (e, t) { var n = new b2Vec2(e.x + t.x, e.y + t.y); return n }; b2Math.SubtractVV = function (e, t) { var n = new b2Vec2(e.x - t.x, e.y - t.y); return n }; b2Math.MulFV = function (e, t) { var n = new b2Vec2(e * t.x, e * t.y); return n }; b2Math.AddMM = function (e, t) { var n = new b2Mat22(0, b2Math.AddVV(e.col1, t.col1), b2Math.AddVV(e.col2, t.col2)); return n }; b2Math.b2MulMM = function (e, t) { var n = new b2Mat22(0, b2Math.b2MulMV(e, t.col1), b2Math.b2MulMV(e, t.col2)); return n }; b2Math.b2MulTMM = function (e, t) { var n = new b2Vec2(b2Math.b2Dot(e.col1, t.col1), b2Math.b2Dot(e.col2, t.col1)); var r = new b2Vec2(b2Math.b2Dot(e.col1, t.col2), b2Math.b2Dot(e.col2, t.col2)); var i = new b2Mat22(0, n, r); return i }; b2Math.b2Abs = function (e) { return e > 0 ? e : -e }; b2Math.b2AbsV = function (e) { var t = new b2Vec2(b2Math.b2Abs(e.x), b2Math.b2Abs(e.y)); return t }; b2Math.b2AbsM = function (e) { var t = new b2Mat22(0, b2Math.b2AbsV(e.col1), b2Math.b2AbsV(e.col2)); return t }; b2Math.b2Min = function (e, t) { return e < t ? e : t }; b2Math.b2MinV = function (e, t) { var n = new b2Vec2(b2Math.b2Min(e.x, t.x), b2Math.b2Min(e.y, t.y)); return n }; b2Math.b2Max = function (e, t) { return e > t ? e : t }; b2Math.b2MaxV = function (e, t) { var n = new b2Vec2(b2Math.b2Max(e.x, t.x), b2Math.b2Max(e.y, t.y)); return n }; b2Math.b2Clamp = function (e, t, n) { return b2Math.b2Max(t, b2Math.b2Min(e, n)) }; b2Math.b2ClampV = function (e, t, n) { return b2Math.b2MaxV(t, b2Math.b2MinV(e, n)) }; b2Math.b2Swap = function (e, t) { var n = e[0]; e[0] = t[0]; t[0] = n }; b2Math.b2Random = function () { return Math.random() * 2 - 1 }; b2Math.b2NextPowerOfTwo = function (e) { e |= e >> 1 & 2147483647; e |= e >> 2 & 1073741823; e |= e >> 4 & 268435455; e |= e >> 8 & 16777215; e |= e >> 16 & 65535; return e + 1 }; b2Math.b2IsPowerOfTwo = function (e) { var t = e > 0 && (e & e - 1) == 0; return t }; b2Math.tempVec2 = new b2Vec2; b2Math.tempVec3 = new b2Vec2; b2Math.tempVec4 = new b2Vec2; b2Math.tempVec5 = new b2Vec2; b2Math.tempMat = new b2Mat22; var b2AABB = Class.create(); b2AABB.prototype = { IsValid: function () { var e = this.maxVertex.x; var t = this.maxVertex.y; e = this.maxVertex.x; t = this.maxVertex.y; e -= this.minVertex.x; t -= this.minVertex.y; var n = e >= 0 && t >= 0; n = n && this.minVertex.IsValid() && this.maxVertex.IsValid(); return n }, minVertex: new b2Vec2, maxVertex: new b2Vec2, initialize: function () { this.minVertex = new b2Vec2; this.maxVertex = new b2Vec2 } }; var b2Bound = Class.create(); b2Bound.prototype = { IsLower: function () { return (this.value & 1) == 0 }, IsUpper: function () { return (this.value & 1) == 1 }, Swap: function (e) { var t = this.value; var n = this.proxyId; var r = this.stabbingCount; this.value = e.value; this.proxyId = e.proxyId; this.stabbingCount = e.stabbingCount; e.value = t; e.proxyId = n; e.stabbingCount = r }, value: 0, proxyId: 0, stabbingCount: 0, initialize: function () { } }; var b2BoundValues = Class.create(); b2BoundValues.prototype = { lowerValues: [0, 0], upperValues: [0, 0], initialize: function () { this.lowerValues = [0, 0]; this.upperValues = [0, 0] } }; var b2Pair = Class.create(); b2Pair.prototype = { SetBuffered: function () { this.status |= b2Pair.e_pairBuffered }, ClearBuffered: function () { this.status &= ~b2Pair.e_pairBuffered }, IsBuffered: function () { return (this.status & b2Pair.e_pairBuffered) == b2Pair.e_pairBuffered }, SetRemoved: function () { this.status |= b2Pair.e_pairRemoved }, ClearRemoved: function () { this.status &= ~b2Pair.e_pairRemoved }, IsRemoved: function () { return (this.status & b2Pair.e_pairRemoved) == b2Pair.e_pairRemoved }, SetFinal: function () { this.status |= b2Pair.e_pairFinal }, IsFinal: function () { return (this.status & b2Pair.e_pairFinal) == b2Pair.e_pairFinal }, userData: null, proxyId1: 0, proxyId2: 0, next: 0, status: 0, initialize: function () { } }; b2Pair.b2_nullPair = b2Settings.USHRT_MAX; b2Pair.b2_nullProxy = b2Settings.USHRT_MAX; b2Pair.b2_tableCapacity = b2Settings.b2_maxPairs; b2Pair.b2_tableMask = b2Pair.b2_tableCapacity - 1; b2Pair.e_pairBuffered = 1; b2Pair.e_pairRemoved = 2; b2Pair.e_pairFinal = 4; var b2PairCallback = Class.create(); b2PairCallback.prototype = { PairAdded: function (e, t) { return null }, PairRemoved: function (e, t, n) { }, initialize: function () { } }; var b2BufferedPair = Class.create(); b2BufferedPair.prototype = { proxyId1: 0, proxyId2: 0, initialize: function () { } }; var b2PairManager = Class.create(); b2PairManager.prototype = { initialize: function () { var e = 0; this.m_hashTable = new Array(b2Pair.b2_tableCapacity); for (e = 0; e < b2Pair.b2_tableCapacity; ++e) { this.m_hashTable[e] = b2Pair.b2_nullPair } this.m_pairs = new Array(b2Settings.b2_maxPairs); for (e = 0; e < b2Settings.b2_maxPairs; ++e) { this.m_pairs[e] = new b2Pair } this.m_pairBuffer = new Array(b2Settings.b2_maxPairs); for (e = 0; e < b2Settings.b2_maxPairs; ++e) { this.m_pairBuffer[e] = new b2BufferedPair } for (e = 0; e < b2Settings.b2_maxPairs; ++e) { this.m_pairs[e].proxyId1 = b2Pair.b2_nullProxy; this.m_pairs[e].proxyId2 = b2Pair.b2_nullProxy; this.m_pairs[e].userData = null; this.m_pairs[e].status = 0; this.m_pairs[e].next = e + 1 } this.m_pairs[b2Settings.b2_maxPairs - 1].next = b2Pair.b2_nullPair; this.m_pairCount = 0 }, Initialize: function (e, t) { this.m_broadPhase = e; this.m_callback = t }, AddBufferedPair: function (e, t) { var n = this.AddPair(e, t); if (n.IsBuffered() == false) { n.SetBuffered(); this.m_pairBuffer[this.m_pairBufferCount].proxyId1 = n.proxyId1; this.m_pairBuffer[this.m_pairBufferCount].proxyId2 = n.proxyId2; ++this.m_pairBufferCount } n.ClearRemoved(); if (b2BroadPhase.s_validate) { this.ValidateBuffer() } }, RemoveBufferedPair: function (e, t) { var n = this.Find(e, t); if (n == null) { return } if (n.IsBuffered() == false) { n.SetBuffered(); this.m_pairBuffer[this.m_pairBufferCount].proxyId1 = n.proxyId1; this.m_pairBuffer[this.m_pairBufferCount].proxyId2 = n.proxyId2; ++this.m_pairBufferCount } n.SetRemoved(); if (b2BroadPhase.s_validate) { this.ValidateBuffer() } }, Commit: function () { var e = 0; var t = 0; var n = this.m_broadPhase.m_proxyPool; for (e = 0; e < this.m_pairBufferCount; ++e) { var r = this.Find(this.m_pairBuffer[e].proxyId1, this.m_pairBuffer[e].proxyId2); r.ClearBuffered(); var i = n[r.proxyId1]; var s = n[r.proxyId2]; if (r.IsRemoved()) { if (r.IsFinal() == true) { this.m_callback.PairRemoved(i.userData, s.userData, r.userData) } this.m_pairBuffer[t].proxyId1 = r.proxyId1; this.m_pairBuffer[t].proxyId2 = r.proxyId2; ++t } else { if (r.IsFinal() == false) { r.userData = this.m_callback.PairAdded(i.userData, s.userData); r.SetFinal() } } } for (e = 0; e < t; ++e) { this.RemovePair(this.m_pairBuffer[e].proxyId1, this.m_pairBuffer[e].proxyId2) } this.m_pairBufferCount = 0; if (b2BroadPhase.s_validate) { this.ValidateTable() } }, AddPair: function (e, t) { if (e > t) { var n = e; e = t; t = n } var r = b2PairManager.Hash(e, t) & b2Pair.b2_tableMask; var i = i = this.FindHash(e, t, r); if (i != null) { return i } var s = this.m_freePair; i = this.m_pairs[s]; this.m_freePair = i.next; i.proxyId1 = e; i.proxyId2 = t; i.status = 0; i.userData = null; i.next = this.m_hashTable[r]; this.m_hashTable[r] = s; ++this.m_pairCount; return i }, RemovePair: function (e, t) { if (e > t) { var n = e; e = t; t = n } var r = b2PairManager.Hash(e, t) & b2Pair.b2_tableMask; var i = this.m_hashTable[r]; var s = null; while (i != b2Pair.b2_nullPair) { if (b2PairManager.Equals(this.m_pairs[i], e, t)) { var o = i; if (s) { s.next = this.m_pairs[i].next } else { this.m_hashTable[r] = this.m_pairs[i].next } var u = this.m_pairs[o]; var a = u.userData; u.next = this.m_freePair; u.proxyId1 = b2Pair.b2_nullProxy; u.proxyId2 = b2Pair.b2_nullProxy; u.userData = null; u.status = 0; this.m_freePair = o; --this.m_pairCount; return a } else { s = this.m_pairs[i]; i = s.next } } return null }, Find: function (e, t) { if (e > t) { var n = e; e = t; t = n } var r = b2PairManager.Hash(e, t) & b2Pair.b2_tableMask; return this.FindHash(e, t, r) }, FindHash: function (e, t, n) { var r = this.m_hashTable[n]; while (r != b2Pair.b2_nullPair && b2PairManager.Equals(this.m_pairs[r], e, t) == false) { r = this.m_pairs[r].next } if (r == b2Pair.b2_nullPair) { return null } return this.m_pairs[r] }, ValidateBuffer: function () { }, ValidateTable: function () { }, m_broadPhase: null, m_callback: null, m_pairs: null, m_freePair: 0, m_pairCount: 0, m_pairBuffer: null, m_pairBufferCount: 0, m_hashTable: null }; b2PairManager.Hash = function (e, t) { var n = t << 16 & 4294901760 | e; n = ~n + (n << 15 & 4294934528); n = n ^ n >> 12 & 1048575; n = n + (n << 2 & 4294967292); n = n ^ n >> 4 & 268435455; n = n * 2057; n = n ^ n >> 16 & 65535; return n }; b2PairManager.Equals = function (e, t, n) { return e.proxyId1 == t && e.proxyId2 == n }; b2PairManager.EqualsPair = function (e, t) { return e.proxyId1 == t.proxyId1 && e.proxyId2 == t.proxyId2 }; var b2BroadPhase = Class.create(); b2BroadPhase.prototype = { initialize: function (e, t) { this.m_pairManager = new b2PairManager; this.m_proxyPool = new Array(b2Settings.b2_maxPairs); this.m_bounds = new Array(2 * b2Settings.b2_maxProxies); this.m_queryResults = new Array(b2Settings.b2_maxProxies); this.m_quantizationFactor = new b2Vec2; var n = 0; this.m_pairManager.Initialize(this, t); this.m_worldAABB = e; this.m_proxyCount = 0; for (n = 0; n < b2Settings.b2_maxProxies; n++) { this.m_queryResults[n] = 0 } this.m_bounds = new Array(2); for (n = 0; n < 2; n++) { this.m_bounds[n] = new Array(2 * b2Settings.b2_maxProxies); for (var r = 0; r < 2 * b2Settings.b2_maxProxies; r++) { this.m_bounds[n][r] = new b2Bound } } var i = e.maxVertex.x; var s = e.maxVertex.y; i -= e.minVertex.x; s -= e.minVertex.y; this.m_quantizationFactor.x = b2Settings.USHRT_MAX / i; this.m_quantizationFactor.y = b2Settings.USHRT_MAX / s; var o; for (n = 0; n < b2Settings.b2_maxProxies - 1; ++n) { o = new b2Proxy; this.m_proxyPool[n] = o; o.SetNext(n + 1); o.timeStamp = 0; o.overlapCount = b2BroadPhase.b2_invalid; o.userData = null } o = new b2Proxy; this.m_proxyPool[b2Settings.b2_maxProxies - 1] = o; o.SetNext(b2Pair.b2_nullProxy); o.timeStamp = 0; o.overlapCount = b2BroadPhase.b2_invalid; o.userData = null; this.m_freeProxy = 0; this.m_timeStamp = 1; this.m_queryResultCount = 0 }, InRange: function (e) { var t; var n; var r; var i; t = e.minVertex.x; n = e.minVertex.y; t -= this.m_worldAABB.maxVertex.x; n -= this.m_worldAABB.maxVertex.y; r = this.m_worldAABB.minVertex.x; i = this.m_worldAABB.minVertex.y; r -= e.maxVertex.x; i -= e.maxVertex.y; t = b2Math.b2Max(t, r); n = b2Math.b2Max(n, i); return b2Math.b2Max(t, n) < 0 }, GetProxy: function (e) { if (e == b2Pair.b2_nullProxy || this.m_proxyPool[e].IsValid() == false) { return null } return this.m_proxyPool[e] }, CreateProxy: function (e, t) { var n = 0; var r; var i = this.m_freeProxy; r = this.m_proxyPool[i]; this.m_freeProxy = r.GetNext(); r.overlapCount = 0; r.userData = t; var s = 2 * this.m_proxyCount; var o = new Array; var u = new Array; this.ComputeBounds(o, u, e); for (var a = 0; a < 2; ++a) { var f = this.m_bounds[a]; var l = 0; var c = 0; var h = [l]; var p = [c]; this.Query(h, p, o[a], u[a], f, s, a); l = h[0]; c = p[0]; var d = new Array; var v = 0; var m = s - c; var g; var y; for (v = 0; v < m; v++) { d[v] = new b2Bound; g = d[v]; y = f[c + v]; g.value = y.value; g.proxyId = y.proxyId; g.stabbingCount = y.stabbingCount } m = d.length; var b = c + 2; for (v = 0; v < m; v++) { y = d[v]; g = f[b + v]; g.value = y.value; g.proxyId = y.proxyId; g.stabbingCount = y.stabbingCount } d = new Array; m = c - l; for (v = 0; v < m; v++) { d[v] = new b2Bound; g = d[v]; y = f[l + v]; g.value = y.value; g.proxyId = y.proxyId; g.stabbingCount = y.stabbingCount } m = d.length; b = l + 1; for (v = 0; v < m; v++) { y = d[v]; g = f[b + v]; g.value = y.value; g.proxyId = y.proxyId; g.stabbingCount = y.stabbingCount } ++c; f[l].value = o[a]; f[l].proxyId = i; f[c].value = u[a]; f[c].proxyId = i; f[l].stabbingCount = l == 0 ? 0 : f[l - 1].stabbingCount; f[c].stabbingCount = f[c - 1].stabbingCount; for (n = l; n < c; ++n) { f[n].stabbingCount++ } for (n = l; n < s + 2; ++n) { var w = this.m_proxyPool[f[n].proxyId]; if (f[n].IsLower()) { w.lowerBounds[a] = n } else { w.upperBounds[a] = n } } } ++this.m_proxyCount; for (var E = 0; E < this.m_queryResultCount; ++E) { this.m_pairManager.AddBufferedPair(i, this.m_queryResults[E]) } this.m_pairManager.Commit(); this.m_queryResultCount = 0; this.IncrementTimeStamp(); return i }, DestroyProxy: function (e) { var t = this.m_proxyPool[e]; var n = 2 * this.m_proxyCount; for (var r = 0; r < 2; ++r) { var i = this.m_bounds[r]; var s = t.lowerBounds[r]; var o = t.upperBounds[r]; var u = i[s].value; var a = i[o].value; var f = new Array; var l = 0; var c = o - s - 1; var h; var p; for (l = 0; l < c; l++) { f[l] = new b2Bound; h = f[l]; p = i[s + 1 + l]; h.value = p.value; h.proxyId = p.proxyId; h.stabbingCount = p.stabbingCount } c = f.length; var d = s; for (l = 0; l < c; l++) { p = f[l]; h = i[d + l]; h.value = p.value; h.proxyId = p.proxyId; h.stabbingCount = p.stabbingCount } f = new Array; c = n - o - 1; for (l = 0; l < c; l++) { f[l] = new b2Bound; h = f[l]; p = i[o + 1 + l]; h.value = p.value; h.proxyId = p.proxyId; h.stabbingCount = p.stabbingCount } c = f.length; d = o - 1; for (l = 0; l < c; l++) { p = f[l]; h = i[d + l]; h.value = p.value; h.proxyId = p.proxyId; h.stabbingCount = p.stabbingCount } c = n - 2; for (var v = s; v < c; ++v) { var m = this.m_proxyPool[i[v].proxyId]; if (i[v].IsLower()) { m.lowerBounds[r] = v } else { m.upperBounds[r] = v } } c = o - 1; for (var g = s; g < c; ++g) { i[g].stabbingCount-- } this.Query([0], [0], u, a, i, n - 2, r) } for (var y = 0; y < this.m_queryResultCount; ++y) { this.m_pairManager.RemoveBufferedPair(e, this.m_queryResults[y]) } this.m_pairManager.Commit(); this.m_queryResultCount = 0; this.IncrementTimeStamp(); t.userData = null; t.overlapCount = b2BroadPhase.b2_invalid; t.lowerBounds[0] = b2BroadPhase.b2_invalid; t.lowerBounds[1] = b2BroadPhase.b2_invalid; t.upperBounds[0] = b2BroadPhase.b2_invalid; t.upperBounds[1] = b2BroadPhase.b2_invalid; t.SetNext(this.m_freeProxy); this.m_freeProxy = e; --this.m_proxyCount }, MoveProxy: function (e, t) { var n = 0; var r = 0; var i; var s; var o; var u = 0; var a; if (e == b2Pair.b2_nullProxy || b2Settings.b2_maxProxies <= e) { return } if (t.IsValid() == false) { return } var f = 2 * this.m_proxyCount; var l = this.m_proxyPool[e]; var c = new b2BoundValues; this.ComputeBounds(c.lowerValues, c.upperValues, t); var h = new b2BoundValues; for (n = 0; n < 2; ++n) { h.lowerValues[n] = this.m_bounds[n][l.lowerBounds[n]].value; h.upperValues[n] = this.m_bounds[n][l.upperBounds[n]].value } for (n = 0; n < 2; ++n) { var p = this.m_bounds[n]; var d = l.lowerBounds[n]; var v = l.upperBounds[n]; var m = c.lowerValues[n]; var g = c.upperValues[n]; var y = m - p[d].value; var b = g - p[v].value; p[d].value = m; p[v].value = g; if (y < 0) { r = d; while (r > 0 && m < p[r - 1].value) { i = p[r]; s = p[r - 1]; var w = s.proxyId; var E = this.m_proxyPool[s.proxyId]; s.stabbingCount++; if (s.IsUpper() == true) { if (this.TestOverlap(c, E)) { this.m_pairManager.AddBufferedPair(e, w) } E.upperBounds[n]++; i.stabbingCount++ } else { E.lowerBounds[n]++; i.stabbingCount-- } l.lowerBounds[n]--; i.Swap(s); --r } } if (b > 0) { r = v; while (r < f - 1 && p[r + 1].value <= g) { i = p[r]; o = p[r + 1]; u = o.proxyId; a = this.m_proxyPool[u]; o.stabbingCount++; if (o.IsLower() == true) { if (this.TestOverlap(c, a)) { this.m_pairManager.AddBufferedPair(e, u) } a.lowerBounds[n]--; i.stabbingCount++ } else { a.upperBounds[n]--; i.stabbingCount-- } l.upperBounds[n]++; i.Swap(o); r++ } } if (y > 0) { r = d; while (r < f - 1 && p[r + 1].value <= m) { i = p[r]; o = p[r + 1]; u = o.proxyId; a = this.m_proxyPool[u]; o.stabbingCount--; if (o.IsUpper()) { if (this.TestOverlap(h, a)) { this.m_pairManager.RemoveBufferedPair(e, u) } a.upperBounds[n]--; i.stabbingCount-- } else { a.lowerBounds[n]--; i.stabbingCount++ } l.lowerBounds[n]++; i.Swap(o); r++ } } if (b < 0) { r = v; while (r > 0 && g < p[r - 1].value) { i = p[r]; s = p[r - 1]; w = s.proxyId; E = this.m_proxyPool[w]; s.stabbingCount--; if (s.IsLower() == true) { if (this.TestOverlap(h, E)) { this.m_pairManager.RemoveBufferedPair(e, w) } E.lowerBounds[n]++; i.stabbingCount-- } else { E.upperBounds[n]++; i.stabbingCount++ } l.upperBounds[n]--; i.Swap(s); r-- } } } }, Commit: function () { this.m_pairManager.Commit() }, QueryAABB: function (e, t, n) { var r = new Array; var i = new Array; this.ComputeBounds(r, i, e); var s = 0; var o = 0; var u = [s]; var a = [o]; this.Query(u, a, r[0], i[0], this.m_bounds[0], 2 * this.m_proxyCount, 0); this.Query(u, a, r[1], i[1], this.m_bounds[1], 2 * this.m_proxyCount, 1); var f = 0; for (var l = 0; l < this.m_queryResultCount && f < n; ++l, ++f) { var c = this.m_proxyPool[this.m_queryResults[l]]; t[l] = c.userData } this.m_queryResultCount = 0; this.IncrementTimeStamp(); return f }, Validate: function () { var e; var t; var n; var r; for (var i = 0; i < 2; ++i) { var s = this.m_bounds[i]; var o = 2 * this.m_proxyCount; var u = 0; for (var a = 0; a < o; ++a) { var f = s[a]; if (f.IsLower() == true) { u++ } else { u-- } } } }, ComputeBounds: function (e, t, n) { var r = n.minVertex.x; var i = n.minVertex.y; r = b2Math.b2Min(r, this.m_worldAABB.maxVertex.x); i = b2Math.b2Min(i, this.m_worldAABB.maxVertex.y); r = b2Math.b2Max(r, this.m_worldAABB.minVertex.x); i = b2Math.b2Max(i, this.m_worldAABB.minVertex.y); var s = n.maxVertex.x; var o = n.maxVertex.y; s = b2Math.b2Min(s, this.m_worldAABB.maxVertex.x); o = b2Math.b2Min(o, this.m_worldAABB.maxVertex.y); s = b2Math.b2Max(s, this.m_worldAABB.minVertex.x); o = b2Math.b2Max(o, this.m_worldAABB.minVertex.y); e[0] = this.m_quantizationFactor.x * (r - this.m_worldAABB.minVertex.x) & b2Settings.USHRT_MAX - 1; t[0] = this.m_quantizationFactor.x * (s - this.m_worldAABB.minVertex.x) & 65535 | 1; e[1] = this.m_quantizationFactor.y * (i - this.m_worldAABB.minVertex.y) & b2Settings.USHRT_MAX - 1; t[1] = this.m_quantizationFactor.y * (o - this.m_worldAABB.minVertex.y) & 65535 | 1 }, TestOverlapValidate: function (e, t) { for (var n = 0; n < 2; ++n) { var r = this.m_bounds[n]; if (r[e.lowerBounds[n]].value > r[t.upperBounds[n]].value) return false; if (r[e.upperBounds[n]].value < r[t.lowerBounds[n]].value) return false } return true }, TestOverlap: function (e, t) { for (var n = 0; n < 2; ++n) { var r = this.m_bounds[n]; if (e.lowerValues[n] > r[t.upperBounds[n]].value) return false; if (e.upperValues[n] < r[t.lowerBounds[n]].value) return false } return true }, Query: function (e, t, n, r, i, s, o) { var u = b2BroadPhase.BinarySearch(i, s, n); var a = b2BroadPhase.BinarySearch(i, s, r); for (var f = u; f < a; ++f) { if (i[f].IsLower()) { this.IncrementOverlapCount(i[f].proxyId) } } if (u > 0) { var l = u - 1; var c = i[l].stabbingCount; while (c) { if (i[l].IsLower()) { var h = this.m_proxyPool[i[l].proxyId]; if (u <= h.upperBounds[o]) { this.IncrementOverlapCount(i[l].proxyId); --c } } --l } } e[0] = u; t[0] = a }, IncrementOverlapCount: function (e) { var t = this.m_proxyPool[e]; if (t.timeStamp < this.m_timeStamp) { t.timeStamp = this.m_timeStamp; t.overlapCount = 1 } else { t.overlapCount = 2; this.m_queryResults[this.m_queryResultCount] = e; ++this.m_queryResultCount } }, IncrementTimeStamp: function () { if (this.m_timeStamp == b2Settings.USHRT_MAX) { for (var e = 0; e < b2Settings.b2_maxProxies; ++e) { this.m_proxyPool[e].timeStamp = 0 } this.m_timeStamp = 1 } else { ++this.m_timeStamp } }, m_pairManager: new b2PairManager, m_proxyPool: new Array(b2Settings.b2_maxPairs), m_freeProxy: 0, m_bounds: new Array(2 * b2Settings.b2_maxProxies), m_queryResults: new Array(b2Settings.b2_maxProxies), m_queryResultCount: 0, m_worldAABB: null, m_quantizationFactor: new b2Vec2, m_proxyCount: 0, m_timeStamp: 0 }; b2BroadPhase.s_validate = false; b2BroadPhase.b2_invalid = b2Settings.USHRT_MAX; b2BroadPhase.b2_nullEdge = b2Settings.USHRT_MAX; b2BroadPhase.BinarySearch = function (e, t, n) { var r = 0; var i = t - 1; while (r <= i) { var s = Math.floor((r + i) / 2); if (e[s].value > n) { i = s - 1 } else if (e[s].value < n) { r = s + 1 } else { return s } } return r }; var b2Collision = Class.create(); b2Collision.prototype = { initialize: function () { } }; b2Collision.b2_nullFeature = 255; b2Collision.ClipSegmentToLine = function (e, t, n, r) { var i = 0; var s = t[0].v; var o = t[1].v; var u = b2Math.b2Dot(n, t[0].v) - r; var a = b2Math.b2Dot(n, t[1].v) - r; if (u <= 0) e[i++] = t[0]; if (a <= 0) e[i++] = t[1]; if (u * a < 0) { var f = u / (u - a); var l = e[i].v; l.x = s.x + f * (o.x - s.x); l.y = s.y + f * (o.y - s.y); if (u > 0) { e[i].id = t[0].id } else { e[i].id = t[1].id } ++i } return i }; b2Collision.EdgeSeparation = function (e, t, n) { var r = e.m_vertices; var i = n.m_vertexCount; var s = n.m_vertices; var o = e.m_normals[t].x; var u = e.m_normals[t].y; var a = o; var f = e.m_R; o = f.col1.x * a + f.col2.x * u; u = f.col1.y * a + f.col2.y * u; var l = o; var c = u; f = n.m_R; a = l * f.col1.x + c * f.col1.y; c = l * f.col2.x + c * f.col2.y; l = a; var h = 0; var p = Number.MAX_VALUE; for (var d = 0; d < i; ++d) { var v = s[d]; var m = v.x * l + v.y * c; if (m < p) { p = m; h = d } } f = e.m_R; var g = e.m_position.x + (f.col1.x * r[t].x + f.col2.x * r[t].y); var y = e.m_position.y + (f.col1.y * r[t].x + f.col2.y * r[t].y); f = n.m_R; var b = n.m_position.x + (f.col1.x * s[h].x + f.col2.x * s[h].y); var w = n.m_position.y + (f.col1.y * s[h].x + f.col2.y * s[h].y); b -= g; w -= y; var E = b * o + w * u; return E }; b2Collision.FindMaxSeparation = function (e, t, n, r) { var i = t.m_vertexCount; var s = n.m_position.x - t.m_position.x; var o = n.m_position.y - t.m_position.y; var u = s * t.m_R.col1.x + o * t.m_R.col1.y; var a = s * t.m_R.col2.x + o * t.m_R.col2.y; var f = 0; var l = -Number.MAX_VALUE; for (var c = 0; c < i; ++c) { var h = t.m_normals[c].x * u + t.m_normals[c].y * a; if (h > l) { l = h; f = c } } var p = b2Collision.EdgeSeparation(t, f, n); if (p > 0 && r == false) { return p } var d = f - 1 >= 0 ? f - 1 : i - 1; var v = b2Collision.EdgeSeparation(t, d, n); if (v > 0 && r == false) { return v } var m = f + 1 < i ? f + 1 : 0; var g = b2Collision.EdgeSeparation(t, m, n); if (g > 0 && r == false) { return g } var y = 0; var b; var w = 0; if (v > p && v > g) { w = -1; y = d; b = v } else if (g > p) { w = 1; y = m; b = g } else { e[0] = f; return p } while (true) { if (w == -1) f = y - 1 >= 0 ? y - 1 : i - 1; else f = y + 1 < i ? y + 1 : 0; p = b2Collision.EdgeSeparation(t, f, n); if (p > 0 && r == false) { return p } if (p > b) { y = f; b = p } else { break } } e[0] = y; return b }; b2Collision.FindIncidentEdge = function (e, t, n, r) { var i = t.m_vertexCount; var s = t.m_vertices; var o = r.m_vertexCount; var u = r.m_vertices; var a = n; var f = n + 1 == i ? 0 : n + 1; var l = s[f]; var c = l.x; var h = l.y; l = s[a]; c -= l.x; h -= l.y; var p = c; c = h; h = -p; var d = 1 / Math.sqrt(c * c + h * h); c *= d; h *= d; var v = c; var m = h; p = v; var g = t.m_R; v = g.col1.x * p + g.col2.x * m; m = g.col1.y * p + g.col2.y * m; var y = v; var b = m; g = r.m_R; p = y * g.col1.x + b * g.col1.y; b = y * g.col2.x + b * g.col2.y; y = p; var w = 0; var E = 0; var S = Number.MAX_VALUE; for (var x = 0; x < o; ++x) { var T = x; var N = x + 1 < o ? x + 1 : 0; l = u[N]; var C = l.x; var k = l.y; l = u[T]; C -= l.x; k -= l.y; p = C; C = k; k = -p; d = 1 / Math.sqrt(C * C + k * k); C *= d; k *= d; var L = C * y + k * b; if (L < S) { S = L; w = T; E = N } } var A; A = e[0]; l = A.v; l.SetV(u[w]); l.MulM(r.m_R); l.Add(r.m_position); A.id.features.referenceFace = n; A.id.features.incidentEdge = w; A.id.features.incidentVertex = w; A = e[1]; l = A.v; l.SetV(u[E]); l.MulM(r.m_R); l.Add(r.m_position); A.id.features.referenceFace = n; A.id.features.incidentEdge = w; A.id.features.incidentVertex = E }; b2Collision.b2CollidePolyTempVec = new b2Vec2; b2Collision.b2CollidePoly = function (e, t, n, r) { e.pointCount = 0; var i = 0; var s = [i]; var o = b2Collision.FindMaxSeparation(s, t, n, r); i = s[0]; if (o > 0 && r == false) return; var u = 0; var a = [u]; var f = b2Collision.FindMaxSeparation(a, n, t, r); u = a[0]; if (f > 0 && r == false) return; var l; var c; var h = 0; var p = 0; var d = .98; var v = .001; if (f > d * o + v) { l = n; c = t; h = u; p = 1 } else { l = t; c = n; h = i; p = 0 } var m = [new ClipVertex, new ClipVertex]; b2Collision.FindIncidentEdge(m, l, h, c); var g = l.m_vertexCount; var y = l.m_vertices; var b = y[h]; var w = h + 1 < g ? y[h + 1] : y[0]; var E = w.x - b.x; var S = w.y - b.y; var x = w.x - b.x; var T = w.y - b.y; var N = x; var C = l.m_R; x = C.col1.x * N + C.col2.x * T; T = C.col1.y * N + C.col2.y * T; var k = 1 / Math.sqrt(x * x + T * T); x *= k; T *= k; var L = x; var A = T; N = L; L = A; A = -N; var O = b.x; var M = b.y; N = O; C = l.m_R; O = C.col1.x * N + C.col2.x * M; M = C.col1.y * N + C.col2.y * M; O += l.m_position.x; M += l.m_position.y; var _ = w.x; var D = w.y; N = _; C = l.m_R; _ = C.col1.x * N + C.col2.x * D; D = C.col1.y * N + C.col2.y * D; _ += l.m_position.x; D += l.m_position.y; var P = L * O + A * M; var H = -(x * O + T * M); var B = x * _ + T * D; var j = [new ClipVertex, new ClipVertex]; var F = [new ClipVertex, new ClipVertex]; var I = 0; b2Collision.b2CollidePolyTempVec.Set(-x, -T); I = b2Collision.ClipSegmentToLine(j, m, b2Collision.b2CollidePolyTempVec, H); if (I < 2) return; b2Collision.b2CollidePolyTempVec.Set(x, T); I = b2Collision.ClipSegmentToLine(F, j, b2Collision.b2CollidePolyTempVec, B); if (I < 2) return; if (p) { e.normal.Set(-L, -A) } else { e.normal.Set(L, A) } var q = 0; for (var R = 0; R < b2Settings.b2_maxManifoldPoints; ++R) { var U = F[R].v; var z = L * U.x + A * U.y - P; if (z <= 0 || r == true) { var W = e.points[q]; W.separation = z; W.position.SetV(F[R].v); W.id.Set(F[R].id); W.id.features.flip = p; ++q } } e.pointCount = q }; b2Collision.b2CollideCircle = function (e, t, n, r) { e.pointCount = 0; var i = n.m_position.x - t.m_position.x; var s = n.m_position.y - t.m_position.y; var o = i * i + s * s; var u = t.m_radius + n.m_radius; if (o > u * u && r == false) { return } var a; if (o < Number.MIN_VALUE) { a = -u; e.normal.Set(0, 1) } else { var f = Math.sqrt(o); a = f - u; var l = 1 / f; e.normal.x = l * i; e.normal.y = l * s } e.pointCount = 1; var c = e.points[0]; c.id.set_key(0); c.separation = a; c.position.x = n.m_position.x - n.m_radius * e.normal.x; c.position.y = n.m_position.y - n.m_radius * e.normal.y }; b2Collision.b2CollidePolyAndCircle = function (e, t, n, r) { e.pointCount = 0; var i; var s; var o; var u = n.m_position.x - t.m_position.x; var a = n.m_position.y - t.m_position.y; var f = t.m_R; var l = u * f.col1.x + a * f.col1.y; a = u * f.col2.x + a * f.col2.y; u = l; var c; var h = 0; var p = -Number.MAX_VALUE; var d = n.m_radius; for (var v = 0; v < t.m_vertexCount; ++v) { var m = t.m_normals[v].x * (u - t.m_vertices[v].x) + t.m_normals[v].y * (a - t.m_vertices[v].y); if (m > d) { return } if (m > p) { p = m; h = v } } if (p < Number.MIN_VALUE) { e.pointCount = 1; var g = t.m_normals[h]; e.normal.x = f.col1.x * g.x + f.col2.x * g.y; e.normal.y = f.col1.y * g.x + f.col2.y * g.y; i = e.points[0]; i.id.features.incidentEdge = h; i.id.features.incidentVertex = b2Collision.b2_nullFeature; i.id.features.referenceFace = b2Collision.b2_nullFeature; i.id.features.flip = 0; i.position.x = n.m_position.x - d * e.normal.x; i.position.y = n.m_position.y - d * e.normal.y; i.separation = p - d; return } var y = h; var b = y + 1 < t.m_vertexCount ? y + 1 : 0; var w = t.m_vertices[b].x - t.m_vertices[y].x; var E = t.m_vertices[b].y - t.m_vertices[y].y; var S = Math.sqrt(w * w + E * E); w /= S; E /= S; if (S < Number.MIN_VALUE) { s = u - t.m_vertices[y].x; o = a - t.m_vertices[y].y; c = Math.sqrt(s * s + o * o); s /= c; o /= c; if (c > d) { return } e.pointCount = 1; e.normal.Set(f.col1.x * s + f.col2.x * o, f.col1.y * s + f.col2.y * o); i = e.points[0]; i.id.features.incidentEdge = b2Collision.b2_nullFeature; i.id.features.incidentVertex = y; i.id.features.referenceFace = b2Collision.b2_nullFeature; i.id.features.flip = 0; i.position.x = n.m_position.x - d * e.normal.x; i.position.y = n.m_position.y - d * e.normal.y; i.separation = c - d; return } var x = (u - t.m_vertices[y].x) * w + (a - t.m_vertices[y].y) * E; i = e.points[0]; i.id.features.incidentEdge = b2Collision.b2_nullFeature; i.id.features.incidentVertex = b2Collision.b2_nullFeature; i.id.features.referenceFace = b2Collision.b2_nullFeature; i.id.features.flip = 0; var T, N; if (x <= 0) { T = t.m_vertices[y].x; N = t.m_vertices[y].y; i.id.features.incidentVertex = y } else if (x >= S) { T = t.m_vertices[b].x; N = t.m_vertices[b].y; i.id.features.incidentVertex = b } else { T = w * x + t.m_vertices[y].x; N = E * x + t.m_vertices[y].y; i.id.features.incidentEdge = y } s = u - T; o = a - N; c = Math.sqrt(s * s + o * o); s /= c; o /= c; if (c > d) { return } e.pointCount = 1; e.normal.Set(f.col1.x * s + f.col2.x * o, f.col1.y * s + f.col2.y * o); i.position.x = n.m_position.x - d * e.normal.x; i.position.y = n.m_position.y - d * e.normal.y; i.separation = c - d }; b2Collision.b2TestOverlap = function (e, t) { var n = t.minVertex; var r = e.maxVertex; var i = n.x - r.x; var s = n.y - r.y; n = e.minVertex; r = t.maxVertex; var o = n.x - r.x; var u = n.y - r.y; if (i > 0 || s > 0) return false; if (o > 0 || u > 0) return false; return true }; var Features = Class.create(); Features.prototype = { set_referenceFace: function (e) { this._referenceFace = e; this._m_id._key = this._m_id._key & 4294967040 | this._referenceFace & 255 }, get_referenceFace: function () { return this._referenceFace }, _referenceFace: 0, set_incidentEdge: function (e) { this._incidentEdge = e; this._m_id._key = this._m_id._key & 4294902015 | this._incidentEdge << 8 & 65280 }, get_incidentEdge: function () { return this._incidentEdge }, _incidentEdge: 0, set_incidentVertex: function (e) { this._incidentVertex = e; this._m_id._key = this._m_id._key & 4278255615 | this._incidentVertex << 16 & 16711680 }, get_incidentVertex: function () { return this._incidentVertex }, _incidentVertex: 0, set_flip: function (e) { this._flip = e; this._m_id._key = this._m_id._key & 16777215 | this._flip << 24 & 4278190080 }, get_flip: function () { return this._flip }, _flip: 0, _m_id: null, initialize: function () { } }; var b2ContactID = Class.create(); b2ContactID.prototype = { initialize: function () { this.features = new Features; this.features._m_id = this }, Set: function (e) { this.set_key(e._key) }, Copy: function () { var e = new b2ContactID; e.set_key(this._key); return e }, get_key: function () { return this._key }, set_key: function (e) { this._key = e; this.features._referenceFace = this._key & 255; this.features._incidentEdge = (this._key & 65280) >> 8 & 255; this.features._incidentVertex = (this._key & 16711680) >> 16 & 255; this.features._flip = (this._key & 4278190080) >> 24 & 255 }, features: new Features, _key: 0 }; var b2ContactPoint = Class.create(); b2ContactPoint.prototype = { position: new b2Vec2, separation: null, normalImpulse: null, tangentImpulse: null, id: new b2ContactID, initialize: function () { this.position = new b2Vec2; this.id = new b2ContactID } }; var b2Distance = Class.create(); b2Distance.prototype = { initialize: function () { } }; b2Distance.ProcessTwo = function (e, t, n, r, i) { var s = -i[1].x; var o = -i[1].y; var u = i[0].x - i[1].x; var a = i[0].y - i[1].y; var f = Math.sqrt(u * u + a * a); u /= f; a /= f; var l = s * u + o * a; if (l <= 0 || f < Number.MIN_VALUE) { e.SetV(n[1]); t.SetV(r[1]); n[0].SetV(n[1]); r[0].SetV(r[1]); i[0].SetV(i[1]); return 1 } l /= f; e.x = n[1].x + l * (n[0].x - n[1].x); e.y = n[1].y + l * (n[0].y - n[1].y); t.x = r[1].x + l * (r[0].x - r[1].x); t.y = r[1].y + l * (r[0].y - r[1].y); return 2 }; b2Distance.ProcessThree = function (e, t, n, r, i) { var s = i[0].x; var o = i[0].y; var u = i[1].x; var a = i[1].y; var f = i[2].x; var l = i[2].y; var c = u - s; var h = a - o; var p = f - s; var d = l - o; var v = f - u; var m = l - a; var g = -(s * c + o * h); var y = u * c + a * h; var b = -(s * p + o * d); var w = f * p + l * d; var E = -(u * v + a * m); var S = f * v + l * m; if (w <= 0 && S <= 0) { e.SetV(n[2]); t.SetV(r[2]); n[0].SetV(n[2]); r[0].SetV(r[2]); i[0].SetV(i[2]); return 1 } var x = c * d - h * p; var T = x * (s * a - o * u); var N = x * (u * l - a * f); if (N <= 0 && E >= 0 && S >= 0) { var C = E / (E + S); e.x = n[1].x + C * (n[2].x - n[1].x); e.y = n[1].y + C * (n[2].y - n[1].y); t.x = r[1].x + C * (r[2].x - r[1].x); t.y = r[1].y + C * (r[2].y - r[1].y); n[0].SetV(n[2]); r[0].SetV(r[2]); i[0].SetV(i[2]); return 2 } var k = x * (f * o - l * s); if (k <= 0 && b >= 0 && w >= 0) { var C = b / (b + w); e.x = n[0].x + C * (n[2].x - n[0].x); e.y = n[0].y + C * (n[2].y - n[0].y); t.x = r[0].x + C * (r[2].x - r[0].x); t.y = r[0].y + C * (r[2].y - r[0].y); n[1].SetV(n[2]); r[1].SetV(r[2]); i[1].SetV(i[2]); return 2 } var L = N + k + T; L = 1 / L; var A = N * L; var O = k * L; var M = 1 - A - O; e.x = A * n[0].x + O * n[1].x + M * n[2].x; e.y = A * n[0].y + O * n[1].y + M * n[2].y; t.x = A * r[0].x + O * r[1].x + M * r[2].x; t.y = A * r[0].y + O * r[1].y + M * r[2].y; return 3 }; b2Distance.InPoinsts = function (e, t, n) { for (var r = 0; r < n; ++r) { if (e.x == t[r].x && e.y == t[r].y) { return true } } return false }; b2Distance.Distance = function (e, t, n, r) { var i = new Array(3); var s = new Array(3); var o = new Array(3); var u = 0; e.SetV(n.m_position); t.SetV(r.m_position); var a = 0; var f = 20; for (var l = 0; l < f; ++l) { var c = t.x - e.x; var h = t.y - e.y; var p = n.Support(c, h); var d = r.Support(-c, -h); a = c * c + h * h; var v = d.x - p.x; var m = d.y - p.y; var g = c * v + h * m; if (a - b2Dot(c * v + h * m) <= .01 * a) { if (u == 0) { e.SetV(p); t.SetV(d) } b2Distance.g_GJK_Iterations = l; return Math.sqrt(a) } switch (u) { case 0: i[0].SetV(p); s[0].SetV(d); o[0] = w; e.SetV(i[0]); t.SetV(s[0]); ++u; break; case 1: i[1].SetV(p); s[1].SetV(d); o[1].x = v; o[1].y = m; u = b2Distance.ProcessTwo(e, t, i, s, o); break; case 2: i[2].SetV(p); s[2].SetV(d); o[2].x = v; o[2].y = m; u = b2Distance.ProcessThree(e, t, i, s, o); break }if (u == 3) { b2Distance.g_GJK_Iterations = l; return 0 } var y = -Number.MAX_VALUE; for (var b = 0; b < u; ++b) { y = b2Math.b2Max(y, o[b].x * o[b].x + o[b].y * o[b].y) } if (u == 3 || a <= 100 * Number.MIN_VALUE * y) { b2Distance.g_GJK_Iterations = l; return Math.sqrt(a) } } b2Distance.g_GJK_Iterations = f; return Math.sqrt(a) }; b2Distance.g_GJK_Iterations = 0; var b2Manifold = Class.create(); b2Manifold.prototype = { initialize: function () { this.points = new Array(b2Settings.b2_maxManifoldPoints); for (var e = 0; e < b2Settings.b2_maxManifoldPoints; e++) { this.points[e] = new b2ContactPoint } this.normal = new b2Vec2 }, points: null, normal: null, pointCount: 0 }; var b2OBB = Class.create(); b2OBB.prototype = { R: new b2Mat22, center: new b2Vec2, extents: new b2Vec2, initialize: function () { this.R = new b2Mat22; this.center = new b2Vec2; this.extents = new b2Vec2 } }; var b2Proxy = Class.create(); b2Proxy.prototype = { GetNext: function () { return this.lowerBounds[0] }, SetNext: function (e) { this.lowerBounds[0] = e }, IsValid: function () { return this.overlapCount != b2BroadPhase.b2_invalid }, lowerBounds: [0, 0], upperBounds: [0, 0], overlapCount: 0, timeStamp: 0, userData: null, initialize: function () { this.lowerBounds = [0, 0]; this.upperBounds = [0, 0] } }; var ClipVertex = Class.create(); ClipVertex.prototype = { v: new b2Vec2, id: new b2ContactID, initialize: function () { this.v = new b2Vec2; this.id = new b2ContactID } }; var b2Shape = Class.create(); b2Shape.prototype = { TestPoint: function (e) { return false }, GetUserData: function () { return this.m_userData }, GetType: function () { return this.m_type }, GetBody: function () { return this.m_body }, GetPosition: function () { return this.m_position }, GetRotationMatrix: function () { return this.m_R }, ResetProxy: function (e) { }, GetNext: function () { return this.m_next }, initialize: function (e, t) { this.m_R = new b2Mat22; this.m_position = new b2Vec2; this.m_userData = e.userData; this.m_friction = e.friction; this.m_restitution = e.restitution; this.m_body = t; this.m_proxyId = b2Pair.b2_nullProxy; this.m_maxRadius = 0; this.m_categoryBits = e.categoryBits; this.m_maskBits = e.maskBits; this.m_groupIndex = e.groupIndex }, DestroyProxy: function () { if (this.m_proxyId != b2Pair.b2_nullProxy) { this.m_body.m_world.m_broadPhase.DestroyProxy(this.m_proxyId); this.m_proxyId = b2Pair.b2_nullProxy } }, Synchronize: function (e, t, n, r) { }, QuickSync: function (e, t) { }, Support: function (e, t, n) { }, GetMaxRadius: function () { return this.m_maxRadius }, m_next: null, m_R: new b2Mat22, m_position: new b2Vec2, m_type: 0, m_userData: null, m_body: null, m_friction: null, m_restitution: null, m_maxRadius: null, m_proxyId: 0, m_categoryBits: 0, m_maskBits: 0, m_groupIndex: 0 }; b2Shape.Create = function (e, t, n) { switch (e.type) { case b2Shape.e_circleShape: { return new b2CircleShape(e, t, n) }; case b2Shape.e_boxShape: case b2Shape.e_polyShape: { return new b2PolyShape(e, t, n) } }return null }; b2Shape.Destroy = function (e) { if (e.m_proxyId != b2Pair.b2_nullProxy) e.m_body.m_world.m_broadPhase.DestroyProxy(e.m_proxyId) }; b2Shape.e_unknownShape = -1; b2Shape.e_circleShape = 0; b2Shape.e_boxShape = 1; b2Shape.e_polyShape = 2; b2Shape.e_meshShape = 3; b2Shape.e_shapeTypeCount = 4; b2Shape.PolyMass = function (e, t, n, r) { var i = new b2Vec2; i.SetZero(); var s = 0; var o = 0; var u = new b2Vec2(0, 0); var a = 1 / 3; for (var f = 0; f < n; ++f) { var l = u; var c = t[f]; var h = f + 1 < n ? t[f + 1] : t[0]; var p = b2Math.SubtractVV(c, l); var d = b2Math.SubtractVV(h, l); var v = b2Math.b2CrossVV(p, d); var m = .5 * v; s += m; var g = new b2Vec2; g.SetV(l); g.Add(c); g.Add(h); g.Multiply(a * m); i.Add(g); var y = l.x; var b = l.y; var w = p.x; var E = p.y; var S = d.x; var x = d.y; var T = a * (.25 * (w * w + S * w + S * S) + (y * w + y * S)) + .5 * y * y; var N = a * (.25 * (E * E + x * E + x * x) + (b * E + b * x)) + .5 * b * b; o += v * (T + N) } e.mass = r * s; i.Multiply(1 / s); e.center = i; o = r * (o - s * b2Math.b2Dot(i, i)); e.I = o }; b2Shape.PolyCentroid = function (e, t, n) { var r = 0; var i = 0; var s = 0; var o = 0; var u = 0; var a = 1 / 3; for (var f = 0; f < t; ++f) { var l = o; var c = u; var h = e[f].x; var p = e[f].y; var d = f + 1 < t ? e[f + 1].x : e[0].x; var v = f + 1 < t ? e[f + 1].y : e[0].y; var m = h - l; var g = p - c; var y = d - l; var b = v - c; var w = m * b - g * y; var E = .5 * w; s += E; r += E * a * (l + h + d); i += E * a * (c + p + v) } r *= 1 / s; i *= 1 / s; n.Set(r, i) }; var b2ShapeDef = Class.create(); b2ShapeDef.prototype = { initialize: function () { this.type = b2Shape.e_unknownShape; this.userData = null; this.localPosition = new b2Vec2(0, 0); this.localRotation = 0; this.friction = .2; this.restitution = 0; this.density = 0; this.categoryBits = 1; this.maskBits = 65535; this.groupIndex = 0 }, ComputeMass: function (e) { e.center = new b2Vec2(0, 0); if (this.density == 0) { e.mass = 0; e.center.Set(0, 0); e.I = 0 } switch (this.type) { case b2Shape.e_circleShape: { var t = this; e.mass = this.density * b2Settings.b2_pi * t.radius * t.radius; e.center.Set(0, 0); e.I = .5 * e.mass * t.radius * t.radius } break; case b2Shape.e_boxShape: { var n = this; e.mass = 4 * this.density * n.extents.x * n.extents.y; e.center.Set(0, 0); e.I = e.mass / 3 * b2Math.b2Dot(n.extents, n.extents) } break; case b2Shape.e_polyShape: { var r = this; b2Shape.PolyMass(e, r.vertices, r.vertexCount, this.density) } break; default: e.mass = 0; e.center.Set(0, 0); e.I = 0; break } }, type: 0, userData: null, localPosition: null, localRotation: null, friction: null, restitution: null, density: null, categoryBits: 0, maskBits: 0, groupIndex: 0 }; var b2BoxDef = Class.create(); Object.extend(b2BoxDef.prototype, b2ShapeDef.prototype); Object.extend(b2BoxDef.prototype, { initialize: function () { this.type = b2Shape.e_unknownShape; this.userData = null; this.localPosition = new b2Vec2(0, 0); this.localRotation = 0; this.friction = .2; this.restitution = 0; this.density = 0; this.categoryBits = 1; this.maskBits = 65535; this.groupIndex = 0; this.type = b2Shape.e_boxShape; this.extents = new b2Vec2(1, 1) }, extents: null }); var b2CircleDef = Class.create(); Object.extend(b2CircleDef.prototype, b2ShapeDef.prototype); Object.extend(b2CircleDef.prototype, { initialize: function () { this.type = b2Shape.e_unknownShape; this.userData = null; this.localPosition = new b2Vec2(0, 0); this.localRotation = 0; this.friction = .2; this.restitution = 0; this.density = 0; this.categoryBits = 1; this.maskBits = 65535; this.groupIndex = 0; this.type = b2Shape.e_circleShape; this.radius = 1 }, radius: null }); var b2CircleShape = Class.create(); Object.extend(b2CircleShape.prototype, b2Shape.prototype); Object.extend(b2CircleShape.prototype, { TestPoint: function (e) { var t = new b2Vec2; t.SetV(e); t.Subtract(this.m_position); return b2Math.b2Dot(t, t) <= this.m_radius * this.m_radius }, initialize: function (e, t, n) { this.m_R = new b2Mat22; this.m_position = new b2Vec2; this.m_userData = e.userData; this.m_friction = e.friction; this.m_restitution = e.restitution; this.m_body = t; this.m_proxyId = b2Pair.b2_nullProxy; this.m_maxRadius = 0; this.m_categoryBits = e.categoryBits; this.m_maskBits = e.maskBits; this.m_groupIndex = e.groupIndex; this.m_localPosition = new b2Vec2; var r = e; this.m_localPosition.Set(e.localPosition.x - n.x, e.localPosition.y - n.y); this.m_type = b2Shape.e_circleShape; this.m_radius = r.radius; this.m_R.SetM(this.m_body.m_R); var i = this.m_R.col1.x * this.m_localPosition.x + this.m_R.col2.x * this.m_localPosition.y; var s = this.m_R.col1.y * this.m_localPosition.x + this.m_R.col2.y * this.m_localPosition.y; this.m_position.x = this.m_body.m_position.x + i; this.m_position.y = this.m_body.m_position.y + s; this.m_maxRadius = Math.sqrt(i * i + s * s) + this.m_radius; var o = new b2AABB; o.minVertex.Set(this.m_position.x - this.m_radius, this.m_position.y - this.m_radius); o.maxVertex.Set(this.m_position.x + this.m_radius, this.m_position.y + this.m_radius); var u = this.m_body.m_world.m_broadPhase; if (u.InRange(o)) { this.m_proxyId = u.CreateProxy(o, this) } else { this.m_proxyId = b2Pair.b2_nullProxy } if (this.m_proxyId == b2Pair.b2_nullProxy) { this.m_body.Freeze() } }, Synchronize: function (e, t, n, r) { this.m_R.SetM(r); this.m_position.x = r.col1.x * this.m_localPosition.x + r.col2.x * this.m_localPosition.y + n.x; this.m_position.y = r.col1.y * this.m_localPosition.x + r.col2.y * this.m_localPosition.y + n.y; if (this.m_proxyId == b2Pair.b2_nullProxy) { return } var i = e.x + (t.col1.x * this.m_localPosition.x + t.col2.x * this.m_localPosition.y); var s = e.y + (t.col1.y * this.m_localPosition.x + t.col2.y * this.m_localPosition.y); var o = Math.min(i, this.m_position.x); var u = Math.min(s, this.m_position.y); var a = Math.max(i, this.m_position.x); var f = Math.max(s, this.m_position.y); var l = new b2AABB; l.minVertex.Set(o - this.m_radius, u - this.m_radius); l.maxVertex.Set(a + this.m_radius, f + this.m_radius); var c = this.m_body.m_world.m_broadPhase; if (c.InRange(l)) { c.MoveProxy(this.m_proxyId, l) } else { this.m_body.Freeze() } }, QuickSync: function (e, t) { this.m_R.SetM(t); this.m_position.x = t.col1.x * this.m_localPosition.x + t.col2.x * this.m_localPosition.y + e.x; this.m_position.y = t.col1.y * this.m_localPosition.x + t.col2.y * this.m_localPosition.y + e.y }, ResetProxy: function (e) { if (this.m_proxyId == b2Pair.b2_nullProxy) { return } var t = e.GetProxy(this.m_proxyId); e.DestroyProxy(this.m_proxyId); t = null; var n = new b2AABB; n.minVertex.Set(this.m_position.x - this.m_radius, this.m_position.y - this.m_radius); n.maxVertex.Set(this.m_position.x + this.m_radius, this.m_position.y + this.m_radius); if (e.InRange(n)) { this.m_proxyId = e.CreateProxy(n, this) } else { this.m_proxyId = b2Pair.b2_nullProxy } if (this.m_proxyId == b2Pair.b2_nullProxy) { this.m_body.Freeze() } }, Support: function (e, t, n) { var r = Math.sqrt(e * e + t * t); e /= r; t /= r; n.Set(this.m_position.x + this.m_radius * e, this.m_position.y + this.m_radius * t) }, m_localPosition: new b2Vec2, m_radius: null }); var b2MassData = Class.create(); b2MassData.prototype = { mass: 0, center: new b2Vec2(0, 0), I: 0, initialize: function () { this.center = new b2Vec2(0, 0) } }; var b2PolyDef = Class.create(); Object.extend(b2PolyDef.prototype, b2ShapeDef.prototype); Object.extend(b2PolyDef.prototype, { initialize: function () { this.type = b2Shape.e_unknownShape; this.userData = null; this.localPosition = new b2Vec2(0, 0); this.localRotation = 0; this.friction = .2; this.restitution = 0; this.density = 0; this.categoryBits = 1; this.maskBits = 65535; this.groupIndex = 0; this.vertices = new Array(b2Settings.b2_maxPolyVertices); this.type = b2Shape.e_polyShape; this.vertexCount = 0; for (var e = 0; e < b2Settings.b2_maxPolyVertices; e++) { this.vertices[e] = new b2Vec2 } }, vertices: new Array(b2Settings.b2_maxPolyVertices), vertexCount: 0 }); var b2PolyShape = Class.create(); Object.extend(b2PolyShape.prototype, b2Shape.prototype); Object.extend(b2PolyShape.prototype, { TestPoint: function (e) { var t = new b2Vec2; t.SetV(e); t.Subtract(this.m_position); t.MulTM(this.m_R); for (var n = 0; n < this.m_vertexCount; ++n) { var r = new b2Vec2; r.SetV(t); r.Subtract(this.m_vertices[n]); var i = b2Math.b2Dot(this.m_normals[n], r); if (i > 0) { return false } } return true }, initialize: function (e, t, n) { this.m_R = new b2Mat22; this.m_position = new b2Vec2; this.m_userData = e.userData; this.m_friction = e.friction; this.m_restitution = e.restitution; this.m_body = t; this.m_proxyId = b2Pair.b2_nullProxy; this.m_maxRadius = 0; this.m_categoryBits = e.categoryBits; this.m_maskBits = e.maskBits; this.m_groupIndex = e.groupIndex; this.syncAABB = new b2AABB; this.syncMat = new b2Mat22; this.m_localCentroid = new b2Vec2; this.m_localOBB = new b2OBB; var r = 0; var i; var s; var o; var u = new b2AABB; this.m_vertices = new Array(b2Settings.b2_maxPolyVertices); this.m_coreVertices = new Array(b2Settings.b2_maxPolyVertices); this.m_normals = new Array(b2Settings.b2_maxPolyVertices); this.m_type = b2Shape.e_polyShape; var a = new b2Mat22(e.localRotation); if (e.type == b2Shape.e_boxShape) { this.m_localCentroid.x = e.localPosition.x - n.x; this.m_localCentroid.y = e.localPosition.y - n.y; var f = e; this.m_vertexCount = 4; i = f.extents.x; s = f.extents.y; var l = Math.max(0, i - 2 * b2Settings.b2_linearSlop); var c = Math.max(0, s - 2 * b2Settings.b2_linearSlop); o = this.m_vertices[0] = new b2Vec2; o.x = a.col1.x * i + a.col2.x * s; o.y = a.col1.y * i + a.col2.y * s; o = this.m_vertices[1] = new b2Vec2; o.x = a.col1.x * -i + a.col2.x * s; o.y = a.col1.y * -i + a.col2.y * s; o = this.m_vertices[2] = new b2Vec2; o.x = a.col1.x * -i + a.col2.x * -s; o.y = a.col1.y * -i + a.col2.y * -s; o = this.m_vertices[3] = new b2Vec2; o.x = a.col1.x * i + a.col2.x * -s; o.y = a.col1.y * i + a.col2.y * -s; o = this.m_coreVertices[0] = new b2Vec2; o.x = a.col1.x * l + a.col2.x * c; o.y = a.col1.y * l + a.col2.y * c; o = this.m_coreVertices[1] = new b2Vec2; o.x = a.col1.x * -l + a.col2.x * c; o.y = a.col1.y * -l + a.col2.y * c; o = this.m_coreVertices[2] = new b2Vec2; o.x = a.col1.x * -l + a.col2.x * -c; o.y = a.col1.y * -l + a.col2.y * -c; o = this.m_coreVertices[3] = new b2Vec2; o.x = a.col1.x * l + a.col2.x * -c; o.y = a.col1.y * l + a.col2.y * -c } else { var h = e; this.m_vertexCount = h.vertexCount; b2Shape.PolyCentroid(h.vertices, h.vertexCount, b2PolyShape.tempVec); var p = b2PolyShape.tempVec.x; var d = b2PolyShape.tempVec.y; this.m_localCentroid.x = e.localPosition.x + (a.col1.x * p + a.col2.x * d) - n.x; this.m_localCentroid.y = e.localPosition.y + (a.col1.y * p + a.col2.y * d) - n.y; for (r = 0; r < this.m_vertexCount; ++r) { this.m_vertices[r] = new b2Vec2; this.m_coreVertices[r] = new b2Vec2; i = h.vertices[r].x - p; s = h.vertices[r].y - d; this.m_vertices[r].x = a.col1.x * i + a.col2.x * s; this.m_vertices[r].y = a.col1.y * i + a.col2.y * s; var v = this.m_vertices[r].x; var m = this.m_vertices[r].y; var g = Math.sqrt(v * v + m * m); if (g > Number.MIN_VALUE) { v *= 1 / g; m *= 1 / g } this.m_coreVertices[r].x = this.m_vertices[r].x - 2 * b2Settings.b2_linearSlop * v; this.m_coreVertices[r].y = this.m_vertices[r].y - 2 * b2Settings.b2_linearSlop * m } } var y = Number.MAX_VALUE; var b = Number.MAX_VALUE; var w = -Number.MAX_VALUE; var E = -Number.MAX_VALUE; this.m_maxRadius = 0; for (r = 0; r < this.m_vertexCount; ++r) { var S = this.m_vertices[r]; y = Math.min(y, S.x); b = Math.min(b, S.y); w = Math.max(w, S.x); E = Math.max(E, S.y); this.m_maxRadius = Math.max(this.m_maxRadius, S.Length()) } this.m_localOBB.R.SetIdentity(); this.m_localOBB.center.Set((y + w) * .5, (b + E) * .5); this.m_localOBB.extents.Set((w - y) * .5, (E - b) * .5); var x = 0; var T = 0; for (r = 0; r < this.m_vertexCount; ++r) { this.m_normals[r] = new b2Vec2; x = r; T = r + 1 < this.m_vertexCount ? r + 1 : 0; this.m_normals[r].x = this.m_vertices[T].y - this.m_vertices[x].y; this.m_normals[r].y = -(this.m_vertices[T].x - this.m_vertices[x].x); this.m_normals[r].Normalize() } for (r = 0; r < this.m_vertexCount; ++r) { x = r; T = r + 1 < this.m_vertexCount ? r + 1 : 0 } this.m_R.SetM(this.m_body.m_R); this.m_position.x = this.m_body.m_position.x + (this.m_R.col1.x * this.m_localCentroid.x + this.m_R.col2.x * this.m_localCentroid.y); this.m_position.y = this.m_body.m_position.y + (this.m_R.col1.y * this.m_localCentroid.x + this.m_R.col2.y * this.m_localCentroid.y); b2PolyShape.tAbsR.col1.x = this.m_R.col1.x * this.m_localOBB.R.col1.x + this.m_R.col2.x * this.m_localOBB.R.col1.y; b2PolyShape.tAbsR.col1.y = this.m_R.col1.y * this.m_localOBB.R.col1.x + this.m_R.col2.y * this.m_localOBB.R.col1.y; b2PolyShape.tAbsR.col2.x = this.m_R.col1.x * this.m_localOBB.R.col2.x + this.m_R.col2.x * this.m_localOBB.R.col2.y; b2PolyShape.tAbsR.col2.y = this.m_R.col1.y * this.m_localOBB.R.col2.x + this.m_R.col2.y * this.m_localOBB.R.col2.y; b2PolyShape.tAbsR.Abs(); i = b2PolyShape.tAbsR.col1.x * this.m_localOBB.extents.x + b2PolyShape.tAbsR.col2.x * this.m_localOBB.extents.y; s = b2PolyShape.tAbsR.col1.y * this.m_localOBB.extents.x + b2PolyShape.tAbsR.col2.y * this.m_localOBB.extents.y; var N = this.m_position.x + (this.m_R.col1.x * this.m_localOBB.center.x + this.m_R.col2.x * this.m_localOBB.center.y); var C = this.m_position.y + (this.m_R.col1.y * this.m_localOBB.center.x + this.m_R.col2.y * this.m_localOBB.center.y); u.minVertex.x = N - i; u.minVertex.y = C - s; u.maxVertex.x = N + i; u.maxVertex.y = C + s; var k = this.m_body.m_world.m_broadPhase; if (k.InRange(u)) { this.m_proxyId = k.CreateProxy(u, this) } else { this.m_proxyId = b2Pair.b2_nullProxy } if (this.m_proxyId == b2Pair.b2_nullProxy) { this.m_body.Freeze() } }, syncAABB: new b2AABB, syncMat: new b2Mat22, Synchronize: function (e, t, n, r) { this.m_R.SetM(r); this.m_position.x = this.m_body.m_position.x + (r.col1.x * this.m_localCentroid.x + r.col2.x * this.m_localCentroid.y); this.m_position.y = this.m_body.m_position.y + (r.col1.y * this.m_localCentroid.x + r.col2.y * this.m_localCentroid.y); if (this.m_proxyId == b2Pair.b2_nullProxy) { return } var i; var s; var o = t.col1; var u = t.col2; var a = this.m_localOBB.R.col1; var f = this.m_localOBB.R.col2; this.syncMat.col1.x = o.x * a.x + u.x * a.y; this.syncMat.col1.y = o.y * a.x + u.y * a.y; this.syncMat.col2.x = o.x * f.x + u.x * f.y; this.syncMat.col2.y = o.y * f.x + u.y * f.y; this.syncMat.Abs(); i = this.m_localCentroid.x + this.m_localOBB.center.x; s = this.m_localCentroid.y + this.m_localOBB.center.y; var l = e.x + (t.col1.x * i + t.col2.x * s); var c = e.y + (t.col1.y * i + t.col2.y * s); i = this.syncMat.col1.x * this.m_localOBB.extents.x + this.syncMat.col2.x * this.m_localOBB.extents.y; s = this.syncMat.col1.y * this.m_localOBB.extents.x + this.syncMat.col2.y * this.m_localOBB.extents.y; this.syncAABB.minVertex.x = l - i; this.syncAABB.minVertex.y = c - s; this.syncAABB.maxVertex.x = l + i; this.syncAABB.maxVertex.y = c + s; o = r.col1; u = r.col2; a = this.m_localOBB.R.col1; f = this.m_localOBB.R.col2; this.syncMat.col1.x = o.x * a.x + u.x * a.y; this.syncMat.col1.y = o.y * a.x + u.y * a.y; this.syncMat.col2.x = o.x * f.x + u.x * f.y; this.syncMat.col2.y = o.y * f.x + u.y * f.y; this.syncMat.Abs(); i = this.m_localCentroid.x + this.m_localOBB.center.x; s = this.m_localCentroid.y + this.m_localOBB.center.y; l = n.x + (r.col1.x * i + r.col2.x * s); c = n.y + (r.col1.y * i + r.col2.y * s); i = this.syncMat.col1.x * this.m_localOBB.extents.x + this.syncMat.col2.x * this.m_localOBB.extents.y; s = this.syncMat.col1.y * this.m_localOBB.extents.x + this.syncMat.col2.y * this.m_localOBB.extents.y; this.syncAABB.minVertex.x = Math.min(this.syncAABB.minVertex.x, l - i); this.syncAABB.minVertex.y = Math.min(this.syncAABB.minVertex.y, c - s); this.syncAABB.maxVertex.x = Math.max(this.syncAABB.maxVertex.x, l + i); this.syncAABB.maxVertex.y = Math.max(this.syncAABB.maxVertex.y, c + s); var h = this.m_body.m_world.m_broadPhase; if (h.InRange(this.syncAABB)) { h.MoveProxy(this.m_proxyId, this.syncAABB) } else { this.m_body.Freeze() } }, QuickSync: function (e, t) { this.m_R.SetM(t); this.m_position.x = e.x + (t.col1.x * this.m_localCentroid.x + t.col2.x * this.m_localCentroid.y); this.m_position.y = e.y + (t.col1.y * this.m_localCentroid.x + t.col2.y * this.m_localCentroid.y) }, ResetProxy: function (e) { if (this.m_proxyId == b2Pair.b2_nullProxy) { return } var t = e.GetProxy(this.m_proxyId); e.DestroyProxy(this.m_proxyId); t = null; var n = b2Math.b2MulMM(this.m_R, this.m_localOBB.R); var r = b2Math.b2AbsM(n); var i = b2Math.b2MulMV(r, this.m_localOBB.extents); var s = b2Math.b2MulMV(this.m_R, this.m_localOBB.center); s.Add(this.m_position); var o = new b2AABB; o.minVertex.SetV(s); o.minVertex.Subtract(i); o.maxVertex.SetV(s); o.maxVertex.Add(i); if (e.InRange(o)) { this.m_proxyId = e.CreateProxy(o, this) } else { this.m_proxyId = b2Pair.b2_nullProxy } if (this.m_proxyId == b2Pair.b2_nullProxy) { this.m_body.Freeze() } }, Support: function (e, t, n) { var r = e * this.m_R.col1.x + t * this.m_R.col1.y; var i = e * this.m_R.col2.x + t * this.m_R.col2.y; var s = 0; var o = this.m_coreVertices[0].x * r + this.m_coreVertices[0].y * i; for (var u = 1; u < this.m_vertexCount; ++u) { var a = this.m_coreVertices[u].x * r + this.m_coreVertices[u].y * i; if (a > o) { s = u; o = a } } n.Set(this.m_position.x + (this.m_R.col1.x * this.m_coreVertices[s].x + this.m_R.col2.x * this.m_coreVertices[s].y), this.m_position.y + (this.m_R.col1.y * this.m_coreVertices[s].x + this.m_R.col2.y * this.m_coreVertices[s].y)) }, m_localCentroid: new b2Vec2, m_localOBB: new b2OBB, m_vertices: null, m_coreVertices: null, m_vertexCount: 0, m_normals: null }); b2PolyShape.tempVec = new b2Vec2; b2PolyShape.tAbsR = new b2Mat22; var b2Body = Class.create(); b2Body.prototype = { SetOriginPosition: function (e, t) { if (this.IsFrozen()) { return } this.m_rotation = t; this.m_R.Set(this.m_rotation); this.m_position = b2Math.AddVV(e, b2Math.b2MulMV(this.m_R, this.m_center)); this.m_position0.SetV(this.m_position); this.m_rotation0 = this.m_rotation; for (var n = this.m_shapeList; n != null; n = n.m_next) { n.Synchronize(this.m_position, this.m_R, this.m_position, this.m_R) } this.m_world.m_broadPhase.Commit() }, GetOriginPosition: function () { return b2Math.SubtractVV(this.m_position, b2Math.b2MulMV(this.m_R, this.m_center)) }, SetCenterPosition: function (e, t) { if (this.IsFrozen()) { return } this.m_rotation = t; this.m_R.Set(this.m_rotation); this.m_position.SetV(e); this.m_position0.SetV(this.m_position); this.m_rotation0 = this.m_rotation; for (var n = this.m_shapeList; n != null; n = n.m_next) { n.Synchronize(this.m_position, this.m_R, this.m_position, this.m_R) } this.m_world.m_broadPhase.Commit() }, GetCenterPosition: function () { return this.m_position }, GetRotation: function () { return this.m_rotation }, GetRotationMatrix: function () { return this.m_R }, SetLinearVelocity: function (e) { this.m_linearVelocity.SetV(e) }, GetLinearVelocity: function () { return this.m_linearVelocity }, SetAngularVelocity: function (e) { this.m_angularVelocity = e }, GetAngularVelocity: function () { return this.m_angularVelocity }, ApplyForce: function (e, t) { if (this.IsSleeping() == false) { this.m_force.Add(e); this.m_torque += b2Math.b2CrossVV(b2Math.SubtractVV(t, this.m_position), e) } }, ApplyTorque: function (e) { if (this.IsSleeping() == false) { this.m_torque += e } }, ApplyImpulse: function (e, t) { if (this.IsSleeping() == false) { this.m_linearVelocity.Add(b2Math.MulFV(this.m_invMass, e)); this.m_angularVelocity += this.m_invI * b2Math.b2CrossVV(b2Math.SubtractVV(t, this.m_position), e) } }, GetMass: function () { return this.m_mass }, GetInertia: function () { return this.m_I }, GetWorldPoint: function (e) { return b2Math.AddVV(this.m_position, b2Math.b2MulMV(this.m_R, e)) }, GetWorldVector: function (e) { return b2Math.b2MulMV(this.m_R, e) }, GetLocalPoint: function (e) { return b2Math.b2MulTMV(this.m_R, b2Math.SubtractVV(e, this.m_position)) }, GetLocalVector: function (e) { return b2Math.b2MulTMV(this.m_R, e) }, IsStatic: function () { return (this.m_flags & b2Body.e_staticFlag) == b2Body.e_staticFlag }, IsFrozen: function () { return (this.m_flags & b2Body.e_frozenFlag) == b2Body.e_frozenFlag }, IsSleeping: function () { return (this.m_flags & b2Body.e_sleepFlag) == b2Body.e_sleepFlag }, AllowSleeping: function (e) { if (e) { this.m_flags |= b2Body.e_allowSleepFlag } else { this.m_flags &= ~b2Body.e_allowSleepFlag; this.WakeUp() } }, WakeUp: function () { this.m_flags &= ~b2Body.e_sleepFlag; this.m_sleepTime = 0 }, GetShapeList: function () { return this.m_shapeList }, GetContactList: function () { return this.m_contactList }, GetJointList: function () { return this.m_jointList }, GetNext: function () { return this.m_next }, GetUserData: function () { return this.m_userData }, initialize: function (e, t) { this.sMat0 = new b2Mat22; this.m_position = new b2Vec2; this.m_R = new b2Mat22(0); this.m_position0 = new b2Vec2; var n = 0; var r; var i; this.m_flags = 0; this.m_position.SetV(e.position); this.m_rotation = e.rotation; this.m_R.Set(this.m_rotation); this.m_position0.SetV(this.m_position); this.m_rotation0 = this.m_rotation; this.m_world = t; this.m_linearDamping = b2Math.b2Clamp(1 - e.linearDamping, 0, 1); this.m_angularDamping = b2Math.b2Clamp(1 - e.angularDamping, 0, 1); this.m_force = new b2Vec2(0, 0); this.m_torque = 0; this.m_mass = 0; var s = new Array(b2Settings.b2_maxShapesPerBody); for (n = 0; n < b2Settings.b2_maxShapesPerBody; n++) { s[n] = new b2MassData } this.m_shapeCount = 0; this.m_center = new b2Vec2(0, 0); for (n = 0; n < b2Settings.b2_maxShapesPerBody; ++n) { r = e.shapes[n]; if (r == null) break; i = s[n]; r.ComputeMass(i); this.m_mass += i.mass; this.m_center.x += i.mass * (r.localPosition.x + i.center.x); this.m_center.y += i.mass * (r.localPosition.y + i.center.y); ++this.m_shapeCount } if (this.m_mass > 0) { this.m_center.Multiply(1 / this.m_mass); this.m_position.Add(b2Math.b2MulMV(this.m_R, this.m_center)) } else { this.m_flags |= b2Body.e_staticFlag } this.m_I = 0; for (n = 0; n < this.m_shapeCount; ++n) { r = e.shapes[n]; i = s[n]; this.m_I += i.I; var o = b2Math.SubtractVV(b2Math.AddVV(r.localPosition, i.center), this.m_center); this.m_I += i.mass * b2Math.b2Dot(o, o) } if (this.m_mass > 0) { this.m_invMass = 1 / this.m_mass } else { this.m_invMass = 0 } if (this.m_I > 0 && e.preventRotation == false) { this.m_invI = 1 / this.m_I } else { this.m_I = 0; this.m_invI = 0 } this.m_linearVelocity = b2Math.AddVV(e.linearVelocity, b2Math.b2CrossFV(e.angularVelocity, this.m_center)); this.m_angularVelocity = e.angularVelocity; this.m_jointList = null; this.m_contactList = null; this.m_prev = null; this.m_next = null; this.m_shapeList = null; for (n = 0; n < this.m_shapeCount; ++n) { r = e.shapes[n]; var u = b2Shape.Create(r, this, this.m_center); u.m_next = this.m_shapeList; this.m_shapeList = u } this.m_sleepTime = 0; if (e.allowSleep) { this.m_flags |= b2Body.e_allowSleepFlag } if (e.isSleeping) { this.m_flags |= b2Body.e_sleepFlag } if (this.m_flags & b2Body.e_sleepFlag || this.m_invMass == 0) { this.m_linearVelocity.Set(0, 0); this.m_angularVelocity = 0 } this.m_userData = e.userData }, Destroy: function () { var e = this.m_shapeList; while (e) { var t = e; e = e.m_next; b2Shape.Destroy(t) } }, sMat0: new b2Mat22, SynchronizeShapes: function () { this.sMat0.Set(this.m_rotation0); for (var e = this.m_shapeList; e != null; e = e.m_next) { e.Synchronize(this.m_position0, this.sMat0, this.m_position, this.m_R) } }, QuickSyncShapes: function () { for (var e = this.m_shapeList; e != null; e = e.m_next) { e.QuickSync(this.m_position, this.m_R) } }, IsConnected: function (e) { for (var t = this.m_jointList; t != null; t = t.next) { if (t.other == e) return t.joint.m_collideConnected == false } return false }, Freeze: function () { this.m_flags |= b2Body.e_frozenFlag; this.m_linearVelocity.SetZero(); this.m_angularVelocity = 0; for (var e = this.m_shapeList; e != null; e = e.m_next) { e.DestroyProxy() } }, m_flags: 0, m_position: new b2Vec2, m_rotation: null, m_R: new b2Mat22(0), m_position0: new b2Vec2, m_rotation0: null, m_linearVelocity: null, m_angularVelocity: null, m_force: null, m_torque: null, m_center: null, m_world: null, m_prev: null, m_next: null, m_shapeList: null, m_shapeCount: 0, m_jointList: null, m_contactList: null, m_mass: null, m_invMass: null, m_I: null, m_invI: null, m_linearDamping: null, m_angularDamping: null, m_sleepTime: null, m_userData: null }; b2Body.e_staticFlag = 1; b2Body.e_frozenFlag = 2; b2Body.e_islandFlag = 4; b2Body.e_sleepFlag = 8; b2Body.e_allowSleepFlag = 16; b2Body.e_destroyFlag = 32; var b2BodyDef = Class.create(); b2BodyDef.prototype = { initialize: function () { this.shapes = new Array; this.userData = null; for (var e = 0; e < b2Settings.b2_maxShapesPerBody; e++) { this.shapes[e] = null } this.position = new b2Vec2(0, 0); this.rotation = 0; this.linearVelocity = new b2Vec2(0, 0); this.angularVelocity = 0; this.linearDamping = 0; this.angularDamping = 0; this.allowSleep = true; this.isSleeping = false; this.preventRotation = false }, userData: null, shapes: new Array, position: null, rotation: null, linearVelocity: null, angularVelocity: null, linearDamping: null, angularDamping: null, allowSleep: null, isSleeping: null, preventRotation: null, AddShape: function (e) { for (var t = 0; t < b2Settings.b2_maxShapesPerBody; ++t) { if (this.shapes[t] == null) { this.shapes[t] = e; break } } } }; var b2CollisionFilter = Class.create(); b2CollisionFilter.prototype = { ShouldCollide: function (e, t) { if (e.m_groupIndex == t.m_groupIndex && e.m_groupIndex != 0) { return e.m_groupIndex > 0 } var n = (e.m_maskBits & t.m_categoryBits) != 0 && (e.m_categoryBits & t.m_maskBits) != 0; return n }, initialize: function () { } }; b2CollisionFilter.b2_defaultFilter = new b2CollisionFilter; var b2Island = Class.create(); b2Island.prototype = { initialize: function (e, t, n, r) { var i = 0; this.m_bodyCapacity = e; this.m_contactCapacity = t; this.m_jointCapacity = n; this.m_bodyCount = 0; this.m_contactCount = 0; this.m_jointCount = 0; this.m_bodies = new Array(e); for (i = 0; i < e; i++)this.m_bodies[i] = null; this.m_contacts = new Array(t); for (i = 0; i < t; i++)this.m_contacts[i] = null; this.m_joints = new Array(n); for (i = 0; i < n; i++)this.m_joints[i] = null; this.m_allocator = r }, Clear: function () { this.m_bodyCount = 0; this.m_contactCount = 0; this.m_jointCount = 0 }, Solve: function (e, t) { var n = 0; var r; for (n = 0; n < this.m_bodyCount; ++n) { r = this.m_bodies[n]; if (r.m_invMass == 0) continue; r.m_linearVelocity.Add(b2Math.MulFV(e.dt, b2Math.AddVV(t, b2Math.MulFV(r.m_invMass, r.m_force)))); r.m_angularVelocity += e.dt * r.m_invI * r.m_torque; r.m_linearVelocity.Multiply(r.m_linearDamping); r.m_angularVelocity *= r.m_angularDamping; r.m_position0.SetV(r.m_position); r.m_rotation0 = r.m_rotation } var i = new b2ContactSolver(this.m_contacts, this.m_contactCount, this.m_allocator); i.PreSolve(); for (n = 0; n < this.m_jointCount; ++n) { this.m_joints[n].PrepareVelocitySolver() } for (n = 0; n < e.iterations; ++n) { i.SolveVelocityConstraints(); for (var s = 0; s < this.m_jointCount; ++s) { this.m_joints[s].SolveVelocityConstraints(e) } } for (n = 0; n < this.m_bodyCount; ++n) { r = this.m_bodies[n]; if (r.m_invMass == 0) continue; r.m_position.x += e.dt * r.m_linearVelocity.x; r.m_position.y += e.dt * r.m_linearVelocity.y; r.m_rotation += e.dt * r.m_angularVelocity; r.m_R.Set(r.m_rotation) } for (n = 0; n < this.m_jointCount; ++n) { this.m_joints[n].PreparePositionSolver() } if (b2World.s_enablePositionCorrection) { for (b2Island.m_positionIterationCount = 0; b2Island.m_positionIterationCount < e.iterations; ++b2Island.m_positionIterationCount) { var o = i.SolvePositionConstraints(b2Settings.b2_contactBaumgarte); var u = true; for (n = 0; n < this.m_jointCount; ++n) { var a = this.m_joints[n].SolvePositionConstraints(); u = u && a } if (o && u) { break } } } i.PostSolve(); for (n = 0; n < this.m_bodyCount; ++n) { r = this.m_bodies[n]; if (r.m_invMass == 0) continue; r.m_R.Set(r.m_rotation); r.SynchronizeShapes(); r.m_force.Set(0, 0); r.m_torque = 0 } }, UpdateSleep: function (e) { var t = 0; var n; var r = Number.MAX_VALUE; var i = b2Settings.b2_linearSleepTolerance * b2Settings.b2_linearSleepTolerance; var s = b2Settings.b2_angularSleepTolerance * b2Settings.b2_angularSleepTolerance; for (t = 0; t < this.m_bodyCount; ++t) { n = this.m_bodies[t]; if (n.m_invMass == 0) { continue } if ((n.m_flags & b2Body.e_allowSleepFlag) == 0) { n.m_sleepTime = 0; r = 0 } if ((n.m_flags & b2Body.e_allowSleepFlag) == 0 || n.m_angularVelocity * n.m_angularVelocity > s || b2Math.b2Dot(n.m_linearVelocity, n.m_linearVelocity) > i) { n.m_sleepTime = 0; r = 0 } else { n.m_sleepTime += e; r = b2Math.b2Min(r, n.m_sleepTime) } } if (r >= b2Settings.b2_timeToSleep) { for (t = 0; t < this.m_bodyCount; ++t) { n = this.m_bodies[t]; n.m_flags |= b2Body.e_sleepFlag } } }, AddBody: function (e) { this.m_bodies[this.m_bodyCount++] = e }, AddContact: function (e) { this.m_contacts[this.m_contactCount++] = e }, AddJoint: function (e) { this.m_joints[this.m_jointCount++] = e }, m_allocator: null, m_bodies: null, m_contacts: null, m_joints: null, m_bodyCount: 0, m_jointCount: 0, m_contactCount: 0, m_bodyCapacity: 0, m_contactCapacity: 0, m_jointCapacity: 0, m_positionError: null }; b2Island.m_positionIterationCount = 0; var b2TimeStep = Class.create(); b2TimeStep.prototype = { dt: null, inv_dt: null, iterations: 0, initialize: function () { } }; var b2ContactNode = Class.create(); b2ContactNode.prototype = { other: null, contact: null, prev: null, next: null, initialize: function () { } }; var b2Contact = Class.create(); b2Contact.prototype = { GetManifolds: function () { return null }, GetManifoldCount: function () { return this.m_manifoldCount }, GetNext: function () { return this.m_next }, GetShape1: function () { return this.m_shape1 }, GetShape2: function () { return this.m_shape2 }, initialize: function (e, t) { this.m_node1 = new b2ContactNode; this.m_node2 = new b2ContactNode; this.m_flags = 0; if (!e || !t) { this.m_shape1 = null; this.m_shape2 = null; return } this.m_shape1 = e; this.m_shape2 = t; this.m_manifoldCount = 0; this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction); this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution); this.m_prev = null; this.m_next = null; this.m_node1.contact = null; this.m_node1.prev = null; this.m_node1.next = null; this.m_node1.other = null; this.m_node2.contact = null; this.m_node2.prev = null; this.m_node2.next = null; this.m_node2.other = null }, Evaluate: function () { }, m_flags: 0, m_prev: null, m_next: null, m_node1: new b2ContactNode, m_node2: new b2ContactNode, m_shape1: null, m_shape2: null, m_manifoldCount: 0, m_friction: null, m_restitution: null }; b2Contact.e_islandFlag = 1; b2Contact.e_destroyFlag = 2; b2Contact.AddType = function (e, t, n, r) { b2Contact.s_registers[n][r].createFcn = e; b2Contact.s_registers[n][r].destroyFcn = t; b2Contact.s_registers[n][r].primary = true; if (n != r) { b2Contact.s_registers[r][n].createFcn = e; b2Contact.s_registers[r][n].destroyFcn = t; b2Contact.s_registers[r][n].primary = false } }; b2Contact.InitializeRegisters = function () { b2Contact.s_registers = new Array(b2Shape.e_shapeTypeCount); for (var e = 0; e < b2Shape.e_shapeTypeCount; e++) { b2Contact.s_registers[e] = new Array(b2Shape.e_shapeTypeCount); for (var t = 0; t < b2Shape.e_shapeTypeCount; t++) { b2Contact.s_registers[e][t] = new b2ContactRegister } } b2Contact.AddType(b2CircleContact.Create, b2CircleContact.Destroy, b2Shape.e_circleShape, b2Shape.e_circleShape); b2Contact.AddType(b2PolyAndCircleContact.Create, b2PolyAndCircleContact.Destroy, b2Shape.e_polyShape, b2Shape.e_circleShape); b2Contact.AddType(b2PolyContact.Create, b2PolyContact.Destroy, b2Shape.e_polyShape, b2Shape.e_polyShape) }; b2Contact.Create = function (e, t, n) { if (b2Contact.s_initialized == false) { b2Contact.InitializeRegisters(); b2Contact.s_initialized = true } var r = e.m_type; var i = t.m_type; var s = b2Contact.s_registers[r][i].createFcn; if (s) { if (b2Contact.s_registers[r][i].primary) { return s(e, t, n) } else { var o = s(t, e, n); for (var u = 0; u < o.GetManifoldCount(); ++u) { var a = o.GetManifolds()[u]; a.normal = a.normal.Negative() } return o } } else { return null } }; b2Contact.Destroy = function (e, t) { if (e.GetManifoldCount() > 0) { e.m_shape1.m_body.WakeUp(); e.m_shape2.m_body.WakeUp() } var n = e.m_shape1.m_type; var r = e.m_shape2.m_type; var i = b2Contact.s_registers[n][r].destroyFcn; i(e, t) }; b2Contact.s_registers = null; b2Contact.s_initialized = false; var b2ContactConstraint = Class.create(); b2ContactConstraint.prototype = { initialize: function () { this.normal = new b2Vec2; this.points = new Array(b2Settings.b2_maxManifoldPoints); for (var e = 0; e < b2Settings.b2_maxManifoldPoints; e++) { this.points[e] = new b2ContactConstraintPoint } }, points: null, normal: new b2Vec2, manifold: null, body1: null, body2: null, friction: null, restitution: null, pointCount: 0 }; var b2ContactConstraintPoint = Class.create(); b2ContactConstraintPoint.prototype = { localAnchor1: new b2Vec2, localAnchor2: new b2Vec2, normalImpulse: null, tangentImpulse: null, positionImpulse: null, normalMass: null, tangentMass: null, separation: null, velocityBias: null, initialize: function () { this.localAnchor1 = new b2Vec2; this.localAnchor2 = new b2Vec2 } }; var b2ContactRegister = Class.create(); b2ContactRegister.prototype = { createFcn: null, destroyFcn: null, primary: null, initialize: function () { } }; var b2ContactSolver = Class.create(); b2ContactSolver.prototype = { initialize: function (e, t, n) { this.m_constraints = new Array; this.m_allocator = n; var r = 0; var i; var s; this.m_constraintCount = 0; for (r = 0; r < t; ++r) { this.m_constraintCount += e[r].GetManifoldCount() } for (r = 0; r < this.m_constraintCount; r++) { this.m_constraints[r] = new b2ContactConstraint } var o = 0; for (r = 0; r < t; ++r) { var u = e[r]; var a = u.m_shape1.m_body; var f = u.m_shape2.m_body; var l = u.GetManifoldCount(); var c = u.GetManifolds(); var h = u.m_friction; var p = u.m_restitution; var d = a.m_linearVelocity.x; var v = a.m_linearVelocity.y; var m = f.m_linearVelocity.x; var g = f.m_linearVelocity.y; var y = a.m_angularVelocity; var b = f.m_angularVelocity; for (var w = 0; w < l; ++w) { var E = c[w]; var S = E.normal.x; var x = E.normal.y; var T = this.m_constraints[o]; T.body1 = a; T.body2 = f; T.manifold = E; T.normal.x = S; T.normal.y = x; T.pointCount = E.pointCount; T.friction = h; T.restitution = p; for (var N = 0; N < T.pointCount; ++N) { var C = E.points[N]; var k = T.points[N]; k.normalImpulse = C.normalImpulse; k.tangentImpulse = C.tangentImpulse; k.separation = C.separation; var L = C.position.x - a.m_position.x; var A = C.position.y - a.m_position.y; var O = C.position.x - f.m_position.x; var M = C.position.y - f.m_position.y; i = k.localAnchor1; s = a.m_R; i.x = L * s.col1.x + A * s.col1.y; i.y = L * s.col2.x + A * s.col2.y; i = k.localAnchor2; s = f.m_R; i.x = O * s.col1.x + M * s.col1.y; i.y = O * s.col2.x + M * s.col2.y; var _ = L * L + A * A; var D = O * O + M * M; var P = L * S + A * x; var H = O * S + M * x; var B = a.m_invMass + f.m_invMass; B += a.m_invI * (_ - P * P) + f.m_invI * (D - H * H); k.normalMass = 1 / B; var j = x; var F = -S; var I = L * j + A * F; var q = O * j + M * F; var R = a.m_invMass + f.m_invMass; R += a.m_invI * (_ - I * I) + f.m_invI * (D - q * q); k.tangentMass = 1 / R; k.velocityBias = 0; if (k.separation > 0) { k.velocityBias = -60 * k.separation } var U = m + -b * M - d - -y * A; var z = g + b * O - v - y * L; var W = T.normal.x * U + T.normal.y * z; if (W < -b2Settings.b2_velocityThreshold) { k.velocityBias += -T.restitution * W } } ++o } } }, PreSolve: function () { var e; var t; var n; for (var r = 0; r < this.m_constraintCount; ++r) { var i = this.m_constraints[r]; var s = i.body1; var o = i.body2; var u = s.m_invMass; var a = s.m_invI; var f = o.m_invMass; var l = o.m_invI; var c = i.normal.x; var h = i.normal.y; var p = h; var d = -c; var v = 0; var m = 0; if (b2World.s_enableWarmStarting) { m = i.pointCount; for (v = 0; v < m; ++v) { var g = i.points[v]; var y = g.normalImpulse * c + g.tangentImpulse * p; var b = g.normalImpulse * h + g.tangentImpulse * d; n = s.m_R; e = g.localAnchor1; var w = n.col1.x * e.x + n.col2.x * e.y; var E = n.col1.y * e.x + n.col2.y * e.y; n = o.m_R; e = g.localAnchor2; var S = n.col1.x * e.x + n.col2.x * e.y; var x = n.col1.y * e.x + n.col2.y * e.y; s.m_angularVelocity -= a * (w * b - E * y); s.m_linearVelocity.x -= u * y; s.m_linearVelocity.y -= u * b; o.m_angularVelocity += l * (S * b - x * y); o.m_linearVelocity.x += f * y; o.m_linearVelocity.y += f * b; g.positionImpulse = 0 } } else { m = i.pointCount; for (v = 0; v < m; ++v) { var T = i.points[v]; T.normalImpulse = 0; T.tangentImpulse = 0; T.positionImpulse = 0 } } } }, SolveVelocityConstraints: function () { var e = 0; var t; var n; var r; var i; var s; var o; var u; var a; var f; var l; var c; var h; var p; for (var d = 0; d < this.m_constraintCount; ++d) { var v = this.m_constraints[d]; var m = v.body1; var g = v.body2; var y = m.m_angularVelocity; var b = m.m_linearVelocity; var w = g.m_angularVelocity; var E = g.m_linearVelocity; var S = m.m_invMass; var x = m.m_invI; var T = g.m_invMass; var N = g.m_invI; var C = v.normal.x; var k = v.normal.y; var L = k; var A = -C; var O = v.pointCount; for (e = 0; e < O; ++e) { t = v.points[e]; h = m.m_R; p = t.localAnchor1; n = h.col1.x * p.x + h.col2.x * p.y; r = h.col1.y * p.x + h.col2.y * p.y; h = g.m_R; p = t.localAnchor2; i = h.col1.x * p.x + h.col2.x * p.y; s = h.col1.y * p.x + h.col2.y * p.y; o = E.x + -w * s - b.x - -y * r; u = E.y + w * i - b.y - y * n; var M = o * C + u * k; a = -t.normalMass * (M - t.velocityBias); f = b2Math.b2Max(t.normalImpulse + a, 0); a = f - t.normalImpulse; l = a * C; c = a * k; b.x -= S * l; b.y -= S * c; y -= x * (n * c - r * l); E.x += T * l; E.y += T * c; w += N * (i * c - s * l); t.normalImpulse = f; o = E.x + -w * s - b.x - -y * r; u = E.y + w * i - b.y - y * n; var _ = o * L + u * A; a = t.tangentMass * -_; var D = v.friction * t.normalImpulse; f = b2Math.b2Clamp(t.tangentImpulse + a, -D, D); a = f - t.tangentImpulse; l = a * L; c = a * A; b.x -= S * l; b.y -= S * c; y -= x * (n * c - r * l); E.x += T * l; E.y += T * c; w += N * (i * c - s * l); t.tangentImpulse = f } m.m_angularVelocity = y; g.m_angularVelocity = w } }, SolvePositionConstraints: function (e) { var t = 0; var n; var r; for (var i = 0; i < this.m_constraintCount; ++i) { var s = this.m_constraints[i]; var o = s.body1; var u = s.body2; var a = o.m_position; var f = o.m_rotation; var l = u.m_position; var c = u.m_rotation; var h = o.m_invMass; var p = o.m_invI; var d = u.m_invMass; var v = u.m_invI; var m = s.normal.x; var g = s.normal.y; var y = g; var b = -m; var w = s.pointCount; for (var E = 0; E < w; ++E) { var S = s.points[E]; n = o.m_R; r = S.localAnchor1; var x = n.col1.x * r.x + n.col2.x * r.y; var T = n.col1.y * r.x + n.col2.y * r.y; n = u.m_R; r = S.localAnchor2; var N = n.col1.x * r.x + n.col2.x * r.y; var C = n.col1.y * r.x + n.col2.y * r.y; var k = a.x + x; var L = a.y + T; var A = l.x + N; var O = l.y + C; var M = A - k; var _ = O - L; var D = M * m + _ * g + S.separation; t = b2Math.b2Min(t, D); var P = e * b2Math.b2Clamp(D + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0); var H = -S.normalMass * P; var B = S.positionImpulse; S.positionImpulse = b2Math.b2Max(B + H, 0); H = S.positionImpulse - B; var j = H * m; var F = H * g; a.x -= h * j; a.y -= h * F; f -= p * (x * F - T * j); o.m_R.Set(f); l.x += d * j; l.y += d * F; c += v * (N * F - C * j); u.m_R.Set(c) } o.m_rotation = f; u.m_rotation = c } return t >= -b2Settings.b2_linearSlop }, PostSolve: function () { for (var e = 0; e < this.m_constraintCount; ++e) { var t = this.m_constraints[e]; var n = t.manifold; for (var r = 0; r < t.pointCount; ++r) { var i = n.points[r]; var s = t.points[r]; i.normalImpulse = s.normalImpulse; i.tangentImpulse = s.tangentImpulse } } }, m_allocator: null, m_constraints: new Array, m_constraintCount: 0 }; var b2CircleContact = Class.create(); Object.extend(b2CircleContact.prototype, b2Contact.prototype); Object.extend(b2CircleContact.prototype, { initialize: function (e, t) { this.m_node1 = new b2ContactNode; this.m_node2 = new b2ContactNode; this.m_flags = 0; if (!e || !t) { this.m_shape1 = null; this.m_shape2 = null; return } this.m_shape1 = e; this.m_shape2 = t; this.m_manifoldCount = 0; this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction); this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution); this.m_prev = null; this.m_next = null; this.m_node1.contact = null; this.m_node1.prev = null; this.m_node1.next = null; this.m_node1.other = null; this.m_node2.contact = null; this.m_node2.prev = null; this.m_node2.next = null; this.m_node2.other = null; this.m_manifold = [new b2Manifold]; this.m_manifold[0].pointCount = 0; this.m_manifold[0].points[0].normalImpulse = 0; this.m_manifold[0].points[0].tangentImpulse = 0 }, Evaluate: function () { b2Collision.b2CollideCircle(this.m_manifold[0], this.m_shape1, this.m_shape2, false); if (this.m_manifold[0].pointCount > 0) { this.m_manifoldCount = 1 } else { this.m_manifoldCount = 0 } }, GetManifolds: function () { return this.m_manifold }, m_manifold: [new b2Manifold] }); b2CircleContact.Create = function (e, t, n) { return new b2CircleContact(e, t) }; b2CircleContact.Destroy = function (e, t) { }; var b2Conservative = Class.create(); b2Conservative.prototype = { initialize: function () { } }; b2Conservative.R1 = new b2Mat22; b2Conservative.R2 = new b2Mat22; b2Conservative.x1 = new b2Vec2; b2Conservative.x2 = new b2Vec2; b2Conservative.Conservative = function (e, t) { var n = e.GetBody(); var r = t.GetBody(); var i = n.m_position.x - n.m_position0.x; var s = n.m_position.y - n.m_position0.y; var o = n.m_rotation - n.m_rotation0; var u = r.m_position.x - r.m_position0.x; var a = r.m_position.y - r.m_position0.y; var f = r.m_rotation - r.m_rotation0; var l = e.GetMaxRadius(); var c = t.GetMaxRadius(); var h = n.m_position0.x; var p = n.m_position0.y; var v = n.m_rotation0; var m = r.m_position0.x; var g = r.m_position0.y; var y = r.m_rotation0; var b = h; var w = p; var E = v; var S = m; var x = g; var T = y; b2Conservative.R1.Set(E); b2Conservative.R2.Set(T); e.QuickSync(p1, b2Conservative.R1); t.QuickSync(p2, b2Conservative.R2); var N = 0; var C = 10; var k; var L; var A = 0; var O = true; for (var M = 0; M < C; ++M) { var _ = b2Distance.Distance(b2Conservative.x1, b2Conservative.x2, e, t); if (_ < b2Settings.b2_linearSlop) { if (M == 0) { O = false } else { O = true } break } if (M == 0) { k = b2Conservative.x2.x - b2Conservative.x1.x; L = b2Conservative.x2.y - b2Conservative.x1.y; var D = Math.sqrt(k * k + L * L); var P = k * (i - u) + L * (s - a) + Math.abs(o) * l + Math.abs(f) * c; if (Math.abs(P) < Number.MIN_VALUE) { O = false; break } A = 1 / P } var H = _ * A; var B = N + H; if (B < 0 || 1 < B) { O = false; break } if (B < (1 + 100 * Number.MIN_VALUE) * N) { O = true; break } N = B; b = h + N * v1.x; w = p + N * v1.y; E = v + N * o; S = m + N * v2.x; x = g + N * v2.y; T = y + N * f; b2Conservative.R1.Set(E); b2Conservative.R2.Set(T); e.QuickSync(p1, b2Conservative.R1); t.QuickSync(p2, b2Conservative.R2) } if (O) { k = b2Conservative.x2.x - b2Conservative.x1.x; L = b2Conservative.x2.y - b2Conservative.x1.y; var j = Math.sqrt(k * k + L * L); if (j > FLT_EPSILON) { d *= b2_linearSlop / j } if (n.IsStatic()) { n.m_position.x = b; n.m_position.y = w } else { n.m_position.x = b - k; n.m_position.y = w - L } n.m_rotation = E; n.m_R.Set(E); n.QuickSyncShapes(); if (r.IsStatic()) { r.m_position.x = S; r.m_position.y = x } else { r.m_position.x = S + k; r.m_position.y = x + L } r.m_position.x = S + k; r.m_position.y = x + L; r.m_rotation = T; r.m_R.Set(T); r.QuickSyncShapes(); return true } e.QuickSync(n.m_position, n.m_R); t.QuickSync(r.m_position, r.m_R); return false }; var b2NullContact = Class.create(); Object.extend(b2NullContact.prototype, b2Contact.prototype); Object.extend(b2NullContact.prototype, { initialize: function (e, t) { this.m_node1 = new b2ContactNode; this.m_node2 = new b2ContactNode; this.m_flags = 0; if (!e || !t) { this.m_shape1 = null; this.m_shape2 = null; return } this.m_shape1 = e; this.m_shape2 = t; this.m_manifoldCount = 0; this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction); this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution); this.m_prev = null; this.m_next = null; this.m_node1.contact = null; this.m_node1.prev = null; this.m_node1.next = null; this.m_node1.other = null; this.m_node2.contact = null; this.m_node2.prev = null; this.m_node2.next = null; this.m_node2.other = null }, Evaluate: function () { }, GetManifolds: function () { return null } }); var b2PolyAndCircleContact = Class.create(); Object.extend(b2PolyAndCircleContact.prototype, b2Contact.prototype); Object.extend(b2PolyAndCircleContact.prototype, { initialize: function (e, t) { this.m_node1 = new b2ContactNode; this.m_node2 = new b2ContactNode; this.m_flags = 0; if (!e || !t) { this.m_shape1 = null; this.m_shape2 = null; return } this.m_shape1 = e; this.m_shape2 = t; this.m_manifoldCount = 0; this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction); this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution); this.m_prev = null; this.m_next = null; this.m_node1.contact = null; this.m_node1.prev = null; this.m_node1.next = null; this.m_node1.other = null; this.m_node2.contact = null; this.m_node2.prev = null; this.m_node2.next = null; this.m_node2.other = null; this.m_manifold = [new b2Manifold]; b2Settings.b2Assert(this.m_shape1.m_type == b2Shape.e_polyShape); b2Settings.b2Assert(this.m_shape2.m_type == b2Shape.e_circleShape); this.m_manifold[0].pointCount = 0; this.m_manifold[0].points[0].normalImpulse = 0; this.m_manifold[0].points[0].tangentImpulse = 0 }, Evaluate: function () { b2Collision.b2CollidePolyAndCircle(this.m_manifold[0], this.m_shape1, this.m_shape2, false); if (this.m_manifold[0].pointCount > 0) { this.m_manifoldCount = 1 } else { this.m_manifoldCount = 0 } }, GetManifolds: function () { return this.m_manifold }, m_manifold: [new b2Manifold] }); b2PolyAndCircleContact.Create = function (e, t, n) { return new b2PolyAndCircleContact(e, t) }; b2PolyAndCircleContact.Destroy = function (e, t) { }; var b2PolyContact = Class.create(); Object.extend(b2PolyContact.prototype, b2Contact.prototype); Object.extend(b2PolyContact.prototype, { initialize: function (e, t) { this.m_node1 = new b2ContactNode; this.m_node2 = new b2ContactNode; this.m_flags = 0; if (!e || !t) { this.m_shape1 = null; this.m_shape2 = null; return } this.m_shape1 = e; this.m_shape2 = t; this.m_manifoldCount = 0; this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction); this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution); this.m_prev = null; this.m_next = null; this.m_node1.contact = null; this.m_node1.prev = null; this.m_node1.next = null; this.m_node1.other = null; this.m_node2.contact = null; this.m_node2.prev = null; this.m_node2.next = null; this.m_node2.other = null; this.m0 = new b2Manifold; this.m_manifold = [new b2Manifold]; this.m_manifold[0].pointCount = 0 }, m0: new b2Manifold, Evaluate: function () { var e = this.m_manifold[0]; var t = this.m0.points; for (var n = 0; n < e.pointCount; n++) { var r = t[n]; var i = e.points[n]; r.normalImpulse = i.normalImpulse; r.tangentImpulse = i.tangentImpulse; r.id = i.id.Copy() } this.m0.pointCount = e.pointCount; b2Collision.b2CollidePoly(e, this.m_shape1, this.m_shape2, false); if (e.pointCount > 0) { var s = [false, false]; for (var o = 0; o < e.pointCount; ++o) { var u = e.points[o]; u.normalImpulse = 0; u.tangentImpulse = 0; var a = u.id.key; for (var f = 0; f < this.m0.pointCount; ++f) { if (s[f] == true) continue; var l = this.m0.points[f]; var c = l.id; if (c.key == a) { s[f] = true; u.normalImpulse = l.normalImpulse; u.tangentImpulse = l.tangentImpulse; break } } } this.m_manifoldCount = 1 } else { this.m_manifoldCount = 0 } }, GetManifolds: function () { return this.m_manifold }, m_manifold: [new b2Manifold] }); b2PolyContact.Create = function (e, t, n) { return new b2PolyContact(e, t) }; b2PolyContact.Destroy = function (e, t) { }; var b2ContactManager = Class.create(); Object.extend(b2ContactManager.prototype, b2PairCallback.prototype); Object.extend(b2ContactManager.prototype, { initialize: function () { this.m_nullContact = new b2NullContact; this.m_world = null; this.m_destroyImmediate = false }, PairAdded: function (e, t) { var n = e; var r = t; var i = n.m_body; var s = r.m_body; if (i.IsStatic() && s.IsStatic()) { return this.m_nullContact } if (n.m_body == r.m_body) { return this.m_nullContact } if (s.IsConnected(i)) { return this.m_nullContact } if (this.m_world.m_filter != null && this.m_world.m_filter.ShouldCollide(n, r) == false) { return this.m_nullContact } if (s.m_invMass == 0) { var o = n; n = r; r = o; var u = i; i = s; s = u } var a = b2Contact.Create(n, r, this.m_world.m_blockAllocator); if (a == null) { return this.m_nullContact } else { a.m_prev = null; a.m_next = this.m_world.m_contactList; if (this.m_world.m_contactList != null) { this.m_world.m_contactList.m_prev = a } this.m_world.m_contactList = a; this.m_world.m_contactCount++ } return a }, PairRemoved: function (e, t, n) { if (n == null) { return } var r = n; if (r != this.m_nullContact) { if (this.m_destroyImmediate == true) { this.DestroyContact(r); r = null } else { r.m_flags |= b2Contact.e_destroyFlag } } }, DestroyContact: function (e) { if (e.m_prev) { e.m_prev.m_next = e.m_next } if (e.m_next) { e.m_next.m_prev = e.m_prev } if (e == this.m_world.m_contactList) { this.m_world.m_contactList = e.m_next } if (e.GetManifoldCount() > 0) { var t = e.m_shape1.m_body; var n = e.m_shape2.m_body; var r = e.m_node1; var i = e.m_node2; t.WakeUp(); n.WakeUp(); if (r.prev) { r.prev.next = r.next } if (r.next) { r.next.prev = r.prev } if (r == t.m_contactList) { t.m_contactList = r.next } r.prev = null; r.next = null; if (i.prev) { i.prev.next = i.next } if (i.next) { i.next.prev = i.prev } if (i == n.m_contactList) { n.m_contactList = i.next } i.prev = null; i.next = null } b2Contact.Destroy(e, this.m_world.m_blockAllocator); --this.m_world.m_contactCount }, CleanContactList: function () { var e = this.m_world.m_contactList; while (e != null) { var t = e; e = e.m_next; if (t.m_flags & b2Contact.e_destroyFlag) { this.DestroyContact(t); t = null } } }, Collide: function () { var e; var t; var n; var r; for (var i = this.m_world.m_contactList; i != null; i = i.m_next) { if (i.m_shape1.m_body.IsSleeping() && i.m_shape2.m_body.IsSleeping()) { continue } var s = i.GetManifoldCount(); i.Evaluate(); var o = i.GetManifoldCount(); if (s == 0 && o > 0) { e = i.m_shape1.m_body; t = i.m_shape2.m_body; n = i.m_node1; r = i.m_node2; n.contact = i; n.other = t; n.prev = null; n.next = e.m_contactList; if (n.next != null) { n.next.prev = i.m_node1 } e.m_contactList = i.m_node1; r.contact = i; r.other = e; r.prev = null; r.next = t.m_contactList; if (r.next != null) { r.next.prev = r } t.m_contactList = r } else if (s > 0 && o == 0) { e = i.m_shape1.m_body; t = i.m_shape2.m_body; n = i.m_node1; r = i.m_node2; if (n.prev) { n.prev.next = n.next } if (n.next) { n.next.prev = n.prev } if (n == e.m_contactList) { e.m_contactList = n.next } n.prev = null; n.next = null; if (r.prev) { r.prev.next = r.next } if (r.next) { r.next.prev = r.prev } if (r == t.m_contactList) { t.m_contactList = r.next } r.prev = null; r.next = null } } }, m_world: null, m_nullContact: new b2NullContact, m_destroyImmediate: null }); var b2World = Class.create(); b2World.prototype = { initialize: function (e, t, n) { this.step = new b2TimeStep; this.m_contactManager = new b2ContactManager; this.m_listener = null; this.m_filter = b2CollisionFilter.b2_defaultFilter; this.m_bodyList = null; this.m_contactList = null; this.m_jointList = null; this.m_bodyCount = 0; this.m_contactCount = 0; this.m_jointCount = 0; this.m_bodyDestroyList = null; this.m_allowSleep = n; this.m_gravity = t; this.m_contactManager.m_world = this; this.m_broadPhase = new b2BroadPhase(e, this.m_contactManager); var r = new b2BodyDef; this.m_groundBody = this.CreateBody(r) }, SetListener: function (e) { this.m_listener = e }, SetFilter: function (e) { this.m_filter = e }, CreateBody: function (e) { var t = new b2Body(e, this); t.m_prev = null; t.m_next = this.m_bodyList; if (this.m_bodyList) { this.m_bodyList.m_prev = t } this.m_bodyList = t; ++this.m_bodyCount; return t }, DestroyBody: function (e) { if (e.m_flags & b2Body.e_destroyFlag) { return } if (e.m_prev) { e.m_prev.m_next = e.m_next } if (e.m_next) { e.m_next.m_prev = e.m_prev } if (e == this.m_bodyList) { this.m_bodyList = e.m_next } e.m_flags |= b2Body.e_destroyFlag; --this.m_bodyCount; e.m_prev = null; e.m_next = this.m_bodyDestroyList; this.m_bodyDestroyList = e }, CleanBodyList: function () { this.m_contactManager.m_destroyImmediate = true; var e = this.m_bodyDestroyList; while (e) { var t = e; e = e.m_next; var n = t.m_jointList; while (n) { var r = n; n = n.next; if (this.m_listener) { this.m_listener.NotifyJointDestroyed(r.joint) } this.DestroyJoint(r.joint) } t.Destroy() } this.m_bodyDestroyList = null; this.m_contactManager.m_destroyImmediate = false }, CreateJoint: function (e) { var t = b2Joint.Create(e, this.m_blockAllocator); t.m_prev = null; t.m_next = this.m_jointList; if (this.m_jointList) { this.m_jointList.m_prev = t } this.m_jointList = t; ++this.m_jointCount; t.m_node1.joint = t; t.m_node1.other = t.m_body2; t.m_node1.prev = null; t.m_node1.next = t.m_body1.m_jointList; if (t.m_body1.m_jointList) t.m_body1.m_jointList.prev = t.m_node1; t.m_body1.m_jointList = t.m_node1; t.m_node2.joint = t; t.m_node2.other = t.m_body1; t.m_node2.prev = null; t.m_node2.next = t.m_body2.m_jointList; if (t.m_body2.m_jointList) t.m_body2.m_jointList.prev = t.m_node2; t.m_body2.m_jointList = t.m_node2; if (e.collideConnected == false) { var n = e.body1.m_shapeCount < e.body2.m_shapeCount ? e.body1 : e.body2; for (var r = n.m_shapeList; r; r = r.m_next) { r.ResetProxy(this.m_broadPhase) } } return t }, DestroyJoint: function (e) { var t = e.m_collideConnected; if (e.m_prev) { e.m_prev.m_next = e.m_next } if (e.m_next) { e.m_next.m_prev = e.m_prev } if (e == this.m_jointList) { this.m_jointList = e.m_next } var n = e.m_body1; var r = e.m_body2; n.WakeUp(); r.WakeUp(); if (e.m_node1.prev) { e.m_node1.prev.next = e.m_node1.next } if (e.m_node1.next) { e.m_node1.next.prev = e.m_node1.prev } if (e.m_node1 == n.m_jointList) { n.m_jointList = e.m_node1.next } e.m_node1.prev = null; e.m_node1.next = null; if (e.m_node2.prev) { e.m_node2.prev.next = e.m_node2.next } if (e.m_node2.next) { e.m_node2.next.prev = e.m_node2.prev } if (e.m_node2 == r.m_jointList) { r.m_jointList = e.m_node2.next } e.m_node2.prev = null; e.m_node2.next = null; b2Joint.Destroy(e, this.m_blockAllocator); --this.m_jointCount; if (t == false) { var i = n.m_shapeCount < r.m_shapeCount ? n : r; for (var s = i.m_shapeList; s; s = s.m_next) { s.ResetProxy(this.m_broadPhase) } } }, GetGroundBody: function () { return this.m_groundBody }, step: new b2TimeStep, Step: function (e, t) { var n; var r; this.step.dt = e; this.step.iterations = t; if (e > 0) { this.step.inv_dt = 1 / e } else { this.step.inv_dt = 0 } this.m_positionIterationCount = 0; this.m_contactManager.CleanContactList(); this.CleanBodyList(); this.m_contactManager.Collide(); var i = new b2Island(this.m_bodyCount, this.m_contactCount, this.m_jointCount, this.m_stackAllocator); for (n = this.m_bodyList; n != null; n = n.m_next) { n.m_flags &= ~b2Body.e_islandFlag } for (var s = this.m_contactList; s != null; s = s.m_next) { s.m_flags &= ~b2Contact.e_islandFlag } for (var o = this.m_jointList; o != null; o = o.m_next) { o.m_islandFlag = false } var u = this.m_bodyCount; var a = new Array(this.m_bodyCount); for (var f = 0; f < this.m_bodyCount; f++)a[f] = null; for (var l = this.m_bodyList; l != null; l = l.m_next) { if (l.m_flags & (b2Body.e_staticFlag | b2Body.e_islandFlag | b2Body.e_sleepFlag | b2Body.e_frozenFlag)) { continue } i.Clear(); var c = 0; a[c++] = l; l.m_flags |= b2Body.e_islandFlag; while (c > 0) { n = a[--c]; i.AddBody(n); n.m_flags &= ~b2Body.e_sleepFlag; if (n.m_flags & b2Body.e_staticFlag) { continue } for (var h = n.m_contactList; h != null; h = h.next) { if (h.contact.m_flags & b2Contact.e_islandFlag) { continue } i.AddContact(h.contact); h.contact.m_flags |= b2Contact.e_islandFlag; r = h.other; if (r.m_flags & b2Body.e_islandFlag) { continue } a[c++] = r; r.m_flags |= b2Body.e_islandFlag } for (var p = n.m_jointList; p != null; p = p.next) { if (p.joint.m_islandFlag == true) { continue } i.AddJoint(p.joint); p.joint.m_islandFlag = true; r = p.other; if (r.m_flags & b2Body.e_islandFlag) { continue } a[c++] = r; r.m_flags |= b2Body.e_islandFlag } } i.Solve(this.step, this.m_gravity); this.m_positionIterationCount = b2Math.b2Max(this.m_positionIterationCount, b2Island.m_positionIterationCount); if (this.m_allowSleep) { i.UpdateSleep(e) } for (var d = 0; d < i.m_bodyCount; ++d) { n = i.m_bodies[d]; if (n.m_flags & b2Body.e_staticFlag) { n.m_flags &= ~b2Body.e_islandFlag } if (n.IsFrozen() && this.m_listener) { var v = this.m_listener.NotifyBoundaryViolated(n); if (v == b2WorldListener.b2_destroyBody) { this.DestroyBody(n); n = null; i.m_bodies[d] = null } } } } this.m_broadPhase.Commit() }, Query: function (e, t, n) { var r = new Array; var i = this.m_broadPhase.QueryAABB(e, r, n); for (var s = 0; s < i; ++s) { t[s] = r[s] } return i }, GetBodyList: function () { return this.m_bodyList }, GetJointList: function () { return this.m_jointList }, GetContactList: function () { return this.m_contactList }, m_blockAllocator: null, m_stackAllocator: null, m_broadPhase: null, m_contactManager: new b2ContactManager, m_bodyList: null, m_contactList: null, m_jointList: null, m_bodyCount: 0, m_contactCount: 0, m_jointCount: 0, m_bodyDestroyList: null, m_gravity: null, m_allowSleep: null, m_groundBody: null, m_listener: null, m_filter: null, m_positionIterationCount: 0 }; b2World.s_enablePositionCorrection = 1; b2World.s_enableWarmStarting = 1; var b2WorldListener = Class.create(); b2WorldListener.prototype = { NotifyJointDestroyed: function (e) { }, NotifyBoundaryViolated: function (e) { return b2WorldListener.b2_freezeBody }, initialize: function () { } }; b2WorldListener.b2_freezeBody = 0; b2WorldListener.b2_destroyBody = 1; var b2JointNode = Class.create(); b2JointNode.prototype = { other: null, joint: null, prev: null, next: null, initialize: function () { } }; var b2Joint = Class.create(); b2Joint.prototype = { GetType: function () { return this.m_type }, GetAnchor1: function () { return null }, GetAnchor2: function () { return null }, GetReactionForce: function (e) { return null }, GetReactionTorque: function (e) { return 0 }, GetBody1: function () { return this.m_body1 }, GetBody2: function () { return this.m_body2 }, GetNext: function () { return this.m_next }, GetUserData: function () { return this.m_userData }, initialize: function (e) { this.m_node1 = new b2JointNode; this.m_node2 = new b2JointNode; this.m_type = e.type; this.m_prev = null; this.m_next = null; this.m_body1 = e.body1; this.m_body2 = e.body2; this.m_collideConnected = e.collideConnected; this.m_islandFlag = false; this.m_userData = e.userData }, PrepareVelocitySolver: function () { }, SolveVelocityConstraints: function (e) { }, PreparePositionSolver: function () { }, SolvePositionConstraints: function () { return false }, m_type: 0, m_prev: null, m_next: null, m_node1: new b2JointNode, m_node2: new b2JointNode, m_body1: null, m_body2: null, m_islandFlag: null, m_collideConnected: null, m_userData: null }; b2Joint.Create = function (e, t) { var n = null; switch (e.type) { case b2Joint.e_distanceJoint: { n = new b2DistanceJoint(e) } break; case b2Joint.e_mouseJoint: { n = new b2MouseJoint(e) } break; case b2Joint.e_prismaticJoint: { n = new b2PrismaticJoint(e) } break; case b2Joint.e_revoluteJoint: { n = new b2RevoluteJoint(e) } break; case b2Joint.e_pulleyJoint: { n = new b2PulleyJoint(e) } break; case b2Joint.e_gearJoint: { n = new b2GearJoint(e) } break; default: break }return n }; b2Joint.Destroy = function (e, t) { }; b2Joint.e_unknownJoint = 0; b2Joint.e_revoluteJoint = 1; b2Joint.e_prismaticJoint = 2; b2Joint.e_distanceJoint = 3; b2Joint.e_pulleyJoint = 4; b2Joint.e_mouseJoint = 5; b2Joint.e_gearJoint = 6; b2Joint.e_inactiveLimit = 0; b2Joint.e_atLowerLimit = 1; b2Joint.e_atUpperLimit = 2; b2Joint.e_equalLimits = 3; var b2JointDef = Class.create(); b2JointDef.prototype = { initialize: function () { this.type = b2Joint.e_unknownJoint; this.userData = null; this.body1 = null; this.body2 = null; this.collideConnected = false }, type: 0, userData: null, body1: null, body2: null, collideConnected: null }; var b2DistanceJoint = Class.create(); Object.extend(b2DistanceJoint.prototype, b2Joint.prototype); Object.extend(b2DistanceJoint.prototype, { initialize: function (e) { this.m_node1 = new b2JointNode; this.m_node2 = new b2JointNode; this.m_type = e.type; this.m_prev = null; this.m_next = null; this.m_body1 = e.body1; this.m_body2 = e.body2; this.m_collideConnected = e.collideConnected; this.m_islandFlag = false; this.m_userData = e.userData; this.m_localAnchor1 = new b2Vec2; this.m_localAnchor2 = new b2Vec2; this.m_u = new b2Vec2; var t; var n; var r; t = this.m_body1.m_R; n = e.anchorPoint1.x - this.m_body1.m_position.x; r = e.anchorPoint1.y - this.m_body1.m_position.y; this.m_localAnchor1.x = n * t.col1.x + r * t.col1.y; this.m_localAnchor1.y = n * t.col2.x + r * t.col2.y; t = this.m_body2.m_R; n = e.anchorPoint2.x - this.m_body2.m_position.x; r = e.anchorPoint2.y - this.m_body2.m_position.y; this.m_localAnchor2.x = n * t.col1.x + r * t.col1.y; this.m_localAnchor2.y = n * t.col2.x + r * t.col2.y; n = e.anchorPoint2.x - e.anchorPoint1.x; r = e.anchorPoint2.y - e.anchorPoint1.y; this.m_length = Math.sqrt(n * n + r * r); this.m_impulse = 0 }, PrepareVelocitySolver: function () { var e; e = this.m_body1.m_R; var t = e.col1.x * this.m_localAnchor1.x + e.col2.x * this.m_localAnchor1.y; var n = e.col1.y * this.m_localAnchor1.x + e.col2.y * this.m_localAnchor1.y; e = this.m_body2.m_R; var r = e.col1.x * this.m_localAnchor2.x + e.col2.x * this.m_localAnchor2.y; var i = e.col1.y * this.m_localAnchor2.x + e.col2.y * this.m_localAnchor2.y; this.m_u.x = this.m_body2.m_position.x + r - this.m_body1.m_position.x - t; this.m_u.y = this.m_body2.m_position.y + i - this.m_body1.m_position.y - n; var s = Math.sqrt(this.m_u.x * this.m_u.x + this.m_u.y * this.m_u.y); if (s > b2Settings.b2_linearSlop) { this.m_u.Multiply(1 / s) } else { this.m_u.SetZero() } var o = t * this.m_u.y - n * this.m_u.x; var u = r * this.m_u.y - i * this.m_u.x; this.m_mass = this.m_body1.m_invMass + this.m_body1.m_invI * o * o + this.m_body2.m_invMass + this.m_body2.m_invI * u * u; this.m_mass = 1 / this.m_mass; if (b2World.s_enableWarmStarting) { var a = this.m_impulse * this.m_u.x; var f = this.m_impulse * this.m_u.y; this.m_body1.m_linearVelocity.x -= this.m_body1.m_invMass * a; this.m_body1.m_linearVelocity.y -= this.m_body1.m_invMass * f; this.m_body1.m_angularVelocity -= this.m_body1.m_invI * (t * f - n * a); this.m_body2.m_linearVelocity.x += this.m_body2.m_invMass * a; this.m_body2.m_linearVelocity.y += this.m_body2.m_invMass * f; this.m_body2.m_angularVelocity += this.m_body2.m_invI * (r * f - i * a) } else { this.m_impulse = 0 } }, SolveVelocityConstraints: function (e) { var t; t = this.m_body1.m_R; var n = t.col1.x * this.m_localAnchor1.x + t.col2.x * this.m_localAnchor1.y; var r = t.col1.y * this.m_localAnchor1.x + t.col2.y * this.m_localAnchor1.y; t = this.m_body2.m_R; var i = t.col1.x * this.m_localAnchor2.x + t.col2.x * this.m_localAnchor2.y; var s = t.col1.y * this.m_localAnchor2.x + t.col2.y * this.m_localAnchor2.y; var o = this.m_body1.m_linearVelocity.x + -this.m_body1.m_angularVelocity * r; var u = this.m_body1.m_linearVelocity.y + this.m_body1.m_angularVelocity * n; var a = this.m_body2.m_linearVelocity.x + -this.m_body2.m_angularVelocity * s; var f = this.m_body2.m_linearVelocity.y + this.m_body2.m_angularVelocity * i; var l = this.m_u.x * (a - o) + this.m_u.y * (f - u); var c = -this.m_mass * l; this.m_impulse += c; var h = c * this.m_u.x; var p = c * this.m_u.y; this.m_body1.m_linearVelocity.x -= this.m_body1.m_invMass * h; this.m_body1.m_linearVelocity.y -= this.m_body1.m_invMass * p; this.m_body1.m_angularVelocity -= this.m_body1.m_invI * (n * p - r * h); this.m_body2.m_linearVelocity.x += this.m_body2.m_invMass * h; this.m_body2.m_linearVelocity.y += this.m_body2.m_invMass * p; this.m_body2.m_angularVelocity += this.m_body2.m_invI * (i * p - s * h) }, SolvePositionConstraints: function () { var e; e = this.m_body1.m_R; var t = e.col1.x * this.m_localAnchor1.x + e.col2.x * this.m_localAnchor1.y; var n = e.col1.y * this.m_localAnchor1.x + e.col2.y * this.m_localAnchor1.y; e = this.m_body2.m_R; var r = e.col1.x * this.m_localAnchor2.x + e.col2.x * this.m_localAnchor2.y; var i = e.col1.y * this.m_localAnchor2.x + e.col2.y * this.m_localAnchor2.y; var s = this.m_body2.m_position.x + r - this.m_body1.m_position.x - t; var o = this.m_body2.m_position.y + i - this.m_body1.m_position.y - n; var u = Math.sqrt(s * s + o * o); s /= u; o /= u; var a = u - this.m_length; a = b2Math.b2Clamp(a, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection); var f = -this.m_mass * a; this.m_u.Set(s, o); var l = f * this.m_u.x; var c = f * this.m_u.y; this.m_body1.m_position.x -= this.m_body1.m_invMass * l; this.m_body1.m_position.y -= this.m_body1.m_invMass * c; this.m_body1.m_rotation -= this.m_body1.m_invI * (t * c - n * l); this.m_body2.m_position.x += this.m_body2.m_invMass * l; this.m_body2.m_position.y += this.m_body2.m_invMass * c; this.m_body2.m_rotation += this.m_body2.m_invI * (r * c - i * l); this.m_body1.m_R.Set(this.m_body1.m_rotation); this.m_body2.m_R.Set(this.m_body2.m_rotation); return b2Math.b2Abs(a) < b2Settings.b2_linearSlop }, GetAnchor1: function () { return b2Math.AddVV(this.m_body1.m_position, b2Math.b2MulMV(this.m_body1.m_R, this.m_localAnchor1)) }, GetAnchor2: function () { return b2Math.AddVV(this.m_body2.m_position, b2Math.b2MulMV(this.m_body2.m_R, this.m_localAnchor2)) }, GetReactionForce: function (e) { var t = new b2Vec2; t.SetV(this.m_u); t.Multiply(this.m_impulse * e); return t }, GetReactionTorque: function (e) { return 0 }, m_localAnchor1: new b2Vec2, m_localAnchor2: new b2Vec2, m_u: new b2Vec2, m_impulse: null, m_mass: null, m_length: null }); var b2DistanceJointDef = Class.create(); Object.extend(b2DistanceJointDef.prototype, b2JointDef.prototype); Object.extend(b2DistanceJointDef.prototype, { initialize: function () { this.type = b2Joint.e_unknownJoint; this.userData = null; this.body1 = null; this.body2 = null; this.collideConnected = false; this.anchorPoint1 = new b2Vec2; this.anchorPoint2 = new b2Vec2; this.type = b2Joint.e_distanceJoint }, anchorPoint1: new b2Vec2, anchorPoint2: new b2Vec2 }); var b2Jacobian = Class.create(); b2Jacobian.prototype = { linear1: new b2Vec2, angular1: null, linear2: new b2Vec2, angular2: null, SetZero: function () { this.linear1.SetZero(); this.angular1 = 0; this.linear2.SetZero(); this.angular2 = 0 }, Set: function (e, t, n, r) { this.linear1.SetV(e); this.angular1 = t; this.linear2.SetV(n); this.angular2 = r }, Compute: function (e, t, n, r) { return this.linear1.x * e.x + this.linear1.y * e.y + this.angular1 * t + (this.linear2.x * n.x + this.linear2.y * n.y) + this.angular2 * r }, initialize: function () { this.linear1 = new b2Vec2; this.linear2 = new b2Vec2 } }; var b2GearJoint = Class.create(); Object.extend(b2GearJoint.prototype, b2Joint.prototype); Object.extend(b2GearJoint.prototype, { GetAnchor1: function () { var e = this.m_body1.m_R; return new b2Vec2(this.m_body1.m_position.x + (e.col1.x * this.m_localAnchor1.x + e.col2.x * this.m_localAnchor1.y), this.m_body1.m_position.y + (e.col1.y * this.m_localAnchor1.x + e.col2.y * this.m_localAnchor1.y)) }, GetAnchor2: function () { var e = this.m_body2.m_R; return new b2Vec2(this.m_body2.m_position.x + (e.col1.x * this.m_localAnchor2.x + e.col2.x * this.m_localAnchor2.y), this.m_body2.m_position.y + (e.col1.y * this.m_localAnchor2.x + e.col2.y * this.m_localAnchor2.y)) }, GetReactionForce: function (e) { return new b2Vec2 }, GetReactionTorque: function (e) { return 0 }, GetRatio: function () { return this.m_ratio }, initialize: function (e) { this.m_node1 = new b2JointNode; this.m_node2 = new b2JointNode; this.m_type = e.type; this.m_prev = null; this.m_next = null; this.m_body1 = e.body1; this.m_body2 = e.body2; this.m_collideConnected = e.collideConnected; this.m_islandFlag = false; this.m_userData = e.userData; this.m_groundAnchor1 = new b2Vec2; this.m_groundAnchor2 = new b2Vec2; this.m_localAnchor1 = new b2Vec2; this.m_localAnchor2 = new b2Vec2; this.m_J = new b2Jacobian; this.m_revolute1 = null; this.m_prismatic1 = null; this.m_revolute2 = null; this.m_prismatic2 = null; var t; var n; this.m_ground1 = e.joint1.m_body1; this.m_body1 = e.joint1.m_body2; if (e.joint1.m_type == b2Joint.e_revoluteJoint) { this.m_revolute1 = e.joint1; this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1); this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2); t = this.m_revolute1.GetJointAngle() } else { this.m_prismatic1 = e.joint1; this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1); this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2); t = this.m_prismatic1.GetJointTranslation() } this.m_ground2 = e.joint2.m_body1; this.m_body2 = e.joint2.m_body2; if (e.joint2.m_type == b2Joint.e_revoluteJoint) { this.m_revolute2 = e.joint2; this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1); this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2); n = this.m_revolute2.GetJointAngle() } else { this.m_prismatic2 = e.joint2; this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1); this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2); n = this.m_prismatic2.GetJointTranslation() } this.m_ratio = e.ratio; this.m_constant = t + this.m_ratio * n; this.m_impulse = 0 }, PrepareVelocitySolver: function () { var e = this.m_ground1; var t = this.m_ground2; var n = this.m_body1; var r = this.m_body2; var i; var s; var o; var u; var a; var f; var l; var c = 0; this.m_J.SetZero(); if (this.m_revolute1) { this.m_J.angular1 = -1; c += n.m_invI } else { a = e.m_R; f = this.m_prismatic1.m_localXAxis1; i = a.col1.x * f.x + a.col2.x * f.y; s = a.col1.y * f.x + a.col2.y * f.y; a = n.m_R; o = a.col1.x * this.m_localAnchor1.x + a.col2.x * this.m_localAnchor1.y; u = a.col1.y * this.m_localAnchor1.x + a.col2.y * this.m_localAnchor1.y; l = o * s - u * i; this.m_J.linear1.Set(-i, -s); this.m_J.angular1 = -l; c += n.m_invMass + n.m_invI * l * l } if (this.m_revolute2) { this.m_J.angular2 = -this.m_ratio; c += this.m_ratio * this.m_ratio * r.m_invI } else { a = t.m_R; f = this.m_prismatic2.m_localXAxis1; i = a.col1.x * f.x + a.col2.x * f.y; s = a.col1.y * f.x + a.col2.y * f.y; a = r.m_R; o = a.col1.x * this.m_localAnchor2.x + a.col2.x * this.m_localAnchor2.y; u = a.col1.y * this.m_localAnchor2.x + a.col2.y * this.m_localAnchor2.y; l = o * s - u * i; this.m_J.linear2.Set(-this.m_ratio * i, -this.m_ratio * s); this.m_J.angular2 = -this.m_ratio * l; c += this.m_ratio * this.m_ratio * (r.m_invMass + r.m_invI * l * l) } this.m_mass = 1 / c; n.m_linearVelocity.x += n.m_invMass * this.m_impulse * this.m_J.linear1.x; n.m_linearVelocity.y += n.m_invMass * this.m_impulse * this.m_J.linear1.y; n.m_angularVelocity += n.m_invI * this.m_impulse * this.m_J.angular1; r.m_linearVelocity.x += r.m_invMass * this.m_impulse * this.m_J.linear2.x; r.m_linearVelocity.y += r.m_invMass * this.m_impulse * this.m_J.linear2.y; r.m_angularVelocity += r.m_invI * this.m_impulse * this.m_J.angular2 }, SolveVelocityConstraints: function (e) { var t = this.m_body1; var n = this.m_body2; var r = this.m_J.Compute(t.m_linearVelocity, t.m_angularVelocity, n.m_linearVelocity, n.m_angularVelocity); var i = -this.m_mass * r; this.m_impulse += i; t.m_linearVelocity.x += t.m_invMass * i * this.m_J.linear1.x; t.m_linearVelocity.y += t.m_invMass * i * this.m_J.linear1.y; t.m_angularVelocity += t.m_invI * i * this.m_J.angular1; n.m_linearVelocity.x += n.m_invMass * i * this.m_J.linear2.x; n.m_linearVelocity.y += n.m_invMass * i * this.m_J.linear2.y; n.m_angularVelocity += n.m_invI * i * this.m_J.angular2 }, SolvePositionConstraints: function () { var e = 0; var t = this.m_body1; var n = this.m_body2; var r; var i; if (this.m_revolute1) { r = this.m_revolute1.GetJointAngle() } else { r = this.m_prismatic1.GetJointTranslation() } if (this.m_revolute2) { i = this.m_revolute2.GetJointAngle() } else { i = this.m_prismatic2.GetJointTranslation() } var s = this.m_constant - (r + this.m_ratio * i); var o = -this.m_mass * s; t.m_position.x += t.m_invMass * o * this.m_J.linear1.x; t.m_position.y += t.m_invMass * o * this.m_J.linear1.y; t.m_rotation += t.m_invI * o * this.m_J.angular1; n.m_position.x += n.m_invMass * o * this.m_J.linear2.x; n.m_position.y += n.m_invMass * o * this.m_J.linear2.y; n.m_rotation += n.m_invI * o * this.m_J.angular2; t.m_R.Set(t.m_rotation); n.m_R.Set(n.m_rotation); return e < b2Settings.b2_linearSlop }, m_ground1: null, m_ground2: null, m_revolute1: null, m_prismatic1: null, m_revolute2: null, m_prismatic2: null, m_groundAnchor1: new b2Vec2, m_groundAnchor2: new b2Vec2, m_localAnchor1: new b2Vec2, m_localAnchor2: new b2Vec2, m_J: new b2Jacobian, m_constant: null, m_ratio: null, m_mass: null, m_impulse: null }); var b2GearJointDef = Class.create(); Object.extend(b2GearJointDef.prototype, b2JointDef.prototype); Object.extend(b2GearJointDef.prototype, { initialize: function () { this.type = b2Joint.e_gearJoint; this.joint1 = null; this.joint2 = null; this.ratio = 1 }, joint1: null, joint2: null, ratio: null }); var b2MouseJoint = Class.create(); Object.extend(b2MouseJoint.prototype, b2Joint.prototype); Object.extend(b2MouseJoint.prototype, { GetAnchor1: function () { return this.m_target }, GetAnchor2: function () { var e = b2Math.b2MulMV(this.m_body2.m_R, this.m_localAnchor); e.Add(this.m_body2.m_position); return e }, GetReactionForce: function (e) { var t = new b2Vec2; t.SetV(this.m_impulse); t.Multiply(e); return t }, GetReactionTorque: function (e) { return 0 }, SetTarget: function (e) { this.m_body2.WakeUp(); this.m_target = e }, initialize: function (e) { this.m_node1 = new b2JointNode; this.m_node2 = new b2JointNode; this.m_type = e.type; this.m_prev = null; this.m_next = null; this.m_body1 = e.body1; this.m_body2 = e.body2; this.m_collideConnected = e.collideConnected; this.m_islandFlag = false; this.m_userData = e.userData; this.K = new b2Mat22; this.K1 = new b2Mat22; this.K2 = new b2Mat22; this.m_localAnchor = new b2Vec2; this.m_target = new b2Vec2; this.m_impulse = new b2Vec2; this.m_ptpMass = new b2Mat22; this.m_C = new b2Vec2; this.m_target.SetV(e.target); var t = this.m_target.x - this.m_body2.m_position.x; var n = this.m_target.y - this.m_body2.m_position.y; this.m_localAnchor.x = t * this.m_body2.m_R.col1.x + n * this.m_body2.m_R.col1.y; this.m_localAnchor.y = t * this.m_body2.m_R.col2.x + n * this.m_body2.m_R.col2.y; this.m_maxForce = e.maxForce; this.m_impulse.SetZero(); var r = this.m_body2.m_mass; var i = 2 * b2Settings.b2_pi * e.frequencyHz; var s = 2 * r * e.dampingRatio * i; var o = r * i * i; this.m_gamma = 1 / (s + e.timeStep * o); this.m_beta = e.timeStep * o / (s + e.timeStep * o) }, K: new b2Mat22, K1: new b2Mat22, K2: new b2Mat22, PrepareVelocitySolver: function () { var e = this.m_body2; var t; t = e.m_R; var n = t.col1.x * this.m_localAnchor.x + t.col2.x * this.m_localAnchor.y; var r = t.col1.y * this.m_localAnchor.x + t.col2.y * this.m_localAnchor.y; var i = e.m_invMass; var s = e.m_invI; this.K1.col1.x = i; this.K1.col2.x = 0; this.K1.col1.y = 0; this.K1.col2.y = i; this.K2.col1.x = s * r * r; this.K2.col2.x = -s * n * r; this.K2.col1.y = -s * n * r; this.K2.col2.y = s * n * n; this.K.SetM(this.K1); this.K.AddM(this.K2); this.K.col1.x += this.m_gamma; this.K.col2.y += this.m_gamma; this.K.Invert(this.m_ptpMass); this.m_C.x = e.m_position.x + n - this.m_target.x; this.m_C.y = e.m_position.y + r - this.m_target.y; e.m_angularVelocity *= .98; var o = this.m_impulse.x; var u = this.m_impulse.y; e.m_linearVelocity.x += i * o; e.m_linearVelocity.y += i * u; e.m_angularVelocity += s * (n * u - r * o) }, SolveVelocityConstraints: function (e) { var t = this.m_body2; var n; n = t.m_R; var r = n.col1.x * this.m_localAnchor.x + n.col2.x * this.m_localAnchor.y; var i = n.col1.y * this.m_localAnchor.x + n.col2.y * this.m_localAnchor.y; var s = t.m_linearVelocity.x + -t.m_angularVelocity * i; var o = t.m_linearVelocity.y + t.m_angularVelocity * r; n = this.m_ptpMass; var u = s + this.m_beta * e.inv_dt * this.m_C.x + this.m_gamma * this.m_impulse.x; var a = o + this.m_beta * e.inv_dt * this.m_C.y + this.m_gamma * this.m_impulse.y; var f = -(n.col1.x * u + n.col2.x * a); var l = -(n.col1.y * u + n.col2.y * a); var c = this.m_impulse.x; var h = this.m_impulse.y; this.m_impulse.x += f; this.m_impulse.y += l; var p = this.m_impulse.Length(); if (p > e.dt * this.m_maxForce) { this.m_impulse.Multiply(e.dt * this.m_maxForce / p) } f = this.m_impulse.x - c; l = this.m_impulse.y - h; t.m_linearVelocity.x += t.m_invMass * f; t.m_linearVelocity.y += t.m_invMass * l; t.m_angularVelocity += t.m_invI * (r * l - i * f) }, SolvePositionConstraints: function () { return true }, m_localAnchor: new b2Vec2, m_target: new b2Vec2, m_impulse: new b2Vec2, m_ptpMass: new b2Mat22, m_C: new b2Vec2, m_maxForce: null, m_beta: null, m_gamma: null }); var b2MouseJointDef = Class.create(); Object.extend(b2MouseJointDef.prototype, b2JointDef.prototype); Object.extend(b2MouseJointDef.prototype, { initialize: function () { this.type = b2Joint.e_unknownJoint; this.userData = null; this.body1 = null; this.body2 = null; this.collideConnected = false; this.target = new b2Vec2; this.type = b2Joint.e_mouseJoint; this.maxForce = 0; this.frequencyHz = 5; this.dampingRatio = .7; this.timeStep = 1 / 60 }, target: new b2Vec2, maxForce: null, frequencyHz: null, dampingRatio: null, timeStep: null }); var b2PrismaticJoint = Class.create(); Object.extend(b2PrismaticJoint.prototype, b2Joint.prototype); Object.extend(b2PrismaticJoint.prototype, { GetAnchor1: function () { var e = this.m_body1; var t = new b2Vec2; t.SetV(this.m_localAnchor1); t.MulM(e.m_R); t.Add(e.m_position); return t }, GetAnchor2: function () { var e = this.m_body2; var t = new b2Vec2; t.SetV(this.m_localAnchor2); t.MulM(e.m_R); t.Add(e.m_position); return t }, GetJointTranslation: function () { var e = this.m_body1; var t = this.m_body2; var n; n = e.m_R; var r = n.col1.x * this.m_localAnchor1.x + n.col2.x * this.m_localAnchor1.y; var i = n.col1.y * this.m_localAnchor1.x + n.col2.y * this.m_localAnchor1.y; n = t.m_R; var s = n.col1.x * this.m_localAnchor2.x + n.col2.x * this.m_localAnchor2.y; var o = n.col1.y * this.m_localAnchor2.x + n.col2.y * this.m_localAnchor2.y; var u = e.m_position.x + r; var a = e.m_position.y + i; var f = t.m_position.x + s; var l = t.m_position.y + o; var c = f - u; var h = l - a; n = e.m_R; var p = n.col1.x * this.m_localXAxis1.x + n.col2.x * this.m_localXAxis1.y; var d = n.col1.y * this.m_localXAxis1.x + n.col2.y * this.m_localXAxis1.y; var v = p * c + d * h; return v }, GetJointSpeed: function () { var e = this.m_body1; var t = this.m_body2; var n; n = e.m_R; var r = n.col1.x * this.m_localAnchor1.x + n.col2.x * this.m_localAnchor1.y; var i = n.col1.y * this.m_localAnchor1.x + n.col2.y * this.m_localAnchor1.y; n = t.m_R; var s = n.col1.x * this.m_localAnchor2.x + n.col2.x * this.m_localAnchor2.y; var o = n.col1.y * this.m_localAnchor2.x + n.col2.y * this.m_localAnchor2.y; var u = e.m_position.x + r; var a = e.m_position.y + i; var f = t.m_position.x + s; var l = t.m_position.y + o; var c = f - u; var h = l - a; n = e.m_R; var p = n.col1.x * this.m_localXAxis1.x + n.col2.x * this.m_localXAxis1.y; var d = n.col1.y * this.m_localXAxis1.x + n.col2.y * this.m_localXAxis1.y; var v = e.m_linearVelocity; var m = t.m_linearVelocity; var g = e.m_angularVelocity; var y = t.m_angularVelocity; var b = c * -g * d + h * g * p + (p * (m.x + -y * o - v.x - -g * i) + d * (m.y + y * s - v.y - g * r)); return b }, GetMotorForce: function (e) { return e * this.m_motorImpulse }, SetMotorSpeed: function (e) { this.m_motorSpeed = e }, SetMotorForce: function (e) { this.m_maxMotorForce = e }, GetReactionForce: function (e) { var t = e * this.m_limitImpulse; var n; n = this.m_body1.m_R; var r = t * (n.col1.x * this.m_localXAxis1.x + n.col2.x * this.m_localXAxis1.y); var i = t * (n.col1.y * this.m_localXAxis1.x + n.col2.y * this.m_localXAxis1.y); var s = t * (n.col1.x * this.m_localYAxis1.x + n.col2.x * this.m_localYAxis1.y); var o = t * (n.col1.y * this.m_localYAxis1.x + n.col2.y * this.m_localYAxis1.y); return new b2Vec2(r + s, i + o) }, GetReactionTorque: function (e) { return e * this.m_angularImpulse }, initialize: function (e) { this.m_node1 = new b2JointNode; this.m_node2 = new b2JointNode; this.m_type = e.type; this.m_prev = null; this.m_next = null; this.m_body1 = e.body1; this.m_body2 = e.body2; this.m_collideConnected = e.collideConnected; this.m_islandFlag = false; this.m_userData = e.userData; this.m_localAnchor1 = new b2Vec2; this.m_localAnchor2 = new b2Vec2; this.m_localXAxis1 = new b2Vec2; this.m_localYAxis1 = new b2Vec2; this.m_linearJacobian = new b2Jacobian; this.m_motorJacobian = new b2Jacobian; var t; var n; var r; t = this.m_body1.m_R; n = e.anchorPoint.x - this.m_body1.m_position.x; r = e.anchorPoint.y - this.m_body1.m_position.y; this.m_localAnchor1.Set(n * t.col1.x + r * t.col1.y, n * t.col2.x + r * t.col2.y); t = this.m_body2.m_R; n = e.anchorPoint.x - this.m_body2.m_position.x; r = e.anchorPoint.y - this.m_body2.m_position.y; this.m_localAnchor2.Set(n * t.col1.x + r * t.col1.y, n * t.col2.x + r * t.col2.y); t = this.m_body1.m_R; n = e.axis.x; r = e.axis.y; this.m_localXAxis1.Set(n * t.col1.x + r * t.col1.y, n * t.col2.x + r * t.col2.y); this.m_localYAxis1.x = -this.m_localXAxis1.y; this.m_localYAxis1.y = this.m_localXAxis1.x; this.m_initialAngle = this.m_body2.m_rotation - this.m_body1.m_rotation; this.m_linearJacobian.SetZero(); this.m_linearMass = 0; this.m_linearImpulse = 0; this.m_angularMass = 0; this.m_angularImpulse = 0; this.m_motorJacobian.SetZero(); this.m_motorMass = 0; this.m_motorImpulse = 0; this.m_limitImpulse = 0; this.m_limitPositionImpulse = 0; this.m_lowerTranslation = e.lowerTranslation; this.m_upperTranslation = e.upperTranslation; this.m_maxMotorForce = e.motorForce; this.m_motorSpeed = e.motorSpeed; this.m_enableLimit = e.enableLimit; this.m_enableMotor = e.enableMotor }, PrepareVelocitySolver: function () { var e = this.m_body1; var t = this.m_body2; var n; n = e.m_R; var r = n.col1.x * this.m_localAnchor1.x + n.col2.x * this.m_localAnchor1.y; var i = n.col1.y * this.m_localAnchor1.x + n.col2.y * this.m_localAnchor1.y; n = t.m_R; var s = n.col1.x * this.m_localAnchor2.x + n.col2.x * this.m_localAnchor2.y; var o = n.col1.y * this.m_localAnchor2.x + n.col2.y * this.m_localAnchor2.y; var u = e.m_invMass; var a = t.m_invMass; var f = e.m_invI; var l = t.m_invI; n = e.m_R; var c = n.col1.x * this.m_localYAxis1.x + n.col2.x * this.m_localYAxis1.y; var h = n.col1.y * this.m_localYAxis1.x + n.col2.y * this.m_localYAxis1.y; var p = t.m_position.x + s - e.m_position.x; var d = t.m_position.y + o - e.m_position.y; this.m_linearJacobian.linear1.x = -c; this.m_linearJacobian.linear1.y = -h; this.m_linearJacobian.linear2.x = c; this.m_linearJacobian.linear2.y = h; this.m_linearJacobian.angular1 = -(p * h - d * c); this.m_linearJacobian.angular2 = s * h - o * c; this.m_linearMass = u + f * this.m_linearJacobian.angular1 * this.m_linearJacobian.angular1 + a + l * this.m_linearJacobian.angular2 * this.m_linearJacobian.angular2; this.m_linearMass = 1 / this.m_linearMass; this.m_angularMass = 1 / (f + l); if (this.m_enableLimit || this.m_enableMotor) { n = e.m_R; var v = n.col1.x * this.m_localXAxis1.x + n.col2.x * this.m_localXAxis1.y; var m = n.col1.y * this.m_localXAxis1.x + n.col2.y * this.m_localXAxis1.y; this.m_motorJacobian.linear1.x = -v; this.m_motorJacobian.linear1.y = -m; this.m_motorJacobian.linear2.x = v; this.m_motorJacobian.linear2.y = m; this.m_motorJacobian.angular1 = -(p * m - d * v); this.m_motorJacobian.angular2 = s * m - o * v; this.m_motorMass = u + f * this.m_motorJacobian.angular1 * this.m_motorJacobian.angular1 + a + l * this.m_motorJacobian.angular2 * this.m_motorJacobian.angular2; this.m_motorMass = 1 / this.m_motorMass; if (this.m_enableLimit) { var g = p - r; var y = d - i; var b = v * g + m * y; if (b2Math.b2Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2 * b2Settings.b2_linearSlop) { this.m_limitState = b2Joint.e_equalLimits } else if (b <= this.m_lowerTranslation) { if (this.m_limitState != b2Joint.e_atLowerLimit) { this.m_limitImpulse = 0 } this.m_limitState = b2Joint.e_atLowerLimit } else if (b >= this.m_upperTranslation) { if (this.m_limitState != b2Joint.e_atUpperLimit) { this.m_limitImpulse = 0 } this.m_limitState = b2Joint.e_atUpperLimit } else { this.m_limitState = b2Joint.e_inactiveLimit; this.m_limitImpulse = 0 } } } if (this.m_enableMotor == false) { this.m_motorImpulse = 0 } if (this.m_enableLimit == false) { this.m_limitImpulse = 0 } if (b2World.s_enableWarmStarting) { var w = this.m_linearImpulse * this.m_linearJacobian.linear1.x + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1.x; var E = this.m_linearImpulse * this.m_linearJacobian.linear1.y + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1.y; var S = this.m_linearImpulse * this.m_linearJacobian.linear2.x + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2.x; var x = this.m_linearImpulse * this.m_linearJacobian.linear2.y + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2.y; var T = this.m_linearImpulse * this.m_linearJacobian.angular1 - this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular1; var N = this.m_linearImpulse * this.m_linearJacobian.angular2 + this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular2; e.m_linearVelocity.x += u * w; e.m_linearVelocity.y += u * E; e.m_angularVelocity += f * T; t.m_linearVelocity.x += a * S; t.m_linearVelocity.y += a * x; t.m_angularVelocity += l * N } else { this.m_linearImpulse = 0; this.m_angularImpulse = 0; this.m_limitImpulse = 0; this.m_motorImpulse = 0 } this.m_limitPositionImpulse = 0 }, SolveVelocityConstraints: function (e) { var t = this.m_body1; var n = this.m_body2; var r = t.m_invMass; var i = n.m_invMass; var s = t.m_invI; var o = n.m_invI; var u; var a = this.m_linearJacobian.Compute(t.m_linearVelocity, t.m_angularVelocity, n.m_linearVelocity, n.m_angularVelocity); var f = -this.m_linearMass * a; this.m_linearImpulse += f; t.m_linearVelocity.x += r * f * this.m_linearJacobian.linear1.x; t.m_linearVelocity.y += r * f * this.m_linearJacobian.linear1.y; t.m_angularVelocity += s * f * this.m_linearJacobian.angular1; n.m_linearVelocity.x += i * f * this.m_linearJacobian.linear2.x; n.m_linearVelocity.y += i * f * this.m_linearJacobian.linear2.y; n.m_angularVelocity += o * f * this.m_linearJacobian.angular2; var l = n.m_angularVelocity - t.m_angularVelocity; var c = -this.m_angularMass * l; this.m_angularImpulse += c; t.m_angularVelocity -= s * c; n.m_angularVelocity += o * c; if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) { var h = this.m_motorJacobian.Compute(t.m_linearVelocity, t.m_angularVelocity, n.m_linearVelocity, n.m_angularVelocity) - this.m_motorSpeed; var p = -this.m_motorMass * h; var d = this.m_motorImpulse; this.m_motorImpulse = b2Math.b2Clamp(this.m_motorImpulse + p, -e.dt * this.m_maxMotorForce, e.dt * this.m_maxMotorForce); p = this.m_motorImpulse - d; t.m_linearVelocity.x += r * p * this.m_motorJacobian.linear1.x; t.m_linearVelocity.y += r * p * this.m_motorJacobian.linear1.y; t.m_angularVelocity += s * p * this.m_motorJacobian.angular1; n.m_linearVelocity.x += i * p * this.m_motorJacobian.linear2.x; n.m_linearVelocity.y += i * p * this.m_motorJacobian.linear2.y; n.m_angularVelocity += o * p * this.m_motorJacobian.angular2 } if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { var v = this.m_motorJacobian.Compute(t.m_linearVelocity, t.m_angularVelocity, n.m_linearVelocity, n.m_angularVelocity); var m = -this.m_motorMass * v; if (this.m_limitState == b2Joint.e_equalLimits) { this.m_limitImpulse += m } else if (this.m_limitState == b2Joint.e_atLowerLimit) { u = this.m_limitImpulse; this.m_limitImpulse = b2Math.b2Max(this.m_limitImpulse + m, 0); m = this.m_limitImpulse - u } else if (this.m_limitState == b2Joint.e_atUpperLimit) { u = this.m_limitImpulse; this.m_limitImpulse = b2Math.b2Min(this.m_limitImpulse + m, 0); m = this.m_limitImpulse - u } t.m_linearVelocity.x += r * m * this.m_motorJacobian.linear1.x; t.m_linearVelocity.y += r * m * this.m_motorJacobian.linear1.y; t.m_angularVelocity += s * m * this.m_motorJacobian.angular1; n.m_linearVelocity.x += i * m * this.m_motorJacobian.linear2.x; n.m_linearVelocity.y += i * m * this.m_motorJacobian.linear2.y; n.m_angularVelocity += o * m * this.m_motorJacobian.angular2 } }, SolvePositionConstraints: function () { var e; var t; var n = this.m_body1; var r = this.m_body2; var i = n.m_invMass; var s = r.m_invMass; var o = n.m_invI; var u = r.m_invI; var a; a = n.m_R; var f = a.col1.x * this.m_localAnchor1.x + a.col2.x * this.m_localAnchor1.y; var l = a.col1.y * this.m_localAnchor1.x + a.col2.y * this.m_localAnchor1.y; a = r.m_R; var c = a.col1.x * this.m_localAnchor2.x + a.col2.x * this.m_localAnchor2.y; var h = a.col1.y * this.m_localAnchor2.x + a.col2.y * this.m_localAnchor2.y; var p = n.m_position.x + f; var d = n.m_position.y + l; var v = r.m_position.x + c; var m = r.m_position.y + h; var g = v - p; var y = m - d; a = n.m_R; var b = a.col1.x * this.m_localYAxis1.x + a.col2.x * this.m_localYAxis1.y; var w = a.col1.y * this.m_localYAxis1.x + a.col2.y * this.m_localYAxis1.y; var E = b * g + w * y; E = b2Math.b2Clamp(E, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection); var S = -this.m_linearMass * E; n.m_position.x += i * S * this.m_linearJacobian.linear1.x; n.m_position.y += i * S * this.m_linearJacobian.linear1.y; n.m_rotation += o * S * this.m_linearJacobian.angular1; r.m_position.x += s * S * this.m_linearJacobian.linear2.x; r.m_position.y += s * S * this.m_linearJacobian.linear2.y; r.m_rotation += u * S * this.m_linearJacobian.angular2; var x = b2Math.b2Abs(E); var T = r.m_rotation - n.m_rotation - this.m_initialAngle; T = b2Math.b2Clamp(T, -b2Settings.b2_maxAngularCorrection, b2Settings.b2_maxAngularCorrection); var N = -this.m_angularMass * T; n.m_rotation -= n.m_invI * N; n.m_R.Set(n.m_rotation); r.m_rotation += r.m_invI * N; r.m_R.Set(r.m_rotation); var C = b2Math.b2Abs(T); if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { a = n.m_R; f = a.col1.x * this.m_localAnchor1.x + a.col2.x * this.m_localAnchor1.y; l = a.col1.y * this.m_localAnchor1.x + a.col2.y * this.m_localAnchor1.y; a = r.m_R; c = a.col1.x * this.m_localAnchor2.x + a.col2.x * this.m_localAnchor2.y; h = a.col1.y * this.m_localAnchor2.x + a.col2.y * this.m_localAnchor2.y; p = n.m_position.x + f; d = n.m_position.y + l; v = r.m_position.x + c; m = r.m_position.y + h; g = v - p; y = m - d; a = n.m_R; var k = a.col1.x * this.m_localXAxis1.x + a.col2.x * this.m_localXAxis1.y; var L = a.col1.y * this.m_localXAxis1.x + a.col2.y * this.m_localXAxis1.y; var A = k * g + L * y; var O = 0; if (this.m_limitState == b2Joint.e_equalLimits) { e = b2Math.b2Clamp(A, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection); O = -this.m_motorMass * e; x = b2Math.b2Max(x, b2Math.b2Abs(T)) } else if (this.m_limitState == b2Joint.e_atLowerLimit) { e = A - this.m_lowerTranslation; x = b2Math.b2Max(x, -e); e = b2Math.b2Clamp(e + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0); O = -this.m_motorMass * e; t = this.m_limitPositionImpulse; this.m_limitPositionImpulse = b2Math.b2Max(this.m_limitPositionImpulse + O, 0); O = this.m_limitPositionImpulse - t } else if (this.m_limitState == b2Joint.e_atUpperLimit) { e = A - this.m_upperTranslation; x = b2Math.b2Max(x, e); e = b2Math.b2Clamp(e - b2Settings.b2_linearSlop, 0, b2Settings.b2_maxLinearCorrection); O = -this.m_motorMass * e; t = this.m_limitPositionImpulse; this.m_limitPositionImpulse = b2Math.b2Min(this.m_limitPositionImpulse + O, 0); O = this.m_limitPositionImpulse - t } n.m_position.x += i * O * this.m_motorJacobian.linear1.x; n.m_position.y += i * O * this.m_motorJacobian.linear1.y; n.m_rotation += o * O * this.m_motorJacobian.angular1; n.m_R.Set(n.m_rotation); r.m_position.x += s * O * this.m_motorJacobian.linear2.x; r.m_position.y += s * O * this.m_motorJacobian.linear2.y; r.m_rotation += u * O * this.m_motorJacobian.angular2; r.m_R.Set(r.m_rotation) } return x <= b2Settings.b2_linearSlop && C <= b2Settings.b2_angularSlop }, m_localAnchor1: new b2Vec2, m_localAnchor2: new b2Vec2, m_localXAxis1: new b2Vec2, m_localYAxis1: new b2Vec2, m_initialAngle: null, m_linearJacobian: new b2Jacobian, m_linearMass: null, m_linearImpulse: null, m_angularMass: null, m_angularImpulse: null, m_motorJacobian: new b2Jacobian, m_motorMass: null, m_motorImpulse: null, m_limitImpulse: null, m_limitPositionImpulse: null, m_lowerTranslation: null, m_upperTranslation: null, m_maxMotorForce: null, m_motorSpeed: null, m_enableLimit: null, m_enableMotor: null, m_limitState: 0 }); var b2PrismaticJointDef = Class.create(); Object.extend(b2PrismaticJointDef.prototype, b2JointDef.prototype); Object.extend(b2PrismaticJointDef.prototype, { initialize: function () { this.type = b2Joint.e_unknownJoint; this.userData = null; this.body1 = null; this.body2 = null; this.collideConnected = false; this.type = b2Joint.e_prismaticJoint; this.anchorPoint = new b2Vec2(0, 0); this.axis = new b2Vec2(0, 0); this.lowerTranslation = 0; this.upperTranslation = 0; this.motorForce = 0; this.motorSpeed = 0; this.enableLimit = false; this.enableMotor = false }, anchorPoint: null, axis: null, lowerTranslation: null, upperTranslation: null, motorForce: null, motorSpeed: null, enableLimit: null, enableMotor: null }); var b2PulleyJoint = Class.create(); Object.extend(b2PulleyJoint.prototype, b2Joint.prototype); Object.extend(b2PulleyJoint.prototype, { GetAnchor1: function () { var e = this.m_body1.m_R; return new b2Vec2(this.m_body1.m_position.x + (e.col1.x * this.m_localAnchor1.x + e.col2.x * this.m_localAnchor1.y), this.m_body1.m_position.y + (e.col1.y * this.m_localAnchor1.x + e.col2.y * this.m_localAnchor1.y)) }, GetAnchor2: function () { var e = this.m_body2.m_R; return new b2Vec2(this.m_body2.m_position.x + (e.col1.x * this.m_localAnchor2.x + e.col2.x * this.m_localAnchor2.y), this.m_body2.m_position.y + (e.col1.y * this.m_localAnchor2.x + e.col2.y * this.m_localAnchor2.y)) }, GetGroundPoint1: function () { return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor1.x, this.m_ground.m_position.y + this.m_groundAnchor1.y) }, GetGroundPoint2: function () { return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor2.x, this.m_ground.m_position.y + this.m_groundAnchor2.y) }, GetReactionForce: function (e) { return new b2Vec2 }, GetReactionTorque: function (e) { return 0 }, GetLength1: function () { var e; e = this.m_body1.m_R; var t = this.m_body1.m_position.x + (e.col1.x * this.m_localAnchor1.x + e.col2.x * this.m_localAnchor1.y); var n = this.m_body1.m_position.y + (e.col1.y * this.m_localAnchor1.x + e.col2.y * this.m_localAnchor1.y); var r = t - (this.m_ground.m_position.x + this.m_groundAnchor1.x); var i = n - (this.m_ground.m_position.y + this.m_groundAnchor1.y); return Math.sqrt(r * r + i * i) }, GetLength2: function () { var e; e = this.m_body2.m_R; var t = this.m_body2.m_position.x + (e.col1.x * this.m_localAnchor2.x + e.col2.x * this.m_localAnchor2.y); var n = this.m_body2.m_position.y + (e.col1.y * this.m_localAnchor2.x + e.col2.y * this.m_localAnchor2.y); var r = t - (this.m_ground.m_position.x + this.m_groundAnchor2.x); var i = n - (this.m_ground.m_position.y + this.m_groundAnchor2.y); return Math.sqrt(r * r + i * i) }, GetRatio: function () { return this.m_ratio }, initialize: function (e) { this.m_node1 = new b2JointNode; this.m_node2 = new b2JointNode; this.m_type = e.type; this.m_prev = null; this.m_next = null; this.m_body1 = e.body1; this.m_body2 = e.body2; this.m_collideConnected = e.collideConnected; this.m_islandFlag = false; this.m_userData = e.userData; this.m_groundAnchor1 = new b2Vec2; this.m_groundAnchor2 = new b2Vec2; this.m_localAnchor1 = new b2Vec2; this.m_localAnchor2 = new b2Vec2; this.m_u1 = new b2Vec2; this.m_u2 = new b2Vec2; var t; var n; var r; this.m_ground = this.m_body1.m_world.m_groundBody; this.m_groundAnchor1.x = e.groundPoint1.x - this.m_ground.m_position.x; this.m_groundAnchor1.y = e.groundPoint1.y - this.m_ground.m_position.y; this.m_groundAnchor2.x = e.groundPoint2.x - this.m_ground.m_position.x; this.m_groundAnchor2.y = e.groundPoint2.y - this.m_ground.m_position.y; t = this.m_body1.m_R; n = e.anchorPoint1.x - this.m_body1.m_position.x; r = e.anchorPoint1.y - this.m_body1.m_position.y; this.m_localAnchor1.x = n * t.col1.x + r * t.col1.y; this.m_localAnchor1.y = n * t.col2.x + r * t.col2.y; t = this.m_body2.m_R; n = e.anchorPoint2.x - this.m_body2.m_position.x; r = e.anchorPoint2.y - this.m_body2.m_position.y; this.m_localAnchor2.x = n * t.col1.x + r * t.col1.y; this.m_localAnchor2.y = n * t.col2.x + r * t.col2.y; this.m_ratio = e.ratio; n = e.groundPoint1.x - e.anchorPoint1.x; r = e.groundPoint1.y - e.anchorPoint1.y; var i = Math.sqrt(n * n + r * r); n = e.groundPoint2.x - e.anchorPoint2.x; r = e.groundPoint2.y - e.anchorPoint2.y; var s = Math.sqrt(n * n + r * r); var o = b2Math.b2Max(.5 * b2PulleyJoint.b2_minPulleyLength, i); var u = b2Math.b2Max(.5 * b2PulleyJoint.b2_minPulleyLength, s); this.m_constant = o + this.m_ratio * u; this.m_maxLength1 = b2Math.b2Clamp(e.maxLength1, o, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength); this.m_maxLength2 = b2Math.b2Clamp(e.maxLength2, u, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio); this.m_pulleyImpulse = 0; this.m_limitImpulse1 = 0; this.m_limitImpulse2 = 0 }, PrepareVelocitySolver: function () { var e = this.m_body1; var t = this.m_body2; var n; n = e.m_R; var r = n.col1.x * this.m_localAnchor1.x + n.col2.x * this.m_localAnchor1.y; var i = n.col1.y * this.m_localAnchor1.x + n.col2.y * this.m_localAnchor1.y; n = t.m_R; var s = n.col1.x * this.m_localAnchor2.x + n.col2.x * this.m_localAnchor2.y; var o = n.col1.y * this.m_localAnchor2.x + n.col2.y * this.m_localAnchor2.y; var u = e.m_position.x + r; var a = e.m_position.y + i; var f = t.m_position.x + s; var l = t.m_position.y + o; var c = this.m_ground.m_position.x + this.m_groundAnchor1.x; var h = this.m_ground.m_position.y + this.m_groundAnchor1.y; var p = this.m_ground.m_position.x + this.m_groundAnchor2.x; var d = this.m_ground.m_position.y + this.m_groundAnchor2.y; this.m_u1.Set(u - c, a - h); this.m_u2.Set(f - p, l - d); var v = this.m_u1.Length(); var m = this.m_u2.Length(); if (v > b2Settings.b2_linearSlop) { this.m_u1.Multiply(1 / v) } else { this.m_u1.SetZero() } if (m > b2Settings.b2_linearSlop) { this.m_u2.Multiply(1 / m) } else { this.m_u2.SetZero() } if (v < this.m_maxLength1) { this.m_limitState1 = b2Joint.e_inactiveLimit; this.m_limitImpulse1 = 0 } else { this.m_limitState1 = b2Joint.e_atUpperLimit; this.m_limitPositionImpulse1 = 0 } if (m < this.m_maxLength2) { this.m_limitState2 = b2Joint.e_inactiveLimit; this.m_limitImpulse2 = 0 } else { this.m_limitState2 = b2Joint.e_atUpperLimit; this.m_limitPositionImpulse2 = 0 } var g = r * this.m_u1.y - i * this.m_u1.x; var y = s * this.m_u2.y - o * this.m_u2.x; this.m_limitMass1 = e.m_invMass + e.m_invI * g * g; this.m_limitMass2 = t.m_invMass + t.m_invI * y * y; this.m_pulleyMass = this.m_limitMass1 + this.m_ratio * this.m_ratio * this.m_limitMass2; this.m_limitMass1 = 1 / this.m_limitMass1; this.m_limitMass2 = 1 / this.m_limitMass2; this.m_pulleyMass = 1 / this.m_pulleyMass; var b = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.x; var w = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.y; var E = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.x; var S = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.y; e.m_linearVelocity.x += e.m_invMass * b; e.m_linearVelocity.y += e.m_invMass * w; e.m_angularVelocity += e.m_invI * (r * w - i * b); t.m_linearVelocity.x += t.m_invMass * E; t.m_linearVelocity.y += t.m_invMass * S; t.m_angularVelocity += t.m_invI * (s * S - o * E) }, SolveVelocityConstraints: function (e) { var t = this.m_body1; var n = this.m_body2; var r; r = t.m_R; var i = r.col1.x * this.m_localAnchor1.x + r.col2.x * this.m_localAnchor1.y; var s = r.col1.y * this.m_localAnchor1.x + r.col2.y * this.m_localAnchor1.y; r = n.m_R; var o = r.col1.x * this.m_localAnchor2.x + r.col2.x * this.m_localAnchor2.y; var u = r.col1.y * this.m_localAnchor2.x + r.col2.y * this.m_localAnchor2.y; var a; var f; var l; var c; var h; var p; var d; var v; var m; var g; var y; a = t.m_linearVelocity.x + -t.m_angularVelocity * s; f = t.m_linearVelocity.y + t.m_angularVelocity * i; l = n.m_linearVelocity.x + -n.m_angularVelocity * u; c = n.m_linearVelocity.y + n.m_angularVelocity * o; m = -(this.m_u1.x * a + this.m_u1.y * f) - this.m_ratio * (this.m_u2.x * l + this.m_u2.y * c); g = -this.m_pulleyMass * m; this.m_pulleyImpulse += g; h = -g * this.m_u1.x; p = -g * this.m_u1.y; d = -this.m_ratio * g * this.m_u2.x; v = -this.m_ratio * g * this.m_u2.y; t.m_linearVelocity.x += t.m_invMass * h; t.m_linearVelocity.y += t.m_invMass * p; t.m_angularVelocity += t.m_invI * (i * p - s * h); n.m_linearVelocity.x += n.m_invMass * d; n.m_linearVelocity.y += n.m_invMass * v; n.m_angularVelocity += n.m_invI * (o * v - u * d); if (this.m_limitState1 == b2Joint.e_atUpperLimit) { a = t.m_linearVelocity.x + -t.m_angularVelocity * s; f = t.m_linearVelocity.y + t.m_angularVelocity * i; m = -(this.m_u1.x * a + this.m_u1.y * f); g = -this.m_limitMass1 * m; y = this.m_limitImpulse1; this.m_limitImpulse1 = b2Math.b2Max(0, this.m_limitImpulse1 + g); g = this.m_limitImpulse1 - y; h = -g * this.m_u1.x; p = -g * this.m_u1.y; t.m_linearVelocity.x += t.m_invMass * h; t.m_linearVelocity.y += t.m_invMass * p; t.m_angularVelocity += t.m_invI * (i * p - s * h) } if (this.m_limitState2 == b2Joint.e_atUpperLimit) { l = n.m_linearVelocity.x + -n.m_angularVelocity * u; c = n.m_linearVelocity.y + n.m_angularVelocity * o; m = -(this.m_u2.x * l + this.m_u2.y * c); g = -this.m_limitMass2 * m; y = this.m_limitImpulse2; this.m_limitImpulse2 = b2Math.b2Max(0, this.m_limitImpulse2 + g); g = this.m_limitImpulse2 - y; d = -g * this.m_u2.x; v = -g * this.m_u2.y; n.m_linearVelocity.x += n.m_invMass * d; n.m_linearVelocity.y += n.m_invMass * v; n.m_angularVelocity += n.m_invI * (o * v - u * d) } }, SolvePositionConstraints: function () { var e = this.m_body1; var t = this.m_body2; var n; var r = this.m_ground.m_position.x + this.m_groundAnchor1.x; var i = this.m_ground.m_position.y + this.m_groundAnchor1.y; var s = this.m_ground.m_position.x + this.m_groundAnchor2.x; var o = this.m_ground.m_position.y + this.m_groundAnchor2.y; var u; var a; var f; var l; var c; var h; var p; var d; var v; var m; var g; var y; var b; var w = 0; { n = e.m_R; u = n.col1.x * this.m_localAnchor1.x + n.col2.x * this.m_localAnchor1.y; a = n.col1.y * this.m_localAnchor1.x + n.col2.y * this.m_localAnchor1.y; n = t.m_R; f = n.col1.x * this.m_localAnchor2.x + n.col2.x * this.m_localAnchor2.y; l = n.col1.y * this.m_localAnchor2.x + n.col2.y * this.m_localAnchor2.y; c = e.m_position.x + u; h = e.m_position.y + a; p = t.m_position.x + f; d = t.m_position.y + l; this.m_u1.Set(c - r, h - i); this.m_u2.Set(p - s, d - o); v = this.m_u1.Length(); m = this.m_u2.Length(); if (v > b2Settings.b2_linearSlop) { this.m_u1.Multiply(1 / v) } else { this.m_u1.SetZero() } if (m > b2Settings.b2_linearSlop) { this.m_u2.Multiply(1 / m) } else { this.m_u2.SetZero() } g = this.m_constant - v - this.m_ratio * m; w = b2Math.b2Max(w, Math.abs(g)); g = b2Math.b2Clamp(g, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection); y = -this.m_pulleyMass * g; c = -y * this.m_u1.x; h = -y * this.m_u1.y; p = -this.m_ratio * y * this.m_u2.x; d = -this.m_ratio * y * this.m_u2.y; e.m_position.x += e.m_invMass * c; e.m_position.y += e.m_invMass * h; e.m_rotation += e.m_invI * (u * h - a * c); t.m_position.x += t.m_invMass * p; t.m_position.y += t.m_invMass * d; t.m_rotation += t.m_invI * (f * d - l * p); e.m_R.Set(e.m_rotation); t.m_R.Set(t.m_rotation) } if (this.m_limitState1 == b2Joint.e_atUpperLimit) { n = e.m_R; u = n.col1.x * this.m_localAnchor1.x + n.col2.x * this.m_localAnchor1.y; a = n.col1.y * this.m_localAnchor1.x + n.col2.y * this.m_localAnchor1.y; c = e.m_position.x + u; h = e.m_position.y + a; this.m_u1.Set(c - r, h - i); v = this.m_u1.Length(); if (v > b2Settings.b2_linearSlop) { this.m_u1.x *= 1 / v; this.m_u1.y *= 1 / v } else { this.m_u1.SetZero() } g = this.m_maxLength1 - v; w = b2Math.b2Max(w, -g); g = b2Math.b2Clamp(g + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0); y = -this.m_limitMass1 * g; b = this.m_limitPositionImpulse1; this.m_limitPositionImpulse1 = b2Math.b2Max(0, this.m_limitPositionImpulse1 + y); y = this.m_limitPositionImpulse1 - b; c = -y * this.m_u1.x; h = -y * this.m_u1.y; e.m_position.x += e.m_invMass * c; e.m_position.y += e.m_invMass * h; e.m_rotation += e.m_invI * (u * h - a * c); e.m_R.Set(e.m_rotation) } if (this.m_limitState2 == b2Joint.e_atUpperLimit) { n = t.m_R; f = n.col1.x * this.m_localAnchor2.x + n.col2.x * this.m_localAnchor2.y; l = n.col1.y * this.m_localAnchor2.x + n.col2.y * this.m_localAnchor2.y; p = t.m_position.x + f; d = t.m_position.y + l; this.m_u2.Set(p - s, d - o); m = this.m_u2.Length(); if (m > b2Settings.b2_linearSlop) { this.m_u2.x *= 1 / m; this.m_u2.y *= 1 / m } else { this.m_u2.SetZero() } g = this.m_maxLength2 - m; w = b2Math.b2Max(w, -g); g = b2Math.b2Clamp(g + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0); y = -this.m_limitMass2 * g; b = this.m_limitPositionImpulse2; this.m_limitPositionImpulse2 = b2Math.b2Max(0, this.m_limitPositionImpulse2 + y); y = this.m_limitPositionImpulse2 - b; p = -y * this.m_u2.x; d = -y * this.m_u2.y; t.m_position.x += t.m_invMass * p; t.m_position.y += t.m_invMass * d; t.m_rotation += t.m_invI * (f * d - l * p); t.m_R.Set(t.m_rotation) } return w < b2Settings.b2_linearSlop }, m_ground: null, m_groundAnchor1: new b2Vec2, m_groundAnchor2: new b2Vec2, m_localAnchor1: new b2Vec2, m_localAnchor2: new b2Vec2, m_u1: new b2Vec2, m_u2: new b2Vec2, m_constant: null, m_ratio: null, m_maxLength1: null, m_maxLength2: null, m_pulleyMass: null, m_limitMass1: null, m_limitMass2: null, m_pulleyImpulse: null, m_limitImpulse1: null, m_limitImpulse2: null, m_limitPositionImpulse1: null, m_limitPositionImpulse2: null, m_limitState1: 0, m_limitState2: 0 }); b2PulleyJoint.b2_minPulleyLength = b2Settings.b2_lengthUnitsPerMeter; var b2PulleyJointDef = Class.create(); Object.extend(b2PulleyJointDef.prototype, b2JointDef.prototype); Object.extend(b2PulleyJointDef.prototype, { initialize: function () { this.type = b2Joint.e_unknownJoint; this.userData = null; this.body1 = null; this.body2 = null; this.collideConnected = false; this.groundPoint1 = new b2Vec2; this.groundPoint2 = new b2Vec2; this.anchorPoint1 = new b2Vec2; this.anchorPoint2 = new b2Vec2; this.type = b2Joint.e_pulleyJoint; this.groundPoint1.Set(-1, 1); this.groundPoint2.Set(1, 1); this.anchorPoint1.Set(-1, 0); this.anchorPoint2.Set(1, 0); this.maxLength1 = .5 * b2PulleyJoint.b2_minPulleyLength; this.maxLength2 = .5 * b2PulleyJoint.b2_minPulleyLength; this.ratio = 1; this.collideConnected = true }, groundPoint1: new b2Vec2, groundPoint2: new b2Vec2, anchorPoint1: new b2Vec2, anchorPoint2: new b2Vec2, maxLength1: null, maxLength2: null, ratio: null }); var b2RevoluteJoint = Class.create(); Object.extend(b2RevoluteJoint.prototype, b2Joint.prototype); Object.extend(b2RevoluteJoint.prototype, { GetAnchor1: function () { var e = this.m_body1.m_R; return new b2Vec2(this.m_body1.m_position.x + (e.col1.x * this.m_localAnchor1.x + e.col2.x * this.m_localAnchor1.y), this.m_body1.m_position.y + (e.col1.y * this.m_localAnchor1.x + e.col2.y * this.m_localAnchor1.y)) }, GetAnchor2: function () { var e = this.m_body2.m_R; return new b2Vec2(this.m_body2.m_position.x + (e.col1.x * this.m_localAnchor2.x + e.col2.x * this.m_localAnchor2.y), this.m_body2.m_position.y + (e.col1.y * this.m_localAnchor2.x + e.col2.y * this.m_localAnchor2.y)) }, GetJointAngle: function () { return this.m_body2.m_rotation - this.m_body1.m_rotation }, GetJointSpeed: function () { return this.m_body2.m_angularVelocity - this.m_body1.m_angularVelocity }, GetMotorTorque: function (e) { return e * this.m_motorImpulse }, SetMotorSpeed: function (e) { this.m_motorSpeed = e }, SetMotorTorque: function (e) { this.m_maxMotorTorque = e }, GetReactionForce: function (e) { var t = this.m_ptpImpulse.Copy(); t.Multiply(e); return t }, GetReactionTorque: function (e) { return e * this.m_limitImpulse }, initialize: function (e) { this.m_node1 = new b2JointNode; this.m_node2 = new b2JointNode; this.m_type = e.type; this.m_prev = null; this.m_next = null; this.m_body1 = e.body1; this.m_body2 = e.body2; this.m_collideConnected = e.collideConnected; this.m_islandFlag = false; this.m_userData = e.userData; this.K = new b2Mat22; this.K1 = new b2Mat22; this.K2 = new b2Mat22; this.K3 = new b2Mat22; this.m_localAnchor1 = new b2Vec2; this.m_localAnchor2 = new b2Vec2; this.m_ptpImpulse = new b2Vec2; this.m_ptpMass = new b2Mat22; var t; var n; var r; t = this.m_body1.m_R; n = e.anchorPoint.x - this.m_body1.m_position.x; r = e.anchorPoint.y - this.m_body1.m_position.y; this.m_localAnchor1.x = n * t.col1.x + r * t.col1.y; this.m_localAnchor1.y = n * t.col2.x + r * t.col2.y; t = this.m_body2.m_R; n = e.anchorPoint.x - this.m_body2.m_position.x; r = e.anchorPoint.y - this.m_body2.m_position.y; this.m_localAnchor2.x = n * t.col1.x + r * t.col1.y; this.m_localAnchor2.y = n * t.col2.x + r * t.col2.y; this.m_intialAngle = this.m_body2.m_rotation - this.m_body1.m_rotation; this.m_ptpImpulse.Set(0, 0); this.m_motorImpulse = 0; this.m_limitImpulse = 0; this.m_limitPositionImpulse = 0; this.m_lowerAngle = e.lowerAngle; this.m_upperAngle = e.upperAngle; this.m_maxMotorTorque = e.motorTorque; this.m_motorSpeed = e.motorSpeed; this.m_enableLimit = e.enableLimit; this.m_enableMotor = e.enableMotor }, K: new b2Mat22, K1: new b2Mat22, K2: new b2Mat22, K3: new b2Mat22, PrepareVelocitySolver: function () { var e = this.m_body1; var t = this.m_body2; var n; n = e.m_R; var r = n.col1.x * this.m_localAnchor1.x + n.col2.x * this.m_localAnchor1.y; var i = n.col1.y * this.m_localAnchor1.x + n.col2.y * this.m_localAnchor1.y; n = t.m_R; var s = n.col1.x * this.m_localAnchor2.x + n.col2.x * this.m_localAnchor2.y; var o = n.col1.y * this.m_localAnchor2.x + n.col2.y * this.m_localAnchor2.y; var u = e.m_invMass; var a = t.m_invMass; var f = e.m_invI; var l = t.m_invI; this.K1.col1.x = u + a; this.K1.col2.x = 0; this.K1.col1.y = 0; this.K1.col2.y = u + a; this.K2.col1.x = f * i * i; this.K2.col2.x = -f * r * i; this.K2.col1.y = -f * r * i; this.K2.col2.y = f * r * r; this.K3.col1.x = l * o * o; this.K3.col2.x = -l * s * o; this.K3.col1.y = -l * s * o; this.K3.col2.y = l * s * s; this.K.SetM(this.K1); this.K.AddM(this.K2); this.K.AddM(this.K3); this.K.Invert(this.m_ptpMass); this.m_motorMass = 1 / (f + l); if (this.m_enableMotor == false) { this.m_motorImpulse = 0 } if (this.m_enableLimit) { var c = t.m_rotation - e.m_rotation - this.m_intialAngle; if (b2Math.b2Abs(this.m_upperAngle - this.m_lowerAngle) < 2 * b2Settings.b2_angularSlop) { this.m_limitState = b2Joint.e_equalLimits } else if (c <= this.m_lowerAngle) { if (this.m_limitState != b2Joint.e_atLowerLimit) { this.m_limitImpulse = 0 } this.m_limitState = b2Joint.e_atLowerLimit } else if (c >= this.m_upperAngle) { if (this.m_limitState != b2Joint.e_atUpperLimit) { this.m_limitImpulse = 0 } this.m_limitState = b2Joint.e_atUpperLimit } else { this.m_limitState = b2Joint.e_inactiveLimit; this.m_limitImpulse = 0 } } else { this.m_limitImpulse = 0 } if (b2World.s_enableWarmStarting) { e.m_linearVelocity.x -= u * this.m_ptpImpulse.x; e.m_linearVelocity.y -= u * this.m_ptpImpulse.y; e.m_angularVelocity -= f * (r * this.m_ptpImpulse.y - i * this.m_ptpImpulse.x + this.m_motorImpulse + this.m_limitImpulse); t.m_linearVelocity.x += a * this.m_ptpImpulse.x; t.m_linearVelocity.y += a * this.m_ptpImpulse.y; t.m_angularVelocity += l * (s * this.m_ptpImpulse.y - o * this.m_ptpImpulse.x + this.m_motorImpulse + this.m_limitImpulse) } else { this.m_ptpImpulse.SetZero(); this.m_motorImpulse = 0; this.m_limitImpulse = 0 } this.m_limitPositionImpulse = 0 }, SolveVelocityConstraints: function (e) { var t = this.m_body1; var n = this.m_body2; var r; r = t.m_R; var i = r.col1.x * this.m_localAnchor1.x + r.col2.x * this.m_localAnchor1.y; var s = r.col1.y * this.m_localAnchor1.x + r.col2.y * this.m_localAnchor1.y; r = n.m_R; var o = r.col1.x * this.m_localAnchor2.x + r.col2.x * this.m_localAnchor2.y; var u = r.col1.y * this.m_localAnchor2.x + r.col2.y * this.m_localAnchor2.y; var a; var f = n.m_linearVelocity.x + -n.m_angularVelocity * u - t.m_linearVelocity.x - -t.m_angularVelocity * s; var l = n.m_linearVelocity.y + n.m_angularVelocity * o - t.m_linearVelocity.y - t.m_angularVelocity * i; var c = -(this.m_ptpMass.col1.x * f + this.m_ptpMass.col2.x * l); var h = -(this.m_ptpMass.col1.y * f + this.m_ptpMass.col2.y * l); this.m_ptpImpulse.x += c; this.m_ptpImpulse.y += h; t.m_linearVelocity.x -= t.m_invMass * c; t.m_linearVelocity.y -= t.m_invMass * h; t.m_angularVelocity -= t.m_invI * (i * h - s * c); n.m_linearVelocity.x += n.m_invMass * c; n.m_linearVelocity.y += n.m_invMass * h; n.m_angularVelocity += n.m_invI * (o * h - u * c); if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) { var p = n.m_angularVelocity - t.m_angularVelocity - this.m_motorSpeed; var d = -this.m_motorMass * p; var v = this.m_motorImpulse; this.m_motorImpulse = b2Math.b2Clamp(this.m_motorImpulse + d, -e.dt * this.m_maxMotorTorque, e.dt * this.m_maxMotorTorque); d = this.m_motorImpulse - v; t.m_angularVelocity -= t.m_invI * d; n.m_angularVelocity += n.m_invI * d } if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { var m = n.m_angularVelocity - t.m_angularVelocity; var g = -this.m_motorMass * m; if (this.m_limitState == b2Joint.e_equalLimits) { this.m_limitImpulse += g } else if (this.m_limitState == b2Joint.e_atLowerLimit) { a = this.m_limitImpulse; this.m_limitImpulse = b2Math.b2Max(this.m_limitImpulse + g, 0); g = this.m_limitImpulse - a } else if (this.m_limitState == b2Joint.e_atUpperLimit) { a = this.m_limitImpulse; this.m_limitImpulse = b2Math.b2Min(this.m_limitImpulse + g, 0); g = this.m_limitImpulse - a } t.m_angularVelocity -= t.m_invI * g; n.m_angularVelocity += n.m_invI * g } }, SolvePositionConstraints: function () { var e; var t; var n = this.m_body1; var r = this.m_body2; var i = 0; var s; s = n.m_R; var o = s.col1.x * this.m_localAnchor1.x + s.col2.x * this.m_localAnchor1.y; var u = s.col1.y * this.m_localAnchor1.x + s.col2.y * this.m_localAnchor1.y; s = r.m_R; var a = s.col1.x * this.m_localAnchor2.x + s.col2.x * this.m_localAnchor2.y; var f = s.col1.y * this.m_localAnchor2.x + s.col2.y * this.m_localAnchor2.y; var l = n.m_position.x + o; var c = n.m_position.y + u; var h = r.m_position.x + a; var p = r.m_position.y + f; var d = h - l; var v = p - c; i = Math.sqrt(d * d + v * v); var m = n.m_invMass; var g = r.m_invMass; var y = n.m_invI; var b = r.m_invI; this.K1.col1.x = m + g; this.K1.col2.x = 0; this.K1.col1.y = 0; this.K1.col2.y = m + g; this.K2.col1.x = y * u * u; this.K2.col2.x = -y * o * u; this.K2.col1.y = -y * o * u; this.K2.col2.y = y * o * o; this.K3.col1.x = b * f * f; this.K3.col2.x = -b * a * f; this.K3.col1.y = -b * a * f; this.K3.col2.y = b * a * a; this.K.SetM(this.K1); this.K.AddM(this.K2); this.K.AddM(this.K3); this.K.Solve(b2RevoluteJoint.tImpulse, -d, -v); var w = b2RevoluteJoint.tImpulse.x; var E = b2RevoluteJoint.tImpulse.y; n.m_position.x -= n.m_invMass * w; n.m_position.y -= n.m_invMass * E; n.m_rotation -= n.m_invI * (o * E - u * w); n.m_R.Set(n.m_rotation); r.m_position.x += r.m_invMass * w; r.m_position.y += r.m_invMass * E; r.m_rotation += r.m_invI * (a * E - f * w); r.m_R.Set(r.m_rotation); var S = 0; if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) { var x = r.m_rotation - n.m_rotation - this.m_intialAngle; var T = 0; if (this.m_limitState == b2Joint.e_equalLimits) { t = b2Math.b2Clamp(x, -b2Settings.b2_maxAngularCorrection, b2Settings.b2_maxAngularCorrection); T = -this.m_motorMass * t; S = b2Math.b2Abs(t) } else if (this.m_limitState == b2Joint.e_atLowerLimit) { t = x - this.m_lowerAngle; S = b2Math.b2Max(0, -t); t = b2Math.b2Clamp(t + b2Settings.b2_angularSlop, -b2Settings.b2_maxAngularCorrection, 0); T = -this.m_motorMass * t; e = this.m_limitPositionImpulse; this.m_limitPositionImpulse = b2Math.b2Max(this.m_limitPositionImpulse + T, 0); T = this.m_limitPositionImpulse - e } else if (this.m_limitState == b2Joint.e_atUpperLimit) { t = x - this.m_upperAngle; S = b2Math.b2Max(0, t); t = b2Math.b2Clamp(t - b2Settings.b2_angularSlop, 0, b2Settings.b2_maxAngularCorrection); T = -this.m_motorMass * t; e = this.m_limitPositionImpulse; this.m_limitPositionImpulse = b2Math.b2Min(this.m_limitPositionImpulse + T, 0); T = this.m_limitPositionImpulse - e } n.m_rotation -= n.m_invI * T; n.m_R.Set(n.m_rotation); r.m_rotation += r.m_invI * T; r.m_R.Set(r.m_rotation) } return i <= b2Settings.b2_linearSlop && S <= b2Settings.b2_angularSlop }, m_localAnchor1: new b2Vec2, m_localAnchor2: new b2Vec2, m_ptpImpulse: new b2Vec2, m_motorImpulse: null, m_limitImpulse: null, m_limitPositionImpulse: null, m_ptpMass: new b2Mat22, m_motorMass: null, m_intialAngle: null, m_lowerAngle: null, m_upperAngle: null, m_maxMotorTorque: null, m_motorSpeed: null, m_enableLimit: null, m_enableMotor: null, m_limitState: 0 }); b2RevoluteJoint.tImpulse = new b2Vec2; var b2RevoluteJointDef = Class.create(); Object.extend(b2RevoluteJointDef.prototype, b2JointDef.prototype); Object.extend(b2RevoluteJointDef.prototype, { initialize: function () { this.type = b2Joint.e_unknownJoint; this.userData = null; this.body1 = null; this.body2 = null; this.collideConnected = false; this.type = b2Joint.e_revoluteJoint; this.anchorPoint = new b2Vec2(0, 0); this.lowerAngle = 0; this.upperAngle = 0; this.motorTorque = 0; this.motorSpeed = 0; this.enableLimit = false; this.enableMotor = false }, anchorPoint: null, lowerAngle: null, upperAngle: null, motorTorque: null, motorSpeed: null, enableLimit: null, enableMotor: null });
                ///==============================================================================================
        
        
                var worldAABB;
                var world;
        
                function init() {
        
        
                    // init box2d
                    worldAABB = new b2AABB();
                    worldAABB.minVertex.Set(-5000, -5000);
                    worldAABB.maxVertex.Set(window.innerWidth + 5000, window.innerHeight + 5000);
        
                    world = new b2World(worldAABB, new b2Vec2(0, 0), true);
        
                }
        
                function inArrays(elem, array) {
                    var rt = -1;
                    for (var i = 0; i < array.length; i++) {
                        rt = $.inArray(elem, array[i].elements);
                        if (rt !== -1)
                            return { index: i, value: rt };
                    }
                    return rt;
                }
        
                function arrayIntersect(a, b) {
                    var rt = a, i = 0;
                    while (i < rt.length) {
                        if ($.inArray(rt[i], b) === -1)
                            rt.splice(i, 1);
                        else
                            i++;
                    };
                    return rt;
                };
        
                var bool = false;
                var wall_thickness = 100;
                var numInstance = 1;
                function throwable() {
                    this.numInstance;
                    this.delta = { X: 0, Y: 0 };
                    this.stage = { X: window.screenX, Y: window.screenY, Width: window.innerWidth, Height: window.innerHeight };
                    this.walls = { left: null, right: null, top: null, bottom: null };
                    this.isRunning = false;
                    this.isMouseDown = false;
                    this.mouse = { x: 0, y: 0 };
        
                    this.iterations = 1;
        
                    this.wallsSetted = false;
        
                    this.mouseJoint;
        
                    this.elementsInArea = [];
                    this.elements = [];
                    this.bodies = [];
                    this.properties = [];
        
                    if (!bool) {
                        $.extend(throwable.prototype, {
                            defaults: {
                                infinitX: false,
                                gravity: { x: 0, y: 0 },
                                timeStep: 1 / 40,
                                bounce: 0, // value between 0 and 1
                                containment: "window",
                                shape: "box",
                                impulse: null,
                                fixed: false,
                                drag: true,
                                damping: 0,
                                collisionDetection: false,
                                areaDetection: []
                            },
                            /**
                             * initElem initialize element
                             */
                            initElem: function (elem) {
        
                                // Get box2d elements
                                var property = this.getElementProperties(elem);
                                this.properties.push(property);
        
                                var element = elem;
                                var $elem = $(element);
                                $elem.css({
                                    "position": "absolute",
                                    "left": property.X + 'px',
                                    "top": property.Y + 'px',
                                    "width": property.Width + 'px'
                                });
                                $(element).on('mousedown', function (event) {
                                    event.preventDefault();
                                });
                                $(element).on('mouseup', function (event) {
                                    event.preventDefault();
                                });
        
                                var body;
                                if (this.defaults.shape === "box")
                                    body = this.createBox(world, $elem.position().left + ($elem.width() >> 1), $elem.position().top + ($elem.height() >> 1), $elem.width() / 2, $elem.height() / 2, false, numInstance, Math.pow(2, 50) - 1);
                                else
                                    body = this.createCircle(world, $elem.position().left + ($elem.width() >> 1), $elem.position().top + ($elem.height() >> 1), Math.max($elem.width() / 2, $elem.height() / 2), false, numInstance, Math.pow(2, 50) - 1);
        
                                if (this.defaults.impulse) {
                                    this.applyImpulse(body);
                                }
        
                                // Apply damping
                                if (this.defaults.damping > 0) {
                                    body.m_linearDamping = 1000 / (1000 + this.defaults.damping);
                                    body.m_angularDamping = 1000 / (1000 + this.defaults.damping);
                                }
                                body.m_userData = elem;
                                this.bodies.push(body);
        
                                // Clean position dependencies
                                $("body").append($elem);
                                $("body").css({
                                    "position": "static",
                                    "margin": 0
                                });
                            },
                            applyOptions: function (o, i) {
        
                                this.defaults = $.extend({}, this.defaults, o);
                                var body = this.bodies[i];
                                if (this.defaults.impulse) {
                                    body.WakeUp();
                                    var f = this.defaults.impulse.f, p = this.defaults.impulse.p;
                                    var ant_gravity = new b2Vec2(f * p.x * body.GetMass(), f * p.y * body.GetMass());
                                    body.ApplyImpulse(ant_gravity, body.GetCenterPosition());
                                }
                            },
                            setEnv: function (elements, o) {
                                var _this = this;
                                numInstance *= 2;
                                this.numInstance = numInstance;
                                this.getBrowserDimensions();
                                this.defaults = $.extend({}, this.defaults, o);
                                if (this.defaults.containment !== "window") {
                                    var c = this.defaults.containment;
                                    if (c !== "parent")
                                        this.stage = { X: c[0], Y: c[1], Width: c[2], Height: c[3] };
                                    else {
                                        var p = $(elements).parent();
                                        if (!p.is("body")) {
                                            this.stage = { X: p.offset().left, Y: p.offset().top, Width: p.offset().left + p.width(), Height: p.offset().top + p.height() };
                                            this.defaults.containment = [p.offset().left, p.offset().top, p.offset().left + p.width(), p.offset().top + p.height()];
                                        }
                                    }
        
                                } else {
                                    $(window).scroll(function () {
                                        _this.handleScrollOrResize();
                                    });
                                    $(window).resize(function () {
                                        _this.handleScrollOrResize();
                                    });
                                }
        
                                this.elements = elements;
        
                                this.addEventRemoveElement();
                                // setwalls
                                this.setWalls(numInstance);
        
                                $(document).on('mousedown', function (event) {
        
                                    _this.isMouseDown = true;
        
                                });
                                $(document).on('mouseup', function (event) {
        
                                    _this.isMouseDown = false;
        
                                });
                                $(document).on('mousemove', function (event) {
        
                                    if (!_this.isRunning)
                                        _this.run();
        
                                    _this.mouse.x = event.clientX;
                                    _this.mouse.y = event.clientY;
                                });
        
                                $(document).on('touchstart', function (event) {
                                    if (event.touches.length == 1) {
        
                                        if (!_this.isRunning) {
                                            _this.run();
                                        }
                                        _this.mouse.x = event.touches[0].pageX;
                                        _this.mouse.y = event.touches[0].pageY;
                                        _this.isMouseDown = true;
                                    }
                                });
                                $(document).on('touchmove', function (event) {
        
                                    if (event.touches.length == 1) {
                                        event.preventDefault();
                                        _this.mouse.x = event.touches[0].pageX;
                                        _this.mouse.y = event.touches[0].pageY;
                                    }
        
                                });
                                $(document).on('touchend', function (event) {
        
                                    if (event.touches.length == 0) {
        
                                        _this.isMouseDown = false;
                                    }
                                });
        
                                $(window).on('deviceorientation', function (event) {
                                    if (event.beta) {
                                        this.defaults.gravity.x = Math.sin(event.gamma * Math.PI / 180);
                                        this.defaults.gravity.y = Math.sin((Math.PI / 4) + event.beta * Math.PI / 180);
                                    }
                                });
        
                            },
                            // init function
                            loop: function () {
                                this.applyGravity();
        
        
                                this.delta.X += (0 - this.delta.X) * .5;
                                this.delta.Y += (0 - this.delta.Y) * .5;
        
                                if (this.defaults.drag)
                                    this.mouseDrag();
                                world.Step(this.defaults.timeStep, this.iterations);
        
                                for (var i = 0; i < this.elements.length; i++) {
        
                                    var body = this.bodies[i];
                                    var element = this.elements[i];
                                    var property = this.properties[i];
                                    if (!body || !element || !property) break;
        
                                    if (this.defaults.collisionDetection)
                                        this.collisionDetection();
                                    if (this.defaults.areaDetection.length > 0)
                                        this.areaDetection();
        
        
                                    element.style.left = (body.m_position0.x - (property.Width >> 1)) + 'px';
                                    element.style.top = (body.m_position0.y - (property.Height >> 1)) + 'px';
                                    if (i === 1) {
                                        //console.log($(element).position().left -(stage.Width - properties[i].Width ))
                                        //console.log(this.getProjectedHeight($(element)));
                                    }
                                    //if($(element).position().left $(document).width()) alert("out left");
                                    var style = 'rotate(' + (body.m_rotation0 * 57.2957795) + 'deg)';
        
                                    element.style.transform = style;
                                    element.style.WebkitTransform = style + ' translateZ(0)'; // Force HW Acceleration
                                    element.style.MozTransform = style;
                                    element.style.OTransform = style;
                                    element.style.msTransform = style;
                                }
                            },
                            removeElement: function (index) {
                                this.elements.splice(index, 1);
                                this.bodies.splice(index, 1);
                                this.properties.splice(index, 1);
                            },
                            addEventRemoveElement: function () {
                                var event = new $.Event("removeElement");
                                var initialremove = $.fn.remove;
                                $.fn.remove = function () {
                                    var rt = initialremove.apply(this, arguments);
                                    $(document).trigger(event);
                                    return rt;
                                };
                                var _this = this;
                                $(document).bind("removeElement", function () {
                                    _this.sync();
                                });
                            },
                            sync: function () {
        
                                this.elements = arrayIntersect($(this.elements.selector), this.elements);
                                var _this = this;
                                var i = 0;
                                this.bodies = $.grep(this.bodies, function (el) {
                                    if (el.m_userData === _this.elements[i]) {
                                        i++;
                                        return true;
                                    }
                                    else {
                                        _this.properties.splice(i, 1);
                                        el.Freeze();
                                        return false;
                                    }
                                });
                            },
                            areaDetection: function () {
                                var _this = this;
                                var detectArea = function (i, c, elementsInArea) {
                                    var aabb = new b2AABB();
                                    aabb.minVertex.Set(c[0], c[1]);
                                    aabb.maxVertex.Set(c[2], c[3]);
        
                                    // Query the world for overlapping shapes.
                                    var k_maxCount = 100;
                                    var shapes = [];
                                    var count = world.Query(aabb, shapes, k_maxCount);
                                    var elements = [];
                                    for (var j = 0; j < shapes.length; j++) {
                                        var elem = shapes[j].m_body.m_userData;
                                        if (!$.isPlainObject(elem) && $.inArray(elem, _this.elements) !== -1) {
                                            elements.push(elem);
                                        }
                                    }
        
                                    var inArea = $(elements).not(_this.elementsInArea[i]);
                                    if (inArea.length !== 0) {
                                        $(document).trigger("inarea", [inArea]);
                                    } else {
                                        var outArea = $(_this.elementsInArea[i]).not(elements);
                                        if (outArea.length !== 0) {
                                            $(document).trigger("outarea", [outArea]);
                                        }
                                    }
                                    _this.elementsInArea[i] = elements;
                                };
        
                                var areas = this.defaults.areaDetection;
                                for (var i = 0; i < areas.length; i++) {
                                    detectArea(i, areas[i], this.elementsInArea[i]);
                                }
                            },
                            collisionDetection: function () {
        
                                var _this = this;
                                var contactList = world.m_contactList;
                                var noCollision = true;
        
                                var collision = function (shape1, shape2) {
                                    var e1 = shape1.m_body.m_userData,
                                        e2 = shape2.m_body.m_userData;
                                    if (!$.isPlainObject(e1) && !$.isPlainObject(e2)) {
                                        $(document).trigger("collision", [e1, e2]);
                                        noCollision = false;
                                    }
                                };
                                var limit = 0;
                                // loop through all collisions
                                while (contactList && limit < 100) {
                                    var shape1 = contactList.m_shape1,
                                        shape2 = contactList.m_shape2;
        
                                    collision(shape1, shape2);
                                    contactList = contactList.m_next;
                                    limit++;
                                }
        
                                if (noCollision) $(document).trigger("nocollision");
                            },
                            applyGravity: function () {
                                var g = this.defaults.gravity;
                                for (var i = 0; i < this.bodies.length; i++) {
                                    var ant_gravity = new b2Vec2(350.0 * g.x * this.bodies[i].GetMass(), 350.0 * g.y * this.bodies[i].GetMass());
                                    this.bodies[i].ApplyForce(ant_gravity, this.bodies[i].GetCenterPosition());
                                }
                            },
                            applyImpulse: function (body) {
                                var f = this.defaults.impulse.f, p = this.defaults.impulse.p;
                                var ant_gravity = new b2Vec2(f * p.x * body.GetMass(), f * p.y * body.GetMass());
                                body.ApplyImpulse(ant_gravity, body.GetCenterPosition());
                            },
                            handleScrollOrResize: function () {
                                this.getBrowserDimensions();
                                console.log(this.numInstance + "+");
                                this.setWalls(this.numInstance);
                            },
                            getProjectedWidth: function (elem) {
                                var rotationAngle = this.getRotation(elem);
                                return elem.width() * Math.cos(rotationAngle) + elem.height() * Math.sin(rotationAngle);
                            },
                            getProjectedHeight: function (elem) {
                                var rotationAngle = this.getRotation(elem);
                                return elem.width() * Math.sin(rotationAngle) + elem.height() * Math.cos(rotationAngle);
                            },
                            getRotation: function (obj) {
                                var matrix = obj.css("-webkit-transform") ||
                                    obj.css("-moz-transform") ||
                                    obj.css("-ms-transform") ||
                                    obj.css("-o-transform") ||
                                    obj.css("transform");
                                var angle;
                                if (matrix !== 'none') {
                                    var values = matrix.split('(')[1].split(')')[0].split(',');
                                    var a = values[0];
                                    var b = values[1];
                                    angle = Math.atan2(b, a);
                                } else {
                                    angle = 0;
                                }
                                return angle;
                            },
                            run: function () {
                                var _this = this;
                                this.isRunning = true;
                                setInterval(function () {
                                    _this.loop();
        
                                }, 25);
        
                            },
                            // Make box
                            createBox: function (world, x, y, width, height, fixed, categoryBits, maskBits, element) {
        
                                if (typeof (fixed) === 'undefined')
                                    fixed = true;
        
                                var boxSd = new b2BoxDef();
                                if (categoryBits && maskBits) {
                                    boxSd.categoryBits = categoryBits;
                                    boxSd.maskBits = maskBits;
                                }
        
                                if (!fixed)
                                    boxSd.density = 1.0;
                                var bounce = this.defaults.bounce;
                                if (bounce > 0)
                                    boxSd.restitution = Math.min(1, bounce);
        
        
        
                                boxSd.extents.Set(width, height);
        
                                var boxBd = new b2BodyDef();
                                boxBd.AddShape(boxSd);
                                boxBd.position.Set(x, y);
                                boxBd.userData = { element: element };
        
                                return world.CreateBody(boxBd);
                            },
                            // Make circle
                            createCircle: function (world, x, y, radius, fixed, categoryBits, maskBits, element) {
        
                                if (typeof (fixed) === 'undefined')
                                    fixed = true;
        
                                var boxSd = new b2CircleDef();
        
                                if (categoryBits && maskBits) {
                                    boxSd.categoryBits = categoryBits;
                                    boxSd.maskBits = maskBits;
                                }
        
                                if (!fixed)
                                    boxSd.density = 1.0;
        
                                var bounce = this.defaults.bounce;
                                if (bounce > 0)
                                    boxSd.restitution = Math.min(1, bounce);
        
                                boxSd.radius = radius;
        
                                var boxBd = new b2BodyDef();
                                boxBd.AddShape(boxSd);
                                boxBd.position.Set(x, y);
                                boxBd.userData = { element: element };
        
                                return world.CreateBody(boxBd);
                            },
                            mouseDrag: function () {
        
                                // mouse press
                                if (this.isMouseDown && !this.mouseJoint) {
        
                                    var body = this.getBodyAtMouse();
        
                                    if (body) {
        
                                        var md = new b2MouseJointDef();
                                        md.body1 = world.m_groundBody;
                                        md.body2 = body;
                                        md.target.Set(this.mouse.x + window.scrollX, this.mouse.y + window.scrollY);
                                        md.maxForce = 30000.0 * body.m_mass;
                                        md.timeStep = this.defaults.timeStep;
                                        this.mouseJoint = world.CreateJoint(md);
                                        body.WakeUp();
                                    }
                                }
        
                                // mouse release
                                if (!this.isMouseDown) {
        
                                    if (this.mouseJoint) {
        
                                        world.DestroyJoint(this.mouseJoint);
                                        this.mouseJoint = null;
                                    }
                                }
        
                                // mouse move
                                if (this.mouseJoint) {
        
                                    var p2 = new b2Vec2(this.mouse.x + window.scrollX, this.mouse.y + window.scrollY);
                                    this.mouseJoint.SetTarget(p2);
                                }
                            },
                            getBodyAtMouse: function () {
        
                                // Make a small box.
                                var mousePVec = new b2Vec2();
                                mousePVec.Set(this.mouse.x + window.scrollX, this.mouse.y + window.scrollY);
                                var aabb = new b2AABB();
                                aabb.minVertex.Set(this.mouse.x + window.scrollX - 2, this.mouse.y + window.scrollY - 2);
                                aabb.maxVertex.Set(this.mouse.x + window.scrollX + 2, this.mouse.y + window.scrollY + 2);
        
                                // Query the world for overlapping shapes.
                                var k_maxCount = 10;
                                var shapes = [];
                                var count = world.Query(aabb, shapes, k_maxCount);
                                var body = null;
        
                                for (var i = 0; i < count; i++) {
        
                                    if (shapes[i].m_body.IsStatic() === false) {
        
                                        if (shapes[i].TestPoint(mousePVec)) {
                                            var tmpBody = shapes[i].m_body;
                                            if ($.inArray(tmpBody, this.bodies) !== -1) {
                                                body = tmpBody;
                                                break;
                                            }
                                        }
                                    }
                                }
                                return body;
                            },
                            // create contaimnent walls        
                            setWalls: function (i) {
        
                                if (this.wallsSetted) {
        
                                    world.DestroyBody(this.walls.left);
                                    world.DestroyBody(this.walls.top);
                                    world.DestroyBody(this.walls.right);
                                    world.DestroyBody(this.walls.bottom);
        
                                    this.walls.left = null;
                                    this.walls.top = null;
                                    this.walls.right = null;
                                    this.walls.bottom = null;
                                }
                                var x1 = this.stage.X, y1 = this.stage.Y, x2 = this.stage.Width, y2 = this.stage.Height;
                                this.walls.top = this.createBox(world, (x1 + x2) / 2, y1 - wall_thickness, x2 - x1, wall_thickness, true, i, i);
                                this.walls.bottom = this.createBox(world, (x1 + x2) / 2, y2 + wall_thickness, x2 - x1, wall_thickness, true, i, i);
                                this.walls.left = this.createBox(world, x1 - wall_thickness, (y2 + y1) / 2, wall_thickness, y2 - y1, true, i, i);
                                this.walls.right = this.createBox(world, x2 + wall_thickness, (y2 + y1) / 2, wall_thickness, y2 - y1, true, i, i);
                                this.wallsSetted = true;
        
                            },
                            // .. UTILS
                            getElementProperties: function (element) {
        
                                var x = 0;
                                var y = 0;
                                var width = element.offsetWidth;
                                var height = element.offsetHeight;
                                do {
                                    x += element.offsetLeft;
                                    y += element.offsetTop;
        
                                } while (element = element.offsetParent);
        
                                return { X: x, Y: y, Width: width, Height: height };
                            },
                            getBrowserDimensions: function () {
                                if (this.defaults.containment === "window" || this.defaults.containment === "parent" /*|| this.defaults.fixed === true*/) {
                                    var changed = false;
                                    if (this.stage.X !== window.scrollX) {
        
                                        this.delta.X = (window.scrollX - this.stage.X) * 50;
                                        this.stage.X = window.scrollX;
                                        changed = true;
                                    }
        
                                    if (this.stage.Y !== window.scrollY) {
        
                                        this.delta.Y = (window.scrollY - this.stage.Y) * 50;
                                        this.stage.Y = window.scrollY;
                                        changed = true;
                                    }
        
                                    if (this.stage.Width !== window.innerWidth + window.scrollX) {
        
                                        this.stage.Width = window.innerWidth + window.scrollX;
                                        changed = true;
                                    }
        
                                    if (this.stage.Height !== window.innerHeight + window.scrollY) {
        
                                        this.stage.Height = window.innerHeight + window.scrollY;
                                        changed = true;
                                    }
                                    return changed;
                                } else {
                                    var c = this.defaults.containment;
                                    this.stage = { X: c[0], Y: c[1], Width: c[2], Height: c[3] };
                                }
        
                            }
        
                        });
                        bool = true;
                    }
                }
                ;
        
                // JQuery.fn.throwable
        
                $.fn.throwable = function (options) {
                    if ($.isFunction(this.each)) {
                        var _this = this;
                        if ($("body").data('throwable.instance') === undefined) {
                            $("body").data('throwable.instance', true);
                            init();
                        }
        
                        var throwableInstance = new throwable();
        
                        var isEnvSet = false;
                        var rt = this.each(function () {
                            var i = inArrays(this, $.throwables),
                                exist = (i !== -1);
                            if (!exist || $.throwables[i.index].elements.selector !== _this.selector) {
        
                                if (exist) {
                                    $.throwables[i.index].removeElement(i.index);
                                    throwableInstance.defaults = $.extend({}, throwableInstance.defaults, $.throwables[i.index].defaults);
                                }
        
                                if (!isEnvSet) {
        
                                    throwableInstance.setEnv(_this, options);
                                    isEnvSet = true;
                                }
        
                                throwableInstance.initElem(this);
                            }
                            else {
                                throwableInstance = $.throwables[i.index];
                                throwableInstance.applyOptions(options, i.value);
                            }
                        });
        
                        if ($.inArray(throwableInstance, $.throwables) === -1)
                            $.throwables.push(throwableInstance);
                        return rt;
                    }
                };
        
                // array that will contient arrays
                $.throwables = [];
        
            })(jQuery, window, document);
            jQuery(".emoji").throwable({
            });